文章基本信息

标题：Two Robust Control Methods for an Electromagnetically Levitated Vehicle
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作者：Tahereh Taleshian ; Farzaneh Akhgari ; Abolfazl Ranjbar Noei 等
期刊名称：International Journal of Mechatronics, Electrical and Computer Technology
印刷版ISSN：2305-0543
出版年度：2014
卷号：4
期号：13
页码：1604-1621
出版社：Austrian E-Journals of Universal Scientific Organization
摘要：In this work, an electromagnetically levitated vehicle prototype is controlled. The vehicle levitation is achieved through the control of the gaps of the electromagnets. The system is open loop, unstable and highly nonlinear with a very restrict equilibrium region. In this paper, two robust controllers are designed and compared. A sliding mode control is applied for increasing robustness, modeling uncertainties and reducing disturbance responses, while LQG/LTR controller is one which allows the designer to shape the principal gains of the return ratio at either the input or the output of the plant, to attain robust stability and performance specifications. The simulation results show that the closed-loop system provides robust stability, while having good tracking and disturbance rejection and noise attenuation
关键词：Electromagnetically Levitated Vehicle; Sliding mode control; LQG/LTR ; design; Kalman filter; Performance and Robustness