磁悬浮技术是集电磁学、电子技术、控制工程、信号处理、机械学、动力学为一体的典型的机电一体化技术。本文所设计的磁悬浮球控制系统实验平台是一种单自由度的磁悬浮控制平台,单自由度磁悬浮系统具有结构简单,性能评判相对容易,科研周期短,研究成果应用广泛的特点。本实验平台可以使用多种控制器和控制方法,适用于相关人员的研究和实验工作。研究和设计磁悬浮球控制系统实验平台是本文的主要工作,本文在分析磁悬浮球控制系统工作原理的基础上,设计了一套磁悬浮球控制系统实验平台。本文着重介绍了磁悬浮球控制系统实验平台的硬件设计,介绍了包括位移传感器、控制器、功率放大器的设计过程。在此基础上,本文利用MATLAB的实时控制功能(RTW)设计了基于计算机的磁悬浮PID数字控制器。所研制的数字控制器软件设计方法简单、性能稳定、实时调试方便。
The frictionless electromagnetic control system
The Magnetic Levitation System (MLS) is a nonlinear, open-loop,unstable time varying frictionless dynamical system. The basicprinciple of MLS operation is to apply the voltage to anelectromagnet to keep a ferromagnetic sphere levitated. Moreover,the sphere can follow a desired position value varying in time. Thecoil current is measured to explore identification and multi loopor nonlinear control strategies. To levitate the sphere a real-timecontroller is required. The equilibrium stage of two forces (thegravitational and electromagnetic) is maintained by the controllerto keep the sphere in a desired distance from the magnet. Thesystem is fully integrated with MATLAB/Simulink and operates in thereal-time in MS Windows. In the case of two electromagnets thelower one can be used for external excitation or as a contractionunit. This feature extends the MLS application and is useful inrobust controllers design. The PC equipped with the RT-DAC/PCI I/Oboard communicates with the power interface. The user can createhis own controller in a fast and easy way. Another MLS variant isshown on the left. Instead of the infrared position sensoring themagnetic flux is measured.
