直线电机悬浮平台的L2鲁棒控制

永磁直线同步电机（PMLSM）悬浮平台系统的水平推力和法向力之间存在非线性耦合，且易受负载扰动和参数变化等不确定性因素的影响.为了解决上述问题并实现准确定位，在系统非线性数学模型的基础上，对水平轴和竖直轴均设计了PD位置控制器与L₂速度控制器，将解耦与扰动抑制转化为L₂速度控制器的设计问题.仿真结果表明，该方法设计的系统实现了水平方向和竖直方向的直接动态解耦，并且对负载扰动和参数变化具有很好的鲁棒性.

L2 robust control for linear motor levitation platform

A nonlinear coupling exists between horizontal and vertical thrust of permanent magnet linear synchronous motor （PMLSM） levitation platform system, and the system is easily affected by such uncertain factors as load disturbance and parameter variation. In order to solve above mentioned problems and realize accurate positioning, the PD position controller and L₂ speed controller were designed for both horizontal and vertical axis based on nonlinear mathematical model for the system, and the decoupling and disturbance restraint were transformed into the design problem of L₂ speed controller. The simulated results show that the system designed with the proposed method realizes the direct dynamic decoupling for both horizontal and vertical directions, and exhibits good robustness to the load disturbance and parameter variation.