磁阻式悬浮系统的悬浮特性及混合励磁导向控制

A novel detent-force-based magnetic suspension system (DMS) is proposed utilizing the force due to magneto-resistance effect between the permanent magnet field and the iron track. DMS has many application prospects in the area of the levitation guiding and the maglev transportation and NC machine suspension support because of its obvious advantages such as stator track side without permanent magnets, low cost and simple structure. The main contents are as follow: The working mechanism, topology and electromagnetic field characteristics of novel DMS maglev system are analyzed. The nonlinear magnetic circuit model is established to analyze suspension characteristic of DMS. The nonlinear magnetic-circuit layer model of stator track yoke is proposed to calculate the iron magnetic permeance considering the magnetic saturation of track yoke. The finite element analysis is employed to verify the influence of the iron saturation on proposed modeling method of magnetic equivalent network. The relationships of levitation performance such as suspension force, lateral bias force, torsion moment and suspension stiffness between the key parameters of lateral air gap, the permanent magnet size, composite track size and track yoke materials, are investigated to find out the functions between the key parameters and suspension performances. The influence of abnormal parameters of magnetic and structure of DMS on the system robustness, suspension performance are analyzed. The multi-object optimal mathematical model of DMS maglev system is established considering the optimization object functions such as maximum suspension force, minimum volume of permanent magnet and minimum cross area of stator iron yoke. An improved particle swarm optimization algorithm is proposed to implement the parameters design and optimization. The electromagnetic decoupling control strategy and adaptive PID closed-loop control model is established to realize stable suspension and vertical oscillation suppression. A small experimental prototype is established to verify the results of theory modeling and simulation. These results are helpful for the engineering applications of DMS and it is of very important theoretical significance and practical value.

本项目提出一种利用磁阻力作为悬浮力的新型磁阻式磁悬浮系统(DMS),定子侧无永磁,悬浮力大,成本低,结构简单,在磁浮导轨、机床悬浮支撑、磁悬浮车等领域有广泛应用前景。本项目旨在研究DMS工作机理、拓扑结构,开展DMS非线性磁场建模及静态悬浮特性分析,研究DMS结构尺寸、材料属性等对悬浮力、横向偏置力及悬浮刚度等悬浮性能的影响规律,分析DMS结构及磁体参数异常对系统鲁棒性、悬浮性能的影响。建立三维时步有限元仿真模型,研究DMS系统涡流阻尼效应和不同速度下的动态悬浮特性。探索DMS参数计算、设计的一般方法,开展DMS多目标优化模型和改进粒子群优化算法研究,综合优化DMS整体性能。研究混合励磁导向系统的电磁力解耦控制策略，建立自适应PID电流-位移双闭环控制模型，实现DMS悬浮体的横向稳定和竖向振荡抑制。本项目的成功研究, 将为磁悬浮技术的发展提供新的解决方案,具有重要的科学意义和学术价值。

本项目提出一种新型磁阻式磁力悬浮系统，采用Halbach永磁阵列，在竖直和扭转方向利用磁阻最小原理实现被动悬浮，悬浮力大，耗能小，且轨道铺设无需永磁，成本低，在磁悬浮工作台、磁悬浮列车和装置减震等方面有广泛应用前景。研究工作归纳如下：（1）分析了新型磁力悬浮系统DMS悬浮原理，建立了三种结构磁力悬浮系统，对系统悬浮能力进行对比分析。（2）建立了DMS磁悬浮系统的非线性等效磁网络模型、多目标优化模型，开展电磁性能分析、参数优化设计。采用解析法分析了竖直及扭转方向的悬浮特性，研究了磁轭材料、Halbach永磁阵列参数、轨道轭铁尺寸、气隙等参数对悬浮力及扭转回复力矩的影响。以悬浮力最大及永磁尺寸最小为目标，对系统进行多目标优化建模，提出一种改进的粒子群优化算法，确立了系统最优参数。（3）建立了三维有限元仿真模型，分析了不同运行速度下DMS永磁涡流阻力效应和悬浮特性。（4）提出了一种新结构、低功耗HEG混合励磁导向系统，分析了它的结构与工作原理。（5）建立了HEG等效磁路模型，推导出不同电流和位移情况下的水平磁力和垂直磁力解析表达式。分析了永磁体磁化长度、电磁势、水平位移与水平力的关系。推导了悬浮刚度的数学表达式，求出最优线度下的最佳悬浮刚度值，分析了电流和位移对位移刚度、电流刚度的影响。（6）研究了HEG电磁力解耦控制策略，建立了以气隙、速度、电流为状态变量的线性化电压控制模型和运动方程，研究了HEG混合导向系统的状态反馈控制器和模糊自适应PID控制器。推导出了闭环控制系统的传递函数，设计的控制器能够实现混合磁悬浮导向系统的稳定悬浮。（7）研制了实验样机，验证了悬浮系统的静态特性。本项目完成了磁阻悬浮系统的基本分析理论，为新型磁阻悬浮系统的工业应用提供理论支持。