永磁同步直线电机动静态驱动及其应用技术研究

发布时间：2018-07-31 16:40

【摘要】：永磁同步直线电机是一种提供直线运动的装置,具有结构简单、损耗低、精度和重复精度高、行程大、维修简单以及响应速度快等优点。但永磁同步直线电机本身输出推力较小,使其运用在很大程度上受到限制。本文主要针对改善永磁同步直线电机的力值输出问题展开研究并进行相关实验,提出将共振应用于提高直线电机输出推力,这对直线电机的推广应用具有理论意义和实际价值。首先,本文设计了一台以永磁同步直线电机为驱动的作动器。针对作动器关键部件进行了workbench静力学分析,结果表明所有关键部件的设计满足直线电机的机械强度和工况要求。另外,对作动器整机进行了动力学分析,并通过workbench模态仿真分析其共振情况。其次,通过矢量变换,得出永磁同步直线电机在正交旋转坐标系下的电磁学方程,给出了控制某一轴电流为零来实现单变量输入的控制方法。另外,通过对作动器进行模型简化,建立了永磁同步直线电机的动力学方程。再次,利用电流环、速度环和位移环三闭环来实现对作动器位移的调节,各闭环均采用PID控制。本文分别对各环PID进行了参数整定,并通过simulink仿真,得出各环阶跃响应曲线。在仿真结果的基础上对各环PID参数值调整优化,得出相应阶跃响应曲线,为实验操作提供相应理论依据。最后,搭建了基于C#的控制界面,分别进行了静态实验和谐波加载实验。静态实验包括推力波动实验和刚度测试实验,推力波动实验结果表明推力波动绝对量最大值为0.7N左右,相对最大超调量在1%以内。刚度实验结果为共振实验共振点的寻找提供了理论参考,简化了实验过程。谐波加载实验是共振实验的基础,共振实验即在作动器固有频率周围的谐波加载实验。共振实验的结果表明,在一定条件下,共振可以使永磁同步直线电机的输出推力增加将近18倍。但是,在不同电压的激励下,其增大倍数变化是非线性的。
[Abstract]:Permanent magnet synchronous linear motor (PMSM) is a kind of device which provides linear motion. It has the advantages of simple structure, low loss, high precision and repetition precision, large stroke, simple maintenance and fast response. However, the output thrust of permanent magnet linear synchronous motor (PMSM) is small, so its application is limited to a great extent. This paper mainly focuses on improving the force output of permanent magnet synchronous linear motor (PMSM) and carries out relevant experiments. It is proposed that resonance is used to increase the output thrust of linear motor, which has theoretical and practical value for the popularization and application of linear motor. Firstly, a actuator driven by permanent magnet synchronous linear motor (PMSM) is designed. The workbench statics analysis of the key components of the actuator shows that the design of all the key components can meet the requirements of the mechanical strength and the working conditions of the linear motor. In addition, the dynamic analysis of the actuator is carried out, and the resonance of the actuator is analyzed by workbench modal simulation. Secondly, through vector transformation, the electromagnetic equation of permanent magnet synchronous linear motor in orthogonal rotating coordinate system is obtained, and the control method of single variable input is given by which the axis current is zero. In addition, the dynamic equation of permanent magnet synchronous linear motor is established by simplifying the actuator model. Thirdly, the current loop, the velocity loop and the displacement loop are used to adjust the actuator displacement. Each loop is controlled by PID. In this paper, the PID parameters of each ring are adjusted, and the step response curves of each ring are obtained by simulink simulation. Based on the simulation results, the corresponding step response curves are obtained by adjusting and optimizing the PID parameters of each ring, which provides a theoretical basis for the experimental operation. Finally, the control interface based on C # is built, and the static and harmonic loading experiments are carried out respectively. The static experiment includes thrust fluctuation test and stiffness test. The results show that the maximum absolute value of thrust fluctuation is about 0.7 N and the relative maximum overshoot is less than 1%. The experimental results of stiffness provide a theoretical reference for finding the resonance vibration point and simplify the experimental process. Harmonic loading experiment is the basis of resonance experiment, which is the harmonic loading experiment around the natural frequency of actuator. The resonance experiment results show that resonance can increase the output thrust of PMSM by nearly 18 times under certain conditions. However, under the excitation of different voltages, the variation of the increase multiple is nonlinear.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM359.4

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