动圈式永磁平面电机平稳起浮与下降无位置传感器控制策略
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摘要
针对动圈式永磁平面电机无位置传感器控制起浮过程中出现的误差过大、抖动以及下降过程中撞击定子表面等问题,分析了在实时电流分配策略下动子的移动过程,提出了"假气隙点"概念,推导出了"假气隙点"位置与期望气隙点位置的数学关系表达式和动子起浮至期望气隙点和下降至零高度的时间计算积分公式,并给出了平稳起浮和下降控制策略。"假气隙点"现象表现为动子停留在零位置时,对线圈分配"假气隙点"恒定电流,在此电流驱动下动子运行至期望气隙点处速度为0;动子悬浮在期望气隙点位置时,对线圈分配"假气隙点"恒定电流,在此电流驱动下动子运行至零位置处速度为0。控制策略利用上述现象,通过切换电流使动子在零位置和气隙点之间平稳移动。仿真结果表明,动子运行误差、抖动很小,证明了控制策略的正确性。
Aiming at the problem of excessive deviation and jitter in the process of floating and impacting stator surface in the process of descend in the sensorless control on moving-coil permanent-magnet planar motor,this paper analyzes the maglev up and down moving process under the control of real-time current distribution strategy,proposes the concept of "false air-gap point ",deduces the mathematical equation between the position of " false air-gap point" and the desired air-gap position and the time calculation integral formula that when mover moves up to desired air-gap position and descends to zero altitude. The"false air-gap point"has two reflections.One is that when the mover stays at the zero position,the coil is assigned a " false air-gap point" constant current and the speed of the mover running to the desired air-gap point is zero on the condition of the current drive. The other is that when the mover floats at the desired air-gap position,the coil is distributed "false air-gap point"constant current and the speed of mover running to zero position is zero as the result of the current drive. The control strategy utilizes the phenomena mentioned above,and moves the mover smoothly between the zero position and the air-gap point by switching the current. The simulation result shows that the mover running deviation and the jitter are very small,which proves the validity of control strategy.
Aiming at the problem of excessive deviation and jitter in the process of floating and impacting stator surface in the process of descend in the sensorless control on moving-coil permanent-magnet planar motor,this paper analyzes the maglev up and down moving process under the control of real-time current distribution strategy,proposes the concept of "false air-gap point ",deduces the mathematical equation between the position of " false air-gap point" and the desired air-gap position and the time calculation integral formula that when mover moves up to desired air-gap position and descends to zero altitude. The"false air-gap point"has two reflections.One is that when the mover stays at the zero position,the coil is assigned a " false air-gap point" constant current and the speed of the mover running to the desired air-gap point is zero on the condition of the current drive. The other is that when the mover floats at the desired air-gap position,the coil is distributed "false air-gap point"constant current and the speed of mover running to zero position is zero as the result of the current drive. The control strategy utilizes the phenomena mentioned above,and moves the mover smoothly between the zero position and the air-gap point by switching the current. The simulation result shows that the mover running deviation and the jitter are very small,which proves the validity of control strategy.
引文
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[14]刘洋,张斌,吴庆林,等.基于DSP的永磁同步电动机控制系统设计[J].电子测量技术,2016,39(1):88-92.LIU Y,ZHANG B,WU Q L,et al.Design of PMSM control system based on DSP[J].Electronic Measurement Technology,2016,39(1):88-92.
[15]郭丹蕊,林晓焕,单星,等.基于DSP的无刷直流电机控制系统研究[J].国外电子测量技术,2016,35(2):98-101.GUO D R,LIN X H,SHAN X,et al.Research on control system of brushless DC motor based on DSP[J].Foreign Electronic Measurement Technology,2016,35(2):98-101.
[2]范兵,陈锡候,肖朝辉,等.磁场式位移传感器误差的数理模型研究[J].仪器仪表学报,2016,37(5):985-992.FAN B,CHEN X H,XIAO CH H,et al.Research on mathematical and physical model of magnetic displacement sensor error[J].Chinese Journal of Scientific Instrument,2016,37(5):985-992.
