摘要: 悬浮系统控制技术是磁浮列车的研究关键技术之一。相较于其他一般系统，磁悬浮系统的一重要特征就是其典型非线性，要解决对磁悬浮的控制应用问题，就要先解决对磁悬浮系统的非线性控制。本课题的研究对象是磁悬浮球系统，课题设计一种磁悬浮非线性控制的方案，使小钢球可以悬浮于磁悬浮系统中并维持其平衡状态。本课题利用非线性控制理论中的反馈线性化的原理去实现对磁悬浮这一非线性系统的控制，其中主要是利用状态变换和反馈变换使磁悬浮球系统的非线性模型线性化，最后利用状态反馈对磁悬浮系统进行控制。本课题设计的仿真验证过程是使用 MATLAB中的 simulink模块搭建出非线性控制器模型并对所设计的控制器进行仿真调试，使被控对象即小钢球的被控状态的位置输出偏差量达到的控制性能指标的基本要求。仿真实验结果表明，本课题设计的非线性控制器能使磁悬浮闭环系统具有良好的控制性能，闭环极点的选择离虚轴越远，响应速度越快。而且抗干扰的能力也更强，能提高模块的悬浮控制性能。
毕业论文关键词: 磁悬浮球系统；非线性控制；反馈线性化；MATLAB仿真
Nonlinear control system design of magnetic suspension
Abstract: Suspension system control technology is one of the key technologies of Maglev train。 The subject of this thesis is the magnetic suspension system。 A nonlinear maglev control scheme is designed to make the small steel ball suspended in the magnetic suspension system and to maintain its balance state。 In this paper, we use the principle of feedback linearization in nonlinear control theory to control the nonlinear system of magnetic suspension and the Simulink MATLAB module to build a nonlinear controller model and simulation debugging of the designed controller to make the controlled object namely the position output deviation of small ball when in the controlled state to achieve the fundamental requirement。 Using the Simulink MATLAB module to build a nonlinear controller model and simulation debugging of the designed controller to make the controlled object namely the position output deviation of small ball when in the controlled state to achieve the fundamental requirement。 The simulation results show that the nonlinear controller designed in this paper can make the maglev closed-loop system get good control performance, and the farther the closed-loop pole is, the faster the response speed is from the virtual axis。 Moreover, the anti-interference ability gets stronger, as a result the suspension control performance of the module improved。
Key words: magnetic suspension; nonlinear control; feedback linearization; MATLAB simulation
目录
1 绪论 1
1。1 课题的目的和意义 1
1。2。1 国内研现状与水平 2
1。2。2 国内研现状与水平 3
1。3 发展趋势 3
1。4 课题主要内容 3
2 磁悬浮球系统其原理与特性 5
2。1 磁悬浮球系统的基本构成 5
2。1。1 磁悬浮实验装置构成原理 磁悬浮非线性控制系统设计MATLAB仿真:http://www.youerw.com/zidonghua/lunwen_87518.html