CN101275883B - Uniaxial full physical simulation magnetic floating platform - Google Patents
Uniaxial full physical simulation magnetic floating platform Download PDFInfo
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- CN101275883B CN101275883B CN2007100647952A CN200710064795A CN101275883B CN 101275883 B CN101275883 B CN 101275883B CN 2007100647952 A CN2007100647952 A CN 2007100647952A CN 200710064795 A CN200710064795 A CN 200710064795A CN 101275883 B CN101275883 B CN 101275883B
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Abstract
The invention discloses a single shaft full-physical emulated maglev stage which is mainly used for processing full-physical emulation for the control system of the spacecraft and other mobiles. The single shaft full-physical emulated maglev stage comprises a structural supporting unit, a bearing unit, an shaft directional maglev unit, a sensor unit, a gap adjusting and controlling unit and shaft surface unit. The shaft surface unit, the upper sensor, the upper magnet and the rotor potion of the bearing unit are the rotating potion of the maglev stage; the structural supporting unit, the lower sensor, the lower magnet and the stator potion of the bearing unit, gap adjusting unit are the static potion of the maglev stage; the magnetic force generated between the upper magnet and the lower magnet arranged in the shaft directional maglev unit balances the influence by the gravity to the rotating position can rotate without any frictions around the core shaft. As a free rotating stage, the invention overcomes the shortcomings of larger frictions of the general semi-physical emulated mechanical rotating stage, assuring the control system emulated object having the characteristic of automated close loop.
Description
Technical field
The present invention relates to a kind of physical simulation experiment platform of using the floating principle of magnetic, relate in particular to a kind of floating experiment table of full physical simulation magnetic that adopts single-shaft configuration, belong to the testing apparatus technical field.
Background technology
Scientific research has three kinds of approach usually: theoretical derivation, scientific experiment and analogue simulation.Various Application of Simulation Technology are being brought into play indispensable effect in scientific research.Particularly in the control technology research field, adopting various emulation technologies is the important means of carrying out theoretical research and engineering practice.
At present, emulation technology mainly is divided into two classes: Computer Simulation and physical simulation.Computer Simulation comes down to mathematical simulation, and it at first sets up the mathematical model of system, and mathematical model is converted into Simulation Calculation, reaches the purpose of analogue system operation by the operation of realistic model.Computer Simulation is mainly used in the research of carrying out control method, but it can't verify the technical feasibility of real system, more can not test and checks and accepts the first sample of a real system and positive sample.Therefore, physical simulation also is absolutely necessary.Physical simulation also claims entity emulation, is meant according to physical model, directly makes the former things response under certain conditions of simulating in kind.Physical simulation is mainly used in the test and validation of control system.
Physical simulation is divided into two kinds of full physical simulation and semi-physical simulations.Semi-physical simulation is meant the emulation of adopting part physical model and part mathematical model, is mainly used in kinematic Simulation or the testing authentication of part control assembly.Full physical simulation is meant the emulation of whole employing physical models, and it can guarantee that simulation object carries out theoretical method research, system testing and checking to the whole closed-loop control system that comprises dynamics, sensor, topworks, controller and controlling schemes.
Current, along with the development of China's aerospace industry, among the development work of all kinds spacecraft carried out just in full preparation.In the process of development spacecraft control system,, adopt hang spring counter weight type, water floating type or pneumatically supported mode both at home and abroad usually in order in the experiment of ground full physical simulation, to simulate the weightless effect in space.Adopt the mode of hang spring counterweight, can guarantee that the very little and pulling force in hang spring drift angle equates with object gravity, to compensate the influence of aircraft body gravity load.But in practice, the concrete enforcement of this mode is extremely difficult, its difficulty even surpass the control of aircraft itself.The maintenance costs of the pure water that the floating experimental system of water is used is high, and is difficult to experimental subjects itself is carried out waterproof and counterweight processing.Therefore, no matter be the floating or hang spring counterweight of water, all be difficult to the influence of full remuneration gravity all the time in rotor shaft direction.And the compressed air source unit of air floating table experimental system is made up of air compressor, gas storage, drying and filter plant etc., this body structure is very complicated, generally need the special messenger to safeguard, have the characteristics such as big, transportation and maintenance cost height that take up room, and also there is the shortcoming that vibration noise is big, potential safety hazard is big in gases at high pressure itself.
