磁悬浮系统的常规控制方法研究要点分析.doc

题 目：磁悬浮系统的常规控制方法研究 摘 要 磁悬浮的作用是利用电磁力克服物体的重力，使物体沿着或绕着某一基准框架的一轴或几轴保持固定位置不变，悬浮体和支撑之间没有任何接触。因而克服了由摩擦带来的能量消耗和速度限制，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，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、高响应频率和输出不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，传统控制难以满足系统要求，因此对控制方法的研究有其非常重要的意义。 本文首先详细介绍了磁悬浮系统的基本组成及工作原理，并且利用动力学和电磁学原理在实验的基础上建立了磁悬浮系统的数字模型，运用PID控制、根轨迹、频域响应、状态空间等控制方法，研究磁悬浮系统的稳定性，指出磁悬浮系统是本质不稳定的，需通过控制器对其稳定控制。 其次，系统的研究了PID控制方法的特点与PID控制器的工作原理以及PID控制器的参数整定，然后，简单的介绍了根轨迹法、MATLAB以及MATLAB中的Simulink, 在实验的基础上推导磁悬浮系统的的数学模型在Simulink上进行仿真。 最后，本文通过建立磁悬浮控制系统的数字模型，设计了磁悬浮PID控制器，并对系统应用MATLAB仿真，绘制其根轨迹曲线和Bode图，进而分析了系统稳定性，根据传递函数搭建了simulink的仿真模型，在示波器中观察阶跃响应波形，适当调节PID参数，是系统动态性能达到良好。 关键词： 磁悬浮； PID控制器； 根轨迹； simulink仿真 Abstract The role of Maglev system is to use of electromagnetic force to overcome the objects gravity，and the object maintain a fixed position along or around one or few axis of a reference framework with no contact between the suspension and the support. Thus overcoming the energy consumption and speed limits caused by friction, 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. 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. The traditional methods cannot meet the needs of the system. So it has great significance to study the control method of magnetic levitation. This paper details the basic components and suspension system works, and the use of dynamics and electromagnetic theory on the basis of the experimental maglev system built digital models, the use of