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class="20"><span style="font-family: SimSun;">3.2</span></span></a><span class="20" style="line-height: 13pt; text-align: right; background-color: transparent;">非线性双电磁悬浮系统耦合分析</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:27.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span class="2">由图</span><span class="2"><span style="font-family: SimSun;">2.1</span></span><span class="2">可知龙门数控加工中移动横梁有两个悬浮系统共同悬浮，因此当加工中 心系统启动或进入稳态后受到外界干扰，横梁一侧发生倾斜或转动时横梁的机械作用 会使两个电磁悬浮系统的参数同时会发生变化，由此可以得出两个电磁悬浮系统之间 存在着耦合关系。针对两个电磁悬浮系统的耦合关系可以采用解耦控制方法使耦合的 两个电磁悬浮系统解耦成两个独立的电磁悬浮系统互不影响<sup>[28</sup>_<sup>29]</sup>。在实际生产中并 非对耦合的系统一定要进行解耦控制，耦合也可以保持控制变量在控制过程的协调关 系<sup>[3()</sup>_<sup>31]</sup>，例如函数关系。现实生活中升船机承船箱的机械耦合有一定的强迫同步作用， 可以加强箱体之间的协调同步性。在悬浮系统中若采用解耦控制，解耦后的独立系统 不容易消除外部干扰对悬浮气隙不同步的影响，进而降低了悬浮的品质。与此同时独 立控制的两个电磁悬浮系统不会得知对方运行情况，彼此之间缺乏所学要的联系同步 效果往往并不是很好。邢银龙<sup>[24]</sup>对两个电磁悬浮系统进行单独控制，对输出的两个 悬浮气隙求偏差，通过设计同步控制器产生两个独立系统悬浮气隙偏差补偿量，最后 反馈给两个电磁悬浮系统，从而降低同步误差达到同步的效果。但是已有的文献均忽 略了两个电磁悬浮系统之间的耦合关系。两个电磁悬浮系统独立控制，不能真实的反 应悬浮系统的结构，系统建模时存在误差，控制效果也会存在一定的误差。因此需要 对两个电磁悬浮系统进行耦合分析尽可能真实的反映系统结构。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:27.0pt;line-height:23.3pt;mso-line-height-rule:exactly;background: transparent"><span class="23pt">图</span><span class="23pt"><span style="font-family: SimSun;">3.1</span></span><span class="23pt">中分别为移动横梁的的质心、两个电磁悬浮系统的传感器</span><span class="2">位移、两个电磁悬浮系统的电磁力、横梁的一半长度和横梁旋转角度。/为横梁绕转 动质心0的惯性转矩。<o:p></o:p></span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:0cm;line-height:22.8pt;mso-line-height-rule:exactly;background: transparent"><span class="21pt"> 由于不相等</span><span class="21pt">，</span><span class="21pt">因此式</span><span class="21pt"><span style="font-family: SimSun;">(3.8)</span></span><span class="21pt">中与电磁力</span><span class="21pt"><span style="font-family: SimSun;">/</span></span><span class="21pt">相乘的矩阵非对角线元素不为零，</span><span class="2">即每一个电磁悬浮系统的加速度表达式中都会含有与另外一个电磁悬浮系统电磁力 相关的项，因此双电磁悬浮系统存在一定的耦合关系。</span></p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:0cm;line-height:22.8pt;mso-line-height-rule:exactly;background: transparent"> </p> <p class="21" style="margin-top:0cm;text-align:justify;text-justify:inter-ideograph; text-indent:0cm;line-height:22.8pt;mso-line-height-rule:exactly;background: transparent"> </p> <p class="MsoNormal"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">本文采摘自“数控加工中心龙门磁悬浮系统耦合分析及控制研究”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span><span lang="EN-US" style="font-size:9.0pt"> <o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a 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