At publication number is in the Chinese invention patent application " high-precise uniaxial magnetic-levitation revolving table " of CN1865897A, disclose a kind of by torque motor, down the protection bearing, down the integrated displacement transducer of radial/axial, down radial magnetic bearing, lower bottom base, down axial magnetic suspension bearing, mandrel, go up axial magnetic suspension bearing, go up radial magnetic bearing, go up the integrated displacement transducer of radial/axial, upper bed-plate, on protect bearing, angular position encoder and worktable to form high-precise uniaxial magnetic-levitation revolving table.Wherein, realize that by radial magnetic bearing and axial magnetic suspension bearing the on-mechanical stabilized contact suspends between stator and the rotor.But in this technical scheme, mechanical turntable is to drive the rotating shaft campaign by torque motor.For the l-G simulation test object, control moment is provided by the outside rather than is produced by self inner topworks with regard to meaning person for this, and the mass inertia characteristic of topworks is not included among the dynamics of simulation object yet.Therefore strictly speaking, this technical scheme can not satisfy the full physical simulation requirement fully can be as far as possible independently, intactly, the requirement of purely whole closed-loop control system being simulated.
Summary of the invention
Weak point in view of having the full physical simulation technology as mentioned above now the purpose of this invention is to provide a kind of novel uniaxial full physical simulation magnetic floating platform.This magnetic floating platform can provide an experiment porch from main closed loop for the full physical simulation of movable body control system such as spacecraft.
For realizing above-mentioned goal of the invention, the present invention adopts following technical scheme:
A kind of uniaxial full physical simulation magnetic floating platform is characterized in that:
Described uniaxial full physical simulation magnetic floating platform comprises support structure unit, bearing unit, axial magnetic suspension unit, sensor unit, gap adjustment and control module and axial plane unit;
Described sensor unit comprises upper sensor and the lower sensor that is oppositely arranged; Described axial magnetic suspension unit comprises upper magnet and the lower magnet that is oppositely arranged; Described bearing unit comprises as the upper and lower bearing of rotor portion with as the upper and lower bearing cap of stationary part; Described axial plane unit comprises emulation experiment table top and mandrel, and described head bearing and lower bearing are around described mandrel setting;
The rotor portion of described axial plane unit, upper sensor, upper magnet and bearing unit is as the rotating part of magnetic floating platform, the stationary part of unit as magnetic floating platform regulated and control in the stationary part of described support structure unit, lower sensor, lower magnet and bearing unit, gap, upper magnet that is oppositely arranged in the described axial magnetic suspension unit and lower magnet produce the influence that magnetic force comes the described rotating part gravity of balance, so that described rotating part can not have frictionally rotation around described mandrel.
Wherein, described support structure unit comprises pedestal, linear axis bearing and parallels;
Pedestal wherein is cylindric, and there is the annular base of outside expansion its bottom, is evenly distributed with plurality of strengthening ribs between annular base and pedestal, the bottom of described annular base by several described parallels with contact to provide support.
Comprise straight-line guidance axle, adjustment flange, gap adjustment screw rod, manual adjustment wheel and automatic backlash controller in adjustment of described gap and the control module;
Described straight-line guidance axle and described mandrel are arranged on the same axis, described upper sensor is fixed on the described mandrel, described lower sensor is fixed on the described straight-line guidance axle, described automatic backlash controller is connected with described upper and lower sensor respectively, and closed-loop control is carried out in the gap between described straight-line guidance axle and the described mandrel.
