Research On Passive Drive Control System Of Magnetic Levitation Globe

Magnetic levitation technology is a new support technology which uses magnetic force to suspend an object in the air,in a non-contact state.In order to better demonstrate magnetic levitation technology,more and more places are beginning to apply this technology to the globe.The existing magnetic levitation earth instrument is mainly controlled by electromagnetic suction,and the electromagnetic levitation technology has the problems of large volume,large power consumption and low energy utilization.In addition,the current control methods of magnetic levitation globe are all analog control.This control method is cumbersome and inflexible,so it can not give full play to the superiority of magnetic levitation technology.Based on the purpose of saving energy and reducing consumption and improving the flexibility of the control system,a digitally controlled magnetic suspension globe with permanent magnetic force as the main bearing capacity and the electromagnetic force as the adjusting action is studied in this paper.In order to solve the influence of radial permanent magnetic force on suspension in permanent magnet electromagnetic hybrid suspension structure,this paper is based on the spatial distribution of air gap flux of permanent magnet in suspension structure,the magnetic circuit model is established by using the magnetic field partition method,and the mathematical model of radial permanent magnetic force in suspension structure is established by combining the characteristics of permanent magnetic materials and the virtual displacement method.In this paper,an electromagnet is designed to control the X and Y directions of the globe.Electromagnet is a kind of nonlinear driving structure,which is linearized near the working point by reasonable structure design.The radial permanent magnetic force and radial electromagnetic force in the suspension structure are analyzed theoretically,the finite element analysis is made,and the radial permanent magnetic force is analyzed experimentally.The relationship between radial permanent magnetic force and radial electromagnetic force and displacement is clarified.According to the radial permanent magnetic force mathematical model,the radial electromagnetic force mathematical model and the force analysis of the system,a dynamic model of the maglev globe is established.Aiming at the dynamic model,a zero power controller is designed,which realizes the purpose ofsaving energy and reducing consumption,and effectively overcomes the shortage of large energy consumption of electric magnetic levitation globe.Finally,the experiment device and hardware circuit are built,a zero-power control algorithm is programmed on the STM32,and the passive drive control system of magnetic levitation globe is realized.In order to ensure the response speed of the control system,the embedded real-time operating system ?C/OS-II was transplanted to the controller.