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摘要: 针对永磁电动悬浮系统的垂向动态稳定性问题, 研究了永磁电动悬浮系统的临界稳定特性; 提出了一种永磁铁加常导线圈混合构成的新型Halbach阵列, 通过在永磁体表面缠绕有源常导线圈, 实现了永磁电动悬浮系统阻尼的主动控制, 并对比了新型Halbach阵列与其他2种主动电磁阻尼控制方案; 建立了新型Halbach阵列永磁电动悬浮系统垂向动力学模型, 并采用经典PID闭环控制方法设计了悬浮控制器, 分别在无外界干扰、外界扰动力干扰和轨道不平顺干扰3种情况下仿真分析了该系统的垂向动态稳定性。研究结果表明: 永磁电动悬浮系统在扰动力作用下将进行等幅震荡而不能稳定悬浮, 连续扰动力干扰下甚至可能撞轨; 提出的新型Halbach阵列具有磁场耦合计算方便、力调节范围大的优点; 设计的悬浮控制器能使系统稳定悬浮于额定气隙0.03 m的平衡位置, 且线圈电流为0, 不产生损耗, 仿真分析所得系统悬浮气隙和线圈电流与理论分析结果的相对误差小于0.01%;当出现轨道不平顺干扰时, 系统能快速稳定悬浮于额定气隙0.03 m的平衡位置, 稳定后的线圈电流仍为0, 实现了永磁电动悬浮系统的零功率平衡; 当外界扰动力为±1 500 N时, 系统能快速稳定悬浮于额定气隙0.03 m的平衡位置, 稳定后的线圈电流分别为29.68和-30.40 A, 表明新型Halbach阵列永磁电动悬浮系统能够实现垂向动态稳定。Abstract: For the vertical dynamic stability problem of permanent magnet electrodynamic suspension (EDS) system, the critical stable characteristic of permanent magnet EDS system was analyzed. A novel Halbach array mixed with permanent magnets and normal conductor coils was proposed. The active control on permanent magnet EDS system damping was realized by winding active normal conductor coils on the permanent magnet surface. The novel Halbach array was compared with the other two active electromagnetic damping control schemes. The vertical dynamic model of permanent magnet EDS system with novel Halbach array was established, and the suspension controller was designed by adopting the classical PID closed-loop control method. The system vertical dynamic stability was simulated and analyzed under the conditions without external disturbance, with external disturbing force and with track irregularity disturbance, respectively. Research result shows that under the action of disturbing force, the permanent magnet EDS system will oscillate with a constant amplitude, can not suspend stably and even may crash the track under the action of continuous disturbing force. The proposed novel Halbach array has the advantages of convenient coupling calculation in magnetic field and wide force adjustment range. The designed suspension controller can make the system suspend stably at the equilibrium position with a rated air gap of 0.03 m. The coils current is 0, and no loss is generated. The relative errors of suspension air gap and coils current between the simulation results and theoretical analysis results are less than 0.01%. When there exists a track irregularity disturbance, the system can suspend quickly and stably at the equilibrium position with a rated air gap of 0.03 m, and the stable coils current is still 0. Therefore, a zero-power balance of permanent magnet EDS system is realized. When the external disturbing force is ±1 500 N, the system can suspend quickly and stably at the equilibrium position with a rated air gap of 0.03 m, and the stable coils current is 29.68 and-30.40 A, respectively, proving that the permanent magnet EDS system with novel Halbach array can realize the vertical dynamic stability.
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Key words:
- vehicle engineering /
- EDS system /
- Halbach array /
- damping /
- stability /
- PID closed-loop control
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图 4 外界扰动力f1不同作用时间下的悬浮气隙波形
Figure 4. Suspension air gap waveforms under different action times of external disturbing force f1
图 5 外界扰动力f1和f2不同作用时间下的悬浮气隙波形
Figure 5. Suspension air gap waveforms under different action times of external disturbing forces f1 and f2
表 1 三种永磁EDS系统主动控制方案对比
Table 1. Comparison of active control schemes for three permanent magnet EDS systems
方案类型 优点 缺点 永磁体Halbach阵列与电磁铁Halbach阵列并列放置 力调节范围大, 安装方便, 散热容易 磁场耦合计算困难, 占用空间较大 永磁体Halbach阵列与电磁铁Halbach阵列错位放置 磁场耦合可忽略, 安装方便, 散热容易 力调节范围小, 占用空间大 新型Halbach阵列 力调节范围大, 磁场耦合计算简单, 安装方便, 占用空间小 散热要求高 
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