| Magnetic levitation ball system is a typical single-degree-of-freedom nonlinear system which with strong uncertainty?However,compared with the multi-DOF magnetic levitation system,the magnetic levitation ball system has the advantages of simple mathematical model and easy realization of mechanical structure.Nowadays,The magnetic levitation ball experimental platform has become a classical platform for college-related professional teaching of classical control theory and advanced control algorithm validation.However,during the use of the experimental platform of the traditional magnetic levitation ball system,the experimental platform gradually exposes issues such as low efficiency and complex hardware circuit of the power amplifier,low precision and poor output linearity of the sensor,and dependence of the controller on the PCI interface.The traditional magnetic levitation ball experimental platform can't meet the current teaching experiment requirements,so the research and design of the new magnetic levitation ball system experimental platform has very important practical significance.In this thesis,we deeply analyzed the shortcomings of the power amplifiers,sensors and controllers of the traditional magnetic levitation ball experimental platform.In order to improve the system performance of the magnetic levitation ball experiment platform,we have designed a set of low-cost,high-precision semi-physical simulation platform of magnetic levitation ball system based on USB communication interface and RTW semi-physical simulation technology.The PID and LADRC control algorithm verification Experimental results show that the new experimental platform relative to the traditional platform superior performance.The main work of this thesis is as follows:(1)We construct the new type of magnetic levitation ball structure by using a simple and efficient PWM type power amplifier,a laser sensor with high precision and high linearity output,and a TMS320F28027 DSP microcontroller that supports automatic generation of RTW model codes.Then,we configured the RTW development environment and developed the target model and Simulink toolbox of the new platform of the magnetic levitation ball system by using the C2802x toolbox in the RTW tool set.(2)The mathematical modeling of the new type of magnetic levitation ball system is established.According to the experimental results of the PWM power amplifier calibration experiment,the third-order system model of the new experimental platform is transformed into the classical second-order model,and PID and LADRC control algorithm verification experiments are designed for the new experimental platform respectively.And then compare the performance of these two controllers through experiments.The results show:LADRC's controller stability,robustness and anti-interference performance are better than the traditional PID controller.(3)A summarization is given,and the problems to be solved in the future are prospected. |
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