三轴磁传感器分量误差两步校正方法

在三轴磁传感器测量误差校正方面,传统的椭球拟合算法只能实现磁场总量的校正,没有给出明确的测量误差模型参数求解方法,无法保证磁场分量校正效果。针对此种情况,提出三轴磁传感器分量误差的两步校正方法。第一步,建立三轴磁传感器测量误差模型,利用椭球拟合算法求解中间参数;第二步,对中间参数进行解耦,得到实际三轴磁传感器测量误差模型参数,从而实现三轴磁传感器的磁场总量和分量校正。仿真结果表明该方法能够精确求解出三轴磁传感器测量误差模型参数,从而有效实现三轴磁传感器分量误差校正。实验结果验证了该方法的有效性。     

基于Herschel-Bulkley模型的磁流变阻尼器转矩模型参数辨识

针对目前Herschel-Bulkley模型参数值通常随试验条件而变化,存在无法构建确定的数学模型的局限性,提出一种Herschel-Bulkley模型全局参数辨识的方法。针对所设计的多级圆筒式磁流变阻尼器,基于Herschel-Bulkley模型建立了阻尼器的转矩力学模型并搭建扭矩测试系统以确定模型参数,通过1stOpt优化分析软件的Levenberg-Marquardt算法和通用全局优化算法对转矩力学模型进行参数辨识,确定模型中液体流动行为参数 k和n 分别为49.88及0.576。参数辨识后的Herschel-Bulkley扭矩模型在不同磁场条件下基本满足扭矩预测效果,可为后续对于器件的有限元分析计算提供理论依据。     

履带式爬壁机器人磁吸附单元的磁场及运动分析

介绍了履带式磁吸附爬壁机器人的磁吸附单元的结构和工作原理．对单个磁块建立了有限元模型，并利用ANSYS软件对不同工作状态的磁块进行了磁场求解．进而，通过对一系列电机的扭矩测量确立了履带的平面力学方程，为机器人的动力学和运动学奠定了基础．     

舰艇磁场磁偶极子阵列数学模型研究

为提高舰艇磁性防护能力,准确反映其磁场特性,舰艇测磁需要使用先进的测磁技术,这就可以用磁偶极子阵列模拟舰艇磁场源;文中根据舰艇测量面上的磁场数据建立了舰艇磁场换算的数学模型,给出一种运用实例评述测磁技术在舰艇磁性防护中的应用;实例结合点阵式大平面测磁法和磁荷模拟算法建立了测磁后舰艇磁场换算的数学模型,简单论述了该模型的数学原理、磁场函数计算方法及具体应用中有关参数的确定方法等,并对计算精度作了分析,仿真结果表明模型精度较高;测磁技术的应用在磁性防护中具有重要的实用价值。     

交流感应电机矢量解耦控制系统仿真研究

为了考查实际系统中异步感应电机磁场会随着电机负载(转矩)变化而呈不同程度的饱和以致电机参数非线性的影响,文章从同步速d-q坐标系下异步感应电机动态模型和矢量解耦控制的基本原理出发,引入了内模控制方法,详细设计了基于转子磁链定向和内模控制的电流调节器,分析了电流内模控制器对这种非线性参数的鲁棒性.在此基础上建立整个异步感应电机矢量控制仿真系统,并分别对忽略磁路饱和和考虑磁路饱和两种情况下的系统进行了仿真和分析.仿真和分析结果表明了电流内模控制调节器在模型匹配和失配下均能提供良好的转矩动、静态解耦效果.     

