南京理工大学学报（自然科学版）Issue(1)：72-77,6.
磁悬浮球系统的分数阶滑模控制
Fractional order sliding mode control of magnetic levitation ball system
摘要
Abstract
A method of fractional order sliding mode control is proposed for the typical nonlinearity and uncertainty of magnetic levitation ball system. In order to overcome the chattering effect in traditional sliding mode control, design method of the fractional order sliding mode control is given by using fractional order PDμ structure design in the sliding surfaces function of the traditional sliding mode controller in combination with constant speed reaching law. The stability of the control method is proved by Lyapunov stability theory,and using the Tustin algorithm and continued fraction expansion method,the fractional order sliding mode controller is discretized. The results of the simulation and ex-periment show that fractional sliding mode controller makes the magnetic levitation ball system have good tracking performance and strong robustness to external disturbance.关键词
磁悬浮球系统/分数阶滑模控制/实时控制/鲁棒性Key words
magnetic levitation ball systems/fractional-order sliding mode control/real-time control/robustness分类
信息技术与安全科学引用本文复制引用
张井岗,方线伟,赵志诚..磁悬浮球系统的分数阶滑模控制[J].南京理工大学学报（自然科学版）,2014,(1):72-77,6.基金项目
山西省自然科学基金(2012011027-4) （2012011027-4）
