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href="/bethel/news">數(shù)控文章</a></li> </ol> </nav> </div> <!--/sub_menu--><!-- 面包屑導航結(jié)束 --> <!-- 頁面標題開始 --> <div id="n1l1njb9b" class="title"> <h3><a>數(shù)控加工中心龍門電磁懸浮系統(tǒng)無源控制<small></small></a></h3> </div> <!-- 頁面標題結(jié)束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="n1l1njb9b" class="container"> <!-- 正文 --> <div id="n1l1njb9b" class="lead" id="print"> <p> <a name="bookmark36" style="line-height: 22pt; background-color: transparent;"><span id="n1l1njb9b" class="1">第五章數(shù)控加工中心龍門電磁懸浮系統(tǒng)無源</span></a></p> <div id="n1l1njb9b" class="Section1"> <p class="11" style="margin-top:0cm;margin-right:0cm;margin-bottom:16.85pt; margin-left:1.0pt;line-height:22.0pt;mso-line-height-rule:exactly;mso-pagination: lines-together;page-break-after:avoid;background:transparent"><a name="bookmark37"><span id="n1l1njb9b" class="1">控制</span></a></p> <p class="21" align="left" style="margin-top: 0cm; text-indent: 26pt; line-height: 23.3pt; background: transparent;"><span id="n1l1njb9b" class="2">隨著科技的不斷發(fā)展，控制領(lǐng)域也獲得了長足的發(fā)展。從傳統(tǒng)的線性控制</span><span id="n1l1njb9b" class="2TimesNewRoman26"><span style="font-size: 11.5pt; font-family: 宋體;">、</span></span><span id="n1l1njb9b" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">PID </span></span><span id="n1l1njb9b" class="2">控制發(fā)展到智能控制。由于電磁力與電流之間具有二次方的關(guān)系，因此電磁懸浮系統(tǒng) 是非線性系統(tǒng)。為了實現(xiàn)對電磁懸浮系統(tǒng)的精確控制，以保證加工部件的精度，需要 對電磁懸浮系統(tǒng)設(shè)計良好的控制器以達到龍門數(shù)控加工中心的性能指標。文獻</span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">[46] </span></span><span id="n1l1njb9b" class="2">利用最優(yōu)算法對懸浮系統(tǒng)控制器參數(shù)進行優(yōu)化。文獻</span><span id="n1l1njb9b" class="2"><span style="font-family: SimSun;">[47]</span></span><span id="n1l1njb9b" class="2">利用模糊算法對</span><span id="n1l1njb9b" class="2TimesNewRoman26"><span lang="EN-US" style="font-size: 11.5pt;">PID</span></span><span id="n1l1njb9b" class="2">控制器 參數(shù)進行了整定。他們都在一定程度上滿足了懸浮系統(tǒng)的性能指標。本文為電磁懸浮 系統(tǒng)設(shè)計了無源控制器，為懸浮系統(tǒng)的控制算法庫擴充了一種新的、有效地控制算法。</span></p> <p class="22" style="margin-top:0cm;margin-right:0cm;margin-bottom:10.1pt; margin-left:0cm;line-height:13.0pt;mso-line-height-rule:exactly;mso-pagination: lines-together;page-break-after:avoid;background:transparent"><a name="bookmark38"><span id="n1l1njb9b" class="20"><span style="font-family: SimSun;">5.1</span></span></a><span id="n1l1njb9b" class="20">磁鏈控制數(shù)學模型</span></p> <p class="21" align="left" style="margin: 0cm 0cm 21.45pt; text-indent: 26pt; line-height: 23.3pt; background: transparent;"><span id="n1l1njb9b" class="2">由第二章已經(jīng)推導出電磁懸浮系統(tǒng)數(shù)學模型，由于電流間接控制電磁力會使磁路 飽和產(chǎn)生非線性因素，因此采用磁鏈控制能直接控制電磁力，可以消除磁路飽和所產(chǎn)生的非線性因素。</span><a name="bookmark52"><span id="n1l1njb9b" class="20"><span lang="EN-US" style="mso-ansi-font-size:11.0pt; mso-bidi-font-size:11.0pt;mso-hansi-font-family:MingLiU;mso-bidi-font-family: 宋體;letter-spacing:0pt;mso-ansi-language:EN-US"><o:p></o:p></span></span></a></p> <p class="22" style="margin-top:0cm;margin-right:0cm;margin-bottom:22.3pt; margin-left:0cm;line-height:13.0pt;mso-line-height-rule:exactly;mso-pagination: lines-together;page-break-after:avoid;background:transparent"><span id="n1l1njb9b" class="20"><span style="font-family: SimSun;">5. 4</span></span><span id="n1l1njb9b" class="20">仿真結(jié)果及分析</span></p> <p class="640" align="left" style="margin: 0cm 0cm 13.35pt 26pt; text-indent: 0cm; line-height: 11.5pt; background: transparent;"><span id="n1l1njb9b" class="64">系統(tǒng)的仿真參數(shù)見第三章。平衡點磁鏈</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">/.= </span></span><span id="n1l1njb9b" class="64">3.178。反饋控制器表示式中</span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">a</span></span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">, </span></span><span id="n1l1njb9b" class="64">1^兩</span><span id="n1l1njb9b" class="64">個參數(shù)分別為20, 5000。</span></p> <p class="640" align="left" style="margin: 0cm 0cm 13.35pt 26pt; text-indent: 0cm; line-height: 11.5pt; background: transparent;"><!