面向电磁弹射的直线电机设计及其控制
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摘要
随着稀土永磁材料技术的发展,以及伺服控制技术的发展,永磁直线电机作为电磁弹射系统的驱动电机的优势更加明显,研究表明永磁直线电机是电磁弹射领域驱动装置发展的重要方向。航母舰载机电磁弹射系统对直线电机提出了更高的要求,因此研究可控性好,大功率的直线电机已经成为研究热点。
本文针对电磁弹射场合的特殊要求,以永磁直线同步电机作为直线驱动电机展开研究,首先从结构方案上分析了永磁直线同步电机作为驱动电机必须采用动磁式的结构,并且针对大功率、工艺简单和模块化设计的角度,分析比较了两种不同的集中绕组方案,确定了集中绕组整数槽的方案。
针对确定的直线电机的绕组方案,利用有限元分析的方法建立了单边永磁直线同步电机的基本模型,对电机的磁场特点进行了研究。同时详细的分析了电机的永磁体,定子的结构参数对电机电磁力(推力和法向力)特性的影响。
直线电机特有的开断结构造成了磁场畸变,但是对于动磁式的直线电机,同旋转电机一样,齿槽效应引起的推力波动仍然是主要原因,针对这一特性,本文展开了对永磁直线同步电机的齿槽力的计算和研究。
经过前面的分析和研究,确定了永磁直线同步电机的设计尺寸,根据实际情况研制了一台实验样机。并且构建了样机的矢量控制系统,实现了对永磁直线同步电机的伺服控制,同时对样机进行了推力测试,证明实验数据较好的吻合了有限元的分析结果。
With the development of rare-earth permanent magnetic materials, as well as the servo control technology, the advantages of permanent magnet linear motor more apparent, the study shows that permanent magnet linear motor is the major developing directions in the domain of drive motor of electromagnetic launch system. For the electromagnetic aircraft launch system (EMALS), a higher demand was put forward, the linear motor with good controllable performance and high-power density has become a research hotspot.
In this paper, for the special requirements of EMALS, to study using permanent magnet linear synchronous motor (PMLSM) as the drive motor, PMLSM must be magnet-moving, first of all, the mechanical structure of PMLSM is analyzed, then in term of high-power, simple and modular design, two different kind of concentrated winding is compared to determine the integer program slot concentrated winding.
For determining the linear motor windings program, the finite element analysis method was used to establish a PMLSM basic model and the electrical characteristics of the magnetic field is studied. At the same time, a detailed analysis was carried to study the affection imposed on thrust force of the PMLSM by the parameters of stator and permanent magnet.
The unique structure of PMLSM produces the magnetic field distortion, but for the PMLSM with the mover mounted PM, the cogging force caused by cogging effect is still the main reason for thrust ripple, this paper carried out on the PMLSM cogging force calculation and research.
After the previous analysis and studies to determine the PMLSM design size, according to the actual situation, an experimental PMLSM was made. And the method of vector control was used to realize the control of PMLSM. The thrust force of PMLSM was tested and the experimental results show good agreement with finite element analysis results.
本文针对电磁弹射场合的特殊要求,以永磁直线同步电机作为直线驱动电机展开研究,首先从结构方案上分析了永磁直线同步电机作为驱动电机必须采用动磁式的结构,并且针对大功率、工艺简单和模块化设计的角度,分析比较了两种不同的集中绕组方案,确定了集中绕组整数槽的方案。
针对确定的直线电机的绕组方案,利用有限元分析的方法建立了单边永磁直线同步电机的基本模型,对电机的磁场特点进行了研究。同时详细的分析了电机的永磁体,定子的结构参数对电机电磁力(推力和法向力)特性的影响。
直线电机特有的开断结构造成了磁场畸变,但是对于动磁式的直线电机,同旋转电机一样,齿槽效应引起的推力波动仍然是主要原因,针对这一特性,本文展开了对永磁直线同步电机的齿槽力的计算和研究。
经过前面的分析和研究,确定了永磁直线同步电机的设计尺寸,根据实际情况研制了一台实验样机。并且构建了样机的矢量控制系统,实现了对永磁直线同步电机的伺服控制,同时对样机进行了推力测试,证明实验数据较好的吻合了有限元的分析结果。
With the development of rare-earth permanent magnetic materials, as well as the servo control technology, the advantages of permanent magnet linear motor more apparent, the study shows that permanent magnet linear motor is the major developing directions in the domain of drive motor of electromagnetic launch system. For the electromagnetic aircraft launch system (EMALS), a higher demand was put forward, the linear motor with good controllable performance and high-power density has become a research hotspot.
