An electric suspension test device and suspension control method for achieving stable levitation through attitude adjustment

Abstract

An electric levitation test device and levitation control method for achieving stable levitation through attitude adjustment includes a rotating support, multiple conductor plates, a levitation device, and a limiting module. The rotating support is configured to drive a turntable on it to rotate independently. The multiple conductor plates are spliced ​​into a ring and adhered to the surface of the turntable. The levitation device includes a connecting rope and a levitation module connected to the rotating support above via the connecting rope. The levitation module includes a connecting frame, a linear drive module mounted on the connecting frame, and a permanent magnet rotatably connected to the connecting frame. The permanent magnet is configured such that one side is slidably connected to the drive unit of the linear drive module, and the permanent magnet faces the conductor plate. The limiting module is configured to restrict the degrees of freedom of the levitation module, so that the levitation module can only move vertically. This invention constructs a novel permanent magnet electric levitation test platform, which improves the system's damping by adjusting the deflection angle of the permanent magnet, thus enabling the levitation module to levitate stably.

Description

Technical Field

[0001] This invention relates to the field of suspension control technology, and in particular to an electric suspension test device and suspension control method that achieves stable suspension through attitude adjustment. Background Technology

[0002] Permanent magnet electric levitation technology is a passive levitation technology that relies on the electromagnetic force generated by the mutual motion between a permanent magnet and a conductor plate to achieve levitation. Because this levitation method has negative damping characteristics, the levitation height will oscillate and gradually become unstable. Without intervention, stable levitation cannot be achieved. It is usually combined with active damping control or the addition of passive damping devices to achieve stable levitation. Passive damping devices have limited damping effect and are generally only suitable for specific operating conditions, and cannot actively adjust the levitation height. A common active damping control method is a hybrid excitation method combining a permanent magnet and an electromagnetic coil. The damping effect is adjusted by regulating the current in the electromagnetic coil. The adjustment of this common active damping control method (i.e., the hybrid excitation method combining a permanent magnet and an electromagnetic coil) is limited by the coil current carrying capacity, resulting in limited damping adjustment capability. The structure used in this active damping control method is also relatively complex. Summary of the Invention

[0003] This invention provides an electric suspension test device and suspension control method that achieves stable suspension through attitude adjustment, in order to solve the technical problems mentioned in the background art.

[0004] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0005] This invention provides an electrically powered levitation test device that achieves stable levitation through attitude adjustment, comprising:

[0006] A rotating support, configured to drive the turntable thereon to rotate independently;

[0007] Multiple conductor plates are bonded to the surface of the turntable in such a way that they form at least one annular distribution area around the axis of rotation of the turntable.

[0008] The levitation device includes a connecting rope and a levitation module connected to an upper rotating support via the connecting rope. The levitation module includes a connecting frame, a linear drive module mounted on the connecting frame, and a permanent magnet rotatably connected to the connecting frame. The permanent magnet is configured such that one side of it is slidably connected to the drive unit of the linear drive module, and the permanent magnet faces the conductor plate.

[0009] The limiting module is configured to restrict the degrees of freedom of the suspension module so that the suspension module can only move vertically.

[0010] Furthermore, the rotating support includes:

[0011] The support frame has at least one location with a rotation space, and a support portion is formed within the rotation space; the turntable is rotatably connected to the support portion;

[0012] A rotary drive is configured to drive the turntable to rotate along the support.

[0013] Furthermore, the rotary drive component is a rotary motor, and the output shaft of the rotary motor is connected to the turntable via a transmission.

[0014] Furthermore, the conductor plate is arc-shaped, and multiple conductor plates are connected end to end to form a ring distributed on the turntable.

[0015] Furthermore, the levitation module also includes a connector;

[0016] The connector is fixed to the drive unit of the linear drive module. A protrusion is formed on the connector, and the protrusion is slidably connected to the groove or hole on the permanent magnet.

[0017] Furthermore, the linear drive module uses a linear motor, which is vertically mounted on the connecting frame.

[0018] In another aspect, the present invention provides a suspension control method for an electric suspension test device, comprising the following steps:

[0019] S1. Drive the electric suspension test device to move multiple times to obtain multiple sets of experimental data;

[0020] S2. Construct a PID control model for the deflection angle based on multiple sets of experimental data;

[0021] S3. Then, based on the deflection angle PID control model, construct the suspension height PID control strategy;

[0022] S4. Control the suspension module in real time according to the PID control strategy for suspension height so that the suspension module reaches the preset height.

