【作者】 杨波；

【导师】 蓝益鹏；

【作者基本信息】 沈阳工业大学 ， 控制理论与控制工程， 2012， 硕士

【摘要】 磁悬浮永磁直线电动机兼有永磁电动机和直线电动机的双重优点,并具有非接触、无摩擦、无磨损等特点。在数控机床中具有广阔的应用前景。论文以国家自然科学基金项目:“数控机床直接磁悬浮永磁直线电动机及其伺服控制系统研究(项目批准号:50975181)”为背景,研究磁悬浮永磁直线电动机伺服系统。针对磁悬浮永磁直线电动机中的不确定性扰动,采用基于线性矩阵不等式(LMI)的方法设计鲁棒控制器,以保证在不确定性扰动时具有良好的鲁棒性。在课题的研究过程中主要做了以下工作:(1)分析磁悬浮永磁直线电动机的运行机理,建立磁悬浮永磁直线电动机的数学模型。磁悬浮永磁直线电动机采用两套电气上相互独立的绕组,即推力绕组和悬浮绕组,分别产生电磁推力和可控的磁悬浮力。针对推力绕组,得到磁悬浮永磁直线电动机进给系统在d ? q坐标系的数学模型。(2)对磁悬浮永磁直线电动机采用矢量控制方法把非线性系统解耦成独立的线性电流子系统和速度子系统。然后根据H∞性能指标与线性矩阵不等式的等价性,将进给系统的设计问题转化为对LMI的求解,进而得到磁悬浮永磁直线电动机系统的状态反馈H∞控制器。在MATLAB环境下应用Simulink搭建系统的仿真模型,对控制系统进行仿真研究,以检验该控制策略对不确定性扰动抑制的有效性。(3)论文应用矢量控制原理,以DSP TMS320F2812芯片为系统的控制核心,三菱公司PM15RSH120智能功率模块作为逆变器开关器件,运用空间电压矢量脉宽调制技术,构建一个基于DSP的磁悬浮永磁直线电动机控制系统平台。同时设计中采用电流传感芯片IR2175电流检测电路、保护电路等。并进行实验研究。更多还原

【Abstract】 Magnetic levitation permanent magnet linear motor, which partakes of both permanent magnet motor and linear motor, has many advantages such as no contact, and no friction etc. It has a broad application prospect. This dissertation has project background of the National Natural Science Foundation which is titled“Study on the direct magnetic levitation permanent magnet linear motor of CNC machine tools and its servo control system (No. 50975181)”. This dissertation researches on the magnetic levitation permanent magnet linear servo driving system. Aiming at the uncertainty disturbance of magnetic levitation permanent magnet linear motor, an H∞robust control design for driving system based on linear matrix inequality (LMI) was proposed in order to make the magnetic levitation permanent magnet linear servo driving system has good robust performance when disturb uncertainly. The main contents are as follow.First, the mechanism of the servo driving system is discussed and a mathematical model is constructed. There are two independent winding with respect to electric on rotor, one can be used to produce magnetic driving, and the other can be used to adjust levitation. For the driving winding, the mathematical model is obtained under rotating d-q reference.Second, for magnetic levitation permanent magnet linear servo driving system, the vector control’s method is used for decoupling the nonlinear system to unattached linear current subsystem and speed subsystem. According to the H∞performance and the LMI equivalence, design effort converts into finding solution by LMI method, after that a state feedback H∞controller for magnetic levitation permanent magnet motor system is acquired. To verify the design effective, a simulation model is conducted by Simulink based on MATLAB.Third, applied the vector control theory, the design of the magnetic levitation permanent magnet servo system is proposed in this paper which uses the digital signal processor TMS320F2812 as the control center and utilizes Intelligent Power Module PM25RSH120 of MITSUBISHI as apparatus of the inverter as well as the Space Vector Pulse Width Modulation as the control algorithm. At the same time, current detection circuit with current sensor chip IR2175 and protection circuit is designed. And experiments are conducted.更多还原