Matlab based simulation control method for nonlinear backstepping controller

A control method and nonlinear equation technology, applied in the field of simulation control of nonlinear backstep controller, can solve the problem of lack of simulation control method of nonlinear backstep controller, and achieve good dynamic tracking performance, good stability and high performance. Performance of position tracking capability, effect of high position tracking capability

Inactive Publication Date: 2017-12-08
JIANGSU MARITIME INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] At present, there is a lack of a good stability simulation control method based on Matlab nonlinear backstepping controller

Method used

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  • Matlab based simulation control method for nonlinear backstepping controller
  • Matlab based simulation control method for nonlinear backstepping controller
  • Matlab based simulation control method for nonlinear backstepping controller

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Embodiment 1

[0063] A kind of simulation control method based on the nonlinear backstepping controller of Matlab of the present invention, comprises the steps:

[0064] (1) Establish the mathematical model of the magnetic levitation ball system

[0065] Neglecting other disturbance forces on the ball, the dynamic equation of the ball in the vertical direction can be obtained from Newton's second law:

[0066]

[0067] In the formula, x is the distance from the magnetic pole to the center of mass of the ball, in m; m is the mass of the ball, in kg; F(i,x) is the electromagnetic force, in N; g is the gravitational acceleration, in m / the s 2 ;

[0068] According to Kirchhoff's law of magnetic circuit, Biot-Savart's law and law of energy conservation:

[0069]

[0070] where μ 0 is the air permeability, μ 0 =4π×10 -7 H / m; A is the pole area of ​​the iron core, the unit is m 2 ; N is the number of turns of the electromagnet coil; x is the instantaneous distance from the center of ...

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Abstract

The invention discloses a Matlab based simulation control method for a nonlinear backstepping controller. The method includes steps of (1) constructing a mathematic model of a magnetic suspension ball system in a way of neglecting other interference that may act on the ball; (2) constructing a nonlinear backstepping controller model of the magnetic suspension system and obtaining a conclusion that all tracking errors level off to zero according to LaSalle invariant theory. System stability is improved and the control rate of the backstepping controller is given by a formula (8, 9, 10). According to the invention, the magnetic suspension ball system having highly nonlinear property has good stability and high-performance location tracking capability. The adopted method is effective, and is high in modeling precision and insusceptible to external interference.

Description

technical field [0001] The invention relates to the technical field of control, in particular to a simulation control method of a Matlab-based nonlinear backstepping controller. Background technique [0002] With the development of automatic control technology, magnetic levitation technology is gradually established. It organically combines various disciplines and technologies such as mechanics, control science, electronics, electromagnetics, dynamics and computer science. It is a typical mechatronics. technology. Its main principle is to use electromagnetic force to overcome gravity, so that the support is suspended in the air. The feature of "suspension" makes it have many advantages different from traditional technologies: [0003] (1) There is no mechanical contact, no wear at all, the corresponding speed is fast, the loss is reduced, and the service life of the equipment is prolonged; (2) It can be sealed without lubrication, and can work in special environments (high ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 何金灿季斌
Owner JIANGSU MARITIME INST
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