[0023] Furthermore, step S1 specifically includes the following steps:

[0024] S11. The linear drive module moves in a straight line and drives the permanent magnet to swing within a set deflection angle range;

[0025] S12. Start the rotation drive on the rotating bracket to drive the turntable and multiple conductor plates to rotate synchronously.

[0026] S13. The permanent magnet generates a changing magnetic field in the conductor plate. The changing magnetic field generates an induced electric field. Since the conductor plate is a conductive material, the induced electric field will generate an induced current in the conductor plate.

[0027] S14. The induced current will generate an induced magnetic field. The induced magnetic field generated in the conductor plate interacts with the source magnetic field of the permanent magnet to generate electromagnetic force.

[0028] S15. The electromagnetic force acting on the suspension module, under the constraint of the limiting module, generates a levitation force on the suspension module.

[0029] S16. The suspension module is suspended under the action of suspension force. The actual suspension height of the permanent magnet on the suspension module is measured.

[0030] S17. Record experimental data including the deflection angle of the permanent magnet on the levitation module, electromagnetic force, and actual levitation height.

[0031] S18, repeat S11 to S17, to obtain multiple sets of experimental data.

[0032] Furthermore, the specific PID control model for the deflection angle is as follows:

[0033] ;

[0034] in, Indicates the deflection angle of the permanent magnet; This represents the control error, which is equal to the desired suspension height. Compared with actual suspension height difference; Indicates time; , , These are the gain coefficients for the proportional, integral, and differential terms, respectively.

[0035] Furthermore, step S4 specifically includes the following steps:

[0036] S41, Determine the desired suspension height The actual suspension height as reported After subtraction, the control error is obtained. ;

[0037] S42, Control error The input is fed into the PID control model for the deflection angle, and the output is the desired deflection angle of the permanent magnet. ;

[0038] S43. The linear drive module drives the permanent magnet until the permanent magnet reaches the desired deflection angle. As the permanent magnet rotates, it generates a levitation force on the levitation module. ;

[0039] S44, levitation force Divide by the mass of the suspension module And perform two scoring operations. Then, the actual suspension height is obtained. This forms a closed-loop control; among which, To express differentiation, Represents integral;

[0040] S45, repeat S41 to S44 until the floating module reaches the preset height.

[0041] The beneficial effects of this invention are:

[0042] 1. This invention discloses an electric levitation test device and builds a novel permanent magnet electric levitation test platform. This invention uses only permanent magnets as the excitation source, and the levitation structure is simple. Active damping control is achieved by adjusting the deflection angle of the permanent magnets, and at the same time, permanent magnet electric levitation with adjustable levitation height and stable and controllable levitation is achieved.

[0043] 2. The electric levitation test device of this invention uses a linear drive module to drive the permanent magnet to rotate. Through the design of the linear drive module and connecting parts, the lever arm between the point of application of the thrust and the axis of rotation of the permanent magnet (i.e., the central axis of the bearing between the permanent magnet and the connecting frame) is increased, so that a larger torque can be provided with a smaller thrust. It is more labor-saving, energy-saving and environmentally friendly. Attached Figure Description

[0044] Figure 1 This is a three-dimensional structural schematic diagram of the electric suspension test device in this invention;

[0045] Figure 2 for Figure 1 A magnified view of part A;

[0046] Figure 3 for Figure 2 A magnified view of part B in the middle section;

[0047] Figure 4 for Figure 2 A magnified view of part C in the middle;

[0048] Figure 5 This is a side view of the electric suspension test device in this invention;

[0049] Figure 6 This is an enlarged schematic diagram of the rear structure of the suspension module in this invention;

[0050] Figure 7 This is an enlarged schematic diagram of the front structure of the suspension module in this invention;

[0051] Figure 8 This is a linear relationship diagram between levitation force and permanent magnet deflection angle in an embodiment of the present invention;

[0052] Figure 9This is the suspension height change curve in this embodiment of the invention without active damping control;

[0053] Figure 10 This is the suspension height change curve when active damping control is added in an embodiment of the present invention;

[0054] Figure 11 This is a flowchart of the suspension control method in this invention.

