基于混合式磁浮平台的解耦及控制分析  

Decoupling and Control Stability Analysis Based on Hybrid Repulsion Maglev Platform

作　　者：邹圣楠 刘畅[1] 邓舒同 刘英[1,2] 陈鹏荣 ZOU Shengnan;LIU Chang;DENG Shutong;LIU Ying;CHEN Pengrong(Quanzhou Institute of Equipment Manufacturing,Haixi Institutes,Chinese Academy of Sciences,Jinjiang 362200,China;School of Advanced Manufacturing,Fuzhou University,Fuzhou 350108,China)

机构地区：[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

出　　处：《西南交通大学学报》2022年第3期540-548,共9页Journal of Southwest Jiaotong University

基　　金：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)。

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.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.

关 键 词：磁浮平台 磁场计算 有限元仿真 解耦控制 微控制单元 

分 类 号：TH134[机械工程—机械制造及自动化]