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磁悬浮系统本身是一个非线性不稳定系统,传统的悬浮控制方法是将非线性系统在平衡点附近进行线性化,建立线性化模型,再设计状态反馈控制方法进行悬浮控制。但试验中发现,当系统工作状态远离工作点时,这些控制方法的性能会明显变差。从悬浮控制系统的本质出发,在对磁悬浮系统的受力进行理论分析的基础上,提出了一种基于力平衡的非线性悬浮控制算法。通过仿真对比和试验表明,该控制算法物理概念清晰、易于实现,具有较好的控制性能。
The maglev system itself is a nonlinear instability system. The traditional suspension control method is to linearize the nonlinear system near the equilibrium point, establish a linearized model, and then design a state feedback control method for suspension control. However, it was found in the experiment that the performance of these control methods will be significantly deteriorated when the working condition of the system is far away from the working point. Based on the essence of suspension control system and based on theoretical analysis of the force of magnetic suspension system, a nonlinear suspension control algorithm based on force balance is proposed. The simulation and experiment show that the control algorithm has a clear physical concept, easy to implement and good control performance.