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由于采用传统的比例积分微分PID(ProportionIntegrationDifferential)控制难以保证其优良的稳定性和抗扰能力,采用了基于H∞控制系统的混合灵敏度的优化设计思想,在对轴向磁轴承H∞控制进行分析的基础上将H∞控制应用于磁轴承的控制器设计中。借助于Matlab的线性矩阵不等式LMI(LinearMatrixInequation)工具箱进行仿真,给出了H∞控制和PID控制的仿真波形。采用实时离散化处理的方法,通过编写控制程序在计算机控制系统中执行设计的控制器,实现了磁轴承的H∞控制。给出了H∞控制磁轴承在无外扰力和2kg外扰力情况下转子起浮实验波形,同时给出了轴向磁轴承在平衡位置受2kg突加扰动时PID控制和H∞控制的实验波形。仿真和实验表明:基于H∞理论的控制比传统的PID控制具有更好的稳定性、较强的鲁棒性和抑制扰动的能力。
Due to the difficulty of guaranteeing its excellent stability and anti-interference ability by using the traditional proportional integral derivative PID (PID) control, the optimization design concept of hybrid sensitivity based on H∞ control system is adopted. After analyzing the H∞ control of axial magnetic bearing Based on the H ∞ control applied to the design of the magnetic bearing controller. With Matlab linear matrix inequality LMI (LinearMatrixInequation) toolbox for simulation, given H∞ control and PID control of the simulation waveform. Using real-time discretization method, the H∞ control of the magnetic bearing is realized by writing a control program to execute the designed controller in the computer control system. The experimental waveforms of the rotor with and without the external disturbance and the external disturbance of 2kg are given. The PID control and H∞ control are also given when the axial magnetic bearing is suddenly disturbed by 2kg in the equilibrium position Experimental waveforms. Simulation and experiment show that the control based on H∞ theory has better stability, stronger robustness and restraining disturbance than the traditional PID control.