定子分段式永磁直线同步电机速度波动抑制方法研究

文通; 张思磊; 王中仪

doi:10.3788/OPE.20202804.0933

您当前的位置：

首页 >

文章列表页 >

定子分段式永磁直线同步电机速度波动抑制方法研究

信息科学 | 更新时间：2020-08-13

- 定子分段式永磁直线同步电机速度波动抑制方法研究
- Speed ripple suppression method of PMLSM with segmented stators
- 光学精密工程 2020年28卷第4期页码：933-932
- 作者机构：
  
  1.北京航空航天大学仪器科学与光电工程学院，北京 100191
  2.北京航空航天大学宁波创新研究院，浙江宁波，315000
- 作者简介：
  
  [ "文通(1983-)，男，湖南衡阳人，博士，讲师，2005年，2012年于北京航空航天大学分别获得学士、博士学位，主要从事磁悬浮惯性执行机构、磁悬浮稳定平台、直线电机控制研究。E-mail:wentong@buaa.edu.cn" ]
  张思磊(1994-)，男，陕西咸阳人，硕士研究生，2017年于南京航空航天大学获得学士学位，主要从事电机控制方面的研究。E-mail:zhangsilei@buaa.edu.cn ZHANG Si-lei, E-mail:zhangsilei@buaa.edu.cn
- 基金信息：
  
  国家自然科学基金资助项目(No.61374211);北京自然科学基金资助项目(No.3182024)
- DOI：10.3788/OPE.20202804.0933
  中图分类号： TM359.4
- 收稿日期：2019-07-08，
  
  修回日期：2019-08-27，
  
  录用日期：2019-8-27，
  
  纸质出版日期：2020-04-15
- 稿件说明：
移动端阅览
文通, 张思磊, 王中仪. 定子分段式永磁直线同步电机速度波动抑制方法研究[J]. 光学精密工程, 2020,28(4):933-932.

Tong WEN, Si-lei ZHANG, Zhong-yi WANG. Speed ripple suppression method of PMLSM with segmented stators[J]. Optics and precision engineering, 2020, 28(4): 933-932.
文通, 张思磊, 王中仪. 定子分段式永磁直线同步电机速度波动抑制方法研究[J]. 光学精密工程, 2020,28(4):933-932. DOI： 10.3788/OPE.20202804.0933.

Tong WEN, Si-lei ZHANG, Zhong-yi WANG. Speed ripple suppression method of PMLSM with segmented stators[J]. Optics and precision engineering, 2020, 28(4): 933-932. DOI： 10.3788/OPE.20202804.0933.

摘要

为了解决定子分段式永磁直线同步电机(PMLSM)存在的因磁阻效应、负载阻力、摩擦力、参数摄动以及动子进出定子时耦合面积变化所造成的控制性能下降的难题，根据动子和定子的耦合状态，提出一种在完全耦合阶段和动子退出定子阶段的分段式控制方法。首先，在动子与定子完全耦合阶段采用改进滑模控制器减小推力波动导致的速度波动，再通过加入扰动观测器降低滑模切换项所带来的抖振现象；在动子退出定子阶段，建立相关电磁参数与动子位置的函数关系，实时补偿由耦合面积变化引起的动子失速，使动子速度在退出时接近给定值。仿真及实验结果表明：动定子完全耦合过程中的速度稳态误差为0.005 m/s，收敛时间为0.3 s，动子退出定子阶段的速度波动不超过0.04 m/s，满足定子分段式PMLSM用于长行程自动运输系统对平稳性及快速性的需求。

Abstract

In a Permanent Magnet Linear Synchronous Motor (PMLSM) with segmented stators

when the mover enters and exits the stator

the control performance was degraded due to the detent force

load disturbance

frictional force

parameter perturbations

and coupling area variations. To address this drawback

a switching control method was proposed. First

an improved Sliding Mode Control (SMC) was used to reduce the speed ripple during the complete coupling stage of the mover and the stator.Then

the chattering caused by the SMC was reduced by the Disturbance Observer (DOB). When the mover exits the stator

thefunction relationships between the electromagnetic parameters and the position of the mover were established to compensate for the speed loss caused by the variation of the coupling area in real time. The results from thesimulation and experiments indicate that the speed ripple is decreased to 0.005 m/s and the setting time is less than 0.3 s in the complete coupling stage.The speed loss is reduced to 0.04 m/s when the mover exits the stator

thereby satisfying the requirements for stability and rapidity of the system.

