磁悬浮直线电动机H∞鲁棒控制器及其蚁群算法优化设计

Magnetic levitation linear motor H-infinity robust controller design and optimization of ant colony algorithm

中文关键词  磁悬浮永磁直线电动机  鲁棒控制  蚁群优化  Riccati不等式

英文关键词  maglev magnet linear motor  robust control  ant colony optimization  Riccati inequality

中文摘要

      磁悬浮永磁直线电动机在结构上取消了机械传动的中间环节, 具有磁悬浮和直接驱动的特点. 针对磁悬浮永磁直线电动机由于悬浮高度不同, 在磁悬浮和直接驱动运行过程中存在自身参数摄动和外界干扰突出的问题, 设计基于蚁群算法的H∞鲁棒控制器, 以保证系统对这些不确定性具有良好的鲁棒性. 建立包含磁悬浮永磁直线电动机参数摄动和外界干扰的状态空间模型. 推导出无须满足正则条件约束的Riccati不等式, 给出H∞鲁棒控制器的解析表达式. 针对H∞控制器中加权矩阵选择的困难, 采用蚁群算法对加权矩阵进行寻优. 最后在MATLAB环境下对控制系统进行仿真研究. 仿真实验表明基于蚁群算法的磁悬浮永磁直线电动机控制系统的性能比优化前有较明显改善, 说明该方法的可行性和有效性.

英文摘要

      Magnetic levitation permanent magnet linear motor has the characteristics of magnetic suspension and direct drive, and in the structure of the motor the mechanical transmission of the intermediate links is cancelled. For the existence of parameters perturbation and outstanding external disturbance in the process of magnetic levitation and direct drive running which due to suspension height is different, H-infinity robust controller based on ant colony algorithm is designed to ensure that the system has good robustness to these uncertainties. Establish the state space model of the magnetic levitation permanent magnet linear motor contains parameter perturbation and external disturbance. Riccati inequality that does not need to satisfy the regularity condition is deduced, and the analytical expression of robust H-infinity controller is given. For difficulties in selecting weighted matrix of H-infinity controller, using ant colony algorithm for optimization. Finally, simulation of control system is studied in the matlab environment, the simulation result shows that the performance of maglev linear motor control system based on ant colony algorithm is obviously improved than before, illustrates the feasibility and effectiveness of the method.