In this paper, for the special requirements of EMALS, to study using permanent magnet linear synchronous motor (PMLSM) as the drive motor, PMLSM must be magnet-moving, first of all, the mechanical structure of PMLSM is analyzed, then in term of high-power, simple and modular design, two different kind of concentrated winding is compared to determine the integer program slot concentrated winding.
For determining the linear motor windings program, the finite element analysis method was used to establish a PMLSM basic model and the electrical characteristics of the magnetic field is studied. At the same time, a detailed analysis was carried to study the affection imposed on thrust force of the PMLSM by the parameters of stator and permanent magnet.
The unique structure of PMLSM produces the magnetic field distortion, but for the PMLSM with the mover mounted PM, the cogging force caused by cogging effect is still the main reason for thrust ripple, this paper carried out on the PMLSM cogging force calculation and research.
After the previous analysis and studies to determine the PMLSM design size, according to the actual situation, an experimental PMLSM was made. And the method of vector control was used to realize the control of PMLSM. The thrust force of PMLSM was tested and the experimental results show good agreement with finite element analysis results.
引文
1 M. Cowan. Exploratory Development of the Reconnection Launcher. IEEE Trans on MAG, 2004, 27(1):563~567
2 S. A. Cherenshchikov. Secondary Emission Magnetron Injection Gun in Long Pulse Mode. Proceeding of the 1999 Particle Accelerator Conference, New York. 1999: 1973-1975
3 M. R. Palmer, R. X. Lenard. A Revolution in Access to Space Through Spinoffs of SDI technology. IEEE Transactions on Magnetics. 1991, 27(1):11~20
4李勇,李立毅.电磁弹射技术的原理与现状.微特电机.2001,5:3~5
5李立毅,程树康,刘宝廷.直线电磁发射技术的发展现状及前景.微电机.1999,2:26~30
6 D. C. Haugh, S. U. K. Gibert. Electric Gun National Overview. IEEE Transactions on Magnetics. 2003, 39(1):18~21
7 R. Mcnab. Early Electric Gun Research. IEEE Transactions on Magnetic. 1999, 35(1):250~261
8 Egeland A. Birkeland’s Electromagnetic Gun: Historical Review. IEEE Transactions on Plasma Sceence. 1989, 17(2):73~82
9 T. H. G. G Weise, J. Maag, G. Zimmermann, et al. National Overview of the German ETC Program. IEEE Transactions on Magnetics. 2003, 39(1):37~38
10 Y. Wang, S. Cheng, P. Zheng. Widely Developing Electric Launch Technology in China. IEEE transactions on Magnetics. 2003, 39(1):39~41
11 D. Fair. Electric Launch Science and Technology in the United States. IEEE Transactions on Magnetics. 2003, 39(1):11~17
12庄国臣.电磁发射器及其应用.电工技术杂志.1997(6):20~22
13李小鹏.重接式电磁发射技术的基础研究.博士论文.哈尔滨工业大学,2004:1~5
14王静端.电磁发射技术的发展及其军事应用.火力与指挥控制.2001, 26(1):5~7
