基于历史与磁检测信息的永磁同步平面电机定位方法（英文）  

Planar Position for Permanent-Magnet Synchronous Motor Using Historical and Magnetic-Detection Information

作　　者：朱翼先 胡金春[2,3] 杜胜武[2,3] 高阵雨[2,3] 陈龙敏[2,3] 

机构地区：[1]清华大学电子工程系,北京100084 [2]清华大学摩擦学国家重点实验室,北京100084 [3]清华大学精密超精密制造装备及控制北京市重点实验室,北京100084

出　　处：《电工技术学报》2017年第12期205-213,共9页Transactions of China Electrotechnical Society

基　　金：Supported by National Science Foundation of China(51175296,51475262,51677104)~~

摘　　要：通过检测永磁同步平面电机固有的空间磁场实现平面三自由度定位,能够简化运动位移传感器的结构布局,对电流相位的确定和运动控制的精度实现具有重要意义。然而,由于磁场空间分布的非线性,若直接采用常规的数学方法计算三自由度位移,会导致问题极其复杂且求解精度低。本文从信息融合的角度,运用电机运动的连续性与惯性,提出一种顺序求解算法,可实现平面三自由度位移的高精度、快速求解。该算法基于电机的历史位移和磁场检测信息,解决了原方法由于计算模型限制导致的收敛速度慢的问题。这种基于顺序求解的定位方法较原方法提高了位移分辨率和计算效率,为实现永磁同步平面电机的高精度运动控制铺平道路。By utilizing the inherent magnetic field of spatial distribution in the permanent-magnet synchronous planar motor, a 3-degree-of-freedom （3-DOF） positioning can simplify the layout of the kinematic displacement sensors. It has great practical significance for determination of current phase and precision of motion control. However, the nonlinearity of the magnetic-field distribution results in the high complexity and low accuracy, if general mathematical methods are directly applied for calculating 3-DOF displacement based on detection of the magnetic field. In this paper, from the perspective of information fusion, by utilizing the continuity and inertia of motor motion, a fast solution with high resolution for planar 3-DOF positioning, named the successive solving algorithm （SSA）, is advanced. Based on the historical output displacement information of the motor provided by magnetic sensors, the SSA resolves the problem of slow convergence in the prior work, which is caused by the restriction of the calculation model. The improvements on the position resolution as well as the computational efficiency pave the way for achieving high-precision motion control of this kind of motors.

关 键 词：多自由度定位 位移测量 传感器系统及应用 永磁同步平面电机 磁性装置 

分 类 号：TM341[电气工程—电机]