弧形直线电机伸缩门及其控制研究
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摘要
直线电机驱动门的研究已经有很长的历史和成熟的技术,所发挥的独特优势也越来越明显,但是由于直线电机的电磁气隙裸露在空气中,其特殊结构要求所驱动的门体一般为实心门体,门体周围有固定电机的平台且大都在室内场合使用,所以直线电机驱动门的应用范围始终受到限制。
基于以上情况,本文提出了一种新型弧形直线感应电机,因直线电机结构上的改变,带来了许多新的应用,特别是对于驱动电动伸缩门这种在户外使用最广泛的门类。本文设计了有轨电动伸缩门用弧形直线感应电机驱动机构,该伸缩门既能发挥原有的用直线电机驱动优点,又能在室外运行,不受天气、人为等因素的影响,电机的次级还可以起到汽车减速带的功能,因此针对新型弧形直线感应电机,本文着重研究了其分析方法、电磁设计方法和加工方法。本文通过合理的假设及采用多层行波电磁场理论建立该电机的区域分析模型,推导出电机电磁推力和法向力计算公式,并利用Magnet软件建立该钢次级弧形直线感应电机三维瞬态有限元仿真模型,仿真结果与解析计算结果相吻合,又与同参数的扁平形钢次级直线感应电机作比较,结果表明这种钢次级弧形直线感应电机在不改变推力的前提下能够减少法向吸力,提高推力与吸力比值,为该类电机的性能计算、优化设计奠定理论基础。
最后本文设计了一种基于DSP芯片的钢次级弧形直线感应电机驱动电动伸缩门恒压调频控制系统(CVVF),设计出开/关门运行曲线,控制结果能够满足各项性能指标预定要求,体现了该电动伸缩门的突出优点。
The research of linear motor-driven door has a long history and mature technology, the unique advantage is playing more and more obvious, but because the electromagnetic air gap of linear motor exposed in the air, its special structure require the driver door body is generally solid door, and has a fixed platform around the door,what is more,most of the linear motor-driven doors are used in indoor places, so the application range of linear motor-driven door has been limited indeed.
Based on the condition listed above, a new arc linear induction motor is proposed in the paper. It brings many new applications due to structural changes of linear induction motor, especially for driving electric retractable doors which are the most widely used in the outdoor category. The drive mechanism of rail electric retractable door with new arc linear induction motor is designed by this paper, the retractable door not only playing to the advantages of the original linear motor-driven door, but also running outdoors regardless of the weather、human and other factors, besides the secondary of motor play the function of vehicle deceleration zone, aiming at new arc linear induction motor, this paper focuses on the analytical methods, electromagnetic design and processing methods. In this paper the regional model for the motor is built by reasonable assumptions, and calculating formula of trust force and normal force is deduced with the electromagnetic theory of multi-layer traveling waves, the 3-D transient FEM model of steel secondary arc linear induction motor is established by the software of Magnet, the analytic calculating is matched to the simulation result by coincidence, by comparing with the same parameter flat steel secondary linear induction motor, with the result testifying that this steel secondary arc linear induction motor is able to reduce the normal force at the premise of not changing thrust force and increase the rate between thrust force and attractive force, lay the theoretic foundation for the calculating performance and optimizing design of this type motor.
Finally, a special constant voltage variable fequeney control (CVVF) system base on DSP chip is designed , which is used in this rail electric retractable door drived by new arc linear induction motor, and the open / close operating curves are designed, the control results can be scheduled to meet the requirements of the performance index, reflecting the the outstanding advantages of this electric retractable door.
