基于DSP的磁悬浮系统鲁棒控制控制科学与工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract The magnetic suspension technique is widely used in the area of space technology, as it has the characteristic of non-contact and non-pollution. In this paper, a magnetic system is designed, which can make bearings stable suspension and acquire accuracy position. This paper analyzes the mechanical and electronic structure of the magnetic suspension system, and introduces its control operation principle. Based on the electromagnetic force equations, the transfer function of the single degree of freedom bearings model is established by linearization at the equilibrium point, and then the horizontal and vertical transfer function are founded, which is the foundation of consequent chapters. The hardware and software design are included in the electronic control system design. In the hardware design, the overall structure is firstly introduced, and then all circuits are considered, which the control circuit based on DSP2812 is the key point. While the design thoughts and flow-charts of A/D, control algorithm, D/A, and the soft realization are introduced in the software design. Since uncertainties of the model coefficients and the disturbance cannot be neglected, robust control method are chosen. Based on the thought of dynamical compensator design method, considering robust stabilization and disturbance attenuation, together with minimum control effort, the robust dynamical compensators are designed. Experiments and simulation results demonstrate both the stability and performance robustness of the designed system. In the end, based on the model of magnetic suspension system, the H∞ mixed sensitivity optimization controller is designed, through the process of analyzing uncertainties, choosing weighting functions and using the MATLAB robust control box. Under the H∞ controller, the stability and performance are satisfied. Then under some coefficient disturbance, the controller still performs well. Keyword: magnetic suspen