【摘要】 Halbach型磁悬浮平面电动机的6个运动自由度之间存在紧密的电磁和力学耦合。为实现平面电动机的解耦控制,首先介绍了平面电动机的结构和工作原理,分析了Halbach型直线电动机执行器的特点并提出其电磁力方程,接着引入了基于模式力的解耦动力学模型,提出了模式力的电流分配方法以及垂直和水平运动的电流控制策略,文末对电流控制方法的可行性进行了探讨,设计了垂直运动的伺服控制器并进行了相关仿真。电流控制方法使6个运动自由度的运动控制方程之间不再存在耦合,且都为简单的二阶线性系统,为平面电动机控制奠定了理论基础。更多还原

【Abstract】 There is tight electromagnetic and mechanical coupling among 6-degree of freedom(DOF) motions of Halbach magnetic levitation planar motor.For the decoupling control of the planar motor,firstly this paper presents the structure and working principle of the planar motor,analyzes the characteristics of the Halbach linear motor actuator,and proposes the electromagnetic force equations of the actuators.Then after presenting the decoupled kinetics models based on the modal forces,the current allocation methods of the modal forces and the current-controlled strategies of vertical and horizontal motions are proposed.At last the servo controllers for the vertical motions are designed and corresponding simulation are done after the feasibility analysis about the current-controlled method.The current-controlled method successfully decouples the 6-DOF motion control equations and all the motion control equations are simple 2nd order linear system,so it lays a theoretical basis for planar motor control.更多还原