磁悬浮系统的模糊控制器设计
本课题详细介绍了模糊自适应PID控制器的设计方法和步骤。首先，本课题对磁悬浮系统进行建模，得到其数学模型，并分析它的能控性。然后，根据模糊PID控制算法理论设计模糊PID控制器。利用SIMULINK建立磁悬浮系统的仿真模型，进行仿真并分析得到的仿真数据。最后，利用实时工具箱中的实时控制模块，重新搭建实时控制系统，对磁悬浮控制系统中钢球的悬浮位置实现精确的控制。研究结果表明，模糊自适应PID控制器可以使磁悬浮控制系统拥有较好的稳态性能和动态性能。24512
毕业论文关键词：磁悬浮系统；模糊控制；模糊PID控制器；参数整定
A fuzzy PID controller design for magnetic levitation system
Abstract: In the project, a fuzzy PID controller is designed that based on GML1001 magnetic levitation experiment device. It is created by taking advantage of the superiority of PID Controller and Fuzzy Controller. It can make fuzzy Inference based on fuzzy rule base and automatically adjust PID's three parameters online according to the size of the system deviation, direction, and change trend, so as to achieve the purpose of more satisfactory control effect.
The project introduces the design method and steps of fuzzy PID controller. First, the project is modeled on the magnetic levitation control system to obtain its mathematical model, and analyze its controllability. Then, according to the theory of fuzzy PID control algorithm,the fuzzy PID controller is designed.The project build the simulation model of magnetic levitation control system through the SIMULINK ,simulates and analyzes the simulation data obtained.Finally,the project use real time control module in the real-time toolbox to build a real-time control system to achieve the precise control of the steel ball’s suspension position in the magnetic levitation control system. Running results show that magnetic levitation control system has good steady state and dynamic characteristics with the fuzzy adaptive PID Controller.
Key words: magnetic levitation system; Fuzzy Control; the Fuzzy PID Controller; Parameters tuning
目录
1 绪论 1
1.1 课题的目的和意义 1
1.2 国内外研究现状及研究方向 2
1.2.1 国内外研究现状简介 2
1.2.2 研究方向 2
1.3 课题的主要工作 3
2 磁悬浮系统的分析与建模 5
2.1 磁悬浮系统的分析 5
2.1.1 磁悬浮的硬件组成 5
2.1.2 光电位置传感器分析 5
2.2磁悬浮的物理模型 8
2.2.1 控制对象的动力学方程 8
2.2.2 系统的电磁力模型 8
2.2.3 电磁铁中控制电压与和电流的模型 9
2.2.4 功率放大器模型 10
2.2.5 系统平衡的边界条件 10
2.2.6 系统方程的描述 11
2.3 系统模型的线性化处理 11
3 PID控制理论 14
3.1 PID的算法和参数 14
3.1.1 位移式PID算法 14
3.1.2 增量式PID算法 14
3.1.3 积分分离PID算法 15
3.1.4 不完全微分PID算法 15
3.2 PID参数对系统控制性能的影响 16
3.3 PID控制器的选择 17