Research on Key Technology of Motion Decoupling of Maglev Robot Based on Perturbation theory

The research of this project is aimed at the key technology of motion decoupling of magnetic levitation robot. It proposes a magnetic field decoupling method framework to reduce the interference of electromagnetic field. On this basis, an innovative Technology roadmap has been explored by applying the latest research results of matrix Perturbation theory, the magnetic pole structure of Haier Beck array is adopted. This array structure has more complex harmonic characteristics. The traditional method of magnetic field analysis of the magnetic levitation platform only considers the influence of the magnetic steel manufacturing error on the magnetic field, and cannot analyze all nonlinear factors. However, this project proposes a leading magnetic field compensation method to eliminate electromagnetic interference by establishing a magnetic field distribution model of the magnetic levitation platform coupled with Multiphysics simulation. Traditional calibration techniques cannot balance the two core elements of large range and high precision. Large range magnetic fields can reduce the consistency of Hall array pose, while high precision requirements can exacerbate the influence of Gaussian harmonic components. Even by removing mixed magnetic fields, magnetic field distortion cannot be eliminated. Therefore, it is necessary to use the Perturbation theory to study the distortion compensation problem, which is a new attempt in the field of magnetic field calibration.