初级绕组分段结构永磁直线同步电机的研究
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摘要
永磁直线同步电机因其具有速度快、精度高、响应迅速等优越性能,正在被广泛应用于加工中心、高速运输等诸多领域。本文通过解析分析和有限元仿真计算相结合的方法,对长初级永磁直线同步电机的定位力进行分析,研究电机结构参数变化对电机性能的影响,对初级绕组分段电机的推力特性和电磁参数进行分析,为进一步对电机进行分段控制提供了理论依据。
本文分析了永磁直线同步电机定位力的组成,对比了长初级短次级和短初级长次级永磁直线同步电机,指出影响长初级永磁直线同步电机定位力的主要因素是齿槽定位力。采用气隙相对磁导分布函数和光滑电枢表面下磁场相结合的方法解析分析了齿槽效应对长初级永磁直线同步电机定位力的影响,得到了影响齿槽定位力的结构参数。
建立了长初级永磁直线同步电机的有限元分析模型,分析了极弧系数、永磁体外形和永磁体排布方式对电机磁场和推力特性的影响,并针对极弧系数和永磁体弧形表面进行优化,确定了实验样机的结构参数。
提出了一种新的初级绕组分段方式,分析了初级绕组分段对永磁直线同步电机推力特性的影响,运用有限元方法仿真分析了动子逐渐滑过两段初级绕组交越段时电机推力和电感参数的变化情况。
根据上述分析和仿真结果,设计并研制了长初级永磁直线同步电机的实验室样机,并对其进行了实验研究。实验结果与仿真结果基本吻合,从而验证了仿真的正确性。
Permanent magnet linear synchronous motor (PMLSM) is used more and more widely in the field of machining center and high-speed transport because of its superiority of high speed, high precision and rapid response. Based on the combination approach of analysis method and finite element method (FEM), this paper analyzes the detent force of the long primary PMLSM, and researches the effect of the motor parameters. It also analyzes the thrust characteristic and electromagnetic parameters when the armature is made into sections.
First, this paper analyzes the components of detent force for a PMLSM. By comparing the long primary short secondary and short primary long secondary PMLSM, it points out that cogging force is the main factor affecting the detent force. It analyzes the effects of slots and teeth by the combination approach of the equivalent air gap permeance and the magnetic field under smooth armature.
Second, this paper establishes the FEM model of long primary PMLSM. It studies the effect of pole embrace coefficient, outline of permanent magnet, and arrange of PMs on the magnetic field and thrust of the motor. The structural parameters of prototype are obtained by optimizing the pole embrace coefficient and the outline of PMs.
Third, this paper presents a new method to section the primary winding and analyzes the influence of armature sectioning. The variations of thrust and inductance are studied by FEM when the mover is slipping over the overlap.
Last, based on the analysis and simulation, a prototype model is designed and made, and the experiment is done. The experimental results agree with the simulation ones, proving the validity of the above simulations.
本文分析了永磁直线同步电机定位力的组成,对比了长初级短次级和短初级长次级永磁直线同步电机,指出影响长初级永磁直线同步电机定位力的主要因素是齿槽定位力。采用气隙相对磁导分布函数和光滑电枢表面下磁场相结合的方法解析分析了齿槽效应对长初级永磁直线同步电机定位力的影响,得到了影响齿槽定位力的结构参数。
建立了长初级永磁直线同步电机的有限元分析模型,分析了极弧系数、永磁体外形和永磁体排布方式对电机磁场和推力特性的影响,并针对极弧系数和永磁体弧形表面进行优化,确定了实验样机的结构参数。
提出了一种新的初级绕组分段方式,分析了初级绕组分段对永磁直线同步电机推力特性的影响,运用有限元方法仿真分析了动子逐渐滑过两段初级绕组交越段时电机推力和电感参数的变化情况。
根据上述分析和仿真结果,设计并研制了长初级永磁直线同步电机的实验室样机,并对其进行了实验研究。实验结果与仿真结果基本吻合,从而验证了仿真的正确性。
Permanent magnet linear synchronous motor (PMLSM) is used more and more widely in the field of machining center and high-speed transport because of its superiority of high speed, high precision and rapid response. Based on the combination approach of analysis method and finite element method (FEM), this paper analyzes the detent force of the long primary PMLSM, and researches the effect of the motor parameters. It also analyzes the thrust characteristic and electromagnetic parameters when the armature is made into sections.