Described straight-line guidance axle and the fixed installation of lower sensor bearing, the inwall that is installed in the linear axis bearing above the base bottom adopts the soft rubber material, and the external diameter of described straight-line guidance axle is slightly less than the internal diameter of linear axis bearing;
Described adjustment flange is installed below described base bottom, and the inwall of described adjustment flange has been attacked screw, and inner diameter is slightly larger than the external diameter of described straight-line guidance axle;
The screw thread on described gap adjustment screw rod top just in time mouthful is complementary with the silk of described adjustment flange inner wall, and the bottom of described gap adjustment screw rod is installed on the described manual adjustment wheel.
The downside of described mandrel has the sensor cable through hole, and described automatic backlash controller is connected with lower sensor with described upper sensor by the cable that passes this through hole;
Described automatic backlash controller is installed in the position that described pedestal and annular base join.
The upside of described upper ball cover is lower magnet and the lower magnet bearing in the axial magnetic suspension unit, the downside of described emulation experiment table top is upper magnet bearing and the upper magnet in the axial magnetic suspension unit, described upper and lower magnet bearing is a ring-type, the corresponding some solid of revolution in position are arranged on it, described upper and lower magnet is placed on respectively in the groove of described solid of revolution formation, and electrified wire is along described solid of revolution setting.
The control of direction of current realizes by the MOS circuit in the described electrified wire, in the described MOS circuit, first metal-oxide-semiconductor is connected in series with the 3rd metal-oxide-semiconductor, and second metal-oxide-semiconductor also is connected in series with the 4th metal-oxide-semiconductor, they are connected in parallel between V+ and the GND, are provided with electrified wire between first metal-oxide-semiconductor and the 4th metal-oxide-semiconductor.
The trigger end short circuit of described first metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor together, the trigger end short circuit of described second metal-oxide-semiconductor and the 4th metal-oxide-semiconductor is together; And the level state at two short circuit places is opposite constantly.
A kind of method to axial gap realization closed-loop control in the above-mentioned uniaxial full physical simulation magnetic floating platform is characterized in that:
By sensor current end play is measured, through comparing with the expectation gap after mould/transformation of variables, according to its comparative result, calculate the size of the magnetic suspension force that needs adjustment by the automatic backlash controller, then through steering D/A conversion, power amplification, direction of current control, drive electrified wire at last and produce the suitably electromagnetic force of size, thereby by the size of expecting to adjust total suspending power, to realize the control to the end play size.
After adopting such scheme, the present invention's advantage compared with prior art is: this full physical simulation magnetic floating platform, compare with air floating table and need not compressed air source unit, compare with the floating experimental provision of hang spring counterweight and water and can on rotor shaft direction, offset the adverse effect of gravity fully, guarantee the separation fully on dynamics between simulation object and the magnetic floating platform.As a kind of free turntable, the present invention has overcome the general big shortcoming of semi-physical simulation machinery turntable moment of friction, and can guarantee that the Control System Imitation object has the characteristics from main closed loop.
Description of drawings
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1 is the structural representation of uniaxial full physical simulation magnetic floating platform provided by the present invention.
Fig. 2 is the user mode synoptic diagram of uniaxial full physical simulation magnetic floating platform shown in Figure 1.
Fig. 3 is the structural representation of straight-line guidance axle.
Fig. 4 is a structural representation of adjusting flange.
Fig. 5 is the structural representation of gap adjustment screw rod.
Fig. 6 is the structural representation of linear axis bearing.
Fig. 7 is the structural representation of manual adjustment wheel.
Fig. 8 is the structural representation of upper sensor bearing.
Fig. 9 is the structural representation of lower sensor bearing.
Figure 10 is the structural representation of upper magnet bearing.
Figure 11 is the structural representation of lower magnet bearing.
Figure 12 is the block diagram of automatic backlash control principle.
Figure 13 is the schematic diagram of direction of current control circuit.
