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提出一种新型多自由度磁悬浮球形主动关节,分析了关节产生磁悬浮力和电磁转矩的机理,基于状态重构原理实现转子的状态同步悬浮控制和无传感自检测反馈控制。通过仿真试验可知,状态同步悬浮控制精度高,抗干扰性强。
A new type of multi-degree-of-freedom maglev spherical active joints was proposed. The mechanism of the joint’s producing levitation force and electromagnetic torque was analyzed. The state synchronous suspension control and the sensorless self-test feedback control of the rotor were realized based on the state reconstruction principle. It can be seen from the simulation experiment that the state synchronous suspension control has high precision and strong anti-interference ability.