Novel position sensor for magnetic suspension

A sensor is described for use with an electromagnet to position a ferromagnetic object. The sensor operates via the interaction between the magnet current and the magnetic circuit formed with the controlled object. A well damped suspension system can result by using suitable electronics.     

磁悬浮系统动力学参数的开环辨识

针对磁悬浮系统的本质非线性，提出了基于试验研究的一种实用的动力学模型开环辨识方法，它能在完全不知系统物理参数的前提下，较好地辨识磁悬浮系统的动力学方程中的参数，据此设计的控制器可以对磁悬浮系统的稳定悬浮进行有效的控制。辨识的结果可直接用于某些场合下磁悬浮系统的运动控制，也可以在此基础上进行更为精确的在线辨识。     

液悬浮转子微陀螺的磁场建模研究

液悬浮转子式微机械陀螺的高精度、双轴角速度和二轴加速度测量特性,相比传统陀螺有着独特的优势,在军事和民用领域均有一定应用,本文基于实现对液悬浮转子式微机械陀螺结构优化的目的,探求其磁场力随着结构的变化的规律,对该类机械陀螺结构进行建模,并对其磁场力进行数值仿真处理。结果表明,随着半径从7 mm增加至11 mm,陀螺受力及对应力矩呈指数增长。     

新型非接触供电的磁悬浮灯饰的研制

提出一种非接触供电与电磁悬浮技术相结合的实现方案。非接触供电利用电源测的线圈产生的交变磁场耦合到负载侧的线圈,进而将电能传递给负载,而电磁悬浮技术是利用电磁力来控制物体悬浮的空间位置。将两项技术相结合,研制了一种无线供电磁悬浮灯饰,具有安全便利、美观别致、照明效果好等特点,具有良好的市场前景。     

Development of a totally active magnetically suspended gyro

A magnetically suspended gyro (MSG) is developed and its performances is estimated. In the MSG, a disk-type rotor is connected to a synchronous motor through a fluid bearing and the motor is fixed to the frame of the floator. The floator is suspended by magnetic force without any mechanical contact so that highly accurate measurement is possible. In accordance with this concept, a three-degrees-of-freedom (DOF) active MSG was developed. However, because of poor damping in the passive suspension and the low resolution of the displacement sensors, the measurement accuracy was relatively low. To solve these problems, a six-DOF (totally) active MSG is designed and fabricated. The frame of this gyro is an octagonal. The motion of the frame is controlled by eight electromagnets. The performance of the gyro is evaluated through measurement of the double-axis angular velocity. The advantages of totally active suspension are investigated. Sufficient damping rapidly reduces the influence of disturbances. Then, the influence of sensor noise is examined. The results of this examination show that the accuracy of the angular velocity measurement is improved by using highly sensitive displacement sensors. Next, the dynamic range is measured. This experiment shows that the MSG can provide precise angular velocity measurement in a low-frequency region.     

激光跟踪仪高精度测量运动物体位姿的研究

为了实现运动物体空间位姿高精度的实时测量,基于激光跟踪仪测量的地理坐标系的方法,采用两个激光跟踪仪分别瞄准运动物体首尾两处的标靶,两台激光跟踪仪同步触发采集数据,实时获取运动物体首尾两点的空间坐标数据,测量了运动物体在空间地理坐标系下的位置和姿态信息;利用自主研发的软件计算了运动物体的空间位姿,并进行了理论分析和实验验证。结果表明,测量系统的稳定性与精度较好,所提出的测量方法能够满足高精度的空间位姿测量要求。     

磁悬浮转子的温度场测量与三维数字模型建立

磁悬浮转子的结构设计对其工作温度的高低及分布有很大影响.研究其工作温度场与结构设计之间的关系,建立三维的磁悬浮转子温度场的数字模型,可为磁悬浮转子系统的结构设计提供可靠的依据,并且为研究温度对磁悬浮转子工作特性的影响建立进一步研究的平台.以高速磁悬浮铣削转子为实例,利用红外热像仪测量它空载旋转时温度场分布,用计算机图像处理软件,从红外热像图中获取该温度场的温度值数据,通过滤波及数据处理在二维红外热像图形基础上建立了磁悬浮转子三维温度场的数字模型.在此基础上,研究了磁悬浮转子结构设计对温度场的影响.     

