永磁悬浮无尘传送系统的悬浮特性及解耦控制仿真分析

摘要/Abstract

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。

关键词: 无尘传送, 永磁悬浮, 可变磁路, 状态反馈解耦

Abstract:

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 using active permanent magnetic suspension technology.In each suspension support, the disk permanent 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 simulation results indicate that the transit system is coupled and not easy to control. Moreover, the numerical simulation was done with the state feedback decoupling 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.

Key words: dust-free , transit;permanent magnetic suspension;variable magnetic circuit, state feedback decoupling

中图分类号:

TH113

金俊杰, 段振云, 孙凤, 路英园. 永磁悬浮无尘传送系统的悬浮特性及解耦控制仿真分析[J]. 中国机械工程, 2016, 27(04): 518-525.

Jin Junjie, Duan Zhenyun, Sun Feng, Lu Yingyuan. Simulation Analysis on Suspension Characteristics and DecouplingControl for Dust-free Transit System Using Permanent Magnetic Suspension[J]. China Mechanical Engineering, 2016, 27(04): 518-525.

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