圆筒型永磁直线同步电机用线性霍尔位置检测的误差补偿

发布时间：2018-04-21 06:20

本文选题：永磁直线同步电机 + 线性霍尔传感器　；参考：《电工技术学报》2017年05期

【摘要】：分析了圆筒型永磁直线同步电机采用线性霍尔传感器进行位置检测时存在的误差,并提出了一种离线标定和在线Kalman滤波相结合的误差补偿方法。霍尔传感器信号的误差形式包括存在直流偏置、两路信号幅值不相等和信号中含有谐波等。前两种误差形式分别会在位置检测结果中产生基频和2倍基频误差,对此通过离线标定的方式获得两路信号的直流偏置和幅值比,并补偿到原始信号中。霍尔信号中的谐波由气隙磁场畸变引起,利用有限元仿真分析了磁场中的谐波含量,分析表明磁场畸变会导致位置检测产生4倍基频误差,对此采用在线Kalman滤波提取霍尔信号中的基波分量,消除了谐波分量的影响。实验结果表明,补偿后的位置检测误差减小了81%,从而验证了该补偿方法的有效性。
[Abstract]:In this paper, the errors in position detection of cylindrical permanent magnet linear synchronous motor using linear Hall sensor are analyzed, and an error compensation method combining off-line calibration and on-line Kalman filtering is proposed. The error forms of Hall sensor signal include the existence of DC bias, the unequal amplitude of two signals and the existence of harmonics in the signal. The first two kinds of errors can produce fundamental frequency error and double fundamental frequency error in the position detection results respectively. The DC bias and amplitude ratio of the two signals are obtained by off-line calibration and compensated to the original signal. The harmonic in Hall signal is caused by the air gap magnetic field distortion. The harmonic content in the magnetic field is analyzed by finite element simulation. The analysis shows that the magnetic field distortion will lead to 4 times fundamental frequency error in position detection. In this paper, the fundamental component of Hall signal is extracted by on-line Kalman filter, and the influence of harmonic component is eliminated. The experimental results show that the position detection error after compensation is reduced by 81s, which verifies the effectiveness of the compensation method.
【作者单位】：清华大学机械工程系;清华大学摩擦学国家重点实验室;清华大学精密超精密制造装备与控制北京市重点实验室;
【基金】：国家科技支撑计划资助项目(2015BAI0B16)
【分类号】：TM341

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