Embodiment
The invention provides a kind of uniaxial full physical simulation magnetic floating platform that is used to realize movable body full physical simulations such as spacecraft.As shown in Figure 1, this uniaxial full physical simulation magnetic floating platform mainly is made up of 6 unit such as support structure unit, bearing unit, axial magnetic suspension unit, sensor unit, gap adjustment and control module and axial plane unit.Wherein, the support structure unit comprises pedestal 11, linear axis bearing 17 and parallels 23; Bearing unit comprises upper ball cover 7, head bearing 8, lower bearing 9, lower ball cover 10; The axial magnetic suspension unit comprises upper magnet bearing 2, upper magnet 3, lower magnet 5 and lower magnet bearing 6; Sensor unit comprises sensor cable through hole 12, upper sensor bearing 13, upper sensor 14, lower sensor 15 and lower sensor bearing 16; Regulation and control unit, gap comprises straight-line guidance axle 18, adjustment flange 19, gap adjustment screw rod 20, manual adjustment wheel 21 and automatic backlash controller 22; The axial plane unit comprises emulation experiment table top 1 and mandrel 4.
Different with the Chinese invention patent application of mentioning in the background technology " high-precise uniaxial magnetic-levitation revolving table " is, do not exist torque motor to drive the rotating shaft campaign in the present invention, the rotating part of whole magnetic floating platform has only the upper part of axial plane unit, sensor unit, the upper part of axial magnetic suspension unit and the rotor portion of bearing unit; The manual part of the lower part of the lower part of support structure unit, sensor unit, axial magnetic suspension unit, the stationary part of bearing unit, regulation and control unit, gap then belongs to the stationary part of whole magnetic floating platform.
The principle of work of this uniaxial full physical simulation magnetic floating platform is: utilize the support structure unit that whole magnetic floating platform and load (emulation experiment object) thereof are supported, the axial plane unit provides rotating shaft for simulation object, and the emulation experiment that rotates around the axis table top is provided.By bearing unit rotating part and stationary part are separated.The magnetic force that utilizes the axial magnetic suspension unit to be produced comes the influence of balancing load (emulation experiment object) gravity, guarantees that magnetic floating platform can not have frictionally rotation around the shaft.
Referring to illustrated in figures 1 and 2, the pedestal 11 in the support structure unit is cylindric, and there is the annular base of outside expansion its bottom.This kind design has reduced the center of gravity of this uniaxial full physical simulation magnetic floating platform, makes magnetic floating platform more stable in use.In order to alleviate the weight of whole magnetic floating platform, can have several through holes as shown in Figure 2 on the annular base.In addition, in order to strengthen the intensity of pedestal 11, between annular base and pedestal 11, be evenly distributed with several leg-of-mutton reinforcements.The bottom of this annular base does not directly contact with ground, but by several parallels 23 with contact providing support, this is unevenly for fear of ground to bring adverse influence for the use of this magnetic floating platform.
The upper end of pedestal 11 is connected with upper ball cover 7 in the bearing unit.This upper ball cover 7 is circular, and the center is a head bearing 8.Head bearing 8 is provided with around the mandrel in the axial plane unit 4.The upper end of this mandrel 4 is the emulation experiment table tops 1 that are used to place the experiment article, and the lower end periphery is the lower bearing 9 in the bearing unit, and lower bearing 9 is provided support by lower ball cover 10.Bearing unit is in order to separate rotating part with stationary part.By adopting head bearing 8 and lower bearing 9 to guarantee that mandrel 4 is on same the straight line all the time simultaneously.Head bearing 8 can adopt mechanical ball bearing with lower bearing 9, also can adopt the radial permanent magnet bearing to eliminate radial friction.Between upper ball cover 7 and lower ball cover 10, connect by a pipe, in the outside of this pipe, also be evenly distributed with some less triangle reinforcements.
The bottom of mandrel 4 is the straight-line guidance axles 18 in the regulation and control unit, gap.The structure of this straight-line guidance axle is the right cylinder that there is perforation a centre as shown in Figure 3.The outer rim of straight-line guidance axle 18 is adjustment flanges 19 as shown in Figure 4, and the lower end is a gap adjustment screw rod 20 as shown in Figure 5.Between adjustment flange 19 and pedestal 11, linear axis bearing 17 shown in Figure 6 is installed.This linear axis bearing 17 is the annulus that there is the solid of revolution of projection a centre, and it is also fixedlyed connected with lower sensor bearing 16.The outer rim of gap adjustment screw rod 20 is provided with manual adjustment wheel 21 shown in Figure 7.Automatic backlash controller 22 in the regulation and control unit, gap both can be installed in stationary part, also can be installed in rotating part, also can install at rotating part and stationary part simultaneously.This automatic backlash controller 22 can change according to the gap that dynamic load causes, changes the magnetic force that the axial magnetic suspension unit is produced automatically, guarantees that magnetic floating platform does not have frictionally rotation as far as possible with suitable interstice coverage.In the embodiment shown in fig. 1, this automatic backlash controller 22 is installed in the position that pedestal 11 and annular base in the support structure unit join.
