磁通切换永磁直线电机推力波动的抑制及控制系统的设计

发布时间：2018-01-04 20:10

本文关键词：磁通切换永磁直线电机推力波动的抑制及控制系统的设计　出处：《东南大学》2016年博士论文　论文类型：学位论文

【摘要】：初级永磁型磁通切换永磁直线电机(The primary permanent magnet linear flux-switching permanent magnet,简称LFSPM电机)是一种新型结构的定子永磁型双凸极电机,不仅具有效率高、功率密度高等诸多优点,且具有于传统次级永磁型直线电机相似的磁场变化规律和相对较低的制作成本,有较好的应用前景。本文以一台6槽/17极LFSPM电机为研究对象,对电机推力波动抑制以及高性能控制策略进行深入的理论分析与仿真研究,同时研制了以AD5435装置为核心的高性能数字化电机驱动控制系统,进行了实验验证。本文所得结果为LFSPM电机在伺服机床、电驱动系统、电磁弹射以及交通轨道等领域的推广应用奠定了重要的理论与技术基础。论文主要的研究成果包括如下几个方面:1、阐述了 LFSPM电机的基本结构和工作原理,创建了 LFSPM电机的有限元模型,给出了电机绕组磁链、电感以及反电动势等参数的计算方法,同时根据LFSPM电机双凸极的结构特点,利用有限元与傅里叶分析相结合的方法构造LFSPM电机单齿结构,对LFSPM电机的定位力进行推导、分析与测量。2、推导了 LFSPM电机的数学模型,研究电压空间矢量PWM控制方法,根据LFSPM电机自身结构与电磁性能的特点,设计了电流环、速度环以及位置环,分析了一定条件下传递函数的近似处理原则,并改进了一种参数辨识自适应控制算法,提高了参数辨识精度,另外,在矢量控制系统的基础上,提出了一种基于电流反馈解耦控制的定位力补偿方法,并得到了仿真与实验结果的验证。3、结合LFSPM电机的新型结构特点与电磁性能,提出了一种通过注入高频低压脉冲来初步计算LFSPM电机动子初始位置区间的新型辨识方法,随后基于非线性铁心饱和效应,提出了一种基于脉宽电压矢量注入的初始位置检测两步法,最终确定LFSPM电机动子初始位置,实现了 LFSPM电机零速状态下的位置检测。4、提出了一种低速下采用脉振高频信号注入法和中、高速下采用扩展反电动势法的LFSPM电机无位置复合控制策略,给出了复合控制的平滑切换方法,同时构造合适的非线性扩张状态观测器使LFSPM电机的无位置检测跟随误差趋于零,实现了全速状态下对LFSPM电机位置信号的准确跟踪。5、针对LFSPM电机双凸极结构引起的较大定位力,从控制角度出发,提出了一种抑制时变周期LFSPM电机定位力的自适应x域重复控制策略,随后设计非线性反馈控制器,使逼近误差随周期数的累加而呈现减小的趋势,保证了系统的全局渐近稳定性,最后搭建x域重复控制器控制模型,实现了 LFSPM电机推力波动的抑制。6、创建了有限元数值计算获取离散数据的LFSPM电机Matlab/Simulink仿真模型,搭建了基于AD5435装置的LFSPM电机数字驱动控制系统实验平台,并通过实验研究验证了所提控制算法的可行性。
[Abstract]:Primary permanent Magnet Flux switched permanent Magnet Linear Motor (. The primary permanent magnet linear flux-switching permanent magnet. LFSPM motor is a new type of stator permanent magnet doubly salient motor with many advantages, such as high efficiency, high power density and so on. And has the similar magnetic field variation law and relatively low production cost in the traditional sub-permanent magnet linear motor, and has a better application prospect. This paper takes a 6-slot / 17-pole LFSPM motor as the research object. The thrust fluctuation suppression and high performance control strategy are analyzed and simulated deeply, and the high performance digital motor drive control system with AD5435 device as the core is developed. The result of this paper is LFSPM motor in servo machine tool, electric drive system. The promotion and application of electromagnetic ejection and traffic orbit have laid an important theoretical and technical foundation. The main research results of this paper include the following aspects: 1. The basic structure and working principle of LFSPM motor are expounded, the finite element model of LFSPM motor is established, and the calculation method of parameters such as winding flux chain, inductance and back EMF is given. At the same time, according to the structure characteristics of double salient pole of LFSPM motor, the single tooth structure of LFSPM motor is constructed by using finite element method and Fourier analysis method, and the positioning force of LFSPM motor is deduced. The mathematical model of LFSPM motor is deduced, and the voltage space vector PWM control method is studied. According to the characteristics of LFSPM motor's structure and electromagnetic performance, the current loop is designed. Velocity loop and position loop, the approximate processing principle of transfer function under certain conditions is analyzed, and an adaptive control algorithm for parameter identification is improved to improve the precision of parameter identification. On the basis of the vector control system, a new method of position force compensation based on current feedback decoupling control is proposed, and the simulation and experimental results are given. 3. According to the new structure and electromagnetic performance of LFSPM motor, a new identification method is proposed to calculate the initial position range of LFSPM electric motor by injecting high frequency and low voltage pulse. Then, based on the nonlinear core saturation effect, a two-step initial position detection method based on pulse width voltage vector injection is proposed to determine the initial position of the LFSPM electromotor. In this paper, the position detection of LFSPM motor at zero speed. 4 is realized, and a high frequency pulse signal injection method is proposed at low speed. The position free compound control strategy of LFSPM motor with extended back EMF method is adopted at high speed, and the smooth switching method of compound control is presented. At the same time, a suitable nonlinear extended state observer is constructed to make the position detection error of LFSPM motor tend to zero, which realizes the accurate tracking of LFSPM motor position signal at full speed. In view of the large positioning force caused by the double salient structure of LFSPM motor, an adaptive repetitive control strategy in x domain is proposed to suppress the positioning force of LFSPM motor with time-varying period from the control point of view. Then the nonlinear feedback controller is designed, which makes the approximation error decrease with the accumulation of periods, which ensures the global asymptotic stability of the system. Finally, the control model of the repetitive controller in x domain is built. The thrust fluctuation suppression of LFSPM motor is realized. 6. The Matlab/Simulink simulation model of LFSPM motor is established by finite element numerical calculation to obtain discrete data. The experimental platform of LFSPM motor digital drive control system based on AD5435 device is built, and the feasibility of the proposed control algorithm is verified by experimental research.
【学位授予单位】：东南大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TM359.4;TP273

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