基于labview磁悬浮双闭环控制系统的研究.pdf

东北农业大学硕士学位论文基于LabVIEW磁悬浮双闭环控制系统的研究姓名：金学鑫申请学位级别：硕士专业：农业电气化与自动化指导教师：@20090101摘 要 V 摘 要 随着现代工业的发展人们对搬运技术的性能要求越来越苛刻尤其是在高温高压噪音粉尘及污染的场合使用传统的搬运技术已无法满足要求所以提出了无接触式搬 运由于磁悬浮技术具有无接触无摩擦无污染等多种优点因此将磁悬浮技术作为研制无接触式搬运的技术方案可行性大本文正是针对无接触式搬运技术研究设计了一套单自由度的磁悬浮搬运系统 首先 在分析磁悬浮系统工作原理及系统组成的基础上 设计了一套磁悬浮球实验系统从系统的物理模型出发建立了系统的数学模型并线性化处理进而推导出开环系统的传递函数和系统状态空间方程采用 MATLAB/Simulink 建立了系统的仿真模型利用 MATLAB设计系统 PID 控制器 分别利用积分分离 PID 算法不完全微分 PID 算法带死区 PID 算法及综合改进的算法对系统模型进行了仿真比较仿真结果证明系统在理论上是可行的 第二针对磁悬浮球系统设计了一款数字开关功率放大器提出了一种利用MATLAB/Simulink 的 PSBPower System Block工具箱建模的方法开关功放的仿真结果验证了系统的可行性开关功放采用半桥式拓扑结构上位机采用 LabVIEW 图形化编程语言实现了数字 PID 控制算法通过数据采集卡输出可变脉宽的 PWM 脉冲信号来控制半桥电路最终功率放大器实验结果与仿真结果接近能够稳定驱动电磁铁 第三设计了位置电流双闭环 PID 控制器采用霍尔电流传感器反馈电磁铁线圈中的电流信号形成内部电流环采用激光位移传感器检测被控对象的位置信号形成外部位置 环采用双闭环 PID 控制器即可以使系统动态跟随性能得到明显改善又能提高系统对负载扰动的抗干扰性能而且还能有效提高系统对电压扰动的抗干扰性能 最后 利用LabVIEW软件设计实现磁悬浮系统的实时控制 通过NI公司生产的PCI-6221数据采集卡与外部系统相连利用数据采集卡采集传感器反馈回的位置信号及线圈的电流信号数据采集卡再将采集到的实时信息反馈给上位机经过控制器输出电压给开关功率放大器实现系统的实时控制从而最终实现了钢球的稳定悬浮 关键词磁悬浮开关功率放大器双闭环控制PCI-6221LabVIEW 东北农业大学工学硕士学位论文 VI Research on Dual closed loop control for Magnetic Suspension System Based on LabVIEW Abstract As modern industry development, the requirement to conveying technology in harsh conditions is more and more higher, especially in the situation of absolutely high temperature, extreme heavily air pressure, badly noise and contamination. The traditional conveying methods can't fulfill the requirement, so the contactless conveying appeared. For the magnetic suspension technique occupies the highlights of contactless, no friction and no contamination, it provides the feasibility of contactless technique. So one degree magnetic suspension system for contactless conveying technique was designed. At first, components and basic principle of magnetic suspension ball system were introduced. With the introduction of the physical model of the system, the accurate math model of the system was set up and linearized. The transfer function and the state space equation were deduced from the math model. On the base of system model, PID controller with MATLAB was designed. Combined with an integral separate PID control approach with dead area, an improved algorithm was elaborated, and its feasibility was proved by the simulation results. Secondly, the structure and principle of a switching power amplifier for magnetic suspension system was analyzed, and a method for modeling and simulation of the switching power amplifier control system in MATLAB was proposed. Based on MATLAB/Simulink using power system block (PSB), the simulation model of the switching power amplifier was derived in order to analyze the system performance. As an illustrative example of a practical switching power amplifier, numerical simulation and experimental method were implemented. The consistency of the final simulation results with the experimental results verified the validity of the modeling method. On the base of simulation, the power amplifier structure adopted half bridge solution. The PWM driving signals were produced by Data Acquisition Card (PCI-6221), the duty cycle of driving pulse could be modified on line. Thirdly, this system adopted control of dual closed loops. One is feedback of current, and the other is feedback of position. According to the specific value of position and the values of feedback current and position, it regulated the width of the controlling pulse of MOSFET half bridge to stabilizing and regulating the position. Using PID digital controller to improve its staticdynamic characters and vulnerability to jamming. The result showed that the controller meet the desire of the system. Abstract VII Finally, a real-time control program with LabVIEW was developed. When the program was linked to external magnetic ball system through DAQ (PCI-6221), we realized suspension steady of the ball. The result of experience has indicated that the digital controller works well and was easy to be debugged. On the whole, the digital controller guaranteed suspension steady of the ball. Key words: Magnetic suspension; Switching power amplifier; Dual closed loop control; Data acquisition card (PCI-6221); LabVIEW Candidate: ××× Speciality: Agricultural Electrization and Automatization Supervisor: Associate Prof. ××× 研究生学位论文独创声明和使用授权书 独 创 声 明 本人声明所呈交的学位论文是本人在导师指导下进行的研究工作及取得的研究成果据我所知除了文中特别加以标注和致谢的地方外论文中不包含其他人已经发表或撰写过的研究成果也不包含未获得 注如没有其他需要特别声明的本栏可空或其他教育机构的学位或证书使用过的材料与我一同工作的同志对本研究所做的任何贡献均已在论文中作了明确的说明并表示谢意 学位论文作者签名 日期 年 月 日 学位论文版权使用授权书 本学位论文作者完全了解学校有关保留使用学位论文的规定学校有权保留并向国家有关部门或机构送交论文的复印件和磁盘允许论文被查阅和借阅本人授权学校可以将学位论文的全部或部分内容编入有关数据库进行检索可以采用影印缩印或扫描等复制手段保存汇编学位论文保密的学位论文在解密后适用本授权书 学位论文作者签名 日期 年 月 日 导 师 签 名 日期 年 月 日 引言 11 引言 磁悬浮技术作为新兴机电一体化高新技术发展迅速世界各国都在大力发展磁悬浮技术磁悬浮技术是集机械工程力学电磁学电子学控制工程和计算机科学等为一体的 典型的机电一体化技术进行磁悬浮技术的研究可以实现多学科交叉渗透带动一系列高新技术发展随着电子技术控制工程信号处理元器件电磁理论及新型电磁材料的发展和转子动力学的进展磁悬浮技术也得到了长足的发展张士勇2003 1.1 研究的目的与意义 磁悬浮技术的研究广泛应用于各个领域 磁悬浮技术在运载技术 直线驱动低温超导电力电子计算机控制与信。