磁悬浮飞车原理样机建模及控制研究
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摘要
针对磁悬浮飞车进行了初步研究,提出了一种原理样机的简化结构。利用ANSYS分析了支承与导向电磁力的特性,在此基础上建立了考虑磁极"边缘效应"的动力学模型。推导出原理样机解耦控制的基本条件,并利用Simulink进行了控制系统离线仿真。最后基于dSPACE实时仿真控制平台,将磁悬浮原理样机等硬件置于控制回路中进行了悬浮控制实验,结果表明在负载扰动和输入参考阶跃变化的情况下,磁悬浮飞车原理样机能够稳定悬浮,验证了结构简化设计及控制方案的合理性。
The preliminary study of maglev propeller car was carried on and its prototype with simplified configuration was proposed in this paper. ANSYS was employed to analyze the characteristics of supporting and guiding electromagnetic force.And on this basis,dynamic model of the prototype was established considering lateral effect of the magnetic poles. The decoupling control qualification was also deduced and the off-line simulation was done by Simulink. In addition,dSPACE real-time control platform was employed to implement simulation experiments with the prototype device and other hardware in loop. The experimental results show that the prototype device was able to remain in its hovering position stably with load disturbance varied and input parameters changed,and validating the structure design of maglev propeller car prototype.
The preliminary study of maglev propeller car was carried on and its prototype with simplified configuration was proposed in this paper. ANSYS was employed to analyze the characteristics of supporting and guiding electromagnetic force.And on this basis,dynamic model of the prototype was established considering lateral effect of the magnetic poles. The decoupling control qualification was also deduced and the off-line simulation was done by Simulink. In addition,dSPACE real-time control platform was employed to implement simulation experiments with the prototype device and other hardware in loop. The experimental results show that the prototype device was able to remain in its hovering position stably with load disturbance varied and input parameters changed,and validating the structure design of maglev propeller car prototype.
引文
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[2]杨学实.气悬浮列车研究的新进展[J].交通运输系统工程与信息,2003,3(8):66-70.(Yang Xue-shi.New developments in research of air suspension trains[J].Communication and Transportation Systems Engineering and Information,2003,3(8):66-70.)
[3]杨吉忠,徐银光,杨捷.气悬浮列车走行机构概念设计[J].铁道工程学报,2014,193(10):94-97.(Yang Ji-zhong,Xu Yin-guang,Yang Jie.Conceptual design of running gear of the air film train[J].Journal of railway engineering society,2014,193(10):94-97.)
[4]丁征宇,周海波,郭宁平.电磁力的精确建模及参数辨识[J].现代制造工程,2010(10):115-118.(Ding Zheng-yu,Zhou Hai-bo,Guo Ning-ping.Accurate electromagnetic modeling and parameter identification[J].Modern Manufacturing Engineering,2010(10):115-118.)
[5]Wang Xiao-guang,Fang Hui-juan.The calculation of the centripetal force of a magnetic suspension system using ANSYS[C].Proceedings of the twelfth International Symposium on Magnetic Bearings(ISMB12).Wuhan,2010:301-306.
[6]胡业发,周祖德,江征风.磁力轴承的基础理论与应用[M].北京:机械工业出版社,2006.(Hu Ye-fa,Zhou Zu-de,Jiang Zheng-feng.The Basic Theory and Application of Magnetic Bearings[M].Beijing:China Machine Press,2006.)
[7]施威策尔.磁悬浮轴承-理论、设计及旋转机械应用[M].北京:机械工业出版社,2013.(G.Schweitzerl.Magnetic bearings:Thery,Desing,and Application to Rotating Machinery[M].Beijing:China Machine Press,2009.)
[8]严萍,刘国平,李建武.基于d SPACE平台梯形速度的PID控制模型建立及实验[J].机械设计与制造,2011,14(5):65-67.(Yan Ping,Liu Guo-ping,Li Jian-wu.The PID model for trapezoid speed curves design and experiment with dSPACE controller[J].Machinery Design&Manufacture,2011,14(5):65-67.)