--[if gte vml 1]><o:wrapblock><v:shapetype id="_x0000_t202" coordsize="21600,21600" o:spt="202" path="m,l,21600r21600,l21600,xe"> <v:stroke joinstyle="miter" /> <v:path gradientshapeok="t" o:connecttype="rect" /> </v:shapetype><v:shape id="_x0000_s1026" type="#_x0000_t202" style='position:absolute; left:0;text-align:left;margin-left:52.55pt;margin-top:42pt;width:328.55pt; height:18.75pt;z-index:-1;mso-wrap-distance-left:52.3pt; mso-wrap-distance-right:60pt;mso-position-horizontal-relative:margin' wrapcoords="0 0 21600 0 21600 18752 17053 19048 17053 21600 5062 21600 5062 19048 0 18752 0 0" filled="f" stroked="f"> <v:textbox style='mso-fit-shape-to-text:t' inset="0,0,0,0"> <![if !mso]> <table cellpadding=0 cellspacing=0 width="100%"> <tr> <td><![endif]> <div> <p class=MsoNormal align=center style='text-align:center'><span lang=EN-US style='font-size:1.0pt;mso-bidi-font-family:"Times New Roman"; color:windowtext;mso-ansi-language:EN-US'><o:p> </o:p></span></p> <p class=60 align=center style='margin:0cm;margin-bottom:.0001pt; text-align:center;line-height:15.1pt;mso-line-height-rule:exactly; background:transparent'><span lang=EN-US><o:p> </o:p></span></p> </div> <![if !mso]></td> </tr> </table> <![endif]></v:textbox> <w:wrap type="topAndBottom" anchorx="margin" /> </v:shape><![endif]--><!--[if !vml]--> <!--[endif]--><!--[if gte vml 1]></o:wrapblock><![endif]--><br clear="ALL" /> <span id="n1l1njb9b" class="64">系統(tǒng)仿真框圖如圖5.1。</span></p> <p class="640" align="left" style="margin-left: 26pt; text-indent: 0cm; line-height: 11.5pt; background: transparent;"><span id="n1l1njb9b" class="64">仿真</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">1:</span></span><span id="n1l1njb9b" class="64">無擾動仿真效果對比實驗</span></p> </div> <div id="n1l1njb9b" class="Section2"> <p class="640" style="margin-bottom:8.3pt;text-indent:26.0pt;line-height:11.5pt; mso-line-height-rule:exactly;background:transparent"><span id="n1l1njb9b" class="64">當系統(tǒng)中不加擾動時對</span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">PID</span></span><span id="n1l1njb9b" class="64">控制、模糊</span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">PID</span></span><span id="n1l1njb9b" class="64">控制和無源控制的仿真曲線進行比</span><span id="n1l1njb9b" class="64">較。</span></p> <p class="640" style="text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule: exactly;background:transparent"><span id="n1l1njb9b" class="64">從仿真圖</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">5.2</span></span><span id="n1l1njb9b" class="64">中可知無源控制使得響應(yīng)曲線在不到</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">0.1</span></span><span id="n1l1njb9b" class="64">秒就到達了設(shè)定的懸浮位</span><span id="n1l1njb9b" class="64"> </span><span id="n1l1njb9b" class="64">置并且沒有超調(diào)量。相比于</span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">PID</span></span><span id="n1l1njb9b" class="64">控制、模糊</span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">PID</span></span><span id="n1l1njb9b" class="64">控制使電磁懸浮系統(tǒng)具有了更快的</span><span id="n1l1njb9b" class="64"> </span><span id="n1l1njb9b" class="64">響應(yīng)速度。</span></p> <p class="640" style="text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule: exactly;background:transparent"><span id="n1l1njb9b" class="64">仿真2:有擾動仿真效果對比實驗</span></p> <p class="640" style="text-indent:26.0pt;line-height:23.3pt;mso-line-height-rule: exactly;background:transparent"><span id="n1l1njb9b" class="64">在系統(tǒng)響應(yīng)第3秒時對懸浮系統(tǒng)施加</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">500</span></span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">N</span></span><span id="n1l1njb9b" class="64">的階躍擾動，同時觀察三種控制器的 仿真曲線，仿真曲線如圖5.3。