空心式永磁直线伺服电机及其驱动控制系统研究
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摘要
本文以空心式永磁直线伺服电机及其驱动控制系统为研究对象,在进行了大量的相关文献检索和阅读的基础上,主要完成了以下工作:
1.空心式扁平型永磁直线伺服电机的分析与设计。介绍了双边空心式扁平型永磁直线伺服电机的结构、特点和绕组形式。采用“等效磁势法”和“等效磁化强度法”对电机内磁场进行解析分析,通过与有限元分析结果的比较,证明“等效磁化强度法”的求解结果是准确的。推导出电机气隙磁密、推力和反电势的解析公式,详细分析了电机主要尺寸对电机性能的影响。提出了电机主要尺寸和性能参数的经验公式,设计了样机,并采用有限元法对样机进行了分析。
2.空心式圆筒型永磁直线伺服电机的分析与设计。介绍了轴向充磁的空心式圆筒型永磁直线伺服电机的结构与特点,采用有限元法分析了永磁体尺寸对电机气隙磁场的影响。给出设计该结构电机的经验公式和经验参数,设计了样机,并采用有限元法对样机的磁场、动静态推力、反电势和电感进行了分析。
3.永磁直线伺服电机驱动控制系统研究。建立了dq轴坐标下永磁直线电机的数学模型,研究矢量控制在永磁直线电机驱动系统中的应用。设计了基于转子磁场定向(i_d=0)控制的位置、速度、电流三闭环矢量控制系统。最后提出了一种低成本的线性霍尔位置检测方法,对该检测方法的准确性进行了理论分析,并通过实验进行了检验。
4.永磁直线伺服系统的实验与应用。设计制造了空心式扁平型永磁直线伺服电机的工作平台,对电机性能进行了测试。将空心式圆筒型永磁直线电机及驱动控制系统应用于食品切片机和电梯门机中,针对不同运行工况条件,分别进行了实验研究,均取得了较好的应用效果。目前食品切片机已经由美国ITW公司生产销售,而电梯门机也已经申请了专利,在“中国国际电梯展览会”上展出,现进入产品鉴定阶段。
本文中创新性的工作主要有:
1.采用“等效磁势法”和“等效磁化强度法”对双边空心式扁平型永磁直线电机进行解析分析,通过将解析分析结果与有限元分析结果进行对比,证明“等效磁化强度法”的求解结果是准确的,而“等效磁势法”误差较大,具有一定局限性。推导出该结构电机气隙磁密、推力和反电势的解析公式,并详细分析了电机主要尺寸对电机性能的影响。
2.针对空心式圆筒型永磁直线伺服电机,采用有限元法分析了永磁体尺寸对气隙磁场正弦度的影响。给出电机主要尺寸和性能参数的经验公式,设计了样机,并将空心式圓筒型永磁直线伺服电机及其驱动控制系统应用于食品切片机和电梯门机系统中,均取得良好的应用效果。
3.提出将一种低成本的线性霍尔位置检测方法应用于空心式圆筒型永磁直线伺服系统中。在对电机磁场进行有限元分析的基础上,对该检测方法精度进行了理论分析,设计制造了线性霍尔位置检测器,对其检测精度进行了实验研究。
The air-cored permanent magnet linear servo motor (PMLSM) and control system is studied in the thesis. On the basis of reading lots of references, several main works has been done as below:
1. Analysis and design of the flat type air-cored PMLSM. The topology, winding construction and characteristic of the motor are introduced. The magnetic field is analyzed by "equivalent magnetomotive force method" and "equivalent magnetization intensity method". Comparing the analytical solutions with the FEA solution, the "equivalent magnetomotive force method" is proved more accurate. The analytical equations of magnetic flux density, thrust force and back EMF are deduced, and equations are proved accurate by FEA. The influence of the motor key dimensions to the magnetic flux density, thrust force and back EMF are analyzed. The empirical design equations of the key dimensions and characteristic parameters of the motor are proposed. A prototype is designed and manufactured, and the performance of the prototype is analyzed by FEA.
