基于历史与磁检测信息的永磁同步平面电机定位方法（英文）
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摘要
通过检测永磁同步平面电机固有的空间磁场实现平面三自由度定位,能够简化运动位移传感器的结构布局,对电流相位的确定和运动控制的精度实现具有重要意义。然而,由于磁场空间分布的非线性,若直接采用常规的数学方法计算三自由度位移,会导致问题极其复杂且求解精度低。本文从信息融合的角度,运用电机运动的连续性与惯性,提出一种顺序求解算法,可实现平面三自由度位移的高精度、快速求解。该算法基于电机的历史位移和磁场检测信息,解决了原方法由于计算模型限制导致的收敛速度慢的问题。这种基于顺序求解的定位方法较原方法提高了位移分辨率和计算效率,为实现永磁同步平面电机的高精度运动控制铺平道路。
By utilizing the inherent magnetic field of spatial distribution in the permanent-magnet synchronous planar motor,a 3-degree-of-freedom(3-DOF)positioning can simplify the layout of the kinematic displacement sensors.It has great practical significance for determination of current phase and precision of motion control.However,the nonlinearity of the magnetic-field distribution results in the high complexity and low accuracy,if general mathematical methods are directly applied for calculating 3-DOF displacement based on detection of the magnetic field.In this paper,from the perspective of information fusion,by utilizing the continuity and inertia of motor motion,a fast solution with high resolution for planar 3-DOF positioning,named the successive solving algorithm(SSA),is advanced.Based on the historical output displacement information of the motor provided by magnetic sensors,the SSA resolves the problem of slow convergence in the prior work,which is caused by the restriction of the calculation model.The improvements on the position resolution as well as the computational efficiency pave the way for achieving high-precision motion control of this kind of motors.
By utilizing the inherent magnetic field of spatial distribution in the permanent-magnet synchronous planar motor,a 3-degree-of-freedom(3-DOF)positioning can simplify the layout of the kinematic displacement sensors.It has great practical significance for determination of current phase and precision of motion control.However,the nonlinearity of the magnetic-field distribution results in the high complexity and low accuracy,if general mathematical methods are directly applied for calculating 3-DOF displacement based on detection of the magnetic field.In this paper,from the perspective of information fusion,by utilizing the continuity and inertia of motor motion,a fast solution with high resolution for planar 3-DOF positioning,named the successive solving algorithm(SSA),is advanced.Based on the historical output displacement information of the motor provided by magnetic sensors,the SSA resolves the problem of slow convergence in the prior work,which is caused by the restriction of the calculation model.The improvements on the position resolution as well as the computational efficiency pave the way for achieving high-precision motion control of this kind of motors.
引文
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[18]高阵雨,胡金春,朱煜,等.基于UKF方法的永磁同步平面电动机位移测量[J].机械工程学报,2010,46(24):40-45.Gao Zhenyu,Hu Jinchun,Zhu Yu,et al.Permanentmagnet synchronous planar motor displacement measurement based on UKF method[J].Chinese Journal of Mechanical Engineering,2010,46(24):40-45.
[2]Jansen J W,van Lierop C M M,Lomonova E A,et al.Modeling of magnetically levitated planar actuators with moving magnets[J].IEEE Transactions on Magnetics,2007,43(1):15-25.
[3]宋玉晶,张鸣,朱煜,等.基于伪周期的Halbach永磁阵列三维磁场端部效应建模研究[J].电工技术学报,2015,30(12):162-170.Song Yujing,Zhang Ming,Zhu Yu,et al.Three dimensional magnetic field end-effect modeling for Halbach permanent magnet array based on pseudo periodic[J].Transactions of China Electrotechnical Society,2015,30(12):162-170.
