A magnetic levitation logistics conveying device for assembling shore power equipment and a control method thereof

Abstract

The application discloses a kind of shore power equipment assembly with magnetic levitation logistics transport device and control method, including tray and base, the tray is arranged with multiple groups of coil groups, coil group includes multiple groups of main coil group, auxiliary coil group and horizontal shift coil group, main coil group is symmetrically distributed on the two sides of tray about the first axis of tray;Auxiliary coil group and horizontal shift coil group are symmetrically distributed on the other two sides of tray about the second axis of tray, while, the horizontal shift coil group of each side is set outside auxiliary coil group, and the coils in each group of auxiliary coil group and each group of horizontal shift coil group are symmetrically distributed about the first axis of tray, the first axis is perpendicular to the second axis.The force-current model of logistics transport device is established;For the unbalanced torque prone to be caused by high gravity center, a kind of backstepping nonsingular fast terminal sliding mode controller is designed, so that the logistics transport device can realize horizontal positioning and movement, and its suspension system responds quickly, and has strong anti-interference ability, can accurately reach specified position and ensure the stability of suspension posture and height, has strong gravity correction and faster balance control processing speed.The coils in main coil group and auxiliary coil group are installed in parallel with base permanent magnet, and horizontal shift coil is installed in perpendicular with base permanent magnet and simultaneously perpendicular to tray plane.

Description

Technical Field

[0001] This invention relates to a logistics transmission device and control method, and more particularly to a magnetic levitation logistics transmission device and control method for assembling shore power equipment. Background Technology

[0002] In recent years, with the upgrading of port electrical equipment and the development of power electronics technology, the demand for various power equipment in large-scale port power systems, such as large-capacity inverters, converter transformers, and charging piles, has been increasing. To meet market demand, manufacturers of large-scale port power equipment need to improve production speed. The degree of automation in production lines and the speed of equipment transport are crucial factors affecting efficiency. Generally, the production of large-scale port power equipment follows an assembly line approach, where a portion is assembled in one area, then transported to the next area for assembly, and so on until production is complete, at which point the equipment is assembled and ready for shipment. During this process, manufacturers primarily use forklifts, cranes, or conveyor belts for transportation, all of which require significant manual labor and have relatively low transport speeds. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to propose a magnetic levitation material transport device and control method for assembling shore power equipment, which reduces the impact of equipment on the platform's levitation stability by compensating for unbalanced torque.

[0004] Technical solution: The present invention includes a tray and a base. Multiple sets of coil groups are arranged on the tray. The coil groups include multiple sets of main coil groups, secondary coil groups, and transverse coil groups. The main coil groups are symmetrically distributed on both sides of the tray about a first axis. The secondary coil groups and transverse coil groups are symmetrically distributed on the other two sides of the tray about a second axis. At the same time, the transverse coil groups on each side are arranged outside the secondary coil groups. The coils in each set of secondary coil groups and each set of transverse coil groups are symmetrically distributed about the first axis of the tray, and the first axis is perpendicular to the second axis.

[0005] The coils in the main coil group and the auxiliary coil group are installed parallel to the permanent magnets of the base.

[0006] The transverse coil is mounted perpendicular to the permanent magnet of the base and simultaneously perpendicular to the plane of the tray.

[0007] A control method for a magnetic levitation material transport device used in shore power equipment assembly includes the following steps:

[0008] S1. Design the backstepping controller for the pallet planar motion system and the backstepping non-singular fast terminal sliding mode controller for the suspension system; specifically including:

[0009] S11. Design the anti-stepping controller for the pallet planar motion system;

[0010] S12, the backstepping nonsingular fast terminal sliding mode controller of the suspension system;

[0011] S2. Establish a model for the electromagnetic force-current conversion of the coil group; specifically including:

[0012] S21. Establish a current-force model of the coil group with constraints;

[0013] S22. Derive the electromagnetic force-current conversion formula for the coil group based on the current-force model with constraints in S21.

[0014] S3. The current generator generates a corresponding current in the coil to drive the tray movement.

[0015] S21, establishing a constrained current-force model for the coil group, specifically:

[0016] Establish a constrained current-force model for the main coil group.

