【作者】 丁新平；

【导师】 杨俊友；

【作者基本信息】 沈阳工业大学 ， 电力电子与电力传动， 2004， 硕士

【摘要】 本文以市科委“沈阳市科学宫的磁悬浮展品车研制”项目为背景，对磁悬浮系统进行了详细的分析并建立了较为准确的数学模型，在平衡点处进行了合理的线性化，得到了磁悬浮系统的状态方程和传递函数。在此基础上，对磁悬浮控制器的设计方法、性能指标等问题进行了研究，详尽阐述了各种控制方案，包括PID控制、线性增益状态反馈控制、双闭环控制、PI状态反馈控制及模糊-PID控制。比较了各种控制方案的优缺点。 设计并实现了模拟PID控制器对单个电磁铁的悬浮控制，系统响应快、抗扰性强，稳定性好，位移误差变化范围为±0.05mm，没有明显的振动，测试的位移曲线和电流曲线平滑，超调小，具有理想的控制效果。 由于EMS型磁悬浮列车的非线性和大迟后环节的特点，使得系统本身没有稳态工作点，系统平衡只能是一个动态平衡，其工作状态为高频振动，由此导致磁悬浮列车悬浮系统的四个电磁悬浮单元之间的机械耦合是不可避免的。针对四点悬浮时的高频机械耦合现象，设计了交错耦合调节器，对磁悬浮列车运行过程中的高频干扰信号进行了处理，有效地消除了干扰信号。从沈阳科学宫磁悬浮展品车的调试结果，可以看出，该控制器能实现磁悬浮列车的四点悬浮，得到了较好的稳定性、较强的鲁棒性，位移误差变化范围为±0.15mm，并有效地提高了系统的刚度，具有良好的控制效果。更多还原

【Abstract】 This thesis is based on the MAGLEV train model developed for Shenyang Science and Technology Museum. The magnetic suspension device is manufactured and analyzed, and the accurate mathematic model of suspension system is set up. By linearizing the mathematic model at the equilibrium point, the state and transfer functions of the system are obtained. On the basis of the mathematic model, the controllability and observability are analyzed. Furthermore, several kinds of controllers such as linear state feedback controller, PED controller, fuzzy-PID controller, PI states feedback controller are designed for the system. The simulation and experiment for these controllers are conducted, and the features and performances of each controller are analyzed.An analog PID controller is designed to fulfill the control of the suspension system. The controller has perfect performances in the homopolar magnetic suspension system. The error of displacement is within ?0.05mm, and the curves of the coil current are smooth.The EMS (electromagnet suspension system) of the maglev vehicle has nonlinear and hysteresis characters. The equilibrium point of maglev system is unstable. The four-point attraction magnetic suspension system has the coupling phenomena between single-suspension magnets, which destroy the equilibrium of maglev systems, The error of displacement is from +0.25mm to -0.25mm, so in order to acquire the expected features, a cross coupling adjustor is designed, which eliminates the coupling interfere signals. The error of displacement is reduced to ?.15mm.The satisfied performances of the developed controller are obtained in experiment.更多还原