摘要
磁悬浮系统能够实现机械部件的高速、无接触运行,是一个典型的非线性、开环不稳定系统。在外界干扰和系统参数变化的条件下,对磁体小球进行精确控制具有重要的工程意义。滑模控制作为一种有效应对干扰的控制方法,可在建立含干扰系统数学模型的基础上,设计基于线性反馈的滑模控制器;进一步针对系统同时存在干扰和参数变化的情况,设计参数自适应的滑模控制器,并通过理论分析证明系统的稳定性。在MATLAB/Simulink中搭建系统仿真模型,开展仿真分析,探究不同参考信号输入下磁性小球的位移和速度响应。仿真结果表明:通过调整滑模控制参数,系统跟踪时间减少了约76%,所设计的滑模控制器具有较好的鲁棒性;在存在外部干扰和参数变化的情况下,系统能够对不同参考信号实现有效的跟踪控制,整体性能满足预期要求。
The magnetic levitation system enables high-speed,contact-free operation of mechanical components,representing a typical nonlinear and open-loop unstable system.Under conditions of external disturbances and system parameter variations,precise control of the magnetic ball has significant engineering importance.Sliding mode control,as an effective disturbance-rejection method,could be applied by first establishing a mathematical model of the system with disturbances and then designing a sliding mode controller based on linear feedback.Furthermore,to address the simultaneous presence of disturbances and parameter variations,a sliding mode controller based on parameter adaptive was designed,and the stability of the system was proven through theoretical analysis.A simulation model was built in MATLAB/Simulink to conduct simulation analysis and investigate the displacement and velocity responses of the magnetic ball under different reference signal inputs.Simulation results show that by adjusting the sliding mode control parameters,the system tracking time is reduced by approximately 76%,and the designed sliding mode controller demonstrates good robustness.In the presence of external disturbances and parameter variations,the system can effectively track different reference signals,and its overall performance meets the expected requirements.
作者
徐明
胡国良
XU Ming;HU Guoliang(School of Mechatronics and Vehicle Engineering,East China Jiaotong University,Nanchang Jiangxi 330013,China)
出处
《机床与液压》
北大核心
2026年第5期139-143,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金项目(52165004)。
关键词
磁悬浮系统
滑模控制
线性反馈
参数自适应
magnetic levitation system
sliding mode control
linear feedback
parameter adaptive control
