摘要：大间隙下电磁-永磁混合悬浮系统具有非线性和大时滞性两个特点，传统的线性PID控制策略不能实现系统的稳定控制。本文通过对大间隙下系统模型进行基于平衡点的线性化处理，分析了系统特性，根据响应时间和稳态误差确定常规PID控制参数。针对系统的大时滞性，在常规PID控制基础上运用Smith预估补偿控制，采用预估补偿控制和常规PID控制相结合的控制策略。仿真结果和实验结果的表明，该控制策略实现了大间隙下电磁-永磁悬浮系统的稳定悬浮控制，响应速度快，稳态误差在1% 左右。
关键词：大间隙；混合磁悬浮；预测控制；快速响应

Abstract: This article discussed the precise control technology of the hybrid suspension under large air gap, the traditional linear PID control strategy cant achieve the stability control because of the nonlinear and large time lag. Through the linearization processing on the balance, the system characteristics were analyzed, conventional PID control parameters are determine according to the response time and steadystate error. In view of the big time lag of the system, Smith forecast compensation control strategy was applied based on the conventional PID control. The simulation results and the experimental results show that the control strategy can achieve fast response of the stable suspension control, and steadystate error can reach about 1%.
Key words: large air gap; hybrid suspension system, predictive control, fast response