Dynamics and Control of Non-Laminated Actuators for Magnetic Levitation

磁悬浮非叠层执行器的动力学和控制

• 批准号: 9988877
• 负责人: Carl Knospe
• 金额: $ 28.5万
• 依托单位: University of Virginia Main Campus
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2000
• 资助国家: 美国
• 起止时间: 2000-06-15 至 2004-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9988877&HistoricalAwards=false
• 关键词: Dynamics; Control; Non; Laminated; Actuators

This grant provides funding for an investigation of high performance magnetic levitation for manufacturing. The growth of manufacturing processes that require extreme cleanliness, very high precision positioning or non-contact part handling suggests an increasing role for magnetic levitation in production environments. As a technology, magnetic levitation is developing rapidly, spurred by dramatic advances in power electronics, precision position sensing, high speed digital signal processing, and control theory. Magnetic levitation has found application in many processes including metal conveyance, metal coating, silicon wafer transport, film stretching, and photolithography. Almost all work in high performance magnetic levitation assumes that the actuator can be constructed from laminations so as to minimize the production of eddy currents in the face of the rapidly varying magnetic fields caused by active control. However, in many current or anticipated applications, laminated construction conflicts with the basic process or would be highly costly. Without laminations, a rapid change in current applied to the electromagnet's coil results in a much slower change in the applied force due to the eddy currents induced within the actuator by the changing field. These currents interact with the produced field and greatly complicate the actuator's dynamics. If known, the actuator dynamics can be partially compensated by a well-designed control algorithm so as to achieve improved stiffness and servo bandwidth. However, they also impose fundamental limits upon levitation performance. Thus, the ability to predict, identify, and model non-laminated actuator dynamics is critical to attaining high stiffness/ bandwidth levitation and to understanding what can not be achieved. The objectives of the theoretical and experimental tasks of this research effort are to (1) determine the fundamental limits that eddy current effects impose upon the performance of active magnetic suspensions, and (2) develop robust control strategies that provide very high levels of performance with non-laminated actuators.If successful, this research effort will enable non-laminated magnetic suspensions that provide highly accurate positioning in spite of disturbance forces and reposition the levitated object quickly. The effort will also provide a fundamental knowledge base that will connect an actuator's dynamic properties to its size, geometry, and composition. This knowledge will allow the prediction of magnetic suspension performance limits as well as the optimization of the stator design to maximize stiffness and servo bandwidth. Finally, it is anticipated that this research will help define new opportunities in manufacturing for high performance magnetic suspension.

这笔赠款为制造业的高性能磁悬浮研究提供资金。 需要极高清洁度、高精度定位或非接触式零件处理的制造工艺的发展表明磁悬浮在生产环境中的作用越来越大。 作为一项技术，在电力电子、精密位置传感、高速数字信号处理和控制理论的巨大进步的推动下，磁悬浮正在迅速发展。 磁悬浮已在许多工艺中得到应用，包括金属输送、金属涂层、硅片运输、薄膜拉伸和光刻。 几乎所有高性能磁悬浮工作都假设执行器可以由叠片构成，以便在面对主动控制引起的快速变化的磁场时最大限度地减少涡流的产生。 然而，在许多当前或预期的应用中，层压结构与基本工艺相冲突或者成本高昂。 如果没有叠片，施加到电磁体线圈的电流的快速变化会导致由于变化的磁场在致动器内感应出涡流而导致施加的力的变化慢得多。 这些电流与产生的场相互作用，并使执行器的动力学变得非常复杂。 如果已知，执行器动力学可以通过精心设计的控制算法进行部分补偿，从而实现改进的刚度和伺服带宽。 然而，它们也对悬浮性能施加了根本限制。因此，预测、识别和建模非层压执行器动力学的能力对于实现高刚度/带宽悬浮以及了解无法实现的目标至关重要。 这项研究工作的理论和实验任务的目标是（1）确定涡流效应对主动磁悬浮性能的基本限制，以及（2）开发鲁棒的控制策略，为非层压执行器提供非常高的性能水平。如果成功，这项研究工作将使非层压磁悬浮能够在干扰力的情况下提供高精度定位，并快速重新定位悬浮物体。 这项工作还将提供一个基础知识库，将执行器的动态特性与其尺寸、几何形状和成分联系起来。 这些知识将允许预测磁悬浮性能极限以及优化定子设计以最大化刚度和伺服带宽。 最后，预计这项研究将有助于确定高性能磁悬浮制造的新机遇。