First, this paper analyzes the components of detent force for a PMLSM. By comparing the long primary short secondary and short primary long secondary PMLSM, it points out that cogging force is the main factor affecting the detent force. It analyzes the effects of slots and teeth by the combination approach of the equivalent air gap permeance and the magnetic field under smooth armature.
Second, this paper establishes the FEM model of long primary PMLSM. It studies the effect of pole embrace coefficient, outline of permanent magnet, and arrange of PMs on the magnetic field and thrust of the motor. The structural parameters of prototype are obtained by optimizing the pole embrace coefficient and the outline of PMs.
Third, this paper presents a new method to section the primary winding and analyzes the influence of armature sectioning. The variations of thrust and inductance are studied by FEM when the mover is slipping over the overlap.
Last, based on the analysis and simulation, a prototype model is designed and made, and the experiment is done. The experimental results agree with the simulation ones, proving the validity of the above simulations.
引文
1叶云岳.直线电机原理与应用.机械工业出版社. 2000:226~353
2 Liyi Li, Yusheng Hu, Xiaopeng Li. Research of Novel Electromagnetic Catapults with Many Kinds of Uses. IEEE Transactions on Magnetics. 2005,41(1): 474~477
3 R. B. Owen, M. Maggiore, and J. Apkarian. A High-Precision, Magnetically Levitated Positioning Stage. IEEE Control Systems Magazine. 2006:83
4 G.W. Mclean. Review of Recent Progress in Linear Motors. IEE Proceedings. 1988,135(6):380~416
5 D. Patterson, C. W. Brice, R. A. Dougal, R. O. Pettus. Design and Simulation of a Permanent-Magnet Electromagnetic Aircraft Launcher. IEEE Transactions on Industry Applications. 2005,41(2):566~575
6张春良,陈子辰,梅德庆.直线驱动新技术及其在加工装备上的应用.电工技术学报. 2002,17(5):45~49
7刘泉,张建民,王先逵.直线电机在机床工业中的最新应用及技术分析.机床与液压. 2004,6:1~3
8 Y. J. Kim, M. Watada, H. Dohmeki. Proposal of the Stationary Discontinuous Armature Permanent Magnet Linear Synchronous Motor for Factory Automation Systems. Conference Record of the 2006 IEEE. 41st IAS Annual Meeting. 2006,3:1323~1330
9 I. S. Jung, S. B. Yoon, J. H. Shim, D. S. Hyun. Analysis of Forces in a Short Primary Type and a Short Secondary Type Permanent Magnet Linear Synchronous Motor. IEEE Transactions on Energy Conversion. 1999,14(4):1265~1270
10李发尧.高速直线运动单元设计及性能评价实验技术研究.重庆大学硕士学位论文. 2006:4~5
11郭瑶瑶,刘成颖,王先逵.机床进给系统用永磁直线电机法向吸力的研究.中国机械工程. 2007,18(10):1174~1177
12焦留成,袁世鹰.垂直运动永磁直线同步电动机运行特性分析.中国电机工程学报. 2002,22(4):37~40
13夏加宽.高精度永磁直线电机端部效应推力波动及补偿策略研究.沈阳工业大学博士学位论文. 2006:3~5
14 G. Grieg, E.M. Freeman. Traveling-Wave Problem in Electrical Machines. IEE Proceedings.1967, 114(11):1681~1683
