Simulation Analysis on Suspension Characteristics and DecouplingControl for Dust-free Transit System  Using Permanent Magnetic Suspension

Abstract

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

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

CLC Number:

TH113

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.

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.

References

[1]Li Hua, Wang Bo, Zhou Shunyuan. SlidingMode Control Based on Fuzzy approaching Law of Hybrid Suspension System[C]//Proceedings of the 8th World Congress on Intelligent Control and Automation, IEEE. Jinan, China， 2010: 3712-3716.

[2]张耿, 李杰. 低速磁浮列车竖曲线电磁力计算[J]. 中国电机工程学报, 2012, 32(3): 150-156.

Zhang Geng, Li Jie. Calculation of Electromagnetic Force of Low-speed Maglev on a Vertical Curve[J].Proceedings of the CSEE, 2012, 32(3): 150-156.

[3]吴华春, 王志强, 龚高, 等. 离心式磁悬浮血泵用混合磁悬浮支承设计与仿真[J]. 中国机械工程, 2013, 24(18): 2421-2422.

Wu Chunhua, Wang Zhiqiang, Gong Gao, et al. Design and Simulation of Hybrid Maglev Supporting for Centrifugal Maglev Blood Pump[J]. China Mechanical Engineering, 2013, 24(18): 2421-2422.

[4]王伟明, 马树元, 闪明才, 等. 磁悬浮运动平台的非线性变结构控制[J]. 组合机床与自动化加工技术, 2012(3): 69-72.

Wang Weiming, Ma Shuyuan, Shan Mingcai, et al. Non-linear Variable-structure Control of Maglev Motion Stage[J]. Modular Machine Tool & Automatic Manufacturing Technique,2012(3): 69-72.

[5]段吉安, 郭宁平, 周海波. 一种新型磁悬浮直线运动平台的热分析[J]. 中国电机工程学报,2011,15(31):114-115.

Duan Ji'an, Guo Ningping, Zhou Haibo. Thermal Analysis of a Novel Linear Maglev Transportation Platform[J].Proceedings of the CSEE, 2011,15(31):114-115.

[6]胡汉辉, 谭青. 磁悬浮平台的解耦模糊PID控制[J]. 中南大学学报(自然科学版), 2010, 40(4): 963-967.

Hu Hanhui, Tan Qing.Decoupling Fuzzy PID Control for Magnetic Suspended Table[J]. Journal of Central South University (Science and Technology), 2010, 40(4): 963-967.

[7]张云鹏, 刘淑琴, 李红伟, 等. 基于磁路分析的轴向混合磁轴承径向承载力解析计算[J]. 电工技术学报, 2012, 27(5): 137-142.

Zhang Yunpeng, Liu Shuqin, Li Hongwei, et al. Calculation of Radial Electromagnetic Force of Axial Hybrid Magnetic Bearing Based on Magnetic Circuit Analysis[J]. Transactions of China Electrotechnical Society, 2012, 27(5): 137-142.

[8]韩邦成, 崔华, 汤恩琼. 基于滑模扰动观测器的磁轴承主动振动控制[J]. 光学精密工程, 2012, 20(3): 563-570.

Han Bangcheng, Cui Hua, Tang Enqiong. Vibration Suppression of Magnetic Bearing Based on Sliding Mode Disturbance Observer[J]. Optics and Precision Engineering, 2012, 20(3): 563-570.

[9]项倩雯, 孙玉坤, 张新华. 磁悬浮开关磁阻电机建模与参数优化设计[J]. 电机与控制学报, 2011,15(4):74-79.

Xiang Qianwen, Sun Yukun, Zhang Xinhua. Modeling and Parameters Optimal Design of Bearingless Switched Reluctance Motor[J]. Electric Machines and Control, 2011, 15(4): 74-79.

[10]宋文荣, 陈阳, 宋晓东, 等. 磁悬浮进给机构的磁力耦合[J]. 光学精密工程, 2004, 12(4): 411-414.

Song Wenrong, Chen Yang, Song Xiaodong, et al. Magnetic Force Coupling in Maglev Feeding Mechanism[J]. Optics and Precision Engineering, 2004, 12(4): 411-414.

[11]Morishita M. An Adaptive-controlled Self-gapdetecting Electromagnetic Suspension System[J]. 2006 IEEE InternationalSymposium on Industrial Electronics, 2006, 1/7: 2562-2565.

[12]Cui Peng, LI Jie, Liu Desheng. Carrying Capacity for the Electromagnetic Suspension Low-speed Maglev Train on the Horizontal Curve[J]. Science China (Technological Sciences), 2010, 53(4): 1082-1087.

[13]龙鑫林,佘龙华,常文森.电磁永磁混合型EMS磁悬浮非线性控制算法研究[J] .铁道学报, 2011, 33(9): 36-39.

Long Xinlin, She Longhua, Chang Wensen. Study on Nonlinear Control Method for Hybrid EMS Maglev Train[J]. Journal of the China Railway Society, 2011, 33(9): 36-39.

[14]赵春霞,佘龙华,常文森.高速磁浮列车单转向架弯道运行导向系统研究[J] .铁道学报,2011,33(7):32-37.

Zhao Chunxia, She Longhua, Chang Wensen. Research on Guidance System for Single Bogie of High-speed Maglev Train in the Curve Negotiation[J]. Journal of the China Railway Society, 2011, 33(7): 32-37.