差动式非晶态合金带扭矩传感器

本文对一种利用应力敏感非晶态合金带的新型传感器—扭矩传感器的发展作了综合论述。这种新型传感器是以磁致伸缩效应为基础来检测扭矩的,为非接触检测。在这种传感器中,两应力—敏感非晶态合金带粘贴在扭杆上,扭杆作为转轴的一部分。在每一敏感带中产生一单轴磁弹性的磁各向异性,两带中的易磁化轴方向与转轴成对称关系。利用一交流偏置场,通过所加扭矩在两非晶带所形成的导磁率差来检测扭矩。非晶带所用合金是Fe-Si-B系,其饱和磁致伸缩系数λ_s 24×10~(-6),饱和磁化强度I_s 1.5T。     

钢缆索材料磁弹效应的材料特性实验研究

钢缆索材料磁弹效应的材料特性是磁弹索力传感器励磁磁场工作点优化的依据,而目前又缺少相关报道。针对此问题,以铁磁材料磁弹效应理论为指导,提出钢缆索材料磁弹效应材料特性研究的实验方案;根据缆索材料式样设计线圈,搭建实验系统,最后针对钢缆索单丝材料完成其磁弹效应的材料特性实验;结果表明:钢缆索材料磁导率随外力增加而减小,在磁化饱和区以内,随着磁场的增加其磁弹效应越强,在磁化近饱和区,磁弹效应最明显,为磁弹索力传感器励磁磁场工作点的优化提供了依据。     

基于Levenberg-Marquardt算法的动态磁性检测站磁定位方法研究

针对舰船动态磁性检测站需要确定磁场测量点坐标以进行舰船磁性分析的情况,利用Levernberg-Marquardt算法及磁体模拟法提出了一种动态磁性检测站磁定位方法。该方法利用包含定位参数的舰船磁场模型设计了目标函数,通过Levernberg-Marquardt算法经由定位参数的初始估计收敛到使目标函数最优的定位参数解。船模实验证明,定位结果较准确,能用来描述动态测磁时舰船磁场测量面上测量点的位置,在此基础上能通过舰船磁场推算掌握舰船的磁场分布情况,进而快速制定舰船消磁决策。     

基于DSP的转子磁场定向感应电机控制系统实现

本文介绍了一种采用磁链和开环速度估算器的转子磁场定向的控制系统,系统设计的的关键问题是磁链的观测和速度的准确估算。在系统动态过程中,电机的一些定、转子参数会随着电机温升和磁路饱和的影响而发生变化,是时变参数,本文按照模型参考自适应系统构造出参考模型和可调模型来实现了扩展卡尔曼滤波对磁链和电机转速的估算,并成功应用此算法设计了一套DSP实验控制系统,实现了速度自适应识别。同时本文介绍了DSP实验系统的硬件和软件实现方法并对实验结果进行了分析。模型试验应用于1.0kW的感应电机取得了较好的的控制效果。     

基于逆磁致伸缩效应的超声电机非接触扭矩测量

利用逆磁致伸缩材料的应力敏感性,结合超声电机的工作原理和结构特点,创新性地将逆磁致伸材料粘贴在CD形状的超声电机转子(转盘)上,实现了超声电机的非接触扭矩测量.其中,超声电机工作期间不产生磁场的特点直接保证了采用磁场测量方式检测扭矩的可靠性;转子(转盘)对旋转轴应力的放大作用,提高了系统的测量精度和测量范围,并节省了空...     

Self-sensing for electromagnetic actuators. Part II: Position estimation

The second paper in a two part series presents the position estimation scheme for an 8-pole heteropolar active magnetic bearing (AMB). The integrated self-sensing assembly comprises a nonlinear MIMO parameter estimator together with a coupled reluctance network model (Part I), by which problems associated with magnetic cross-coupling and saturation are collectively addressed. The parameter estimator utilizes the first harmonic components of the current and voltage waveforms to determine estimates for the x and y rotor positions. Magnetic saturation is accounted for using a saturation factor, which scales the demodulated coil currents to ensure that the actuator with the lowest flux density contributes the most to the position estimate. Basic functionality and feasibility of the proposed self-sensing scheme are demonstrated via an experimentally validated transient simulation model (TSM). The TSM incorporates magnetic effects such as eddy currents, cross-coupling, and hysteresis. In the second part of this work, the static and dynamic performance of the self-sensing sensor is evaluated. The influence of magnetic cross-coupling, saturation, and duty cycle variation on the position estimate is documented. The results demonstrate the importance of including a mutual coupling term in the position estimation model in order to stably suspend the rotor. Furthermore, stability margin analyses indicate that the robustness of the magnetic bearing control is satisfactory for unrestricted long-term operation.     

