基于位置域频率和相位辨识的永磁直线电机推力波动抑制技术研究
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摘要
推力波动是永磁直线电机固有的内部扰动,严重影响直线电机的动态精度。基于推力波动特性辨识结果设计前馈控制器是实现推力波动抑制的重要手段。首先分析了推力波动特性,基于位置域频率和初相位信息建立了推力波动数学模型。电机在不同速度下运行时基于遗传算法辨识方法分别确定实验直线电机的推力波动模型参数,并设计前馈控制器,实现直线电机的推力波动抑制。仿真和实验结果表明,推力波动模型准确描述了被测电机的推力特性,基于模型辨识结果设计的前馈控制器有效地降低了推力波动引起的系统速度波动。
The thrust fluctuation which affects the dynamic precision of the linear motor seriously is inherent and internal disturbance in permanent magnet synchronous linear motor. The feedforward controller designed according to the results of thrust fluctuation characteristic identification is an important means to realize the force ripple suppression. This paper firstly analyze the characteristics of the force ripple and build the mathematic model of the trust fluxtuaion based on the position frequency and initial phase information. Model parameters are identified through genetic algorithm method,The feedforward controller is designed to achieve the suppression of the force ripple. Simulation and experimental results showthat the force ripple model accurately describes the characteristics of the tested linear motor. And the designed feedforward controller based on model identification results effectively reduce the velocity fluctuation.
The thrust fluctuation which affects the dynamic precision of the linear motor seriously is inherent and internal disturbance in permanent magnet synchronous linear motor. The feedforward controller designed according to the results of thrust fluctuation characteristic identification is an important means to realize the force ripple suppression. This paper firstly analyze the characteristics of the force ripple and build the mathematic model of the trust fluxtuaion based on the position frequency and initial phase information. Model parameters are identified through genetic algorithm method,The feedforward controller is designed to achieve the suppression of the force ripple. Simulation and experimental results showthat the force ripple model accurately describes the characteristics of the tested linear motor. And the designed feedforward controller based on model identification results effectively reduce the velocity fluctuation.
引文
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[3]夏加宽,沈丽,彭兵,等.齿槽效应对永磁直线伺服电机法向力波动的影响[J].中国电机工程学报,2015,35(11):2847-2853.
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[5]王光辉,陈杰,蔡涛,等.多目标分解随机粒子群优化算法及其在直线电机优化设计中的应用[J].控制理论与应用,2013,30(6):693-701.
[6]Gebregergis A,Chowdhury M H,Islam M S,et al.Modeling of Permanent-Magnet Synchronous Machine Including Torque Ripple Effects[J].IEEE Transactions on Industry Applications,2015,51(1):232-239.
[7]Zhao S,Tan K K.Adaptive feedforward compensation of force ripples in linear motors[J].Control Engineering Practice,2005,13(9):1081-1092.
[8]王福忠,张利敏.基于迭代算法的PMLSM推力波动抑制策略[J].计算机仿真,2014,31(5):276-278.
[9]Kalaivani L,Subburaj P,Iruthayarajan M W.Speed control of switched reluctance motor with torque ripple reduction using non-dominated sorting genetic algorithm(NSGA-II)[J].International Journal of Electrical Power&Energy Systems,2013,53:69-77.
[10]甄文喜,戴跃洪,唐传胜,等.永磁同步直线电机伺服系统负载扰动建模与抑制[J].组合机床与自动化加工技术,2013(2):7-10.
[11]林家春,李伟,赵彤,等.永磁直线同步电动机推力波动抑制策略[J].控制理论与应用,2007,24(3):449-452.
[2]Kim I,Nakazawa N,Kim S,et al.Compensation of torque ripple in high performance BLDC motor drives[J].Control Engineering Practice,2010,18(10):1166-1172.
[3]夏加宽,沈丽,彭兵,等.齿槽效应对永磁直线伺服电机法向力波动的影响[J].中国电机工程学报,2015,35(11):2847-2853.
[4]Liu C T,Hwang C C,Li P L,et al.Design Optimization of a Double-Sided Hybrid Excited Linear Flux Switching PM Motor With Low Force Ripple[J].IEEE Transactions on Magnetics,2014,50(11):1-4.
[5]王光辉,陈杰,蔡涛,等.多目标分解随机粒子群优化算法及其在直线电机优化设计中的应用[J].控制理论与应用,2013,30(6):693-701.
[6]Gebregergis A,Chowdhury M H,Islam M S,et al.Modeling of Permanent-Magnet Synchronous Machine Including Torque Ripple Effects[J].IEEE Transactions on Industry Applications,2015,51(1):232-239.
[7]Zhao S,Tan K K.Adaptive feedforward compensation of force ripples in linear motors[J].Control Engineering Practice,2005,13(9):1081-1092.
[8]王福忠,张利敏.基于迭代算法的PMLSM推力波动抑制策略[J].计算机仿真,2014,31(5):276-278.
[9]Kalaivani L,Subburaj P,Iruthayarajan M W.Speed control of switched reluctance motor with torque ripple reduction using non-dominated sorting genetic algorithm(NSGA-II)[J].International Journal of Electrical Power&Energy Systems,2013,53:69-77.
[10]甄文喜,戴跃洪,唐传胜,等.永磁同步直线电机伺服系统负载扰动建模与抑制[J].组合机床与自动化加工技术,2013(2):7-10.
[11]林家春,李伟,赵彤,等.永磁直线同步电动机推力波动抑制策略[J].控制理论与应用,2007,24(3):449-452.