【摘要】 根据磁悬浮系统的动态特性，首先提出了具有非线性鲁棒 Ｐ Ｉ Ｄ 控制器的电磁耦合磁浮系统的动力学模型，从理论上分析了此系统产生分岔时的复杂动力学行为，给出了 Ｈｏｐｆ分岔的参数条件，及控制器参数选取域，以使当参数在某一给定范围内变化时，系统始终保持在渐近稳定的平衡态，且通过对具体磁悬浮系统的数值仿真，表明此电磁耦合控制系统的动力学行为很复杂，对它进行分析是实现稳定控制的关键，仿真结果与理论分析完全相符；本文的分析对磁悬浮控制系统的进一步设计、稳定控制有理论指导意义。更多还原

【Abstract】 Based on the dynamic character of the electromagnetic coupling magnetic levitation system, the dynamic model of magnetic levitation with robust PID controller is presented in the paper, the complex dynamic behavior is analyzed theoreticaly, the parameters condition of Hopf bifurcation is given out ,and the region of the controller parameters is selected, as the system is stable.From the simulating of the system,the complex dynamic behavior is shown, and the result is in correspondence with theoretic analysis .It is of great theoretic importance to improve design and to realize stable control for the electromagnetic coupling magnetic levitation system.更多还原