环形永磁悬浮的控制仿真  

Simulation of Levitation Permanent Magnetic Ring Control

作　　者：刘云辉 张振琪 LIU Yunhui;ZHANG Zhenqi(School of Nuclear Science and Engineering,East China University of Technology,Nanchang 330013,China)

机构地区：[1]东华理工大学核科学与工程学院,南昌330013

出　　处：《能源研究与管理》2021年第4期85-90,共6页Energy Research and Management

基　　金：江西省关键技术研发基金项目(20192ACB80006)。

摘　　要：为了实现环形偶极磁体的稳定性悬浮,基于环形永磁悬浮装置的设计,利用Simulink进行控制系统的建立和仿真。通过Routh-Hurwitz稳定判据,判断PID控制策略是否存在稳定控制的可能,以及稳定控制参数选取的范围。为了优化控制过程分别讨论了控制系统电源的启动方式对电源的性能要求,以及不同PID系数的取值进行迭代优化。结果表明,PID控制策略能够实现环形永磁体的稳定悬浮,且k_(p)、k_(d)参数取值区域分别为5.43×10^(-5)<k_(d)<119.2、0.0412<k_(p)<757.6k_(d)-6.356k_(d)^(2);斜坡信号启动系统可以有效降低电源的性能要求,将电流峰值从25 A降低到22 A;优化的PID参数取值(k_(p)=5.4、k_(i)=8.3、k_(d)=1.2)能够极大的缩短控制收敛时间实现1.3 s内将悬浮体稳定在预定位置。基于PID控制设计反馈控制系统能够在短时间内将永磁环稳定在预设工作位置,实现长时间稳定悬浮。The controlling system of the levitated permanent magnetic ring is setted-up and simulated via the Simulink software for the perpose of stable control.The required stable controlling parameter ranges are obtained via the Routh-Hurwitz stability criterion,and the PID control strategies are tested.To optimize the controlling process,the importance of the start-up path to the power of the controlling system and the range of the parameters to PID strategies are discussed.The results are presented below.The PID controlling strategies can realize stable levitating the levitated permanent magnetic ring while k_(d) is in the range from 5.43×10^(-5) to 119.2 and k_(p) from 0.0412 to 757.6k_(d)-6.356k_(d)^(2).The tilt start-up signal for the power of the controlling system can decrease the requirement of the power system,and the required current peak is also reduced from 25 A to 22 A.The optimized PID parameters,which are k_(p)=5.4,k_(i)=8.3 and k_(d)=1.2,can significantly shorten the required time,and stabilize the floating matters to the given position in 1.3 s.In general,the designed feedback controlling system based on the PID can effectively stabilize the LPMR at the given working position for the long term stable levitation.

关 键 词：偶极场 磁悬浮 永磁环 悬浮控制 

分 类 号：TL631[核科学技术—核技术及应用]