可变磁路式永磁悬浮系统的防跌落防吸附控制
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摘要
永磁悬浮系统是一种典型的非线性系统,随着导磁体与悬浮物之间的气隙变化,控制特性发生变化,影响系统的稳定性。为防止外界干扰引起系统偏离平衡点时,悬浮物跌落或吸附到导磁体上,提出一种基于气隙变化的防跌落防吸附控制方法。在整个悬浮气隙内选取多点预设悬浮力,基于各设计点预设的悬浮力计算控制参数,并依据插值原理得到完整的防跌落防吸附控制律,有效补偿悬浮物运动时不均匀变化的悬浮力,提高系统的可控性,稳定性和鲁棒性。仿真和实验表明,防跌落防吸附控制方法能缓和冲击,提高防跌落性能,当外扰使气隙变大时悬浮力迅速变大,防止悬浮物跌落,当外扰使气隙变小时悬浮力迅速变小,防止悬浮物吸附于导磁体上。
Permanent magnetic levitation system is a typical nonlinear system. As the air gap between the magnetic conductor and suspension changes, the control characteristics change which affects the stability of the system. In order to prevent the external interference from causing the suspended matter falls or adsorbs on the magnetic conductor, as the system deviating from the equilibrium point. An anti-fall and anti-adsorption control method based on air gap variation is proposed. The multiple-point preset levitation force is selected in the entire suspended air gap, the control parameters are calculated based on the preset levitation force of each design point, and the complete anti-fall and anti-adsorption control law is obtained according to the interpolation principle. This method can effectively compensate for the uneven variation of levitation force, and improve the controllability, stability and robustness of the system. Simulation and experimental results show that the anti-fall and anti-adsorption control method can mitigate impact and improve anti-fall performance. When the air gap is enlarged by the external disturbance, the levitation force increases rapidly to prevent the suspended object from falling. When the external disturbance causes the air gap to become smaller, the levitation force rapidly becomes small, and the suspended matter is prevented from being adsorbed on the magnetic conductors.
Permanent magnetic levitation system is a typical nonlinear system. As the air gap between the magnetic conductor and suspension changes, the control characteristics change which affects the stability of the system. In order to prevent the external interference from causing the suspended matter falls or adsorbs on the magnetic conductor, as the system deviating from the equilibrium point. An anti-fall and anti-adsorption control method based on air gap variation is proposed. The multiple-point preset levitation force is selected in the entire suspended air gap, the control parameters are calculated based on the preset levitation force of each design point, and the complete anti-fall and anti-adsorption control law is obtained according to the interpolation principle. This method can effectively compensate for the uneven variation of levitation force, and improve the controllability, stability and robustness of the system. Simulation and experimental results show that the anti-fall and anti-adsorption control method can mitigate impact and improve anti-fall performance. When the air gap is enlarged by the external disturbance, the levitation force increases rapidly to prevent the suspended object from falling. When the external disturbance causes the air gap to become smaller, the levitation force rapidly becomes small, and the suspended matter is prevented from being adsorbed on the magnetic conductors.
引文
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[20] 田录林,杨晓萍,李言,等.适用于永磁悬浮轨道及永磁轴承的解析磁力模型研究[J].摩擦学学报,2008,28(1):73-77.TIAN L L,YANG X P,LI Y,et al.Analytical magnetic force model for permanent magnetic guideway and permanent magnetic bearings[J].Journal of Tribology,2008,28(1):73-77.
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[22] SUN F,OKA K.Noncontact spinning mechanism using rotary permanent magnets[J].IEEE Transactions on Industry Applications,2010,130(7):913-919.
[23] 李亚星,忻尚芝,杨迪瑞,等.永磁机构在空气式断路器中可行性分析及其MATLAB仿真[J].电子测量技术,2017,40(3):31-34.LI Y X,XIN SH ZH,YANG D R,et al.Feasibility analysis and MATLAB simulation of permanent magnetic actuator in air circuit breaker[J].Electronic Measurement Technology,2017,40(3):31-34.
