面向电磁弹射器的永磁直线同步电机驱动系统研究
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摘要
随着现代海洋军事的不断发展,迫切要求航空母舰的作战能力越来越强,从而对驱动舰载机弹射起飞的航母弹射器提出了极高的要求。然而,现役的蒸汽弹射装置已难以满足对大质量舰载机的弹射。电磁弹射装置相对于蒸汽弹射装置具有质量小,体积小,效率高,维修费用低,控制精度高等特点,成为最近几年各国研究的热点。我国在电磁弹射领域的研究刚刚起步,随着我国军事力量的发展,航空母舰是我国海军必须配备的武器之一。因此,研究电磁弹射技术对于提高我国军事力量,打造尖端武器,打破国外技术封锁,缩短我国与军事强国的差距,促进国防事业的发展,维护世界和平都具有重大的意义。
本文密切结合航母弹射器的推力大,力波动小,运行速度高等性能要求,基于自律分散体系结构,设计了电磁弹射驱动系统方案,并对其驱动系统结构、位置检测、控制技术以及容错性能等方面进行了深入研究。在此基础上,搭建了自行研制的交流永磁直线同步电机、交流伺服低压控制器和直线位移传感器组成的电磁弹射驱动系统样机平台,并通过实验证明了本文针对电磁弹射性能要求所提出方法的有效性和准确性。
根据电磁弹射的技术要求,分析了影响电磁弹射驱动系统效率的因素,提出在低速段采用齿槽永磁直线同步电机而在高速段采用无齿槽永磁直线同步电机驱动的方法,提高了弹射过程中的系统效率。并基于模块化设计思想,设计了在三维空间采用定子模块组装的永磁直线同步电机驱动系统结构,从而提高了永磁直线同步电机的工艺性和模块故障的处理能力。为了降低驱动系统对供电电源的要求和提高控制的稳定性,提出了采用小功率模块电机组合代替大功率电机驱动的设计思想。采用有限元设计方法对永磁直线同步电机进行了深入研究,分析了极距对永磁直线同步电机功率密度的影响及结构参数对齿槽和无齿槽电机推力及推力波动的影响,为电磁弹射用永磁直线同步电机的设计提供了理论依据。
为实现对驱动系统的高速伺服控制,在位置检测单元中,基于霍尔效应原理,采用三相六元件的信号拾取方法,并通过差分处理消除了机械装配偏差和零点漂移带来的信号误差。同时,基于查表方式的信号处理算法,采用了查表列和编码列两排磁钢的排列方法,设计了磁栅直线位移传感器。通过实验表明,该传感器可以达到较高的分辨率,为实现绝对位移的精确测量和电机的高速控制奠定了基础。
针对传统集中式控制存在的缺点,提出自律分散控制方法,构建了自律分散系统的控制结构。推导了基于自律分散控制的永磁直线同步电机矢量控制电磁模型和电磁推力模型,为其实现提供了理论依据。在自律分散控制结构下的永磁直线同步电机控制中,为了提高电流响应特性,电流环采用引入反电动势补偿的方法,并通过仿真验证了该方法的有效性。同时,为提高速度检测精度并解决速度反馈延时导致的滞后问题,机械环采用引入状态观测器的方法,以获取实时的位置和速度反馈,提高永磁直线同步电机的速度响应频率和位置控制精度。
为提高电磁弹射驱动系统的冗余度,以8极12槽集中绕组永磁直线同步电机为主要研究对象,推导了定子模块单相、单模块、二模块和三相交叉模块故障时总磁动势计算数学模型。在此基础上,为了保持在故障时与非故障时总磁动势不变,建立不同故障时总磁动势不变的电流补偿数学模型,实现了磁动势补偿,从而保证电机在故障前后的瞬时推力不变,进而提高电磁弹射驱动系统的可靠性及故障处理能力。
研制了低速段齿槽和高速段无齿槽原理样机实验系统,并通过对原理样机的性能进行测试,证明了低速段采用齿槽永磁直线同步电机高速段采用无齿槽永磁直线同步电机对提高整个系统的效率的有效性,同时验证了电磁弹射驱动系统不同模块故障时电流补偿模型的正确性。本文的研究工作为电磁弹射技术应用于航母弹射器,实现高精度、高能量的弹射奠定了基础。
With the development of modern-ocean military, the carrier fighting capability of the aircraft was urgently required to be stronger and stronger. It proposed an extremely high requirement for the aircraft carrier launching device which was used in driving the carrier-based aircraft taking off, so the present steam launching device is difficult to meet the huge mass launching condition. Compared to steam launching device, the electromagnetic launching device has become the researching focus benefiting for its little mass, small volume, high efficiency, low maintain cost and high control precision character. But, at present, the research on electromagnetic launching device is a new area in our country. By the domestic military power developing, the aircraft carrier is necessary equipment for our country, so the carrying research on electromagnetic launching has great significance for enhancing our country military force, manufacturing top weapon, breaking the foreign technology blockade, shorten the distance between our country and military powerful country, boost the national defense career and safeguarding the word peace.
