永磁球形电机输出轨迹波动分析与矢量控制策略研究

发布时间：2018-05-03 03:29

本文选题：永磁球形电机 + 参照电流法　；参考：《天津大学》2014年硕士论文

【摘要】：永磁球形电机是一类新型电机,其转子能够实现三自由度运动,在许多需要多自由度运动或传动的场合,例如全景云台、机器人关节、人造眼球、卫星姿态控制等,都有着广阔的应用前景,正逐渐成为国内外研究的新热点。相比传统旋转电机,其诸多理论仍处于探索阶段,本文的研究将为永磁球形电机的设计与控制提供一定依据和参考。本文首先基于同步旋转磁场原理,给出了一组控制电机倾斜、旋转运动的定子参考电流方程,利用有限元、最小二乘法及球谐波函数旋转变换理论,证明了在该参考电流作用下,能够激励出在空间旋转/倾斜的定子磁场,且电流的相位、比例将直接影响到主谐波磁场的空间相位。之后,从陀螺力学的角度出发,分析了采用这种参照电流方程的情况下,高速自旋的球形转子在倾斜时可能发生的轨迹波动过程。之后,为防止参照电流法控制可能发生的转子轨迹波动,本文继续对上述控制方法进行了改进。基于等效永磁体原理及球谐函数理论,推导了定子线圈电流与其所激励的定子磁场球谐波分量之间的直接映射关系。之后,再次利用球谐波函数分析了转子磁场在球坐标系下各分量的分布规律,建立了固连于转子磁极的局部机械d-q-p坐标系及相应的电气D-Q-P坐标系。进一步利用坐标变换与矢量变换,并结合电磁功率关系推导并建立了基于气隙磁场定向的M-T坐标系,获得了M-T坐标系下电磁转矩的解耦表达式,实现了对永磁球形电机的三维矢量解耦控制。最后,基于上述矢量控制方法,对定子绕组进行重新配置,设计了一种球面双矢量互补控制法。在Simulink环境下进行了控制仿真,结果表明该控制策略能够实现转子恒速自转时的输出轴连续轨迹控制,具有较好的精度,为球形电机后续的设计和控制策略研究提供基础。
[Abstract]:Permanent magnet spherical motor (PMSM) is a new type of motor, whose rotor can realize three degrees of freedom motion. In many situations, such as panoramic head, robot joint, artificial eyeball, satellite attitude control and so on. Both have broad application prospects, and are gradually becoming a new research hotspot at home and abroad. Compared with the traditional rotating motor, many theories are still in the exploratory stage. The research in this paper will provide a certain basis and reference for the design and control of the permanent magnet spherical motor. In this paper, based on the principle of synchronous rotating magnetic field, a set of stator reference current equations for controlling the tilt and rotation motion of the motor are presented. The finite element method, the least square method and the rotational transformation theory of spherical harmonic function are used. It is proved that the stator magnetic field which is rotated or tilted in space can be excited under the action of the reference current, and the phase of the current and the proportion of the current will directly affect the spatial phase of the main harmonic magnetic field. Then, from the angle of gyroscope mechanics, the trajectory fluctuation process of high speed spin-shaped spherical rotor is analyzed under the condition of this kind of reference current equation. After that, in order to prevent the possible rotor trajectory fluctuations from occurring by the reference current method, the above control methods are further improved in this paper. Based on the principle of equivalent permanent magnet and the theory of spherical harmonic function, the direct mapping relationship between the stator coil current and the harmonic component of the stator magnetic field is derived. After that, the distribution of each component of the rotor magnetic field in the spherical coordinate system is analyzed by using the spherical harmonic function, and the local mechanical d-q-p coordinate system and the corresponding electrical D-Q-P coordinate system are established. Furthermore, the M-T coordinate system based on air-gap magnetic field orientation is derived and established by using coordinate transformation and vector transformation. The decoupling expression of electromagnetic torque in M-T coordinate system is obtained. The three-dimensional vector decoupling control of permanent magnet spherical motor is realized. Finally, based on the above vector control method, the stator windings are reconfigured and a spherical double vector complementary control method is designed. The control simulation under Simulink environment shows that the control strategy can realize the continuous trajectory control of the output shaft when the rotor rotates at constant speed, and has good precision, which provides the basis for the subsequent design and control strategy research of spherical motor.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM351

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