【摘要】：直線電機(jī)直接驅(qū)動(dòng)技術(shù)極大地提高了伺服系統(tǒng)的快速反應(yīng)能力、運(yùn)動(dòng)精度和高速進(jìn)給能力，已成為現(xiàn)代高檔數(shù)控機(jī)床最具代表性的先進(jìn)技術(shù)之一。單邊平板型有鐵心伺服用永磁直線同步電機(jī)（PMLSM）由于具有推力大，功率密度高的特點(diǎn)，是目前應(yīng)用最為廣泛的一種直線電機(jī)，但由于齒槽效應(yīng)、端部效應(yīng)及磁場(chǎng)諧波的影響，電機(jī)在運(yùn)行過(guò)程中初、次級(jí)之間存在較大的法向力波動(dòng)，法向力的波動(dòng)引起的摩擦力攝動(dòng)和機(jī)床振動(dòng)極大地影響了機(jī)床的加工精度。本文針對(duì)平板型有鐵心PMLSM法向力波動(dòng)的產(chǎn)生機(jī)理及削弱方法進(jìn)行了系統(tǒng)的研究，主要內(nèi)容如下： 研究PMLSM法向力波動(dòng)與磁場(chǎng)各次諧波之間的關(guān)系以及法向力與推力之間相關(guān)性。在分析永磁體磁動(dòng)勢(shì)諧波、電樞反應(yīng)磁動(dòng)勢(shì)諧波以及氣隙磁導(dǎo)諧波的基礎(chǔ)上，根據(jù)Maxwell Stress Tensor法和積分法推導(dǎo)初級(jí)端齒無(wú)限長(zhǎng)PMLSM法向力波動(dòng)的解析表達(dá)式，揭示法向力波動(dòng)的規(guī)律。接著從氣隙磁場(chǎng)儲(chǔ)能的角度，通過(guò)解析法分析法向力與切向電磁推力的相關(guān)性，綜合考慮削弱齒槽效應(yīng)、端部效應(yīng)以及負(fù)載擾動(dòng)引起的法向力波動(dòng)的方法對(duì)切向電磁推力的影響。 研究電機(jī)參數(shù)對(duì)法向力波動(dòng)的影響規(guī)律。齒頂寬度、極弧系數(shù)對(duì)法向力波動(dòng)有直接的關(guān)系，首先解析分析齒頂寬度、極弧系數(shù)對(duì)齒槽效應(yīng)引起的法向力波動(dòng)（簡(jiǎn)稱為齒槽法向力波動(dòng)）幅值和次數(shù)的影響規(guī)律；然后采用有限元法驗(yàn)證不同齒頂寬度和不同極弧系數(shù)下的齒槽法向力波動(dòng)情況以及對(duì)推力性能的影響程度，為高性能直線電機(jī)優(yōu)化設(shè)計(jì)提供理論指導(dǎo)。 研究永磁磁極三段錯(cuò)位削弱齒槽法向力波動(dòng)的方法。首先分析電機(jī)初級(jí)齒頂開(kāi)輔助槽和不等極弧系數(shù)組合削弱推力波動(dòng)的方法對(duì)削弱法向力波動(dòng)的規(guī)律，進(jìn)而分析這兩種方法的局限性；在此基礎(chǔ)上，根據(jù)相位反相抵消的原理，提出永磁磁極三段錯(cuò)位法削弱甚至抵消主要次諧波齒槽法向力波動(dòng)，同時(shí)避免電機(jī)產(chǎn)生橫向俯仰運(yùn)動(dòng)，并采用有限元分析法驗(yàn)證該方法的有效性。 研究分相電流補(bǔ)償控制策略削弱端部效應(yīng)引起法向力波動(dòng)（簡(jiǎn)稱為端部法向力波動(dòng)）的方法。端部法向力波動(dòng)是法向力波動(dòng)的主要分量，，根據(jù)分?jǐn)?shù)槽繞組永磁直線伺服電機(jī)三相繞組的特殊分布規(guī)律，提出了抑制端部法向力波動(dòng)的分相電流補(bǔ)償控制策略，在分相電流補(bǔ)償控制時(shí)，遵循推力性能最優(yōu)、法向力波動(dòng)最小的原則；接著研究了端部法向力波動(dòng)的補(bǔ)償模型建模方法；最后采用Ansoft系列軟件Simplorer和Maxwell聯(lián)合仿真驗(yàn)證該補(bǔ)償控制策略的有效性。 設(shè)計(jì)永磁直線伺服電動(dòng)機(jī)樣機(jī)以及法向力測(cè)試系統(tǒng)驗(yàn)證理論和方法的正確性。針對(duì)初級(jí)端齒無(wú)限長(zhǎng)12槽8極整體磁極及三段錯(cuò)位磁極PMLSM的法向力進(jìn)行穩(wěn)態(tài)測(cè)量，驗(yàn)證磁極三段錯(cuò)位法削弱齒槽法向力波動(dòng)的有效性；針對(duì)分相電流補(bǔ)償控制的12槽11極PMLSM進(jìn)行法向力測(cè)試，驗(yàn)證分相電流補(bǔ)償控制策略削弱端部法向力波動(dòng)的可行性和有效性。
[Abstract]:The direct drive technology of linear motor has greatly improved the fast response ability of the servo system, and has become one of the most representative advanced technologies in modern high grade CNC machine tools. The single side plate type PMLSM has the characteristics of high thrust and high power density. It is one of the most widely used linear motors at present. However, due to the effect of the cogging effect, end effect and magnetic field harmonic, there is a large normal force fluctuation between the initial and secondary stages of the motor. The friction perturbation and machine vibration caused by the fluctuation of the normal force greatly affect the machining accuracy of the machine tool. The formation mechanism and weakening method of normal force fluctuation with core PMLSM are systematically studied. The main contents are as follows:
The relationship between the force fluctuation of the PMLSM method and the various harmonics of the magnetic field and the correlation between the normal force and the thrust are studied. On the basis of the analysis of the magnetic EMF harmonics, the armature reaction magnetomotive force harmonic and the air gap magnetic conductance harmonic, the analysis of the unbounded PMLSM force fluctuation of the initial end teeth is derived by the Maxwell Stress Tensor method and the integral method. From the angle of energy storage in the air gap magnetic field, the correlation between the direction force and the tangential electromagnetic thrust is analyzed from the angle of the air gap magnetic field, and the influence of the method of weakening the cogging effect, the end effect and the normal force fluctuation caused by the load disturbance on the tangential electromagnetic thrust is considered.