基于以上情况,本文提出了一种新型弧形直线感应电机,因直线电机结构上的改变,带来了许多新的应用,特别是对于驱动电动伸缩门这种在户外使用最广泛的门类。本文设计了有轨电动伸缩门用弧形直线感应电机驱动机构,该伸缩门既能发挥原有的用直线电机驱动优点,又能在室外运行,不受天气、人为等因素的影响,电机的次级还可以起到汽车减速带的功能,因此针对新型弧形直线感应电机,本文着重研究了其分析方法、电磁设计方法和加工方法。本文通过合理的假设及采用多层行波电磁场理论建立该电机的区域分析模型,推导出电机电磁推力和法向力计算公式,并利用Magnet软件建立该钢次级弧形直线感应电机三维瞬态有限元仿真模型,仿真结果与解析计算结果相吻合,又与同参数的扁平形钢次级直线感应电机作比较,结果表明这种钢次级弧形直线感应电机在不改变推力的前提下能够减少法向吸力,提高推力与吸力比值,为该类电机的性能计算、优化设计奠定理论基础。
最后本文设计了一种基于DSP芯片的钢次级弧形直线感应电机驱动电动伸缩门恒压调频控制系统(CVVF),设计出开/关门运行曲线,控制结果能够满足各项性能指标预定要求,体现了该电动伸缩门的突出优点。
The research of linear motor-driven door has a long history and mature technology, the unique advantage is playing more and more obvious, but because the electromagnetic air gap of linear motor exposed in the air, its special structure require the driver door body is generally solid door, and has a fixed platform around the door,what is more,most of the linear motor-driven doors are used in indoor places, so the application range of linear motor-driven door has been limited indeed.
Based on the condition listed above, a new arc linear induction motor is proposed in the paper. It brings many new applications due to structural changes of linear induction motor, especially for driving electric retractable doors which are the most widely used in the outdoor category. The drive mechanism of rail electric retractable door with new arc linear induction motor is designed by this paper, the retractable door not only playing to the advantages of the original linear motor-driven door, but also running outdoors regardless of the weather、human and other factors, besides the secondary of motor play the function of vehicle deceleration zone, aiming at new arc linear induction motor, this paper focuses on the analytical methods, electromagnetic design and processing methods. In this paper the regional model for the motor is built by reasonable assumptions, and calculating formula of trust force and normal force is deduced with the electromagnetic theory of multi-layer traveling waves, the 3-D transient FEM model of steel secondary arc linear induction motor is established by the software of Magnet, the analytic calculating is matched to the simulation result by coincidence, by comparing with the same parameter flat steel secondary linear induction motor, with the result testifying that this steel secondary arc linear induction motor is able to reduce the normal force at the premise of not changing thrust force and increase the rate between thrust force and attractive force, lay the theoretic foundation for the calculating performance and optimizing design of this type motor.
Finally, a special constant voltage variable fequeney control (CVVF) system base on DSP chip is designed , which is used in this rail electric retractable door drived by new arc linear induction motor, and the open / close operating curves are designed, the control results can be scheduled to meet the requirements of the performance index, reflecting the the outstanding advantages of this electric retractable door.
引文
[1]蔡廷锡,陈雅民.直线电动机在自动门上的应用浅谈[M].北京:机械工业出版社,2002.
[2]叶云岳,直线电机原理与应用[M] .北京:机械工业出版社,2000.
[3]李丽娜,戴怡,孙宏昌.直线电机的应用领域[J].科技信息,2008(15): 340-341.
[4] Nasar S.A, Boldea I. Linear Induction Electic Machines[M]. New York:John Wiley& Sons,1976.
[5]刘元江.圆筒型直感应电动机稳态、瞬态特性和动态温度场的研究[D].西安交通大学博士学位论文,1998.
[6]寇宝泉,白相林,李立毅.一种长行程圆筒形直线电机:中国,200710145628.9 [P]. 2007-11-19.
[7]马西奎.电磁场理论及应用[M].西安:西安交通大学出版社, 2001.
[8]王蔷,李国定,龚克.电磁场理论基础[M].北京::清华大学出版社, 2001.
[9] G. W. Mclean. Review of recent progress in linear motors. IEE Proceedings-Volume 135,Issue6, 1988:380-416.
[10]刘鹏程.电磁场解析方法[M].北京:电子工业出版社,1995.
[11] Onuki,T.,Kamiya,Y.,Fukaya,K.,Jeon,W.J.;Characteristics analysis of linear induction motor with two types of secondary structure based on electromagnetic field and electric circuit analysis,Magnetics,IEEE Transactions on,Volume:35,Issue:5, 1999(9):4022-4024.
[12] [美] J.A.埃德米尼斯特尔著,雷银照,吴静译.工程电磁场基础.北京:科学出版社,2002.
[13]胡之光.电机电磁场的分析与计算.北京:机械工业出版社,1982.
