【作者】 卢剑波；

【导师】 胡树根； 朱开田； 宋小文； 黄长林；

【作者基本信息】 浙江大学 ， 机械工程（专业学位）， 2017， 硕士

【摘要】 直线电磁驱动技术是一种采用无接触的电磁悬浮、导向的驱动系统,应用在结构振动方面,用于抵抗地震作用。陀螺仪又具有定轴性和进动性,广泛应用于维持物体的平衡稳定。本文结合陀螺仪与直线电磁驱动技术设计了一种直线电磁驱动陀螺稳定系统,研究了直线电磁驱动结构及该部分结构的悬浮控制。论文的重点包括直线电磁驱动结构方案的选择、结构参数仿真优化、直线电磁驱动结构建模及悬浮建模和仿真。第一章综合分析了陀螺仪的种类与应用及国内外在陀螺仪结构设计、动态特性、动力学、敏感度等方面进行的研究,从安全性和稳定性出发,提出了本文的研究内容。第二章分析了直线电磁驱动AMD的驱动原理与应用、直线电磁驱动陀螺稳定系统的结构以及直线电磁驱动结构方案的选择。建立了三种不同的三维绕线模型,用磁仿真MAXWELL有限元软件对三种不同的方案进行了控制变量的三维结构的仿真,通过比较磁场大小、均匀性、磁力线走向以及x、y方向的力等指标来确定方案一为优化对象。第三章对上一章选定的直线电磁驱动结构方案一进行了结构参数的仿真优化分析。建立方案一结构的二维模型,从铁芯齿厚(齿槽、齿芯宽)、励磁线圈截面积和位置、质量块厚度、悬浮间隙等因素对该结构进行仿真,通过比较磁场大小、均勻性、磁力线走向、质量块动态变化中的受力情况作出最优参数选择,仿真结果表明当铁芯齿厚为20mm,线圈截面上移增大,截面面积为8mm×20mm,AMD质量块厚度为20mm,悬浮间隙为15mm时,各项指标综合效果最好,以此作为直线电磁驱动的结构参数。第四章对直线电磁驱动悬浮结构进行动力学建模与悬浮控制建模。对直线电磁驱动悬浮结构进行受力分析获得动力学方程,并结合通电电磁线圈的电压回路方程对非线性系统进行线性化处理,用传统PID方法、基于直线反馈的极点配置设计方法和滑模控制理论进行了控制技术的设计,获得了各方法的状态方程并进行系统框图建模。第五章分析SIMULINK仿真软件的作用,对建立的悬浮控制系统用SIMULINK工具进行了悬浮控制的结果仿真。根据设计方法选择合适的k1、k2、k3和t1、t2、t3等参数,得出了悬浮间隙的输出波形图,获得了相关方法的间隙变化范围分别为h<0.6mm、-0.05mm<h<0.05mm、h≈0.028mm,实现了研究对象悬浮控制的设计。通过这三种方法的设计与对比,说明基于滑模控制的设计方法能使主动陀螺悬浮更稳定、振荡小,更适合直线电磁驱动的悬浮控制。第六章分析了系统的控制策略与工作原理,进行了系统的应用。将直线电磁驱动结构与建立的直线电磁驱动陀螺稳定系统的陀螺仪动力学模型成功应用在前后置两轮电动车上,创造出一种全新的安全平衡电动车,并分析了不同行驶情况的工作方案,这也是本文研究的目的;同时也分析了直线电磁驱动陀螺稳定系统应用在船舶上的工况。第七章是对本文的内容做了简要的总结,同时提出了本文未能深入研究的关键技术和未来的研究方向。本文通过选取良好的直线电磁驱动结构方案,改变影响电磁性能的结构参数优化了直线电磁驱动结构,得到了电磁性能良好的一组参数,达到了结构优化的目标;对直线电磁驱动悬浮控制技术的研究,仿真结果表明基于反馈线性化的滑模控制方法更适合于直线电磁驱动的悬浮控制,可以更有效的减轻悬浮振荡,提高悬浮的稳定性;结构参数的优化与悬浮控制的技术研究从一定程度上提高了该陀螺稳定系统的性能。更多还原