[0017] Let the length of the coil in the main coil group be l1, the width be w1, the turn width be D1, the number of turns be N1, and the turn thickness be h1. Let the distance between each coil be d1, and let the horizontal force generated by the main coil group be F. xm The horizontal force is F zm :

[0018]

[0019] In the formula,

[0020] Establish the current-force model of the secondary coil group

[0021] Let the length of the coil in the secondary coil group be l2, the width be w2, the turn width be D2, the number of turns be N2, and the turn thickness be h2. Let the distance between each coil be d2, and let the horizontal force generated by the secondary coil group be F. xn The horizontal force is F zn :

[0022]

[0023] In formula 2,

[0024] Establish a constrained current-force model for the transverse coil assembly.

[0025] Let the length of the coil in the transverse coil group be l3, the width be w3, the turn width be D3, the number of turns be N3, and the turn thickness be h3. Let the distance between each coil be d3, and let the horizontal force generated by the transverse coil group be F. yt :

[0026]

[0027] In formula 3,

[0028] The electromagnetic force-current conversion formula for the coil group is:

[0029]

[0030] The backstep controller of the tray planar motion system designed in S11 is specifically as follows:

[0031] The motion model of the pallet planar motion system is as follows:

[0032]

[0033] Where x1 and y1 are the horizontal positions of the tray. M is the deflection angle of the pallet; M is the mass of the pallet. F is the moment of inertia of the tray's deflection motion; x F y These are the forces acting on the tray in the x and y directions, respectively. This refers to the deflection torque acting on the tray;

[0034] Let x be the desired horizontal position of the tray. * y * The expected deflection angle is The control law for a planar motion system designed based on the backstepping method can be expressed as:

[0035]

[0036] Among them, a i ,b i >0 (i = 1, 2, 3).

[0037] The backstepping nonsingular fast terminal sliding mode controller of the S12 suspension system is specifically as follows:

[0038] S121. Design the non-singular fast terminal sliding surface and variable coefficient sliding mode approach law of the suspension system;

[0039] S122. Combining the reverse step method, design an anti-nonsingular fast terminal sliding mode controller for the suspension system.

[0040] Specifically, S121 involves: designing a non-singular fast terminal sliding surface.

[0041]

[0042] In Formula 5, 0 < ρ1 < 1, c 11 c 12 >0, p is a positive integer;

[0043] Design of variable coefficient sliding mode reaching law

[0044]

[0045] In Formula 6, γ 11 >1, 0<γ 12 <1,r 11 r 12 >0.

[0046] Specifically, S122 involves designing a backstepping virtual control law.

[0047] Establish the error state equation:

[0048]

[0049] In Formula 7, δ1 and δ2 are state errors; A is the input matrix; u is the control input; d is the uncertain disturbance; the virtual control law designed using the backstepping method is:

[0050] δ2=-k1δ1(8)

[0051] Design a nonsingular fast terminal sliding mode control law

[0052] set up ε 12 =-k1δ 11 -δ 12 Rewrite formula 7 as follows:

[0053]

[0054] Based on the nonsingular fast terminal sliding surface and the variable coefficient sliding mode reaching law, the nonsingular fast terminal sliding mode control law for the system shown in Equation 9 is as follows:

[0055]

[0056] In formula 10, This is an estimate of the interference.

[0057] Design Adaptive Law:

[0058]

[0059] In Formula 11, λ > 0.

[0060] Beneficial effects: This invention has the following advantages:

[0061] (1) The present invention establishes a force-current model for the logistics transmission device; in view of the unbalanced torque caused by the high center of gravity, a backstepping non-singular fast terminal sliding mode controller is designed, which enables the logistics transmission device to achieve horizontal positioning and movement, and its suspension system responds quickly and has strong anti-interference ability, can accurately reach the designated position and ensure the stability of the suspension attitude and height, and has strong center of gravity correction and fast balance control processing speed.

[0062] (2) The device has a compact structure and small size, and can be used in narrow and enclosed spaces; it also has a fast response speed and flexible movement. In addition to horizontal movement, it can also actively control the suspension attitude and height, and can be easily linked with automated and intelligent equipment to improve production efficiency.

[0063] (3) There is no contact between the tray and the base of the device, which can isolate mechanical vibration, and the only resistance is air resistance, which greatly improves the running speed; it is suitable for high vacuum and high cleanliness working environments and can be used in some occasions with high environmental requirements.