Mandrel 4 is provided with sensor unit with straight-line guidance axle 18 contacted places.In the present invention, sensor comprises angular displacement sensor and gap sensor by the function branch, and wherein the first half of the rotor portion of angular displacement sensor and gap sensor is installed in the position of top, is called upper sensor 14; The stationary part of angular displacement sensor and the latter half of gap sensor are installed in the position of below, are called lower sensor 15.Upper sensor 14 and lower sensor 15 are oppositely arranged, so that measure the accurate numerical value in gap between mandrel 4 and the straight-line guidance axle 18.Upper sensor bearing 13 and upper sensor 14 are fixed on the mandrel 4, and lower sensor 15 and lower sensor bearing 16 are fixed on the straight-line guidance axle 18.Upper sensor bearing 13 is referring to shown in Figure 8, and lower sensor bearing 16 is referring to shown in Figure 9, and they are ring bodies.
Downside at mandrel 4 has sensor cable through hole 12, so that allow the cable of above-mentioned automatic backlash controller 22 by passing this through hole be connected with lower sensor 15 with upper sensor 14 in the sensor unit.Above-mentioned sensor unit will carry out high-acruracy survey to the attitude angle displacement that magnetic floating platform rotates around the shaft on the one hand, and can guarantee rotor and divided stator from prerequisite under, by the upper sensor bearing measuring-signal is sent to the l-G simulation test table top.To measure in the end play between axial diagonal displacement upper sensor and the angular displacement lower sensor on the other hand, and measuring-signal is sent to the automatic backlash controller, so that realize closed-loop control the gap.To this, hereinafter detailed explanation will be arranged.
The upside of upper ball cover 7 is lower magnet 5 and the lower magnet bearings 6 in the axial magnetic suspension unit, and the downside of emulation experiment table top 1 is upper magnet bearing 2 and the upper magnet 3 in the axial magnetic suspension unit.Wherein upper magnet 3 and lower magnet 5 are oppositely arranged, and are used to provide the electromagnetic repulsion force of the experiment article gravity effect of offsetting emulation experiment table top 1 and being placed on it.Referring to Figure 10 and shown in Figure 11, wherein Figure 10 has shown a kind of embodiment of upper magnet bearing, and Figure 11 has shown the embodiment with the corresponding lower magnet bearing of this upper magnet seat structure.In this embodiment, upper and lower magnet bearing is a ring-type, the corresponding some solid of revolution that are used to lay electrified wire in position are arranged on it, and wherein to be marked with the place (i.e. the groove that is formed by solid of revolution) of 2A, 3A be exactly the position of placing upper and lower magnet respectively to figure.In addition, electrified wire both can adopt the mode of interior loop to place (placement location is 2B, 3B among the figure), also can adopt the mode of exterior loop to place (placement location is 2C, 3C among the figure).
The axial magnetic suspension unit is one of Core Feature element of this magnetic floating platform.This unit can adopt the mode of " permanent magnetism+electromagnetism ", and the principle of repelling each other according to the same polarity magnet utilizes electromagnetic force that the gravity as the emulation experiment object of magnetic floating platform load is compensated.In concrete control procedure, adopt the mode that the size and Orientation of electromagnet electrical current is controlled simultaneously, reasonably compromise between permanent magnet and electromagnet according to the load changes in demand.If allow electric current keep constant direction, magnet should design according to the requirement of compensation emulation experiment object minimum load so, and electromagnetic force should design according to the requirement of compensation emulation experiment object maximum load.Electromagnetic force realizes by lay electrified wire on electromagnet.The computing formula of magnet power is:
μ wherein
o, μ
r, ε, B are respectively the magnetic permeability in the vacuum, relative permeability, magnetic susceptibility and the magnetic intensity vector of magnetizable medium.