关键词

Keywords

references

焦留成 , 程志平 . 永磁直线同步电动机特性及控制 , : 北京科学出版社 , 2014 .

L CH JIAO , ZH P CHENG . Operating Characteristics and Control of Permanent Magnet Linear Synchronous Motor , : Beijing Science Press , 2014 .

张刚 , 刘品宽 , 张波 , 等 . 直线电机精密定位平台轨迹跟踪控制器设计 . 光学精密工程 , 2013 . 21 ( 2 ): 371 - 379 . http://www.eope.net/CN/abstract/abstract14597.shtml http://www.eope.net/CN/abstract/abstract14597.shtml .

G ZHANG , P K LIU , B ZHANG , 等 . Design of trajectory tracking controller for precision positioning table driven by linear motor . Opt. Precision Eng , 2013 . 21 ( 2 ): 371 - 379 . http://www.eope.net/CN/abstract/abstract14597.shtml http://www.eope.net/CN/abstract/abstract14597.shtml .

孟高军 , 袁野 , 孙玉坤 , 等 . 带定位力补偿的扩张观测器磁通切换永磁直线电机无位置传感器控制策略 . 电工技术学报 , 2018 . 33 ( 17 ): 4091 - 4101 . http://d.old.wanfangdata.com.cn/Periodical/dgjsxb201817018 http://d.old.wanfangdata.com.cn/Periodical/dgjsxb201817018 .

G J MENG , Y YUAN , Y K SUN , 等 . Extended state observer with cogging force compensation for sensorless control strategy of linear flux-switching permanent magnet machine . Transactions of China Electrotechnical Society , 2018 . 33 ( 17 ): 4091 - 4101 . http://d.old.wanfangdata.com.cn/Periodical/dgjsxb201817018 http://d.old.wanfangdata.com.cn/Periodical/dgjsxb201817018 .

祝贺 , 张今朝 , 董睿 , 等 . 绕组分段永磁直线同步电机无传感器控制 . 电工技术学报 , 2017 . 32 ( 21 ): 65 - 76 . http://d.old.wanfangdata.com.cn/Periodical/dgjsxb201721008 http://d.old.wanfangdata.com.cn/Periodical/dgjsxb201721008 .

H ZHU , J ZH ZHANG , R DONG , 等 . Sensorless control of winding segmented permanent magnet linear synchronous motor . Transactions of China Electrotechnical Society , 2017 . 32 ( 21 ): 65 - 76 . http://d.old.wanfangdata.com.cn/Periodical/dgjsxb201721008 http://d.old.wanfangdata.com.cn/Periodical/dgjsxb201721008 .

文通 , 李宏敏 , 李海涛 , 等 . 基于参数预标定的长行程PMLSM无传感器控制 . 光学精密工程 , 2019 . 27 ( 3 ): 109 - 119 . http://www.eope.net/CN/abstract/abstract17953.shtml http://www.eope.net/CN/abstract/abstract17953.shtml .

T WEN , H M LI , H T LI , 等 . Sensorless control of long-distance PMLSM based on parameters pre-calibration . Opt. Precision Eng , 2019 . 27 ( 3 ): 109 - 119 . http://www.eope.net/CN/abstract/abstract17953.shtml http://www.eope.net/CN/abstract/abstract17953.shtml .

A M C MUHAMMD , E F JOHN , D XIAO , 等 . A linear quadratic regulator-based optimal direct thrust force control of linear permanent-magnet synchronous motor . IEEE Transactions on Industrial Electronics , 2016 . 63 ( 5 ): 2722 - 2733 . DOI: 10.1109/TIE.2016.2519331 http://doi.org/10.1109/TIE.2016.2519331 .

YAO Y, CHEN Y, LU Q, et al . Analysis of Thrust Ripple of Permanent Magnet Linear Synchronous Motor with Skewed PMs[C]. International Conference on Electrical Machines & Systems. IEEE, 2016.

于立娟 , 秦平 , 李登举 , 等 . 永磁直线同步电动机推力波动分析及抑制方法综述 . 微特电机 , 2014 . 42 ( 7 ): 33 - 36 . DOI: 10.3969/j.issn.1004-7018.2014.07.009 http://doi.org/10.3969/j.issn.1004-7018.2014.07.009 .

L J YU , P QIN , D J LI , 等 . Review on analysis and suppression methods of thrust ripple of permanent magnet linear synchronous motor . Small & Special Electrical Machines , 2014 . 42 ( 7 ): 33 - 36 . DOI: 10.3969/j.issn.1004-7018.2014.07.009 http://doi.org/10.3969/j.issn.1004-7018.2014.07.009 .

