动圈式磁悬浮永磁平面电机设计与控制研究

发布时间：2018-06-18 12:58

本文选题：永磁电机 + 平面电机　；参考：《江苏大学》2017年博士论文

【摘要】：随着精密工程技术领域生产规模和技术水平的快速发展,相关行业对多自由度精密定位台的需求在不断增加,对其定位精度、响应速度、自由度维数等性能的要求也在不断提高。传统的二维定位平台采用机械叠加方式,存在侧隙、变形、摩擦、结构复杂和运动质量大等固有缺点,导致其定位精度和响应速度很难达到满意水平。磁悬浮永磁平面电机(Magnetically Levitated Permanent Magnet Planar Motor,MLPMPM)无需额外机械导轨支撑,直接驱动动子实现六自由度运动,具有结构简单紧凑、无机械摩擦、定位精度高、响应速度快等优点,在现代高端装备制造领域具有极大的应用潜力。本文在国家自然科学基金(51175296)的资助下,以一种无铁心动圈式MLPMPM为研究对象,围绕运行机理、结构设计、电磁分析、参数优化、解耦控制和数字控制系统设计等方面开展研究。在此基础上,设计了 MLPMPM的综合实验平台并开展了相关的实验研究,验证了方法和结论的正确性。论文的主要研究工作概略如下:(1)以减小磁场谐波含量为目标,提出了一种新型的二维磁钢阵列结构。在分析典型Halbach二维磁钢阵列气隙磁场分布的基础上,对二维磁钢阵列进行了重构,设计出新型二维磁钢阵列,并建立了气隙磁场的谐波解析模型;以“磁场基波磁密幅值尽可能大且磁场畸变尽可能小”为目标优化设计了新型磁钢阵列的主要参数;建立了有限元仿真模型并开展数值验证研究,结果表明新型磁钢阵列产生的磁场具有更高的基波磁通密度、更小的谐波畸变率和更一致的基波磁通密度幅值。(2)为减小推力波动和耦合推力/转矩,提出了“四线圈”的线圈阵列结构。在二维磁钢阵列磁场基波解析模型的基础上,采用洛伦兹力法建立了单线圈的推力模型,对其受力特征进行了分析;基于单线圈推力模型设计了“四线圈”型线圈阵列,可以有效消除偶次谐波磁场引起的推力波动和抑制线圈短边产生的耦合推力/转矩,使MLPMPM具有更好的控制性能;建立了动子线圈的推力和转矩模型,以最大推力功耗比为目标优化设计了线圈参数。(3)针对MLPMPM多输入多输出、强耦合、多自由度的特点,提出了 MLPMPM的解耦控制策略,设计了 MLPMPM的六自由度运动定位控制系统。基于MLPMPM的推力/转矩数学模型和id、fq解耦电流分配思想,提出MLPMPM的解耦电流分配方案,从物理层面实现了 MLPMPM六自由度运动的解耦;建立了参数化有限元计算模型,并开展仿真计算研究,证明了解耦策略的正确性;建立了 MLPMPM解耦系统的动力学方程,提出了 MLPMPM的六自由度定位控制策略,构建了控制系统的仿真验证平台,仿真结果验证了控制系统的正确性和有效性。(4)针对MLPMPM出现动子偏航后模型失效的问题,建立了小角度偏航状态下推力模型,提出了 MLPMPM六自由度定位控制的修正方案。分析了 MLPMPM动子小角度偏航情形下的受力情况,建立了 MLPMPM小角度偏航时一维线圈简化推力模型和等效推力模型;基于等效推力模型提出MLPMPM小角度偏航状态下电流补偿方案和相位校正方法,并通过有限元仿真验证了修正方案的正确性和有效性;基于电流补偿方案和相位校正方法,对MLPMPM的六自由度运动定位控制方案进行了修正。(5)搭建了 MLPMPM综合实验平台,开展相关的实验研究。设计了 MLPMPM的静态实验平台并开展静态实验研究,验证了解耦电流分配方案的正确性;基于DSP TMS320 F28335构建了 MLPMPM的数字控制的硬件系统和软件系统,开展MLPMPM基于位置-速度双闭环PID控制和自抗扰控制(Active Disturbance Rejection Control, ADRC)的动态实验研究;对闭环控制系统的动态性能进行分析,验证了 MLPMPM在小角度偏航情况下ADRC控制策略的有效性。
[Abstract]:With the rapid development of production scale and technical level in the field of precision engineering, the demand for multi degree of freedom precision positioning table in related industries is increasing, and the requirements of its positioning precision, response speed and the dimension of freedom dimension are also increasing. The traditional two-dimensional positioning platform adopts mechanical superposition mode, and there is side gap, deformation and friction. Magnetically Levitated Permanent Magnet Planar Motor (MLPMPM) does not need additional mechanical guide rail support, which directly drives the actuator to realize six degree of freedom motion with simple and compact structure. With the advantages of no mechanical friction, high positioning precision and fast response speed, it has great application potential in the field of modern high-end equipment manufacturing. Under the support of National Natural Science Foundation (51175296), a kind of iron free cardiogram type MLPMPM is used as the research object. It revolves around operation mechanism, structure design, electromagnetic analysis, parameter optimization, decoupling control and number. On the basis of this, the comprehensive experimental platform of MLPMPM was designed and the relevant experimental research was carried out to verify the correctness of the method and conclusion. The main research work of this paper is as follows: (1) a new type of two-dimensional magnetic steel array structure is proposed to reduce the harmonic content of the magnetic field. On the basis of analyzing the distribution of air gap magnetic field in the typical Halbach two-dimensional magnetic steel array, the two-dimensional magnetic steel array is reconstructed, a new two-dimensional magnetic steel array is designed, and the harmonic analytical model of the air gap magnetic field is set up. A new magnetic steel array is designed to optimize the magnetic steel array with the aim that the magnetic field is as large as possible and the magnetic field distortion is as small as possible. The finite element simulation model is established and the numerical