基于混合式磁浮平台的解耦及控制分析

邹圣楠; 刘畅; 邓舒同; 刘英; 陈鹏荣

doi:10.3969/j.issn.0258-2724.20210750

基于混合式磁浮平台的解耦及控制分析

doi: 10.3969/j.issn.0258-2724.20210750

邹圣楠^1,,
刘畅¹,
邓舒同^1, ,,
刘英^{1, 2},
陈鹏荣¹

1.
中国科学院海西研究院泉州装备制造研究中心，福建晋江 362200
2.
福州大学先进制造学院，福建福州 350108

基金项目: 国家自然科学基金（51807192）；福建省中科院科技服务网络计划（2021T3034）；泉州市高层次人才创新创业项目（2021C024R）

详细信息

作者简介:
邹圣楠（1988—），女，博士，研究方向为电磁场仿真与超导电工学，E-mail：shengnan.zou@fjirsm.ac.cn

通讯作者:
邓舒同（1988—），男，博士，研究方向为电磁场计算分析与电磁检测，E-mail：shutong.deng@fjirsm.ac.cn

中图分类号: TH134
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- 被引次数: 0
出版历程
- 收稿日期: 2021-09-28
- 修回日期: 2022-03-02
- 刊出日期: 2022-03-11

Decoupling and Control Stability Analysis Based on Hybrid Repulsion Maglev Platform

1.
Quanzhou Institute of Equipment Manufacturing, Haixi Institutes, Chinese Academy of Sciences, Jinjiang 362200, China
2.
School of Advanced Manufacturing, Fuzhou University, Fuzhou 350108, China

摘要

摘要:
为了研究磁悬浮平台系统中存在的多自由度耦合问题，提出一种利用永磁体之间的被动受力来减少竖直方向上主动控制的设计思路，给出一种混合斥力式磁浮平台的结构设计，该磁悬浮结构的定子由永磁体和电磁线圈共同组成，由永磁体提供主要的悬浮力，电磁线圈提供水平方向的驱动力，以此减少负责主动悬浮的线圈数量，减小线圈功耗及产热. 基于磁荷模型推导出磁标量势满足的拉普拉斯方程，利用分离变量法求出磁标量势的解析表达式，并对浮子在整个磁场中的受力进行精确的计算；充分研究探讨了定子与动子永磁体之间被动悬浮力的稳定区域，简化忽略了竖直方向上力的解耦，建立被控对象的数学模型，并研制了以微控制单元为中心的数字集成控制器，通过试验研究了平台的悬浮性能. 研究结果表明：本文所提出的混合斥力式磁浮平台在悬浮高度23 mm水平范围 ± 4 mm内，能够实现稳定的水平运动，并且浮子在垂直方向的位移变化不超过0.2 mm.
- 磁浮平台 /
- 磁场计算 /
- 有限元仿真 /
- 解耦控制 /
- 微控制单元
Abstract:
In order to study the multi-degree-of-freedom coupling problem in the magnetic levitation platform system, a design idea of using passive force between permanent magnets to reduce the active control in the vertical direction is proposed, and the structure design of a repulsion maglev platform is given. The stator of the magnetic suspension structure studied is composed of permanent magnet and electromagnetic coils. Its characteristic is that the permanent magnet provides the main suspension force, and the electromagnetic coils provide the horizontal driving force, so as to reduce the number of coils responsible for active suspension, and reduce coil power consumption and heat generation. Firstly, the Laplace equation satisfied by the scalar potential was derived based on the magnetic charge model, the analytical expression of the scalar potential was obtained by using the separation variable method. And the force of the float in the whole magnetic field was accurately calculated. Next, the stable region of passive suspension force between stator and mover permanent magnet was fully studied and discussed, the decoupling of the force in the vertical direction was simplified and ignored, and the mathematical model of the controlled object was established. The digital integrated controller centered on the micro-control unit was developed. The levitation performance of the platform was studied by experiments. The research results show that the hybrid repulsion maglev platform proposed in this paper can realize the stable motion control of the above float within the horizontal range of ± 4 mm of the suspension height of 23 mm, and can realize the stable horizontal motion, and the displacement change of the float in the vertical direction does not exceed 0.2 mm.
- magnetic suspension platform /
- magnetic field calculation /
- finite element calculation /
- decoupling control /
- micro-control unit

HTML全文

图 1 混合斥力式磁浮平台简易结构图

Figure 1. Simple structure diagram of hybrid repulsion maglev platform

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图 2 动态平衡下的悬浮

Figure 2. Suspension under dynamic equilibrium

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图 3 圆环与圆柱永磁体之间的等价关系

Figure 3. Equivalence relation between ring and cylindrical permanent magnet

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图 4 沿轴向磁化的圆柱永磁体

Figure 4. Axially magnetized cylindrical permanent magnet

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图 5 不同高度处圆环永磁体的磁感应强度分布

Figure 5. Magnetic flux density distribution of ring permanent magnets at different heights

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图 6 悬浮力随磁体之间轴向距离的变化

Figure 6. Variation of levitation force with axial distance between magnets

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图 7 被动悬浮力在不同高度处随水平位移的变化

Figure 7. Variation of passive suspension force with horizontal displacement at different heights

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图 8 浮子受力分析

Figure 8. Force analysis of float

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图 9 浮子垂直方向受力与水平位移的关系

Figure 9. Relationship between vertical force and horizontal displacement of float

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图 10 数字控制器结构

Figure 10. Digital controller structure diagram

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图 11 主程序流程

Figure 11. Main program flow diagram

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图 12 实验平台结构

Figure 12. Experimental platform structure diagram

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图 13 位移为1.0 mm的阶跃轨迹跟踪

Figure 13. Step trajectory tracking with 1.0 mm final value

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图 14 步长0.5 mm、位移为2.0 mm的轨迹跟踪

Figure 14. Trajectory tracking with 0.5 mm step length and 2.0 mm final value

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