基于变磁力单元的磁力控制方法及数值研究

为提高永磁吸附式管外壁爬行机器人运行过程中的吸附力稳定性,解决吸附能力与运动灵活性之间的矛盾,对变磁力吸附单元结构进行了研究.通过建立变磁力吸附单元有限元模型,并分析圆柱磁体的旋转角度和衔铁气隙距离对磁吸附力的影响,应用MATLAB软件拟合出磁力控制函数的数学模型.运用此数学模型控制伺服电机,使任意气隙间距下都反馈出相应的伺服电机旋转角度,进而控制磁吸附力大小,保证机器人爬行过程中磁吸附力的稳定.通过测量实验,表明此磁力控制方法可行有效.

A Numerical Research On A Method Of Magnetic Control Based On An Unit Of Alterable Magnetic Adsorption

In order to improve the stability of the adsorption force during the operation of the permanent magnet adsorptive out-pipe climbing robot, and to solve the contradiction between the adsorption capacity and the movement flexibility, the structure of the variable magnetic adsorption unit was studied. By establishing the finite element model of the variable magnetic adsorption unit, and analyzing the influence of the rotation Angle of the cylinder magnet and the armature gap distance on the magnetic adsorption force, the mathematical model of the magnetic force control function is fitted by MATLAB. Using this mathematical model to control the servo motor, the rotation Angle of the servo motor can be fed back at any air gap spacing, and then the magnetic adsorption force can be controlled to ensure the stability of the magnetic adsorption force in the process of robot crawling. The measurement experiment shows that the magnetic force control method is feasible and effective.