传统电磁吸力悬浮采用气隙反馈实现闭环控制，而气隙传感器具有体积大、造价高、安装复杂等缺点。提出了一种通过磁场与电流观测气隙，使用观测气隙进行闭环反馈的电磁吸力悬浮方法。通过理论分析和仿真研究了气隙与磁场和电流间的函数关系；设计分析了磁场测量点的位置；利用函数关系进行气隙观测。实测数据表明：通过磁场与电流观测气隙，所得结果与实测气隙吻合，该方法可以用于闭环反馈。从理论上分析了观测拟合系数对闭环系统稳定性的影响。最后通过试验实现了7 mm处的稳定悬浮。

The traditional electromagnetic suction levitation adopts air gap feedback to realize closed-loop control, while the air gap sensor has the disadvantages of large volume, high cost and complex installation. An electromagnetic suction levitation method is proposed, in which the air gap is observed by magnetic field and current, and the observed air gap is used for closed-loop feedback. The functional relationship between air gap, magnetic field and current is studied by theoretical analysis and simulation. The position of magnetic field measuring point is designed and analyzed. The measured data show that the observed air gap under the proposed electromagnetic suction levitation method is consistent with the measured air gap, so it can be used for closed-loop feedback. The influence of observation fitting coefficient on the stability of closed-loop system is analyzed theoretically. Finally, the stable levitation at 7 mm is realized in experiment.

国家自然科学基金面上基金项目(521770060)