基于弧形电机拼接的大型望远镜驱动技术研究
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摘要
对于研制新一代大型光电望远镜，传统的有刷直流力矩电机已经不能满足望远镜尺寸的需求，且该类型电机有电刷和换向器，存在换向电火花和电磁干扰大的问题。目前，国外现役的大型望远镜采用了一种基于弧形直线电机拼接的驱动方式，该种驱动方式由多块弧形单元电机拼接构成，尺寸可以做的任意大，且该类型电机属于永磁同步电机，不存在电刷和换向装置，电磁干扰小。因此，研究基于弧形直线电机的驱动方式对于研制新一代大型望远镜具有重要意义。但是由于结构的原因，该种电机力矩波动较大，直接影响到影响望远镜的跟踪精度，在低速情况下更加明显。本文以减小该类型电机的力矩波动为核心研究内容，通过从电机设计、优化，控制系统硬件设计、控制算法研究等多个角度来减小该种电机的力矩波动问题，从而达到提高望远镜的跟踪精度的目的。
由于该类型电机在国内望远镜的应用还属空白，本文结合普通旋转电机和直线电机的知识设计了一台弧形直线电机试验样机。主要包括电磁设计和机械结构设计，如永磁体工作点的选取、定子绕组分析与设计、空载漏磁系数的分析与计算、单元电机连接方式的分析与选取。
针对该类型电机存在较大力矩波动的缺点，本文对电机结构进行优化。首先对齿槽效应进行理论分析与有限元分析验证，并通过采用分数槽结构的方法减小了试验样机的齿槽力；然后对边端效应进行进行理论分析与有限元分析验证，并通过优化电机定子铁心长度和本文提出的单元电机边端力相互抵消两种方法来减小试验样机的边端力；接着对该种电机三相绕组不对称形成原因和造成的力矩波动进行了深入分析，并提出不同单元电机绕组换相位相连的方法来解决三相绕组不对称问题；最后对现有永磁同步电机的永磁体形状进行分析，并提出一种通过优化永磁体形状参数的方法来得到理想的反电动势，从而减小反电动势谐波，达到进一步减小电机的力矩波动的目的。
在此基础上，本文建立了基于DSP+IPM的电机控制与驱动硬件平台。对弧形永磁直线同步电机驱动系统的关键技术进行了深入分析，主要包括矢量控制技术和空间矢量调制方式。建立了弧形永磁直线同步电机的仿真系统，在此基础之上完成了系统电流环和速度环的设计。并针对影响位置伺服系统性能的相关因素进行了深入分析。
另外，本文从控制策略的角度进一步提高弧形永磁直线同步电机伺服系统的跟踪精度。首先为了解决传统控制方法由于相位延迟而造成较大的跟踪误差的问题，本文研究了复合控制算法，通过仿真和实验测试该方法可以在很大程度上提高伺服系统的跟踪精度；然后为了减小电机的边端力造成的力矩波动，本文提出了电流补偿控制方法，该方法通过在电机控制系统的电流环加入补偿电流可以在一定程度上减小电机由于边端力造成的力矩波动，从而可以进一步提高系统的跟踪精度。最后为了研究大型望远镜的抗外界干扰能力，如风阻力矩等外界力矩对望远镜跟踪精度的影响，本文研究了滑模控制算法，通过仿真和实验，测试结果表明该类算法在外界干扰存在情况下，可以使伺服系统具有较强的鲁棒性。
为了衡量弧形永磁直线同步电机及其控制系统的性能，本文对电机和控制系统的各项指标进行测试。主要包括电机设计参数、力矩波动系数、伺服系统带宽、伺服系统跟踪精度等。通过与现有的国内外伺服系统对比，测试结果表明该系统的各项指标比较先进，达到预期研制目的。
Because the traditional rotary motor can’t meet the dimension of the the nextgeneration large telescope, at the beginning of21st century, a new driving system forlarge telescope based on Arc permanent magnetic linear synchronous motors (ArcPMLSM) was developed. Compared with other traditional drive systems, Arc PMLSMsare manufactured piecewise and assembled on site, which can reduce the cost ofmachining and transportation. And the Arc PMLSM is a kind of brushless motor, whichcan avoid the commutation spark and the serious electromagnetic interference.But thisking of motor has disadvantage of large torque ripple. It induces a disturbance for thepositioning precision at low speed, which will affect the tracking accuracy for telescope.This paper focus on how to weaken the torque ripple of this motor, and then proposesome methods from the point of motor design and control methods to reduce the torqueripple.