[0064] (4) The base of the device adopts a modular design, which is convenient for installation and maintenance. After installation, only local modifications can be made, avoiding the trouble of replacing the whole device. Attached Figure Description

[0065] Figure 1 This is a structural diagram of a magnetic levitation logistics transport device;

[0066] Figure 2 Side view of the permanent magnet array;

[0067] Figure 3 Side view of the tray;

[0068] Figure 4 This is a schematic diagram of the forces acting on the pallet; where (a) represents the forces acting in the horizontal direction; and (b) represents the forces acting in the vertical direction.

[0069] Figure 5 This is the overall control block diagram of the magnetic levitation logistics transmission device. Detailed Implementation

[0070] The invention will now be further described with reference to the accompanying drawings.

[0071] like Figure 1As shown, the magnetic levitation material transport device for shore power equipment assembly of the present invention includes a tray 7 and a base 8, with the tray 7 suspended above the base 8. The base 8 is a permanent magnet array, which uses a one-dimensional Halbach array to provide a constant magnetic field. Each permanent magnet has the same specifications, magnetization direction, and magnetization intensity. The tray 7 is made of non-magnetic 6061 aluminum alloy. Multiple sets of coil groups are arranged on the tray 7, including multiple sets of main coil groups, secondary coil groups, and transverse coil groups. The main coil groups are symmetrically distributed on both sides of the tray about a first axis. The secondary coil groups and transverse coil groups are symmetrically distributed on the other two sides of the tray about a second axis. At the same time, the transverse coil groups on each side are arranged outside the secondary coil groups. The coils in each set of secondary coil groups and each set of transverse coil groups are symmetrically distributed about the first axis of the tray 7, which is perpendicular to the second axis. The coils in the main coil groups and secondary coil groups are installed parallel to the permanent magnets of the base 8, and the transverse coils are installed perpendicular to the permanent magnets of the base 8 and also perpendicular to the plane of the tray.

[0072] like Figure 1 As shown, the coil group in this embodiment includes two main coil groups, two secondary coil groups, and two transverse coil groups. The following description will use this as an example.

[0073] This embodiment includes two main coil groups: a first coil group 1 and a second coil group 2; each main coil group contains three coils, and the first coil group 1 and the second coil group 2 are arranged symmetrically on the tray. Two auxiliary coil groups include a third coil group 3 and a fourth coil group 4, each containing two coils; the third coil group 3 and the fourth coil group 4 are arranged symmetrically on the tray. Two transverse coil groups include a fifth coil group 5 and a sixth coil group 6, each containing two coils; the fifth coil group 5 and the sixth coil group 6 are arranged symmetrically on the tray. The fifth coil group 5 is located outside the third coil group 3, and the sixth coil group 6 is located outside the fourth coil group 4. Each coil in the third coil group 3 and the fourth coil group 4 is symmetrical about the tray axis; each coil in the fifth coil group 5 and the sixth coil group 6 is also symmetrical about the tray axis.

[0074] The pole spacing of the permanent magnet array is 2τ n , Figure 2 This is a side view of a permanent magnet array, where the height and width of each permanent magnet are both h. c During normal operation, the coils in the main coil group and the auxiliary coil group are installed parallel to the permanent magnet of the base 8, and the transverse coil is installed perpendicular to the permanent magnet of the base 8 and simultaneously perpendicular to the plane of the tray, as shown below. Figure 3As shown. The main coil group has a single coil length of l1, coil width of w1, coil spacing of d1, turn width of D1, number of turns of N1, and turn thickness of h1; the secondary coil group has a single coil length of l2, coil width of w2, coil spacing of d2, turn width of D2, number of turns of N2, and turn thickness of h2; the transverse coil group has a single coil length of l3, coil width of w3, coil spacing of d3, turn width of D3, number of turns of N3, and turn thickness of h3. Wherein, l3 is not 2τ. n Integer multiples of . o-xyz is a fixed coordinate system used to represent the spatial position of the tray; ox c y c The pallet coordinate system is a coordinate system with the centroid of the bottom surface of the pallet as the origin, used to represent the position of each coil on the pallet.