磁通门铁芯涡流效应磁场计算与HSPICE仿真

在交变磁场下,针对铁磁材料中涡流效应对磁滞回线的影响在传统分析计算中存在的难题,提出一种基于HSPICE的磁通门铁芯涡流磁场计算和仿真方法.磁通门铁芯用考虑磁滞现象的Jiles动态模型描述,运用欧姆定律和毕奥-萨伐尔定律得到涡流产生的寄生磁场,再将寄生磁场与激励磁场叠加代入Jiles动态模型,即得到涡流对磁滞回线影响的数学模型.最后,利用HSPICE进行仿真验证,结果表明:在0.5 Hz、50 Hz、200 Hz和500 Hz 4种不同频率电压源激励下得到的铁芯磁滞回线波形,与实验结果拟合较好.     

基于虚拟仪器的光纤电流感测系统

利用LabVIEW虚拟仪器设计平台,提出了基于虚拟仪器的光纤电流感测系统。该光纤电流感测系统利用法拉第效应来感测电流所产生的磁场强度,具有无磁滞、饱和之限制,性能足以满足电流感测系统,适用于大范围电流变化值之测量。通过虚拟技术对待测电流的波形亦可直接观察,并可读出,可方便进行波形显示、电流分析、储存及处理。     

基于电感变化的永磁同步电机新型启动方法

通过分析内埋式永磁同步电机(IPMsM)磁饱和特性,建立永磁同步电机数学模型.根据在施加不通电压矢量时电流瞬间特行不同,采用无位置传感技术,提出了一种检测永磁同步电机在停止状态时转子位置的方法.在此基础上,通过设定直轴电流值为零、交轴电流为常数,设计了一种控制定子交直轴电流的新型永磁同步电机变频启动方法.最后,在以ST...     

Modeling of electromagnetic torque considering saturation and magnetic field harmonics in permanent magnet synchronous motor for HEV

Electromagnetic torque ripple of permanent magnet synchronous motor (PMSM) causes electro-mechanical coupling vibration and noise in hybrid electric vehicle (HEV). However, the traditional mathematical model of PMSM cannot absolutely reflect the reason of torque ripple and variation on the different operation performance of the motor for HEV. The purpose lies in the fact that electromagnet factor originated torque ripple and variation have been taken into account in the mathematic model of PMSM. Based on the classical Park's transformation theory and the Fourier series analysis of magnetic field, a general nonlinear mathematical model of PMSM considering saturation and magnetic field spatial harmonics and time harmonics is presented in this paper. The general analytical model cannot only taking into account the variation of electromagnetic parameters caused by electric vehicle operating, but also can explain the frequency and the order of torque ripple theoretically. The model's effectiveness is tested through finite element analysis simulations and some experimental results. The analytical model presented here can be used for the characteristic analysis, the drive system dynamic precise analysis and fault diagnose of PMSM for HEV.     

Terfenol-D高频磁滞特性测试与分析

目前对超磁致伸缩材料Terfenol-D的研究,主要集中于静态或准静态条件下的磁滞特性的测试和分析.为了更好的探究材料的高频磁滞特性,将Terfenol-D制成方形环状薄片样品,在不同驱动磁场频率和磁密幅值的条件下,测量其动态磁滞回线,分析磁损耗的数值和变化趋势,探究剩磁和矫顽力等磁特性参数随频率和磁密幅值的变化规律.测试结果表明:当驱动磁场频率或磁密幅值增加时,动态磁滞回线横向变宽、面积增大,剩磁、矫顽力和损耗也都随之增大.此项研究为超磁致伸缩材料Terfenol-D高频磁滞特性和电磁损耗的理论分析提供了实验数据基础.     

