## Matlab磁悬浮系统的控制算法研究和设计

Magnetic levitation system research and design of control algorithms
Abstract：This paper introduces a kind of magnetic levitation system control algorithm ── linear quadratic optimal control. Subject first analysis of composition and working principle of the magnetic suspension system, and then set up the kinetics equations of control object, the electromagnetic force model of the system, the control voltage and current in the electromagnet model, using Taylor series linearization of nonlinear function. Finally using whether Q_c、Q_o full rank for determining system controllability and can view, using the basic principle of the linear quadratic optimal control determine the control parameters of the system. Through the system of the weight matrix Q and R to calculate the system performance index function, using the Matlab command operator to calculate the optimal feedback gain.  Quadratic optimal controller was designed by the subject, simulation on the magnetic levitation system experiment and by changing the weight matrix Q to calculate the optimal feedback gain k, several groups of different simulation waveform is ideal, the ideal control effect is good. 源`自*六)维[论*文'网www.lwfree.cn
KeyWords: The optimal control; Weight matrix; Feedback gain; Simulation

1 绪论    1
1.1 课题的目的和意义    1
1.2 国内外研究现状与水平    1
1.2.1 磁悬浮轴承    2
1.2.2 磁悬浮列车    2
1.3 发展趋势    3
1.4 课题的主要工作    4
2 磁悬浮系统的分析与建模    6
2.1 磁悬浮系统的分析与建模    6
2.1.1 磁悬浮系统组成    6
2.1.2 磁悬浮实验本体    7
2.1.3 磁悬浮实验电控箱    8
2.2 磁悬浮的物理模型    9
2.2.1 控制对象的动力学方程    9
2.2.2 系统的电磁力模型    9
2.2.3 电磁铁中控制电压和电流的模型    9
2.2.4 功率放大器模型    10
2.2.5 系统平衡的边界条件    10
2.2.6 系统方程的描述    10
2.3 系统模型的线性化处理    10
3 线性二次最优控制基本原理    12
3.1 线性二次最优控制的基本概念    12
3.2 影响线性二次最优控制性能指标的参数    13
3.3系统权矩阵选取的一般原则    15
3.4线性二次型最优控制问题的求解方法    15
4 线性二次型最优控制器及其设计    16
4.1线性二次型最优控制器的基本结构与工作原理    16
4.1.1 最优控制器的基本结构    16
4.1.2 线性二次型最优控制器的几个基本问题    16 源`自*六)维[论*文'网www.lwfree.cn
4.1.3 线性二次型最优控制的MATLAB函数    17 Matlab磁悬浮系统的控制算法研究和设计:http://www.lwfree.cn/zidonghua/20181011/24048.html
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