【摘要】 【目的】磁通切换直线电机(FSLM)磁悬浮系统是一个非线性、强耦合、参数时变系统。由于FSLM缺乏中间传动装置，外部扰动和直线电机固有的端部效应使磁悬浮系统的控制变得更加困难，为提升磁悬浮系统的控制性能，提出一种区间二型模糊超螺旋滑模控制(IT-2FSTSMC)策略。【方法】首先，根据FSLM的结构特点和运行原理，建立了磁悬浮系统的数学模型，选择非线性变换坐标建立了FSLM磁悬浮系统的仿射非线性数学模型。其次，设计了新型积分滑模面，该滑模面能够自适应地调节状态变量的收敛速度，从而有效提升系统的响应性能；并采用超螺旋算法以降低常规滑模的抖振，实现更快的收敛速度。然后，为了进一步降低抖振，增强系统对不确定性扰动的鲁棒性，采用区间二型模糊系统对超螺旋滑模切换增益进行整定。最后，通过仿真将本文设计的IT-2FSTSMC策略和超螺旋滑模控制(STSMC)策略以及区间一型模糊超螺旋滑模控制(IT-1FSTSMC)策略进行对比分析。【结果】仿真结果表明，本文设计IT-2FSTSMC策略相较于STSMC策略和IT-1FSTSMC策略，空载启动时的调节时间分别降低了63.5%和55.7%;突加负载时系统的磁悬浮高度动态降落分别降低了39.3%和15%,且恢复时间更短；在面对不确定性扰动时，IT-2FSTSMC表现出更强的鲁棒性，有效削弱了滑模控制中的抖振，提升了系统的稳定性和动态性能；在抑制端部效应方面，IT-2FSTSMC优于其他两种控制策略。【结论】本文所设计的IT-2FSTSMC策略显著改善了FSLM磁悬浮系统的性能，且能够满足控制需求。更多还原

【Abstract】 [Objective] The flux switching linear motor(FSLM) magnetic levitation system is a nonlinear, strongly coupled, parameter time-varying system. Due to the lack of an intermediate transmission device in the FSLM, combined with external disturbances and the inherent end effects of the linear motor, controlling the magnetic levitation system becomes more challenging. To improve the control performance of the magnetic levitation system, an interval type-2 fuzzy super-twisting sliding mode control(IT-2FSTSMC) strategy is proposed. [Methods] Firstly, the mathematical model of the magnetic levitation system was established according to the structural characteristics and operating principle of FSLM. A nonlinear coordinate transformation was applied to derive an affine nonlinear mathematical model of the FSLM magnetic levitation system. Secondly, a new integral sliding mode surface was designed, which could adaptively regulate the convergence rate of the state variables, thereby improving the system’s response performance. The super-twisting algorithm was used to reduce chattering in conventional sliding mode control, resulting in faster convergence. Thirdly, in order to further suppress chattering and enhance the system’s robustness against uncertainty disturbances, a super-twisting sliding mode switching gain was rectified by using an interval type-2 fuzzy system. Finally, simulations were conducted to compare the IT-2FSTSMC strategy with the super-twisting sliding mode control(STSMC) and interval type-1 fuzzy super-twisting sliding mode control(IT-1FSTSMC) strategies. [Results] Simulation results showed that the IT-2FSTSMC strategy significantly outperformed the STSMC and IT-1FSTSMC strategies. Specifically, the adjustment time during no-load startup was reduced by 63.5% and 55.7%, respectively. When a sudden load was applied, the system’s magnetic levitation height dynamic drop was reduced by 39.3% and 15%, with a shorter recovery time. When subjected to uncertainty disturbances, the IT-2FSTSMC showed stronger robustness, effectively weakening the chattering in sliding mode control and improving both the system’s stability and dynamic performance. Additionally, the IT-2FSTSMC outperformed the other two control strategies in suppressing the end effect. [Conclusion] The IT-2FSTSMC strategy designed in this paper significantly improves the performance of the FSLM magnetic levitation system, meeting the control requirements effectively.更多还原