[0055] Explanation of reference numerals in the attached figures:

[0056] 1. Rotating bracket; 11. Support frame; 12. Turntable; 13. Rotation drive component; 14. Connecting support;

[0057] 2. Conductor plate;

[0058] 3. Suspension device; 31. Connecting rope; 32. Suspension module; 321. Connecting frame; 322. Linear drive module; 323. Permanent magnet; 324. Connector;

[0059] 4. Limiting module; 41. First connecting plate; 42. Second connecting plate; 43. Ball joint connecting rod assembly; 431. Ball joint connecting block; 432. Double ball joint connecting rod. Detailed Implementation

[0060] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0061] It should be noted that when a component is referred to as "fixed" or "set" on another component, it can be directly on or indirectly on the other component. When a component is referred to as "connected" to another component, it can be directly connected to or indirectly connected to the other component.

[0062] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0064] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0065] Reference Figures 1 to 7 This application provides an electric levitation test device that achieves stable levitation through attitude adjustment, comprising:

[0066] Rotating bracket 1 is a component configured to drive the turntable 12 thereon to rotate independently;

[0067] Multiple conductor plates 2 are bonded to the surface of the turntable 12 in such a way that they form at least one annular distribution area around the rotation axis of the turntable 12;

[0068] The levitation device 3 includes a connecting rope 31 and a levitation module 32 connected to the upper rotating bracket 1 via the connecting rope 31. The levitation module 32 includes a connecting frame 321, a linear drive module 322 mounted on the connecting frame 321, and a permanent magnet 323 rotatably connected to the connecting frame 321. The permanent magnet 323 is configured to slide in connection with the drive part of the linear drive module 322 on one side, and the permanent magnet 323 faces the conductor plate 2.

[0069] Limiting module 4 is configured to restrict the degrees of freedom of suspension module 32 so that suspension module 32 can only move vertically.

[0070] This invention only considers the component of electromagnetic force acting along the direction of gravity, i.e., the levitation force. Through theoretical calculation and experimental verification, it was found that the magnitude of the levitation force on the permanent magnet 323 is related to the deflection angle of the permanent magnet 323. Therefore, the electric levitation test device in this invention controls the levitation force on the permanent magnet 323 by controlling the deflection angle of the permanent magnet 323, thereby making the levitation module 32 levitate stably.

[0071] The electric levitation test device proposed in this invention relies on the force between the permanent magnet 323 and the conductor plate 2 to levitate the levitation module 32. When the turntable 12 rotates, relative motion occurs between the conductor plate 2 and the permanent magnet 323. Due to the large diameter of the turntable 12, the rotation between the conductor plate 2 and the permanent magnet 323 can be approximated as linear motion, that is, the motion of the levitation module 32 can be approximated as vertical linear motion. The levitation force on the permanent magnet 323 is related to the deflection angle of the permanent magnet 323. By controlling the position of the drive unit of the linear motor and adjusting the deflection angle of the permanent magnet 323, the levitation force on the levitation module 32 can be controlled, thereby achieving stable levitation of the levitation module 32.

[0072] The curve showing the change of levitation force on levitation module 32 with the deflection angle of permanent magnet 323 is as follows: Figure 8 As shown, when the deflection angle of the permanent magnet 323 is 0, the levitation force is 0. As the deflection angle of the permanent magnet 323 increases, the levitation force first increases and then decreases. By selecting a suitable linear motor stroke, the deflection angle of the permanent magnet 323 can be limited to a region positively correlated with the levitation force. Within this region, as the deflection angle of the permanent magnet 323 gradually increases, when the levitation force on the levitation module 32 exceeds its own weight, a levitation effect can be achieved. Furthermore, the magnitude of the levitation force can be controlled by adjusting the deflection angle of the permanent magnet 323 in real time to counteract levitation fluctuations caused by negative damping and external disturbances, thus achieving stable and controllable levitation of the levitation module 32.

[0073] In some embodiments, the conductor plate 2 is made of a conductive but non-magnetic material, such as copper, aluminum alloy, or stainless steel.

