基于环形耦合的直线电梯电磁悬浮控制系统研究

发布时间：2018-03-24 05:09

本文选题：磁悬浮导向系统　切入点：直线电梯　出处：《沈阳工业大学》2017年硕士论文

【摘要】：现今,无论在生产和生活方面,越来越多的领域应用了磁悬浮科学技术,在国内的列车、轴承以及机床等领域的应用已经获得了成功,但目前国内,磁悬浮技术在直线电梯领域的应用还处于初级阶段。在直线电梯运行过程中,由于该直线电梯的磁悬浮导向系统运行条件存在难以预测的变化,并且其自身的载重也将发生实时改变,并且其还将受到众多不确定的外部干扰的影响。在此,选取直线电梯磁悬浮导向系统作为本文的研究对象,并且重点研究对直线电梯的四个x轴方向上的单磁悬浮装置的同步控制控制方法。首先,本文详细介绍了通过分析直线电梯的磁悬浮导向系统的结构特征所得到的“Eight-Maglev”的直线电梯的控制结构。并以水平面上的四个电磁悬浮导向装置作为其研究对象,搭建x轴方向上的单磁悬浮装置的数学模型,并且深入研究了该数学模型的特点。同时,考虑到该模型为非线性的,需要对其进行线性化处理,针对这一问题,本文使用状态精确反馈线性化方法以保证该模型的精确非线性。其次,针对磁悬浮电梯导向系统的快速跟踪性和鲁棒性等问题,提出了自适应模糊滑模-PID(Variable Universe Adaptive Fuzzy Sliding Mode-PID,VUFSC-PID)控制策略。采用将自适应模糊滑模控制和PID控制相结合的控制方法,这种控制方法通过变论域模糊控制器调节参数,实现参数的自适应实时调整。利用Matlab在该控制策略下对单磁悬浮装置进行仿真,并与传统滑模控制和PID控制相比较,结果表明该控制方法可以有效的改善由于系统结构导致的控制效果不稳定的现象。最后,针对能够影响多单磁悬浮装置的同步误差的多种因素,同时对主从控制、主令控制、交叉耦合控制、偏差耦合控制、环形耦合控制等进行结构特征比较,并分析出上述控制结构的优点与不足,最终采用环形耦合控制结构。由于单磁悬浮装置之间存在机械耦合,本文采用模糊逻辑算法的位置补偿器的环形耦合控制结构来提高单磁悬浮装置的同步运动精度。利用Matlab对主从控制、主令控制、环形耦合控制进行仿真,仿真结果表明环形耦合控制结构相对于其他的几种控制结构保证系统在稳定性和同步性能等方面有不同程度的提高。
[Abstract]:Nowadays, no matter in production and life, more and more fields have applied maglev science and technology, and have been successfully applied in train, bearing and machine tool fields in China, but at present, The application of maglev technology in the field of linear elevator is still in the primary stage. During the running of the linear elevator, the operating conditions of the maglev guiding system of the linear elevator are difficult to predict. And its load will be changed in real time, and it will also be affected by many uncertain external disturbances. In this paper, the linear elevator magnetic levitation guidance system is selected as the research object. The synchronous control method of the single magnetic levitation device in the four x-axis directions of the linear elevator is studied. First of all, This paper introduces in detail the control structure of "Eight-Maglev" linear elevator, which is obtained by analyzing the structural characteristics of the maglev guide system of the linear elevator, and takes four electric maglev guiding devices on the horizontal plane as its research object. The mathematical model of the single magnetic levitation device in the direction of x axis is built, and the characteristics of the mathematical model are studied in depth. Considering that the model is nonlinear, it is necessary to linearize it. In this paper, the state exact feedback linearization method is used to ensure the accurate nonlinearity of the model. Secondly, aiming at the problems of fast tracking and robustness of the magnetic levitation elevator guidance system, An adaptive fuzzy sliding mode Universe Adaptive Fuzzy Sliding Mode-PID-PID-VUFSC-PID-PID-VUFSC-PID-PID-VUFSC-PID-PID-VUFSC-PID-VUFSC-PID-PID-VUFSC-PID-PID-VUFSC-PID-PID-VUFSC-PID-PID-VUFSC-P@@. The single magnetic levitation device is simulated by Matlab under the control strategy and compared with the traditional sliding mode control and PID control. The results show that the control method can effectively improve the instability of the control effect caused by the system structure. Finally, aiming at many factors that can affect the synchronization error of the multi-single magnetic levitation device, the master-slave control and the master-order control are also discussed. The structure characteristics of cross coupling control, deviation coupling control and ring coupling control are compared, and the advantages and disadvantages of the above control structure are analyzed. Finally, the ring coupling control structure is adopted. In this paper, the loop coupling control structure of position compensator based on fuzzy logic algorithm is used to improve the synchronous motion accuracy of single magnetic levitation device. The master-slave control, master command control and ring coupling control are simulated by Matlab. The simulation results show that the loop coupling control structure can improve the stability and synchronization performance of the system in varying degrees compared with other control structures.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TU857

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