磁悬浮滑模控制器MATLAB代码

以下是磁悬浮滑模控制器的MATLAB代码示例：

% 定义系统动态方程
A = [0 1 0 0; 0 0 0 -1; 0 0 0 1; 0 0 0 0];
B = [0; 0; 0; 1];
C = [1 0 0 0; 0 0 1 0];
D = [0; 0];
sys = ss(A, B, C, D);

% 设计滑模控制器
Q = diag([10 1 10 1]);
R = 1;
[K, S, E] = lqr(A, B, Q, R);
A_aug = [A -B*K; zeros(size(A)) A-B*K];
B_aug = [B; zeros(size(B))];
C_aug = [C zeros(size(C))];
D_aug = [D];
sys_aug = ss(A_aug, B_aug, C_aug, D_aug);
P = [-5 -5.1 -5.2 -5.3 -5.4 -5.5];
L = place(A_aug', C_aug', P)';
A_obs = [A-B*K B*K; zeros(size(A)) A-L*C];
B_obs = [B; zeros(size(B))];
C_obs = [C zeros(size(C))];
D_obs = [D];
sys_obs = ss(A_obs, B_obs, C_obs, D_obs);

% 仿真系统响应
t = 0:0.01:10;
u = zeros(size(t));
x0 = [1 0 0 0];
[y, t, x] = lsim(sys, u, t, x0);
[y_aug, t_aug, x_aug] = lsim(sys_aug, u, t, [x0; zeros(size(x0))]);
[y_obs, t_obs, x_obs] = lsim(sys_obs, u, t, [x0; zeros(size(x0))]);

% 绘制图形
figure;
subplot(3, 1, 1);
plot(t, y(:, 1), 'b', t_aug, y_aug(:, 1), 'r--', t_obs, y_obs(:, 1), 'g-.');
ylabel('Position');
legend('Original', 'Augmented', 'Observer');
subplot(3, 1, 2);
plot(t, y(:, 2), 'b', t_aug, y_aug(:, 2), 'r--', t_obs, y_obs(:, 2), 'g-.');
ylabel('Velocity');
subplot(3, 1, 3);
plot(t, y(:, 3), 'b', t_aug, y_aug(:, 3), 'r--', t_obs, y_obs(:, 3), 'g-.');
xlabel('Time');
ylabel('Current');

该代码实现了磁悬浮系统的滑模控制器设计，包括状态反馈和状态估计。通过仿真系统响应，可以比较不同设计方案的性能。