马立 , 王敬萍 , 李丰甜 , 等 . 精密定位系统的摩擦力建模与补偿 . 光学精密工程 , 2019 . 27 ( 1 ): 121 - 128 . http://www.eope.net/CN/abstract/abstract17761.shtml http://www.eope.net/CN/abstract/abstract17761.shtml .

L MA , J P WANG , F T LI , 等 . Friction modeling and compensation of precision position system . Opt. Precision Eng , 2019 . 27 ( 1 ): 121 - 128 . http://www.eope.net/CN/abstract/abstract17761.shtml http://www.eope.net/CN/abstract/abstract17761.shtml .

SOUISSI A, ABDENNADHER I, et al . An Approach to Reduce the Cogging Force in Tubular Linear PM Synchronous Machines[C]. Tenth International Conference on Ecological Vehicles & Renewable Energies, 2015.

罗宏浩 , 吴峻 , 常文森 . 动磁式永磁无刷直流直线电机的齿槽力最小化 . 中国电机工程学报 , 2007 . 27 ( 6 ): 12 - 16 . DOI: 10.3321/j.issn:0258-8013.2007.06.003 http://doi.org/10.3321/j.issn:0258-8013.2007.06.003 .

H H LUO , J WU , W S CHANG . Minimization of cogging force in moving magnet type PMBLDCLM . Proceedings of The Chinese Society for Electrical Engineering , 2007 . 27 ( 6 ): 12 - 16 . DOI: 10.3321/j.issn:0258-8013.2007.06.003 http://doi.org/10.3321/j.issn:0258-8013.2007.06.003 .

曾岳南 , 彭瑞 , 汤键 , 等 . 基于BP神经网络的直线电机推力波动抑制研究 . 电力电子技术 , 2015 . 49 ( 5 ): 28 - 30 . DOI: 10.3969/j.issn.1000-100X.2015.05.009 http://doi.org/10.3969/j.issn.1000-100X.2015.05.009 .

Y N ZENG , R PENG , J TANG , 等 . Strategy to restrain force ripple of linear motor based on BP neural network . Power Electronics , 2015 . 49 ( 5 ): 28 - 30 . DOI: 10.3969/j.issn.1000-100X.2015.05.009 http://doi.org/10.3969/j.issn.1000-100X.2015.05.009 .

赵国新 , 王超 , 刘华 . 圆筒永磁直线电机设计及推力波动研究 . 微电机 , 2017 . 50 ( 11 ): 6 - 9 . DOI: 10.3969/j.issn.1001-6848.2017.11.002 http://doi.org/10.3969/j.issn.1001-6848.2017.11.002 .

G X ZHAO , CH WANG , H LIU . Design and research on thrust fluctuation of tubular permanent magnet linear motors . Micromotors , 2017 . 50 ( 11 ): 6 - 9 . DOI: 10.3969/j.issn.1001-6848.2017.11.002 http://doi.org/10.3969/j.issn.1001-6848.2017.11.002 .

奚静思 , 刘品宽 , 丁汉 . 自适应线性自抗扰控制器的设计 . 光学精密工程 , 2018 . 26 ( 7 ): 1749 - 1757 . http://www.eope.net/CN/abstract/abstract17681.shtml http://www.eope.net/CN/abstract/abstract17681.shtml .

J S XI , P K LIU , H DING . Design of an adaptive linear active disturbance rejection controller . Opt. Precision Eng , 2018 . 26 ( 7 ): 1749 - 1757 . http://www.eope.net/CN/abstract/abstract17681.shtml http://www.eope.net/CN/abstract/abstract17681.shtml .

穆海华 , 周云飞 , 严思杰 . 基于PID与cogging力补偿的直线电动机控制 . 微电机 , 2007 . 40 ( 10 ): 48 - 51 . DOI: 10.3969/j.issn.1001-6848.2007.10.014 http://doi.org/10.3969/j.issn.1001-6848.2007.10.014 .

H H MU , Y F ZHOU , S J YAN . Accurate control of linear motor based on PID position/force control and cogging force compensation . Micromotors , 2007 . 40 ( 10 ): 48 - 51 . DOI: 10.3969/j.issn.1001-6848.2007.10.014 http://doi.org/10.3969/j.issn.1001-6848.2007.10.014 .