Magnetic field intensity becomes the inverse square relation with gap h (t) (with the constant of difference gap between angular displacement sensor) between the magnet.For electromagnet, magnetic field intensity square is directly proportional with number of turn N, the sectional area S of coil and electric current, promptly
The general assembly (TW) of supposing emulation experiment object load (rotating part of magnetic floating platform) is mg, and then the magnetic suspension movement equation is
In order to reduce the electrical power consumed of simulation object, the general electromagnetism down that adopts; Certainly also can adopt electromagnetism or upper and lower associating electromagnetism, this do not influence emulation experiment from the main closed loop characteristics, but can increase power consumption on the magnetic floating platform.
Figure 12 shows that the enforcement theory diagram of automatic backlash controller realization to the closed-loop control in gap.In order to realize autonomous closed-loop control, can be installed on the upper sensor bearing with the part of stube cable in the angular displacement sensor as rotor to simulation object; Another part then is used as stator, is installed on the lower sensor bearing.
When carrying out full physical simulation,, require axial gap to remain on suitable scope in order to ensure the quality of angular displacement sensor measuring-signal.For this reason, need carry out real time dynamic measurement in the gap between axial diagonal displacement rotor sensor and the stator, and measuring-signal is offered the automatic backlash controller.Gap sensor can adopt eddy current displacement sensor or other micro-displacement sensor.It is measured current end play, through comparing with the expectation gap after mould/number (A/D) conversion, according to its comparative result, clearance controller can adopt different control methods (as the PID method, become structure, self-adaptation or intelligence control method etc.) size of coming calculation control variable (magnetic suspension force), pass through D/A (D/A) conversion, power amplification, direction of current control then, drive electrified wire at last and produce the suitably electromagnetic force of size, thereby, reach the purpose of control actual gap size by the size of the total suspending power of expectation adjustment.
For the control of direction of current in the electrified wire, the invention provides a kind of simple solution, add switch at the power supply place exactly and control conducting state with logic element.This can realize with MOS circuit as shown in figure 13.In this circuit, metal-oxide-semiconductor Q1 and Q3 serial connection, Q2 and Q4 also are connected in series, and they are connected in parallel between V+ and the GND.Between Q1 and Q4, be provided with electrified wire L.Utilize this circuit, can realize the current reversal in the electrified wire.The specific implementation condition is as follows: the trigger end of Q1 and Q3 should be in the same place by short circuit, and the trigger end of Q2 and Q4 should be in the same place by short circuit; And the level state at two short circuit places should be opposite constantly.That is: when Q1, Q3 high level, Q2, Q4 should be low level simultaneously; Otherwise in like manner.When need to change the direction of current in the electrified wire, the height of control level gets final product: when sending into Q1, Q3 and be high level, direction of current is downward; Otherwise upwards.
In the present invention, by the manual part of gap regulation and control unit, can initially harmonize and carry out the minimum clearance setting end play, so that system is carried out mechanical protection.The mechanical protection here is achieved in that straight-line guidance axle 18 and 16 fixed installations of lower sensor bearing.The inwall that is installed in the linear axis bearing 17 above the base bottom adopts the soft rubber material, and the external diameter of straight-line guidance axle 18 is slightly less than the internal diameter of linear axis bearing 17, therefore can drive lower sensor bearing 16 and lower sensor 15 in linear axis bearing 17 the insides and move up and down.Below pedestal 11 bottoms, be equipped with and adjust flange 19, adjust the inwall of flange 19 and attacked screw, and inner diameter is slightly larger than the external diameter of straight-line guidance axle 18.The screw thread on gap adjustment screw rod 20 tops just in time is complementary with the silk mouth of adjusting flange 19 inwalls.The bottom of gap adjustment screw rod is installed on the manual adjustment wheel 21.Like this, by screwing manual adjustment wheel and adjusting screw(rod), just can make straight-line guidance axle upper surface push up the lower surface of mandrel, at this moment the end play minimum of angular displacement sensor; And then unscrew manual adjustment wheel and adjusting screw(rod), lower sensor will correspondingly descend together with its bearing and straight-line guidance axle, the number of turns that unscrews according to manual adjustment wheel just can roughly be determined the end play between the angular displacement sensor, primary clearance is debugged suitable size, make angle displacement measurement performance the best.In addition, adopt in the same way, also can carry out initial calibration the reading of gap sensor.
