Research On Robust Control For A Six Degree Of Freedom Magnetic Levitation Platform

Taking a six degree of freedom maglev platform as the research object, after analyzing its motion process, the L2 robust controller for the horizontal direction and the H? robust controller for the vertical direction have been designed for the purpose of overcoming the problem that during the system operating, it suffers the self-parameter perturbation, the input coupling and the system coupling between horizontal and vertical operation.Firstly, the thesis summarized the maglev system construction and the operation principle, analyzed the platform linear driving theory, and discussed the advantages and disadvantages of different types of maglev platforms. The maglev platform has a six degree of freedom operating range. However, since T shape rotor has the asymmetric force during the platform operating and some unknown disturbance, and the horizontal operation of the platform has an effect on the vertical operation, the system can be considered as a complex control object. After analyzing the electric principle and the force analysis of the maglev platform, two simplified mathematic models have been built up for the horizontal and vertical operation.Secondly, after deeply researching the L2 robust control theory, combining the system horizontal operating, building the storage function, and recusing the control algorithm by the back-stepping theory, a speed controller has been designed. The theoretical analysis shows that the system can be controlled without decoupling. The control system is simple and easy to achieve. The simulating results shows that suffering the outside disturbing, the system can overcome it with short time reaction and represent a good accuracy.In the end, after researching the H? robust control algorithm, and decoupling the system inputs, the H? control algorithm has been applied to the vertical operation of the platform. The parameter of the controller can be calculated by the MATLAB software package. The simulation shows that comparing with the traditional PID controller; the H? robust controller has a better ability of overcoming the disturbing.