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针对电磁永磁混合磁悬浮这一种特殊非线性系统,深刻分析被控对象特性后,指出普通状态反馈控制方法的不足,根据系统的特性提出一种非线性反馈控制方法,并通过反馈线性化理论证明其合理性。为进一步改善控制效果,提出重构速度信号,延长大速度信号的作用时间,在满足系统正常响应速度的情况下,增加电磁铁向上运动的阻尼,抑制电磁铁向上方向的超调,从而避免磁铁撞击甚至吸死轨道。最后通过实验验证算法的有效性。
Aiming at this kind of special non-linear system of electromagnetic permanent magnetism mixed magnetic suspension, after analyzing deeply the characteristics of the controlled object, the insufficiency of the general state feedback control method is pointed out. According to the characteristics of the system, a nonlinear feedback control method is proposed. Through feedback linearization theory Prove its rationality. In order to further improve the control effect, it is proposed to reconstruct the speed signal and extend the action time of the large speed signal, to increase the damping of the upward movement of the electromagnet and to suppress the overshoot of the electromagnet in the upward direction while satisfying the normal response speed of the system, Hit or even kill the track. Finally, the validity of the algorithm is verified experimentally.