| The controllable excitation linear synchronous motor magnetic suspension feeding platform has the characteristics of direct drive and magnetic suspension,which meet requirements of high-speed and high-precision.Magnetic levitation system is an important subsystem of feeding platform,which is highly nonlinear,inherently unstable,time-varying,and a variety of disturbances can directly act on the motor,which seriously affects the performance of the system.For this kind of nonlinear uncertain system,the traditional control method cannot obtain satisfactory dynamic response,while the fuzzy control integrated with human professional experience and knowledge can achieve the desired control performance.This dissertation is supported by the National Natural Science Fund project which is titled study on the operation mechanism and control strategy of controllable excitation linear synchronous motor magnetic suspension feeding platform(Project No.51575363).This dissertation mainly studies the operation mechanism of magnetic levitation,fuzzy control strategy and the design of the controller.The main contents are as follows:(1)Research on magnetic levitation operating mechanism of controllable excitation linear synchronous motor.Firstly,the operation mechanism of the controllable excitation linear synchronous motor is studied,and the mathematical model of controllable excitation linear synchronous motor in d-q coordinate are established.Then,the characteristics of thrust force and suspension force are analyzed,and the state equation of the magnetic levitation system is derived.Besides,the influence of end effect and coupling phenomenon on magnetic levitation system is analyzed.(2)The design of parameters self-tuning fuzzy controller for the magnetic suspension system of controllable excitation linear synchronous motor.Firstly,the influence of the scale factor,the quantification factor and the membership functions on the performance of the fuzzy controller is analyzed,and the adjustment principles of the scale factor and the quantification factor are studied.Then,for the characteristics of the magnetic levitation system,the controller's main fuzzy control unit and parameters adjustment unit are designed separately.Finally,the simulation model of the parameters self-tuning fuzzy control system for magnetic levitation is constructed and the simulation research is carried out.(3)Design of self-learning fuzzy controller with gain adjustment mechanism.In order to further improve the control precision and anti-jamming capability of the magnetic levitation system,a self-learning fuzzy controller is designed and the working principle of each unit is analyzed.The selection principle of the reference model is studied,and the principle and implementation method of the self-learning mechanism are analyzed.Finally,the simulation model of the self-learning fuzzy control system for magnetic levitation is constructed,and the robustness,anti-jamming and tracking ability of the control system are simulated.(4)Design of magnetic suspension control system for controllable excitation linear synchronous motor.The hardware circuits based on DSP and IPM module is designed,including driver circuit,control circuit,detection circuit,and fault protection circuit.The study of control software parts,including main programs and interrupt service routines,interrupt service routines including control algorithm,signal sampling,SVPWM generation and so on. |
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