[0074] In some embodiments, refer to Figure 1 and Figure 5 The rotating bracket 1 includes:

[0075] The support frame 11 has at least one location with a rotation space, and a support portion is formed within the rotation space; the turntable 12 is rotatably connected to the support portion;

[0076] The rotary drive 13 is configured to drive the turntable 12 to rotate along the support.

[0077] In some embodiments, refer to Figure 1 and Figure 5 The rotating bracket 1 also includes a connecting support 14, which is fixedly installed at the bottom of the support frame 11 to support the support frame 11.

[0078] In some embodiments, refer to Figure 7 The rotary drive component 13 is a rotary motor, and the output shaft of the rotary motor is connected to the turntable 12 for transmission.

[0079] In some embodiments, refer to Figure 1 The conductor plate 2 is arc-shaped, and multiple conductor plates 2 are connected end to end to form a ring distributed on the turntable 12.

[0080] In some embodiments, refer to Figure 6 and Figure 7 The levitation module 32 also includes a connector 324;

[0081] The connector 324 is fixed on the drive part of the linear drive module 322. A protrusion is formed on the connector 324, and the protrusion is slidably connected to the groove or hole on the permanent magnet 323.

[0082] In some embodiments, the linear drive module 322 is a linear motor, which is vertically mounted on the connecting frame 321.

[0083] To achieve rapid rotation of the permanent magnet 323, this invention employs a linear motor. Conversely, using a rotary motor would require a larger torque, increasing the size and weight of the electric levitation test device. Therefore, this invention connects one end of the permanent magnet 323 to a linear motor via a connector 324, using linear motion to drive the permanent magnet 323 to rotate, achieving a large torque with a relatively small thrust. When the drive unit of the linear motor moves up and down, it can drive one end of the permanent magnet 323 to move up and down via the connector 324, causing the permanent magnet 323 to rotate around the bearing on the connecting frame 321. By controlling the position of the linear motor drive unit, the rotation of the permanent magnet 323 to different angles can be controlled.

[0084] The electric levitation test device of this invention uses a linear drive module 322 to drive the permanent magnet 323 to rotate. Through the design of the linear drive module 322 and the connecting piece 324, the lever arm between the point of application of the thrust and the rotation axis of the permanent magnet 323 is increased, so that a larger torque can be provided with a smaller thrust. It is more labor-saving, energy-saving and environmentally friendly.

[0085] In some embodiments, refer to Figures 1 to 4 The limiting module 4 is used to restrict the levitation module 32 to move only vertically, and secondly to constrain its posture, ensuring that the surface of the permanent magnet 323 is parallel to the surface of the conductor plate 2; the limiting module 4 includes:

[0086] The first connecting plate 41 is fixedly installed on the support frame 11 on the left or right side;

[0087] The second connecting plate 42 is fixedly installed on the support frame 11 on the front or rear side;

[0088] Five ball joint assemblies 43 are provided. Two ball joint assemblies 43 are vertically and parallelly connected between the first connecting plate 41 and the connecting frame 321. Two other ball joint assemblies 43 are vertically and parallelly connected between the second connecting plate 42 and the connecting frame 321. The last ball joint assembly 43 is obliquely connected to the two ball joint assemblies 43 on the second connecting plate 42 between the second connecting plate 42 and the connecting frame 321. Each ball joint assembly 43 includes two ball joint connecting blocks 431 and one double ball joint connecting rod 432. One end of each of the two ball joint connecting blocks 431 is threaded to the first connecting plate 41 or the second connecting plate 42, and the other end of each of the two ball joint connecting blocks 431 has a spherical connecting groove. Both ends of the double ball joint connecting rod 432 are spherical. The two ends of the double ball joint connecting rod 432 are respectively spherically connected to the spherical connecting grooves of the two ball joint connecting blocks 431.

[0089] The suspension module 32 has its movement restricted by five ball-joint linkage assemblies 43, which can be viewed as parallelogram linkage mechanisms from both front and side views. It can be seen that the actual vertical motion curve of the suspension module 32 is an arc. Due to the large radius of the arc of the turntable 12, the range of motion of the suspension module 32 is small, and the suspension module 32 can be approximated as linear motion in the vertical direction.

