空间磁悬浮系统的耦合动力学模型及线性化

发布时间：2018-08-06 10:12

【摘要】：利用洛伦兹力的电磁悬浮控制在地面及空间的主动隔振控制中得到了广泛应用,已有的研究与应用大多基于浮子加定子的形式,假设定子质量特性远大于浮子且不受控制的反作用及其他耦合作用,对浮子进行六自由度建模及控制.对载荷质量特性与平台质量特性相当的情况,系统将不再具有定子与浮子的形式,成为具有耦合作用的两个六自由度运动的物体,耦合作用表现在控制的反作用、相对运动产生的感生电流与磁场相互作用两个方面.本文尝试推导了载荷及平台相对任意各自参考点的耦合运动模型,包括载荷运动、平台相对运动的耦合动力学方程,并基于平动及转动的小位移及小速度假设,对非线性方程进行了线性化处理,便于用线性控制器进行反馈控制,数值实例表明在一定时段内线性化模型的结果与原模型保持一致.
[Abstract]:The electro-magnetic levitation control using Lorentz force has been widely used in active vibration isolation control of ground and space. Most of the existing researches and applications are based on the form of float and stator. Based on the assumption that the stator mass characteristic is much larger than the float and is not controlled by the reaction and other coupling effects, the six degree of freedom modeling and control of the float is carried out. For the case that the load mass characteristic is equivalent to the platform mass characteristic, the system will no longer have the form of stator and float, and the system will become two moving objects with two degrees of freedom with coupling action. The coupling action is shown in the control reaction. The inductive current generated by relative motion interacts with the magnetic field. In this paper, the coupled motion models of the load and the platform relative to any respective reference point are derived, including the coupled dynamic equations of the load motion and the relative motion of the platform, and based on the assumption of small displacement and small velocity of translation and rotation. The nonlinear equations are linearized to facilitate the feedback control with the linear controller. The numerical examples show that the results of the linearization model are consistent with the original model in a certain period of time.
【作者单位】：中国科学院空间应用工程与技术中心;
【分类号】：TB535

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