Laboratory study of magnetic properties of hysteresis rods for attitude control systems of minisatellites

Results of the experimental determination of the parameters of hysteresis rods made of soft magnetic materials used in passive attitude control systems to damp the perturbed motion of satellites relative to their center of mass are described. Based on the classical solution of the linear magnetization problem and an approximate solution of the problem of nonlinear magnetization in a variable magnetic field, it is shown that the considerable distortion in the experimental determination of the parameters is explained by eddy currents induced in the rods. To mitigate the effect of those currents, it is shown that the measurements must be performed when the frequency of the magnetic fields variation is not higher than 0.1–0.2 Hz. Using nonlinear magnetization theory, a procedure for the experimental determination of the parameters of hysteresis rods is developed. This procedure is augmented by the corresponding computer processing of weak valid signals. The procedure can be used for the choice of the parameters of damping devices included in satellite passive attitude control systems.     

Transient model of induction machine using rotating magnetic field approach

Most simulation models of electric machines use the coupled circuit approach, where the machine is considered as an electric circuit element with time-varying inductances (abc model) or with constant inductances (dq0 model). On the other hand, the rotating magnetic field approach, which considers the electric machine as two groups of windings producing rotating magnetic fields and can give insight into internal phenomena of the machines, has not yet received much attention in electric machines modeling, especially for machine transient analysis. Based on the rotating magnetic field approach, this paper presents a transient model of the induction machine including main flux saturation effect. Based on the direct computation of the magnetizing fluxes of all machine windings, the model represents instantaneous main flux saturation by simply introducing a main flux saturation factor. No iteration process is involved to incorporate the saturation effects. The model combines the advantages of the dq0 and abc models advantages, such as rapid computation time and nonsymmetrical conditions simulation, respectively. The simulation results and the experimental tests show advantages and verification of the model.     

铁镓合金电磁损耗分析

铁镓合金电磁损耗分析是高频铁镓合金导波激励装置、超声换能器以及振动主动控制结构的研究基础,因此分析铁镓合金在高频（磁场频率50kHz~400kHz）情况下的电磁损耗至关重要。本文采用AMH-1M-S型动态磁特性测试系统测量了环形铁镓合金在不同情况下的磁滞回线：相同磁场强度下不同交变励磁磁场频率、相同交变励磁磁场频率下不同磁感应强度、相同磁感应强度下不同交变励磁磁场频率。分别分析了上述情况下环形铁镓合金振幅磁导率变化规律以及介质储能和电磁损耗的变化情况。实验结果表明,在相同磁场强度为400A/m时,励磁磁场频率由1kHz~200kHz,振幅磁导率下降了53.68%,电磁损耗增加了283倍;在相同励磁磁场频率100kHz时,磁感应强度由0.01T~0.05T,振幅磁导率增加了33.55%,介质储能与电磁损耗分别增加了18.13倍和25.97倍;在相同磁感应强度为0.05 T时,励磁磁场频率由50kHz~400kHz,振幅磁导率减小了39.73%,电磁损耗增加了16.9倍。此项研究为高频铁镓合金换能器设计与优化提供了实验数据基础。     

SmTbFeCo/ Cr/ TbFeCo 垂直磁化膜的耦合机理与磁特性研究

采用磁控溅射法制备了SmTbFeCo/Cr/TbFeCo系列非晶垂直磁化膜,研究了不同的Cr中介层厚度tCr对薄膜的磁性能和层间交换耦合的影响.VSM检测结果显示:薄膜的垂直磁性能随着tCr的变化而变化,其中饱和磁化强度Ms的变化曲线呈明显的周期振荡特性.饱和场Hs、(1-M/Ms)随tCr的变化曲线表明,两个磁性层的层间交换耦合随着tCr的增加,在反铁磁耦合与铁磁耦合之间振荡变化,周期为16(A),耦合强度逐渐衰减.分析表明,矫顽力Hc的变化主要源于Cr中介层对SmTbFeCo层微结构的影响,而Ms的变化则与层间交换耦合作用有关.文中还分析了稀土非晶膜的氧化问题.