【作者】 李亮；

【导师】 王晓光；

【作者基本信息】 武汉理工大学 ， 测试计量技术与仪表， 2008， 硕士

【摘要】 磁悬浮技术是一门新兴的机电一体化技术,由于其具有无摩擦、无磨损、无需润滑、寿命长、低功耗、无噪声等优点,在军事、空间站、核工业、能源、化工、交通等领域有广泛的应用前景和科学意义,业已引起了世界各国科学界的特别关注。磁悬浮系统性能的优劣很大程度上取决于控制器的特性,高精度、高响应频率和输出小受外界干扰的特性以及磁悬浮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,这些在很大程度上限制了磁悬浮技术的开发和应用。因此开展磁悬浮支持技术的研究,为磁悬浮飞轮电池和磁悬浮转子技术应用于工业提供技术储备和可能性,具有重要的理论价值和现实意义。本文以磁悬浮盘片为研究对象,分析磁悬浮系统构成和一般工作原理,利用磁场向心效应,搭建了以PC机为控制平台的五自由度磁悬浮盘片实时控制试验平台并研究相关的控制问题和磁场向心效应。首先,本文介绍磁悬浮技术的发展与应用,在分析了一般磁悬浮系统的硬件组成后,提出了通过数据采集卡和模拟输出卡将磁悬浮试验平台与PC相连来构成磁悬浮控制系统的方案,详细介绍了硬件系统中关键元件,如传感器、功率放大器等的工作原理、性能要求。接着,分析了针对具体控制对象(盘片)控制信号的解耦,介绍一般PID控制算法原理并提出了积分分离式PID控制、抗积分饱和等改进方案并成功应用到磁悬浮盘片系统中,通过不断的调试实现了盘片的稳定悬浮。最后,研究了两种不同滤波算法对系统稳态性能的影响,探讨了盘片磁场向心效应,设计出具体实验验证其存在并分析其在盘片系统中的应用,通过试验得出了此系统中磁场向心力与偏移距离的关系。通过以上设计和研究,实现了磁悬浮盘片的稳定悬浮,为高速高精磁悬浮转子系统的设计与制造和车载飞轮电池磁悬浮转子的基础理论及关键技术的深入研究打下了基础。更多还原

【Abstract】 Magnetic levitation is a relatively new technology in mechanic and electronics and has been paid special attention to in the scientific community of the world,because of its many merits such as no mechanical friction,no wear,no need of lubrication,long longevity,low power loss,and no-noise,etc.Thanks to these merits,this technology has abroad application foreground in the fields of military affairs,space station, nuclear industry,energy sources,chemical plant,transportation and so on.The performance of magnetic levitation is determined mainly by the characteristic of its controller and solving the problems of the high precision,high response frequency,output immune from the disturbance,the parameter perturbation and the uncertain factors from outside is very difficult.These problems have greatly limited the development and implication of Magnetic Levitation technology in the industrial world.Therefore,developing the magnetic suspension technology research can supply the technology reserve and possibility for its application in industry and has very important theory value and practical significance.On the basis of magnetic plane as the research object,this paper analyzes the operation principle of magnetic system, utilizes the centripetal effect of magnetic field in order to build PC-based control experimental system for the 5-freedom-degree magnetic plane system.Firstly,the paper presents the development and implication of Magnetic levitation technology and analyzes the common architecture of magnetic levitation system,then puts forward design method that connect the PC and experimental platform through DAQ.The working principle and performance requirements of key components have been presented in a detailed way.Secondly,the decoupling equations of the control signals have been given.After that,PID algorithm has been introduced and some improving methods such as integral-separated control have been discussed.With successful implication of the improved PID algorithm,the plane has finally suspended after debugging.Finally,the paper researches the influences on performance of two different filtering algorithms,discusses centripetal effect of magnetic field in this specific system,designs an experiment to verify the effect and the relations between the centripetal force and the distance.Through the design and research above,stable magnetic suspension of the plane has been realized.The research contributed on the design and manufacture of high speed high prccision magnetic rotor system and also grounded dcep going research for the future.更多还原