【摘要】 针对Halbach型永磁吸附装置空间磁路复杂,难以通过常规的磁路分析方法设计各项结构参数的问题,研究了一种较便捷的吸附力计算方法,以便对吸附装置进行设计和调整。首先推导了无漏磁时理想Halbach永磁体对铁磁性壁面的吸附力公式;对等长全对称型阵列进行了傅里叶分析,求取了各模块的最优磁化方向,以及离散化带来的吸附力损失;针对纵向和横向端部效应下漏磁引起的吸附力损失,提出了使用选定基准线上的磁感应强度的分布特征替代全局积分的简化计算模型的方法,计算了各结构参数变化对端部效应的影响,并以此为基础对理想吸附力计算公式进行了修正。实验结果表明:经过修正公式计算得到的吸附力与该装置实际吸附力的平均误差为3.3%,满足工程应用设计要求。更多还原

【Abstract】 Aiming at the problem of structure parameters design of Halbach permanent magnetic array working on wall-climbing robots, an experimental study on adsorption force calculation was carried out. Adsorption force of ideal array was calculated firstly as a basis for follow-up correction methods. Then the optimal magnetization direction of each module in a full-symmetric discrete array was analyzed and the loss of adsorption force caused by discretization was calculated with Fourier analysis method. A simplified correction model of the end-effect was proposed for rapid calculation, by studying a method on distribution of magnetic induction on the reference line instead of global integration, and the calculation formula of adsorption force was modified considering the end-effect caused by the change of structure parameters. The test results indicate that the computed adsorption force basically tallies with measured force, with the average relative error less than 3.3%.更多还原