Study On The Suspension Supporting Device Of Electromagnetic Suction Type Magnetic Levitation Belt Conveyor

The ordinary belt conveyor has the disadvantages of high friction and high energy consumption.The existing roller conveyor has many problems such as air pressure loss along the line,liquid wetting conveyor belt,difficult regulation and control.In view of the above problems,this paper puts forward a new type of special belt conveyor:electromagnetic levitation magnetic suspension belt conveyor.The belt conveyor can realize non-contact support,stable and controllable suspension.The specific research contents are as follows:The mechanical analysis of electromagnetic suction type magnetic levitation belt conveyor is carried out.The necessary conditions for the stable suspension of the conveyer belt are given.The analysis shows that the suspension structure can limit the displacement of the conveyer belt in all directions except the direction of transportation,and the stability of suspension can be realized.The mathematical model of single point electromagnetic levitation system is established,that is,its dynamic equation and circuit equation.The bearing characteristics of the supporting device are analyzed,and the influence of different disturbances on the electromagnetic force and stability is analyzed.The stiffness of the system is obtained without control.The analysis shows that the greatest disturbance to the stability of the system is the rotation of the Y axis.A linearized and nonlinear model of single point electromagnetic levitation system is established,and the Simulink simulation model of single point magnetic levitation system is established.The PD,improved PD and PID controller of a single point magnetic levitation system are designed.The parameters of the PD controller are selected and the parameters of the PD controller are improved under the different stable air gaps.Using the linear two times optimal control index,the optimal PID control system parameters are:Ki=425470m.s,Kp=908432V/m,Kd=13297/m,Kc=800 Omega.The simulation shows that the controller can suspend the system steadily in different suspended air gaps and loads.The static difference exists in the PD controller,and the improved PD has faster adjustment speed,and the static difference of the PID controller is small.The experiment was carried out by the self designed test bed.The simulation results show that the stable suspension gas gap is 5mm,the load is 20N,the starting air gap is 10mm,and the magnetic conveyer belt is suspended steadily at the gas gap of 5mm within the 300ms.Through the reasonable arrangement of electromagnet and the design of the electromagnetic control system,the electromagnetic suction type magnetic levitation belt conveyor can achieve no contact support,and the conveyor belt can be suspended in a stable way.The research has certain reference significance for the development of belt conveyor.