磁悬浮球形关节三维动力学模型与控制特性.pdfVIP

学兔兔 第47卷第21期 机 械 工 程 学 报 Vb1．47 NO．21 2011年 1 1月 JOURNAL 0F MECHANICAL E] GINEERING NOV． 2 O 1 1 DoI：l0．3901／JME．2011．21．069 磁悬浮球形关节三维动力学模型与控制特性水 曾励 张 帆 徐媛媛 (扬州大学机械工程学院 扬州 225127) 摘要：球形电动机直接支承驱动的多自由度球形主动关节机械集成度高，在控制和轨迹规划方面占有优势。但在高速、超高 速运转时，由于机械支承的摩擦磨损，造成关节部件发热，导致关节的动态特性变差。基于电动机技术、磁悬浮技术，提出 一 种新型多自由度磁悬浮球形主动关节，建立关节电磁悬浮力和电磁转矩的耦合模型；推导出关节转子在电磁悬浮力和电磁 转矩作用下的三维动力学原型模型和逆系统模型，并对关节系统进行状态反馈的解耦线性化处理，使其完全解耦成6自由度 方向独立的线性系统，经过比例微分先行的伪微分反馈调节器控制及仿真可知，解耦线性化的关节系统稳定性好、响应速度 快，具有良好的动态性能和抗干扰能力很强的鲁棒性能。 关键词：磁悬浮 球形关节 悬浮力 电磁转矩 逆系统解耦 控制特性 中图分类号：TH39 Three-dimensional Dynamical Model and Controlled Characteristics of Magnetic Levitation Spherical Reluctance Driving Joint ZENG Li ZHANG Fan XU Yuanyuan (College of Mechanical Engineering，Yangzhou University,Yangzhou 225 1 27) Abstract：The multi-degree—of-freedom spherical driving joint is direct supported and driven by spherical motor owns high mechanical integrity and has advantages on control and trajectory planning．But due to the friction of mechanical bearing which will generate heat，it has bad dynamic characteristics of the driving joint when it works at high speed and even ultra-high-speed．Based on motor technology,magnetic levitation and robotics，a novel multi—degree·of-freedom spherical reluctance driving joint with magnetic levitation is presented，and the coupling model of its electromagnetic suspension force and electromagnetic torque is established． Meanwhile，the joint rotor’S non-linear strong coupling three dimensional dynamical model and inverse system model is infered．And the decoupling linearization