In this paper, a test model of Arc PMSLM used on the next generation largetelescope of China was designed, which was based on the theory of rotary motor andlinear motor. The work mainly include the mechanical design and electromagneticdesign, such as the analysis and calculation of the work point of the magnet,the designof the winding of the stator, the analysis and calculation of the coefficient of magneticdispersion, the mode of connection of the uint stator wingding, and so on.
In order to decrease the torque ripple, some methods were adopted to optimize thestructure of the motor. Firstly, the slot effect was analysed and verified by the finiteelement method (FEM) analysis, and the slot force was decreased by adoptingfractional-slot structure. Secondly, the end effect was analysed and verified by the FEManalysis, and the end force was decreased by optimizing the length of the stator core andthe angle between the two stators, which was firstly proposed. Thirdly, the problem ofunbalanced three-phase winding was analysed, and by connecting different phasewindings of different stators, the problem of unbalanced three-phase winding wassolved. Compared with the primary three-phase winding, there were less harmonics inthe current. At last, the shape of the magnet was optimized, and compared with the traditional magnet, there were less harmonics in the back-EMF.
On this basis, an Arc PMLSM servo system including hardware platform andsoftware algorithms was established based on DSP+IPM. The key technology includethe vector control method and the space vector pulse width modulation(SVPWM) werestudied. Based on the simulation model, the current loop and the speed loop of thecontrol system were developed. At last the disvantages of the M and T speed measuremethods were analysed, and the M/T speed measure method was adopt in this paper.
In addition, some control methods were studied in this paper to improve thetracking accuracy of the servo system. Firstly, the forward feed control(FFC) methodwas studied, this method can decrease the phase delay of the control system. And thesimulation and test result show that this method can improve the tracking accuracy ofthe servo system to a large extent. Secondly in order to decrease the end force, a currentcompensator was added in the control system to compensate the torque ripple. After thismethods was adopted, the torque ripple of the motor was decreased. At last, in order toimprove the robustness of the servo system, the the slide mode control(SMC) methodwas studied. Compared with other control methods, the simulation and test result showthat this method can improve the ability of anti-interference for the servo system.
To validate the optimization results and control methods, the parameters of the testmodel of Arc PMSLM were test, such as the torque ripple, the bandwidth of system, thetracking accuary and so on. And the test result show that the Arc PMLSM can satisfythe requirement of tracking accuracy for large telescope.
由于该类型电机在国内望远镜的应用还属空白，本文结合普通旋转电机和直线电机的知识设计了一台弧形直线电机试验样机。主要包括电磁设计和机械结构设计，如永磁体工作点的选取、定子绕组分析与设计、空载漏磁系数的分析与计算、单元电机连接方式的分析与选取。
针对该类型电机存在较大力矩波动的缺点，本文对电机结构进行优化。首先对齿槽效应进行理论分析与有限元分析验证，并通过采用分数槽结构的方法减小了试验样机的齿槽力；然后对边端效应进行进行理论分析与有限元分析验证，并通过优化电机定子铁心长度和本文提出的单元电机边端力相互抵消两种方法来减小试验样机的边端力；接着对该种电机三相绕组不对称形成原因和造成的力矩波动进行了深入分析，并提出不同单元电机绕组换相位相连的方法来解决三相绕组不对称问题；最后对现有永磁同步电机的永磁体形状进行分析，并提出一种通过优化永磁体形状参数的方法来得到理想的反电动势，从而减小反电动势谐波，达到进一步减小电机的力矩波动的目的。
在此基础上，本文建立了基于DSP+IPM的电机控制与驱动硬件平台。对弧形永磁直线同步电机驱动系统的关键技术进行了深入分析，主要包括矢量控制技术和空间矢量调制方式。建立了弧形永磁直线同步电机的仿真系统，在此基础之上完成了系统电流环和速度环的设计。并针对影响位置伺服系统性能的相关因素进行了深入分析。
另外，本文从控制策略的角度进一步提高弧形永磁直线同步电机伺服系统的跟踪精度。首先为了解决传统控制方法由于相位延迟而造成较大的跟踪误差的问题，本文研究了复合控制算法，通过仿真和实验测试该方法可以在很大程度上提高伺服系统的跟踪精度；然后为了减小电机的边端力造成的力矩波动，本文提出了电流补偿控制方法，该方法通过在电机控制系统的电流环加入补偿电流可以在一定程度上减小电机由于边端力造成的力矩波动，从而可以进一步提高系统的跟踪精度。最后为了研究大型望远镜的抗外界干扰能力，如风阻力矩等外界力矩对望远镜跟踪精度的影响，本文研究了滑模控制算法，通过仿真和实验，测试结果表明该类算法在外界干扰存在情况下，可以使伺服系统具有较强的鲁棒性。
为了衡量弧形永磁直线同步电机及其控制系统的性能，本文对电机和控制系统的各项指标进行测试。主要包括电机设计参数、力矩波动系数、伺服系统带宽、伺服系统跟踪精度等。通过与现有的国内外伺服系统对比，测试结果表明该系统的各项指标比较先进，达到预期研制目的。