More than uniaxial full physical simulation magnetic floating platform provided by the present invention is had been described in detail.For one of ordinary skill in the art, any conspicuous change of under the prerequisite that does not deviate from connotation of the present invention it being done all will constitute to infringement of patent right of the present invention, with corresponding legal responsibilities.
Claims (10)
1. uniaxial full physical simulation magnetic floating platform is characterized in that:
Described uniaxial full physical simulation magnetic floating platform comprises support structure unit, bearing unit, axial magnetic suspension unit, sensor unit, gap adjustment and control module and axial plane unit;
Described sensor unit comprises upper sensor and the lower sensor that is oppositely arranged; Described axial magnetic suspension unit comprises upper magnet and the lower magnet that is oppositely arranged; Described bearing unit comprises as the upper and lower bearing of rotor portion with as the upper and lower bearing cap of stationary part; Described axial plane unit comprises emulation experiment table top and mandrel, and described head bearing and lower bearing are around described mandrel setting;
The rotor portion of described axial plane unit, upper sensor, upper magnet and bearing unit is as the rotating part of magnetic floating platform, the stationary part of unit as magnetic floating platform regulated and control in the stationary part of described support structure unit, lower sensor, lower magnet and bearing unit, gap, upper magnet that is oppositely arranged in the described axial magnetic suspension unit and lower magnet produce the influence that magnetic force comes the described rotating part gravity of balance, so that described rotating part can not have frictionally rotation around described mandrel.
2. uniaxial full physical simulation magnetic floating platform as claimed in claim 1 is characterized in that:
Described support structure unit comprises pedestal, linear axis bearing and parallels;
Pedestal wherein is cylindric, and there is the annular base of outside expansion its bottom, is evenly distributed with plurality of strengthening ribs between annular base and pedestal, the bottom of described annular base by several described parallels with contact to provide support.
3. uniaxial full physical simulation magnetic floating platform as claimed in claim 1 is characterized in that:
Comprise straight-line guidance axle, adjustment flange, gap adjustment screw rod, manual adjustment wheel and automatic backlash controller in adjustment of described gap and the control module;
Described straight-line guidance axle and described mandrel are arranged on the same axis, described upper sensor is fixed on the described mandrel, described lower sensor is fixed on the described straight-line guidance axle, described automatic backlash controller is connected with described upper and lower sensor respectively, and closed-loop control is carried out in the gap between described straight-line guidance axle and the described mandrel.
4. as claim 2 or 3 described uniaxial full physical simulation magnetic floating platforms, it is characterized in that:
Described straight-line guidance axle and the fixed installation of lower sensor bearing, the inwall that is installed in the linear axis bearing above the base bottom adopts the soft rubber material, and the external diameter of described straight-line guidance axle is slightly less than the internal diameter of linear axis bearing;
Described adjustment flange is installed below described base bottom, and the inwall of described adjustment flange has been attacked screw, and inner diameter is slightly larger than the external diameter of described straight-line guidance axle;
The screw thread on described gap adjustment screw rod top just in time mouthful is complementary with the silk of described adjustment flange inner wall, and the bottom of described gap adjustment screw rod is installed on the described manual adjustment wheel.
5. as claim 2 or 3 described uniaxial full physical simulation magnetic floating platforms, it is characterized in that:
The downside of described mandrel has the sensor cable through hole, and described automatic backlash controller is connected with lower sensor with described upper sensor by the cable that passes this through hole;
Described automatic backlash controller is installed in the position that described pedestal and annular base join.
