| 磁悬浮球形主动关节机理与控制策略 |
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| 引用本文： | 曾励,王军,戴敏.磁悬浮球形主动关节机理与控制策略[J].徐州工程学院学报,2010(2):1-5. |
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| 作者姓名： | 曾励 王军 戴敏 |
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| 作者单位： | 扬州大学机械学院,江苏扬州225127 |
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| 基金项目： | 国家自然科学基金资助项目（50975249）;江苏省自然科学基金资助项目（BK2008219）;江苏省高校自然科学研究项目（09KJD460006） |
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| 摘 要： | 提出了一种新型多自由度磁悬浮球形主动关节，对关节产生磁悬浮力和电磁转矩的机理进行了研究，并推导出驱动关节旋转的电磁转矩和支撑关节的悬浮电磁力；分析了磁悬浮球形主动关节旋转与悬浮的控制关系，提出了对其综合控制策略，并阐述了控制原理．
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| 关 键 词： | 磁悬浮 球形主动关节 磁悬浮力 电磁转矩 控制策略 |
The Analysis of Mechanism and Control Strategy in Magnetic Suspension Spherical Active Joints |
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| ZENG Li,WANG Jun,DAI Min.The Analysis of Mechanism and Control Strategy in Magnetic Suspension Spherical Active Joints[J].Journal of Xuzhou Istitute of Technology,2010(2):1-5. |
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| Authors: | ZENG Li WANG Jun DAI Min |
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| Affiliation: | (School of Machinery, Yangzhou Universiry, Yangzhou 225127, China) |
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| Abstract: | A novel multi-DOF magnetic suspension spherical active joints is introduced in this paper. The mechanism of the joints which produce levitation and the electromagnetic torque has been studied. And the electromagnetic torque driving joint rotating and suspension force supporting the joint suspension are deduced. The control relationship between active magnetic suspension spherical joints＇ rotation and suspension is analyzed. A comprehensive control strategy and control principle are put forward. |
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| Keywords: | magnetic suspension spherical active joints levitation force electromagnetic torque comprehensive control strategy |
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