15 A. L. Brooks. Design and Fabrication of Large and Small Bore Railguns. IEEE Trans on MAG. 2005, 18(1): 68~72
16 A Cherenshchikov. Secondary Emission Magnetron Injection Gun in Long PulseMode. Proceeding of the 1999 Particle Accelerator Conference, New York. 1999:1973~1975
17 Wang. EML Technology Research in China. IEEE Tran on MAG. 1999, 35(1): 44~46
18高顺受.60mm口径电磁感应线圈炮的试验研究.高压物理学报.1996,10(3):190~198
19曹鸿钧.线圈炮电枢(圆柱壳)的屈曲分析.应用力学学报.1998,15(4):37~42
20程健,任兆杏.单级线圈加速电枢的机理分析.电工技术杂志.1997,5:29~31
21李梅武,崔英,薛飞.航母飞机起飞的最佳选择—电磁弹射系统.舰船科学技术.2008,30(2):35~37
22李梅武,魏建中,薛飞.一种航母电磁飞机弹射系统的研究.舰船科学技术.2007,29(1):33~34
23张安平.无人机电磁弹射技术研究.沈阳航空工业学院学报.2007,24(4):17~20
24 H. D. Fair. The Science and Technology of Electric Launch: A U.S. Perspective. IEEE Transactions on Magnetics. 1999, 135(1):11~19
25 W. A. Jacobs. Magnetic Launch Assist--NASA’s Vision for the Future. IEEE Transaction on Magnetics. 2001, 37(1): 55-57
26 R. J. Lipinski, S. J. Beard, Boyes. Space Applications for Contactless Coilguns. IEEE Transactions on Magnetics. 1993,29(1): 691-695
27丁国良,胡业发,刘小静.磁悬浮电磁弹射系统结构设计与磁场分析.机械工程师. 2008,7:23~25
28 Dr. Dwight, W. Swett, John G. Blanche IV. Flywheel Charging Module for Energy Storage Used in Electromagnetic Aircraft Launch System. Transactions on Magnetics. 2005, 41(1): 525~526
29赵纯.三级重接式电磁发射系统的仿真与实验研究.大连理工大学.博士论文.2006:47~50
30崔鹏.新型电磁发射技术的研究.国防科学技术大学.硕士学位论文.2005:31~33
31冯尚明,杨波.用于电磁飞机弹射系统的直线电机设计综述.舰船科学技术.2008,30(3):36~41
32 Richiard R. Bushway. Electromagnetic Aircraft Launch System DevelopmentConsiderations. IEEE Transactions on Magnetics. 2001, 37(1): 52~53
33 F. C. Beach, I. R. McNab. Present and Future Naval Applications for Pulsed Power. IEEE Transactions on Magnetics. 2005, 40(2): 245~250
34 Patterson D Monti A, Brice C, Dougal R, Pettus R. Design and Simulation of an Electromagnetic Aircraft Launch System. 37th Annual Industry Applications Conference. 2002, 3: 1950~1957
35 Gorazd Stuberger, Damir Zarko, MehmetTimur Aydemir. Design and Comparison of Linear Synchronous Motor and Linear Induction Motor for Electromagnetic Aircraft Launch System. IEEE Transactions on Magnetics. 2003, 18(1): 494~498
36 Gorazd Stuberger, Aydemir M T. Design of a Linear Bulk Superconductor Magnet Synchronous Motor for Electromagnetic Aircraft Launch Systems. IEEE Transactions on Applied Superconductivity. 2004, 14(1): 54~62
37 Javier Rios Quesada,Jean-Frederic Charpentier. Finite Difference Study of Unconventional Structures of PM Linear Machines for Electromagnetic Aircraft Launch System. IEEE Transactions on Magnetics. 2004, 14(1): 477~482
38 David Hall, James Kapinski, Mark Krefta. Transient Electromechanical Modeling for Short Secondary Linear Induction Machines. IEEE Transactions on Energy Conversion. 2008, 23(3): 789~793
