多维磁悬浮隔振系统动力学模型与控制策略

磁悬浮隔振系统具有非线性、强耦合、高响应、宽频带等特点，系统的隔振控制目标与其定子和浮子之间的位置约束相互制约，这对系统的精密控制提出了较大的挑战。为解决该问题，建立了面向控制的六自由度磁悬浮隔振系统非线性动力学模型，并提出了双闭环控制策略，使系统在低频到中高频带内实现隔振控制，在极低频带内实现跟踪控制。采用PD定点控制算法，在MATLAB/Simulink环境中开发了控制系统仿真程序，通过分析不同扰动频率下浮子的绝对运动响应以及定子与浮子之间的相对运动响应，获得了系统的隔振控制与跟踪控制仿真结果。搭建了磁悬浮隔振平台样机测试系统，验证了动力学模型的正确性和控制策略的有效性。

Dynamic model and control strategy of multi-dimentional maglev vibration isolation system

The maglev vibration isolation system has the characteristics of nonlinearity, coupling, high response and wide band. The vibration isolation control target and the position constraint between the stator and the floater is restricted by each other, which brings a great challenge on precision control. To solve the problem, a six degrees-of-freedom nonlinear dynamic model of the maglev vibration isolation system for control is established and a double-closed-loop control strategy is put forward. Through that, the system can achieve vibration isolation control in low and medium frequency band and achieve motion tracking control in the very-low frequency band. PD fixed-point control algorithm is adopted and a control system simulation program is developed in MATLAB/Simulink environment. By analyzing the absolute motion response of the floater and the relative motion response between the stator and the floater for different disturbance frequencies, the simulation results of isolation control and the tracking control are obtained. A test system of the maglev vibration isolation platform prototype is setup, and the correctness of the dynamic model and the validity of the proposed control strategy are verified.