Photophoretic Levitation of Macroscopic Nanocardboard Plates

Scaling down miniature rotorcraft and flapping-wing flyers to sub-centimeter dimensions is challenging due to complex electronics requirements, manufacturing limitations, and the increase in viscous damping at low Reynolds numbers. Photophoresis, or light-driven fluid flow, was previously used to levitate solid particles without any moving parts, but only with sizes of 1–20 µm. Here, architected metamaterial plates with 50 nm thickness are leveraged to realize photophoretic levitation at the millimeter to centimeter scales. Instead of creating lift through conventional rotors or wings, the nanocardboard plates levitate due to light-induced thermal transpiration through microchannels within the plates, enabled by their extremely low mass and thermal conductivity. At atmospheric pressure, the plates hover above a solid substrate at heights of ≈0.5 mm by creating an air cushion beneath the plate. Moreover, at reduced pressures (10–200 Pa), the increased speed of thermal transpiration through the plate's channels creates an air jet that enables mid-air levitation and allows the plates to carry small payloads heavier than the plates themselves. The macroscopic metamaterial structures demonstrate the potential of this new mechanism of flight to realize nanotechnology-enabled flying vehicles without any moving parts in the Earth's upper atmosphere and at the surface of other planets.     

一种磁悬浮直线开关磁阻电机悬浮模块设计与分析

磁悬浮直线开关磁阻电机继承了直线开关磁阻电机的优点,结合有效的悬浮设计方案,在磁悬浮运输系统中具有一定的应用潜力。研究了磁悬浮直线开关磁阻电机的悬浮模块及其改进结构,分析磁场分布和磁路模型,在此基础上,利用有限元软件进行仿真,通过结果分析发现所提出结构具有天然解耦的结构特点,可以实现悬浮力控制和推力控制解耦以及悬浮力控制与动子前进位置解耦,通过线性调节悬浮电流即可线性控制悬浮力,使悬浮电流控制为标量控制,大大降低了悬浮控制系统的复杂性。此外,改进结构可以有效提高悬浮电流利用率,减小悬浮绕组损耗。     

真空管道高温超导侧挂悬浮旋转运动系统改进

侧挂式磁悬浮回转系统拥有两根具有单磁场峰值的永磁轨道。在环形真空管道中,该系统的磁悬浮车可以在6 mm悬浮间隙下达到80 km/h的运行速度。在不大幅改变整体结构的条件下,探讨了一种增大系统运行速度的途径。通过将2个平行的永磁轨道合并成1个具有三磁场峰值的单轨,将显著增强系统的悬浮力,从而有望提高系统的运行速度。然而车体质量的增加将抵消悬浮力增加带来的效应。综合评估二者的影响,结果表明,相比较于具有单磁峰的双轨,具有三磁场峰值的单轨能让系统获得更高的运行速度。并且,对于三磁峰单轨系统,其最大运行速度随超导块数量的增加而增加。相比较于单峰磁轨而言,当超导块列数为17时,三峰磁轨系统的运行速度可以增大8.2%。     

Vergleich des Stofftransports von hängenden und akustisch levitierten Wassertropfen in CO2

High‐pressure acoustic levitation devices allows a contact‐free investigation of liquids. Here, acoustically levitated water droplets and pendant water droplets were examined in regards to the mass transfer coefficient in a static CO₂‐atmosphere under elevated pressures. Based on the droplet geometry and the decrease of the droplet volume over time, it was possible to calculate the mass transfer coefficient of water into CO₂ at any given time. Additionally, open questions regarding possible differences between pendant and acoustically levitated water droplets were discussed.     

Numerical linear analysis of the effects of diamagnetic and shear flow on ballooning modes

The linear analysis of the influence of diamagnetic effect and toroidal rotation at the edge of tokamak plasmas with BOUT++ is discussed in this paper.This analysis is done by solving the dispersion relation,which is calculated through the numerical integration of the terms with different physics.This method is able to reveal the contributions of the different terms to the total growth rate.The diamagnetic effect stabilizes the ideal ballooning modes through inhibiting the contribution of curvature.The toroidal rotation effect is also able to suppress the curvaturedriving term,and the stronger shearing rate leads to a stronger stabilization effect.In addition,through linear analysis using the energy form,the curvature-driving term provides the free energy absorbed by the line-bending term,diamagnetic term and convective term.     