verification is carried out. The results show that the magnetic field produced by the new magnetic steel array has higher fundamental magnetic flux density, smaller harmonic distortion rate and more consistent fundamental flux density amplitude. (2) a "four coil" coil is proposed to reduce thrust fluctuation and coupling thrust / torque. Array structure. Based on the analytical model of the fundamental wave of magnetic field in two-dimensional magnetic steel array, the thrust model of single coil is established by Lorenz force method, and its force characteristics are analyzed. Based on the single coil thrust model, a "four coil" type coil array is designed, which can effectively eliminate the thrust fluctuation and suppression coil caused by the even harmonic magnetic field. The coupling thrust / torque produced by the short side makes the MLPMPM better control performance; the thrust and torque model of the rotor coil is established, the coil parameters are optimized with the maximum thrust power ratio as the target. (3) the decoupling control strategy of the MLPMPM multi input and multi output, strong coupling and multi degree of freedom is proposed, and the MLPMPM decoupling control strategy is proposed and the MLPMPM is designed. The six degree of freedom motion positioning control system. Based on the MLPMPM thrust / torque mathematical model and the ID, FQ decoupling current allocation idea, the decoupling current allocation scheme of MLPMPM is proposed. The decoupling of MLPMPM six degrees of freedom motion is realized from the physical level, and the parametric finite element calculation model is established, and the simulation calculation is carried out to prove the understanding of the coupling strategy. The dynamic equation of MLPMPM decoupling system is established, the six degree of freedom positioning control strategy of MLPMPM is put forward, and the simulation verification platform of the control system is constructed. The simulation results verify the correctness and effectiveness of the control system. (4) a small angle yaw shape is established for the problem of the failure of the model after the moving sub navigation of the MLPMPM. Under the state of the lower thrust model, the correction scheme of the MLPMPM six degree of freedom positioning control is proposed. The force condition of the MLPMPM actuator in the small angle yaw situation is analyzed. The simplified thrust model and the equivalent thrust model of the one dimensional coil in the MLPMPM small angle yaw are established. Based on the equivalent thrust model, the current compensation side of the MLPMPM small angle yaw state is proposed. Case and phase correction method, and verify the correctness and effectiveness of the modified scheme through finite element simulation. Based on current compensation scheme and phase correction method, the six degree of freedom motion positioning control scheme of MLPMPM is modified. (5) a MLPMPM comprehensive experimental platform is built, and the related experimental research is carried out. The static reality of MLPMPM is designed. The test platform and static experimental research are carried out to verify the correctness of the coupling current allocation scheme. Based on DSP TMS320 F28335, the hardware and software systems of digital control of MLPMPM are constructed, and the dynamic experimental research of MLPMPM based on position speed double closed loop PID control and auto disturbance rejection control (Active Disturbance Rejection Control, ADRC) is carried out. The dynamic performance of closed loop control system is analyzed to verify the effectiveness of ADRC control strategy under the condition of small angle yaw in MLPMPM.
【学位授予单位】：江苏大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TM351

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