基于力失衡的二维主动磁悬浮驱动方法分析与测试  

Analysis and Test of Two⁃Dimensional Active Maglev Actuation and Control Method Based on Force Imbalance

作　　者：刘冠诚 陆永华[1] 杨海波 冯强 周利华 LIU Guancheng;LU Yonghua;YANG Haibo;FENG Qiang;ZHOU Lihua(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;College of Mechanical Engineering,Nanjing Vocational University of Industry Technology,Nanjing 210023,China;State-Owned Jinjiang Machinery Factory,Chengdu 610043,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]南京工业职业技术大学机械工程学院,江苏南京210023 [3]国营锦江机器厂,四川成都610043

出　　处：《测试技术学报》2024年第2期109-119,共11页Journal of Test and Measurement Technology

基　　金：国家自然基金资助项目(51975293);航空科学基金资助项目(2019ZD052010);江苏省研究生科研与实践创新计划资助项目(KYCX20-0180)。

摘　　要：提出一种基于力失衡的磁悬浮驱动系统,并对外磁场主动驱动设计一种神经网络PID(Proportion Integration Differentiation)控制方法,可以有效应对非线性、模型参数不明确的复杂驱动系统。实验结果表明,该控制算法解决了基于模型控制方法中被控对象与稳态工作点之间偏差增大、跟踪性能迅速恶化等问题,实现了磁性小球在二维空间中的稳定悬浮与高精度可控运动。可应用于工业领域细长管道内壁非破坏式质量检测、管道内部清淤和医疗领域血管、肠腔内的检查和手术。A magnetic levitation actuation system based on force imbalance is proposed,and a neural network PID(Proportion Integration Differentiation)control method is designed to activate actuation of external magnetic field,which can effectively deal with the complex actuation system with nonlinear and unclear model parameters.Experimental results show that the proposed control algorithm solves the problems such as the increase of deviation between the controlled object and the steady-state operating point and the rapid deterioration of tracking performance in the model-based control method.The stable levitation and high-precision controllable motion of the magnetic ball in two-dimensional space is realized.It can be applied to the non-destructive quality detection of the inner wall and the internal dredging of the long and thin pipeline in the industrial field,and the examination and operation of the blood vessel and intestinal cavity in the medical field.

关 键 词：外磁场 二维悬浮运动 主动磁悬浮驱动 神经网络控制 力失衡 

分 类 号：TH73[机械工程—仪器科学与技术]