【摘要】 针对电压控制的磁悬浮系统设计了时间最优控制算法以获得电流最速响应,并推导了控制系统硬件对电流响应速度的约束关系;根据跟踪误差改变控制器参数以精确地跟踪设定电流;根据在线辨识得到的线圈参数计算最终控制电压以维持理想电流。这种算法能够使电压控制取得与电流控制同样的效果,简化了控制系统分析与设计并提高了对线圈参数时变的鲁棒性。磁悬浮小球电流响应实验与悬浮实验验证了算法的有效性,该算法还可扩展到其他电压控制电流的场合。更多还原

【Abstract】 For a magnetic levitation system regulated by voltage, time optimal control algorithm was designed to increase current response speed and constraints of system hardware to current response were derived. Variable structure control strategy correspond to tracking error was implemented to reach ideal current with high precision. The control voltage can be calculated based on coil parameters identified through online identification to maintain the setting current. Using the method, equivalent fine properties of employing voltage control can be achieved compared with current control. Consequently, analysis of control system is simplified and robustness with coil parameters is improved. The algorithm is demonstrated effectively by both current response and levitation experiment of magnetic levitation ball and it also can be extended to other current regulating applications.更多还原