摘要：磁悬浮技术是集电磁学、机械学、控制工程和计算机等科学于一体的技术。由于其具有无摩擦、无磨损、寿命长、低功耗、无噪声等优点，成为各国科学界研究的热点。由于磁悬浮系统固有的非线性和不稳定性，和外部干扰引起的不确定性，使得难建立精确的数学模型，增加了磁悬浮系统控制的难度，传统控制方法难以满足系统要求。本课题首先根据磁悬浮系统的构成及工作原理，分析系统的动态模型，建立了磁悬浮系统的非线性数学模型，在平衡点对非线性模型线性化，得到了磁悬浮系统的线性化模型。其次，在理解磁悬浮被控对象的基础上设计了一个二文模糊控制器，在MATLAB环境下利用FIS建立磁悬浮的模糊控制器模块，并利用Simulink搭建磁悬浮模糊控制系统结构图，仿真结果表明磁悬浮系统的小球能稳定在平衡点位置。最后，通过实时控制证明，模糊控制算法具有较好的灵活性、适应性，对于磁悬浮这种非线性复杂系统的稳定性和动态性都有较好的控制4366
效果。
关键词：磁悬浮；线性；糊控制
Fuzzy control system of maglev
ABSTRACT：Magnetic levitation is a technology which integrates several technologies such as electromagnetics，mechanics，control engineering and computer, etc．Due to its many merits such as no mechanical friction， no wear, long longevity, low power loss，and no noise，it has become a hotspot issue in the scientific community of the world．However, it is difficult to build its mathematical model because of its inherent nonlinearity, instability, as well as the problem of uncertainties caused by disturbance of the traditional magnetic levitation control system．These factors make the control using the traditional control methods more difficult．This topic first according to the composition and working principle of magnetic levitation system, the analysis of system dynamic model, established the nonlinear mathematical model of magnetic suspension system, the balance of nonlinear model is linearized, and the linearized model of the maglev system. Second, in understanding the maglev controlled object on the basis of a two-dimensional fuzzy controller was designed, in the MATLAB environment using FIS based magnetic suspension fuzzy controller module, and using Simulink to build the maglev fuzzy control system structure, simulation results show that the ball can stable magnetic levitation system at the equilibrium position.
The real—time control experiment proves that the algorithms proposed in this thesis are more flexible，adaptable and has good control performance for the stability and dynamic of nonlinear complex system such as magnetic levitation system．
KEY WORDS：Magnetic levitation；onlinear；fuzzy control
目录
1绪论 1
1.1 本课题的意义 1
1.2 磁悬浮的原理及发展状况 1
1.3 磁悬浮系统概述 2
1.4 本次课题主要工作 3
1.5论文内容安排 3
2 磁悬浮系统原理及数学模型建立 5
2.1 电磁学理论基础 5
2.2 毕奥—萨伐尔定律 7
2.3、光电位置传感器分析 9
2.3.1 传感器原理 9
2.3.2 传感器装置及后处理电路 10
2.4、磁悬浮系统数学模型的建立 11
2.5系统模型线性化处理 14
2.6实际系统模型 16
2.7、磁悬浮系统的能控性能和能观性能分析 17
3 模糊系统的基本理论 18
3.1 模糊系统的概述 18
3.2 模糊控制器的基本结构 18
3.3 模糊控制器结构分类 21 磁悬浮的模糊控制系统设计+数学建模+仿真:http://www.751com.cn/wuli/lunwen_1012.html