[14] Bhag Singh Guru, HuseyinR. Hiziroglu. Electromagnetic field theory fundamentals PWS Pub.,c1998,2002.
[15]王秉中.计算电磁学(第1版).北京:科学出版社,2002.
[16]汤藴缪.电机内的电磁场(第二版).北京:科学出版社,1998.
[17] Palko, S.,Jokinen, T..Optimization of squirrel cage induction motors using finite element method and genetic algorithms,IEE Conference Publication, 1997,n444, 21-25.
[18] A.I.Cullin,T.H.Barton.A simplified electromagnetic theory of the induction motor using the concept of wave impedance.IEE Monographs Proc.C,Vol.105,No8,1958,pp.331-336.
[19] G. Greig, E. M. Freeman. Travelling-wave problem in electrical machines. Proc. IEE,Vol.114, No11,1967,pp,1681-1683.
[20] Y.Shoyama, M.Ando. LIMdriver subway railcar with small sectional area. Proc. Int. Conf.Maglev Transport,1985,pp.311-318.
[21] A.I.Boldea,M.Babescu.Multilayer approach to the analysis of single-sided linear induction motors.Proc.IEE,Vol.125,No.4,1978,pp.283-287.
[22]龙遐令.直线感应电机的理论和电磁设计方法[M].北京:科学出版社,2006.
[23] Pai, R. Nasar, S. Boldea, I. A Hybrid Method of Analysis of Low-Speed Linear Induction Motors [J]. IEEE Transactions on Magnetics, 1987, 23(6): 3908-3915.
[24]李景川,顾积栋.多层理论在圆筒型直线感应电机计算上的应用[J].电工电能新技术,1997, (3): 6-10.
[25]余世杰,何慧若,曹仁贤.光伏水泵系统中CVT及MPPT的控制比较[J].太阳能学报,1998,19(4):394-398.
[26]孙配石,何庆领.具有最大功率跟踪功能的光伏户用逆变电源.合肥工业大学学报(自然科学版),2001,24(6):1115-1118.
[27] Yamaguchi,T. Kawase,Y. Yoshida, M. Saito, Y. Ohdachi, Y. 3-D Finite Element Analysis of a Linear Induction Motor [J]. IEEE Transactions on Magnetics, 2001, 37(5): 3668-3671.
[28] Rui Huang, Jianpei Zhou, and Gyu-Tak Kim. Minimization Design of Normal Force in Synchronous Permanent Magnet Planar Motor With Halbach Array[J]. IEEE Transactions on Magnetics, 2008, 44(6): 1526-1529.
[29] F.Profumo, A.Tenconi, G.Gianolio. Design and Realization of a PM Linear Synchronous Motor with a Very High Thrust/Normal Force Ratio [C]. IEEE Industrial Applications Conference, 2001, (3): 1984-1988.
[30]傅丰礼,唐孝镐.异步电动机设计手册.北京:机械工业出版社,2001.
[31]上海工业大学.直线异步电动机.北京:机械工业出版社,1979.
[32]顾积栋.低速圆筒型直线异步电动机电磁设计方法.2002年全国直线电机年会论文集.哈尔滨:中国电工技术学会直线电机专委会,2002.
[33]焦留成,汪旭东,袁世鹰.直线感应电动机的优化设计研究[J].中国电机工程学报,1999(04):18-20.
[34]陈世坤.电机设计[M].北京:机械工业出版社,2004.
[35]汪旭东.直线感应电机的设计与优化[D] .焦作:河南理工大学,1995.
[36]汪旭东,张志华,许孝卓.有轨电动伸缩门用弧形直线电机驱动机构:中国,ZL200920088190.1[P].2009-12-30.
[37]余家红.无轨电动伸缩门的直线运行驱动机构:中国,02226781. 6 [P] 2002-04-09.
[38]涂启纯,涂根谋.无轨电动伸缩门地磁导航系统:中国,200510120611.0[P] 2005-12-14.
[39]范海民,陈宏礼,宋建伟等.基于Smith预估器的直线电机控制系统[J].应用科技, 2002, (5): 27~29.
[40] V.DelliColl,i MarignettiF, ScaranoM. Implementation of an im-proved direct thrust and flux control for linear induction motors[J]. IEEE, 2003: 488~493.
