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基于磁悬浮小车系统的自适应模糊滑模-PID混合控制方案

, PP. 93-100

Keywords: 磁悬浮,自适应模糊滑模控制器,数学模型,自适应律,监督控制器

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Abstract:

首先利用小车悬浮动能及拉格朗日方程建立了其数学模型。针对磁悬浮小车非线性、时变性的控制问题,提出了一种变论域自适应模糊滑模-PID混合控制策略。由模糊伸缩因子和滑模条件出发,根据李雅普诺夫稳定条件,导出该控制策略的自适应律;为了消除滑模抖振现象以及使模糊滑模控制与PID控制平滑过渡,特设计了监督控制器。最后进行了仿真和试验分析,结果证明了控制策略的有效性。

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