基于matlab研究磁悬浮控制系统.docx
MATLABBASEDMAGNETICLEVITATIONCONTROLSYSTEM(基于MATLAB磁悬浮控制系统研究)系统介绍磁悬浮系统是典型的非线性系统。目前，绝大多数磁悬浮控制器都是基于非线性磁悬浮系统在平衡点的线性模型设计的线性控制律。当系统的平衡点发生变化时，系统的动态特性会发生显著变化。MAGNETICLEVITATIONSYSTEMISATYPICALNONLINEARSYSTEMTHECURRENTVASTMAJORITYOFCONTROLLERSWHICHBELONGSTONONLINEARMAGNETICLEVITATIONSYSTEMAREBASEDONALINEAREQUILIBRIUMMODELTODESIGNFORTHELINEARCONTROLLAWWHENTHEEQUILIBRIUMPOINTOFTHESYSTEMCHANGES,THEDYNAMICCHARACTERISTICSOFTHESYSTEMWILLCHANGESIGNIFICANTLY磁悬浮系统利用电磁力控制刚体悬浮的空间位置。其工作原理是控制电磁绕组的电流，产生等同于刚体重量的电磁力，使刚体稳定悬浮在平衡位置。其工作原理是控制电磁绕组的电流，产生等同于刚体重量的电磁力，使刚体稳定悬浮在平衡位置。由于电磁力与悬浮空气间隙之间存在非线性反比，该平衡不稳定。一旦受到电压脉动或风等外部干扰，刚体就会脱落或吸入，因此必须进行闭环控制。MAGNETICLEVITATIONSYSTEMUSESELECTROMAGNETICFORCETOCONTROLTHESUSPENDEDSPATIALPOSITIONOFTHERIGIDBODYITSWORKINGPRINCIPLEISTOCONTROLTHEELECTRICCURRENTOFELECTROMAGNETWINDINGSTOPRODUCEELECTROMAGNETICFORCEWHICHISEQUIVALENTTOTHEWEIGHTOFTHERIGIDBODY,MAKINGTHERIGIDBODYSUSPENDEDINSTABLEEQUILIBRIUMPOSITIONDUETOTHENONLINEARINVERSERELATIONSHIPBETWEENTHEELECTROMAGNETICFORCEANDSUSPENDEDAIR,THISBALANCEISNOTSTABLEINTHEEVENTOFOUTSIDEINTERFERENCESUCHASVOLTAGEFLUCTUATIONORWIND,RIGIDBODYWILLFALLOFFORSUCKUPSOITISNECESSARYTOIMPLEMENTCLOSEDLOOPCONTROL使用位置传感器在线获取刚体位置信号，控制器处理位移信号产生控制信号，电源放大器根据控制信号产生所需电流并送电磁铁，电磁铁产生相应的磁力来克服重力，使刚体稳定在平衡点附近。WITHONLINEACCESSTOTHELOCATIONPOSITIONOFTHERIGIDBODYBYTHEUSEOFSENSORSIGNAL,CONTROLLERPRODUCECONTROLSIGNALTHROUGHDISPLACEMENTSIGNALPROCESSINGANDTHEPOWERAMPLIFIERGENERATETHEREQUIREDCURRENTACCORDINGTOCONTROLSIGNALSANDSENTTOELECTROMAGNETSWHICHMAKECORRESPONDINGMAGNETICTOOVERCOMEGRAVITY,RESULTINGINTHESTABILITYOFRIGIDBODYINTHEEQUILIBRIUMPOINT磁悬浮由于其无接触的特点避免了物体之间的摩擦和磨损，能延长设备的使用寿命，改善设备的运行条件，因而在交通、冶金、机械、电器、材料等各个方面有着广阔的应用前景。MAGNETICLEVITATIONSYSTEMCANAVOIDFRICTIONANDWEARBETWEENTHEOBJECTDUETOITSNONCONTACTCHARACTERISTICSITCANALSOEXTENDTHESERVICELIFEOFEQUIPMENTANDIMPROVEOPERATINGCONDITIONSOFTHEEQUIPMENTSOITHASBROADAPPLICATIONPROSPECTSINTHETRANSPORTATION,METALLURGY,MACHINERY,ELECTRICAL,MATERIALSANDOTHERASPECTS模型介绍控制对象是由铁磁性材料制成的球体。球的高度是HT，线圈电流为IT磁悬浮动力学方程和线圈电路电压方程分别为CONTROLOBJECTISASPHEREMADEOFFERROMAGNETICMATERIALBALLHEIGHTHT,COILCURRENTITMAGLEVKINETICEQUATIONSANDMAGNETICCIRCUITVOLTAGEEQUATIONS22DHTITMGKH?????????1ITLURITM是球的质量，G加速重力，L线圈电感，R线圈电阻，K系统的输入是线圈电压UT，输出是球的高度HT．WHEREMISTHEBALLQUALITY,GISACCELERATIONDUETOGRAVITY,LISTHECOILINDUCTANCE,RISTHECOILRESISTANCE,KISTHECOUPLINGCOEFFICIENTBETWEENMAGNETICFIELDANDTHEBALLTHESYSTEMISCOILVOLTAGEUT,OUTPUTTHEHEIGHTOFTHEBALLHT当球与电磁铁保持适当的距离时，电磁吸引力和重力平衡。如果球的高度下降过多，磁场的力就会减弱，球就会下降。如果球离磁铁太近，磁场就会太强，把球拉到磁铁上，这也会破坏系统的稳定性。WHENTHEREISANAPPROPRIATEDISTANCEBETWEENTHEBALLANDELECTROMAGNET,THEMAGNETICATTRACTIONANDGRAVITYBALANCEDIFTHEHEIGHTOFTHEBALLDROPTOOMUCH,THEFORCEOFMAGNETICFIELDBECOMEWEAKLEAVINGTHEBALLDROPIFTHEBALLISTOOCLOSETOTHETHEMAGNET,MAGNETICFIELDWILLBETOOSTRONGANDTHEBALLWILLBEPULLEDTOTHEMAGNET,WHICHWILLALSOUNDERMINETHESTABILITYOFTHESYSTEM假设球的预期高度为H。，该位置称为平衡点，重力等于电磁吸引力。使加速度为零，并找到维持该位置的预期电流ASSUMETHATTHEEXPECTATIONHEIGHTOFTHEBALLISH。,THELOCATIONKNOWNASTHEEQUILIBRIUMPOINT,WHEREGRAVITYANDMAGNETICATTRACTIONAREEQUALSOACCELER