39罗宏浩,吴俊,常文森.新型电磁弹射器的动态性能仿真.系统仿真学报.2006,18(8): 2285~2288
40 Monti, K. Patel, D. Patterson, R. Dougal. Modular Control For Electromagnetic Aircraft Launching System. IEEE Transactions on Magnetics. 2003, 14(3): 1877~1882
41唐梓力.基于分散结构的电磁弹射系统的自律式控制研究.哈尔滨工业大学.硕士学位论文.2008:7~9
42叶云岳.直线电机的原理与应用.北京:机械工业出版社,2000
43张盛锋.永磁直线同步电机关键技术的研究.沈阳工业大学.硕士学位论文.2007:11~12
44司纪凯,汪小东,陈昊,等.永磁直线同步电机出入端磁阻力齿槽分量分析.电机与控制学报.2008,12(5):154~156
45潘开林,傅建中,陈子辰.永磁直线同步电机磁阻力分析及其最小化研究.中国电机工程学报.2004,24(4):112~115
46唐任远.现代永磁电机的理论与设计.北京:机械工业出版社,2008:62~75
47崔皆凡.永磁直线同步电机推力及其直接推力控制系统.博士学位论文.沈阳工业大学.2006:14~20
48 Ki-Chae Lim, Joon-Keun Woo, Gyu-Hong Kang. Detent Force Minimization Techniques in Permanent Magnet Linear Synchronous Motors. IEEE Transactions on Magnetics. 2002,38(2):1157~1160
49 Takeo Ishikawa,Senior Member. Optimal Design of Thrust Characteristics of Permanent Magnet Type Linear Motor Using Orthogonal Table and Multiregression Analysis. IEEE Transactions on Magnetics. 2004, 40(2): 1220~1221
50 Z. Q. Zhu, S. Ruangsinchaiwanich, Y. Chen. Evaluation of Superposition Technique for Calculating Cogging Torque in Permanent-Magnet Brushless Machines. IEEE Transactions on Magnetics. 2006, 38(2): 1597~1603
51 Nicola Bianchi, Silverio Bolognani. Back E.M.F Improvement and Force Ripple Reduction in PM Linear Motor Drives. The 35th Annual IEEE Power Electronics Specialists Conference, 2004, 2(4): 3373~3374
52 Yong-Jae Kim, Masaya Watada, Hideo Dohmeki. Reduction of the Cogging Force at the Outlet Edge of a Stationary Discontinuous Primary Linear Synchronous Motor. IEEE Transactions on Magnetics. 2007, 43(1): 40~42
53 Yu-wu Zhu, Yun-Hyun Cho. Thrust Ripples Suppression of Permanent Magnet Linear Synchronous Motor. IEEE Transactions on Magnetics. 2007, 43(6): 2537~2539
54 In-Soung Jung, Jin Hur. Performance Analysis of Skewed PM Linear Synchronous Motor According to Various Design Parameters. IEEE Transactions on Magnetics. 2001, 37(5): 3653~3658
55邹积浩.永磁直线同步电机控制策略的研究.博士学位论文.浙江大学.2006:31~33
56陈荣.永磁同步电机伺服系统研究.博士学位论文.南京航空航天大学.2004:32~40
57 Xia J K, Wang C Y, Yang S, et al. Design of High Permanent Magnet Linear Servo Motor Based on Fractional Slot Theory. The 15th Conference on The Computation of Electromagnetic Fields. 2005, 1(4): 94~95
2 S. A. Cherenshchikov. Secondary Emission Magnetron Injection Gun in Long Pulse Mode. Proceeding of the 1999 Particle Accelerator Conference, New York. 1999: 1973-1975
3 M. R. Palmer, R. X. Lenard. A Revolution in Access to Space Through Spinoffs of SDI technology. IEEE Transactions on Magnetics. 1991, 27(1):11~20
4李勇,李立毅.电磁弹射技术的原理与现状.微特电机.2001,5:3~5
5李立毅,程树康,刘宝廷.直线电磁发射技术的发展现状及前景.微电机.1999,2:26~30
6 D. C. Haugh, S. U. K. Gibert. Electric Gun National Overview. IEEE Transactions on Magnetics. 2003, 39(1):18~21