[0090] By adjusting the lengths of the five ball-head linkage assemblies 43, the surface of the permanent magnet is made parallel to the surface of the conductor plate. Simultaneously, the distance between the surface of the permanent magnet 323 and the surface of the conductor plate 2 can be adjusted by also adjusting the lengths of the five ball-head linkage assemblies 43; the closer the distance, the greater the levitation force. When the rotational speed of the turntable 12 remains constant, within a certain angular range, the larger the angle of deflection of the permanent magnet 323 (the angle between the permanent magnet 323 and the horizontal plane), the greater the levitation force experienced by the permanent magnet 323. When the levitation force experienced by the permanent magnet 323 exceeds the weight of the entire levitation module 32, the entire levitation module 32 can be levitated.

[0091] The invention achieves active damping control through five ball joint assemblies 43 (i.e., limit modules 4). To verify the effectiveness of the five ball joint assemblies 43 in this invention, a comparative experiment is introduced to compare the effects of not adding active damping control (corresponding to not installing the five ball joint assemblies 43) and adding active damping control (corresponding to installing the five ball joint assemblies 43), as follows:

[0092] Without active damping control:

[0093] Using the electric suspension test device proposed in this invention, without the addition of active damping control, the simulation results and experimental results of the suspension height change curve of the suspension module 32 are as follows: Figure 9As shown, without active damping control, the damping of the suspension module 32 is close to 0 in the suspension direction, and the suspension height exhibits a trend of constant amplitude oscillation, making stable suspension impossible.

[0094] With active damping control added:

[0095] After introducing the active damping control proposed in this invention, the simulation results and experimental results of the suspension height change curve of the suspension module 32 are as follows: Figure 10 As shown in the figure, it can be seen that after adding active damping control, the suspension module 32 can achieve stable suspension.

[0096] Similarly, if the limiting module 4 is replaced with another structure, such as a vertical sliding module, the suspension module 32 will also experience a large electromagnetic force from the conductor plate 2 in the horizontal direction. Multiplied by the coefficient of friction, this will generate friction in the vertical direction, which will affect the system's damping characteristics. For example, in an extreme case, if the friction is large enough, the suspension module 32 can achieve stable suspension through friction even without active damping control. However, using the five ball joint linkage assemblies 43 in this invention, due to the long lever arm, the resistance of the ball joint linkage assemblies 43 acts in the vertical direction, having a very small impact on the force of the electric suspension test device in the vertical direction. The electric suspension test device is inherently underdamped or negatively damped in the vertical direction, with a small damping ratio. If external damping is introduced due to the design of the electric suspension test device, it may change the system's damping characteristics. Therefore, this electric suspension test device, constructed using the ball joint linkage assemblies 43 for fixing, can more accurately study the suspension characteristics of the electric suspension system.

[0097] This invention proposes a novel electric suspension test device. By introducing active damping control, it solves the problem of underdamping or even negative damping in the suspension direction of traditional electric suspension systems, enabling the suspension module 32 to achieve stable suspension and controllable suspension height.

[0098] Reference Figure 11 In another aspect, the present invention provides a suspension control method for an electric suspension test device, comprising the following steps:

[0099] S1. Drive the electric suspension test device to move multiple times to obtain multiple sets of experimental data;

[0100] S2. Construct a PID (proportional-integral-derivative control) model for the deflection angle based on multiple sets of experimental data;

[0101] S3. Then, based on the deflection angle PID control model, construct the suspension height PID control strategy;

[0102] S4. Control the suspension module 32 in real time according to the suspension height PID control strategy so that the suspension module 32 reaches the preset height.

[0103] The levitation control method employed in this invention has advantages such as simplicity, wide applicability, and suitability for practical engineering applications. This method can control the deflection angle of the permanent magnet 323 to achieve stable levitation of the levitation module 32.

[0104] In some embodiments, S1 specifically includes the following steps:

[0105] S11, The linear drive module 322 moves in a straight line and drives the permanent magnet 323 to swing within a set deflection angle (e.g., 0~17 degrees);

[0106] S12. Start the rotation drive component 13 on the rotating bracket 1, and use the rotation drive component 13 to drive the turntable 12 and multiple conductor plates 2 to rotate synchronously.

[0107] S13 and permanent magnet 323 generate a changing magnetic field in conductor plate 2. The changing magnetic field generates an induced electric field. Since conductor plate 2 is a conductive material, the induced electric field will generate an induced current in conductor plate 2.