2. Analysis and design of the tubular type air-cored PMLSM. The topology and characteristic of the axial array tubular type air-cored PMLSM are introduced. The influence of the PM dimensions to the magetic field is analyzed by FEA. The empirical design equations and parameters of the motor are proposed. The prototypes are designed and manufactured, and the magnetic filed, static and dynamic thrust, back EMF and inductance of the prototype are analyzed by FEA.
3. Study of the driver and control system of the PMLSM. The mathematic model of the PMLSM under dq coordinate is built, and the principle of the field oriented control method is introduced. A three closed loop about position, velocity and current control system based on field oriented control is designed, and the software and hardware of the control system are introduced. At last, a low-cost position detecting method using linear hall-effect sensors is proposed. The detecting accuracy is analyzed theoretically and this method is also test by the experiment.
4. Experiments and applications of the permanent magnet linear servo system. An operating platform of the flat type air-cored PMLSM is manufactured, and the performance of the motor is test. The tubular type air-cored PMLSM are applied in the food-cutting machines and elevator door systems. The experiments are carried out under different operational conditions and the performances of the motors are presented. Both of these two applications achieve good results. At present time, the food-cutting machines have been produced by ITW of USA. The patent of the elevator door system has been applied, the novel elevator door was shown on the "World elevator & escalator expo' 08", and the production has step into the survey stage.
The original works of this thesis includes:
1. Solving the magnetic field of the the flat type air-cored PMLSM by the analytical method-"equivalent magnetomotive force method" and "equivalent magnetization intensity method". The "equivalent magnetomotive force method" is proved more accurate by the way of comparing the analytical solutions with the FEA solution. The error of solutions solving by "equivalent magnetomotive force method" is bigger, so this analytical method has limitation. The analytical equations of magnetic flux density, thrust force and back EMF are deduced, and the influences of the motor key dimensions to the performance of the motor are analyzed.
2. In the study of the tubular type air-cored PMLSM, the influences of the permanent magnet dimensions to the magnetic field of the motor are analyzed by FEA. The empirical design equations of the motor are proposed, and prototypes are designed. The tubular type air-cored PMLSM are applied in the food-cutting machines and elevator door systems and achieve good results.
3. Using a low cost position detecting method by linear hall-effect sensors in the tubular type permanent magnet linear servo systems. Based on the analysis of the magnetic field of the motor, the accauracy of this position detecting method is analyzed theoretically and experimentally.
1.空心式扁平型永磁直线伺服电机的分析与设计。介绍了双边空心式扁平型永磁直线伺服电机的结构、特点和绕组形式。采用“等效磁势法”和“等效磁化强度法”对电机内磁场进行解析分析,通过与有限元分析结果的比较,证明“等效磁化强度法”的求解结果是准确的。推导出电机气隙磁密、推力和反电势的解析公式,详细分析了电机主要尺寸对电机性能的影响。提出了电机主要尺寸和性能参数的经验公式,设计了样机,并采用有限元法对样机进行了分析。
2.空心式圆筒型永磁直线伺服电机的分析与设计。介绍了轴向充磁的空心式圆筒型永磁直线伺服电机的结构与特点,采用有限元法分析了永磁体尺寸对电机气隙磁场的影响。给出设计该结构电机的经验公式和经验参数,设计了样机,并采用有限元法对样机的磁场、动静态推力、反电势和电感进行了分析。
3.永磁直线伺服电机驱动控制系统研究。建立了dq轴坐标下永磁直线电机的数学模型,研究矢量控制在永磁直线电机驱动系统中的应用。设计了基于转子磁场定向(i_d=0)控制的位置、速度、电流三闭环矢量控制系统。最后提出了一种低成本的线性霍尔位置检测方法,对该检测方法的准确性进行了理论分析,并通过实验进行了检验。
4.永磁直线伺服系统的实验与应用。设计制造了空心式扁平型永磁直线伺服电机的工作平台,对电机性能进行了测试。将空心式圆筒型永磁直线电机及驱动控制系统应用于食品切片机和电梯门机中,针对不同运行工况条件,分别进行了实验研究,均取得了较好的应用效果。目前食品切片机已经由美国ITW公司生产销售,而电梯门机也已经申请了专利,在“中国国际电梯展览会”上展出,现进入产品鉴定阶段。
本文中创新性的工作主要有:
1.采用“等效磁势法”和“等效磁化强度法”对双边空心式扁平型永磁直线电机进行解析分析,通过将解析分析结果与有限元分析结果进行对比,证明“等效磁化强度法”的求解结果是准确的,而“等效磁势法”误差较大,具有一定局限性。推导出该结构电机气隙磁密、推力和反电势的解析公式,并详细分析了电机主要尺寸对电机性能的影响。
2.针对空心式圆筒型永磁直线伺服电机,采用有限元法分析了永磁体尺寸对气隙磁场正弦度的影响。给出电机主要尺寸和性能参数的经验公式,设计了样机,并将空心式圓筒型永磁直线伺服电机及其驱动控制系统应用于食品切片机和电梯门机系统中,均取得良好的应用效果。
3.提出将一种低成本的线性霍尔位置检测方法应用于空心式圆筒型永磁直线伺服系统中。在对电机磁场进行有限元分析的基础上,对该检测方法精度进行了理论分析,设计制造了线性霍尔位置检测器,对其检测精度进行了实验研究。