15 K. Idir, G. E. Dawson, A. R. Easthan. Modeling and Performance of Linear Induction Motor with Saturable Primary. IEEE Transactions on Industry Applications. 1993, 29(6):1123~1128
16 Yuki Nakano, Shunji Tahara, Kokichi Ogawa. 3-D Boundary Integral Equation Analysis of PMLSM. Proceeding of International Conference on Electrical Machines and Systems. 10th ICEMS meeting, Soul, 2007:1660~1663
17 Z. Deng, I. Boldea, S.A. Nasar. Forces and Parameters of Permanent Magnet Linear Synchronous Machines. IEEE Transactions on Magnetics. 1987,23(1):305~309
18胡之光.电机电磁场的分析与计算.机械工业出版社. 1982:3~58
19 Guangyu Xiong, S. A. Nasar. Analysis of Fields and Forces in a Permanent Magnet Linear Synchronous Machine Based on the Concept of Magnetic Charge. IEEE Transactions on Magnetics. 1989,25(3):2713~2718
20 H. Polinder, J.G. Slootweg, J. C. Compter, M. J. Hoeijmakers. Modeling a Linear PM Motor Including Magnetic Saturation. IEE Power Electronics, Machines and Drives, 2002:632~637
21吴晓霞,王淑红.垂直运动的永磁直线同步电动机的应用研究.电力学报. 2007,22(1):20~23
22 S. Hwang, D. K. Lieu. Design techniques for reduction of reluctance torque in brushless permanent magnet motors. IEEE Transactions on Magnetics. 1994,30(6):4287~4289
23 Jin Hur, D. S. Hyun, J. P. Hong. A Method for Reduction of Cogging Torque in Brushless DC Motor Considering the Distribution of Magnetization by 3DEMCN. IEEE Transactions on Magnetics. 1998,34(5):3532~3535
24陈阳生.无刷直流电机力矩的解析计算.中国电机工程学报. 1995,15(4):253~260
25柴凤,李小鹏,程树康.永磁电动机齿槽转矩的抑制方法.微电机. 2001,34(6):52~54
26 K. Yoshida, H. Takami, A. Fujii. Smooth Section Crossing of Controlled-Repulsive PM LSM Vehicle by DTC Method Based on New Concept of Fictitious Section. IEEE Transactions on Industrial Electronics. 2004,51(4):821~826
27 A. Monti, K. Patel, D. Patterson, R. Dougal. Modular Control for Electromagnetic Aircraft Launching System. Power Electronics Specialist Conference. IEEE 34th PESC Annual, Acapulco, 2003,4:1877~1882
28上官璇峰,励庆孚,袁世鹰等.不连续定子永磁直线同步电动机运行过程分析.西安交通大学学报. 2004,38(12):1292~1295
29上官璇峰,励庆孚,袁世鹰.多段初级永磁直线同步电动机系统建模及制动仿真.西安交通大学学报. 2006,40(6):694~698
30夏加宽.高精度数控机床用直线电机端部效应分析及神经网络补偿技术研究.中国电机工程学报. 2003,23(8):100~104
31邱建琪.永磁无刷直流电动机转矩脉动抑制的控制策略研究.浙江大学博士学位论文. 2002:4~6
32潘开林.永磁直线电机的驱动特性理论及推力波动优化设计研究.浙江大学博士学位论文. 2003:77~81
33张艳丽.无刷直流直线电机相似性的研究.哈尔滨工业大学硕士学位论文. 2006:9~11
34 M. J. Chung, D. G. Gweon. Modeling of the armature slotting effect in the magnetic field distribution of a linear permanent magnet motor. Electrical Engineering. 2002,84(2):101~108
35王兴华,励庆孚,王曙鸿.永磁无刷直流电机磁阻转矩的解析计算方法.中国电机工程学报. 2002,22(10):104~108
36罗荣杰.电机电磁场教程.浙江大学出版社. 1993:14~63
37唐任远.现代永磁电机理论与设计.机械工业出版社, 1997:13~36
38王秀和,杨玉波,丁婷婷等.基于极弧系数选择的实心转子永磁同步电动机齿槽转矩削弱方法研究.中国电机工程学报. 2005,25(15):146~149
