基于摩擦补偿的永磁球形电动机通电线圈的优化  

Permanent magnet spherical motor energized coil optimization based on friction compensation

作　　者：李洪凤[1] 李伟健[1] 

机构地区：[1]天津大学电气与自动化工程学院,天津300072

出　　处：《北京交通大学学报》2016年第2期63-70,共8页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：国家自然科学基金资助项目(51007061)

摘　　要：为解决摩擦项导致控制系统品质恶化的问题,本文根据一种永磁球形电动机和支撑部件的结构,建立了永磁球形电动机的动力学模型和摩擦转矩模型.利用自适应滑模方法搭建摩擦补偿器,提出一种基于通电线圈优化的通电策略.此通电策略在自转和偏航两种运动形式下,对通电线圈进行了优化,实现在最小线圈损耗下的永磁球形电动机自转和偏航运行.并且该摩擦补偿器对摩擦转矩进行了在线估计,很好地补偿并抑制摩擦项的影响,实现对球形电动机的准确的跟踪控制.The friction items cause the quality deterioration in control system. To overcome the problem, this paper establishes the dynamics model and friction torque model of permanent mag- net spherical motor（PMSM） according to the structure of permanent magnet spherical motor and supporting parts. This paper uses the adaptive sliding mode control method to establish the fric- tion compensator, and puts forward an energized strategy based on energized coil optimization. In the spinning motion and yawing motion, this energized strategy makes energized coil optimiza- tion, achieves the spinning motion and yawing motion in the situation of the minimum energy consumption. And the friction compensator is used to estimate the friction online, compensates f and suppresses the friction, and achieves the accurate tracking control of PMSM.

关 键 词：永磁球形电动机 摩擦转矩模型 摩擦补偿器 通电线圈优化 

分 类 号：TM35[电气工程—电机]