基于双霍尔传感器的磁性小球悬浮控制系统研究

本文设计并实现了一种基于双线性霍尔传感器结构的磁性小球悬浮控制系统，在电磁驱动器底端及顶端中心位置各同向布置一个线性霍尔传感器，通过传感器信号调理电路，将两路传感器的输出信号作减法处理，消除了电磁驱动器磁场对传感器输出信号的影响。试验表明，磁性小球到电磁驱动器底端距离为16.46~42.46 mm时，调理电路输出电压值与磁性小球到电磁驱动器底端距离的负三次方成正比。基于PID控制策略，设计了一个磁性小球悬浮控制系统，选取合适的PID控制器参数，试验表明，系统的超调量和响应速度能够符合设计要求，磁性小球实现了在25 mm位置处的稳定磁悬浮，系统的位置控制精度达到±0.125 mm。

Research on Magnetic Ball Levitation Control System Based on Double Hall Sensor

A magnetic ball levitation control system based on the structure of the double linear hall sensor is designed and realized in this paper. The sensor is respectively placed in the bottom and the top center position of the electromagnetic driver. In order to eliminate the influence of electromagnetic driver magnetic field of the sensor output signal, the output signal of the sensor is done subtract by the signal conditioning circuit. The experiment shows that when the distance varies within the range between 16.46 and 42.46 mm, the output voltage value of the signal conditioning circuit is proportional to the -3 power of the distance between the magnetic ball and the bottom end of the electromagnetic driver. We design a magnetic ball levitation control system based on PID controller and select suitable PID controller parameters. The overshoot and response speed of the system can meet the design requirements. The stable magnetic levitation of the magnetic ball at the position of 25 mm is realized. The position control accuracy of the system is up to ±0.125 mm.