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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.
The electromagnetic levitation control using Lorentz force has been widely used in the active vibration isolation control of the ground and space. Most of the existing researches and applications are based on the form of the float and stator, assuming that the stator mass characteristics are far greater than the float and uncontrolled Reaction and other coupling effects on the float six degrees of freedom modeling and control.For the load quality characteristics and platform quality characteristics of the case, the system will no longer have the form of a stator and a float, a coupling with the two six degrees of freedom The coupling of the moving object and the coupling is shown by the control reaction and the interaction between the induced current and the magnetic field caused by the relative motion.This paper attempts to deduce the coupled motion model of the load and the relative arbitrary reference points of the platform including the load motion, The linear equations are linearized based on the small displacements and small velocities of translational and rotational motions, which are easy to be controlled by the linear controller. The numerical examples show that in a certain period of time, the linearized model The result is consistent with the original model.