铁道科学与工程学报2025，Vol.22Issue(7)：2910-2920,11.DOI:10.19713/j.cnki.43-1423/u.T20241466
基于自适应反步滑模的磁悬浮系统非线性控制方法研究
Nonlinear control method of magnetic levitation system based on adaptive backstepping sliding mode
摘要
Abstract
A nonlinear adaptive backstepping sliding mode control method was proposed to address the strong nonlinear characteristics of the levitation system and the problem of system performance degradation caused by unknown perturbations.Firstly,the dynamic characteristics of the single-point electromagnetic levitation system were analyzed.Its nonlinear mathematical model was established.Secondly,on the basis of the traditional nonlinear backstepping method,combined with the adaptive idea and the characteristics of the sliding mode control,a sliding mode surface was constructed for the second subsystem divided by the backstepping method.The sliding modulus was introduced in order to improve the system's anti-disturbance ability.At the same time,the sign function was replaced by a Sigmoid function,to weaken the chattering brought by the sliding mode control,and introducing an adaptive algorithm to estimate the electromagnetic coefficients in the electromagnetic levitation system in real time,so as to further improve the adaptability and accuracy of the control strategy.Finally,the stability of the nonlinear adaptive inverse-stepping sliding mode control method was proved by the Lyapunov stability criterion.In order to better reflect the superiority and feasibility of the proposed method,the proposed nonlinear adaptive backstepping sliding mode control method was compared with the nonlinear backstepping control method and the linear backstepping control method successively in MATLAB/Simulink simulation and physical objects.Theoretical analyses and experimental results show that the proposed nonlinear adaptive backstepping sliding mode controller improves the stability and control accuracy of the electromagnetic levitation system,as well as has stronger robustness and adaptability in the face of internal and external perturbations.In addition,the position response of the system is free of overshooting and arrives at the steady state in a shorter time compared with the nonlinear backstepping control method and the linear backstepping control method.In theory and practice,the control method not only has certain academic significance for the control of electromagnetic levitation system,but also gives a better reference for the control of other nonlinear systems with strong nonlinear characteristics and facing unknown perturbations,which has certain reference value.关键词
电磁悬浮系统/非线性模型/非线性自适应反步滑模控制/控制性能/鲁棒性Key words
electromagnetic levitation system/nonlinear model/nonlinear adaptive backstepping sliding mode control/control performance/robustness分类
信息技术与安全科学引用本文复制引用
张露洁,秦耀,杨杰..基于自适应反步滑模的磁悬浮系统非线性控制方法研究[J].铁道科学与工程学报,2025,22(7):2910-2920,11.基金项目
"十四五"国家重点研发计划项目(2023YFB4302100) （2023YFB4302100）
