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基于自适应非奇异终端滑模的悬浮控制策略

靖永志 冯伟 王森 马先超 郝建华 董金文

靖永志, 冯伟, 王森, 马先超, 郝建华, 董金文. 基于自适应非奇异终端滑模的悬浮控制策略[J]. 西南交通大学学报, 2022, 57(3): 566-573. doi: 10.3969/j.issn.0258-2724.20210743
引用本文: 靖永志, 冯伟, 王森, 马先超, 郝建华, 董金文. 基于自适应非奇异终端滑模的悬浮控制策略[J]. 西南交通大学学报, 2022, 57(3): 566-573. doi: 10.3969/j.issn.0258-2724.20210743
JING Yongzhi, FENG Wei, WANG Sen, MA Xianchao, HAO Jianhua, DONG Jinwen. Levitation Control Strategy Based on Adaptive Non-singular Terminal Sliding Mode[J]. Journal of Southwest Jiaotong University, 2022, 57(3): 566-573. doi: 10.3969/j.issn.0258-2724.20210743
Citation: JING Yongzhi, FENG Wei, WANG Sen, MA Xianchao, HAO Jianhua, DONG Jinwen. Levitation Control Strategy Based on Adaptive Non-singular Terminal Sliding Mode[J]. Journal of Southwest Jiaotong University, 2022, 57(3): 566-573. doi: 10.3969/j.issn.0258-2724.20210743

基于自适应非奇异终端滑模的悬浮控制策略

doi: 10.3969/j.issn.0258-2724.20210743
基金项目: 国家自然科学基金(52077183)
详细信息
    作者简介:

    靖永志(1979—),男,副研究员,研究方向为磁浮列车与磁浮技术、电力电子技术及其应用等,E-mail: jingyongzhi@swjtu.edu.cn

  • 中图分类号: TP273

Levitation Control Strategy Based on Adaptive Non-singular Terminal Sliding Mode

  • 摘要:

    针对采用传统线性滑模控制的电磁悬浮系统存在响应速度慢以及抗干扰能力差的问题,提出了一种基于自适应非奇异终端滑模的悬浮控制方法,该方法将自适应控制引入到终端滑模控制,结合滑模控制对扰动不敏感的优点,利用自适应控制对滑模趋近律系数进行在线自适应调节,改善悬浮系统的动态性能. 首先,建立了电磁悬浮系统数学模型;然后,利用李雅普诺夫稳定理论证明了所设计控制器的稳定性;最后,进行了仿真和实验验证. 实验结果表明:自适应非奇异终端滑模对信号跟踪具有更快的响应速度和更小的稳态误差,对峰峰值为2 N的正弦或锯齿干扰力气隙波动可限定在0.2 mm以内,进行0.1 kg加减载实验时气隙波动为0.6 mm,各项性能均优于终端滑模和线性滑模.

     

  • 图 1  电磁悬浮球系统结构

    Figure 1.  Structure of electromagnetic levitation ball system

    图 2  跟踪曲线

    Figure 2.  Tracking curves

    图 3  正弦干扰和锯齿干扰响应曲线

    Figure 3.  Response curves of sinusoidal disturbance and sawtooth disturbance

    图 4  悬浮气隙响应曲线

    Figure 4.  Suspension air gap response curves

    图 5  电磁悬浮系统实验平台

    Figure 5.  Eletromagnetic levitation system experimental platform

    图 6  跟踪实验曲线

    Figure 6.  Tracking curves

    图 7  正弦干扰实验曲线

    Figure 7.  Sinusoidal disturbance experiment curves

    图 8  锯齿干扰实验曲线

    Figure 8.  Sawtooth disturbance experiment curves

    图 9  负载质量为0.1 kg时悬浮气隙响应曲线

    Figure 9.  Suspension air gap response curves withload mass of 0.1 kg

    表  1  电磁悬浮球系统参数

    Table  1.   Parameters of the electromagnetic levitation ball system

    参 数数 值参 数数 值
    m/kg0.318x0/m0.008
    N/匝530i0/A2.7
    A/m2π × 10−4
    下载: 导出CSV

    表  2  悬浮控制器仿真参数

    Table  2.   Simulation parameters of levitation controllers

    控制器βξφγεη
    LSMC5040
    NTSMC2040
    ANTSMC1010000.50.031
    下载: 导出CSV

    表  3  悬浮控制器实验参数

    Table  3.   Parameters of levitation controllers

    控制器βξφγεη
    LSMC401
    NTSMC201
    ANTSMC201000.50.031
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-08-31
  • 录用日期:  2022-03-24
  • 修回日期:  2022-03-16
  • 刊出日期:  2022-03-24

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