混合磁悬浮系统零功率抗偏载控制方法研究

doi:10.3901/JME.2024.08.360

机械工程学报 ›› 2024, Vol. 60 ›› Issue (8): 360-369.doi: 10.3901/JME.2024.08.360

扫码分享

混合磁悬浮系统零功率抗偏载控制方法研究

赵川¹, 孙凤¹, 金俊杰¹, 徐方超¹, 张明¹, OKA Koichi²

1. 沈阳工业大学机械工程学院沈阳 110870;
2. 高知工科大学系统工学部高知 7828502 日本

收稿日期:2023-04-06 修回日期:2023-10-25 出版日期:2024-04-20 发布日期:2024-06-17
作者简介:赵川,男,1993年出生,博士,讲师,硕士研究生导师。主要研究方向为永磁悬浮传送系统及其控制策略,混合磁悬浮系统及零功率控制方法,高性能电主轴及其综合测试技术。E-mail:zhaochuan@sut.edu.cn;孙凤(通信作者),男,1978年出生,博士,教授,博士研究生导师。主要研究方向为磁悬浮与磁力驱动技术,高端制造装备研发、评价与一致性提升,地外天体采样探测技术,复杂曲面智能制造与加工技术及特种加工智能制造装备及工艺方法。E-mail:sunfeng@sut.edu.cn
基金资助:
国家自然科学基金(52375258,52005345,52005344)、国家重点研发计划(2020YFC2006701)、中国博士后科学基金(2022M722223)、辽宁省教育厅(LFGD2020002)、辽宁省自然科学基金计划(2023-BS-127)和辽宁省"揭榜挂帅"科技重大专项(2022JH1/10400027)资助项目。

Research on Zero Power and Resisting Eccentric Load Control Method of Hybrid Magnetic Levitation System

ZHAO Chuan¹, SUN Feng¹, JIN Junjie¹, XU Fangchao¹, ZHANG Ming¹, OKA Koichi²

1. School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870;
2. Institute of System Engineering, Kochi University of Technology, Kochi 7828502, Janpan

Received:2023-04-06 Revised:2023-10-25 Online:2024-04-20 Published:2024-06-17

摘要/Abstract

摘要： 针对混合磁悬浮洁净传送装置无法兼顾零功率和抗偏载悬浮的问题，提出一种磁铁可动式混合磁悬浮系统，并设计了其零功率抗偏载控制策略。该系统中一个磁极固定，其他两个磁铁可绕悬浮圆盘中心轴线转动，通过调节气隙长度和磁铁转动角度克服偏载引起的扰动力和扰动力矩，从而实现零稳态电流和抗偏载悬浮。首先建立系统的线性变参数模型，分析该系统实现零功率水平悬浮需要满足的条件。零功率抗偏载控制策略在比例-微分控制器中引入电流和气隙偏差的积分反馈，并应用质心观测器反求磁体转动角度，求解方法分别采用雅可比逆变换解析求解和查表法内插取值两种方法。试验结果表明，该系统能够在偏载条件下保持零功率水平悬浮，应用雅可比的连续控制策略具有更好的纠偏特性，稳态时电流波动范围小。

关键词: 混合磁悬浮, 零功率控制, 抗偏载特性, 离散控制

Abstract: To solve coexistent problem of zero-power and resisting eccentric load in the clean transmission system using hybrid magnetic levitation, a novel system structure with the movable magnet unit is proposed and concomitant control strategies are designed. One magnetic pole is fixed, while the other two can rotate around the central axis of the levitated plate. Under levitation with the eccentric load, the zero-power and horizontal levitation could be realized by adjusting air gap to overcome the disturbance force and changing the position of magnet to counteract the moment introduced by eccentric load. Firstly, the linear parameter-varying model is established, and the conditions for the system to achieve zero power horizontal suspension are analyzed. The zero-power control strategies with resisting eccentric load introduces the integral feedback of current and air gap deviation in the proportional-differential controller, and uses the centroid observer to reverse the rotation angle of the magnet. The solving methods are implemented by inverse Jacobian transform matrix and look-up table with interpolation respectively. The experimental results show that the system can maintain zero power horizontal suspension under eccentric load. In terms of rectifying deviation and fluctuation of steady-state current, the continuous control strategy using Jacobi is superior to the discrete look-up table strategy.

