Research On Magnetic Levitation System Based On Multi-Sensor Fusion

Belt conveyor is the main key equipment of coal transportation system.However,the traditional belt conveyor adopts roller support,which has problems such as serious mechanical wear and tear and high energy consumption.Magnetic levitation belt conveyor adopts magnetic levitation support instead of roller support to realize noncontact support.The magnetic levitation support system is the key to whether the magnetic levitation belt conveyor can run smoothly and work normally.Because of its strong nonlinearity and open-loop instability,it is usually requires the use of displacement sensors to detect the displacement of the levitation air gap in real time and carry out closed-loop feedback control.However,there are problems such as poor linearity,low measurement stability,and difficult installation of sensors in the single displacement sensor in the magnetic levitation system.In order to solve the above problems,a magnetic levitation support system based on multi-sensor fusion is proposed,and the system is analyzed theoretically,simulated and experimented.The specific research contents are:(1)Taking the magnetic levitation ball system as the research object of this paper,analyze the structure and working principle of the system,establish the mathematical model of the system based on the theory of electromagnetism and dynamics,and linearize the system at the equilibrium point,obtain the open-loop transfer function of the system through Laplace transform,study the stability of the system,and establish the foundation for designing the system controller in the next step.(2)Analyzed the photoelectric position sensor measurement principle and calibration;using machine vision to measure the magnetic levitation air gap value,hardware selection of the measurement system,through the industrial camera sensor image acquisition,the image needs to be processed,the processing algorithm includes ROI region selection,image filtering,image binarization,edge detection,edge contour extraction,calibration,and finally get the real levitation air gap value;however,a single sensor has certain limitations,research multi-sensor fusion algorithm,choose through the extended Kalman filter,the photoelectric position sensor and industrial camera sensor data fusion of levitation air gap value in the levitation process.(3)Due to the strong nonlinearity and open-loop instability of the magnetic levitation system,a stable closed-loop system is formed by introducing air gap value feedback;traditional PID control is studied in terms of control principle,controller design and simulation;to address the limitations of PID control,PID control is optimized by introducing particle swarm algorithm and theoretical analysis and simulation;PSO-PID control simulation based on multi-sensor fusion is conducted,and the results show that the values are more accurate after data fusion.(4)The experimental platform used is the magnetic levitation ball system device provided by Googoltech.The composition structure of the magnetic levitation ball system is analyzed and the experimental scheme is designed,and the PID control,PSO-PID control and control experiments based on multi-sensor fusion are completed on the experimental platform,and the experimental results consistent the simulation results to verify the feasibility of the above algorithms.Figure 52 Table 7 Reference 71...