由于磁悬浮系统参数时变及外界干扰的存在,采用预测函数控制会产生较大的预测误差,导致系统性能变差.针对这个问题,提出了一种基于内模补偿的预测函数控制方法.采用内模控制器的输出修正预测函数控制(PFC)补偿系统的控制量,克服不确定因素的影响,改善系统的控制品质.仿真和试验结果表明,该方法不仅能使磁浮球装置中的小球快速到达平衡位置,而且提高了系统的抗干扰能力和控制精度.%The time varying parameter of the magnetic levitation ball system and the disturbance in the working environment result in a large prediction error of the predictive functional control, which will make the system performance worse. To solve the prediction error problem,an internal model controler is designed based on the predictive functional control. The internal model controler is used to modify control voltage of predictive functional control(PFC) to overcome the interference of uncertainty and improve the control system performance. Simulation and experimental results show that the proposed controller can make the ball achieve stable suspension in a short time and improve the anti - interference ability and control accuracy.
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