Error analysis to minimize cross-axis couplings in 6-DOF motion systems with a single moving part

In multi-axis motion control, cross-axis couplings cause error force and position disturbances in an axis when a desired motion is generated along another axis. Different from the parasitic errors that result from the imperfections of the mechanical bearings and reference surfaces, cross-axis perturbations are caused by errors that occur both statically (geometrical errors) and dynamically (in the transient responses) and are more prevalent in air-bearing and magnetic-levitation (maglev) stages. The parasitic errors are heavily dependent on the sizes of the stage's mechanical components, while the cross-axis perturbations depend significantly on the mover's speed and acceleration. For stages using permanent magnets (PMs) and Lorentz coils, the causes of off-axis forces include 1) errors in the coil turns' straightness, perpendicularity, and parallelism of the motor axes, and 2) errors in the local magnetizations and PMs' fringing effects. The purpose of this paper is to analyze the topologies of 6-degree-of-freedom (6-DOF) single-moving-part stages to minimize cross-axis couplings. The outcome is a stage configuration with reduced couplings and cross-axis perturbations. This is supported by experimental results performed on a newly developed 6-DOF maglev laser-interferometer stage. Its achieved root-mean-square (rms) positioning noise and minimum step size in XY are 3 nm and 10 nm, respectively. Its achieved resolution in out-of-plane rotations is 0.1 μrad. In addition to the analysis supported by these results, this paper introduces a new measure to represent cross-axis perturbations and to compare the effects of couplings in multi-axis positioning. This measure is entitled the cross-coupling quantity (CCQ) and calculated from the displacement of the stage in the axis of interest, the peak time of the response, and the peak-to-peak (p-p) error in the perturbed axis.     

Control of a magnetic levitation system with communication imperfections: A model-based coupling approach

This work presents a control strategy to control a magnetic levitation system under the influence of coupling imperfections (disturbances). To overcome problems arising whenever the interconnections between plant and controller have a non-negligible influence on the control-loop behavior a so-called model-based coupling approach is used. The main idea of this coupling approach is to use prediction schemes based on recursively identified plant and controller models which compensate for performance degradation due to coupling imperfections. Coupling failures such as time-delays, data-losses and noise drastically influence the control-loop performance. Especially when systems in form of real hardware (real-time systems) are present such disturbances have to be handled adequately. To demonstrate the effectiveness of the model-based coupling approach, a control-loop of a magnetic levitation system is analyzed in simulation as well as in real world laboratory setup (HiL simulation). Furthermore a first insight into the stability analysis of closed-loop systems including the model-based coupling technique is performed for a simplified configuration.     

Magnetic levitation with unlimited omnidirectional rotation range

We have realized a magnetic levitation device in which the motion of a levitated body can be stably controlled in any orientation, with no limits on its spatial rotation range. The system consists of a planar array of cylindrical coils on a fixed base, a levitated frame containing disc magnets and LED position markers, and an optical motion tracking sensor for feedback control of levitation. This system combines the capabilities of fine positioning, vibration isolation, and a spherical motor, with potential applications in omnidirectional antenna and camera pointing, user interaction, manipulation, and simulated spaceflight dynamics and control. The device design is presented including the magnet and coil configuration, analysis and control methods, and position and rotation trajectory control results.The system development process consisted of numerical analysis of electromagnetic forces and torques between coils and magnets, to find the maximum required coil currents for levitation and the condition numbers of the transformation matrices between coil currents and forces and torques generated on the levitated body, for various configurations of coils and magnets, over their full 3D translation and rotation ranges. As a result, a magnetic levitation setup consisting of an array of 27 coils and a levitated object with six disk-shaped permanent magnets was selected. The setup achieved levitation in six degrees of freedom and unlimited rotation about any axis at a fixed height of 40 mm (a 4 mm minimum height above the coil array). The performance was verified with levitated trajectory following rotation command experiments in roll, pitch, yaw, and including 360° rotations about non-principal axes.     

机床横梁悬浮系统的反演自适应动态滑模变结构控制研究

在龙门数控加工中心移动横梁磁悬浮系统中,刀具切削工件过程中磁悬浮系统所受到扰动和系统自身参数的时变性对悬浮高度有影响。为了实现悬浮高度的精确控制,设计了控制悬浮高度的反演自适应动态滑模控制器,该控制器可有效削弱系统抖振并保持悬浮高度的稳定性;引入自适应控制策略,大大改进了滑模控制对不确定性系统参数的控制能力。仿真结果表明:该控制器具有很强的抗扰性,并使系统具有较高刚度,实现了稳定悬浮。