| Maglev technology is a typical electromechanical integration technology which sets electromagnetics, electronics, control engineering, signal processing, mechanics and dynamics of integration. At present, research of maglev technology can achieve cross-infiltration of many disciplines and promote development and application of maglev high-tech products, thus, is of great theoretical and practical significance.Maglev ball control system which is studied in this paper belongs to the attractive levitation systems and is the foundation of researching other systems. This paper introduces the composition of maglev ball control system and analyzes its working principle. In order to facilitate the analysis and design, mathematical models of control system are established. On one hand, from classical control theory point, transfer functions of control system are solved; On the other hand, from modern control theory point, state space expression of controlled object is established. According to the mathematical models, dynamic simulations of control system are done by using MATLAB/Simulink tool. On one hand, the simulations of classical PID control and its improved forms are done, and integral separated PID control is chosen as the first alternative plan after contrasting the simulation results; On the other hand, the simulation of state feedback control is done, and it is chosed as the second alternative plan. State feedback control is chosen as the final control method after contrasting the two options, which can be achieved by using a PD controller placed on the output's feedback channel. On this basis, an analog PD controller is designed, which achieves stable suspending of the steel ball after adjusting controller's parameters. Aiming at the shortcomings of analog control, a digital PD controller based on TMS320LF2407A DSP chip is designed, which achieves stable working of the system. Summarizations and expectations of the work are introduced in the end of this paper. |
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