为了突破磁悬浮地球仪的传统结构,提出了一种新型的侧挂式磁悬浮系统.介绍了系统的基本结构并进行结构选型.从系统磁力分布的角度,对系统的稳定悬浮原理进行分析.建立了系统的数学模型,为了验证系统的静动态性能,对其进行阶跃位移与阶跃干扰下的控制仿真.搭建侧挂式磁悬浮系统的实验样机,对其进行稳定悬浮性能实验与位移跟踪性能实验.实验结果表明,系统存在轻微的振荡现象,但能够长时间稳定悬浮.当系统受到垂直向下 0.5 N 的干扰力时,在 0.54 s 的短暂调节后,系统仍能够保持稳定悬浮的状态,稳态位移误差不超过0.273 6 mm;在垂直方向上施加 0.5 mm的阶跃位移,系统能够稳定地跟随参考位移信号,响应时间为 0.73 s,跟踪位移误差不超过 0.432 1 mm.
Stability Analysis of New Side-Mounted Magnetic Levitation System
In order to broaden the suspension form of the magnetic levitation globe,a new type of side-mounted magnetic suspension system was proposed.The basic structure of the system was introduced and structural selection was conducted.The stable suspension principle of the system was analyzed from the perspective of the magnetic force distribution of the system.The mathematical model of the system was established,and the control simulations were carried out under the step displacement and step disturbance in order to verify the static and dynamic performance of the system.The experimental prototype of the side-mounted magnetic levitation system was built,and its stable levitation performance and displacement tracking performance experiments were carried out.The experimental results show that although the system had slight oscillation,it could be suspended stably for a long time.When the system was subjected to an interference force of 0.5 N vertically downward,it could still maintain a stable floating state after a brief adjustment of 0.54 s,with a steady-state displacement error of no more than 0.273 6 mm;when applying a step displacement response of 0.5 mm in the vertical direction,the system could stably follow the reference displacement signal,the response time was 0.73 s and the tracking displacement error did not exceed 0.432 1 mm.
side-mounted magnetic levitation systemprinciple of stable suspensionmathematical modelcontrol simulationexperimental verification
万方数据
维普
