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鉴于磁悬挂天平系统强烈的非线性特性及存在的多种不确定性,针对非匹配不确定性情况设计了变结构控制器。根据对悬浮时模型受力图的分析,及其模型两端电磁力、电流和电压的平衡关系,并以Y轴方向受力为例,讨论了磁悬挂天平的非线性变结构设计过程。该设计的目的是使镇定误差趋进于0,其设计步骤包括期望性能到期望力的传递、满足滑动模态可达条件的控制力到控制电压的传递、控制电压的求解。同时对设计的结果进行了仿真分析,仿真结果表明磁悬挂天平的变结构控制系统具有良好的动态性能。
In view of the strong nonlinearity and uncertainties of the magnetic suspension balance system, a variable structure controller is designed for the non-matching uncertainties. Based on the analysis of the force diagram of the suspension model and the balance between the electromagnetic force, the current and the voltage at both ends of the model and the stress in the Y-axis direction as an example, the nonlinear variable structure design process of the magnetic suspension balance is discussed. The purpose of this design is to make the stabilization error approach to zero. The design steps include the transfer of desired performance expectation, the control force satisfying the sliding modal reachable condition, the transfer of control voltage and the solution of control voltage. At the same time, the simulation results of the design are analyzed. The simulation results show that the variable structure control system of the magnetic suspension balance has good dynamic performance.