39张好明. Halbach永磁电动机的计算机辅助设计.南京航空航天大学硕士学位论文. 2004:8~17
40 J. R. Quesada, J. F. Charpentier. Finite Difference Study of Unconventional Structures of Permanent-Magnet Linear Machines for Electromagnetic Aircraft Launch System. IEEE Transactions on Magnetics. 2005,41(1):478~483
41徐衍亮,姚福安,房建成. Halbach磁体结构电动机及其与常规磁体结构电动机的比较研究.电工技术学报. 2004,19(2):79~83
42 D. Patterson, A. Monti, C. Brice, T. Bertoncelli. Design and Simulation of an Electromagnetic Aircraft Launch System. IEEE Power Electronics Specialists Conference. 37th IAS Annual Meeting, Lubbock, 2002,33(3):1475~1480
2 Liyi Li, Yusheng Hu, Xiaopeng Li. Research of Novel Electromagnetic Catapults with Many Kinds of Uses. IEEE Transactions on Magnetics. 2005,41(1): 474~477
3 R. B. Owen, M. Maggiore, and J. Apkarian. A High-Precision, Magnetically Levitated Positioning Stage. IEEE Control Systems Magazine. 2006:83
4 G.W. Mclean. Review of Recent Progress in Linear Motors. IEE Proceedings. 1988,135(6):380~416
5 D. Patterson, C. W. Brice, R. A. Dougal, R. O. Pettus. Design and Simulation of a Permanent-Magnet Electromagnetic Aircraft Launcher. IEEE Transactions on Industry Applications. 2005,41(2):566~575
6张春良,陈子辰,梅德庆.直线驱动新技术及其在加工装备上的应用.电工技术学报. 2002,17(5):45~49
7刘泉,张建民,王先逵.直线电机在机床工业中的最新应用及技术分析.机床与液压. 2004,6:1~3
8 Y. J. Kim, M. Watada, H. Dohmeki. Proposal of the Stationary Discontinuous Armature Permanent Magnet Linear Synchronous Motor for Factory Automation Systems. Conference Record of the 2006 IEEE. 41st IAS Annual Meeting. 2006,3:1323~1330
9 I. S. Jung, S. B. Yoon, J. H. Shim, D. S. Hyun. Analysis of Forces in a Short Primary Type and a Short Secondary Type Permanent Magnet Linear Synchronous Motor. IEEE Transactions on Energy Conversion. 1999,14(4):1265~1270
10李发尧.高速直线运动单元设计及性能评价实验技术研究.重庆大学硕士学位论文. 2006:4~5
11郭瑶瑶,刘成颖,王先逵.机床进给系统用永磁直线电机法向吸力的研究.中国机械工程. 2007,18(10):1174~1177
12焦留成,袁世鹰.垂直运动永磁直线同步电动机运行特性分析.中国电机工程学报. 2002,22(4):37~40
13夏加宽.高精度永磁直线电机端部效应推力波动及补偿策略研究.沈阳工业大学博士学位论文. 2006:3~5
14 G. Grieg, E.M. Freeman. Traveling-Wave Problem in Electrical Machines. IEE Proceedings.1967, 114(11):1681~1683
15 K. Idir, G. E. Dawson, A. R. Easthan. Modeling and Performance of Linear Induction Motor with Saturable Primary. IEEE Transactions on Industry Applications. 1993, 29(6):1123~1128
16 Yuki Nakano, Shunji Tahara, Kokichi Ogawa. 3-D Boundary Integral Equation Analysis of PMLSM. Proceeding of International Conference on Electrical Machines and Systems. 10th ICEMS meeting, Soul, 2007:1660~1663
17 Z. Deng, I. Boldea, S.A. Nasar. Forces and Parameters of Permanent Magnet Linear Synchronous Machines. IEEE Transactions on Magnetics. 1987,23(1):305~309
