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Control Design for Magnetic Levitation Systems

Author: ZhuXiao
Tutor: ZhouShaoSheng
School: Hangzhou University of Electronic Science and Technology
Course: Control Theory and Control Engineering
Keywords: Maglev system Feedback linearization backstepping method Model transformation Output regulation
CLC: TP273
Type: Master's thesis
Year: 2009
Downloads: 84
Quote: 1
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Abstract


Magnetic levitation technology because of its non-contact, frictionless, high-precision positioning, low power consumption, no lubrication, long service life and a series of advantages, in recent years has been more and more the attention of researchers at home and abroad. The core and key technologies of magnetic levitation technology is magnetic levitation control system design, its performance will directly determine entire maglev system performance, system stability, stiffness, anti-interference ability. Maglev system is a strongly nonlinear, uncertain, open-loop unstable system, which have increased the difficulty of magnetic levitation controller design. Therefore, the magnetic levitation controller design problem and explore a new type of magnetic levitation control method has very important theoretical and practical significance. In this paper, a single magnet magnetic levitation system for the study. The system has the advantages of simple structure, easy modeling and performance analysis is relatively easy, and can greatly shorten the study period. The same time, the multi-degree-of-freedom magnetic levitation system, can learn from a single degree of freedom magnetic levitation system has been made in many meaningful research. In this paper, the main contents include three aspects: (a) on the basis of a detailed analysis of the composition and working principle of the single magnet magnetic levitation system structure, based on the magnetic circuit Kirchhoff theorem, Newton's law of electromagnetic induction theorem to establish the mathematical model. Then based on the equilibrium point, expand its linearization and direct feedback linearization method, the linear model and system-based analysis and simulation results show that the open-loop system is unstable, it needs to be feedback control design. At the same time, based on the nonlinear characteristic of the magnetic levitation system itself, to create a non-linear model. Based on equilibrium point began a linear model, the design of the maglev system PID controller, controller control system Matlab \\ Simulink simulation observed. And then based on direct feedback linearized model, based on a given performance indicators, we use two dominant pole plus one from the dominant pole more distant pole configuration method, the poles of the system configuration, the design of the maglev system status feedback controller . By observing the simulation results, we can see that the two linear controllers meet our design requirements. By comparing the simulation results, it can be seen, the state feedback controller having a better interference suppression. Select a new state variable of the system model conversion, the suspension system control design problem converted to an output regulation problem. Backstepping design method based on the converted model, nonlinear suspension controller. Performance analysis results show that the designed controller is applied to the system before the conversion, you can ensure that the closed-loop system signals are bounded and, by selecting the appropriate control parameters, you can ensure that the output of the system tends to any given value. Matlab \\ Simulink simulation results verify the above conclusions. Same time, by the simulation result, the control performance with a linear controller to compare. The content of this part of the research for the innovation of this paper, the methods used in the design of the controller is a useful exploration of the magnetic levitation control technology.

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