考虑定位力及摩擦力的永磁同步直线电机系统预定位估计算法  

Pre-position Estimation Algorithm of Permanent Magnet Synchronous Linear Motor System Considering Positioning Force and Friction Times

作　　者：黄旭珍[1] 张成明[2] 梁进 王安鹏 李立毅[2] HUANG Xuzhen;ZHANG Chengming;LIANG Jin;WANG Anpeng;LI Liyi(Nanjing University of Aeronautics and Astronautics,Nanjing 211111,Jiangsu Province,China;Harbin Institute of Technology,Harbin 150001,Heilongjiang Province,China)

机构地区：[1]南京航空航天大学,江苏省南京市211111 [2]哈尔滨工业大学,黑龙江省哈尔滨市150001

出　　处：《中国电机工程学报》2021年第4期1496-1504,共9页Proceedings of the CSEE

基　　金：国家自然科学基金项目(51537002)。

摘　　要：在永磁同步直线电机系统中,采用增量式传感器以及无位置控制技术对电机进行闭环控制时,定位力及摩擦力会导致对系统初始位置的估计出现较大偏差,影响起动性能。针对上述问题,该文提出一种考虑定位力以及摩擦力的永磁同步直线电机系统预定位算法。首先,在分析系统定位力、摩擦力特性的基础上,重点分析电机预定位时的动力平衡关系,考虑摩擦力对电机预定位过程的影响,讨论不同方向的预定位平衡位置。其次,推导预定位平衡位置估计可实现的约束条件,并基于静止坐标系下,提出一种基于二分法的预定位平衡位置迭代估计算法。最后,基于一台平板型永磁同步直线电机,配合“ARM+FPGA”的驱动控制平台,开展预定位估计算法的仿真与实验工作。通过仿真分析和实验验证了预定位估计算法的可行性与有效性。In the permanent magnet synchronous linear motor(PMSLM)system,when the incremental sensors and sensorless technology are adopted in the closed-loop control,the existence of detent force and friction will cause a large deviation in initial position estimation,affecting the starting performance of the system.In view of this problem,a pre-positioning estimation algorithm considered the detent force and friction of PMSLM system was proposed.Based on the analysis of the detent force and friction characteristics of the system,the dynamic balance relationship of the motor during the process of pre-positioning was analyzed.The estimated achievable constraints of the equilibrium position of pre-positioning were then derived,and an iterative estimation algorithm of the equilibrium position of pre-positioning based on the dichotomy method was proposed in the stationary coordinate system.The simulation and experiment of the pre-positioning estimation algorithm were carried out,which verified the feasibility and effectiveness of the algorithm via a flat-type PMSLM in cooperation with the drive control platform of“ARM+FPGA”.

关 键 词：永磁同步直线电机 定位力 摩擦力 初始位置估计 估计算法 

分 类 号：TM341[电气工程—电机]