Application Of Adaptive Control Algorithm In Maglev System

Today,with the rapid development of control theory,new control theories are constantly being proposed and applied to practice,combining theory with practice.While nonlinear control theory is advancing by leaps and bounds,different application environments also put forward requirements on control strategies,and various control strategies have their own limitations.Since the maglev technology was proposed by academia,it has been favored by researchers.The technology has broad application prospects in transportation,electric power and other industries.However,due to its own nonlinearity and open-loop instability.When designing control strategy,strict state feedback and output feedback can not be adopted directly in the magnetic levitation system.In the process of designing the magnetic levitation system,the design of the controller is the core link.The theory of nonlinear control strategies is combined with the actual control object to achieve the unity of theory and practice.This article will design four different controllers for the third-order magnetic levitation system,and prove the stability of the system,as well as simulate and experimentally verify the control performance.This article will design four kinds of adaptive controllers for the third-order magnetic levitation system,namely the adaptive output feedback controller based on K-filter,the improved K-like adaptive output feedback controller based on K-filter,the adaptive output feedback controller based on MT-filter and the adaptive output feedback controller without observer.The output feedback controller is used in the magnetic levitation system,but some state feedback needs to be introduced in the system.First,the structure of the K-filter observer is improved to form a K-like observer similar to its structure.On the basis of the K-filter,the observer is improved to achieve better control effects,And an adaptive output feedback controller based on K-like observer is designed.In the design process,which takes the adaptive output feedback controller based on K-filter as an example;the first step is to establish a mathematical model of the third-order magnetic levitation model to separate the available state variables and position parameters of the system;the second step is to observe the unmeasurable speed state variables through the K-like observer;the third step,through the use of backstepping design,the system stability function,adaptive law and overall controller are designed;finally,the Lyapunov function is used to prove the stability of the entire system and analyze the stability of the system.Then the K-filter observer is constructed to design the adaptive output feedback controller.Then the K-filter observer is constructed to design the adaptive output feedback controller,and the same steps is used to design the adaptive output feedback controller based on the K-filter observer,and the Lyapunov function is used to prove the stability of the system,which write down the Lyapunov function of the entire system,find its derivative,and judge whether the system is stable according to the derivative of the Lyapunov function,so as to complete the proof of system stability.Based on the MT-filter adaptive controller and the observer-less adaptive controller are common methods in the process of adaptive controller design.The MT-filter method and the K-filter method have the same design theory principles in terms of designing the controller.,but the design process of the adaptive controller based on MT-filter is relatively complicated.By comparing the control effects of the MT-filter-based adaptive controller and the No observer adaptive controller with the first two controllers,the differences in the control effects of these four control methods are compared.