磁悬浮球的鲁棒控制器设计

来源期刊：中南大学学报(自然科学版)2007年第5期

论文作者：李群明 朱伶 徐震

文章页码：922 - 922

关键词：磁悬浮球系统；鲁棒控制；H_∞混合灵敏度；数字信号处理器

Key words：maglev ball system; robust control; H_∞ mixed sensitivity; digital signal processor (DSP)

摘    要：为了掌握磁浮支承的设计和控制原理，设计一种新型的磁悬浮球实验装置，建立其动力学模型。应用H_∞混合灵敏度控制理论，通过合理选取加权函数，设计该实验装置的H_∞鲁棒控制器，并采用数字控制方法，对其离散化后用DSP系统实现了其稳定控制。仿真和实验结果表明：与传统的PID控制方法相比，基于H_∞控制理论设计的磁悬浮球控制器具有更好的动态性能，如系统起浮时的超调量从0.8 mm降低到0.4 mm，稳态偏差从原来的0.35 mm降低到0.10 mm，且具有更快的响应速度和更强的鲁棒性。

Abstract: In order to understand the principle of magnetic levitated bearings and verify the control methods, a device of levitating a small steel ball was designed and its dynamic model was constructed. The H∞ mixed sensitivity control method was used. The selection methods for the H∞ weighting functions were discussed and a H∞ controller was designed to improve accuracy and robustness. Its real-time control was implemented by DSP systems. The simulation and experimental results show that the H∞ controller is more effective than previous PID controller, for example, the peak overshoot decreases from 0.8 mm to 0.4 mm, and the steady-state error decreases from 0.35 mm to 0.10 mm. The response speed is quicker, and the robustness is also improved.