18胡之光.电机电磁场的分析与计算.机械工业出版社. 1982:3~58
19 Guangyu Xiong, S. A. Nasar. Analysis of Fields and Forces in a Permanent Magnet Linear Synchronous Machine Based on the Concept of Magnetic Charge. IEEE Transactions on Magnetics. 1989,25(3):2713~2718
20 H. Polinder, J.G. Slootweg, J. C. Compter, M. J. Hoeijmakers. Modeling a Linear PM Motor Including Magnetic Saturation. IEE Power Electronics, Machines and Drives, 2002:632~637
21吴晓霞,王淑红.垂直运动的永磁直线同步电动机的应用研究.电力学报. 2007,22(1):20~23
22 S. Hwang, D. K. Lieu. Design techniques for reduction of reluctance torque in brushless permanent magnet motors. IEEE Transactions on Magnetics. 1994,30(6):4287~4289
23 Jin Hur, D. S. Hyun, J. P. Hong. A Method for Reduction of Cogging Torque in Brushless DC Motor Considering the Distribution of Magnetization by 3DEMCN. IEEE Transactions on Magnetics. 1998,34(5):3532~3535
24陈阳生.无刷直流电机力矩的解析计算.中国电机工程学报. 1995,15(4):253~260
25柴凤,李小鹏,程树康.永磁电动机齿槽转矩的抑制方法.微电机. 2001,34(6):52~54
26 K. Yoshida, H. Takami, A. Fujii. Smooth Section Crossing of Controlled-Repulsive PM LSM Vehicle by DTC Method Based on New Concept of Fictitious Section. IEEE Transactions on Industrial Electronics. 2004,51(4):821~826
27 A. Monti, K. Patel, D. Patterson, R. Dougal. Modular Control for Electromagnetic Aircraft Launching System. Power Electronics Specialist Conference. IEEE 34th PESC Annual, Acapulco, 2003,4:1877~1882
28上官璇峰,励庆孚,袁世鹰等.不连续定子永磁直线同步电动机运行过程分析.西安交通大学学报. 2004,38(12):1292~1295
29上官璇峰,励庆孚,袁世鹰.多段初级永磁直线同步电动机系统建模及制动仿真.西安交通大学学报. 2006,40(6):694~698
30夏加宽.高精度数控机床用直线电机端部效应分析及神经网络补偿技术研究.中国电机工程学报. 2003,23(8):100~104
31邱建琪.永磁无刷直流电动机转矩脉动抑制的控制策略研究.浙江大学博士学位论文. 2002:4~6
32潘开林.永磁直线电机的驱动特性理论及推力波动优化设计研究.浙江大学博士学位论文. 2003:77~81
33张艳丽.无刷直流直线电机相似性的研究.哈尔滨工业大学硕士学位论文. 2006:9~11
34 M. J. Chung, D. G. Gweon. Modeling of the armature slotting effect in the magnetic field distribution of a linear permanent magnet motor. Electrical Engineering. 2002,84(2):101~108
35王兴华,励庆孚,王曙鸿.永磁无刷直流电机磁阻转矩的解析计算方法.中国电机工程学报. 2002,22(10):104~108
36罗荣杰.电机电磁场教程.浙江大学出版社. 1993:14~63
37唐任远.现代永磁电机理论与设计.机械工业出版社, 1997:13~36
38王秀和,杨玉波,丁婷婷等.基于极弧系数选择的实心转子永磁同步电动机齿槽转矩削弱方法研究.中国电机工程学报. 2005,25(15):146~149
39张好明. Halbach永磁电动机的计算机辅助设计.南京航空航天大学硕士学位论文. 2004:8~17
40 J. R. Quesada, J. F. Charpentier. Finite Difference Study of Unconventional Structures of Permanent-Magnet Linear Machines for Electromagnetic Aircraft Launch System. IEEE Transactions on Magnetics. 2005,41(1):478~483
41徐衍亮,姚福安,房建成. Halbach磁体结构电动机及其与常规磁体结构电动机的比较研究.电工技术学报. 2004,19(2):79~83
42 D. Patterson, A. Monti, C. Brice, T. Bertoncelli. Design and Simulation of an Electromagnetic Aircraft Launch System. IEEE Power Electronics Specialists Conference. 37th IAS Annual Meeting, Lubbock, 2002,33(3):1475~1480