电气方向本科毕业设计论文

摘要

作为机电一体化产品典型代表的主动型磁悬浮轴承，它是利用电磁力将转子悬浮于空间，实现定子与转子之间没有任何机械接触的一种新型高性能轴承。它具有无摩擦、无磨损、无需润滑及寿命长等一系列传统滚动轴承和滑动轴承所无法比拟的优点，在超高速精密数控机床、机器人和航空航天等高科技领域具有非常广泛的应用前景。

本课题的背景是一个用于本科生教学的实验装置——单自由度磁悬浮控制系统实验装置。单自由度磁悬浮轴承是组成磁悬浮轴承系统的基本单元，它结构简单，相应的结构、模型和控制算法也比较简单。但对于它的研究，有助于研究者综合运用已学到的知识，进一步学习如何完整地完成一项设计任务。

本文基于磁路理论建立了单自由度磁悬浮实验系统的非线性动力学模型，并对其在平衡位置处进行了线性化，得到一个线性近似模型，在此线性近似模型的基础上进行连续域控制器的设计，并在MATLAB/SIMULINK环境下进行了仿真和比较分析。在此基础上，将控制器进行离散化，在离散化模型下也进行了系统的仿真和分析。

采用s-BOX作为控制系统硬件，搭建了单自由度磁悬浮实验控制系统的数字控制平台，实现对实验系统的控制。最后，对所设计的控制器在实验系统上做了控制实验。实验结果表明，所设计的控制器基本能使实验装置按照预期目的正常工作。

关键词：磁悬浮，线性化，动力学模型，单自由度，仿真

ABSTRACT

As a typical product of Mechatronics, Active Magnetic Bearings (AMB) are new-style bearings with high performance. Its rotor is suspended by the electromagnetic force, so that the rotor can spin at a high speed without any mechanical contact. Comparing with the traditional roll bearings and sliding bearings, AMB has many outstanding merits, such as no friction, no fray, lubrication-free and lasting life, which makes it have a wide application, including high-speed high-precision numerically-controlled machine tool, robot, aerospace fields and so on.

The background of this subject is an experimental device which is used for the undergraduate teaching. The device is about the control of a single-degree-of-freedom magnetic bearing, which is the basic unit of a magnetic bearing system. Its structure is relatively simple, as well as the model and the control algorithms, but studying about it still has great benefits for researchers, such as using acquired knowledge and learning how to accomplish an integrated design task.

Based on the theory of magnetic circuit, a nonlinear dynamics model of the single-degree-of-freedom magnetic bearing experimental system is set up. The linear model is obtained by linearization about the equilibrium position, and a continuous time controller is designed for it. Then the system model is simulated and analyzed in MATLAB/SIMULINK environment. Based on the work above, the controller is discretized, and the discrete model is simulated and analyzed too.

Then use s-Box as the control system hardware to establish the numerically controlled table for the single-degree-of-freedom magnetic bearings system and implement the control for the experimental system. After that, the controller is tested on the experimental system. And the result shows that the controller designed can make the test facility work as expected.

KEY WORDS: magnetic bearing, linearization, dynamics model, single-degree-of-freedom, simulate