Affiliation:
1. College of Mechanical Engineering, Yangzhou University, Yangzhou, China
Abstract
This article puts forward inductive magnetic suspension spherical active joints and has researched on its mechanism. The expression of motor’s electromagnetic torque is derived from the point of power balance of three-dimensional electromagnetic model, and on the basis of the air gap magnetic flux density distribution, we establish the joint’s mathematical model of electromagnetic levitation force. The relationship between the two of displacement, angle, and current and the transfer function expression of motor system are derived by the state equation and the inverse system theory We established the inverse system of joint’s original system using fuzzy neural network theory and simplified coupling relationship of the motor’s complex multivariable to establish ANFIS model of joint’s inverse system. An internal model controller with high robustness and stability was designed, and an internal model control joint pseudo linear system was built. According to the simulation analysis and experimental verification of the joint control system, the conclusion indicates that the rotor has quick dynamic response and high robustness.
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献