Because the traditional rotary motor can’t meet the dimension of the the nextgeneration large telescope, at the beginning of21st century, a new driving system forlarge telescope based on Arc permanent magnetic linear synchronous motors (ArcPMLSM) was developed. Compared with other traditional drive systems, Arc PMLSMsare manufactured piecewise and assembled on site, which can reduce the cost ofmachining and transportation. And the Arc PMLSM is a kind of brushless motor, whichcan avoid the commutation spark and the serious electromagnetic interference.But thisking of motor has disadvantage of large torque ripple. It induces a disturbance for thepositioning precision at low speed, which will affect the tracking accuracy for telescope.This paper focus on how to weaken the torque ripple of this motor, and then proposesome methods from the point of motor design and control methods to reduce the torqueripple.
In this paper, a test model of Arc PMSLM used on the next generation largetelescope of China was designed, which was based on the theory of rotary motor andlinear motor. The work mainly include the mechanical design and electromagneticdesign, such as the analysis and calculation of the work point of the magnet,the designof the winding of the stator, the analysis and calculation of the coefficient of magneticdispersion, the mode of connection of the uint stator wingding, and so on.
In order to decrease the torque ripple, some methods were adopted to optimize thestructure of the motor. Firstly, the slot effect was analysed and verified by the finiteelement method (FEM) analysis, and the slot force was decreased by adoptingfractional-slot structure. Secondly, the end effect was analysed and verified by the FEManalysis, and the end force was decreased by optimizing the length of the stator core andthe angle between the two stators, which was firstly proposed. Thirdly, the problem ofunbalanced three-phase winding was analysed, and by connecting different phasewindings of different stators, the problem of unbalanced three-phase winding wassolved. Compared with the primary three-phase winding, there were less harmonics inthe current. At last, the shape of the magnet was optimized, and compared with the traditional magnet, there were less harmonics in the back-EMF.
On this basis, an Arc PMLSM servo system including hardware platform andsoftware algorithms was established based on DSP+IPM. The key technology includethe vector control method and the space vector pulse width modulation(SVPWM) werestudied. Based on the simulation model, the current loop and the speed loop of thecontrol system were developed. At last the disvantages of the M and T speed measuremethods were analysed, and the M/T speed measure method was adopt in this paper.
In addition, some control methods were studied in this paper to improve thetracking accuracy of the servo system. Firstly, the forward feed control(FFC) methodwas studied, this method can decrease the phase delay of the control system. And thesimulation and test result show that this method can improve the tracking accuracy ofthe servo system to a large extent. Secondly in order to decrease the end force, a currentcompensator was added in the control system to compensate the torque ripple. After thismethods was adopted, the torque ripple of the motor was decreased. At last, in order toimprove the robustness of the servo system, the the slide mode control(SMC) methodwas studied. Compared with other control methods, the simulation and test result showthat this method can improve the ability of anti-interference for the servo system.
To validate the optimization results and control methods, the parameters of the testmodel of Arc PMSLM were test, such as the torque ripple, the bandwidth of system, thetracking accuary and so on. And the test result show that the Arc PMLSM can satisfythe requirement of tracking accuracy for large telescope.
引文
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