The dissertation inosculate the aircraft carrier launching device requirement that large thrust, low torque fluctuation and high speed performance, designed the electromagnetic launching system driving scheme, which based on autonomous decentralized architecture. And take further researching on its driving system structure, position detection, control scheme and fault tolerance. On this basis, the prototype test platform for electromagnetic launching driving system was built independently, which is composed of AC permanent magnet linear synchronous motor (PMLSM), lower volt AC servo controller and linear displacement sensor. And, the validity and accuracy of this method for electromagnetic launching performance requirement which was proposed in the dissertation were verified through the experimental results.
According to the electromagnetic launching technology requirement, the factors which influence the efficiency of electromagnetic launching driving system were analyzed, and the method that adopts cogging PMLSM in low speed interval and adopts slotless PMLSM in high speed interval to enhancing the system efficiency in launching process was proposed. In order to enhance the manufacturability and the modular error repair ability, the AC permanent magnet linear synchronous motor driving system structure which is composed by stator modular was proposed. As to release the driving system power supply requirement and enhance the control stability, the method that using little power motor modular combination to instead huge power motor was proposed. The finite element method to deeply research on AC permanent magnetic linear synchronous motor was adopted. And the polar distance influence on motor power density and the structure parameter influence on thrust and thrust fluctuation in cogging motor and slotless motor were analyzed to provide a reference principle for design on the AC permanent magnet linear synchronous motor that used in electromagnetic launching.
In order to realize high speed servo control for driving system, in position detection unit, three phase and six component signal pick-up method basing on hall effect were adopted, and the signal error that induced by assembling deviation and zero-drift was eliminated by difference processing method. At the same time, based on the lookup signal processing algorithm, the two column magnetic steel arrangement which contains the lookup column and encoding column were adopted. The linear magnetic grid displacement sensor was designed. The experimental results show that the sensor could get a high resolution, and it establish the foundation for realizing absolutely displacement high precision detection and high speed motor control.
According to the defect exist in traditional integrate control, decentralized autonomous control method was proposed, and the autonomous decentralized system control structure was constructed. The vector control electro-magnet model and electro-magnet thrust model for permanent magnet synchronous motor were derivated, and a theoretical basis for its implementation was provided. In the permanent synchronous control under decentralized autonomous structure, in order to enhance the current responding character, the back EMF compensation method was adopted, and its validity by the simulation was verified. At the same time, in order to enhance the velocity detection precision and solving the delay question result by velocity feed back, the state observer in the mechanical loop to obtain the real-time position and velocity feed back, were introduced, as to enhance the velocity responding frequency and the position control precision of the permanent magnet synchronous linear motor.
In order to enhance the redundancy of the electromagnetic launching drive system, 8 polar 12 slot integrate winding permanent magnet synchronous linear motor was taken as the main research object. The total magneto motive mathematical model was derivated when single phase stator modulars failure, as well as single modular, double modulars, and three phase intercross modulars failure situation. On this basis, in order to maintain the total magneto motive unchanged, the current mathematical compensation model in different situation was derivated, the magneto motive compensation was realized, and instantaneous thrust the same with the normal situation was ensured, which even more enhance the reliability and the error dealing ability.
