基于Lyapunov直接法双驱永磁运动载体的应用研究  

Application Research of Double⁃drive Permanent Magnet Motion Carrier Based on Lyapunov Direct Method

作　　者：李静[1] 孙子杨 王增权 张飞[1] LI Jing;SUN Ziyang;WANG Zengquan;ZHANG Fei(National Engineering Research Center for Advanced Rolling Technology,University of Science and Technology Beijing,Beijing 100083,China)

机构地区：[1]北京科技大学高效轧制国家研究中心,北京100083

出　　处：《机床与液压》2020年第23期1-6,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学项目(51907006);北海市科技计划(YYZGFW19062501)。

摘　　要：中小型管道特别是热力管道内部质量在线检测不便,实现难度较大。为解决此问题,针对所需环境要求,设计一种将永磁吸附双半球式应用于钢板质量及厚度检测的运动载体。通过分析其在不同平面和曲面上的受力,建立动力学和运动学模型、设计控制率。利用Lyapunov直接法验证该机构的行走稳定性。设计物理样机,并在不同曲面和平面上进行实验,实验结果和仿真效果几乎相同,验证了双驱永磁运动载体的可行性和实用性。Small and medium⁃sized pipelines,especially thermal pipelines,are difficult to carry out on⁃line quality inspection.In order to solve this problem,according to the required environmental requirements,a permanent magnet adsorption bi⁃hemisphere type motion carrier was designed for the quality and thickness of steel plate.By analyzing the forces on different surfaces and planes,the dy⁃namic and kinematic models and design control rates were established.Lyapunov direct method was used to verify the walking stability of the mechanism.The physical prototype was designed,and the experiments were carried out on different surfaces and surfaces.The experimental results and simulation results are almost the same,which verifies the feasibility and practicability of the dual⁃drive perma⁃nent magnet motion carrier.

关 键 词：LYAPUNOV直接法 永磁运动载体 动力学 运动学 永磁吸附 

分 类 号：O313[理学—一般力学与力学基础]