[0108] S14. The induced current will generate an induced magnetic field. The induced magnetic field generated in the conductor plate 2 interacts with the source magnetic field of the permanent magnet 323 to generate an electromagnetic force. The electromagnetic force can be decomposed into two components in the horizontal direction and a component in the vertical direction. The component in the vertical direction is the levitation force on the levitation module 32.

[0109] S15. Under the constraint of the limiting module 4, the electromagnetic force on the suspension module 32 is restricted by the limiting module 4, and the two components of the electromagnetic force in the horizontal direction are restricted by the limiting module 4, generating a levitation force on the suspension module 32.

[0110] S16. The suspension module 32 is suspended under the action of the suspension force, and the actual suspension height of the permanent magnet 323 on the suspension module 32 is measured.

[0111] S17. Record experimental data including the deflection angle, electromagnetic force, and actual levitation height of the permanent magnet 323 on the levitation module 32.

[0112] S18, repeat S11 to S17, to obtain multiple sets of experimental data.

[0113] In some embodiments, the deflection angle PID control model is specifically as follows:

[0114] ;

[0115] in, This indicates the deflection angle of permanent magnet 323; This represents the control error, which is equal to the desired suspension height. Compared with actual suspension height The difference; t represents time; , , These are the gain coefficients for the proportional, integral, and differential terms, respectively.

[0116] In some embodiments, S4 specifically includes the following steps:

[0117] S41, Determine the desired suspension height The actual suspension height as reported After subtraction, the control error is obtained. ;

[0118] S42, Control error The input is fed into the PID control model for the deflection angle, and the output is the desired deflection angle of the permanent magnet 323. ;

[0119] S43, the linear drive module 322 drives the permanent magnet 323 until the permanent magnet 323 reaches the desired deflection angle. During rotation, the permanent magnet 323 generates a levitation force on the levitation module 32. ;

[0120] S44, levitation force Divide by the mass of the suspension module 32 And perform two scoring operations. Then, the actual suspension height is obtained. This forms a closed-loop control; among which, To express differentiation, Represents integral;

[0121] S45, cycle through S41 to S44 until the levitation module 32 reaches the preset height.

[0122] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An electrically suspended test device for achieving stable suspension by attitude adjustment, characterized in that, The utility model relates to a rotary support (1) is configured to drive the rotation of the rotating disc (12) on it independently, a plurality of conductor plates (2) are bonded on the surface of the rotating disc (12) in the form of at least one annular distribution area around the rotation axis of the rotating disc (12), a suspension device (3) comprises a connecting rope (31), a suspension module (32) connected to the rotary support (1) above through the connecting rope (31), the suspension module (32) comprises a connecting frame (321), a linear drive module (322) installed on the connecting frame (321) and a permanent magnet (323) rotationally connected to the connecting frame (321), the permanent magnet (323) is configured to be slidably connected to the driving part of the linear drive module (322) on one side, and the permanent magnet (323) faces the conductor plate (2), a limiting module (4) is configured to limit the degrees of freedom of the suspension module (32) so that the suspension module (32) can only move vertically. The rotary support (1) comprises a support frame (11) provided with a rotary space at least in one position, a support part is formed in the rotary space, and the rotating disc (12) is rotationally connected to the support part. The rotary drive part (13) is configured to drive the rotating disc (12) to rotate along the support part. The limiting module (4) comprises a first connecting plate (41) fixedly installed on the left or right support frame (11), a second connecting plate (42) fixedly installed on the front or rear support frame (11), five ball head linkage assemblies (43), two of which are vertically spaced apart in parallel between the first connecting plate (41) and the connecting frame (321), another two of which are vertically spaced apart in parallel between the second connecting plate (42) and the connecting frame (321), and the last one is connected between the second connecting plate (42) and the connecting frame (321) in an inclined manner with the other two ball head linkage assemblies (43) on the second connecting plate (42), each ball head linkage assembly (43) comprises two ball head connecting blocks (431) and a double ball head connecting rod (432), one end of each ball head connecting block (431) is threadedly connected to the first connecting plate (41) or the second connecting plate (42), and the other end is provided with a spherical connecting groove, and the two ends of the double ball head connecting rod (432) are in the form of a ball head, and the two ends of the double ball head connecting rod (432) are respectively connected to the spherical connecting grooves of the two ball head connecting blocks (431). The rotary drive part (13) is a rotary motor, and the output shaft of the rotary motor is in transmission connection with the rotating disc (12). The conductor plates (2) are in the form of an arc, and the plurality of conductor plates (2) are connected end to end to form an annulus distributed on the rotating disc (12). The suspension module (32) further comprises a connecting piece (324). The connecting piece (324) is fixed on the driving part of the linear drive module (322), the connecting piece (324) is provided with a protrusion, and the protrusion is slidably connected to the sliding groove or sliding hole on the permanent magnet (323). ​ ​ ​ ​ 2. The electrically suspended test device for achieving stable suspension by attitude adjustment according to claim 1, characterized in that, ​ 3. The electrically suspended test device for achieving stable suspension by attitude adjustment according to claim 1, characterized in that, ​ 4. The electrically suspended test device for achieving stable suspension by attitude adjustment according to claim 1, characterized by, ​ ​ 5. The electrically suspended test device for achieving stable suspension by attitude adjustment according to claim 1, characterized by, The linear driving module (322) selects a linear motor, and the linear motor is vertically installed on the connecting frame (321).