The influence of the motor parameters on the normal force fluctuation is studied. The width of the tooth top and the polar arc coefficient have a direct relationship with the normal force fluctuation. First, the influence of the tooth top width and the polar arc coefficient on the amplitude and the frequency of the normal force fluctuation caused by the cogging effect is analyzed. Then the finite element method is used to verify the difference. The fluctuation of the groove normal force and the influence on the thrust performance under the tooth top width and the different polar arc coefficient provide theoretical guidance for the optimal design of high performance linear motor.
In this paper, the method of weakening the normal force fluctuation of the three segments of the permanent magnetic pole is studied. First, the law of weakening the normal force fluctuation of the motor primary tooth top opening auxiliary slot and the unequal pole arc coefficient to weaken the force fluctuation is analyzed, and then the limitations of the two methods are analyzed. On this basis, the principle of the phase inverse phase counteraction is put forward. The three phase dislocation method of magnetic magnetic pole weakens or even counteracts the main subharmonic cogging force fluctuation, and avoids the horizontal pitching motion of the motor, and the effectiveness of the method is verified by the finite element method.
The phase current compensation control strategy is studied to weaken the normal force fluctuation caused by the end effect. The end normal force fluctuation is the main component of the normal force fluctuation. According to the special distribution rules of the three-phase winding of the permanent magnet linear servo motor of the fractional slot winding, the phase separation power to restrain the normal force fluctuation at the end part is proposed. The flow compensation control strategy follows the principle of the optimal thrust performance and the minimum normal force fluctuation in phase separation current compensation control. Then, the compensation model modeling method of the end normal force fluctuation is studied. Finally, the effectiveness of the compensation control strategy is verified by the joint simulation of Ansoft series software Simplorer and Maxwell.
The correctness of the theory and method of the permanent magnet linear servo motor prototype and the normal force test system is designed. The steady state measurement of the normal force of the 12 slot 8 pole whole magnetic pole and the three segment magnetic pole PMLSM of the primary end tooth is carried out, and the validity of the three segment dislocation method of the magnetic pole to weaken the fluctuation of the cogging method force is verified. The 12 slot 11 pole PMLSM is tested to verify the feasibility and effectiveness of the split phase current compensation control strategy to weaken the normal force fluctuation of the end.
【學(xué)位授予單位】：沈陽(yáng)工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM383.4

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