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吉林化工学院学报, 2022, 39(1): 58-62     https://doi.org/10.16039/j.cnki.cn22-1249.2022.01.010
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基于三步法的磁悬浮球系统控制研究
田 统,杨 瑶,韩光信
吉林化工学院 信息与控制工程学院, 吉林 吉林,132022
Design of triple-step nonlinear controller for Maglev Ball System
TIAN Tong, YANG Yao, HAN Guangxin*
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摘要 

针对磁悬浮球系统存在的非线性、不确定性和和外界干扰问题,为使系统输出在跟踪期望位置轨迹变化时具有良好的动态品质,设计了三步非线性控制器。该控制器由类稳态控制、可变参考前馈控制和误差反馈控制组成,按固定顺序分步骤推导完成。三步非线性控制器推导过程简单明确,所获得的控制律结构层次清晰,并且避免了高阶非线性带来的多次微分问题。仿真实验结果表明,三步非线性控制器的跟踪速度快,超调量小,跟踪效果好,不存在抖振现象。

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田 统
杨 瑶
韩光信
关键词:  磁悬浮球系统   三步法   非线性控制   轨迹跟踪     
Abstract: 

Aiming at the non-linearity, uncertainty and external interference problems of the magnetic levitation ball system, in order to make the system output have good dynamic quality when tracking the desired position trajectory change, a three-step non-linear controller is designed. The controller is composed of quasi-steady-state control, variable reference feedforward control and error feedback control, and is deduced step by step in a fixed sequence. The derivation process of the three-step nonlinear controller is simple and clear, the structure of the obtained control law is clear, and the multiple differential problems caused by high-order nonlinearity are avoided. The simulation experiment results show that the tracking speed of the three-step nonlinear controller is fast, the overshoot is small, the tracking effect is good, and there is no chattering phenomenon.

Key words:  magnetic levitation    ball system      triple-step    nonlinear method      nonlinear control    trajectory tracking
               出版日期:  2022-01-25      发布日期:  2022-01-25      整期出版日期:  2022-01-25
TP273  
引用本文:    
田 统, 杨 瑶, 韩光信. 基于三步法的磁悬浮球系统控制研究 [J]. 吉林化工学院学报, 2022, 39(1): 58-62.
TIAN Tong, YANG Yao, HAN Guangxin. Design of triple-step nonlinear controller for Maglev Ball System . Journal of Jilin Institute of Chemical Technology, 2022, 39(1): 58-62.
链接本文:  
https://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2022.01.010  或          https://xuebao.jlict.edu.cn/CN/Y2022/V39/I1/58
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