[24] OKA K,TSURUMI A.Multi DOF non-contact manipulation using permaneng magnet linear actuation[C].ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference,2012.
[25] 孙凤,韦伟,金嘉琦,等.永磁悬浮非接触回转驱动系统[J].机械工程学报,2017,53(20):192- 201.SUN F,WEI W,JIN J Q,et al.Non-contact Rotation Driving System Using Permanent-magnetic Suspension [J].Journal of Mechanical Engineering,2017,52(20):192- 201.
[2] 李丽君,樊亚洪,袁军.磁悬浮万向飞轮在卫星姿态机动中的应用[J].机械工程学报,2015,51(16):206- 212.LI L J,FAN Y H,YUAN J.Application of magnetically suspended gimbaling flywheel in satellite attitude maneuver[J].Journal of Mechanical Engineering,2015,51 (16):206- 212.
[3] 张钢,孟庆涛,钟永彦,等.五自由度全永磁轴承系统的稳定悬浮特性分析[J].机械工程学报,2015,51(5):56- 63.ZHANG G,MENG Q T,ZHONG Y Y,et al.Stable levitation performance analysis of five degrees of freedom all permanent magnetic bearing system[J].Journal of Mechanical Engineering,2015,51(5):56- 63.
[4] 汪科任,罗世辉,宗凌潇.新型磁浮车动力学仿真分析 [J].振动与冲击,2017,36(20):23- 29.WANG K R,LUO SH H,ZONG L X.A dynamic simulation analysis of new maglev trains[J].Journal of Vibration and Shock,2017,36(20):23- 29.
[5] 王晓乐,付小利,崔宸昱,等.基于多类别满意优化控制的磁悬浮球控制系统[J].仪器仪表学报,2015,36(9):1928-1936.WANG X L,FU X L,CUI CH Y,et al.Magnetic levitation ball control system based on multi-class satisfactory optimization control algorithm[J].Chinese Journal of Scientific Instrument,2015,36(9):1928-1936.
[6] 朱坚民,沈正强,李孝茹,等.基于神经网络反馈补偿控制的磁悬浮球位置控制[J].仪器仪表学报,2014,35(5):976-986.ZHU J M,SHEN ZH Q,LI X R,et al.Magnetic levitation ball position control based on neural network feedback compensation control[J].Chinese Journal of Scientific Instrument,2014,35(5):976-986.
[7] YADAV S,TIWARI J,NAGAR S.Digital control of magnetic levitation system using fuzzy logic controller[J].International Journal of Computer Applications,2012,41 (21):22- 26.
[8] 付兴建,郭宏梅,李迎春,等.基于鲁棒滤波的磁悬浮装置稳定控制[J].电子测量技术,2018,41(9):46- 49.FU X J,GUO H M,LI Y CH,et al.The stable control for magnetic levitation device based on robust filtering [J].Electronic Measurement Technology,2018,41(9):46- 49.
[9] 李奇南,陈敏,徐德鸿.钢板磁悬浮系统加速度反馈控制[J].中国电机工程学报,2010,30(36):123-128.LI Q N,CHEN M,XU D H.Acceleration feedback control for steel plate magnetic suspension system[J].Proceedings of the CSEE,2010,30(36):123-128.
[10] BOJAN-DRAGOS C A,PREITL S,PRECUP R E,et al.State feedback and proportional-integral-derivative control of a magnetic levitation system[C].IEEE,International Symposium on Intelligent Systems and Informatics,2016:111-116.
[11] 张颖,陈慧星,李云钢.电磁永磁混合EMS型磁浮列车的吸死防护问题研究[J].兵工自动化,2009,28(1):59- 61.ZHANG Y,CHEN H X,LI Y G.Study on protection against suspension contact in hybrid EMS maglev train[J].Ordnance Industry Automation,2009,28(1):59- 61.
