空芯动圈式直线永磁同步电动机的研究分析
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摘要
直线永磁同步电动机是近年来广受关注的直线电机机种，它具有高可靠性，极好的动态响应，因而广泛应用于直线伺服系统。本文对空芯动圈式直线同步电动机进行了深入细致的研究，内容包括：(1)采用电流模型推导出两种计算永磁磁极二维气隙磁场的解析公式(集中电流法、分布电流法)，同时介绍了两种永磁电机气隙磁场计算方法(磁荷法，直接求解拉氏方程法)，分析各种方法的优缺点，讨论电机参数对气隙磁密的影响；(2)介绍了单层同心绕组的布置方式，根据安培定律推导出空芯动圈式直线永磁同步电动机的静推力计算公式，分析静态力—位移特性；(3)建立空芯动圈式直线永磁同步电动机动态仿真模型，仿真不同驱动方式下电动机起动、稳态运行时电磁力、速度、位移的变化情况。
Linear Permanent Magnet Synchronous Motor (LPMSM) is one kind of linear motors to which researchers pay more attention in recent years. LPMSM has been applied to linear servo system widely for it's high reliability and advanced dynamic response. The subject of this thesis is to study ironless moving coil linear permanent magnet synchronous motor and the major works in this thesis are summarized as follows:
1) Two analytical formulas are derived by concentrated current method and distributed current method to determine the magnetic field due to PM, based on the current model of PM. Besides, two method (magnetic charge method and solution by Laplace equation method) are also introduced with comparing their advantages and disadvantages. Then the effects of the motor parameters on the flux distribution are discussed.
2) According to the law of F-BIL, the formula to calculate the thrust of ironless moving coil linear PM synchronous motor is obtained. So that the static characteristic of thrust vs.-displacement may be determined.
3) The model for dynamic simulation of LPMSM is realized under MATLAB/SIMULINK. environment. The simulation of starting, steady state characteristics of a test motor under different drive modes are investigated.
Linear Permanent Magnet Synchronous Motor (LPMSM) is one kind of linear motors to which researchers pay more attention in recent years. LPMSM has been applied to linear servo system widely for it's high reliability and advanced dynamic response. The subject of this thesis is to study ironless moving coil linear permanent magnet synchronous motor and the major works in this thesis are summarized as follows:
1) Two analytical formulas are derived by concentrated current method and distributed current method to determine the magnetic field due to PM, based on the current model of PM. Besides, two method (magnetic charge method and solution by Laplace equation method) are also introduced with comparing their advantages and disadvantages. Then the effects of the motor parameters on the flux distribution are discussed.
2) According to the law of F-BIL, the formula to calculate the thrust of ironless moving coil linear PM synchronous motor is obtained. So that the static characteristic of thrust vs.-displacement may be determined.
3) The model for dynamic simulation of LPMSM is realized under MATLAB/SIMULINK. environment. The simulation of starting, steady state characteristics of a test motor under different drive modes are investigated.
引文
[1] Kollmorgen Motion Technologies Group. Direct Drive linear Motors.1997.
[2] BALDOR electric company. BALDOR Linear Motion Products 1998
[3] 唐任远．特种电机．北京：机械工业出版社，1998．
[4] 纳赛尔 S A，波尔达 I 著．直线电机．龙遐令等译．北京：科学出版社，1982．
[5] 叶云岳．直线电机原理与应用．北京：机械工业出版社，2000．
[6] I. Boldea, S. A. Nasar. Linear Electric Actuators and Generators. IEEE Trans. on Energy Conversion, 1999, (3): 712～715.
[7] 李猷黔．直接驱动直线交流伺服电动机．微电机，1998 (3)：21～23
[8] Kollmorgen Product Support Package. Kollmorgen. 1997.
