Based On Dspace Magnetic Levitation Motion Platform Control

Magnetic suspension has been paid more and more attention because of its many merits such as no mechanical contact, no wear, low power loss, no need of lubrication and long service life, etc. The magnetic plate has various coupling and non-linear characteristics, its bearing characteristic is determined mainly by its control system. Therefore, It's important to analysis the system and design right control to acquire stable system performance. Methods used in magnetic plate control system based on rapid control prototyping mode of dSPACE are presented. Contents researched mainly followes:Firstly, the model of system is presented. When the platform looked as a whole, the five free-degree dynamic model is set up by Lagrange equation. When researching the magnet pair alone, the dynamic model of the magnet pair is set up and analyzed.Then, control methods are researched and the simulation analysis is presented based on the model.When the platform controlled as a whole, linear quadratic method of the optimal control theory is used to design the controller. Simulation is used to carry out the appropriate performance index weight matrices which make the system have better dynamic and static characteristics. The coupling considered in LQR control, but the structure of the controller is complexity and having a mass of calculation in real-time control, so the method of controlling every magnet pair alone is mainly adopted.When the magnet pair controlled alone, PID and fuzzy-PID control are mainly used. PID controller has a simple configuration, and its parameters are easy to adjust. By analyzing the stability of the magnetic plate and considering the designed stiffness, damping of the magnetic plate system, the academic value of controlling parameters are confirmed. In the actual running of the plate, the controlling parameters need to have a ability of self-adaption because of the unsmoothed track face and environmental factors. So fuzzy-PID controller is designed combining the merit of the fuzzy controller. The parameters adjusted automatically based on the rules. Simulation results indicate that fuzzy-PID has better dynamic and anti-jamming characteristic than PID control.Lastly, after simulating on different controlling methods, the experiment of real-time simulation based on dSPACE is carried out on the system. The configuration of control system and the realization of software are presented. PID and fuzzy-PID control used in this magnetic system. The experiment results show that both of the method can levitate the suspension system stably, but fuzzy-PID control has better stability and robustness.