单自由度磁悬浮系统的设计与控制研究

【作者】 杨锋力；

【导师】 黄明辉； 李群明；

【作者基本信息】 中南大学 ， 机械电子工程， 2005， 硕士

【摘要】 磁悬浮技术是一门新兴的机电一体化技术,其优点明显:无机械摩擦、不需润滑、功耗低、噪音小、可以大大延长机械本体的使用寿命等等。利用磁悬浮技术将铁磁性平台悬浮在磁场中,通过直线电机无接触驱动,结合控制技术实现快速精密定位已经越来越得到重视。磁悬浮系统性能优劣很大程度上取决于传感器和控制方法的特性,高精度、高响应频率和输出不受外界干扰的传感器以及磁悬浮系统中参数的摄动和外界不确定的干扰因素都是难以解决的棘手问题,传统的传感装置和控制方法很难满足系统要求,因此展开传感器和控制方法的研究与设计有着非常重要的现实意义。 本文针对磁悬浮系统中传感器与控制系统两个方面存在的问题进行研究。设计了光电位移传感装置,建立了单自由度磁悬浮系统实验台。然后针对该实验台建立其电流电压模型。以系统模型为基础展开理论分析,设计了数字PID控制器和H_∞控制器。通过计算机仿真比较以上两种控制方法的效果,且分析其悬浮性能。结果表明:与经典PID控制相比,基于H_∞控制器的单自由度磁悬浮系统有更加良好的稳定性和鲁棒性,且在较短的时间内达到平衡,对干扰信号的抑制取得了令人满意的效果。 实验中采用DSP芯片作为控制器,设计出相应的数字控制器,进一步通过实验验证以上控制方法的效果。实验结果充分肯定了基于H_∞控制方法设计的H_∞控制器的优越性:可以实现系统稳定悬浮,具有较强的鲁棒性和抑制干扰能力。更多还原

【Abstract】 Magnetic Levitation is a relatively new Technology in Mechanic and electronics, it has lots of merits, such as no mechanical contact, no need of lubrication, no wear, less noise and can improve the service time of the equipments etc. It has been paid more attention to drive a levitated work stable though linear motor. It’s characters highly depend on the sensor and the method of control. It is difficult for the magnetic levitation system to get the high precision, high frequency, and steady sensor and compensate the variety of the parameters and the uncertainties from outside. The traditional ones cannot reach the needs of the system. It has great significance to study and analyze the sensor and control methods in magnetic levitation system.In this paper, to overcome the difficulties Photo-electric Sensor and single freedom degree device were studied and designed. And then the mathematical models based on current and voltage of the magnetic levitation system was build. More studies are discussed base on the mathematical models; the important thing is to find an easy and advanced control method. Base on the traditional control method(PID) and the advanced control method(H_∞ Theory), designed two kinds of compensator. And then compare the performance of these two controllers through computer simulation. The results show: The magnetic levitation system will be more stable and robust base on the H_∞ control theory. The system can be stable situation in short time.In system experiment, design the numerical compensator based on the DSP chip (TMS320LF2407). And prove the control method through more experiments. Results show: Compensator based on H_∞ theory is suitable for the system, can levitate the steel ball steadily and is more robust.更多还原