[0075] The force on tray 7 is as follows Figure 4 As shown, L1 and L2 are the distances from the center of the main and auxiliary coil groups to the center of the tray, respectively. Figure 4 In (a), F x1 F x2 The first coil group 1 and the second coil group 2 in the main coil group output force in the horizontal direction, responsible for providing the driving force in the x-direction; F x3 F x4 It provides horizontal force to the third coil group 3 and the fourth coil group 4 in the secondary coil group, responsible for providing yaw torque; F y1 F y2 It is responsible for providing the y-direction driving force for the output of the fifth coil group 5 and the sixth coil group 6 in the transverse coil group. Figure 4 In (b), F z1 F z2 The vertical force output of the first coil group 1 and the second coil group 2 in the main coil group is responsible for providing levitation force and pitch torque; F z3 F z4 It provides vertical force to the third coil group 3 and the fourth coil group 4 in the secondary coil group, and is responsible for providing levitation force and rolling torque.

[0076] A control method for a magnetic levitation material transport device used in shore power equipment assembly includes the following steps:

[0077] S1. Design a backstepping controller for the pallet's planar motion system and a backstepping non-singular fast-end sliding mode controller for the suspension system. Magnetic levitation systems are strongly coupled and nonlinear systems, and the pallet may sway when the mass distribution of the transported goods is uneven, affecting normal transportation and production. Therefore, this embodiment designs a backstepping controller for the pallet's planar motion system and a backstepping non-singular fast-end sliding mode controller for the suspension system to achieve horizontal positioning and enhance the pallet's suspension stability by compensating for unbalanced torque. Specifically, this includes:

[0078] S11. Design the backstep controller for the pallet planar motion system, specifically:

[0079] Design a planar motion system controller.

[0080] Ignoring air resistance, the motion model of the pallet planar motion system is as follows:

[0081]

[0082] Where x1 and y1 are the horizontal positions of the tray. M is the deflection angle of the pallet; M is the mass of the pallet. F is the moment of inertia of the tray's deflection motion; x F y These are the forces acting on the tray in the x and y directions, respectively. This is the deflection torque acting on the tray.

[0083] The motions of the three degrees of freedom mentioned above are decoupled, and backstepping controllers can be designed separately for each. Let x be the desired horizontal position of the tray. * y * The expected deflection angle is The control law for a planar motion system designed based on the backstepping method can be expressed as:

[0084]

[0085] Among them, a i ,b i >0 (i = 1, 2, 3).

[0086] S12. Design a backstepping nonsingular fast terminal sliding mode controller for the suspension system, specifically including:

[0087] Considering that the shape and mass distribution of the load are uncertain during actual operation, when the load mass is unevenly distributed on the pallet, an unbalanced torque exists in the vertical direction of the pallet. This will affect the stable suspension of the pallet, causing the goods to sway and tip over, resulting in damage to goods and machinery, leading to production stoppage or direct economic losses. Therefore, a motion model of the suspension system considering vertical disturbances is established:

[0088]

[0089] Where z1 is the suspension height of the pallet, and θ1 and ψ1 are the pitch angle and roll angle of the pallet, respectively; J θ J ψ F represents the moment of inertia of the tray's pitch and roll motions, respectively. z T is the levitation force acting on the tray. θ T ψThese are the pitch torque and roll torque acting on the tray, respectively; g is the acceleration due to gravity, and d... θ d ψ d z The disturbance terms are in each degree of freedom. The motions of the three degrees of freedom in system (9) are decoupled, and controllers can be designed separately for each.

[0090] To quickly correct pitch and roll angles and ensure the stability of the suspension system, a backstepping nonsingular fast terminal sliding mode controller is designed, taking the θ degree of freedom as an example, and letting δ... 11 =θ * -θ1, θ * Let θ be the desired pitch angle, then the error state equation for the degree of freedom θ is:

[0091]

[0092] For the first-order subsystem of (1.4), the virtual control law obtained by the backstepping method is:

[0093] δ 12 =-ω θ =-k1δ 11 (1.5)

[0094] Where k1>0. To accelerate the convergence speed of system (1.4), a non-singular fast terminal sliding mode method is used to design the actual control law. The virtual control law is redefined based on the obtained virtual control law. ε 12 =-k1δ 11 -δ 12 The resulting new system is:

