面向电磁橇的直线电机定位测速系统
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国防科技大学 智能科学学院

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TP212

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十三五国家重点研发计划资助项目(202050KG0023)


A Positioning and Speed Measuring System of Linear Motor Applied in Electromagnetic Sled
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    摘要:

    直线电机牵引需要实时、准确的动子位置和速度信息,以实现定速巡航和定点停车等功能,而电磁橇是室外长距离、非接触运行,且磁场环境复杂,使其不能继承传统的轮轨交通和工业机床测速技术。目前,磁浮列车的定位测速技术存在原理上的局限性或成本高昂的问题。针对上述问题,本文受游标卡尺结构启发,提出并设计了一种新型定位测速系统。通过理论分析阐明了提高定位精度的原理、运动方向判别和位置测量方案,证明了该定位测速方案的可行性;设计了位置外推预测算法和卡尔曼滤波算法,进一步提高定位测速系统的分辨率和实时性;设计了相应的硬件电路和软件程序并实现了定位测速功能;搭建同步带导轨实验平台对定位测速系统进行验证,测试结果表明所设计系统能够实现设计的定位精度,并具良好的实时性、准确性和工程应用价值;最后将系统在电磁悬浮推进平台上实现应用。

    Abstract:

    Linear motor traction requires real-time and accurate feedback of rotor position and speed information for closed-loop control, in order to achieve functions such as constant speed cruise and fixed-point parking. However, electromagnetic sleds run in a long distance and non-contact way under the outdoor complex magnetic field environment, making their positioning and speed measuring technology unable to inherit from traditional wheel rail transportation and industrial machine tools. Presently, the main position and speed measuring methods that suit on maglev trains are faced with limitation from their basic principle or high cost. Aiming to solve the above problem, inspired by the structure of vernier calipers, this work proposes and designs a new position and speed measuring system. The principles of improved positioning accuracy, motion direction discrimination and position measurement are elucidated through theoretical analysis. proving the feasibility of the positioning and speed measuring scheme. The position prediction algorithm and Kalman filter algorithm are designed to further improve the accuracy and real-time performance. The corresponding hardware circuit and software program are designed and the positioning and speed measuring system is implemented. And, a synchronous belt guide rail verification platform is built to verify the designed system. Test results show that the system can achieve the designed positioning accuracy, and performs well in terms of real-time performance, accuracy, and engineering application value. Finally, the positioning and speed measuring system is applied to electromagnetic levitation propulsion platform.

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  • 收稿日期:2023-11-02
  • 最后修改日期:2025-09-07
  • 录用日期:2024-04-24
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