摘要
介绍了一种永磁悬浮无尘传送系统。该系统采用两对双列对称布置的非接触主动永磁悬浮支承。悬浮支承中,永磁铁提供磁性力,伺服电机驱动永磁铁转动,通过改变悬浮支承与悬浮导轨间的磁通量实现悬浮力的实时控制。通过消除冗余的悬浮支承控制点建立悬浮系统的动力学模型,应用LQR控制方法仿真分析未解耦系统的悬浮特性,证明该系统的耦合性及不易控制性。此外,采用状态反馈解耦控制策略对系统进行解耦控制仿真,结果表明该策略可以使系统解耦,并具有较高的稳定性和较快的响应特性。
This paper proposed a dust-free transit system using permanent magnetic suspension. In this transit system, four non-contact suspension supports were arranged in two lines symmetrically u- sing active permanent magnetic suspension technology. In each suspension support, the disk perma- nent magnet driven by a servo motor produced the magnetic force and the magnetic suspension force between the support and the iron guide rail was controlled in real-time. This paper gave the dynamics model after eliminating redundancy control points of suspension force, and analyzed the suspension characteristics of undecoupled system by numerical simulation using LQR control method. The simu- lation results indicate that the transit system is coupled and not easy to control. Moreover, the nu- merical simulation was done with the state feedback deeoupling control strategy. The results show that the decoupling control strategy improves the control characteristics of the transit system, which has a good stabilities and response characteristics.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2016年第4期518-525,共8页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51105257
51310105025)
辽宁省高等学校杰出青年学者成长计划资助项目(LQJ2014012)
中国博士后科学基金资助项目(2015M571327)
国家科技支撑计划资助项目(2014BAF08B01)
关键词
无尘传送
永磁悬浮
可变磁路
状态反馈解耦
dust-free transit
permanent magnetic suspension
variable magnetic circuit
state feed-back decoupling
