平板式永磁直线同步电机的设计与磁阻力的计算分析
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摘要
随着数控加工技术不断的要求实现高速和精密化,永磁直线同步电动机直接驱动技术以其高速、高精密、快响应、大行程,并能够实现零传动等优异的特性,在高速机械加工装备与高效、高精密的电子工业装备中得到了大量的研究与开发应用。但永磁直线电机也存在着自身的缺陷,由于铁心两端开端产生的端部力和齿槽效应产生的齿槽力,制约着直线电机的发展。本文从对永磁直线电机的设计和优化着手,主要做了以下工作内容：
1.对直线电机主要参数之间的关系式,进行了重新的总结。对直线电机的集中绕组结构进行了分析,得到集中绕组分数槽更加适用于永磁直线同步电动机的绕组和结构设计。再通过对不同分数槽绕组结构的分析,确定本电机的绕组结构为11极12槽。最后初步确定了直线电机的方案。
2.对永磁直线电机推力波动进行了分析,了解到端部力在推力波动中起主要作用。接着分析了直线电机结构参数对端部力的影响,通过对直线电机初级长度的分析,总结出电机的初级长度与极距有一定的函数关系,可以使得端部力峰值最小；通过对直线电机齿宽和气隙的选取,削弱端部力。并采用分磁环理论来削弱端部力,确定了分磁块的赋加位置和尺寸。还对两单元电机的段间移相优化进行了分析。
3.完成了额定功率为106W,额定推力为275N,额定电流为4.4A,同步速为0.384m/s,加速度为8.5g的永磁直线同步电动机的开发。
4.搭建了直线电机的实验平台,完成了对样机反电动势、磁阻力的测量。实验结果表明了电机设计和优化方法的准确性。
Along with the demands of high speed and exactitude in the development of numerical control machining technique, Permanent Magnet Linear Synchronous Motor (PMLSM) as direct drive in the field of precision positioning has had widely applications. But PMLSM also exist defects, because of the flaws of iron produced end force and the cogging effect of the cogging force, both of them restricts the development of linear motor. This paper based on permanent magnet linear motor design and optimization, the mainly work as the following content:
1. Make a new conclusion of main parameters of linear motor. Analysis of linear motor concentrated windings, and get concentrated and fractional-slot windings are more suited for permanent magnet linear synchronous motor winding and structure design. And then according to analysis of different fractional-slot windings structure, determine the winding structure of this motor is 11 poles 12 slots. Finally preliminarily determine the scheme of linear motor.
2. Analyse the thrust fluctuations of PMLSM, understands ends force plays a main role in thrust fluctuation. And then analyses the influence of linear motor structure parameters on the end of force, summed up a certain function of the motor primary length and the polar distance can make the smallest end of the peak force; Based on selecting the linear motor wide teeth and air gap and weaken ends force. And use the divide magnetic ring theory to weaken the ends force, determine the location and size of divide magnetic ring. Also analyze the period between the two units motor phase shifting optimization.
3. Completed the development of PMSLM which rated power for 106W, rated thrust for 275N,rated current for 4.4A, synchronous speed for 0.384m/s, acceleration for 8.5g.
4. Build the linear motor experimental platform, complete measurement of the prototype back EMF and detent force. The experimental results show that the motor design and optimization method are accuracy.