[41]贾宏新.电梯用直线感应电机的优化设计及其控制系统研究[D].杭州:浙江大学,2002.
[42]黄俊,秦祖荫.电力电子自关断器件及电路[M].北京:机械工业出版社,1991.
[43]沈建新.无位置传感器无刷直流电机及其微机控制系统[D].杭州:浙江大学,1994.
[44] Mi Ching Tsai,Jeng Hu Chen.Apractical implementation of a linear inductionmotor drive using new generation DSP controller[J].Pro.1999IEEE.Inter.Con.on Con.APP,945--949.
[45] LianBingLi,Hexu Sun,SeniorMembedEEE,XiaojunWangYongqing.AHigh-Performance Direct Torque Control Base on DSP in Permanent Magnet Synchronous MotorDrive[J].Proceeding ofthe 4’world Congress on Intelligent Control and Automation,June 2002:10-14.
[46]章云等著,DSP控制器及其应用[M].北京:机械工业出版社,2001.
[47]刘和平,王维俊,江渝等. TMS320LF240x DSP C语言开发应用[M].北京:北京航空航天大学出版社,2003.
[48]陈林,熊有伦,侯立军.基于DSP的变频调速系统的设计[J].电工技术杂志, 2002, (3): 47~49.
[2]叶云岳,直线电机原理与应用[M] .北京:机械工业出版社,2000.
[3]李丽娜,戴怡,孙宏昌.直线电机的应用领域[J].科技信息,2008(15): 340-341.
[4] Nasar S.A, Boldea I. Linear Induction Electic Machines[M]. New York:John Wiley& Sons,1976.
[5]刘元江.圆筒型直感应电动机稳态、瞬态特性和动态温度场的研究[D].西安交通大学博士学位论文,1998.
[6]寇宝泉,白相林,李立毅.一种长行程圆筒形直线电机:中国,200710145628.9 [P]. 2007-11-19.
[7]马西奎.电磁场理论及应用[M].西安:西安交通大学出版社, 2001.
[8]王蔷,李国定,龚克.电磁场理论基础[M].北京::清华大学出版社, 2001.
[9] G. W. Mclean. Review of recent progress in linear motors. IEE Proceedings-Volume 135,Issue6, 1988:380-416.
[10]刘鹏程.电磁场解析方法[M].北京:电子工业出版社,1995.
[11] Onuki,T.,Kamiya,Y.,Fukaya,K.,Jeon,W.J.;Characteristics analysis of linear induction motor with two types of secondary structure based on electromagnetic field and electric circuit analysis,Magnetics,IEEE Transactions on,Volume:35,Issue:5, 1999(9):4022-4024.
[12] [美] J.A.埃德米尼斯特尔著,雷银照,吴静译.工程电磁场基础.北京:科学出版社,2002.
[13]胡之光.电机电磁场的分析与计算.北京:机械工业出版社,1982.
[14] Bhag Singh Guru, HuseyinR. Hiziroglu. Electromagnetic field theory fundamentals PWS Pub.,c1998,2002.
[15]王秉中.计算电磁学(第1版).北京:科学出版社,2002.
[16]汤藴缪.电机内的电磁场(第二版).北京:科学出版社,1998.
[17] Palko, S.,Jokinen, T..Optimization of squirrel cage induction motors using finite element method and genetic algorithms,IEE Conference Publication, 1997,n444, 21-25.
[18] A.I.Cullin,T.H.Barton.A simplified electromagnetic theory of the induction motor using the concept of wave impedance.IEE Monographs Proc.C,Vol.105,No8,1958,pp.331-336.
[19] G. Greig, E. M. Freeman. Travelling-wave problem in electrical machines. Proc. IEE,Vol.114, No11,1967,pp,1681-1683.
[20] Y.Shoyama, M.Ando. LIMdriver subway railcar with small sectional area. Proc. Int. Conf.Maglev Transport,1985,pp.311-318.
[21] A.I.Boldea,M.Babescu.Multilayer approach to the analysis of single-sided linear induction motors.Proc.IEE,Vol.125,No.4,1978,pp.283-287.
[22]龙遐令.直线感应电机的理论和电磁设计方法[M].北京:科学出版社,2006.