6. A method of levitation control of the electrodynamic levitation test device according to any one of claims 1 to 5, characterized by, The method comprises the following steps: S1, driving the electric suspension test device to move multiple times to obtain multiple sets of experimental data; S2, constructing a deflection angle PID control model according to the multiple sets of experimental data; S3, then constructing a suspension height PID control strategy according to the deflection angle PID control model; S4, controlling the suspension module (32) in real time according to the suspension height PID control strategy, so that the suspension module (32) reaches a preset height.

7. The levitation control method of the electrodynamic levitation test device according to claim 6, wherein The S1 specifically comprises the following steps: S11, the linear driving module (322) moves along a straight line and drives the permanent magnet (323) to swing within a set deflection angle range; S12, starting the rotary driving member (13) on the rotating support (1) to drive the rotating disc (12) and the multiple conductor plates (2) to rotate synchronously by using the rotary driving member (13); S13, the permanent magnet (323) generates a changing magnetic field in the conductor plate (2), and the changing magnetic field generates an induced electric field, and since the conductor plate (2) is made of conductive material, the induced electric field generates an induced current in the conductor plate (2); S14, the induced current generates an induced magnetic field, and the induced magnetic field generated in the conductor plate (2) interacts with the source magnetic field of the permanent magnet (323) to generate an electromagnetic force; S15, the electromagnetic force acting on the suspension module (32) is constrained by the limiting module (4), and the electromagnetic force generates a suspension force on the suspension module (32); S16, the suspension module (32) is suspended under the action of the suspension force, and the actual suspension height of the permanent magnet (323) on the suspension module (32) is measured; S17, recording experimental data including the deflection angle of the permanent magnet (323) on the suspension module (32), the electromagnetic force, and the actual suspension height; S18, repeating S11 to S17 to obtain multiple sets of experimental data.

8. The levitation control method of the electrodynamic levitation test device according to claim 6, wherein The deflection angle PID control model specifically comprises the following steps: ； wherein represents a deflection angle of the permanent magnet (323); represents a control error, the control error being equal to a difference between a desired levitation height and an actual levitation height ; t represents time; , , are gain coefficients of a proportional term, an integral term, and a differential term, respectively.

9. The levitation control method of the electrodynamic levitation test device according to claim 7 or 8, characterized by, The S4 specifically comprises the following steps: S41, the desired suspension height from the actual suspension height subtraction, the control error ; S42, the control error is input into a yaw angle PID control model, and an expected yaw angle of the permanent magnet (323) is output ; S43, the linear driving module (322) drives the permanent magnet (323) until the permanent magnet (323) reaches a desired deflection angle , the permanent magnet (323) generates a suspension force on the suspension module (32) during rotation ; S44, the suspension force divided by the mass of the suspension module (32) and integrated twice to obtain the actual suspension height , thus forming a closed loop control; wherein, s denotes the derivation, 1 / s represents the integration; S45, repeating S41 to S44 until the suspension module (32) reaches a preset height.

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