1.对直线电机主要参数之间的关系式,进行了重新的总结。对直线电机的集中绕组结构进行了分析,得到集中绕组分数槽更加适用于永磁直线同步电动机的绕组和结构设计。再通过对不同分数槽绕组结构的分析,确定本电机的绕组结构为11极12槽。最后初步确定了直线电机的方案。
2.对永磁直线电机推力波动进行了分析,了解到端部力在推力波动中起主要作用。接着分析了直线电机结构参数对端部力的影响,通过对直线电机初级长度的分析,总结出电机的初级长度与极距有一定的函数关系,可以使得端部力峰值最小；通过对直线电机齿宽和气隙的选取,削弱端部力。并采用分磁环理论来削弱端部力,确定了分磁块的赋加位置和尺寸。还对两单元电机的段间移相优化进行了分析。
3.完成了额定功率为106W,额定推力为275N,额定电流为4.4A,同步速为0.384m/s,加速度为8.5g的永磁直线同步电动机的开发。
4.搭建了直线电机的实验平台,完成了对样机反电动势、磁阻力的测量。实验结果表明了电机设计和优化方法的准确性。
Along with the demands of high speed and exactitude in the development of numerical control machining technique, Permanent Magnet Linear Synchronous Motor (PMLSM) as direct drive in the field of precision positioning has had widely applications. But PMLSM also exist defects, because of the flaws of iron produced end force and the cogging effect of the cogging force, both of them restricts the development of linear motor. This paper based on permanent magnet linear motor design and optimization, the mainly work as the following content:
1. Make a new conclusion of main parameters of linear motor. Analysis of linear motor concentrated windings, and get concentrated and fractional-slot windings are more suited for permanent magnet linear synchronous motor winding and structure design. And then according to analysis of different fractional-slot windings structure, determine the winding structure of this motor is 11 poles 12 slots. Finally preliminarily determine the scheme of linear motor.
2. Analyse the thrust fluctuations of PMLSM, understands ends force plays a main role in thrust fluctuation. And then analyses the influence of linear motor structure parameters on the end of force, summed up a certain function of the motor primary length and the polar distance can make the smallest end of the peak force; Based on selecting the linear motor wide teeth and air gap and weaken ends force. And use the divide magnetic ring theory to weaken the ends force, determine the location and size of divide magnetic ring. Also analyze the period between the two units motor phase shifting optimization.
3. Completed the development of PMSLM which rated power for 106W, rated thrust for 275N,rated current for 4.4A, synchronous speed for 0.384m/s, acceleration for 8.5g.
4. Build the linear motor experimental platform, complete measurement of the prototype back EMF and detent force. The experimental results show that the motor design and optimization method are accuracy.
引文
[1]张伯霖,谢影明,肖曙红.超高速切削的原理与应用.中国机械工程,1995,6(1)：14-17.
[2]张伯霖,潘珊珊,于兆勤等.直线电机及其在超高速机床上的应用.中国机械工程,1997,8(4)：85-88.
[3]郭庆鼎,王成元,周美文等.直线交流伺服系统的精密控制技术.北京：机械工业出版社,2000.
[4]邵晓强.直线电机现状与发展方向.电气技术,2006(7)：58-60.
[5]黄祖尧.精密滚珠丝杠副实现高速化的前景,制造技术与机床,2001,(3)：5-7.
[6]张春良,陈子辰,梅德庆.直线驱动新技术及其在加工装备上的应用.电工技术学报,2002,17(5)：45-49.
[7]张春良,陈子辰,梅德庆.直线电机驱动技术的研究现状与发展.农业机械学报.2002,33(5)：119-123.
[8]杨正新,陈志华,涂阳虎等.直接驱动的发展与未来.中国机械工程,2000,11(10)：180-182.
[9]张伯霖,张志润,肖曙红.超高速加工与机床的零传动.中国机械工程,1996,7(5)：37-41.
[10]王先逵,陈定积,吴丹.机床进给系统用直线电动机综述.制造技术与机床,2001,(8)：18-20.
[11]陈定积,刘泉,王先逵.永磁直线电机空载反电势的分层有限元分析.清华大学学报,2004,44.
[12]石忠东,王先逵,陈定积等.永磁交流直线电机直接驱动伺服控制技术.微特电机,2002,(3)：8-10.
[13]Zhu Z O,Xia Z P,Howe D, etal.Reduction of cogging force in slotless linear permanent magnet motors.Electric Power Applications,IIEE Proceedings,1997,144(4):277-282.
[14]Inoue M,Sato K.An approach to a suitable stator length for minimizing the detent force of permanent magnet linear synchronous motors.IEEE Transactions on Magnetics,2000,36(4): 1890-1893.
[15]包化顺.清华大学研制成功交流永磁同步直线伺服系统http://www.lkkj.gov.cn/scl/file/ gwt5.doc.2004-9-14.
[16]叶云岳.直线电机原理与应用.北京：机械工业出版社,2000.