[23] Pai, R. Nasar, S. Boldea, I. A Hybrid Method of Analysis of Low-Speed Linear Induction Motors [J]. IEEE Transactions on Magnetics, 1987, 23(6): 3908-3915.
[24]李景川,顾积栋.多层理论在圆筒型直线感应电机计算上的应用[J].电工电能新技术,1997, (3): 6-10.
[25]余世杰,何慧若,曹仁贤.光伏水泵系统中CVT及MPPT的控制比较[J].太阳能学报,1998,19(4):394-398.
[26]孙配石,何庆领.具有最大功率跟踪功能的光伏户用逆变电源.合肥工业大学学报(自然科学版),2001,24(6):1115-1118.
[27] Yamaguchi,T. Kawase,Y. Yoshida, M. Saito, Y. Ohdachi, Y. 3-D Finite Element Analysis of a Linear Induction Motor [J]. IEEE Transactions on Magnetics, 2001, 37(5): 3668-3671.
[28] Rui Huang, Jianpei Zhou, and Gyu-Tak Kim. Minimization Design of Normal Force in Synchronous Permanent Magnet Planar Motor With Halbach Array[J]. IEEE Transactions on Magnetics, 2008, 44(6): 1526-1529.
[29] F.Profumo, A.Tenconi, G.Gianolio. Design and Realization of a PM Linear Synchronous Motor with a Very High Thrust/Normal Force Ratio [C]. IEEE Industrial Applications Conference, 2001, (3): 1984-1988.
[30]傅丰礼,唐孝镐.异步电动机设计手册.北京:机械工业出版社,2001.
[31]上海工业大学.直线异步电动机.北京:机械工业出版社,1979.
[32]顾积栋.低速圆筒型直线异步电动机电磁设计方法.2002年全国直线电机年会论文集.哈尔滨:中国电工技术学会直线电机专委会,2002.
[33]焦留成,汪旭东,袁世鹰.直线感应电动机的优化设计研究[J].中国电机工程学报,1999(04):18-20.
[34]陈世坤.电机设计[M].北京:机械工业出版社,2004.
[35]汪旭东.直线感应电机的设计与优化[D] .焦作:河南理工大学,1995.
[36]汪旭东,张志华,许孝卓.有轨电动伸缩门用弧形直线电机驱动机构:中国,ZL200920088190.1[P].2009-12-30.
[37]余家红.无轨电动伸缩门的直线运行驱动机构:中国,02226781. 6 [P] 2002-04-09.
[38]涂启纯,涂根谋.无轨电动伸缩门地磁导航系统:中国,200510120611.0[P] 2005-12-14.
[39]范海民,陈宏礼,宋建伟等.基于Smith预估器的直线电机控制系统[J].应用科技, 2002, (5): 27~29.
[40] V.DelliColl,i MarignettiF, ScaranoM. Implementation of an im-proved direct thrust and flux control for linear induction motors[J]. IEEE, 2003: 488~493.
[41]贾宏新.电梯用直线感应电机的优化设计及其控制系统研究[D].杭州:浙江大学,2002.
[42]黄俊,秦祖荫.电力电子自关断器件及电路[M].北京:机械工业出版社,1991.
[43]沈建新.无位置传感器无刷直流电机及其微机控制系统[D].杭州:浙江大学,1994.
[44] Mi Ching Tsai,Jeng Hu Chen.Apractical implementation of a linear inductionmotor drive using new generation DSP controller[J].Pro.1999IEEE.Inter.Con.on Con.APP,945--949.
[45] LianBingLi,Hexu Sun,SeniorMembedEEE,XiaojunWangYongqing.AHigh-Performance Direct Torque Control Base on DSP in Permanent Magnet Synchronous MotorDrive[J].Proceeding ofthe 4’world Congress on Intelligent Control and Automation,June 2002:10-14.
[46]章云等著,DSP控制器及其应用[M].北京:机械工业出版社,2001.
[47]刘和平,王维俊,江渝等. TMS320LF240x DSP C语言开发应用[M].北京:北京航空航天大学出版社,2003.
[48]陈林,熊有伦,侯立军.基于DSP的变频调速系统的设计[J].电工技术杂志, 2002, (3): 47~49.