基于LMI的磁悬浮永磁直线电动机H∞鲁棒控制器的设计

针对磁悬浮永磁直线电动机中的不确定性扰动,提出基于线性矩阵不等式( LMI)方法设计进给系统的H∞鲁棒控制器.首先,采用矢量控制方法中的id=0控制策略,把非线性系统解耦成独立的线性电流子系统和速度子系统.其次,根据H∞性能指标与线性矩阵不等式的等价性,将设计问题转化为对LMI的求解,进而得到磁悬浮永磁直线电动机系统的状态反馈H∞控制器.最后,为了验证设计的有效性,在MATLAB环境下应用Simulink建立系统的仿真模型,对控制系统进行仿真研究,结果表明所设计的H∞控制器满足对不确定性扰动抑制的要求.

Robust controller design for magnetic levitation permanent magnet linear motor based on LMI theory

Aiming at the uncertainty disturbance of magnetic levitation permanent magnet linear motor,an H∞ robust controller for driving system based on linear matrix inequality(LMI) was proposed.First,the id=0 method which is one of vector control’s methods is used for decoupling the nonlinear system to unattached linear current subsystem and speed subsystem.Second,according to the H∞ performance and the LMI equivalence,design effort converts into finding solution by LMI method,after that state feedback H∞ controller for magnetic levitation permanent magnet motor system is acquired.Finally,to verify the design effective,a simulation model is conducted by Simulink under MATLAB condition,study on simulation for the control system is made.The simulation indicated that the H∞controller could achieve the design target and have excellent uncertainty disturbance attenuation performance.