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磁悬浮球实验装置是典型的非线性系统,该装置提供了常规PID控制,但难以达到理想的控制效果,由此提出采用离散滑模变结构控制来研究该系统。文中首先分析了离散滑模切换面和趋近率,然后设计了存在系统干扰和抖动情况下的离散滑模控制器,并研究了其收敛性,在此基础上提出了克服干扰和抖动的积分补偿离散滑模控制器,最后将所提出的控制方法在磁悬浮球实验装置上进行验证。试验验证结果表明,系统响应时间由PID控制的15 s减小到5 s,控制偏差也有所减小,控制效果优于PID控制,适合磁悬浮球系统的控制,为该实验装置提供了一套新的实验方法。
The magnetic levitation ball experimental device is a typical nonlinear system, which provides conventional PID control, but it is difficult to achieve the desired control effect. Therefore, the discrete sliding mode variable structure control is proposed to study the system. In this paper, the discrete sliding mode switching surfaces and the approach rate are analyzed firstly. Then the discrete sliding mode controller with the system disturbance and jitter is designed and its convergence is studied. Based on this, the integral of interference and jitter is proposed Compensation discrete sliding mode controller, and finally the proposed control method in the magnetic levitation ball experimental device for verification. The experimental results show that the system response time is reduced from 15 s to 5 s by PID control, the control deviation is also reduced, and the control effect is better than PID control, which is suitable for the control of the magnetic levitation ball system, providing a new set of experimental devices Experimental method.