基于DSP的磁悬浮轴承数字控制器研究检测技术与自动化装置专业论文.docxVIP

山东科技大学硕士学位论文摘要 山东科技大学硕士学位论文 摘要 摘要 磁悬浮轴承是利用磁场力将转子无机械摩擦、无润滑地悬浮在空间的一种新型高 性能轴承。它是一种高新技术，涉及到电磁学、机械学、转子动力学、控制理论和计 算机科学等众多领域。本文的工作是研究基于 DSP 的磁悬浮轴承的数字控制器。主要 内容为： 首先，介绍了磁轴承的发展和研究现状。然后，在简要分析了磁悬浮轴承工作原 理的基础上，推导了单自由度情况下电磁力与控制电流、转子位移之间的非线性关系。 并在此基础上，进一步分析了二自由度情况下转子的受力情况。其次，设计了基于 DSP(TMS320VC33)的数字控制器硬件系统，包括 AD 采样电路，DA 输出电路，串口通讯 电路等，并对各部分电路进行了实验调试。再次，针对磁悬浮轴承系统的固有特性， 在不同的区间采用了不同的控制算法，即在轴承的线性范围内采用 PID 算法，该算法 具有动态响应快、调节时间短和无静差等优点，而在非线性情况下采用模糊控制算法， 该算法是一种本质非线性的控制算法，能够很好的矫正系统中的非线性因素。编制了 5 自由度磁轴承的控制算法软件，AD 中断软件以及 DSP 和 PC 机的通讯软件。最后，调试 了模糊+PID 算法的控制系统，对 5 自由度磁悬浮轴承系统进行了悬浮试验，得到了单 自由度和二自由度转子的起浮曲线，与模拟 PID 的响应曲线进行了比较，对系统的刚 度进行了验证，并在电磁兼容方面进行了分析研究。 关键词：电磁轴承；DSP；模糊+PID；PID；串行通讯；刚度 ABSTRACT Active magnetic bearing (AMB) is a new type supporting part. It was a typical mechatronics product and involved electromagnetic, mechanics, rotordynamics, control theory and computer science. The emphasis of the dissertation was placed on the digital controller of the AMB and the main contents listed as follows: Firstly, this paper summarized the general situation and the current development of the electromagnetic bearing control technique and the key problems that face. Secondly, on the basis of the principle of the magnetic bearing, the paper deduced the nonlinear relationship between the magnetic force and control current, rotors displacement in single-degree- of-freedom, from which the magnetic force formula under two-degree-of- freedom was presented. Thirdly, the hardware system based on TMS320VC33 was presented including AD circuit, DA circuit, serial communication circuit and etc. Experiment was carried out on each part. Fourthly, to the inherent characteristics of the AMB, different control algorithms were adopted under different scopes. In the linear scope PID algorithm was applied to eliminate the static error and improve the dynamic performance. And in the nonlinear scope the fuzzy logic algorithm was adopted to suit for the nonlinear characteristic