可变磁路式永磁悬浮系统的防跌落防吸附控制

永磁悬浮系统是一种典型的非线性系统,随着导磁体与悬浮物之间的气隙变化,控制特性发生变化,影响系统的稳定性。为防止外界干扰引起系统偏离平衡点时,悬浮物跌落或吸附到导磁体上,提出一种基于气隙变化的防跌落防吸附控制方法。在整个悬浮气隙内选取多点预设悬浮力,基于各设计点预设的悬浮力计算控制参数,并依据插值原理得到完整的防跌落防吸附控制律,有效补偿悬浮物运动时不均匀变化的悬浮力,提高系统的可控性,稳定性和鲁棒性。仿真和实验表明,防跌落防吸附控制方法能缓和冲击,提高防跌落性能,当外扰使气隙变大时悬浮力迅速变大,防止悬浮物跌落,当外扰使气隙变小时悬浮力迅速变小,防止悬浮物吸附于导磁体上。

Anti fall and anti adsorption control of permanent magnetism levitation system with flux path control

Permanent magnetic levitation system is a typical nonlinear system. As the air gap between the magnetic conductor and suspension changes, the control characteristics change which affects the stability of the system. In order to prevent the external interference from causing the suspended matter falls or adsorbs on the magnetic conductor, as the system deviating from the equilibrium point. An anti fall and anti adsorption control method based on air gap variation is proposed. The multiple point preset levitation force is selected in the entire suspended air gap, the control parameters are calculated based on the preset levitation force of each design point, and the complete anti fall and anti adsorption control law is obtained according to the interpolation principle. This method can effectively compensate for the uneven variation of levitation force, and improve the controllability, stability and robustness of the system. Simulation and experimental results show that the anti fall and anti adsorption control method can mitigate impact and improve anti fall performance. When the air gap is enlarged by the external disturbance, the levitation force increases rapidly to prevent the suspended object from falling. When the external disturbance causes the air gap to become smaller, the levitation force rapidly becomes small, and the suspended matter is prevented from being adsorbed on the magnetic conductors.