基于数据驱动的永磁同步直线电机阻尼系数解算方法  

Data-drive-based Damping Coefficient Calculation Method of Permanent Magnet Synchronous Linear Motors

作　　者：刘宁鹏 黄苏丹[1] 曹广忠[1] 敬刚[2] 刘岩[2] LIU Ningpeng;HUANG Sudan;CAO Guangzhong;JING Gang;LIU Yan(Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots,College of Mechatronics and Control Engineering,Shenzhen University,Shenzhen Guangdong 518060,China;Guangdong Key Laboratory of Optomechatronics,Shenzhen Key Laboratory of Optomechatronics,Research Institute of Tsinghua University in Shenzhen,Shenzhen Guangdong 518057,China)

机构地区：[1]深圳大学机电与控制工程学院,广东省电磁控制与智能机器人重点实验室,广东深圳518060 [2]深圳清华大学研究院广东省光机电一体化重点实验室,深圳清华大学研究院深圳市光机电一体化重点实验室,广东深圳518057

出　　处：《微电机》2023年第3期1-5,29,共6页Micromotors

基　　金：国家自然科学基金(51907128,52277061);广东省自然科学基金(2021A1515011704,2021A1515011685);深圳市基础研究项目(JCYJ20190808142211388,JCYJ20220818095804009);深圳市科技攻关重点项目(JSGG20191126151001800)。

摘　　要：针对永磁同步直线电机难以直接测量其阻尼系数的问题,论文提出一种基于数据驱动的永磁同步直线电机阻尼系数解算方法。建立了以电流为输入、位置为输出的永磁同步直线电机的连续传递函数模型,分别利用阶跃响应不变法和双线性变换方法对连续传递函数进行离散化,得到离散传递函数的参数与阻尼系数、运动平台质量及采样时间的数学关系,基于该数学关系推导得到阻尼系数解算模型,采用递推最小二乘法对得到的两种离散传递函数进行参数辨识,通过辨识的参数并结合阻尼系数解算模型,计算得到永磁同步直线电机的阻尼系数,并对所提出的方法进行了实验研究。实验结果验证了所提出方法的有效性。Aiming at the problem that it is difficult to directly measure the damping coefficient of permanent magnet linear synchronous motors(PMLSMs),a data-driven method of calculating the damping coefficient of PMLSMs was proposed in this paper.Taking the current as input and the position as output,the continuous transfer function model of PMSLMs was established.The continuous transfer function was discretize using step response invariant method and bilinear transformation method,respectively,and two discrete transfer functions were built.The mathematical relationship between the parameters of the discrete transfer function,the damping coefficient,the mass of the moving platform,and the sampling time was obtained.Based on the mathematical relationship,the damping coefficient calculation model was deduced.The recursive least square method was used to identify the parameters of the two discrete transfer functions.Moreover,the damping coefficient of PMLSMs was calculated by combining the identified parameters with the damping coefficient calculation model.Finally,the proposed method was studied experimentally.The effectiveness of the proposed method was verified by experimental results.

关 键 词：永磁同步直线电机 递推最小二乘法 数据驱动 参数辨识 

分 类 号：TM351[电气工程—电机] TM341[自动化与计算机技术—计算机系统结构] TP359.4[自动化与计算机技术—计算机科学与技术]