一种复合直线开关磁阻电机高精度位置控制  

High Precision Position Control of a Composite Linear Switched Reluctance Motor

作　　者：付鹏飞 张晓东 王璨 潘剑飞 黄韧 谢文坷 FU Pengfei;ZHANG Xiaodong;WANG Can;PAN Jianfei;HUANG Ren;XIE Wenke(College of Mechatronics and Control Engineering,Shenzhen University,Shenzhen 518060,Guangdong Province,China;Shenzhen Yingqu New Energy Limited Company,Shenzhen 518100,Guangdong Province,China)

机构地区：[1]深圳大学机电与控制工程学院,广东省深圳市518060 [2]深圳英驱新能源有限公司,广东省深圳市518100

出　　处：《中国电机工程学报》2019年第23期7044-7054,共11页Proceedings of the CSEE

基　　金：国家自然科学基金项目(51477103);广东省科技计划项目(2015A010106017);广东省教育厅重大项目(2016KZDXM007)~~

摘　　要：在加工制造领域中,高精度和多工位同步控制的重要性日益显现。传统多工位加工采用多台电机按既定时序分时完成,系统工作效率较低。为提高多工位同步加工效率,提出一种复合直线开关磁阻电机(composite linear switched reluctance motor,CLSRM),它由定子、长动子、左、右次动子4部分组成。左、右次动子嵌套在长动子上,能够与长动子实现复合运动,同时长动子和左、右动子能够独立运动,提高了系统运行效率。考虑到CLSRM运动系统的不确定性和时变扰动导致无法准确建模,采用系统辨识在线实时估计系统动态模型,结合基于极点配置的自适应控制策略实时调整控制参数。实验结果表明,该控制策略使电机位置跟踪稳态误差在6?m以内,同步稳态误差在1?m以内,验证了自适应算法对CLSRM高精度位置控制的有效性。In the field of modern processing and manufacturing,high precision and multi-station synchronous control becomes more and more important.The traditional multi-station processing facilities apply multiple motors to perform actions in series,and the entire efficiency of the system is low.In order to improve the operation efficiency for multi-station synchronous processing,this paper proposed a composite linear switched reluctance motor(CLSRM),which consisted of a stator,a long primary mover,and a left and a right secondary movers.The left and right movers are nested on the long mover,which can realize a combined motion according to the long mover.At the same time,the long mover,the left and right movers can move independently,which improves the operation efficiency of the entire system.Considering the uncertainty and time-varying disturbance of the proposed CLSRM motion system,it is difficult to obtain an accurate system model.The system identification method was employed to estimate the dynamic model of the system,and then,the adaptive control strategy based on the pole placement configuration was applied to adjust the control parameters in real time.The experimental results demonstrate that the absolute steady-state error values fall into 6μm and the synchronous steady-state error within 1μm,respectively,which verifies the effectiveness of the proposed control algorithm for the CLSRM dedicated to high-precision position control applications.

关 键 词：复合直线开关磁阻电机 自适应控制 位置控制 系统辨识 同步误差 

分 类 号：TM359[电气工程—电机]