- ISSN 0258-2724
- CN 51-1277/U
- EI Compendex
- Scopus
- Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
- Chinese S&T Journal Citation Reports
- Chinese Science Citation Database
| Citation: | ZHAO Chuan, SUN Feng, PEI Wenzhe, JIN Junjie, XU Fangchao, ZHANG Xiaoyou. Independent Cascade Control Method for Permanent Magnetic Levitation Platform[J]. Journal of Southwest Jiaotong University, 2022, 57(3): 618-626. doi: 10.3969/j.issn.0258-2724.20210960
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Aiming at tilt caused by the difference of magnetic characteristics of each MLU (magnetic levitation unit), a permanent magnetic levitation platform is designed for contactless transportation; and an independent cascade control method is presented, which allows integral feedback of air gap deviation. Firstly, the dynamic model and equilibrium conditions of the levitation are analyzed to establish the transformation relationship between the air gap of each suspension unit and three degrees of freedom of the platform. Secondly, given each MLU features, the cascade control system with a double closed-loop is designed, in which the outer loop plays a major regulating role for the air gap, the inner loop works as a follow-up control for the rotation angle, and air gap error among each MLU runs as the integral feedback. Finally, the levitation experiment is conducted to verify the proposed controller. The results show that, when introducing the integral feedback, the air gap of each MLU is the same after levitating, and the air gap increases 0.12 mm synchronously when 0.1 kg of weight is applied to different positions. The platform adjusts the rotational angle to control the difference of magnetic characteristics and fulfill the horizontal levitation under eccentric load. However, the adjusting time of the system is about 1.4 times that of the independent cascade control system without integrated feedback.
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