[0095]

[0096] Design the following non-singular fast terminal sliding surface:

[0097]

[0098] Where 0 < ρ1 < 1, c 11 c 12 >0, p is a positive integer, and the state of system (1.6) on the sliding surface (1.7) will converge in finite time. A variable coefficient sliding mode convergence law is designed as follows:

[0099]

[0100] Where, γ 11 >1, 0<γ 12 <1,r 11 r 12 >0. During the sliding phase, the first term... Dominant, at this point, the farther the system state is from the sliding surface, the larger the absolute value of s1, and the greater the exponential term. The larger the value, the faster the system state converges to the sliding surface; when the system state is near the sliding surface, the first term... It is close to 0, but since 0 < γ 12 <1, power term As it approaches the sliding surface, it gradually increases but does not exceed 1, which can both compensate for the attenuation of the first term near the sliding surface and prevent itself from becoming too large. This is achieved through r... 12 Adjust the convergence speed to ensure a fast approach while avoiding large chattering.

[0101] The control law of the θ system based on the backstepping nonsingular fast terminal sliding mode method can be expressed as:

[0102] T θ =-J θ [Γ 11 +Γ 12 +k 11 (k 11 δ 11 +ε 12 )+d θ (1.9)

[0103] in,

[0104] In equation (1.9), d θ The value of d is difficult to measure directly, so d θ Treating it as an adaptive term, its adaptive law is obtained according to the Lyapunov method:

[0105]

[0106] Where λ1>0. The final control law for the θ system is:

[0107]

[0108] Following the steps above, the control laws for the other two degrees of freedom of the suspension system can be obtained. Let the desired roll angle of the tray be ψ. * The control law for the roll angle ψ can be expressed as:

[0109]

[0110] Where k2>0, λ2>0; 0<ρ2<1, c 21 c 22 >0, p takes the same value as the θ system; γ 21 >1, 0<γ 22 <1,r 21 r 22 >0.

[0111] Let z be the desired floating height of the pallet. * The control law for the suspension height z can be expressed as:

[0112]

[0113] Where k3>0, λ3>0; 0<ρ3<1, c 31 c 32 >0, p takes the same value as the θ system; γ 31 >1, 0<γ 32 <1,r 31 r 32 >0.

[0114] S2. Establish the electromagnetic force-current conversion model of the coil group, specifically including:

[0115] S21. Based on the linearized model of the permanent magnet array magnetic field at the working point of the tray, establish a constrained current-force model for the coil group; specifically including:

[0116] Considering only the first harmonic component of the magnetic field and neglecting end effects, the linearized model of the spatial distribution of the magnetic flux density of the permanent magnet array at the operating point is as follows:

[0117]

[0118] in, B x B z These are the components of magnetic flux density in the x and z directions. B c It is the remanence of a single permanent magnet. Δz = z - z0, where z0 is the working levitation height of the tray, and z is the actual levitation height of the tray. z remains near z0 and does not change significantly.

[0119] S211. Establish a constrained current-force model for the main coil group.

[0120] Let the length of the coil in the main coil group be l1, the width be w1, the turn width be D1, the number of turns be N1, and the turn thickness be h1. Let the distance between each coil be d1, and let the horizontal force generated by the main coil group be F. xm The horizontal force is F zm According to the Lorentz force integral law, the thrust generated by the main coil assembly is:

[0121]

[0122] Where m = 1, 2. cma x cmb x cmcLet i be the x-axis coordinate of the centroid of the three coils in the main coil group in the motion coordinate system. ma i mb i mc These represent the currents of the three coils in the corresponding main coil group. The third row of the T1 matrix represents the constraints on the currents. Under these constraints, the vertical forces generated by the first and last coils in each main coil group are equal in magnitude and in the same direction, thus avoiding unnecessary torque. γ 主 The coefficient matrix related to the coil dimensions of the main coil group is expressed as follows:

[0123]

[0124] S212. Establish the current-force model of the secondary coil group.

