【作者】 盛蓉蓉；

【导师】 张昆仑；

【作者基本信息】 西南交通大学 ， 电力电子与电力传动， 2006， 硕士

【摘要】 磁浮列车作为一种新型的交通工具,正以其速度快、乘坐舒适、污染小、噪声低等优点受到越来越多的关注,其中悬浮技术是磁浮列车的核心和关键技术之一。悬浮性能的好坏主要取决于控制系统的设计;由于悬浮系统本身固有的非线性特性和开环不稳定性,以及参数摄动和外干扰引起的不确定性等问题,增加了悬浮控制技术的难度。因此,开展悬浮控制技术的研究具有重要意义。 本文以磁浮列车为研究对象,进行了悬浮控制器的设计,整个设计以单电磁铁为悬浮试验对象。首先,简要介绍了悬浮电磁铁的基本结构和工作原理,建立了数学模型。对影响悬浮系统性能的因素进行了分析,进而提出了相应的解决方法。设计了具有良好鲁棒性的滑模(变结构)悬浮控制器,并通过仿真与PID、状态反馈控制方法进行了对比,初步验证了滑模变结构控制器的可行性。 其次,根据单电磁铁悬浮系统的特点,设计了基于双DSP(TMS320F2812、TMS320LF2407)的数字悬浮控制器,完成了硬件系统的搭建和控制算法的编程。进行了单电磁铁悬浮试验,试验证明该控制器具有良好的稳定性和鲁棒性,对干扰信号具有令人满意的抑制效果,可以实现稳定悬浮。更多还原

【Abstract】 As a new type of conveyances, Maglev train has aroused more and more attention because of its high velocity, safety and comfort, few pollution and low noise. As to the maglev vehicle system, suspension control technology is one of the most nuclear and key techniques. The performance of magnetic suspension is determined mainly by its control system. Due to the inherent nonlinearities and open-loop instability of the magnetic suspension system, as well as the problem of uncertainties caused by parameter variety and disturbance, increase the difficulty of magnetic suspension control technology. Therefore, it has great significance to study control methods of suspension system.In this paper, based on the maglev vehicle system, the suspension controllers are designed, which mostly aims at the single magnetic levitation system (SMLS). First of all, the basic structure and principle of the SMLS will be discussed as well as a mathematical model will be founded. The factors, which influence the performance of the system, will be analyzed and the relative solution will be brought. A robust variable structure sliding mode controller is designed. The performance of variable structure controller 、 PID controller、 linear state-feedback controller are compared and evaluated, proved the feasibility and stability of the variable structure controller.After that, according to the trait of the SMLS, the digital suspension controller based on double DSPs is designed. The hardware architecture and software design flow are introduced in detail. The levitation experiment results show that the robustness, stability and disturbance suppression are verified. The SMLS’s stable suspension can be obtained by using the digital controller mentioned above.更多还原