[3]糜小涛,于宏柱,高健翔,等.大型衍射光栅刻划机微定位系统控制器设计[J].仪器仪表学报,2015,36(2):473-480.MI X T,YU H ZH,GAO J X,et al.Design of the controller of the micro-positioning system for large diffraction grating ruling engine[J].Chinese Journal of Scientific Instrument,2015,36(2):473-480.
[4]JANSEN J W.Magnetically levitated planar actuator with moving magnets:Electromechanical analysis and design[D].Einhoven:Technische Universiteit Einhoven,2007.
[5]JANSEN J W,LIEROP C M M,LOMONVA E A,et al.Modeling of magnetically levitated planar actuator with moving magnets[J].IEEE Transactions on Magnets,2007,43(1):15-25.
[6]CORNELIS M M.Magnetically levitated planar actuator with moving magnets:Dynamics,commutation and control design[D].Einhoven:Technische Universiteit Einhoven,2008.
[7]宋玉晶,张鸣,朱煜.Halbach永磁阵列磁场解析求解及推力建模[J].电工技术学报,2014,29(11):61-67.SONG Y J,ZHANG M,ZHU Y.Modeling of halbach array magnetic field and motor thrust[J].Transactions of China Electrotechnical Society,2014,29(11):61-67.
[8]JUNRONG P,YUNFEI Z.Modeling and analysis of a new2-D halbach array for magnetically levitated planar motor[J].IEEE Transactions on Magnetics,2013,49(1):618-627.
[9]张新华,骆浩,孙玉坤,等.动圈式磁悬浮永磁平面电机磁场解析分析与参数设计[J].四川大学学报:工程科学版,2015,47(2):142-150.ZHANG X H,LUO H,SUN Y K,et al.Analytical magnetic field analysis and parameter design for magnetically levitated permanent-magnet planar motors with moving-coils[J].Journal of Sichuan University:Engineering Science Edition,2015,47(2):142-150.
[10]姜恩泽,尹文生.永磁同步平面电机电流分配策略[J].中国电机工程学报,2011,31(9):71-75.JIANG E Z,YIN W SH.Analysis of current distribution for permanent magnet synchronous plannar motors[J].Proceeding of the CSEE,2011,31(9):71-75.
[11]张新华,孙玉坤,项倩雯,等.一种动圈式磁悬浮永磁平面电机实时电流分配策略[J].中国电机工程学报,2013,33(6):144-152.ZHANG X H,SUN Y K,XIANG Q W,et al.Analysis of real-time current distribution for magnetically permanentmagnet plannar motors with moving-coils[J].Proceeding of the CSEE,2013,33(6):144-152.
[12]JUNRONG P,YUNFEI Z,GUANGDOU L.Calculation of a new real-time control model for the magnetically levitated ironless planar motor[J].IEEE Transactions on Magnetics,2013,49(4):1416-1422.
[13]朱炜煦,袁志勇,童倩倩.电磁力反馈中磁场特性分析与线圈姿态计算[J].电子测量与仪器学报,2016,30(4):590-597.ZHU W X,YUAN ZH Y,TONG Q Q,et al.Coil magnetic field characteristic analysis and coil spatial pose calculation in magnetic haptic feedback[J].Journal of Electronic Measurement and Instrumentation,2016,30(4):590-597.
[14]刘洋,张斌,吴庆林,等.基于DSP的永磁同步电动机控制系统设计[J].电子测量技术,2016,39(1):88-92.LIU Y,ZHANG B,WU Q L,et al.Design of PMSM control system based on DSP[J].Electronic Measurement Technology,2016,39(1):88-92.
[15]郭丹蕊,林晓焕,单星,等.基于DSP的无刷直流电机控制系统研究[J].国外电子测量技术,2016,35(2):98-101.GUO D R,LIN X H,SHAN X,et al.Research on control system of brushless DC motor based on DSP[J].Foreign Electronic Measurement Technology,2016,35(2):98-101.