7 R. Mcnab. Early Electric Gun Research. IEEE Transactions on Magnetic. 1999, 35(1):250~261
8 Egeland A. Birkeland’s Electromagnetic Gun: Historical Review. IEEE Transactions on Plasma Sceence. 1989, 17(2):73~82
9 T. H. G. G Weise, J. Maag, G. Zimmermann, et al. National Overview of the German ETC Program. IEEE Transactions on Magnetics. 2003, 39(1):37~38
10 Y. Wang, S. Cheng, P. Zheng. Widely Developing Electric Launch Technology in China. IEEE transactions on Magnetics. 2003, 39(1):39~41
11 D. Fair. Electric Launch Science and Technology in the United States. IEEE Transactions on Magnetics. 2003, 39(1):11~17
12庄国臣.电磁发射器及其应用.电工技术杂志.1997(6):20~22
13李小鹏.重接式电磁发射技术的基础研究.博士论文.哈尔滨工业大学,2004:1~5
14王静端.电磁发射技术的发展及其军事应用.火力与指挥控制.2001, 26(1):5~7
15 A. L. Brooks. Design and Fabrication of Large and Small Bore Railguns. IEEE Trans on MAG. 2005, 18(1): 68~72
16 A Cherenshchikov. Secondary Emission Magnetron Injection Gun in Long PulseMode. Proceeding of the 1999 Particle Accelerator Conference, New York. 1999:1973~1975
17 Wang. EML Technology Research in China. IEEE Tran on MAG. 1999, 35(1): 44~46
18高顺受.60mm口径电磁感应线圈炮的试验研究.高压物理学报.1996,10(3):190~198
19曹鸿钧.线圈炮电枢(圆柱壳)的屈曲分析.应用力学学报.1998,15(4):37~42
20程健,任兆杏.单级线圈加速电枢的机理分析.电工技术杂志.1997,5:29~31
21李梅武,崔英,薛飞.航母飞机起飞的最佳选择—电磁弹射系统.舰船科学技术.2008,30(2):35~37
22李梅武,魏建中,薛飞.一种航母电磁飞机弹射系统的研究.舰船科学技术.2007,29(1):33~34
23张安平.无人机电磁弹射技术研究.沈阳航空工业学院学报.2007,24(4):17~20
24 H. D. Fair. The Science and Technology of Electric Launch: A U.S. Perspective. IEEE Transactions on Magnetics. 1999, 135(1):11~19
25 W. A. Jacobs. Magnetic Launch Assist--NASA’s Vision for the Future. IEEE Transaction on Magnetics. 2001, 37(1): 55-57
26 R. J. Lipinski, S. J. Beard, Boyes. Space Applications for Contactless Coilguns. IEEE Transactions on Magnetics. 1993,29(1): 691-695
27丁国良,胡业发,刘小静.磁悬浮电磁弹射系统结构设计与磁场分析.机械工程师. 2008,7:23~25
28 Dr. Dwight, W. Swett, John G. Blanche IV. Flywheel Charging Module for Energy Storage Used in Electromagnetic Aircraft Launch System. Transactions on Magnetics. 2005, 41(1): 525~526
29赵纯.三级重接式电磁发射系统的仿真与实验研究.大连理工大学.博士论文.2006:47~50
30崔鹏.新型电磁发射技术的研究.国防科学技术大学.硕士学位论文.2005:31~33
31冯尚明,杨波.用于电磁飞机弹射系统的直线电机设计综述.舰船科学技术.2008,30(3):36~41
32 Richiard R. Bushway. Electromagnetic Aircraft Launch System DevelopmentConsiderations. IEEE Transactions on Magnetics. 2001, 37(1): 52~53
33 F. C. Beach, I. R. McNab. Present and Future Naval Applications for Pulsed Power. IEEE Transactions on Magnetics. 2005, 40(2): 245~250
34 Patterson D Monti A, Brice C, Dougal R, Pettus R. Design and Simulation of an Electromagnetic Aircraft Launch System. 37th Annual Industry Applications Conference. 2002, 3: 1950~1957
