本文選題：永磁電機 + 平面電機��； 參考：《江蘇大學》2017年博士論文

【摘要】：隨著精密工程技術領域生產規(guī)模和技術水平的快速發(fā)展,相關行業(yè)對多自由度精密定位臺的需求在不斷增加,對其定位精度、響應速度、自由度維數等性能的要求也在不斷提高。傳統(tǒng)的二維定位平臺采用機械疊加方式,存在側隙、變形、摩擦、結構復雜和運動質量大等固有缺點,導致其定位精度和響應速度很難達到滿意水平。磁懸浮永磁平面電機(Magnetically Levitated Permanent Magnet Planar Motor,MLPMPM)無需額外機械導軌支撐,直接驅動動子實現(xiàn)六自由度運動,具有結構簡單緊湊、無機械摩擦、定位精度高、響應速度快等優(yōu)點,在現(xiàn)代高端裝備制造領域具有極大的應用潛力。本文在國家自然科學基金(51175296)的資助下,以一種無鐵心動圈式MLPMPM為研究對象,圍繞運行機理、結構設計、電磁分析、參數優(yōu)化、解耦控制和數字控制系統(tǒng)設計等方面開展研究。在此基礎上,設計了 MLPMPM的綜合實驗平臺并開展了相關的實驗研究,驗證了方法和結論的正確性。論文的主要研究工作概略如下:(1)以減小磁場諧波含量為目標,提出了一種新型的二維磁鋼陣列結構。在分析典型Halbach二維磁鋼陣列氣隙磁場分布的基礎上,對二維磁鋼陣列進行了重構,設計出新型二維磁鋼陣列,并建立了氣隙磁場的諧波解析模型;以“磁場基波磁密幅值盡可能大且磁場畸變盡可能小”為目標優(yōu)化設計了新型磁鋼陣列的主要參數;建立了有限元仿真模型并開展數值驗證研究,結果表明新型磁鋼陣列產生的磁場具有更高的基波磁通密度、更小的諧波畸變率和更一致的基波磁通密度幅值。(2)為減小推力波動和耦合推力/轉矩,提出了“四線圈”的線圈陣列結構。在二維磁鋼陣列磁場基波解析模型的基礎上,采用洛倫茲力法建立了單線圈的推力模型,對其受力特征進行了分析;基于單線圈推力模型設計了“四線圈”型線圈陣列,可以有效消除偶次諧波磁場引起的推力波動和抑制線圈短邊產生的耦合推力/轉矩,使MLPMPM具有更好的控制性能;建立了動子線圈的推力和轉矩模型,以最大推力功耗比為目標優(yōu)化設計了線圈參數。(3)針對MLPMPM多輸入多輸出、強耦合、多自由度的特點,提出了 MLPMPM的解耦控制策略,設計了 MLPMPM的六自由度運動定位控制系統(tǒng)�；贛LPMPM的推力/轉矩數學模型和id、fq解耦電流分配思想,提出MLPMPM的解耦電流分配方案,從物理層面實現(xiàn)了 MLPMPM六自由度運動的解耦;建立了參數化有限元計算模型,并開展仿真計算研究,證明了解耦策略的正確性;建立了 MLPMPM解耦系統(tǒng)的動力學方程,提出了 MLPMPM的六自由度定位控制策略,構建了控制系統(tǒng)的仿真驗證平臺,仿真結果驗證了控制系統(tǒng)的正確性和有效性。(4)針對MLPMPM出現(xiàn)動子偏航后模型失效的問題,建立了小角度偏航狀態(tài)下推力模型,提出了 MLPMPM六自由度定位控制的修正方案。分析了 MLPMPM動子小角度偏航情形下的受力情況,建立了 MLPMPM小角度偏航時一維線圈簡化推力模型和等效推力模型;基于等效推力模型提出MLPMPM小角度偏航狀態(tài)下電流補償方案和相位校正方法,并通過有限元仿真驗證了修正方案的正確性和有效性;基于電流補償方案和相位校正方法,對MLPMPM的六自由度運動定位控制方案進行了修正。(5)搭建了 MLPMPM綜合實驗平臺,開展相關的實驗研究。設計了 MLPMPM的靜態(tài)實驗平臺并開展靜態(tài)實驗研究,驗證了解耦電流分配方案的正確性;基于DSP TMS320 F28335構建了 MLPMPM的數字控制的硬件系統(tǒng)和軟件系統(tǒng),開展MLPMPM基于位置-速度雙閉環(huán)PID控制和自抗擾控制(Active Disturbance Rejection Control, ADRC)的動態(tài)實驗研究;對閉環(huán)控制系統(tǒng)的動態(tài)性能進行分析,驗證了 MLPMPM在小角度偏航情況下ADRC控制策略的有效性。
[Abstract]:With the rapid development of production scale and technical level in the field of precision engineering, the demand for multi degree of freedom precision positioning table in related industries is increasing, and the requirements of its positioning precision, response speed and the dimension of freedom dimension are also increasing. The traditional two-dimensional positioning platform adopts mechanical superposition mode, and there is side gap, deformation and friction. Magnetically Levitated Permanent Magnet Planar Motor (MLPMPM) does not need additional mechanical guide rail support, which directly drives the actuator to realize six degree of freedom motion with simple and compact structure. With the advantages of no mechanical friction, high positioning precision and fast response speed, it has great application potential in the field of modern high-end equipment manufacturing. Under the support of National Natural Science Foundation (51175296), a kind of iron free cardiogram type MLPMPM is used as the research object. It revolves around operation mechanism, structure design, electromagnetic analysis, parameter optimization, decoupling control and number. On the basis of this, the comprehensive experimental platform of MLPMPM was designed and the relevant experimental research was carried out to verify the correctness of the method and conclusion. The main research work of this paper is as follows: (1) a new type of two-dimensional magnetic steel array structure is proposed to reduce the harmonic content of the magnetic field. On the basis of analyzing the distribution of air gap magnetic field in the typical Halbach two-dimensional magnetic steel array, the two-dimensional magnetic steel array is reconstructed, a new two-dimensional magnetic steel array is designed, and the harmonic analytical model of the air gap magnetic field is set up. A new magnetic steel array is designed to optimize the magnetic steel array with the aim that the magnetic field is as large as possible and the magnetic field distortion is as small as possible. The