摘要：磁悬浮由于其无接触的特点从而避免了物体之间的摩擦和磨损，能够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、能源、航天等各个领域有着广阔的应用前景。

磁悬浮是一个典型的非线性复杂系统，可以通过非线性系统的线性化方法得到系统的线性化模型，然后利用线性控制算法对其对象进行控制。也可以利用非线性控制理论对其进行控制。由于磁悬浮不确定性以及开环不稳定性增加了其控制的难度。本课题根据磁悬浮系统工作原理来建立相应的的数学模型，采用了二次最优控制以及专家控制设计智能控制器。二次最优控制将二次型函数指标作为控制系统的性能指标，利用线性二次型最优控制理论实现对磁悬浮系统的平稳控制。专家控制采用各种专家知识与传统PID的结合。最后使用SIMULINK对磁悬浮系统进行仿真，仿真结果表明磁间隙将回到在期望的平衡点，取得较好的控制效果。58092

毕业论文关键字：磁悬浮系统；智能控制器；二次最优控制；专家控制

Magnetic levitation system of intelligent controller design

Abstract ：Due to its non-contact magnetic levitation characteristics so as to avoid friction and wear between objects, can extend the life of equipment, improving the operating conditions of the equipment, which in transportation, metallurgy, machinery, energy, aerospace and other fields have broad application prospects .

Maglev is a typical nonlinear complex systems can be linearized model of the system by linearization method of nonlinear systems and linear control algorithms to control its object. You can also use non-linear control theory to control it. Because magnetic levitation uncertainty and open-loop instability increases the difficulty of its control. According to this study magnetic levitation system works to establish the corresponding mathematical model, using the quadratic optimal control and expert control design intelligent controller. Quadratic optimal control is quadratic function indicators as performance control system using the linear quadratic optimal control theory for smooth control of the maglev system. Expert control using a combination of a variety of expert knowledge and traditional PID. Finally, the use of magnetic levitation system SIMULINK simulation results show that the magnetic gap will be back at the desired equilibrium point, to achieve better control effect.

Keyword ：Magnetic Levitation System；Intelligent Controller；Quadratic Optimal Control

目录

1 绪论 1

 1.1  磁悬浮技术综述 1

  1.1.1 磁悬浮技术发展背景 1

  1.1.2 磁悬浮技术研究现状及应用 2

 1.2 磁悬浮控制方法介绍 3

 1.3 本课题的研究背景及主要内容 5

  1.3.1 本课题的研究背景 5

  1.3.2 本课题的主要内容 5

2  磁悬浮系统的基本构成及调试 6

 2.1  磁悬浮系统的构成 6

  2.1.1  磁悬浮系统实验设备 6

  2.1.2  磁悬浮系统实验电控箱 7

  2.1.3  磁悬浮系统实验平台 7

 2.2  磁悬浮系统的基本调试 7

  2.2.1  硬件安装