精密运动平台用永磁直线同步电机的磁场分析与电磁力研究

发布时间：2018-06-25 03:05

本文选题：永磁直线同步电机 + 磁场解析　；参考：《哈尔滨工业大学》2014年博士论文

【摘要】：永磁直线同步电机（Permanent Magnet Linear Synchronous Motor，PMLSM）具有推力密度高、响应速度快；可靠性好、效率高；可控性好、精度高等显著优点，广泛应用在精密运动平台中，实现高速长行程运动和微米级、亚微米级的定位精度。由于初级铁心纵向开断，直线电机存在特有的纵向端部效应，同时受齿槽效应、横向端部效应和外悬效应等因素的影响，气隙磁场发生了很大的畸变。受现有加工制造、安装精度及人为等因素的限制，永磁直线同步电机三维空间磁场分布存在非对称性，，产生了寄生力或力矩，使电机系统产生振动和噪音。本文以精密运动平台用永磁直线同步电机为研究对象，针对以上问题开展计及齿槽效应、端部效应和外悬效应的永磁直线同步电机磁场精确解析、三维电磁力分析以及性能参数分析与优化设计的研究。本文首先分别建立基于永磁体等效磁化强度法和电枢绕组等效面电流法的永磁直线同步电机层分析模型，根据对称和非对称的边界条件得到无铁心和无槽PMLSM永磁体励磁磁场与电枢反应磁场。考虑到铁心开齿槽和永磁体斜极的拓扑结构，分别建立考虑齿槽效应和斜极效应的分析模型，推导气隙相对磁导分布函数和斜极、类V形斜极磁极结构的参数等效转换表达式，得出斜极有铁心PMLSM的永磁体励磁磁场与电枢反应磁场。结合不同的边界条件，建立的计及齿槽效应和斜极效应永磁直线同步电机磁场分析方法具有广泛的适应性。上述分析为后续完善计及端部效应的永磁直线同步电机磁场精确解析方法奠定理论基础。由于短初级长次级PMLSM动子铁心在纵向和横向方向均为有效长，电机纵向端部和横向端部的磁场发生很大的畸变，分别针对纵向和横向端部效应及外悬效应展开研究。在纵向端部效应静态模型的基础上，建立能模拟纵向端部效应的铁心端部虚拟边界模型，得出在动子运动过程中短初级有铁心PMLSM纵向端部区域的磁场分布。建立考虑外悬效应的有铁心PMLSM横向端部效应分析模型，研究揭示外悬效应机理和不同外悬长度对横向端部磁场的影响规律，并分析横向端部效应与外悬效应的内在关系。采用等效磁荷法和镜像法精确解析无铁心PMLSM的三维空载气隙磁场，分析横向端部效应对气隙磁场的影响规律。最终建立计及各种效应的永磁直线同步电机磁场精确解析方法。在计及齿槽效应、斜极效应、端部效应和外悬效应的永磁直线同步电机磁场分析方法的基础上，以精密运动平台中常用的具有代表性的无铁心和有铁心PMLSM作为具体研究对象，开展三维电磁力研究。先阐述永磁直线同步电机寄生力的定义及其主要产生原因，揭示出永磁直线同步电机寄生力及其波动的产生机理。推导无铁心PMLSM的三维电磁力表达式，研究揭示绕组端部产生的电磁推力和初级、次级发生横向偏移时产生的横向寄生力的变化规律。之后，采用改进积分路径的麦克斯韦应力法推导有铁心PMLSM定位力与空载法向力、电磁推力和负载法向力；在建立斜极永磁体等效为载流导体的分析模型基础上，推导斜极有铁心PMLSM横向寄生力表达式，揭示斜极有铁心PMLSM横向力及其波动的产生机理，并研究极槽配比、永磁体倾斜长度、外悬长度、相电流等电磁参数对横向力及其波动的影响规律。研制旋转伺服电机+滚珠丝杠副加载的直线电机气浮测试平台，并开展PMLSM样机电磁力测试研究。基于精密运动平台的应用背景，分别确定无铁心和有铁心PMLSM关键的性能参数，开展性能分析、多目标优化设计和两种类型电机性能对比评估等方面的研究。对于无铁心PMLSM，分析非重叠和重叠集中绕组电机的最佳极槽配比；研究揭示永磁体和电枢绕组的结构、尺寸对推力体积密度、推力质量密度、电机常数和推力波动的影响规律。对于有铁心PMLSM，提出齿槽效应和纵向端部效应分离法，推导齿槽定位力与齿槽效应空载法向力、端部定位力与端部效应空载法向力解析式，研究得到矩形、斜极和类V形磁极结构对两种效应的定位力和负载法向力影响规律。之后，以非重叠绕组无铁心PMLSM为案例，开展基于多种群遗传算法和权重系数相结合的电机多目标优化设计研究。最后，对无铁心PMLSM和有铁心PMLSM进行性能对比评估，并总结出精密运动平台用永磁直线同步电机的选型准则。
[Abstract]:Permanent Magnet Linear Synchronous Motor (PMLSM) has the advantages of high thrust density, fast response speed, good reliability, high efficiency, good controllability and high precision. It is widely used in precision motion platform to realize high speed long line movement and micron level and sub micron level positioning accuracy. Due to the primary core. In the longitudinal direction, the linear motor has a special longitudinal end effect, and the air gap magnetic field is greatly distorted by the effect of the alveolar effect, the lateral end effect and the external suspension effect. The distribution of the three-dimensional spatial magnetic field of the permanent magnet linear synchronous motor is asymmetrical due to the existing manufacturing, installation accuracy and artificial factors. In this paper, the permanent magnet linear synchronous motor (PMSM) used in precision motion platform is studied in this paper. In this paper, the precise analysis of the magnetic field of the permanent magnet linear synchronous motor with the effect of tooth and slot, the end effect and the external suspension effect, the three-dimensional electromagnetic force analysis and the performance parameter analysis are carried out in this paper. Research on optimal design.
In this paper, the permanent magnet linear synchronous motor layer analysis model based on the equivalent magnetization method of permanent magnet and the armature winding equivalent surface current method is respectively established. The magnetizing magnetic field and the armature reactive magnetic field of the core free and slotless PMLSM permanent magnets are obtained according to the symmetric and asymmetric boundary conditions. The analysis model considering the cogging and skew effect is established respectively. The equivalent conversion expression of the parameters of the air gap relative magnetic conductivity distribution function and the oblique pole, the V like pole structure is derived, and the magnetizing magnetic field and the armature reactive magnetic field with the inclined pole with the core PMLSM are obtained. The different boundary conditions are formed and the cogging effect is established. The method of magnetic field analysis for permanent magnet linear synchronous motor (PMSM) with oblique pole effect has extensive adaptability. The above analysis lays a theoretical foundation for the accurate analysis of the magnetic field of permanent magnet linear synchronous motor (PMSM) with the end effect.