Key words: hybrid magnetic levitation, zero-power control, characteristic of resisting eccentric load, discrete control

中图分类号:

TH39

赵川, 孙凤, 金俊杰, 徐方超, 张明, OKA Koichi. 混合磁悬浮系统零功率抗偏载控制方法研究[J]. 机械工程学报, 2024, 60(8): 360-369.

ZHAO Chuan, SUN Feng, JIN Junjie, XU Fangchao, ZHANG Ming, OKA Koichi. Research on Zero Power and Resisting Eccentric Load Control Method of Hybrid Magnetic Levitation System[J]. Journal of Mechanical Engineering, 2024, 60(8): 360-369.

参考文献

[1] HA C W，KIM C H，LIM J. Experimental verification of a magnetic levitation transport system for the OLED display evaporation process under vacuum[J]. IEEE Robotics & Automation Letters，2018，3(4)：2786-2791.
[2] SCHMID P，SCHNEIDER G，DIGNATH F，et al. Static and dynamic modeling of the electromagnets of the maglev vehicle transrapid[J]. IEEE Transactions on Magnetics，2021，57(2)：1-15.
[3] ZHAO C，SUN F，JIN J，et al. Analysis of quasi-zero power characteristic for a permanent magnetic levitation system with a variable flux path control mechanism[J]. IEEE/ASME Transactions on Mechatronics，2021，26(1)：437-447.
[4] 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 Feng，WEI Wei，JIN Jiaqi，et al. Non-contact rotation driving system using permanent-magnetic suspension[J]. Journal of Mechanical Engineering，2017，53(20)：192-201.
[5] 王念先，胡业发，吴华春，等. 大气隙混合磁悬浮轴承承载力模型的研究[J]. 机械工程学报，2015，51(1)：153-160. WANG Nianxian，HU Yefa，WU Huachun，et al. Research of bearing capacity model of large-air-gap hybrid magnetic bearings[J]. Journal of Mechanical Engineering，2015，51(1)：153-160.
[6] 邓自刚，王家素，王素玉，等. 高温超导磁悬浮轴承研发展现状[J]. 电工技术学报，2009，24(9)：1-8. DENG Zigang，WANG Jiasu，WANG Suyu，et al. Research and development status of high temperature superconducting magnetic bearings[J]. Transactions of China Electrotechnical Society，2009，24(9)：1-8.
[7] ZHENG J，SUN R X，LI H T，et al. A manned hybrid maglev vehicle applying permanent magnetic levitation (PML) and superconducting magnetic levitation (SML) [J]. IEEE Transactions on Applied Superconductivity，2020，30(1)：1-7.
[8] 徐园平，凌日旺，周瑾，等. 抗磁悬浮静电电机悬浮与驱动特性研究[J]. 机械工程学报，2022，58(19)：104-114. XU Yuanping，LING Riwang，ZHOU Jin，et al. Research on levitation and driven characteristics of diamagnetic levitation electrostatic motor[J]. Journal of Mechanical Engineering，2022，58(19)：104-114..
[9] WANG Z Q，LONG Z Q，LI X L. Levitation control of permanent magnet electromagnetic hybrid suspension maglev train[J]. Proceedings of the Institution of Mechanical Engineers，Part I：Journal of Systems and Control Engineering，2018，232(3)：315-623.
[10] ZHU H Y，TEO D，PANG C K. Magnetically levitated parallel actuated dual-stage (Maglev-PAD) system for six-axis precision positioning[J]. IEEE/ASME Transactions on Mechatronics，2019，24(4)：1829-1838.
[11] 毛川，祝长生. 电磁轴承-刚性转子系统轴承传递力主动控制[J]. 机械工程学报，2019，55(19)：35-42. MAO Chuan，ZHU Changsheng. Active control of bearing force transmissibility for active magnetic bearings-rigid rotor systems[J]. Journal of Mechanical Engineering，2019，55(19)：35-42.
[12] 杨晟，刘淑琴，关勇. 轴流式磁悬浮人工心脏泵驱动电机的研究[J]. 中国机械工程，2010，21(8)：893-896. YANG Sheng，LIU Shuqin，GUAN Yong. Study on drive motor for axial-flow magnetic-levitation artificial heart pump[J]. China Mechanical Engineering，2010，21(8)：893-896.