用于外形参数诊断的三维系统的设计与应用

首先分析了半导体光电位置敏感器件（PSD）的工作过程。利用连续发射的激光光源和半导体光电位置敏感器件，设计了一种三维非接触高精度的光学测量系统。该系统根据定位于被测量物体上直角坐标系的格线，生成该物体的外形，从而用于不规则三维体多种参数的测量和诊断。该系统使用了光学装置，特别适用于不规则形状尤其是边缘形状的图形的精确测量和探测，测量出的数据对于研究和诊断皮肤损伤的形态，特征和类型之间的关系等有很高的价值，应用前景非常广阔。     

基于多准直光的六自由度测量方法

提出了一种利用三个CCD探测三路准直光束位置以实现被测物六自由度测量的方法.测量系统包括两部分:一个反射镜和通过连接杆连接的两个CCD为移动部分,固接在被测物上;固定部分的光源、光开关和三个光学准直器产生三路准直光束.其中两路分别投射到两个CCD上,第三路经移动部分的反射镜反射回并由第三个CCD探测.被测物发生六自由度变化时,移动部分同步变化,三个CCD探测的光斑位置也随之变化,通过特定算法可解算出被测物六自由度运动.构建了一个可以表征六自由度测量特性的四自由度测量系统.测量结果表明:在相应测量范围内,与双频激光干涉仪或光电自准直仪测量值相比,系统偏摆角最大差值为1.27,滚转角最大偏差为1.03,两个平动位移最大偏差均小于1 m.     

IC/microfluidic hybrid system for magnetic manipulation of biological cells

This paper introduces an integrated circuit (IC)/microfluidic hybrid system for magnetic manipulation of biological cells. The hybrid system consists of an IC and a microfluidic system fabricated on top. Biological cells attached to magnetic beads are suspended inside the microfluidic system that maintains biocompatibility. The IC contains a microcoil array circuit that produces spatially-patterned microscopic magnetic fields. Programmable, rapid reconfiguration of the field pattern made possible by the IC allows an efficient simultaneous manipulation of multiple individual bead-bound cells with precise position control. Two prototypes, SiGe/microfluidic and CMOS/microfluidic hybrid systems, validate the proposed approach.     

基于异构传感器的飞行目标测量数据融合

在飞行目标的靶场试验中,需要对其进行有效的检测、跟踪和精确地完成位置估计.在分析激光跟踪测量系统和红外搜索与跟踪系统的发展现状、工作原理、发展趋势的基础上,提出一种新的基于激光跟踪测量系统和红外搜索与跟踪系统异构传感器的融合模型,对飞行目标在靶场试验的过程中进行数据融合,从而得到更为精确的飞行位置数据.     

基于线性激光三角法的圆柱对象定位测量研究

为了实现圆柱对象定位点在竖直高度与水平横向两方向位置坐标的一次性准确测量, 采用线性激光三角法建立了线性激光三角法定位测量模型, 并进行了理论分析, 同时依据此方法设计了一套定位测量实验系统。使用工业相机采集被圆柱对象曲面反射的线性激光光斑图像, 选用blob算法根据图像中激光光斑几何特性提取光斑顶点像素坐标, 结合系统标定参量计算了圆柱对象定位点位置坐标。结果表明, 该测量方法在竖直高度与水平横向两方向的最大相对测量误差分别为0.14%与0.89%。该研究成果可用于工业生产中机械手对不同尺寸圆柱对象的抓取定位测量。     

