【作者】 吕辉榜；

【导师】 周祖德；

【作者基本信息】 武汉理工大学 ， 测试计量技术及仪器， 2008， 硕士

【摘要】 磁悬浮技术具有无摩擦、无磨损、无需润滑以及寿命长等一系列优点,在能源、交通、航空航天、机械工业和生命科学等高科技领域具有广泛的应用背景。控制器是磁悬浮系统中的重要环节,其性能与系统的稳定性及各项技术指标有着密切关系。控制器应如何设计才能使系统稳定地工作并达到预期的性能指标是研究磁悬浮系统必须解决的问题。而控制器的核心是控制算法及其实现。对单自由度磁悬浮系统进行研究是研究主动磁悬浮技术的一个有效方法,它是多自由度磁悬浮装置的简化与去耦,在研究各种控制器算法,运用新技术方面具有重要的作用,可以为较复杂系统的设计与调试提供硬件和软件的准备。为了研究一种磁悬浮控制系统快速开发方法和设计一个方便研究复杂控制算法的平台,本文基于MATLAB的快速控制原型开发方法设计了单自由度磁悬浮球系统。本文对单自由度磁悬浮球系统进行分析后,建立其数学模型,确定控制器方案并设计了PID控制器。以快速控制原型技术为基础,提出了基于MATLAB/RTW的快速控制原型开发平台,并在此平台上搭建磁悬浮球实时控制系统,完成了磁悬浮球快速控制原型开发。进而在快速控制原型上尝试了变参数PID和滑模变结构复杂控制器算法仿真及实现。经实验仿真分析发现,变参数PID控制器不论是上升时间和超调量,还是调节时间都明显优于传统PID控制器;变结构控制器与控制对象的参数及外界扰动无关,具有快速响应、抗干扰等优点使系统具有较好的动态性和很强的鲁棒性。本文验证了基于MATLAB的快速控制原型开发方法能有效应用在磁悬浮控制系统开发上,并且设计出的单自由度磁悬浮控制系统能为磁悬浮控制算法的分析和研究提供很好的平台。更多还原

【Abstract】 Magnetic suspension technology,which has a series of advantages such as contact-free,no friction,no wear,no need of lubrication and long life expectancy,is widely concerned and adopted in high-tech areas such as energy,transportation, aerospace,industrial machinery and life science.The controller is one of key parts in the magnetic suspension system.And its performance has close relations with the system stability and other various technical indicators.How to design the controller to enable the system to work stably with good anticipated performance indicators is a kind of vital problems on studying magnetic suspension system.The core of controller is the control algorithm and its realization.Conducting research of single degree-of-freedom magnetic suspension system is an effective method of studying active magnetic suspension technology, and it is a kind of simplification and the decoupling of multi-degree-of-freedom magnetic suspension installment.It has a vital role of doing research on each kind of controller algorithm and utilizing new technique.And it would provide the hardware and software’s preparation for the complicated system’s design and the debugging.In order to study a kind of fast method of exploiting magnetic suspension control system and to design a platform for debugging complex control algorithm,a rapid control prototype of single degree-of-freedom magnetic suspension ball was provided and designed based on MATLAB.After the analysis of single degree-of-freedom magnetic suspension ball system, its system mathematical model was established,and its PID controller was designed. With the base of rapid control prototyping technology,rapid control prototyping exploring platform was proposed based on MATLAB/RTW.After building magnetic suspension ball Real-Time control system,the rapid control prototype of magnetic suspension ball system was completed.Then variable parameters PID algorithm and sliding mode variable structure algorithm were attempted and realized in the rapid control prototype.Via simulation analysis and Real-Time experimental verification,it was found that the control effect of the variable parameters PID controller was better than that of the conventional PID controllers;and it was showed that the sliding mode variable structure controller was robust against external disturbances and the dynamic properties of the system were upstanding and robust.It was confirmed that the exploitation method of rapid control prototyping based on MATLAB was applied effectively in the magnetic suspension control system’s development,and this control system platform was good for the algorithm analysis and research of magnetic suspension control system.更多还原