[9] 乔景富．直线电机在车床上的应用．机电一体化，1998，(3)：31～34
[10] 张翊诚，杨正新，李小弟，淳静．直线电机在机床的应用与展望．微特电机，2001，(3)：29～31．
[11] 中国机床工作协会1994赴美，日考察工作组．直线伺服电机传动和高速加工．制造技术与机床，1995，(9)：28～31
[12] 唐苏亚．21世纪机器人及其电机韵市场展望．微电机，1998，(6)：29～30．
[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] G Y Xiong, Nasar S A. Analysis of the field and forces in a permanent-magnet linear synchronous machine based on the conception of magnetic charge. IEEE MAG, 1989(3): 2713～2719.
[15] 陈阳生，林友仰．永磁电机气隙磁密的分析计算．中国电机工程学报，1994．(5)：17～26．
[16] Gu Qishan, Gao Hongzhan: Air gap field for PM electric machines: Electric
Machines and Power Systems, 1985, (5): 459～470.
[17] Vineeta Gangla, Jaime De Da Ree. Electromechanical forces and torque in brushless permanent magnet machines. IEEE Trans. on Energy Conversion. 1991, 6, (3):
[18] In-Soung Jung, Sang-Baeck Yoon, Jang-Ho Sim, Dong-Seok Hyun. Analysis of Forces in a short Primary Type and a Short Secondary Type Permanent Magnet Linear Synchronous Motor. IEEE Trans. on Energy Conversion: 1999,14,(4):1265～1269
[19] 高景德，张麟征．电机过渡过程的基本理论及分析方法．北京．科学出版社，1982．
[20] Honsinger V B. Permanent magnet machines: asynchronous operation. IEEE trans on PAS-99, 1980, (4): 1503～1509.
[21] Rahman M. A. Little T. A. Dynamic performance analysis of permanent magnet motors. IEEE trans on PAS-103, 1984, (6): 1277～1282
[22] Miller, Timothy J. E. Single-phase permanent-magnet motor analysis. IEEE Trans. on Industry Applications. 1985, (3): 651～658.
[23] Osheba, Shaban M., Abdel-Kader, Farouk M. Performance analysis of permanent magnet synchronous motors--Ⅱ: Operation from variable source and transient characteristics. IEEE Trans. on Energy Conversion. 1991,6, (1): 83-89.
[24] 陈特放，刘子建．基于MATLAB/SIMULINK的异步电动机直接转矩控制系统的建模与仿真．机车电传动．1998，(2)：7～11．
[25] 焦留成，付子义，陈峰．垂直运动永磁直线同步电动机的动态仿真研究．焦作工学院学报．2000，(6)：434～438．
[26] 郑廷海，叶东．计算永磁电机电磁转距的方法．电力情报，1996：(1)：6～10．
[27] PRAGASEN PILLAY, RAMU KRISHNAN. Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drives, Part Ⅰ: The Permanent-Magnet Synchronous Motor Drive. IEEE Trans. on Industry Applications, 1989,25, (2): 265～272.
[28] 邓建国，李杰．电流型交—交变频同步电动机起动特性的计算机仿真。电机电器技术，1999，(3)：2～6．
[29] 肖际伟，周以齐．电压型逆变器供电的三相永磁同步电动机起动过程仿真．微特电机，1996，(4)：7～11．
[30] 汤蕴璆．电机内的电磁场．北京．科学出版社，1981．
[31] 美国ANSYS公司北京办事处．ANSYS电磁场分析指南．
[32] 王国强．实用工程数值模拟技术及在ANSYS上的实践．西安：西北工业大学出版社，1999．
[33] 思索．Mathcad7.0实用教程．北京：人民邮电出版社，1998．
[34] 高月春，熊光煜．直线异步电机空载气隙磁场的分析．太原理工大学学报，1999，3：246～249．
[35] Coulomb J L.A Methodology for the determination of global electromechanical quantities from a finite element analysis and its application to the evaluation of amgnetic forces, torque and stiffness. IEEE Transactions on Magentic, 1983,19(6): 2512～2519.