基于图形处理的人体内异物定位测量系统设计

临床医学实践中,存留的人体异物会给病人身心带来严重的伤害。因此,快速、准确地对人体内异物进行三维定位,具有重要的研究意义和广泛的应用前景。文中对异物图像预处理、几何校正以及人体异物定位测量等关键技术进行了深入分析和研究,并设计开发了基于Matlab GUI的人体异物图像测量分析软件。该软件系统能实现对医学图像的预处理以及对人体内异物平面位置和深度信息的定量描述,实验结果表明,系统测量误差不超过0.21 mm。     

Ultra precision motion control of a multiple degrees of freedommagnetic suspension stage

A general framework for ultra precision motion control of magnetic suspension actuation systems with large travel ranges in multiple degrees of freedom (DOF) is presented. It encompasses the development of nonlinear electromagnetic force model for 6-DOF actuation, and the design of the necessary control architecture for ultra precision motion control of magnetic suspension actuation systems. A 6-DOF magnetic suspension stage (MSS) was designed and fabricated to illustrate the developed framework. The MSS consists of multiple electromagnets that are located around the flotor and are utilized to suspend and modulate its position and orientation. The control architecture takes the six control parameters provided by a laser measuring system and intends to control the 6-DOF motion by regulating the current in the electromagnets. The developed robust nonlinear control architecture consists of three components: 1) feedback linearization; 2) force distribution; and 3) H_∞ robust controllers for each DOF of motion. Several experiments are designed to illustrate the desired characteristics of the developed system     

Electrostatic levitator for hard disk media

This paper discusses developments in contact-less electrostatic levitators for use in ultra-high-vacuum (UHV) and clean environments. Presented is the first demonstration of an electrostatic levitation technology which can suspend disk-shaped metals and alloys. A 3.5-in diameter aluminum hard disk media has been suspended successfully by actively controlling an electrostatic attractive force acting on it. This paper describes the basic principle of electrostatic suspension, the structure of an experimental levitator, electrode design, position feedback control method, a linear system model, and operational procedures. In addition, experimental data are given to confirm the suspension. The electrostatic levitation technology will be a key technique in the developments of contactless and friction-free manipulation and transportation equipments utilized in UHV and clean environments, both of which are necessary for the manufacture of the new generation of semiconductor devices     

基于DSP的列车测速定位系统的软件设计

研究了测速定位系统的软件实现,主要应用于磁悬浮列车的实时检测.通过基于DSP(数字信号处理器)芯片的测速定位系统,对安装在车辆上的测速传感器的模拟信号进行处理以获得列车运行的实时速度、位移和时间.选择合理的实现方案和编程思路对测速定位系统进行软件设计,以实现A/D转换、速度和位移的计算和显示.介绍了系统软件设计主流程和主要模块设计思路以及测速定位系统工作原理和涉及的DSP芯片TMS320VC33等硬件结构.     

双孔离焦成像法齿条测量研究

提出一种基于双孔离焦成像的三维测量方法。通过在成像光路中加入掩膜版,使离焦物体通过掩膜版后在CCD上成双像,根据双像的相对位置,获得成像物体的空间三维位置。在分析相机成像模型的基础上,推导了离焦成像三维反演方法模型,分析了结构参数对测量精度的影响。搭建了三维测量仪器,对齿条进行测量实验,实验结果表明,本文方法能实现齿条等三维物体的快速,非接触测量,具有较高的测量精度,误差小于2μm。     

一种新型悬浮磁体结构的双自由度轨道车辆轴箱振动能量采集器

针对地铁车辆轴温实时监测系统自供能的问题,文中提出了一种新型悬浮磁体结构的双自由度轨道车辆轴箱振动能量采集器,以便将车辆轴箱工作环境中存在的振动能转换为电能.基于机械集总系统模型和机电耦合模型,通过多物理场耦合构建了双自由度振动能量采集器有限元模型.加入内圈辐射充磁磁体,设计了新型悬浮磁体结构,并研究了在简谐激励下振动...