The cogging principle prototype in low speed interval and slotless principle prototype in high speed interval for experiment system was developed, and test on its performance was taken. The experimental results proved the validity of adopting cogging PMLSM in low speed interval and slotless PMLSM in high speed interval could enhance the system efficiency, it also testified the correctness of the current compensation models when different modulars failure. These researches in the dissertation established the application foundation that using electromagnetic launching technology in aircraft carrier launching device could realize high precision, high power launching.
本文密切结合航母弹射器的推力大,力波动小,运行速度高等性能要求,基于自律分散体系结构,设计了电磁弹射驱动系统方案,并对其驱动系统结构、位置检测、控制技术以及容错性能等方面进行了深入研究。在此基础上,搭建了自行研制的交流永磁直线同步电机、交流伺服低压控制器和直线位移传感器组成的电磁弹射驱动系统样机平台,并通过实验证明了本文针对电磁弹射性能要求所提出方法的有效性和准确性。
根据电磁弹射的技术要求,分析了影响电磁弹射驱动系统效率的因素,提出在低速段采用齿槽永磁直线同步电机而在高速段采用无齿槽永磁直线同步电机驱动的方法,提高了弹射过程中的系统效率。并基于模块化设计思想,设计了在三维空间采用定子模块组装的永磁直线同步电机驱动系统结构,从而提高了永磁直线同步电机的工艺性和模块故障的处理能力。为了降低驱动系统对供电电源的要求和提高控制的稳定性,提出了采用小功率模块电机组合代替大功率电机驱动的设计思想。采用有限元设计方法对永磁直线同步电机进行了深入研究,分析了极距对永磁直线同步电机功率密度的影响及结构参数对齿槽和无齿槽电机推力及推力波动的影响,为电磁弹射用永磁直线同步电机的设计提供了理论依据。
为实现对驱动系统的高速伺服控制,在位置检测单元中,基于霍尔效应原理,采用三相六元件的信号拾取方法,并通过差分处理消除了机械装配偏差和零点漂移带来的信号误差。同时,基于查表方式的信号处理算法,采用了查表列和编码列两排磁钢的排列方法,设计了磁栅直线位移传感器。通过实验表明,该传感器可以达到较高的分辨率,为实现绝对位移的精确测量和电机的高速控制奠定了基础。
针对传统集中式控制存在的缺点,提出自律分散控制方法,构建了自律分散系统的控制结构。推导了基于自律分散控制的永磁直线同步电机矢量控制电磁模型和电磁推力模型,为其实现提供了理论依据。在自律分散控制结构下的永磁直线同步电机控制中,为了提高电流响应特性,电流环采用引入反电动势补偿的方法,并通过仿真验证了该方法的有效性。同时,为提高速度检测精度并解决速度反馈延时导致的滞后问题,机械环采用引入状态观测器的方法,以获取实时的位置和速度反馈,提高永磁直线同步电机的速度响应频率和位置控制精度。
为提高电磁弹射驱动系统的冗余度,以8极12槽集中绕组永磁直线同步电机为主要研究对象,推导了定子模块单相、单模块、二模块和三相交叉模块故障时总磁动势计算数学模型。在此基础上,为了保持在故障时与非故障时总磁动势不变,建立不同故障时总磁动势不变的电流补偿数学模型,实现了磁动势补偿,从而保证电机在故障前后的瞬时推力不变,进而提高电磁弹射驱动系统的可靠性及故障处理能力。
研制了低速段齿槽和高速段无齿槽原理样机实验系统,并通过对原理样机的性能进行测试,证明了低速段采用齿槽永磁直线同步电机高速段采用无齿槽永磁直线同步电机对提高整个系统的效率的有效性,同时验证了电磁弹射驱动系统不同模块故障时电流补偿模型的正确性。本文的研究工作为电磁弹射技术应用于航母弹射器,实现高精度、高能量的弹射奠定了基础。
With the development of modern-ocean military, the carrier fighting capability of the aircraft was urgently required to be stronger and stronger. It proposed an extremely high requirement for the aircraft carrier launching device which was used in driving the carrier-based aircraft taking off, so the present steam launching device is difficult to meet the huge mass launching condition. Compared to steam launching device, the electromagnetic launching device has become the researching focus benefiting for its little mass, small volume, high efficiency, low maintain cost and high control precision character. But, at present, the research on electromagnetic launching device is a new area in our country. By the domestic military power developing, the aircraft carrier is necessary equipment for our country, so the carrying research on electromagnetic launching has great significance for enhancing our country military force, manufacturing top weapon, breaking the foreign technology blockade, shorten the distance between our country and military powerful country, boost the national defense career and safeguarding the word peace.