[12] 陈强,李晓龙,刘少克.磁悬浮列车悬浮系统的非线性PID控制[J].机车电传动,2014(1):52- 54.CHEN Q,LI X L,LIU SH K.Nonlinear PID control for levitation system of maglev train[J].Electric Drive for Locmotives,2014(1):52- 54.
[13] 张燕红,赵德安,张建生.非线性功放扩大主动磁悬浮系统动态范围研究[J].农业机械学报,2013,44(8):268- 272.ZHANG Y H,ZHAO D AN,ZHANG J SH.Nonlinear amplifier expanded dynamic range of active magnetic levitation system[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(8):268- 272.
[14] 刘超,刘刚,盖玉欢.基于磁力等效原理的刚性磁悬浮转子系统高精度在线动平衡[J].振动与冲击,2016,35(4):67-71.LIU CH,LIU G,GAI Y H.Field balancing for a magnetically suspended rigid rotor based on magnetic forces equivalence principle[J].Journal of Vibration and Shock,2016,35(4):67-71.
[15] MORITA T,SHIMIZU K,HASEGAWA M,et al.A miniaturized levitation system with motion control using a piezoelectric actuator[J].IEEE Transactions on Control Systems Technology,2002,10(5):666- 670.
[16] MIZUNO T,HIRAI Y,ISHINO Y,et al.Flux-path control magnetic suspension system using voice coil motors[J].Journal of System Design and Dynamics,2007,1(2):147-158.
[17] UENO T,HIGUCHI T.Zero-power magnetic levitation using composite of magnetostrictive/piezoelectric material[J].IEEE Transactions on Magnetics,2007,43(8):3477-3482.
[18] 孙凤,韦伟,金俊杰,等.可控磁路式并联型永磁悬浮系统[J].仪器仪表学报,2017,38(7):1714-1722.SUN F,WEI W,JIN J J,et al.Parallel permanent magnetic suspension system with flux path control[J].Chinese Journal of Scientific Instrument,2017,38(7):1714-1722.
[19] 万福凯,曾培,茹伟民,等.永磁磁浮叶轮血泵及转子悬浮性能分析[J].北京生物医学工程,2005,24(3):199- 203.WAN F K,ZENG P,RU W M,et al.Permanent maglev impeller blood pump and analysis of its rotator suspension[J].Beijing Biomedical Engineering,2005,24(3):199- 203.
[20] 田录林,杨晓萍,李言,等.适用于永磁悬浮轨道及永磁轴承的解析磁力模型研究[J].摩擦学学报,2008,28(1):73-77.TIAN L L,YANG X P,LI Y,et al.Analytical magnetic force model for permanent magnetic guideway and permanent magnetic bearings[J].Journal of Tribology,2008,28(1):73-77.
[21] 刘虎,房建成.新型永磁偏置轴向磁轴承的磁力特性[J].机械工程学报,2010,46(8):167-174.LIU H,FANG J CH.Magnetic force characteristics of a novel permanent magnet biased axial magnetic bearing[J].Journal of Mechanical Engineering,2010,46(8):167-174.
[22] SUN F,OKA K.Noncontact spinning mechanism using rotary permanent magnets[J].IEEE Transactions on Industry Applications,2010,130(7):913-919.
[23] 李亚星,忻尚芝,杨迪瑞,等.永磁机构在空气式断路器中可行性分析及其MATLAB仿真[J].电子测量技术,2017,40(3):31-34.LI Y X,XIN SH ZH,YANG D R,et al.Feasibility analysis and MATLAB simulation of permanent magnetic actuator in air circuit breaker[J].Electronic Measurement Technology,2017,40(3):31-34.
[24] OKA K,TSURUMI A.Multi DOF non-contact manipulation using permaneng magnet linear actuation[C].ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference,2012.
[25] 孙凤,韦伟,金嘉琦,等.永磁悬浮非接触回转驱动系统[J].机械工程学报,2017,53(20):192- 201.SUN F,WEI W,JIN J Q,et al.Non-contact Rotation Driving System Using Permanent-magnetic Suspension [J].Journal of Mechanical Engineering,2017,52(20):192- 201.