摘要
磁悬浮运动平台具有非接触、无摩擦和无磨损等优点,适合做精密测量和定位设备。针对磁悬浮运动平台动力学模型的强耦合、非线性特点,利用非线性系统的反馈精确线性化方法,实现了运动平台悬浮位置和水平位置的非交互式控制,同时根据垂直方向和水平方向的不同特点分别设计了变结构控制器。仿真结果表明,该方法很好的实现了对悬浮驱动和水平驱动的解耦控制,且控制器具有较强的鲁棒性。
Magnetic levitation motion stage is applicable for precision measurement and positioning equipments due to advantages of non-contact,no friction and no abrasion.To achieve precision control for the maglev motion stage system which has strong coupling and nonlinear characteristics,a feedback exact linearization control method is proposed.Noninteractive control of the motion stage levitating position and horizontal position was realized.Variable-structure controllers were designed respectively according to different characteristics of vertical and horizontal directions.Simulation results show that this method is very effective in the decoupling of levitating drive and horizontal drive.In addition,the controllers have strong robustness.
出处
《组合机床与自动化加工技术》
北大核心
2012年第3期69-72,76,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金资助项目(60674052)
关键词
磁悬浮运动平台
非线性系统
反馈精确线性化
变结构控制
magnet levitation motion stage
nonlinear system
feedback exact linearization
variable-structure control