finite element simulation model is established and the numerical verification is carried out. The results show that the magnetic field produced by the new magnetic steel array has higher fundamental magnetic flux density, smaller harmonic distortion rate and more consistent fundamental flux density amplitude. (2) a "four coil" coil is proposed to reduce thrust fluctuation and coupling thrust / torque. Array structure. Based on the analytical model of the fundamental wave of magnetic field in two-dimensional magnetic steel array, the thrust model of single coil is established by Lorenz force method, and its force characteristics are analyzed. Based on the single coil thrust model, a "four coil" type coil array is designed, which can effectively eliminate the thrust fluctuation and suppression coil caused by the even harmonic magnetic field. The coupling thrust / torque produced by the short side makes the MLPMPM better control performance; the thrust and torque model of the rotor coil is established, the coil parameters are optimized with the maximum thrust power ratio as the target. (3) the decoupling control strategy of the MLPMPM multi input and multi output, strong coupling and multi degree of freedom is proposed, and the MLPMPM decoupling control strategy is proposed and the MLPMPM is designed. The six degree of freedom motion positioning control system. Based on the MLPMPM thrust / torque mathematical model and the ID, FQ decoupling current allocation idea, the decoupling current allocation scheme of MLPMPM is proposed. The decoupling of MLPMPM six degrees of freedom motion is realized from the physical level, and the parametric finite element calculation model is established, and the simulation calculation is carried out to prove the understanding of the coupling strategy. The dynamic equation of MLPMPM decoupling system is established, the six degree of freedom positioning control strategy of MLPMPM is put forward, and the simulation verification platform of the control system is constructed. The simulation results verify the correctness and effectiveness of the control system. (4) a small angle yaw shape is established for the problem of the failure of the model after the moving sub navigation of the MLPMPM. Under the state of the lower thrust model, the correction scheme of the MLPMPM six degree of freedom positioning control is proposed. The force condition of the MLPMPM actuator in the small angle yaw situation is analyzed. The simplified thrust model and the equivalent thrust model of the one dimensional coil in the MLPMPM small angle yaw are established. Based on the equivalent thrust model, the current compensation side of the MLPMPM small angle yaw state is proposed. Case and phase correction method, and verify the correctness and effectiveness of the modified scheme through finite element simulation. Based on current compensation scheme and phase correction method, the six degree of freedom motion positioning control scheme of MLPMPM is modified. (5) a MLPMPM comprehensive experimental platform is built, and the related experimental research is carried out. The static reality of MLPMPM is designed. The test platform and static experimental research are carried out to verify the correctness of the coupling current allocation scheme. Based on DSP TMS320 F28335, the hardware and software systems of digital control of MLPMPM are constructed, and the dynamic experimental research of MLPMPM based on position speed double closed loop PID control and auto disturbance rejection control (Active Disturbance Rejection Control, ADRC) is carried out. The dynamic performance of closed loop control system is analyzed to verify the effectiveness of ADRC control strategy under the condition of small angle yaw in MLPMPM.
【學位授予單位】：江蘇大學
【學位級別】：博士
【學位授予年份】：2017
【分類號】：TM351

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