磁悬浮类论文.docVIP

基于MATLAB的磁悬浮控制系统设计 摘 要 本文建立了单块钢板、垂直带钢、水平带钢这三种钢板磁悬浮系统，基于对系统中电磁力模型和非线性运动方程的分析，建立起三种钢板磁悬浮系统的非线性系统模型，并设计出一个兼顾三种系统共性与异性的综合性系统框图。基于MATLAB对非线性系统所做的仿真研究，显示出钢板磁悬浮系统具有典型的非线性和不稳定性。其后以典型带钢磁悬浮系统为代表，建立了线性化的系统电流控制及电压控制对象模型。 在PID控制器设计中，针对电流控制对象模型，采用了一种针对不稳定对象的PID控制器设计方法，并对其控制结果进行了分析；对于电压控制对象模型，采用极点配置的方法设计PID控制器，初步取得了较为满意的控制效果。 根据混合灵敏度设计方法，对电流控制对象进行的H∞控制器设计，得到满意的控制效果后，进一步通过仿真讨论了加权函数的选择的问题，从仿真结果上看，H∞控制器实现了较好的鲁棒性。其后对电压控制对象同样进行H∞控制器设计，得到的仿真结果显示了H∞控制器对于电压控制对象同样具有较好的控制效果。 关键词：钢板，磁悬浮，MATLAB，PID，H∞控制Study on Magnetic Suspension Control System Based on MATLAB Abstract In this paper steel plate, vertical strip and horizontal strip are three kinds of object for magnetic suspension research. Based on the analysis of electromagnetic force model and nonlinear equation, nonlinear system model of the three kinds of suspension system is established. Later on, a comprehensive system diagram giving attention to both common character and differentia of the three kinds of magnetic suspension systems is designed. Simulation result of the nonlinear system based on MATLAB helped to make a further understanding of the system nonlinearity and instability. Current controlled and voltage controlled linear system model of vertical strip is established as an example. A kind of PID controller design method for unstable object is introduced to design PID controller for the current controlled magnetic suspension system model, and the control result is analyzed. For the voltage controlled system model, pole point method is taken to design the PID controller, and good result is achieved. Based on mixed-sensitivity method, H∞ controller is designed for the current controlled system. Influence of weighting function selection and different weight of control object on the control result is obtained by simulation to get a further understanding of the robust character of the H∞ controller. The same controller design method is taken for the voltage controlled system object, and good result is achieved. Key words: Steel