[36] 李庆雷，王先魁，吴丹，刘成颖，石忠东．永磁同步直线电机推力及垂直力的有限元计算．清华大学学报(自然科学版)2000，40(5)：20～23．
[37] 冯慈璋．电磁场．北京：高等教育出版社，1979．
[38] 刘克富，丁同海，潘恒，刘宝华．被动补偿脉冲发电机气隙磁场及电枢电感计
算．微特电机，1996，(3)：24～26．
[39] 郑柒拾，王凤翔．无刷永磁直流电机的绕组参数计算．沈阳工业大学学报，2000，22，(3)：203～206．
[40] 韩利竹，王华．MATLAB电子仿真与应用．北京：国防工业出版社，2001．
[41] 范影乐，杨胜天，李轶．MATLAB仿真应用详解．北京：人民邮电出版社，2001．
[42] Liang Deliang, Ding Fanlin. Simulation of reactive linear synchronous motor starting performance. Simulation Practice and Theory 7 7 2000 Elsevier Science B.V. p 691-707.
[43] Jahabar, J. M., Pillai, S. K., Srisailam, M.C. Digital simulation of vector control of fixed frequency controlled PWM inverter-fed synchronous motor. IEEE/IAS International Conference on Industrial Automation and Control, Proceedings Jan 5-7 1995, 1995 IEEE p 189-194.
[44] 马小亮，许镇林，许勇，蔡昆．数字控制交-交变频-同步电动机矢量控制系统仿真．电工技术学报，2000，15(5)：16～21．
[45] 黄俊，王兆安．电力电子变流技术．北京：机械工业出版社，1993．
[2] BALDOR electric company. BALDOR Linear Motion Products 1998
[3] 唐任远．特种电机．北京：机械工业出版社，1998．
[4] 纳赛尔 S A，波尔达 I 著．直线电机．龙遐令等译．北京：科学出版社，1982．
[5] 叶云岳．直线电机原理与应用．北京：机械工业出版社，2000．
[6] I. Boldea, S. A. Nasar. Linear Electric Actuators and Generators. IEEE Trans. on Energy Conversion, 1999, (3): 712～715.
[7] 李猷黔．直接驱动直线交流伺服电动机．微电机，1998 (3)：21～23
[8] Kollmorgen Product Support Package. Kollmorgen. 1997.
[9] 乔景富．直线电机在车床上的应用．机电一体化，1998，(3)：31～34
[10] 张翊诚，杨正新，李小弟，淳静．直线电机在机床的应用与展望．微特电机，2001，(3)：29～31．
[11] 中国机床工作协会1994赴美，日考察工作组．直线伺服电机传动和高速加工．制造技术与机床，1995，(9)：28～31
[12] 唐苏亚．21世纪机器人及其电机韵市场展望．微电机，1998，(6)：29～30．
[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] G Y Xiong, Nasar S A. Analysis of the field and forces in a permanent-magnet linear synchronous machine based on the conception of magnetic charge. IEEE MAG, 1989(3): 2713～2719.
[15] 陈阳生，林友仰．永磁电机气隙磁密的分析计算．中国电机工程学报，1994．(5)：17～26．
[16] Gu Qishan, Gao Hongzhan: Air gap field for PM electric machines: Electric
Machines and Power Systems, 1985, (5): 459～470.
[17] Vineeta Gangla, Jaime De Da Ree. Electromechanical forces and torque in brushless permanent magnet machines. IEEE Trans. on Energy Conversion. 1991, 6, (3):
[18] In-Soung Jung, Sang-Baeck Yoon, Jang-Ho Sim, Dong-Seok Hyun. Analysis of Forces in a short Primary Type and a Short Secondary Type Permanent Magnet Linear Synchronous Motor. IEEE Trans. on Energy Conversion: 1999,14,(4):1265～1269
[19] 高景德，张麟征．电机过渡过程的基本理论及分析方法．北京．科学出版社，1982．
[20] Honsinger V B. Permanent magnet machines: asynchronous operation. IEEE trans on PAS-99, 1980, (4): 1503～1509.
