主动电磁悬浮球系统的H∞控制器*

作者：王 萌，梅鲁雁，祝长生* 日期：2010-11-15/span> 浏览：3555 查看PDF文档

主动电磁悬浮球系统的H∞控制器*
王 萌，梅鲁雁，祝长生*

(浙江大学 电气工程学院，浙江 杭州 310027)

摘要：针对主动电磁悬浮球系统的鲁棒性问题，探讨了H∞控制器在该系统上的应用。首先建立了主动电磁悬浮球系统的线性化数学模型；然后对应H∞混合灵敏度框架，重点介绍了3个加权函数的双重意义及其对系统特性的影响，说明了H∞控制器的设计方法；并对一套实际系统设计了H∞控制器，对系统的性能进行了仿真和实验研究。研究结果表明，基于H∞控制器的主动电磁悬浮球系统具有较高的抗干扰性能和鲁棒稳定性。
关键词：主动电磁悬浮球系统；H∞控制；混合灵敏度框架
中图分类号：TH13;TH39;TP18；TP273
文献标识码：A文章编号：1001-4551(2010)09-0014-05

H∞ controller for an active magnetic ball levitation system
WANG Meng， MEI Luyan， ZHU Changsheng
(College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China)
Abstract: Aiming at the robust stability of the active magnetic ball levitation system, the application of H∞ controller was studied. Firstly, the linear model of the active magnetic levitation ball system was built. Then three weighting functions in the mixed sensitivity framework were introduced. Their double significance and effect on the system were analyzed. After elaborating how to design H∞ controller, the controller for a magnetic ball levitation system was presented, and the proportion of the controller was simulated and measured in experiment. The results indicate that the H∞ controller is characterized by the effectiveness of interference immunity and robust stability.
Key words: active magnetic levitation system; H∞ control theory; mixed sensitivity framework