Design And Stability Control Study On Maglev-bearing Table

Maglev technology mainly uses electromagnetic force to suspend the maglev in space.This technology not only eliminates the mechanical contact between moving parts and stationary parts in the system,but also has the advantages of low friction and low noise.However,magnetic levitation system is a typical complex nonlinear system,which has some problems,such as internal parameter uncertainty,open-loop instability and easy to be affected by external disturbances.Therefore,the research on magnetic levitation control system is of certain significance to the application of magnetic levitation technology.This paper focuses on the research of Maglev multi degree of freedom control system,including attitude control system and position control system.In this paper,the six degree of freedom attitude position control model of magnetic levitation three degree of freedom attitude control and three degree of freedom position control is established.The cascade PID method is used to realize the balance and stability control of the magnetic levitation system.The control performance of the magnetic levitation system is verified by Simulink toolbox simulation,and the balance and stability of the magnetic levitation test platform is realized by the built magnetic levitation test-bed.This paper mainly completes the following work:(1)The modeling of the attitude and position control system of the magnetic levitation test-bed is studied.Firstly,the basic composition of the magnetic levitation test-bed and the working principle of each component are analyzed theoretically,and the physical model of the magnetic levitation test-bed is constructed.Aiming at the position offset on the x-axis,Yaxis and z-axis,as well as the three attitude angles of pitch,swing and yaw,a six degree of freedom maglev control system model is established.The complementary filtering method is used to improve the accuracy of the data and obtain the ideal measurement data.(2)A closed-loop controller is designed for the magnetic levitation test-bed.For the nonlinear magnetic levitation control system,a cascade PID controller is designed.A six degree of freedom multi-channel simulation model of the magnetic levitation test-bed is established through Simulink.The position state and speed state of the magnetic levitation test-bed are simultaneously transmitted to the magnetic levitation test-bed as feedback.At the same time,the control of the magnetic levitation attitude system and position system is realized.The control performance of cascade PID controller is verified.(3)The hardware verification of the magnetic levitation test platform is carried out.Firstly,the overall hardware structure of the magnetic levitation test platform is designed by using microcontroller,Hall components,L298 N drive module,LM324 operational amplifier and attitude measurement module.Secondly,the corresponding control program is written with keil5 software.The control process is simulated through the software program,and the measured sensor signal is transmitted to the microcontroller for control,so as to complete the physical verification.The test results show that the actual position control effect of hardware is consistent with that of software,and the magnetic levitation test platform can achieve the expected effect.When the position of the test-bed is destroyed manually,the microcontroller can also make rapid adjustment to ensure its stable operation,so as to achieve the purpose of controlling the stability of the magnetic levitation test-bed.