磁悬浮球形主动关节机理与控制策略研究

The analysis of mechanism and control strategy in magnetic suspension spherical active joints

提出一种新型多自由度磁悬浮球形主动关节,对关节产生磁悬浮力和电磁转矩的机理进行了研究,从关节定子和转子之间的气隙磁能着手,即根据气隙磁能建立主动关节的机电能量转换关系,推导出了驱动关节旋转的电磁转矩和支撑关节的悬浮电磁力;分析了磁悬浮球形主动关节旋转与悬浮的控制关系,通过位移传感器检测转子的偏移信号,经过滤波、放大及悬浮控制器等环节的处理变换成电流信号,反馈到绕组控制输入端与输入的转矩电流进行叠加以改变定子绕组中电流的大小,从而实现了对球形主动关节旋转与悬浮的精确控制,并提出了对其的综合控制策略及控制原理。

A novel multi-degree of freedom of the magnetic ball joint initiative in this paper.On the joint production of magnetic force and torque to study the mechanism of research,From the joint gap between the stator and rotor magnetic energy to proceed,that is,air gap magnetic energy under the joint initiative to establish electrical and mechanical energy conversion relations derived drive joint rotating torque and electromagnetic force supporting joints of the suspension;Analysis of the rotatory magnetic levitation and suspension of spherical active control of the relationship between displacement sensors detect the rotor through the offset signal,after filtering,amplification and processing link suspension controller transforms into a current signal,back to the winding control switch input and the input superposition of the current moment to change the size of the stator winding current to achieve the rotation of spherical joint initiative with the suspension of the precise control,and its proposed integrated control strategy and control theory.