基于混合控制的磁悬浮运转装置设计

Design of Magnetic Levitate Running Equipment Based on Hybrid Control

基于混合控制的磁悬浮运转装置系统,将小车运动的连续动态行为和工控机的离散控制行为集于统一混合模型中,采用分层框架控制结构,通过工控机控制小车运行状态。系统运行时,工控机接收轨道上的光栅传感器信号,并将其发送到驱动装置中对应的直线电机,通过变频器输出电压与频率控制小车的运行状态。同时通过光栅传感器可得出小车的运行速度。由此,可全面了解离散和连续行为的相互作用,实现更佳控制。

The magnetic levitate running equipment system based on hybrid control, which adopted a hierarchical hybrid control framework, had the model car＇s continuous dynamic behavior and industrial personal computer＇s discrete control behavior amalgamated in one hybrid model, and controlled the behavior of mode car by industrial personal computer. While system was running, the industrial personal computer received the raster sensor＇s signal and sent it to the right motor of the drive equipment, and the model car＇s running state was controlled by frequency converter output＇s frequency or voltage. Moreover it can figure out the model car＇s velocity by the raster sensor, Thereby, it can show the overall continuous and discrete behavior＇s interaction, and achieve a better control.