动圈式永磁平面电机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的无位置传感器控制问题,提出一种结合电路能量守恒定律,利用卡尔曼滤波算法进行状态估计得到的动子位置信息来进行实时电流分配,产生作用于动子的悬浮力和水平推力的无位置传感器控制策略。该策略通过实时获取动子线圈端电压和端电流计算得出总功率,减去动子线圈消耗热功率得到推力作用于动子的机械功率,此机械功率在恒定推力控制下反应动子采样时间间隔内位移的大小,以此建立动子位置、速度、加速度的卡尔曼滤波估计算法模型。在此基础上,对控制算法以及控制策略所产生的推力进行仿真,仿真结果验证了控制策略的正确性。
To solve sensorless control problem of moving-coil permanent magnet planar motor,the following sensorless control strategy was put forward: based on circuit energy conservation,Kalman filtering estimation algorithm was utilized to conduct state estimation for achieving mover position information to distribute real-time current,which produces levitation force and horizontal thrust acting on active cells to control sensorless. The strategy can constantly obtain terminal voltage and current from moving coils to export total power and get the mechanical power acting on the mover through subtracting the thermal power consumed by the moving coils. The mechanical power reacts the size of the displacement in the mover sampling interval under constant thrust control,so as to establish Kalman filtering estimation algorithm model of the position,velocity and acceleration of the mover. On this basis,taking a simulation for the thrust coming from the control algorithm and the control strategy,and the simulation result was verified that the control strategy is correct.
To solve sensorless control problem of moving-coil permanent magnet planar motor,the following sensorless control strategy was put forward: based on circuit energy conservation,Kalman filtering estimation algorithm was utilized to conduct state estimation for achieving mover position information to distribute real-time current,which produces levitation force and horizontal thrust acting on active cells to control sensorless. The strategy can constantly obtain terminal voltage and current from moving coils to export total power and get the mechanical power acting on the mover through subtracting the thermal power consumed by the moving coils. The mechanical power reacts the size of the displacement in the mover sampling interval under constant thrust control,so as to establish Kalman filtering estimation algorithm model of the position,velocity and acceleration of the mover. On this basis,taking a simulation for the thrust coming from the control algorithm and the control strategy,and the simulation result was verified that the control strategy is correct.
引文
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[2]寇宝泉,张鲁,邢丰,等.高性能永磁同步平面电机及其关键技术发展综述[J].中国电机工程学报,2013,33(9):79.KOU Baoquan,ZHANG Lu,XING Feng,et al. Development of the high-performance synchronous permanent magnet plannar motor and its key technologies[J]. Proceedings of the CSEE,2013,33(9):79.
[3]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.JIANG Enze,YIN Wensheng. Analysis of current distrib ution for permanent magnet synchronous plannar motors[J]. Proceedings of the CSEE,2011,31(9):71.
[4]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.ZHANG Xinhua,SUN Yukun,XIANG Qianwen,et al. Analysis of real-time current distribution for magnetically permanent-magnet plannar motors with moving-coils[J]. Proceedings of the CSEE,2013,33(6):144.
[5] PENGJunrong,ZHOU Yunfei,LIU Guangdou. Calculation of a new real-time control model for the magnetically levitated ironless planar motor[J]. IEEE Transactions on Magnetics,2013,49(4):1416.
[6]周赣,黄学良.三自由度永磁同步平面电机的控制策略[J].电机与控制学报,2011,15(4):41.ZHOU Gan,HUANG Xueliang. Control strategies of 3-degree-offreedom synchronous permanent-magnet planar motors[J]. Electric Machines and Control,2011,15(4):41.
[7] HALBACH K. Permanent magnets for production and use of high energy beams[C]//Proceedings of 8thInternational Workshop on Rare-earth Permanent Magnets,May 6,1985,Dayton OH,USA.1985:123-136.
[8]陈君辉,杨逢瑜,杨龙,等.一种Halbach阵列永磁轴承的磁力模型研究[J].哈尔滨理工大学学报,2011,16(5):72.CHEN Junhui,YANG Fengyu,YANG Long,et al. Research on a magnetic force model for Halbach array permanet magnet bearings[J]. Journal of Harbin University of Science and Technology,2011,16(5):72.
[9] CHOUT Y,LIU T H,CHENG T T. Sensorless micro-permanent magnet synchronous motor control system with a wide adjustable speed range[J]. IET Electric Power Applications,2012,6(2):62.
[10]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.ZHANG Xinhua,LUO Hao,SUN Yukun,et al. Analytical field analysis and parameter design for magnetically levitated permanentmagnet plannar motors with movingcoils[J]. Journal of SiChuan University(Engineering Science Edition),2015,47(2):142.
[11]彭俊荣.动圈式磁浮平面电机电磁结构设计与优化研究[D].武汉:华中科技大学,2013.
[12] JANSEN J W. Magnetically levitated planar actuator with moving magnets:electromechanical analysis and design[D]. Einhoven:Technische Universiteit Einhoven,2007.
[13]陆华才,提娟,高文根,等.永磁直线同步电机全速无位置传感器控制[J].电机与控制学报,2013,17(4):92.LU Huacai,TI Juan,GAO Wengen,et al. Position sensorless control for permanent magnet linear synchronous motor over full speed range[J]. Electric Machines and Control,2013,17(4):92.