35 Gorazd Stuberger, Damir Zarko, MehmetTimur Aydemir. Design and Comparison of Linear Synchronous Motor and Linear Induction Motor for Electromagnetic Aircraft Launch System. IEEE Transactions on Magnetics. 2003, 18(1): 494~498
36 Gorazd Stuberger, Aydemir M T. Design of a Linear Bulk Superconductor Magnet Synchronous Motor for Electromagnetic Aircraft Launch Systems. IEEE Transactions on Applied Superconductivity. 2004, 14(1): 54~62
37 Javier Rios Quesada,Jean-Frederic Charpentier. Finite Difference Study of Unconventional Structures of PM Linear Machines for Electromagnetic Aircraft Launch System. IEEE Transactions on Magnetics. 2004, 14(1): 477~482
38 David Hall, James Kapinski, Mark Krefta. Transient Electromechanical Modeling for Short Secondary Linear Induction Machines. IEEE Transactions on Energy Conversion. 2008, 23(3): 789~793
39罗宏浩,吴俊,常文森.新型电磁弹射器的动态性能仿真.系统仿真学报.2006,18(8): 2285~2288
40 Monti, K. Patel, D. Patterson, R. Dougal. Modular Control For Electromagnetic Aircraft Launching System. IEEE Transactions on Magnetics. 2003, 14(3): 1877~1882
41唐梓力.基于分散结构的电磁弹射系统的自律式控制研究.哈尔滨工业大学.硕士学位论文.2008:7~9
42叶云岳.直线电机的原理与应用.北京:机械工业出版社,2000
43张盛锋.永磁直线同步电机关键技术的研究.沈阳工业大学.硕士学位论文.2007:11~12
44司纪凯,汪小东,陈昊,等.永磁直线同步电机出入端磁阻力齿槽分量分析.电机与控制学报.2008,12(5):154~156
45潘开林,傅建中,陈子辰.永磁直线同步电机磁阻力分析及其最小化研究.中国电机工程学报.2004,24(4):112~115
46唐任远.现代永磁电机的理论与设计.北京:机械工业出版社,2008:62~75
47崔皆凡.永磁直线同步电机推力及其直接推力控制系统.博士学位论文.沈阳工业大学.2006:14~20
48 Ki-Chae Lim, Joon-Keun Woo, Gyu-Hong Kang. Detent Force Minimization Techniques in Permanent Magnet Linear Synchronous Motors. IEEE Transactions on Magnetics. 2002,38(2):1157~1160
49 Takeo Ishikawa,Senior Member. Optimal Design of Thrust Characteristics of Permanent Magnet Type Linear Motor Using Orthogonal Table and Multiregression Analysis. IEEE Transactions on Magnetics. 2004, 40(2): 1220~1221
50 Z. Q. Zhu, S. Ruangsinchaiwanich, Y. Chen. Evaluation of Superposition Technique for Calculating Cogging Torque in Permanent-Magnet Brushless Machines. IEEE Transactions on Magnetics. 2006, 38(2): 1597~1603
51 Nicola Bianchi, Silverio Bolognani. Back E.M.F Improvement and Force Ripple Reduction in PM Linear Motor Drives. The 35th Annual IEEE Power Electronics Specialists Conference, 2004, 2(4): 3373~3374
52 Yong-Jae Kim, Masaya Watada, Hideo Dohmeki. Reduction of the Cogging Force at the Outlet Edge of a Stationary Discontinuous Primary Linear Synchronous Motor. IEEE Transactions on Magnetics. 2007, 43(1): 40~42
53 Yu-wu Zhu, Yun-Hyun Cho. Thrust Ripples Suppression of Permanent Magnet Linear Synchronous Motor. IEEE Transactions on Magnetics. 2007, 43(6): 2537~2539
54 In-Soung Jung, Jin Hur. Performance Analysis of Skewed PM Linear Synchronous Motor According to Various Design Parameters. IEEE Transactions on Magnetics. 2001, 37(5): 3653~3658
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