Design Of A Conveyor System Based On Electromagnetic Modules

The requirement of automatic transportation of the materials and the products in production is more and more demanding with the development of industrial automation and internet. The application of traditional conveyors driven by motors and belts are cannot transfer modules independently. This thesis focuses on the development of an expandable conveyor system consisting of modules driven by electromagnetic force directly. By utilizing a moving permanent magnet design, the conveyor system can control each moving module separately. Also, there is no wire connected with the moving part, and the system is featured with simple structure. The contents of this thesis include the following:According to the requirements of independent transportation tasks, an expandable conveyor system design which contains linear and curvilinear electromagnetic modules is presented. By analyzing the driving principle of the two module according to electromagnetic theory, the basic electromagnetic unit is designed and a driving force model is established. To assure smooth transition between two different modules, a new design of the guide slider is presented.According to the driving principle of the conveyor system and the requirements of the experimental platform, the relationship between electromagnetic force and the relative position of the coil and the magnet is calculated. The current profile of the coil is calculated on the basis of electromagnetic force. The simulation analysis of the motion control by using a smooth displacement curve is carried out, and the feasibility of the system is verified theoretically.The motion control of the conveyor system is experimentally investigated on a test-bed of linear electromagnetic module which contains linear electromagnetic module, current amplifiers, NI control platform and the motion control program. The motion control is tested for both open-loop and closed-loop. To improve the performance of the motion control, friction models such as the Dahl model and the Lu Gre model are studied, which provides useful information for friction compensation of the conveyor system.