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基于微分平坦的磁悬浮移动平台控制研究
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国家自然科学基金面上项目(61179012);吉林省发改委项目(2019C058-1);吉林省教育厅项目(JJKH20200042KJ);吉林省科技厅项目(20200404203YY);吉林省教育厅科学技术研究项目(JJKH20180342KJ)


Research on Control of Maglev Mobile Platform Based on Differential Flatness
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    摘要:

    由于磁悬浮移动平台具有强非线性,目前各类智能算法只能对磁悬浮移动平台进行定位移动,并不能使磁悬浮移动平台的动子沿着期望轨迹到达预定位置。为了解决磁悬浮移动平台动子的轨迹跟踪及其精准性等问题,将微分平坦理论与磁悬浮移动平台控制相结合。磁悬浮移动平台系统是微分平坦系统,而微分平坦理论具有特殊性,可以将强非线性系统转化为线性系统后进行控制。搭建磁悬浮移动平台的数学模型,在MATLAB/Simulink中进行仿真。结果表明:微分平坦控制的磁悬浮移动平台能够使其动子按照期望轨迹进行运动,且精度更高、跟踪性更强,具有实用性。

    Abstract:

    Due to the strong nonlinearity of the magnetic levitation mobile platform,all kinds of intelligent algorithms can only locate and move the magnetic levitation mobile platform,and cannot make the mover of the magnetic levitation mobile platform reach the predetermined position along the expected trajectory.In order to solve the problem of trajectory tracking of magnetic levitation mobile platform movers and its accuracy,the differential flatness theory was combined with the control of the magnetic levitation mobile platform.Maglev mobile platform system is a differential flatness system,and the differential flatness theory has its particularity,which can convert a strong nonlinear system into a linear system for control.The mathematical model of the maglev mobile platform was built and simulated in MATLAB/Simulink.The results show that the maglev mobile platform with differential flatness control can make its movers move according to the expected trajectory with higher accuracy,stronger tracking and practicability.

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王旭,胡珈宁,李夺,周振雄.基于微分平坦的磁悬浮移动平台控制研究[J].机床与液压,2023,51(24):19-25.
WANG Xu, HU Jianing, LI Duo, ZHOU Zhenxiong. Research on Control of Maglev Mobile Platform Based on Differential Flatness[J]. Machine Tool & Hydraulics,2023,51(24):19-25

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  • 在线发布日期: 2024-01-05
  • 出版日期: 2023-12-28