摘要
提出一种主要由伺服电机、径向磁化盘状永磁铁、"F"形导磁体及悬浮物构成的可控磁路式并联型永磁悬浮系统。系统中,并联悬浮物是置于导磁体正下方两个不同重量的铁球,伺服电机驱动盘状永磁铁旋转,改变通过悬浮物的有效磁通量,进而控制悬浮力大小,实现两铁球的稳定悬浮。根据系统结构及可控磁路式并联型永磁悬浮原理将系统模型简化,并建立系统的数学模型,分析使系统稳定悬浮的可能性,计算使系统稳定悬浮的PD控制器反馈增益范围。实验结果表明:在控制器参数满足计算范围条件下,当给系统一较小阶跃外扰时,在实时控制系统作用下,系统在很短的响应时间内可达到新的稳定悬浮状态;相同的外扰可导致左右球异向的位移响应结果,左球移动方向与外扰相同,而右球相反。
A parallel permanent magnetic suspension system is proposed, which is composes of a servo motor, a radial magnetized disk permanent magnet, an F shape magnetizer and suspending objects. In the system, the parallel suspending objects are two iron balls with different weights placed right under the magnetizer, the disk permanent magnet is driven by a servo motor and rotates. By changing the effective magnetic flux flowing through the suspended objects, the suspension force is controlled and the stable suspension of the two iron balls is realized. The system model is simplified based on the system structure and the parallel permanent magnetic suspension principle of the controllable flux path, and the mathematic model of the system is built, the stable suspension feasibility of the system is analyzed and the feedback gain range of the PD controller that makes the system stable suspending is analyzed. The experiment results indicate that when the PD control parameters meet the calculated range, the system can response to a small step disturbance quickly with real- time control and reach to new stable suspension state in a short response tine; the same disturbance causes the displacement responses of two iron balls in different directions, the displacement direction of the left ball is the same as that of the disturbance and the right one is inverse to that of the disturbance.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2017年第7期1714-1722,共9页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(51105257
51310105025)
辽宁省高等学校杰出青年学者成长计划(LQJ2014012)
中国博士后科学基金(2015M571327)
十二五国家科技支撑计划(2015BAH47F02)项目资助
关键词
永磁悬浮
并联型
PD控制
悬浮实验
permanent magnetic suspension
parallel type
PD control
suspension experiment
