永磁悬浮非接触回转驱动系统

doi:10.3901/JME.2017.20.192

机械工程学报 ›› 2017, Vol. 53 ›› Issue (20): 192-201.doi: 10.3901/JME.2017.20.192

永磁悬浮非接触回转驱动系统

孙凤¹, 韦伟¹, 金嘉琦¹, 金俊杰¹, 佟玲¹, 岡宏一²

1. 沈阳工业大学机械工程学院沈阳 110870;
2. 高知工科大学智能机械系统工学科高知 782-8502 日本

收稿日期:2016-11-30 修回日期:2017-06-29 出版日期:2017-10-20 发布日期:2017-10-20
通讯作者: 孙凤(通信作者),男,1978年出生,博士,副教授.主要研究方向为磁悬浮技术与数控技术.E-mail:sunfeng@sut.edu.cn
作者简介:韦伟,女,1989年出生,硕士研究生.主要研究方向为永磁悬浮技术与主动馈能悬架.E-mail:weiwei19890809@163.com;金嘉琦,男,1955年出生,教授,博士研究生导师.主要研究方向为精密测量理论与技术.E-mail:jjq612@126.com;金俊杰,女,1982年出生,博士研究生.主要研究方向为永磁悬浮技术与复杂曲面测量技术.E-mail:girljunjie@hotmail.com;佟玲,女,1980年出生,讲师.主要研究方向为磁悬浮技术与激光切割焦点控制.E-mail:tonglingsy@163.com;岡宏一,男,1958年出生,教授,博士研究生导师.主要研究方向为磁悬浮技术与机器人技术.E-mail:oka.koichi@kochi-tec.ae.jp
基金资助:
国家自然科学基金资助项目(51105257，51310105025)。

Non-contact Rotation Driving System Using Permanent-magnetic Suspension

SUN Feng¹, WEI Wei¹, JIN Jiaqi¹, JIN Junjie¹, TONG Ling¹, OKA Koichi²

1. School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870;
2. Department of Intelligent Mechanical System Engineering, Kochi University of Technology, Kochi 782-8502, Japan

Received:2016-11-30 Revised:2017-06-29 Online:2017-10-20 Published:2017-10-20

摘要/Abstract

摘要： 提出一种永磁悬浮非接触回转驱动系统，该系统由悬浮部分和非接触回转驱动两部分构成。悬浮部分采用运动控制方式，利用音圈电动机驱动永磁铁实现悬浮物竖直方向的稳定悬浮；回转驱动部分由直流伺服电动机驱动径向磁化永磁铁回转，形成变化磁场，非接触驱动悬浮物回转。本系统未在悬浮物中加入任何磁性材料，仅利用悬浮物表面剩余磁化点实现悬浮物的非接触回转驱动。介绍系统的悬浮与驱动原理，建立非接触驱动数学模型，并利用仿真与试验分析系统的回转驱动特性。分析结果表明：悬浮物的非接触回转驱动可以由伺服电动机驱动盘状永磁铁旋转来实现。铁球是否旋转与磁铁的数量无关；驱动磁铁的数量与系统的响应速度成正比，驱动磁铁的数量增多，输入速度和输出速度之间的线性度相对提高，旋转稳定。明晰本系统的非接触驱动特性，为隔离环境下铁磁性物品或零件的非接触操纵和姿态控制奠定了理论基础。

关键词: 非接触, 回转驱动, 试验分析数学模型, 永磁悬浮

Abstract: Permanent magnetic suspension and non-contact rotation driving system is presented, in which consists of two parts, the suspension part and the non-contact rotation driving part. To realize the stable suspension in the vertical direction, the suspension part is using the permanent magnet driven by the voice coil motor on the motion control mode. The rotary driving part is that the radial magnetized permanent magnet is driven by a DC servo motor, formating variation magnetic field and realizing the rotation of non contact driving suspension. The suspension and driving principle of the system is introduced. A mathematical model of non-contact driving is established and simulation and experiment are used to analyze the rotating driving characteristics of the system. The analysis results show that non-contact rotation driving of suspension body can be driven by voice coil actuator disk permanent magnets rotate. Whether iron ball rotation regardless of the number of magnets, the driving number of magnet is proportional to the system response speed. As the number of the driven magnet is increasing, linearity between output and input speed is improved relatively, which causes the stability of rotating system. The non-contact driving characteristics of the system are clarified, which lays a theoretical foundation for the non-contact manipulation and attitude control of ferromagnetic objects or parts in isolated environment.

Key words: experimental analysis, mathematical model, non-contact, permanent magnetic suspension, rotation driving

中图分类号:

TH39

孙凤, 韦伟, 金嘉琦, 金俊杰, 佟玲, 岡宏一. 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, JIN Junjie, TONG Ling, OKA Koichi. Non-contact Rotation Driving System Using Permanent-magnetic Suspension[J]. Journal of Mechanical Engineering, 2017, 53(20): 192-201.

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永磁悬浮非接触回转驱动系统

Non-contact Rotation Driving System Using Permanent-magnetic Suspension

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