摘要
针对精密制造领域对高速定位和动态响应性能的严苛要求,提出了一种基于二维Halbach永磁阵列和印制线路板(printed circuit board,PCB)线圈阵列的长行程磁悬浮平面作动器设计与控制方法.基于磁场分布的谐波模型,建立了磁悬浮平面作动器的动力学模型,分析了平动和旋转运动中的磁力与力矩耦合效应.揭示了系统的非线性动态特性,提出了非线性模型预测控制(nonlinear model predictive control,NMPC)策略,并通过优化控制输入,实现了复杂路径的高精度轨迹跟踪.结果表明,该方法在跟踪任务中表现出高精度、强鲁棒性和快速动态响应性能.
To meet the stringent requirements of high-speed positioning and dynamic response performance in the field of precision manufacturing,a long-stroke magnetically levitated planar actuator design and control method is proposed,based on a two-dimensional Halbach permanent magnet array and a printed circuit board(PCB)coil array.A dynamic model of the actuator is established using a harmonic model of the magnetic field distribution,enabling an in-depth analysis of the coupling effects between magnetic forces and torques during translational and rotational motions.The study reveals the nonlinear dynamic characteristics of the system and introduces a nonlinear model predictive control(NMPC)strategy to address these complexities.By optimizing control inputs,the proposed method achieves high-precision trajectory tracking along complex paths.The results demonstrate that this approach offers superior tracking accuracy,strong robustness,and fast dynamic response.
作者
胡棋誉
陆泽琦
陈立群
Hu Qiyu;Lu Zeqi;Chen Liqun(School of Mechanics and Engineering Science,Shanghai University,Shanghai 200444,China;Shanghai Institute of Applied Mathematics and Mechanics,Shanghai 200072,China;Shanghai Key Laboratory of Mechanics in Energy Engineering,Shanghai 200072,China;School of Microelectronics,Shanghai University,Shanghai 201800,China)
出处
《动力学与控制学报》
2025年第8期1-11,共11页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(11872037)。
关键词
磁悬浮平面作动器
动力学建模
非线性模型预测
轨迹跟踪
maglev planar actuator
dynamic modeling
nonlinear model predictive control
trajectory tracking
