In this paper, an external magnetic driving method of a maglev ball based on force imbalance is first proposed to meet the requirement that the maglev ball is moved linearly in the axis direction of the electromagnetic actuator in the non-liquid environment. This method is expected to be better applied in the fields of industrial and medical miniature curved tube. The maglev ball is a magnetic levitated object. Based on the interpolation algorithm, the two-dimensional stepwise levitation motion trajectory of the maglev ball is designed as the target curve of the motion. The maglev ball can be driven with a large range along a specified motion path. Compared with the 1.0 mm step input, the overshoot of a 0.2 mm step input is decreased by 73.7% and 73.6% in the descending phase and the ascending phase, respectively. Therefore, fluctuation of the step response of the maglev ball is improved by smaller step control. However, the larger the step input, the faster the speed and the larger the levitation gap. Under the condition of a 1.0 mm step input, the maximum levitation gap can be up to 20.487 mm, and the speed of the maglev ball can reach 3.086 mm/s. Compared with static levitation control, the position of the maglev ball is fluctuated severely due to radial runout under motion control conditions, and the position accuracy can reach ±0.03 mm.

中文翻译：

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基于力不平衡的磁悬浮球二维外磁驱动方法研究

本文首先提出了一种基于力不平衡的磁悬浮球外磁驱动方法，以满足在非液体环境下磁悬浮球沿电磁作动器轴向直线运动的要求。该方法有望在工业和医疗微型弯管领域得到更好的应用。磁悬浮球是一种磁悬浮物体。基于插值算法，将磁悬浮球的二维步进式悬浮运动轨迹设计为运动的目标曲线。磁悬浮球可以沿着指定的运动路径大范围驱动。与 1.0 mm 步进输入相比，0.2 mm 步进输入在下降阶段和上升阶段的超调量分别减少了 73.7% 和 73.6%。所以，通过较小的阶跃控制改善了磁悬浮球阶跃响应的波动。但是，步进输入越大，速度越快，悬浮间隙也越大。在1.0 mm步进输入条件下，最大悬浮间隙可达20.487 mm，磁悬浮球速度可达3.086 mm/s。与静态悬浮控制相比，在运动控制条件下，磁悬浮球由于径向跳动导致位置波动较大，位置精度可达±0.03 mm。