[0125] Let the length of the coil in the secondary coil group be l2, the width be w2, the turn width be D2, the number of turns be N2, and the turn thickness be h2. Let the distance between each coil be d2, and let the horizontal force generated by the secondary coil group be F. xn The horizontal force is F zn The thrust generated by the secondary coil assembly is:

[0126]

[0127] Where n = 3, 4. cna x cnb Let i be the x-axis coordinate of the centroid of the two coils in the corresponding secondary coil group in the motion coordinate system. na i nb These represent the currents in the two coils, respectively. Since the secondary coil group has two coils and two outputs, no additional constraints are needed. γ 副 The coefficient matrix related to the coil dimensions of the secondary coil group is expressed as follows:

[0128]

[0129] S213. Establish a constrained current-force model for the transverse coil group.

[0130] Let the length of the coil in the transverse coil group be l3, the width be w3, the turn width be D3, the number of turns be N3, and the turn thickness be h3. Let the distance between each coil be d3, and let the horizontal force generated by the transverse coil group be F. yt For the transverse coil group, it only generates thrust in the y-direction, which can be expressed as:

[0131]

[0132] Where t = 5, 6. cta x ctbLet i be the x-axis coordinate of the centroid of the two coils corresponding to the transverse coil group in the motion coordinate system. ta i tb These represent the currents in the two coils, respectively. The second row of the T3 matrix represents the constraints on the coil currents. γ 横 The coefficient related to the coil size of the transverse coil group is expressed as follows:

[0133]

[0134] S22. Based on the constrained current-force model in S21, derive the electromagnetic force-current conversion formula for the coil group.

[0135] Let the six-degree-of-freedom force / moment on the tray be: horizontal force F x F y Vertical force F z Yaw torque Pitch torque T θ Rolling torque T ψ The output power of each coil group is distributed as follows: F x It is powered by two main coil groups, each providing half of the x-direction driving force; F y It is powered by two transverse coil groups, each providing half of the y-direction driving force; yaw torque It is generated by two secondary coil groups providing equal but opposite thrusts in the x-direction; F z It is powered by four main and auxiliary coil groups, with each coil group providing 1 / 4 of the levitation force; while the pitch torque T θ and rolling torque T ψ The torque is supplied by the main coil group and the auxiliary coil group, respectively. Under the above force / torque distribution method, the output force of each coil group can be expressed as:

[0136]

[0137] As can be seen from equation (12), for any six-degree-of-freedom force / torque combination on the tray, a corresponding coil group output distribution can be found. Therefore, the six-degree-of-freedom control of the tray is decoupled. Substituting equation (12) into the force-current expression of each coil group, we can obtain the force / torque-current conversion formula for the six-degree-of-freedom decoupling of the tray as follows:

[0138] The formula for converting electromagnetic force to current in a coil assembly is:

[0139]

[0140] In the formula, the force / torque on the tray is converted into the current that should pass through each coil, and the force state of the tray is controlled by controlling the current.

[0141] S3. The current generator produces a corresponding current in the coil to drive the tray movement.

[0142] The force / torque commands output by the controllers in S11 and S12 are converted into current commands through equation (13), and the corresponding current is generated in the coil by the current generator to drive the pallet movement. The control block diagram of the entire system is as follows. Figure 5 As shown, where v x v y These represent the horizontal velocities of the tray along the x and y axes, respectively. z The vertical upward speed of the pallet. ω θ ω ψ These represent the yaw rate, pitch rate, and roll rate of the tray, respectively. θ * ω ψ * v z * The expected values ​​of the tray pitch rate, roll rate, and rise rate are given by the inverse step virtual control law.

