基于GA的磁悬浮球系统的Anti-windup变结构PI控制

磁悬浮球系统是一个开环不稳定的强非线性系统，而且其控制输入-驱动电流必须在限定范围内变化。为了使输出的位移达到期望的位置，本文采用Anti-windup变结构PI控制器，结合遗传算法优化P、I、的值，来使小球达到最理想的位置输出。实验结果表明，与常规PI控制器比较，Anti-windup变结构PI控制可以更快速稳定的跟踪期望位置，振荡幅度明显减少。

Anti-windup Variable Structure PIcontrol of Magnetic Levitation Ball System Based on GA

The magnetic levitation ball system is a strongly nonlinear system with an open loop instability,and its control input and drive current must vary within a limited range.In order to make the output displacement reach the desired position,anti-windup variable structure PI controller is adopted in this paper to optimize the values of P,I andwith the combination of genetic algorithm,so as to make the ball reach the optimal position output.The experimental results show that,compared with the conventional PI controller,anti-windup variable structure PI control can track the desired position more quickly and stably,and the amplitude of oscillation is significantly reduced.