The air-cored permanent magnet linear servo motor (PMLSM) and control system is studied in the thesis. On the basis of reading lots of references, several main works has been done as below:
1. Analysis and design of the flat type air-cored PMLSM. The topology, winding construction and characteristic of the motor are introduced. The magnetic field is analyzed by "equivalent magnetomotive force method" and "equivalent magnetization intensity method". Comparing the analytical solutions with the FEA solution, the "equivalent magnetomotive force method" is proved more accurate. The analytical equations of magnetic flux density, thrust force and back EMF are deduced, and equations are proved accurate by FEA. The influence of the motor key dimensions to the magnetic flux density, thrust force and back EMF are analyzed. The empirical design equations of the key dimensions and characteristic parameters of the motor are proposed. A prototype is designed and manufactured, and the performance of the prototype is analyzed by FEA.
2. Analysis and design of the tubular type air-cored PMLSM. The topology and characteristic of the axial array tubular type air-cored PMLSM are introduced. The influence of the PM dimensions to the magetic field is analyzed by FEA. The empirical design equations and parameters of the motor are proposed. The prototypes are designed and manufactured, and the magnetic filed, static and dynamic thrust, back EMF and inductance of the prototype are analyzed by FEA.
3. Study of the driver and control system of the PMLSM. The mathematic model of the PMLSM under dq coordinate is built, and the principle of the field oriented control method is introduced. A three closed loop about position, velocity and current control system based on field oriented control is designed, and the software and hardware of the control system are introduced. At last, a low-cost position detecting method using linear hall-effect sensors is proposed. The detecting accuracy is analyzed theoretically and this method is also test by the experiment.
4. Experiments and applications of the permanent magnet linear servo system. An operating platform of the flat type air-cored PMLSM is manufactured, and the performance of the motor is test. The tubular type air-cored PMLSM are applied in the food-cutting machines and elevator door systems. The experiments are carried out under different operational conditions and the performances of the motors are presented. Both of these two applications achieve good results. At present time, the food-cutting machines have been produced by ITW of USA. The patent of the elevator door system has been applied, the novel elevator door was shown on the "World elevator & escalator expo' 08", and the production has step into the survey stage.
The original works of this thesis includes:
1. Solving the magnetic field of the the flat type air-cored PMLSM by the analytical method-"equivalent magnetomotive force method" and "equivalent magnetization intensity method". The "equivalent magnetomotive force method" is proved more accurate by the way of comparing the analytical solutions with the FEA solution. The error of solutions solving by "equivalent magnetomotive force method" is bigger, so this analytical method has limitation. The analytical equations of magnetic flux density, thrust force and back EMF are deduced, and the influences of the motor key dimensions to the performance of the motor are analyzed.
2. In the study of the tubular type air-cored PMLSM, the influences of the permanent magnet dimensions to the magnetic field of the motor are analyzed by FEA. The empirical design equations of the motor are proposed, and prototypes are designed. The tubular type air-cored PMLSM are applied in the food-cutting machines and elevator door systems and achieve good results.
3. Using a low cost position detecting method by linear hall-effect sensors in the tubular type permanent magnet linear servo systems. Based on the analysis of the magnetic field of the motor, the accauracy of this position detecting method is analyzed theoretically and experimentally.
引文
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