【摘要】 建立电磁悬浮平台的数学模型;讨论系统的刚度阻尼与控制系统之间的关系;利用此关系和稳态误差确定常规proportional-integral-derivative(PID)控制参数。采用常规PID控制与模糊控制相结合的控制策略,在常规PID调节器的基础上运用模糊推理思想,根据不同的偏差E、偏差变化率EC对PID参数KP,KI和KD进行自校正。实验结果表明:系统的稳态误差约为2%;当平台被迫向下偏移0.5mm时,系统仍能快速回到平衡位置且稳定悬浮,说明系统具有很好的刚度阻尼特性和鲁棒性。更多还原

【Abstract】 The mathematical model of an electromagnetic suspension platform was built, the relation between the stiffness damping of the system and the controller system was discussed, and the PID control parameters were determined from their relations and the static errors. A control method based on fuzzy and PID control was presented. The new controller is based on the raditional PID controller, and employs fuzzy reasoning to accomplish the self-adjusting PID parameters K_P, K_I and K_D according to different deviations E and variation rates of deviation E_C. The results show that the steady state error of the system is about 2%, when the platform is deviated (0.5 mm,) the system can return to the balance position and suspend stably, indicating that the system has good stiffness and damping trait, and the robustness of the system is also improved.更多还原