磁悬浮飞轮转子系统的快速Terminal滑模控制

针对磁悬浮飞轮(MSFW)高精度控制的要求,提出了磁悬浮飞轮转子的快速Terminal滑模控制(FTSMC)以实现其鲁棒控制。建立了MSFW动力学方程,对MSFW受控自由度引入交叉反馈设计实现了各自由度解耦,分析并选取了三阶非线性微分跟踪器得到所需的微分信号,设计了快速Terminal滑模控制器,并利用Lyapunov函数证明了该控制系统的稳定性。仿真结果表明,与采用普通滑模控制相比,该控制系统具有状态响应快、系统状态在设定时间内迅速收敛以及抖振小等特点。

Fast Terminal Sliding Mode Control of Magnetic Suspend Flywheel Rotor System

Aiming at high-precision requirement of magnetic suspend flywheel(MSFW),fast terminal sliding mode control of the magnetic suspend flywheel rotor is presented in order to realize its robust control.Dynamics equation of MSFW is established and cross-feedback is introduced for controlled degree of freedom in order to decouple all degree of freedom.Third-order nonlinear tracking differentiator is chosen so that differential signal can be gotten.Fast terminal sliding mode controller is designed and the asymptotical stability of the closed-loop system is guaranteed using Lyapunov method.Simulation results show that the controller gains advantages over conventional sliding mode control,which states respond quickly,system states are convergent in stated time and chattering is very little.