[4]李鑫,朱煜,杨开明,等.基于电流分配系数自适应修正的平面电机解耦控制[J].电工技术学报,2014,29(11):53-60.Li Xin,Zhu Yu,Yang Kaiming,et al.Decoupled control for planar motor based on self-adaptive correction for current distribution coefficient[J].Transactions of China Electrotechnical Society,2014,29(11):53-60.
[5]Min Wei,Zhang Ming,Zhu Yu,et al.Analysis and design of novel overlapping ironless windings for planar motors[J].IEEE Transactions on Magnetics,2011,47(11):4635-4642.
[6]Yu Dongdong,Yang Kaiming,Zhu Yu.Nonlinear iterative learning control applied to an aerostatic X-Yplanar motion stage[J].Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2012,226(19):1174-1182.
[7]Gao Zhenyu,Hu Jinchun,Zhu Yu,et al.A new6-degree-of-freedom measurement method of X-Ystages based on additional information[J].Precision Engineering,2013,37(3):606-620.
[8]Liu Yongmeng,Yuan Maoqiang,Cao Jieru,et al.Use of two planar gratings to measure 3-DOF displacements of planar moving stage[J].IEEE Transactions on Instrumentation and Measurement,2015,64(17):163-169.
[9]Yang S M,Huang C L.A low cost linear position measurement system for magnetically levitated rotor in axial flow pump[C]//IEEE Industry Applications Society Annual Meeting,2008:1-5.
[10]Kawato Y,Kim W.Multi-degree-of-freedom precision position sensing and motion control using twoaxis Hall-effect sensors[J].Journal of Dynamic Systems,Measurement,and Control,2006,128(4):980-988.
[11]Foong S,Lee K M,Bai K.Harnessing embedded magnetic fields for angular sensing with nanodegree accuracy[J].IEEE/ASME Transactions on Mechatronics,2012,17(4):687-696.
[12]Wu S T,Chen J Y,Wu S H.A rotary encoder with an eccentrically mounted ring magnet[J].IEEE Transactions on Instrumentation and Measurement,2014,63(8):1907-1915.
[13]Scelba G,De Donato G,Scarcella G,et al.Faulttolerant rotor position and velocity estimation using binary Hall-effect sensors for low-cost vector control drives[J].IEEE Transactions on Industry Applications,2014,50(5):3403-3413.
[14]Song Shuang,Li Baopu,Qiao Wan,et al.6Dmagnetic localization and orientation method for an annular magnet based on a closed-form analytical model[J].IEEE Transactions on Magnetics,2014,50(9):1-11.
[15]李江,王义伟,魏超,等.卡尔曼滤波理论在电力系统中的应用综述[J].电力系统保护与控制,2014,42(6):135-144.Li Jiang,Wang Yiwei,Wei Chao,et al.A survey on the application of Kalman filtering method in power system[J].Power System Protection and Control,2014,42(6):135-144.
[16]李功新,周文俊,薛尚青,等.动态电压恢复器的无迹卡尔曼滤波检测方法[J].电力系统保护与控制,2013,41(16):127-132.Li Gongxin,Zhou Wenjun,Xue Shangqing,et al.Detection for dynamic voltage restorer based on unscented Kalman filter[J].Power System Protection and Control,2013,41(16):127-132.
[17]吴智利,赵庆生,陈惠英,等.低频采样下基于卡尔曼滤波的同步相量测量算法的研究[J].电力系统保护与控制,2014,42(15):94-99.Wu Zhili,Zhao Qingsheng,Chen Huiying,et al.AKalman-filter based phasor measurement algorithm under low sampling frequency[J].Power System Protection and Control,2014,42(15):94-99.
[18]高阵雨,胡金春,朱煜,等.基于UKF方法的永磁同步平面电动机位移测量[J].机械工程学报,2010,46(24):40-45.Gao Zhenyu,Hu Jinchun,Zhu Yu,et al.Permanentmagnet synchronous planar motor displacement measurement based on UKF method[J].Chinese Journal of Mechanical Engineering,2010,46(24):40-45.