永磁悬浮无尘传送系统的悬浮特性及解耦控制仿真分析

介绍了一种永磁悬浮无尘传送系统。该系统采用两对双列对称布置的非接触主动永磁悬浮支承。悬浮支承中，永磁铁提供磁性力，伺服电机驱动永磁铁转动，通过改变悬浮支承与悬浮导轨间的磁通量实现悬浮力的实时控制。通过消除冗余的悬浮支承控制点建立悬浮系统的动力学模型，应用LQR控制方法仿真分析未解耦系统的悬浮特性，证明该系统的耦合性及不易控制性。此外，采用状态反馈解耦控制策略对系统进行解耦控制仿真，结果表明该策略可以使系统解耦，并具有较高的稳定性和较快的响应特性。

Simulation Analysis on Suspension Characteristics and DecouplingControl for Dust-free Transit System Using Permanent Magnetic Suspension

This paper proposed a dust-free transit system using permanent magnetic suspension. In this transit system, four non-contact suspension supports  were arranged in two lines symmetrically using active permanent magnetic suspension technology.In each suspension support, the disk permanent magnet driven by a servo motor produced  the magnetic force and the magnetic suspension force between the support and the iron guide rail  was  controlled in real-time. This paper gave  the dynamics   model after eliminating redundancy control points of suspension force, and analyzed  the suspension characteristics of undecoupled system by numerical simulation using LQR control method. The simulation results indicate that the transit system is coupled and not easy to control. Moreover, the numerical simulation was done with the state feedback decoupling control strategy. The results show  that the decoupling control strategy improves the control characteristics of the transit system, which has a good stabilities and response characteristics.