磁悬浮的PID控制系统设计+MATLAB仿真
关键字： 磁悬浮系统；PID控制器；MATLAB仿真；磁悬浮间隙4210
The design of maglev PID control system
Abstract：
Maglev Train is a new rail transport with high speed, low noise, small vibration, safe and comfortable.By understanding this topic maglev system’s working theory establishing levitation control system dynamic equations, the voltage balance equation, obtaining the transfer function of the system’s mathematical model, validated that this system is controllability and observability.This topic designed magnetic levitation maglev root locus correction,frequency domain correction and PID controllers through research object.Using the software MATLAB simulation tuning of the PID controller parameters, the pole-zero of root locus corrector, the response curves of frequency domain corrector ,receiving good control effect.Finally,real-time controlling magnetic levitation control system, real-time control of suspension experiments shows that magnetic levitation system has good adaptability to obtain a higher control precision.
KeyWords: Maglev system; PID controller; MATLAB simulation; levitation gap
目 录
1 绪论 - 1 -
1.1本课题的内容及意义 - 1 -
1.2 磁悬浮技术综述 - 1 -
1.2.1 磁悬浮方式分类 - 1 -
1.2.2 控制方式分类 - 2 -
1.3 磁悬浮技术的应用及展望 - 2 -
2 磁悬浮系统的结构与建模 - 5 -
2.1磁悬浮系统的结构 - 5 -
2.1.1磁悬浮的组成 - 5 -
2.1.2 磁悬浮系统的工作原理 - 6 -
2.2系统的建模 - 7 -
2.2.1控制对象的动力学方程 - 7 -
2.2.2系统的电磁力模型 - 8 -
2.2.3电磁铁中控制电压和电流的模型 - 9 -
2.2.4功率放大器模型 - 10 -
2.2.5系统平衡的边界条件 - 11 -
2.2.6系统方程的描述 - 11 -
2.2.7系统模型线性化处理 - 11 -
2.2.8系统控制模型的建立 - 14 -
2.2.9系统物理参数 - 15 -
2.2.10实际系统模型 - 15 -
2.2.11系统可控性分析 - 16 -
2.2.12 系统的阶跃响应分析 - 17 -
3磁悬浮系统跟轨迹设计和频域设计 - 18 -
3.1根轨迹的校正和仿真 - 18 -
3.1.1根轨迹的校正 - 18 -
3.1.2根轨迹的MATLAB计算仿真 - 20 -
3.2频率响应控制器的设计 - 25 -
3.2.1频率响应设计及仿真 - 26 -
3.2.2 频率响应校正方法设计 - 35 -
4 PID控制器的设计 - 37 -
4.1 PID控制器的基本原理 - 37 -
4.2位置式PID控制算法 - 38 -
4.3 增量式PID控制算法 - 39 -