[15]Li Jinhui, Li Jie, Zhang Geng. A Practical Robust Nonlinear Controller for Maglev Levitation System[J]. Journal of Central South University,2013,20: 2991-3001.

[16]Feng Sun, Koichi Oka. Development of Noncontact Suspension Mechanism Using Flux Path Control Disk Magnet Rotation[J]. Transactions of theJapan Society of Mechanical Engineers, 2010, 76: 2916-2922.

[17]孙兴伟, 路英园, 孙凤, 等. 可变磁路式永磁悬浮系统的动力学特性研究[J]. 中国机械工程, 2014, 25(20): 2782-2787.

Sun Xingwei, Lu Yingyuan, Sun Feng, et al. Research on Dynamics Performance of Permanent Magnet Suspension System with Variable Magnetic Circuit[J]. China Mechanical Engineering, 2014, 25(20): 2782-2787.

Simulation Analysis on Suspension Characteristics and DecouplingControl for Dust-free Transit System Using Permanent Magnetic Suspension

永磁悬浮无尘传送系统的悬浮特性及解耦控制仿真分析

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

[1]	WANG Zhiqiang, LEI Zhenyu. Analysis of Causes for Rail Corrugation on Steel Spring Floating Slab Tracks of Metro Small Radius Curves [J]. China Mechanical Engineering, 2023, 34(24): 2899-2908.
[2]	REN Yongsheng, YAO Donghui, ZHANG Jinfeng. Research Advances in Chatter of Metal Cutting Systems Involving Time Delays [J]. China Mechanical Engineering, 2023, 34(21): 2548-2567,2576.
[3]	XU Lixin, XIA Chen, YANG Bo. Analysis and Test on Dynamic Transmission Errors of RV Reducers under Load Conditions [J]. China Mechanical Engineering, 2023, 34(18): 2143-2152.
[4]	WANG Liangwen, KONG Yangguang, WANG Ruolan, ZHANG Zhigang, LIU Xuling, LI Linfeng, . Simulation and Experimental Study of Contact-collision of Inner Braced Manipulators for Grasping Thin-walled Fragile Cylindrical Inner Wall Workpieces [J]. China Mechanical Engineering, 2023, 34(17): 2026-2036.
[5]	ZHOU Ruchuan, WU Wenmin, FENG Manman, GUO Hui, LIN Yanhu. Tooth Surface Generation and Meshing Characteristics Analysis of Low-angle Face Gear Drives [J]. China Mechanical Engineering, 2023, 34(06): 631-640.
[6]	CHEN Hao, GONG Mingde, ZHAO Dingxuan, ZHANG Wei, ZHANG Yue, HAO Chunyou, . Sensitivity Analysis and Adaptive Tracking Control of Electro-hydraulic Active Suspensions [J]. China Mechanical Engineering, 2023, 34(04): 481-489.
[7]	DONG Chenglin, CAI Longqi, LI Yi, LU Tong, ZHANG Luke. Isotropy Design and Vibration Reduction of a Three-dimensional Dynamics Vibration Absorber Based on Parallel Mechanisms [J]. China Mechanical Engineering, 2023, 34(03): 307-313.
[8]	HE HonglinZ, HAO Weipeng, YU Zhihao, LONG Yufan, YAN Yinqi, LI Ji. Topological Dynamics Optimization of Constrained Damping Plates Based on Bilinear Material Interpolation Model [J]. China Mechanical Engineering, 2022, 33(23): 2783-2789，2878.
[9]	ZHANG Hongquan, XIAO Wangqiang. Anti-vibration Design for Compressor Pipelines of Inverter Air Conditioners Based on Particle Damping [J]. China Mechanical Engineering, 2022, 33(18): 2172-2182，2189.
[10]	WANG Longkai, WANG Ailun, YIN Yijun, JIN Miao, HENG Xing. Dynamics Modeling Method of Complex Rotors for Aero-turboshaft Engines [J]. China Mechanical Engineering, 2022, 33(13): 1513-1520.
[11]	WU Lifeng, , LYU Yong, YUAN Rui, ZHU Xi, YOU Jun, . Improved SA-MEMD with Applications to Fault Diagnosis of Rolling Bearings [J]. China Mechanical Engineering, 2022, 33(11): 1336-1344.
[12]	ZHU Jianxu, ZHAO Dingxuan, , GONG Mingde, CHEN Hao, , YANG Mengke, . Active Suspension System Energy Consumption and Engine Power Matching Control for Emergency Rescue Vehicles [J]. China Mechanical Engineering, 2022, 33(11): 1361-1368.
[13]	QIU Mingming, YU Wei, ZHAO Han, LIU Hao, CAO Longkai. Braking Energy Recovery Control Strategy for PHEVs Considering Coupling Influence of Driving Cycle and Driving Style [J]. China Mechanical Engineering, 2022, 33(02): 143-152.
[14]	WU Hongan, , LYU Yong, , YI Cancan, YUAN Rui, . Synchrosqueezing Algorithm for Window Extension and Compression Optimization and Its Applications in Instantaneous Frequency Estimation under Variable Speed Conditions [J]. China Mechanical Engineering, 2022, 33(01): 34-44.
[15]	SHAN Zenghai, LI Zhiyuan, ZHANG Xu, HUANG Yixiang, LI Yanming, LIU Chengliang, ZHANG Xuan. Health Status Assessment of Hydraulic Pumps Based on Multi-sensor Information Fusion and Multi-grained Cascade Forest Model [J]. China Mechanical Engineering, 2021, 32(19): 2374-2382.