Claims

1. A control method for a magnetic levitation material transport device used in the assembly of shore power equipment, characterized in that, The magnetic levitation material transport device for assembling shore power equipment includes a tray and a base. Multiple sets of coil groups are arranged on the tray. The coil groups include multiple sets of main coil groups, secondary coil groups, and transverse coil groups. The main coil groups are symmetrically distributed on both sides of the tray about a first axis. The secondary coil groups and transverse coil groups are symmetrically distributed on the other two sides of the tray about a second axis. At the same time, the transverse coil groups on each side are arranged outside the secondary coil groups. The coils in each set of secondary coil groups and each set of transverse coil groups are symmetrically distributed about the first axis of the tray, which is perpendicular to the second axis. The control method specifically includes: S1. Design the backstepping controller for the pallet planar motion system and the backstepping non-singular fast terminal sliding mode controller for the suspension system; specifically including: S11. Design the backstep controller for the pallet planar motion system, specifically: The motion model of the pallet planar motion system is as follows: (1.1) Where x1 and y1 are the horizontal positions of the pallet, φ1 is the deflection angle of the pallet; M is the mass of the pallet, J φ F is the moment of inertia of the tray's deflection motion; x F y T represents the forces acting on the tray in the x and y directions, respectively. φ This refers to the deflection torque acting on the tray; Let x be the desired horizontal position of the tray. * y * The desired deflection angle is φ * The control law of a planar motion system designed based on the backstepping method can be expressed as: (1.2) where a i , b i > 0 (i = 1, 2, 3) S12, the backstepping non-singular fast terminal sliding mode controller of the suspension system, specifically: S121. Design the non-singular fast terminal sliding surface and variable coefficient sliding mode approach law of the suspension system; S122. Combining the reverse stepping method, design an anti-nonsingular fast terminal sliding mode controller for the suspension system. S2. Establish a model for the electromagnetic force-current conversion of the coil group; specifically including: S21. Establish a current-force model of the coil group with constraints; S22. Derive the electromagnetic force-current conversion formula for the coil group based on the current-force model with constraints in S21. S3. The current generator generates a corresponding current in the coil to drive the tray movement.

2. The control method for a magnetic levitation logistics transmission device for assembling shore power equipment according to claim 1, characterized in that, The coils in the main coil group and the auxiliary coil group are installed parallel to the permanent magnets of the base.

3. The control method for a magnetic levitation logistics transmission device for assembling shore power equipment according to claim 2, characterized in that, The transverse coil is mounted perpendicular to the permanent magnet of the base and simultaneously perpendicular to the plane of the tray.

4. The control method for a magnetic levitation material transport device for assembling shore power equipment according to claim 1, characterized in that, S21, establishing a constrained current-force model for the coil group, specifically: Establish a constrained current-force model for the main coil group. Let the length of the coil in the main coil group be l1, the width be w1, the turn width be D1, the number of turns be N1, and the turn thickness be h1. Let the distance between each coil be d1, and let the horizontal force generated by the main coil group be F. xm The levitation force is F zm : （1） In the formula, m=1, 2; Establish the current-force model of the secondary coil group Let the length of the coil in the secondary coil group be l2, the width be w2, the turn width be D2, the number of turns be N2, and the turn thickness be h2. Let the distance between each coil be d2, and let the horizontal force generated by the secondary coil group be F. xn The levitation force is F zn : （2） In official 2, n=3, 4; Establish a constrained current-force model for the transverse coil assembly. Let the length of the coil in the transverse coil group be l3, the width be w3, the turn width be D3, the number of turns be N3, and the turn thickness be h3. Let the distance between each coil be d3, and let the horizontal force generated by the transverse coil group be F. yt : （3） In formula 3, ; t=5, 6.

5. The control method for a magnetic levitation logistics transmission device for assembling shore power equipment according to claim 4, characterized in that, The electromagnetic force-current conversion formula for the coil group is: 。（4） 6. The control method for a magnetic levitation material transport device for assembling shore power equipment according to claim 1, characterized in that, Specifically, S121 involves: designing a non-singular fast terminal sliding surface. （5） In Formula 5, 0 < ρ1 < 1, c 11 c 12 >0, p is a positive integer; Design of variable coefficient sliding mode reaching law （6） In Formula 6, γ 11 >1, 0<γ 12 <1,r 11 r 12 >0.

7. The control method for a magnetic levitation logistics transmission device for assembling shore power equipment according to claim 6, characterized in that, Specifically, S122 involves designing a backstepping virtual control law. Establish the error state equation: (7) In formula 7, , Let A be the state error; A be the input matrix; u be the control input; d be the uncertain disturbance; the virtual control law designed using the backstepping method is: （8） Design a nonsingular fast terminal sliding mode control law set up , Rewrite formula 7 as follows: （9） Based on the nonsingular fast terminal sliding surface and the variable coefficient sliding mode reaching law, the nonsingular fast terminal sliding mode control law for the system shown in Equation 9 is as follows: （10） In formula 10, , This is an estimate of the interference. Design Adaptive Law: （11） In the formula, .

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