6. uniaxial full physical simulation magnetic floating platform as claimed in claim 1 is characterized in that:
The upside of described upper ball cover is lower magnet and the lower magnet bearing in the axial magnetic suspension unit, the downside of described emulation experiment table top is upper magnet bearing and the upper magnet in the axial magnetic suspension unit, described upper and lower magnet bearing is a ring-type, the corresponding some solid of revolution in position are arranged on it, described upper and lower magnet is placed on respectively in the groove of described solid of revolution formation, and electrified wire is along described solid of revolution setting.
7. uniaxial full physical simulation magnetic floating platform as claimed in claim 6 is characterized in that:
The control of direction of current realizes by the MOS circuit in the described electrified wire, in the described MOS circuit, first metal-oxide-semiconductor is connected in series with the 3rd metal-oxide-semiconductor, and second metal-oxide-semiconductor also is connected in series with the 4th metal-oxide-semiconductor, they are connected in parallel between V+ and the GND, are provided with electrified wire between first metal-oxide-semiconductor and the 4th metal-oxide-semiconductor.
8. uniaxial full physical simulation magnetic floating platform as claimed in claim 7 is characterized in that:
The trigger end short circuit of described first metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor together, the trigger end short circuit of described second metal-oxide-semiconductor and the 4th metal-oxide-semiconductor is together; And the level state at two short circuit places is opposite constantly.
One kind in the uniaxial full physical simulation magnetic floating platform as claimed in claim 1 axially the gap realize it is characterized in that the method for closed-loop control:
By sensor current end play is measured, through comparing with the expectation gap after mould/transformation of variables, according to its comparative result, calculate the size of the magnetic suspension force that needs adjustment by the automatic backlash controller, then through steering D/A conversion, power amplification, direction of current control, drive electrified wire at last and produce the suitably electromagnetic force of size, thereby by the size of expecting to adjust total suspending power, to realize the control to the end play size.
10. the method to axial gap realization closed-loop control in the uniaxial full physical simulation magnetic floating platform as claimed in claim 9 is characterized in that:
But the part of stube cable is installed on the upper sensor bearing as rotor in the angular displacement sensor; Another part is installed on the lower sensor bearing as stator.
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| CN103454927B (en) * | 2013-08-22 | 2016-06-08 | 哈尔滨工业大学 | The full physics ground simulating device of aircraft distributed networked |
| CN103496450B (en) * | 2013-09-28 | 2016-07-06 | 哈尔滨工业大学 | Micro-disturbance torque environment simulator suitable in spacecraft l-G simulation test |
| CN107818723A (en) * | 2017-10-25 | 2018-03-20 | 佛山杰致信息科技有限公司 | A kind of uniaxial full physical simulation magnetic floating platform |
| CN109765065B (en) * | 2019-03-04 | 2020-12-15 | 西南交通大学 | Vertical electric suspension test bed |
| CN111487570B (en) * | 2020-04-15 | 2022-04-19 | 中国科学院空间应用工程与技术中心 | Magnetic levitation guidance testing device, system and method |
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| DE4418458A1 (en) * | 1994-05-26 | 1995-12-14 | Wimmer Ulrich Dipl Ing Fh | Apparatus for driving or reducing the driving force of terrestrial devices for simulating artificial gravity conditions |
| CN1484036A (en) * | 2003-08-07 | 2004-03-24 | 武汉理工大学 | Method for testing coupling property of magnetic suspension rotor system and tesl platform |
| CN2831199Y (en) * | 2005-09-23 | 2006-10-25 | 天津鼎成高新技术产业有限公司 | Swinging shaft testing jig frame controller |
| CN1865897A (en) * | 2006-03-27 | 2006-11-22 | 北京航空航天大学 | High-precise uniaxial magnetic-levitation revolving table |
| CN201045606Y (en) * | 2007-03-26 | 2008-04-09 | 北京智源博科技有限公司 | Uniaxle magnetic suspension free rotating floor |
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| CN101275883A (en) | 2008-10-01 |
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