摘要
提出了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,并推导出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,提出了对其综合控制策略,并阐述了控制原理.
A novel multi-DOF magnetic suspension spherical active joints is introduced in this paper. The mechanism of the joints which produce levitation and the electromagnetic torque has been studied. And the electromagnetic torque driving joint rotating and suspension force supporting the joint suspension are deduced. The control relationship between active magnetic suspension spherical joints＇ rotation and suspension is analyzed. A comprehensive control strategy and control principle are put forward.
出处
《徐州工程学院学报（自然科学版）》
CAS
2010年第2期1-5,共5页
Journal of Xuzhou Institute of Technology(Natural Sciences Edition)
基金
国家自然科学基金资助项目(50975249)
江苏省自然科学基金资助项目(BK2008219)
江苏省高校自然科学研究项目(09KJD460006)
关键词
磁悬浮
球形主动关节
磁悬浮力
电磁转矩
控制策略
magnetic suspension
spherical active joints
levitation force
electromagnetic torque
comprehensive control strategy
