Research On Control System Of Magnetic Levtation Ball Based On RTLinux

Rencently,magnetic levitation(mag-lev) technology receives more and more attention because of its unique advantages,and obtains big improvement with the development of electronic technology, control theory, electromagnetic theory and so on. This paper mainly researches on the digital control of magnetic levitation ball system which is a single-degree-of-freedom mag-lev system.Mag-lev ball system is a typical nonlinear, open-loop unstable system. This paper establishes the system's model based on analysis of principle and composition of the system. A standard PID controller and a variable parameter PID controller are designed for the linearization model. Furthermore, a nonlinear controller called SDRE(State-Dependent Riccati Equation) controller is designed based on the simplified nonlinear model.After comparing DOS, Windows and RTLinux system, RTLinux is chosen as control platform. The principle, character and tasks scheduling policy of RTLinux operating system are studied in this paper, at the same time the PCI data acquisition card is connected with RTLinux, and real-time data acquisition is implemented. After doing a real-time test on RTLinux, the controller is used on RTLinux and finally the steel ball stably suspended.