【Abstract】 Linear electromagnetic drive technology is a kind of electromagnetic suspension and guide drive system with no contact.This technology is used in the aspect of structure vibration to resist seismic action.Gyroscope has the characters of fixed axis and precession,widely applied to maintain the balance of the object.Based on the gyro and linear electromagnetic drive technology,this paper designs the structure of the gyro stabilization system driven by linear electromagnetic and makes the further study on the linear electromagnetic drive structure and the levitation control of this structure.The focus of the thesis includes linear electromagnetic drive structure scheme selection,the simulation optimization on structural parameters,structure modeling,suspension modeling and simulation.The first chapter mainly introduces the types and applications of the gyroscope.With comprehensive analysis of the research on the structure design,the dynamic characteristics,the dynamics and the sensitivity analysis of the gyroscope,this chapter puts forward the research contents by considering the safety and the stability.The second chapter analyzes the principle and application driven by linear electromagnetic drive AMD,the structure of the gyro stabilization system driven by linear electromagnetic as well as the choice of linear electromagnetic driving structure scheme.Set up three different types of 3D model of the winding.The different schemes of winding way were simulated with the way of the control variables through MAXWELL magnetic simulation finite element software.By comparing the magnetic size,magnetic uniformity,magnetic field lines and the dynamic mass force in x,y directions,the first scheme was the optimized object.The third chapter optimizes the structure parameters of first scheme selected in the previous chapter.The scheme of winding way determined was optimized by establishing two dimensional model from the aspect of the structure parameters,such as the iron core thickness(tooth,tooth core width),cross-sectional area and position of the excitation coil,mass thickness and the suspended clearance.By comparing the magnetic size,magnetic uniformity,magnetic field lines,the dynamic mass force in magnetic field to make the optimal parameter selection,Simulation results show that when the parameter selections are 20mm thickness of iron core,and the coil section up,8mm×20mm area,20mm thickness of AMD mass,15mm distance of suspended clearance,the comprehensive effect is best.These will be the structural parameters of the electromagnetic drive.The forth chapter established the dynamic model of the linear electromagnetic drive suspension structure and suspension control.To analyze the forced state of the linear electromagnetic driving suspension structure,this chapter obtains the dynamic equation.Combined with voltage loop equations of the current electromagnetic coil,nonlinear system is converted to the linear system.This chapter using traditional PID method,the state feedback design method and sliding mode control designed a control system to control the suspended clearance in order to obtain the state equation and system block diagram.The fifth chapter simply analyses the role of SIMULINK software.Selecting the appropriate parameters k1,k2,k3 and t1,t2,t3,the results of the suspension control simulation and clearance were carried out with SIMULINK tool based on the system block diagram,obtaining the state output wave diagram and comparing the suspended clearance wave diagram.The clearances of three methods are h<0.6mm,-0.05mm<h<0.05mm and h≈0.028mm.The design of suspension control is realized.Through the comparison of these methods,the design method based on sliding mode control is more stable and of small oscillation,which is more suitable for linear electromagnetic driving suspension control.The sixth chapter analyzes the system control strategy,working principle and application of this system.Combined with gyroscope dynamics model of the gyro stabilization system,the linear electromagnetic drive structure is applied to two-wheels electric vehicle successfully which is the purpose of this study and creates a new security balance electric vehicles and explains its working principle in different conditions as well as the application of the system on the ship.The seventh chapter is a brief summary and put forward the key technology to further study.The author makes a prospect of this paper.This paper through selecting good structure program and influential structural parameters obtained a set of good parameters and achieve the goal of structural optimization.On the study of linear electromagnetic drive suspension control technology,the simulation results show that the sliding mode control based on feedback linear method is more suitable for linear electromagnetic drive suspension control.This method can more effectively reduce suspension oscillation and improve the stability of the suspension.The optimization of structural parameters and suspension control technology research improve the performance of the gyro stabilization system from a certain extent.更多还原