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题名	可控永磁体直接反馈线性化悬浮控制策略研究; 可控永磁体直接反馈线性化悬浮控制策略研究
作者	1张海波,电工研究所
学位类别	硕士
答辩日期	2009-05-31
授予单位	中国科学院电工研究所
导师	1史黎明,电工研究所
关键词	混合悬浮系统 非线性控制 直接反馈线性化 状态反馈控制 Hybrid magnets suspension system, nonlinear control, Feedback Linearization, state-feedback control
其他题名	可控永磁体直接反馈线性化悬浮控制策略研究
中文摘要	相对于传统的EMS型电磁悬浮系统，电磁永磁混合悬浮磁悬浮系统的悬浮力主要由高磁能积的永磁体提供。电磁部分提供的悬浮力根据悬浮间距的变化而产生相应的调节，维持系统的稳定。永磁体的引入，使得电磁永磁混合悬浮电磁铁的等效间隙比传统的电磁铁大，是一种开环不稳定的高阶系统，具有强非线性的特点。混合悬浮系统的线性模型构建对控制效果影响很大。 文章构建了电磁永磁混合悬浮系统直接反馈线性化方法的线性模型，即通过数学变化，实现对系统非线性部分的精确对消从而获得适用于全局的线性模型。论证了混合悬浮系统进行直接反馈线性化的充分性。对线性化数学模型的状态反馈控制进行了分析、仿真和实验。证明，该模型在全局范围的动态性能保持一致，使用状态反馈控制能够保证系统的全局稳定性。 根据直接反馈线性化方法的线性模型，对滑模控制方法进行了研究。表明基于直接反馈线性化模型的状态反馈控制效果良好，易于实现，是一种简单有效的非线性控制方法。对线性化后的控制方案进行了研究。基于直接反馈线性化模型的滑模变结构控制在抗扰性上优于基于直接反馈线性化模型的状态反馈控制，但其控制器设计较为复杂，可在今后进一步深入开展实验研究。 对基于泰勒展开线性化的数学模型和状态反馈控制进行了研究。基于泰勒展开的线性化模型能够满足控制的需要，但不能满足混合悬浮系统等效大悬浮间隙、强非线性的特点，基于该模型的状态反馈系统在工作气隙变化较大时，动态性能变化很大，难于保证系统的全局稳定性。因此基于泰勒展开线性化模型的状态反馈控制器适用在悬浮气隙变化不大的情况。 文章根据提出的新型线性化模型下的状态反馈悬浮控制，在实现稳定悬浮的情况下，对混合励磁直线同步电机的矢量控制原理进行了分析，设计了牵引控制器，并开展了悬浮牵引的实验。实验表明在稳定悬浮的情况下，矢量控制实现了良好的牵引效果。 In contrast with the traditional EMS maglev system, the suspending force of the hybrid magnets suspension system is provided mainly by the permanent magnets with high magnetic energy product. The electromagnets of the hybrid magnets suspension system provide the power to adjust the air-gap and maintain the system’s stability, because of the hybrid magnets, the system is open-loop unstable and strongly nonlinear. The linear model of the hybrid magnets suspension system is a big influence on controller design. In this paper, the linear model based on the feedback linearization is established and the sufficiency of the feedback linearization is demonstrated. Through the math changes, feedback linearization method eliminates the non-linear part precisely to obtain the linear model which is globally stable. The state-feedback controllers based on the feedback linearization are analyzed, emulated and experimented. It is demonstrated that the model’s dynamic performance is changeless in the whole operating filed when the state feedback controller could ensure the global stability. The sliding mode controller based on the feedback linearization is analyzed in this paper. The result shows that the feedback linearization method is an effective, easy to implement, and effective non-linear control methods. The results show that the sliding mode control based on feedback linearization is preferable to the state feedback control in the stiffness, but the design of the controller is more complicated. An in depth study could be embarked in the future. In this paper, the linear model based on Taylor expansion and it’s state-feedback controller are studied. The linear model based on Taylor expansion could meet the needs of air-gap control, but it can not reflect the characteristics that the system is big equivalent air-gap and strongly nonlinear. The state-feedback control system based on this model works on the large air-gap changing, the dynamic performance varies greatly and it may be not a Global Stability system. This model can be used in the situation that air-gap changes small. In this paper, on condition that the suspension system is stabled by the state-feedback controller based on feedback linearization, the vector control of the hybrid-excitation linear synchronous motor is analyzed and a traction controller is designed. Experiments show that the speed of the motor could be controlled effectively when the system’s air-gap is stabilized.
语种	中文
公开日期	2010-10-18
页码	78
分类号	TM1;TM921
内容类型	学位论文
源URL	[http://ir.iee.ac.cn/handle/311042/7151]
专题	电工研究所_其他部门_其他部门_硕士学位论文
推荐引用方式 GB/T 7714	1张海波,电工研究所. 可控永磁体直接反馈线性化悬浮控制策略研究, 可控永磁体直接反馈线性化悬浮控制策略研究[D]. 中国科学院电工研究所. 2009.

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