[21] Rahman M. A. Little T. A. Dynamic performance analysis of permanent magnet motors. IEEE trans on PAS-103, 1984, (6): 1277～1282
[22] Miller, Timothy J. E. Single-phase permanent-magnet motor analysis. IEEE Trans. on Industry Applications. 1985, (3): 651～658.
[23] Osheba, Shaban M., Abdel-Kader, Farouk M. Performance analysis of permanent magnet synchronous motors--Ⅱ: Operation from variable source and transient characteristics. IEEE Trans. on Energy Conversion. 1991,6, (1): 83-89.
[24] 陈特放，刘子建．基于MATLAB/SIMULINK的异步电动机直接转矩控制系统的建模与仿真．机车电传动．1998，(2)：7～11．
[25] 焦留成，付子义，陈峰．垂直运动永磁直线同步电动机的动态仿真研究．焦作工学院学报．2000，(6)：434～438．
[26] 郑廷海，叶东．计算永磁电机电磁转距的方法．电力情报，1996：(1)：6～10．
[27] PRAGASEN PILLAY, RAMU KRISHNAN. Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drives, Part Ⅰ: The Permanent-Magnet Synchronous Motor Drive. IEEE Trans. on Industry Applications, 1989,25, (2): 265～272.
[28] 邓建国，李杰．电流型交—交变频同步电动机起动特性的计算机仿真。电机电器技术，1999，(3)：2～6．
[29] 肖际伟，周以齐．电压型逆变器供电的三相永磁同步电动机起动过程仿真．微特电机，1996，(4)：7～11．
[30] 汤蕴璆．电机内的电磁场．北京．科学出版社，1981．
[31] 美国ANSYS公司北京办事处．ANSYS电磁场分析指南．
[32] 王国强．实用工程数值模拟技术及在ANSYS上的实践．西安：西北工业大学出版社，1999．
[33] 思索．Mathcad7.0实用教程．北京：人民邮电出版社，1998．
[34] 高月春，熊光煜．直线异步电机空载气隙磁场的分析．太原理工大学学报，1999，3：246～249．
[35] Coulomb J L.A Methodology for the determination of global electromechanical quantities from a finite element analysis and its application to the evaluation of amgnetic forces, torque and stiffness. IEEE Transactions on Magentic, 1983,19(6): 2512～2519.
[36] 李庆雷，王先魁，吴丹，刘成颖，石忠东．永磁同步直线电机推力及垂直力的有限元计算．清华大学学报(自然科学版)2000，40(5)：20～23．
[37] 冯慈璋．电磁场．北京：高等教育出版社，1979．
[38] 刘克富，丁同海，潘恒，刘宝华．被动补偿脉冲发电机气隙磁场及电枢电感计
算．微特电机，1996，(3)：24～26．
[39] 郑柒拾，王凤翔．无刷永磁直流电机的绕组参数计算．沈阳工业大学学报，2000，22，(3)：203～206．
[40] 韩利竹，王华．MATLAB电子仿真与应用．北京：国防工业出版社，2001．
[41] 范影乐，杨胜天，李轶．MATLAB仿真应用详解．北京：人民邮电出版社，2001．
[42] Liang Deliang, Ding Fanlin. Simulation of reactive linear synchronous motor starting performance. Simulation Practice and Theory 7 7 2000 Elsevier Science B.V. p 691-707.
[43] Jahabar, J. M., Pillai, S. K., Srisailam, M.C. Digital simulation of vector control of fixed frequency controlled PWM inverter-fed synchronous motor. IEEE/IAS International Conference on Industrial Automation and Control, Proceedings Jan 5-7 1995, 1995 IEEE p 189-194.
[44] 马小亮，许镇林，许勇，蔡昆．数字控制交-交变频-同步电动机矢量控制系统仿真．电工技术学报，2000，15(5)：16～21．
[45] 黄俊，王兆安．电力电子变流技术．北京：机械工业出版社，1993．