刘京 , 李洪文 , 邓永停 . 基于扰动观测器的永磁同步电机电流环自适应滑模控制 . 光学精密工程 , 2017 . 25 ( 5 ): 1229 - 1241 . http://www.eope.net/CN/abstract/abstract17044.shtml http://www.eope.net/CN/abstract/abstract17044.shtml .

J LIU , H W LI , Y T DENG . Current adaptive sliding mode control based on disturbance observer for permanent magnet synchronous motor . Opt. Precision Eng , 2017 . 25 ( 5 ): 1229 - 1241 . http://www.eope.net/CN/abstract/abstract17044.shtml http://www.eope.net/CN/abstract/abstract17044.shtml .

郤能 , 杨家军 , 汤双清 , 等 . 组合式永磁同步直线电机端部效应力研究 . 三峡大学学报 , 2018 . 40 ( 1 ): 75 - 79 . http://d.old.wanfangdata.com.cn/Periodical/whsldldxxb-yc201801016 http://d.old.wanfangdata.com.cn/Periodical/whsldldxxb-yc201801016 .

N XI , J J YANG , SH Q TANG , 等 . Research on end effect force for combined type permanent magnet linear synchronous motors . Journal of China Three Gorges University , 2018 . 40 ( 1 ): 75 - 79 . http://d.old.wanfangdata.com.cn/Periodical/whsldldxxb-yc201801016 http://d.old.wanfangdata.com.cn/Periodical/whsldldxxb-yc201801016 .

李立毅 , 祝贺 , 刘家曦 , 等 . 初级绕组分段永磁直线电机段间推力优化控制 . 电机与控制学报 , 2014 . 18 ( 4 ): 79 - 87 . DOI: 10.3969/j.issn.1007-449X.2014.04.013 http://doi.org/10.3969/j.issn.1007-449X.2014.04.013 .

L Y LI , H ZHU , J X LIU , 等 . Optimal inter-segment thrust control applied in primary winding segmented PMLSM . Electric Machines and Control , 2014 . 18 ( 4 ): 79 - 87 . DOI: 10.3969/j.issn.1007-449X.2014.04.013 http://doi.org/10.3969/j.issn.1007-449X.2014.04.013 .

袁雷 , 胡冰新 , 魏克银 , 等 . 现代永磁同步电机控制原理及MATLAB仿真 , : 北京北京航空航天大学出版社 , 2016 .

L YUAN , B X HU , K Y WEI , 等 . Modern Permanent Magnet Synchronous Motor Control Principle and MATLAB Simulation , : Beijing Beijing University of Aeronautics and Astronautics Press , 2016 .

刘金锟 . 滑模变结构控制MATLAB仿真 , : 北京清华大学出版社 , 2012 .

J K LIU . MATLAB Simulation for Sliding Mode Control , : Beijing TSINGHUA UNIVERSITY PRESS , 2012 .

刘京 , 李洪文 , 邓永停 . 基于新型趋近律和扰动观测器的永磁同步电机滑模控制 . 工程科学学报 , 2017 . ( 6 ): 126 - 137 . http://d.old.wanfangdata.com.cn/Periodical/bjkjdxxb201706017 http://d.old.wanfangdata.com.cn/Periodical/bjkjdxxb201706017 .

J LIU , H W LI , Y T DENG . PMSM sliding mode control based on novel reaching law and disturbance observer . Chinese Journal of Engineering , 2017 . ( 6 ): 126 - 137 . http://d.old.wanfangdata.com.cn/Periodical/bjkjdxxb201706017 http://d.old.wanfangdata.com.cn/Periodical/bjkjdxxb201706017 .

X Z HUANG , J LIANG , B ZHOU , 等 . Suppressing the thrust ripple of the consequent-pole permanent magnet linear synchronous motor by two-step design . IEEE Access , 2018 . 6 32935 - 32944 . http://cn.bing.com/academic/profile?id=3a657790f2b741706c2a3d1a84a0578b&encoded=0&v=paper_preview&mkt=zh-cn http://cn.bing.com/academic/profile?id=3a657790f2b741706c2a3d1a84a0578b&encoded=0&v=paper_preview&mkt=zh-cn .

B C DU , S P WU , S L HAN , 等 . Application of linear active disturbance rejection controller for sensorless control of internal permanent-magnet synchronous . IEEE Transactions on Industrial Electronics , 2016 . 63 ( 5 ): 3019 - 3027 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=93a6029fa590cbe4311c9afd441e0450 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=93a6029fa590cbe4311c9afd441e0450 .

浏览量

172

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于参数预标定的长行程PMLSM无传感器控制