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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Transportation of a thin sheet metal disk using magnetic levitation and tilt control
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Transportation of a thin sheet metal disk using magnetic levitation and tilt control

机译：使用磁悬浮和倾斜控制来运输薄金属片

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With magnetic levitation, ferromagnetic objects such as sheet metal can be handled without any contact. This has the beneficial properties of no contamination and no direct contact forces to the object, which can be important for sheet metal to keep the surface quality high. Levitation is realized by actively controlling the magnetic field depending on a measured gap between object and levitator, so that the attractive magnetic force balances the gravitational force. For levitating thin sheet metal, magnetic actuators can be placed at the top surface to control the gap, roll, and pitch motions, but the area of the side surface is not large enough to realize active control for horizontal motions. However, these horizontal motions are passive stable as there is a natural restoring force that will keep the object aligned with the levitator. Unfortunately, this passive force is far weaker than the controlled levitation force. This can be a problem for manipulation of the levitated sheet metal as horizontal accelerations have to be restrained in order to prevent loosing the object. This paper discusses a solution using a feed-forward tilt control strategy in which, similar to how a waiter tilts a tray of beverages during motion, both levitator and object are tilted during motion. In theory, significant improvements can be realized and a preliminary experiment verified that the feed-forward tilt control strategy is indeed very effective and that improvements could be realized.
机译：通过磁悬浮，铁磁性物体（例如钣金）可以无接触地处理。这具有无污染且与物体没有直接接触力的有益特性，这对于保持金属板的高表面质量非常重要。通过根据所测得的物体和悬浮物之间的间隙主动控制磁场来实现悬浮，从而使吸引力平衡重力。为了使薄金属板悬浮，可以将磁致动器放置在顶表面以控制间隙，滚动和俯仰运动，但是侧面的面积不足以实现对水平运动的主动控制。但是，这些水平运动是被动稳定的，因为存在自然的恢复力，可使物体与悬浮物保持对齐。不幸的是，该被动力远小于受控的悬浮力。这对于悬浮的金属板的操纵可能是一个问题，因为必须限制水平加速度以防止松动物体。本文讨论了一种使用前馈倾斜控制策略的解决方案，其中类似于服务员在运动过程中如何倾斜饮料托盘，悬浮物和物体在运动过程中都会倾斜。从理论上讲，可以实现重大改进，并且初步实验验证了前馈倾斜控制策略确实非常有效，并且可以实现改进。

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