</span></p> </div> <div id="n1l1njb9b" class="Section3"> <p class="640" align="left" style="text-indent: 25pt; line-height: 23.3pt; background: transparent;"><span id="n1l1njb9b" class="64">由圖</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">5.3</span></span><span id="n1l1njb9b" class="64">可知當系統(tǒng)受到</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">500</span></span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">N</span></span><span id="n1l1njb9b" class="64">階躍干擾時無源控制系統(tǒng)響應(yīng)曲線相比于</span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">PID</span></span><span id="n1l1njb9b" class="64">控</span><span id="n1l1njb9b" class="64"> </span><span id="n1l1njb9b" class="64">制和模糊</span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">PID</span></span><span id="n1l1njb9b" class="64">控制的系統(tǒng)的波動超調(diào)幅度小且在</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">0.1</span></span><span id="n1l1njb9b" class="64">秒左右就恢復到了設(shè)定的位置</span><span id="n1l1njb9b" class="64">， </span><span id="n1l1njb9b" class="64">因此相比于這兩種控制算法無源控制加強了系統(tǒng)的魯棒性。</span></p> <p class="640" align="left" style="text-indent: 25pt; line-height: 23.3pt; background: transparent;"><span id="n1l1njb9b" class="64">仿真3:懸浮系統(tǒng)周期擾動仿真實驗</span></p> <p class="640" style="margin-bottom:66.55pt;text-indent:25.0pt;line-height:23.3pt; mso-line-height-rule:exactly;background:transparent"><span id="n1l1njb9b" class="64">移動懸浮橫梁的水平導向單元采用的是永磁同步直線電機驅(qū)動。由于直線電機運 行時存在著紋波擾動、端部效應(yīng)等周期擾動嚴重影響到了電磁懸浮系統(tǒng)的懸浮精度和 部件的加工精度。為了能夠很好的抑制直線電機的這一缺點，因此所設(shè)計的控制器需 要使懸浮系統(tǒng)對周期擾動具有一定的抵抗性。當系統(tǒng)受到系統(tǒng)受到</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">500</span></span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">N</span></span><span id="n1l1njb9b" class="641pt">，</span><span id="n1l1njb9b" class="641pt">周期為2 </span><span id="n1l1njb9b" class="64">秒，占空比為1的脈沖周期擾動時的仿真誤差曲線如圖5.4。</span></p> <p class="640" style="margin-bottom:66.55pt;text-indent:25.0pt;line-height:23.3pt; mso-line-height-rule:exactly;background:transparent"><span id="n1l1njb9b" class="64">由圖</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">5.4</span></span><span id="n1l1njb9b" class="64">可知當懸浮系統(tǒng)受到周期擾時懸浮氣隙偏差為</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">6</span></span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">xl</span></span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">(</span></span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">T</span></span><span id="n1l1njb9b" class="64"><sup><span style="font-family: SimSun;">5</span></sup></span><span id="n1l1njb9b" class="64TimesNewRoman1"><span lang="EN-US" style="font-size: 11pt;">m</span></span><span id="n1l1njb9b" class="64">左右</span><span id="n1l1njb9b" class="64">，</span><span id="n1l1njb9b" class="64">且在</span><span id="n1l1njb9b" class="64"><span style="font-family: SimSun;">0.1</span></span><span id="n1l1njb9b" class="64">秒左右就恢復到設(shè)定點</span><span id="n1l1njb9b" class="64">，</span><span id="n1l1njb9b" class="64">由此表明無源控制器使得懸浮系統(tǒng)對周期擾動也具有一定的</span><span id="n1l1njb9b" class="64"> </span><span id="n1l1njb9b" class="64">魯棒性。因此可以適應(yīng)直線電機所帶來的周期干擾。</span></p> <p class="22" style="margin-top:0cm;margin-right:0cm;margin-bottom:10.35pt; margin-left:0cm;text-align:justify;text-justify:inter-ideograph;text-indent: 0cm;line-height:13.0pt;mso-line-height-rule:exactly;mso-pagination:lines-together; page-break-after:avoid;mso-list:l0 level1 lfo1;tab-stops:18.3pt;background: transparent"><a name="bookmark53"><!--[if !supportLists]--><span style="font-family: SimSun;">4.<span style="font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';"> </span></span><!--[endif]--><span id="n1l1njb9b" class="20">5本章小結(jié)</span></a></p> <p class="640" align="left" style="text-indent: 25pt; line-height: 23.3pt; background: transparent;"><span id="n1l1njb9b" class="64">基于無源控制理論本章介紹了單磁懸浮系統(tǒng)無源控制器的設(shè)計。首先建立了電磁 懸浮系統(tǒng)的能量函數(shù)，然后建立出電磁懸浮系統(tǒng)哈密爾頓方程，通過選取適當?shù)幕ヂ?lián)</span><span id="n1l1njb9b" class="64">陣和耗散陣來重新建立電磁懸浮系統(tǒng)的哈密爾頓方程。通過三個哈密爾頓函數(shù)約束條 件來求解偏微分方程，從而推出單電磁懸浮系統(tǒng)無源控制器的表達式。無源控制器設(shè) 計簡單、易于實現(xiàn)。仿真結(jié)果表明無源控制器加快了單電磁懸浮系統(tǒng)較強的響應(yīng)速度, 提高了其魯棒性，最終提高了懸浮精度。</span></p> </div> <p><span style="font-size:11.5pt;font-family:宋體;mso-hansi-font-family:"Times New Roman"; mso-bidi-font-family:"Times New Roman";mso-ansi-language:#0400;mso-fareast-language: #0400;mso-bidi-language:AR-SA"><br clear="all" style="page-break-before:always; 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