永磁直线电机的驱动特性理论及推力波动优化设计研究
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摘要
本文在浙江省科技计划重点项目的资助下,对永磁直线同步电机的电磁特性、电磁参数、稳态特性、力场特性及其推力波动等直接驱动特性进行了深入而系统的研究。
第一章,阐述本论文研究的工程背景与学术价值,详细介绍了国内外直线电机直接驱动技术的特点及其在机械装备、电子专用装备中的应用与研究现状,提出论文研究的主要内容。
第二章,提出了基于EMC(等效磁化电流)的永磁直线电机直接驱动单元的电磁场分析统一模型。在该模型中,永磁体与绕组电流采用通用的傅立叶级数(积分)表示,从而使两者的电磁场分析具有相同的形式。并运用该模型对空心与无槽永磁直线同步电机进行了电磁场对比分析,并与有限元分析进行了对比验证,结果吻合良好。
第三章,采用许-可变换建立了铁心齿槽永磁直线电机的齿槽效应电磁场分析模型,并结合上一章的统一模型,对铁心分数槽PMLSM的电磁场进行了电磁场解析;并与有限元数值分析进行对比验证,结果吻合良好。
第四章,建立PMLSM的稳态运行方程、相量图、电磁功率方程以及推力等;在此基础上,进一步探讨PMLSM的力角特性、电源电压幅值与频率对功率以及推力的影响、推力系数等。在上述基础理论与前两章电磁场分析的基础上,基于场路结合,分析PMLSM的等效电路与相关电磁参数,并进一步分析其稳态运行特性、功率方程、推力系数等。
第五章,运用有限元数值分析方法,对试验PMLSM在不同电流幅值(电流相位不变)与不同电流相位(电流幅值不变)情况下的水平推力、法向吸力,验证交轴电流与推力之间的关系等。最后对PMLSM的推力波动的产生机理进行了分析,指出关键是反电势波形的正弦形,并进一步论述了通过改善反电动势波形从而降低推力波动的两种有效措施。
第六章,从推力波动的角度对边端效应和齿槽效应进行建模与优化。首先,采用半无限单端结构建立了由于边端效应产生的边端力分析模型,运用傅立叶级数与数值分析相结合的方法对边端力进行了分析,并提出了优化动子长度从而降低边端力的原理与方法;采用有限元数值方法对齿槽效应产生的齿槽力进行建模与分析,以及分数槽与整数槽、不同齿槽结构尺寸下的齿槽力对比分析;最后分析了永磁体宽度对磁阻力的影响,从而确立优化的动子长度、分数槽与永磁体宽度。
第七章,试验研究。提出电磁参数与稳态特性运行测试的试验方案,成功地测试与分析了PMLSM的电磁参数、磁阻力、速度稳定性、精度与重复定位精度特性。并将测试电磁参数和磁阻力与前述分析结果进行了对比验证,均具有较好的一致性。速度特性测试表明PMLSM具有良好的速度稳定性。最后,运用试验设计(DOE)方法与统计学原理,对PMLSM的定位精度、重复定位精度进行统计分析。
第八章,结论和展望。总结全文的主要研究内容和创新点,展望未来的研究工作。
With the support of the key project of Zhejiang province science and technology Program, this dissertation studies the electromagnetic field model and characteristics analysis in details. The dissertation can be divided into eight chapters.In chapter 1, the value and aim of the dissertation are stated. At first, the application and research actuality of the linear motors direct-driving technology in the machining tools and electronic industry-specific equipments at home and abroad are reviewed. Then the main content of the dissertation is presented.In chapter 2, a novel general space harmonics field analysis model is developed to determine the magnetic field distribution in various permanent magnet linear motors. In this model, the spatial distribution of current and PM is replaced by the Equivalent Magnetizing Current(EMC). And the EMC model was employed to solve the magnetic field distribution of air cored and slotless Permanent Magnet Linear Synchronous Motor (PMLSM), the computed results by the proposed model are compared with those generated from finite element method, which show in good agreements.In chapter 3, based on the equivalent magnetometive function, the slot effect model of air gap magnetic field in iron-cored slotted PMLSM was presented by Schwarz-Christoffel Transformation. Combined with the above EMC model, the air gap magnetic field distribution of iron-cored slotted PMLSM was analyzed with the slot effect taken into account, and computed results by the proposed model are compared with those generated from finite element method, which show in good agreements.In chapter 4, combined the magnetic field distribution generated from above model with equivalent magnetic circuit, electromagnetic parameters such as synchronous reactance, reaction reactance, leakage reactance and back electromotive force constant etc. were concluded, and the steady-state operation characteristics were disclosed. Further the steady-state operation performance analysis were completed, including the phase voltage and frequency impact on thrust and power, thrust—power angle characteristic, thrust constant, power equation etc.In chapter 5, finite element method was employed; the thrust and normal force were computed under the conditions of different currents virtual values with fixed
