论文总字数：21637字

摘 要

随着生活水平的不断提高，人们对其他方面的要求也随之提高。同时，人们对于未知世界的探索的欲望也变的越来越强烈，但是，这些地方往往都是在人类所不能够到达的极端环境。在这些极端热、极端冷或者外太空的极端环境之中，普通的机械将会因为各种原因而无法适应，出现故障。为此，科学家们不得不对此进行深入的研究。于是，磁悬浮飞轮技术在许多的科学家的努力之下便诞生了，现如今，它被广泛的应用到航天航空、精密机床等多个领域。例如人们对于能源的需求和环境的要求也是越来越高。于是，磁悬浮飞轮储能的能量高、比功率大、体积小、充电快(以分钟计，而化学储能以小时计)、寿命长、无任何废气废料污染等特点，受到了全球所有国家的广泛关注。

本文首先对于全球各国对磁悬浮飞轮技术方面进行大量的研究原因及意义进行了详细的介绍，然后把中国与世界各国在磁悬浮飞轮技术最近几年所取得的重大突破以及其发展的历史进行了一系列的介绍；接下来便是对于磁悬浮飞轮技术的发展前景的展望以及其未来的发展方向的阐述。

其次便是深入的对磁悬浮飞轮的结构、工作原理、数学模型等的研究，本论文将其分为单自由度和四自由度两个方向对其进行深入的探讨和研究。

在本文的最后则是在确立了磁悬浮飞轮的数学模型的情况下对所选用的磁悬浮飞轮的控制方法进行仿真研究，比较其优劣性。

关键词：磁悬浮飞轮 数字模型 滑模变控制

Study on sliding mode variable structure control of magnetic

suspension flywheel

Abstract

With the continuous improvement of living standards, people's demand for quality of life is also getting higher and higher.Therefore, people's demand for energy and environmental requirements are also getting higher and higher.At the same time, people desire for exploring the unknown world has become more and more strong, however, these places are often in human cannot reach the extreme environment. In the extreme heat and extreme cold or extreme environment of outer space, ordinary machinery will be because each kind of reason and can not adapt to the failure.To this end, scientists have had to conduct in-depth research.As a result, the magnetic levitation flywheel technology in the efforts of many scientists have been born. now, it is widely used in aerospace, precision machine tools, and other fields.Thus, the magnetic levitation flywheel energy storage with high energy, high specific power, small size and fast charging (in minutes, and chemical storage can hour to hour), long life, no any pollution, by the widespread concern in all countries of the world.

In this paper, first of all countries on the magnetic levitation flywheel technology to carry out a large number of research reasons and significance of a detailed introduction.Then China and the world in the magnetic levitation flywheel technology in recent years made a significant breakthrough in the history of its development and the a series of introduction. The next is the development prospects of the magnetic levitation flywheel technology and its future development direction.

Secondly, the structure, working principle and mathematical model of the magnetic suspension flywheel are deeply studied.degrees of freedom and four degrees of freedom to conduct in-depth exploration and research.

At the end of this paper, the control method of the magnetic suspension flywheel is studied in the condition of establishing the mathematical model of the magnetic suspension flywheel, and the advantages and disadvantages of the control method are compared.

Key Words:Magnetic suspension flywheel;Digital model;Sliding mode variable control

目 录

摘 要 I

Abstract II

第一章 绪 论 1

1.1 课题研究的意义 1

1.2国内外研究的现状 2

1.2.1 主动控制方法的研究 3

1.3 磁悬浮飞轮的发展趋势 4

第二章 磁悬浮飞轮的工作原理及数学模型 7

2.1 磁悬浮飞轮的介绍 7

2.2 磁悬浮飞轮的结构分析及工作原理 8

2.3 单自由度磁轴承系统的数学模型 8

2.4 滑模变结构控制的离散系统 12

2.4.1 离散系统的介绍 12

2.4.2 连续系统的精确离散化 13

2.4.3 离散滑模变结构控制的存在性和可达性 14

2.4.4 离散滑模变结构控制的不变性 14

第三章 磁悬浮飞轮的滑模变结构控制及Matlab/Simulink仿真 16

3.1 滑模变结构控制的简介 16

3.2 滑模变结构控制的基本原理 16

3.3 磁悬浮飞轮滑模变结构控制器的设计 18

3.4 磁轴承系统滑模变结构控制中的抖振控制 22

3.5 磁悬浮飞轮滑模变控制的仿真研究 22

附录1 28

附录2 29

总 结 31

参考文献 32

致 谢 35

第一章 绪 论

1.1 课题研究的意义

随着社会的不断进步，人们的生活水平也在不断地提高。这些都需要工业的在背后的支持，所以说一个国家的工业水平的发展尤为重要。那么，要想现代工业能够飞快地发展，什么又起到关键性的作用呢？没错，那便是旋转机械的性能要求。随着现代工业的不断发展，老式的轴承与控制方法已经跟不上时代的进步，磁悬浮飞轮的出现将会逐步的取代它们。

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