The magnetic field of the longitudinal and transverse ends of the short primary secondary PMLSM is very long, and the magnetic field in the longitudinal and lateral ends of the motor is greatly distorted. The longitudinal and lateral end effect and the external suspension effect are studied respectively. On the basis of the longitudinal end effect static model, the iron can be established to simulate the longitudinal end effect. The virtual boundary model in the end of the heart is used to obtain the magnetic field distribution in the longitudinal end region of the short primary core PMLSM during the moving process. The analysis model of the lateral end effect of the core PMLSM with the external suspension effect is established, and the effect of the external suspension effect and the external suspension length on the transverse end magnetic field is revealed, and the lateral end effect is analyzed. The equivalent magnetic charge method and mirror image method are used to accurately analyze the three-dimensional air gap magnetic field of PMLSM without iron core, and the effect of the lateral end effect on the air gap magnetic field is analyzed by the equivalent magnetic charge method and the mirror method. Finally, the accurate analytical method of the magnetic field of the permanent magnet linear synchronous motor with various effects is established.
On the basis of the magnetic field analysis method of the permanent magnet linear synchronous motor with the cogging effect, the oblique pole effect, the end effect and the external suspension effect, the three dimensional electromagnetic force research is carried out with the typical typical iron free core and the core PMLSM in the precision motion platform. First, the parasitic force of permanent magnet linear synchronous motor is set forth. The cause of the parasitic force and the generation mechanism of the permanent magnet linear synchronous motor is revealed. The expression of the three dimensional electromagnetic force of the PMLSM without iron core is deduced. The change law of the transverse parasitic force generated by the electromagnetic thrust and primary and secondary lateral migration of the end of the winding is studied. After that, the improved integral path is adopted. The Maxwell stress method is used to derive the PMLSM positioning force of the iron core and the unloaded normal force, the electromagnetic thrust and the load normal force. On the basis of the analysis model of the equivalent carrier conductor of the inclined pole permanent magnet, the expression of the transverse parasitic force of the core PMLSM in the inclined pole is derived, and the mechanism of the transverse force and the fluctuation of the core PMLSM of the inclined pole is revealed, and the study is made. The influence of the ratio of pole slot, the length of the permanent magnet, the length of the permanent magnet, the length of the permanent magnet, the phase current and other electromagnetic parameters on the lateral force and its fluctuation, and develop the air floating test platform of the linear motor loaded with the rotating servo motor and the ball screw, and carry out the research on the mechanical and electrical magnetic force of the PMLSM sample.
Based on the application background of precision motion platform, the key performance parameters of core free core and core PMLSM are determined respectively, performance analysis, multi-objective optimization design and two types of motor performance comparison evaluation are studied. For non iron core PMLSM, the optimal slot ratio of winding motor in non overlapping and overlapping sets is analyzed. The structure of permanent magnets and armature windings, the influence of size on thrust volume density, thrust mass density, motor constant and thrust fluctuation. For the core PMLSM, the cogging effect and the longitudinal end effect separation method are put forward to deduce the no-load force of the alveolar positioning force and the cogging effect, the end positioning force and the end effect analytical force analysis. The influence of the positioning force and the load normal force on the two effects of rectangular, oblique and V shaped magnetic poles is studied. Then, a multi target optimization design based on multi group genetic algorithm and weight coefficient is carried out in the case of non overlapping winding without core PMLSM. Finally, the non iron core PMLSM and the core PMLSM are carried out. Performance comparison is made and the selection criteria of permanent magnet linear synchronous motor for precision motion platform are summarized.
【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TM341

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