第一章,阐述本论文研究的工程背景与学术价值,详细介绍了国内外直线电机直接驱动技术的特点及其在机械装备、电子专用装备中的应用与研究现状,提出论文研究的主要内容。
第二章,提出了基于EMC(等效磁化电流)的永磁直线电机直接驱动单元的电磁场分析统一模型。在该模型中,永磁体与绕组电流采用通用的傅立叶级数(积分)表示,从而使两者的电磁场分析具有相同的形式。并运用该模型对空心与无槽永磁直线同步电机进行了电磁场对比分析,并与有限元分析进行了对比验证,结果吻合良好。
第三章,采用许-可变换建立了铁心齿槽永磁直线电机的齿槽效应电磁场分析模型,并结合上一章的统一模型,对铁心分数槽PMLSM的电磁场进行了电磁场解析;并与有限元数值分析进行对比验证,结果吻合良好。
第四章,建立PMLSM的稳态运行方程、相量图、电磁功率方程以及推力等;在此基础上,进一步探讨PMLSM的力角特性、电源电压幅值与频率对功率以及推力的影响、推力系数等。在上述基础理论与前两章电磁场分析的基础上,基于场路结合,分析PMLSM的等效电路与相关电磁参数,并进一步分析其稳态运行特性、功率方程、推力系数等。
第五章,运用有限元数值分析方法,对试验PMLSM在不同电流幅值(电流相位不变)与不同电流相位(电流幅值不变)情况下的水平推力、法向吸力,验证交轴电流与推力之间的关系等。最后对PMLSM的推力波动的产生机理进行了分析,指出关键是反电势波形的正弦形,并进一步论述了通过改善反电动势波形从而降低推力波动的两种有效措施。
第六章,从推力波动的角度对边端效应和齿槽效应进行建模与优化。首先,采用半无限单端结构建立了由于边端效应产生的边端力分析模型,运用傅立叶级数与数值分析相结合的方法对边端力进行了分析,并提出了优化动子长度从而降低边端力的原理与方法;采用有限元数值方法对齿槽效应产生的齿槽力进行建模与分析,以及分数槽与整数槽、不同齿槽结构尺寸下的齿槽力对比分析;最后分析了永磁体宽度对磁阻力的影响,从而确立优化的动子长度、分数槽与永磁体宽度。
第七章,试验研究。提出电磁参数与稳态特性运行测试的试验方案,成功地测试与分析了PMLSM的电磁参数、磁阻力、速度稳定性、精度与重复定位精度特性。并将测试电磁参数和磁阻力与前述分析结果进行了对比验证,均具有较好的一致性。速度特性测试表明PMLSM具有良好的速度稳定性。最后,运用试验设计(DOE)方法与统计学原理,对PMLSM的定位精度、重复定位精度进行统计分析。
第八章,结论和展望。总结全文的主要研究内容和创新点,展望未来的研究工作。
With the support of the key project of Zhejiang province science and technology Program, this dissertation studies the electromagnetic field model and characteristics analysis in details. The dissertation can be divided into eight chapters.In chapter 1, the value and aim of the dissertation are stated. At first, the application and research actuality of the linear motors direct-driving technology in the machining tools and electronic industry-specific equipments at home and abroad are reviewed. Then the main content of the dissertation is presented.In chapter 2, a novel general space harmonics field analysis model is developed to determine the magnetic field distribution in various permanent magnet linear motors. In this model, the spatial distribution of current and PM is replaced by the Equivalent Magnetizing Current(EMC). And the EMC model was employed to solve the magnetic field distribution of air cored and slotless Permanent Magnet Linear Synchronous Motor (PMLSM), the computed results by the proposed model are compared with those generated from finite element method, which show in good agreements.In chapter 3, based on the equivalent magnetometive function, the slot effect model of air gap magnetic field in iron-cored slotted PMLSM was presented by Schwarz-Christoffel Transformation. Combined with the above EMC model, the air gap magnetic field distribution of iron-cored slotted PMLSM was analyzed with the slot effect taken into account, and computed results by the proposed model are compared with those generated from finite element method, which show in good agreements.In chapter 4, combined the magnetic field distribution generated from above model with equivalent magnetic circuit, electromagnetic parameters such as synchronous reactance, reaction reactance, leakage reactance and back electromotive force constant etc. were concluded, and the steady-state operation characteristics were disclosed. Further the steady-state operation performance analysis were completed, including the phase voltage and frequency impact on thrust and power, thrust—power angle characteristic, thrust constant, power equation etc.In chapter 5, finite element method was employed; the thrust and normal force were computed under the conditions of different currents virtual values with fixed
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