针对由三棱柱布置形成的三轨电磁悬浮系统耦合点多,悬浮控制难度大的问题,提出一种模糊滑模控制方法以实现对各耦合点的单独控制。根据三轨电磁悬浮系统的特定结构对该系统模型的旋转运动进行解耦分析,解出可以独立控制旋转偏移角与悬浮气隙高度的控制量,建立模糊化输入、输出和模糊规则,将模糊化后的控制量与系统误差进行滑模控制,使系统悬浮误差快速收敛到零。为了验证模糊滑模控制器对系统悬浮的控制效果,搭建模糊滑模控制仿真及试验模型。结果表明,相较于原有的控制方法,模糊滑模控制响应速度快,抗干扰能力强,有利于悬浮过程中的振动控制。

To address the challenges posed by multiple coupling points and high difficulty in controlling levitation in a three-track electromagnetic levitation system arranged in a triangular prism configuration, a fuzzy sliding mode control method was proposed to achieve independent control of each coupling point. Based on the specific structure of the three-track electromagnetic levitation system, a decoupling analysis of the rotational motion of the system model was conducted to obtain control variables that could independently control the rotational offset angle and the levitation air gap height. Fuzzy input, output, and rules were established, and the fuzzy control variables were integrated with system errors for sliding mode control, enabling the system's levitation error to converge rapidly to zero. To verify the effectiveness of the fuzzy sliding mode controller in controlling the system's levitation, both simulation and experimental models were developed. The results showed that compared to traditional control methods, the fuzzy sliding mode control had a faster response, stronger anti-interference ability, and was beneficial for vibration control during the levitation process.

国家自然科学基金(52277166, 51837009, 51922090);四川省科技总项目(2019JDJQ0019)