The dissertation inosculate the aircraft carrier launching device requirement that large thrust, low torque fluctuation and high speed performance, designed the electromagnetic launching system driving scheme, which based on autonomous decentralized architecture. And take further researching on its driving system structure, position detection, control scheme and fault tolerance. On this basis, the prototype test platform for electromagnetic launching driving system was built independently, which is composed of AC permanent magnet linear synchronous motor (PMLSM), lower volt AC servo controller and linear displacement sensor. And, the validity and accuracy of this method for electromagnetic launching performance requirement which was proposed in the dissertation were verified through the experimental results.
According to the electromagnetic launching technology requirement, the factors which influence the efficiency of electromagnetic launching driving system were analyzed, and the method that adopts cogging PMLSM in low speed interval and adopts slotless PMLSM in high speed interval to enhancing the system efficiency in launching process was proposed. In order to enhance the manufacturability and the modular error repair ability, the AC permanent magnet linear synchronous motor driving system structure which is composed by stator modular was proposed. As to release the driving system power supply requirement and enhance the control stability, the method that using little power motor modular combination to instead huge power motor was proposed. The finite element method to deeply research on AC permanent magnetic linear synchronous motor was adopted. And the polar distance influence on motor power density and the structure parameter influence on thrust and thrust fluctuation in cogging motor and slotless motor were analyzed to provide a reference principle for design on the AC permanent magnet linear synchronous motor that used in electromagnetic launching.
In order to realize high speed servo control for driving system, in position detection unit, three phase and six component signal pick-up method basing on hall effect were adopted, and the signal error that induced by assembling deviation and zero-drift was eliminated by difference processing method. At the same time, based on the lookup signal processing algorithm, the two column magnetic steel arrangement which contains the lookup column and encoding column were adopted. The linear magnetic grid displacement sensor was designed. The experimental results show that the sensor could get a high resolution, and it establish the foundation for realizing absolutely displacement high precision detection and high speed motor control.
According to the defect exist in traditional integrate control, decentralized autonomous control method was proposed, and the autonomous decentralized system control structure was constructed. The vector control electro-magnet model and electro-magnet thrust model for permanent magnet synchronous motor were derivated, and a theoretical basis for its implementation was provided. In the permanent synchronous control under decentralized autonomous structure, in order to enhance the current responding character, the back EMF compensation method was adopted, and its validity by the simulation was verified. At the same time, in order to enhance the velocity detection precision and solving the delay question result by velocity feed back, the state observer in the mechanical loop to obtain the real-time position and velocity feed back, were introduced, as to enhance the velocity responding frequency and the position control precision of the permanent magnet synchronous linear motor.
In order to enhance the redundancy of the electromagnetic launching drive system, 8 polar 12 slot integrate winding permanent magnet synchronous linear motor was taken as the main research object. The total magneto motive mathematical model was derivated when single phase stator modulars failure, as well as single modular, double modulars, and three phase intercross modulars failure situation. On this basis, in order to maintain the total magneto motive unchanged, the current mathematical compensation model in different situation was derivated, the magneto motive compensation was realized, and instantaneous thrust the same with the normal situation was ensured, which even more enhance the reliability and the error dealing ability.
The cogging principle prototype in low speed interval and slotless principle prototype in high speed interval for experiment system was developed, and test on its performance was taken. The experimental results proved the validity of adopting cogging PMLSM in low speed interval and slotless PMLSM in high speed interval could enhance the system efficiency, it also testified the correctness of the current compensation models when different modulars failure. These researches in the dissertation established the application foundation that using electromagnetic launching technology in aircraft carrier launching device could realize high precision, high power launching.
引文
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