可变磁路式永磁悬浮系统刚度特性分析及变刚度控制

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摘要针对可变磁路式永磁悬浮系统的悬浮力非线性变化的特点，分析系统的刚度特性，提出变刚度控制方法减小系统对外扰作用的敏感度。基于系统力学模型分析了系统结构和控制参数对悬浮刚度的影响，提出了基于悬浮物位移的变刚度控制方法；根据预设的载荷能力和位移变化量，设计参数的变化范围，使系统刚度按设定控制规律发生变化；进行了系统起浮稳定性与系统对外扰敏感度的仿真与实验分析，并与传统PID控制方法进行对比，仿真与实验结果表明：变刚度控制方法能够保证系统稳定起浮，并使外载荷作用时悬浮物的位移变化量减小50%，极大降低了系统对外扰的敏感度，相对于传统PID控制方法其控制特性有较大幅度提高。

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	孙凤
	唐敬虎
	李强
	赵川
	金俊杰

关键词 ：永磁悬浮, 非线性, 变刚度, 外扰作用

Abstract：Aiming at nonlinear varying feature of levitation force in a permanent magnet suspension system with variable magnetic circuit, the system’s stiffness characteristics were analyzed, a variation stiffness control method was proposed to decrease the system’s sensitivity to external disturbance. Firstly, effects of system structure and control parameters on suspension stiffness were analyzed based on the system mechanical model to propose a variable stiffness control method based on suspension object displacement. Then, change ranges of parameters were designed according to the presupposed load capacity and displacement variation to make the system stiffness vary according to the given control law. Finally, simulation and test analysis were conducted for the system’s floating up stability and sensitivity to external disturbance. The results were compared with those using the PID control method. The results showed that the proposed variable stiffness control method can ensure the system to stably float up; it can reduce displacement variation of suspension object by 50% under external load; it can greatly reduce the system’s sensitivity to external disturbance; compared with the traditional PID control method, its control characteristics are greatly improved.

Key words： permanent magnetic levitation nonlinear variable stiffness external disturbance

收稿日期: 2081-11-09 出版日期: 2020-03-28

引用本文:

孙凤,唐敬虎,李强,赵川,金俊杰. 可变磁路式永磁悬浮系统刚度特性分析及变刚度控制[J]. 振动与冲击, 2020, 39(7): 132-139.
SUN Feng, TANG Jinghu, LI Qiang, ZHAO Chuan, JIN Junjie. Stiffness characteristics analysis and variable stiffness control for a permanent magnetic levitation system with variable magnetic circuit. JOURNAL OF VIBRATION AND SHOCK, 2020, 39(7): 132-139.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2020/V39/I7/132

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