[13] 严博，马洪业，韩瑞祥，等. 可用于大幅值激励的永磁式非线性隔振器[J]. 机械工程学报，2019，55(11)：169-175. YAN Bo，MA Hongye，HAN Ruixiang，et al. Permanent magnets based nonlinear vibration isolator subjected to large amplitude acceleration excitations[J]. Journal of Mechanical Engineering，2019，55(11)：169-175.
[14] ZHOU J，WU H C，WANG W Y，et al. Online unbalance compensation of a maglev rotor with two active magnetic bearings based on the LMS algorithm and the influence coefficient method[J]. Mechanical Systems and Signal Processing，2022，166：108460.
[15] 徐建根，徐龙祥，纪历. 恒流源偏置磁悬浮轴承系统的功耗试验[J]. 机械设计与研究，2013，29(6)：144-147. XU Jiangen，XU Longxiang，JI Li. Research on the power loss of constant current biased magnetic bearings[J]. Machine Design & Research，2013，29(6)：144-147.
[16] YAO Y，REN G，YU S. Division linearization zero-bias current control for AMBs-rotor system with uncertainties and saturation[J]. IEEE Transactions on Industrial Electronics，2023，70(10)：10557-10566.
[17] MORISHITA M，AZUKIZAWA T. A new MAGLEV system for magnetically levitated carrier system[J]. IEEE Transactions on Vehicular Technology，1989，38(4)：230-236.
[18] 李云钢，张晓，程虎，等. EMS磁悬浮列车的零电流型永磁电磁混合磁铁设计技术研究[J]. 机车电传动，2011(5)：30-38. LI Yungang，ZHANG Xiao，CHENG Hu，et al. Design of zero-power hybrid magnet with permanent magnets and electromagnets in EMS maglev vehicles[J]. Electric Drive for Locomotives，2011(5)：30-38.
[19] 王莉，张昆仑. 基于零功率控制策略的混合磁悬浮系统[J]. 西南交通大学学报，2005(5)：667-672. WANG Li，ZHANG Kunlun. Hybrid magnetic suspension system based on zero power control strategy[J]. Journal of Southwest Jiaotong University，2005(5)：667-672.
[20] BOZKURT A F，ERKAN K，GUNEY O F. Zero power control of a 3 DOF levitated multiple hybrid electromagnet flexible conveyor system[C]// 2015 International Aegean Conference on Electrical Machines & Power Electronics，September 2-4，Side Turkey. New York：IEEE，2016：570-575.
[21] HOQUE M E，MIZUNO T，ISHINO Y，et al. A six-axis hybrid vibration isolation system using active zero-power control supported by passive weight support mechanism[J]. Journal of Sound & Vibration，2010，329(17)：3417-3430.
[22] MIZUNO T，SAKURADA T，ISHINO Y，et al. Zero-power control of parallel magnetic suspension systems[J]. Journal of System Design & Dynamics，2011，5(5)：765-776.
[23] KIM C H，CHO H W，LEE J M，et al. Zero-power control of magnetic levitation vehicles with permanent magnets[C]// 2010 International Conference on Control，Automation and Systems (ICCAS 2010)，October 27-30，Gyeonggi-do，South Korea. New York：IEEE，2010：732-735.
[24] NARISAWA Y，YAMAGUCHI D，HARA M，et al. Comparison of zero-power controllers in double parallel magnetic suspension system with parallel connected coils[C]// 2015 10th Asian Control Conference (ASCC)，May 31-June 3，Kota Kinabalu，Malaysia. New York：IEEE，2015：1-6.
[25] NARISAWA Y，MIZUNO T，TAKASAKI M，et al. Realization of zero-power control in a two-degree-of- freedom double parallel magnetic suspension system[C]// 2017 11th Asian Control Conference (ASCC)，December 17-20，Gold Coast，QLD，Australia. New York：IEEE，2018：1140-1145.

混合磁悬浮系统零功率抗偏载控制方法研究

Research on Zero Power and Resisting Eccentric Load Control Method of Hybrid Magnetic Levitation System

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 3

编辑推荐

Metrics

本文评价

[1]	王念先,胡业发,吴华春,董如昊. 大气隙混合磁悬浮轴承承载力模型的研究[J]. 机械工程学报, 2015, 51(1): 153-160.
[2]	杨进;朱煜;尹文生;杨开明;张鸣. 超精密微动台离散回路成形控制器优化[J]. , 2013, 49(10): 178-185.
[3]	刘检华;万毕乐;宁汝新. 虚拟环境下基于离散控制点的线缆装配规划技术[J]. , 2006, 42(8): 125-130.