可控磁路式永磁悬浮系统的串级控制

摘要

Permanent magnetic suspension systems with controllable magnetic circuit have characteristics of strong nonlinearity and large difficulty in control.According to the characteristics of a permanent magnet suspension system,a cascade controller composed of an angle loop and a position loop was designed here.A permanent magnetic levitation system was simulated and tested with this controller.The test results showed that the system has a good robust stability;the system can track an input displacement signal within a short time and reach a new stable suspension state when a smaller step external disturbance is exerted on the system.%可控磁路式永磁悬浮系统具有强非线性、控制难度大等特点.根据该永磁悬浮系统的特点,设计了一种由角度环和位置环组成的串级控制器.利用该控制器对永磁悬浮系统进行位移外扰仿真和实验.实验结果表明应用该串级控制器,系统具有良好的鲁棒稳定性,当给系统一较小阶跃外扰时,系统可以在短时间内跟踪输入位移信号,达到新的稳定悬浮状态.