| As an important transportation equipment,belt conveyor is widely used in various transportation places.Traditional belt conveyors transport materials in the way of friction,so the friction between supporting parts roller and conveyor belt is serious,and the energy consumption is large.With the progress of science and technology,the development of magnetic materials,mechanics,mechanical structure,computer and other technologies,electromagnetic hybrid magnetic levitation belt conveyor has become a research topic,magnetic levitation system is an important part of the electromagnetic hybrid belt conveyor.This new belt conveyor has the advantages of non-contact support,zero resistance during operation and large bearing capacity because magnetic levitation components replace the original roller to support the conveyor belt.It is one of the directions of belt conveyor research.Electromagnetic hybrid maglev belt conveyor,one of the important components of maglev system to determine whether the normal work,in view of the maglev is stable suspension,this paper presents a real time by machine vision detection measure the air gap spacing,and through the visual inspection data collected by fitting theory,simulation experiment,and analyzed.(1)To maglev supporting device as the research object of this paper,set up the experimental device and analyzing the mechanics relation between the maglev suspension,establish its mathematical model,the research on the basis of linearization,through feedback control of magnetic levitation control system,introduce the current,voltage control system and magnetic levitation control system is designed.(2)The suspended air gap spacing is detected by machine vision detection,and images are collected by industrial cameras and processed by MATLAB software.Firstly,grayscale processing is carried out on the collected picture,and the grayscale image is denoised.The image after de-noising is blurred,so the blurred image is sharpened by image processing to make the image clear.Through the edge detection of the region of interest,a computer image processing program was used to fit the line,and finally the size of the suspended air gap was calculated by the pixel relationship.The measured air gap size is fitted into a multi-order equation to prepare for the subsequent program of electromagnetic hybrid maglev control system with air gap spacing as the input.(3)On the basis of the dynamics equation and voltage equation,the system is linearized at the equilibrium point,and the open-loop transfer function of the system is obtained through Laplace transform.The stable closed-loop system is formed by introducing current and visual detection of air gap spacing feedback.First by traditional controller and fuzzy PID controller,simulation experiment analysis test and verify the reliability of the performance of the controller,considering the controller on the system’s precision,frequency and vibration amplitude requirements,in order to achieve the purpose of fast response and amplitude frequency less,will be based on optimization of human learning algorithm with variable universe fuzzy PID controller,So as to achieve the performance requirements of the whole system.Figure [50] Table [7] Reference [74]... |
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