磁浮开关磁阻电机悬浮力的反馈线性化PID控制

推导磁浮开关磁阻电机轴向悬浮力数学模型。针对悬浮力控制的严重非线性，设计双环控制的轴向悬浮力控制器。反馈线性化控制将复杂的非线性对象转变为简单的线性控制系统，结合PID控制实现精确的位移跟踪，电流内环则实现了绕组实际电流对期望电流的跟踪控制。仿真与实验测试了系统在空载、负载、突加负载时的位移跟踪性能，验证了所提出控制方法的可行性及有效性。

Axial Suspending Feedback Linearization PID Control for Magnetic Suspending Switched Reluctance Motor

An axial suspending control strategy of magnetic suspending switched reluctance motor was proposed. The axial force mathematical model of magnetic suspending switched reluctance motor was analyzed. Aiming at serious nonlinear characteristic of suspending force, the double closed loops-based axial suspending force controller was designed. The complicated nonlinear object was transformed into a simple linear system using the feedback linearization control strategy. Furthermore, the PID was combined with the feedback linearization strategy to fulfill an accurate displacement tracking control. And the inner current closed-loop forced the actual winding current to follow the expected current. Simulation results show that the rotor displacement can quickly follow the given displacement under conditions of no-load, under-load and even a sudden load. Experimental results demonstrate the correctness and availability of the scheme.