[17]潘开林.永磁直线电机的驱动特性理论及推力波动优化设计研究.杭州：浙江大学,2003.
[18]徐月同.高速精密永磁直线同步电机进给系统及控制技术研究.杭州：浙江大学,2004.
[19]潘开林,傅建中,陈子辰.永磁同步直线电机的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.
[20]石丽梅,郭庆鼎,孙宜标.采用滑模观测器的交流永磁直线伺服电机无传感器控制.电气传动,1997,27(4)：7-12.
[21]郭庆鼎,周悦,郭微.高精度永磁直线同步电动机伺服系统鲁棒位置控制器的设计.电机与控制学报,1998,2(4)：208-212.
[22]张盛锋.永磁直线同步电动机关键技术的研究.沈阳：(硕士学位论文)沈阳工业大学.2007.
[23]叶云岳.直线电机技术手册.北京：机械工业出版社,1997.
[24]司纪凯,汪旭东,陈昊,袁世鹰,焦留成.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)：550-554.
[25]王旭强,汪旭东,杜卫民,余淋.永磁直线同步电机磁阻力最小化研究.微电机,2009,42(12)：28-30.
[26]潘开林,傅建中,陈子辰.永磁直线同步电机的磁阻力分析及其优化.浙江大学学报,2005,39(12)：1627-1631.
[27]In-Soung Jung, Sang-Baeck Yoon, Jang-Ho Shim and Dong-Seok Hyun. Analysis of Forces in a Short Primary Type and a Short Secondary Type Permanent Magnet Linear Synchronous Motor.
[28]Ki-Chae Lim, Joon-Keun Woo, Gyu-Hong Kang, Jung-Pyo Hong, and Gyu-Tak Kim, Detent Force Minimization Techniques in Permanent Magnet Linear Synchronous Motors. IEEE TRANSACTIONS ON MAGNETICS,2002,38(2):1157-1160.
[29]P.J.Hor, Z.Q.Zhu, D.Howe, J.Rees-Jones.Minimization of Cogging Force in a Linear Permanent Magnet Motor.IEEE TRANSACTIONS ON MAGNETICS,1998,34 (5):3544-3547.
[30]N. Bianchi, S. Bolognani and A.D.F. Cappello. Reduction of cogging force in PM linear motors by pole-shifting. IEE Proceedings. Electric Power Applications,2005,152(3).
[31]AW van Zyl, CF Landy.REDUCTION OF COGGING FORCES IN A TUBULAR LINEAR SYNCHRONOUS MOTOR BY OPTIMISING THE SECONDARY DESIGN.IEEE Africon 2002:689-692.
[32]R.J. Cruise,C.F. Landy. Reduction of Cogging Forces in Linear Synchronous Motors.
[33]夏加宽.高精密永磁直线电机端部效应推力波动及补偿策略研究： (博士学位论文).沈阳：沈阳工业大学,2006.
[34]Dailin Zhang, Youping Chen,Wu Ai,Zude Zhou. Precision motion control of permanent magnet linear motors. Int J Adv Manuf Technol,2007.35:301-308.
[35]FAVRE.E,CARDOLETTI.L,JUFER.M.Cogging torque suppression by current control.IEEE Trans,199329 (6):1141-1149.
[36]AKMESE.R,EASTHAM.J.F.Design of permanent magnet flat linear motors for standstill applications.IEEE Trans,1992,28(5):3042-3044.
[37]LI,T.SLEMON,G.R.Reduction of cogging torque in permanent motor.IEEE Trans,1988,24(6): 2901-2903.
[38]HOWE,D,ZHU,Z.Q.The influence of finite element discretisation on the prediction of cogging torque in permanent magnet excited motor.IEEE Trans,1992,28(2):1371-1374.
[39]陈世坤.电机设计.北京：机械工业出版社,2000.
[40]Gutt H.-J.,Scholl,F.D.,Blattner J.High precision servo drives with DSP-based torque ripple r eduction.IEEE AFRICON Conference,1996,2:632-637.
[41]王秀和.永磁电机.北京：中国电力出版社,2007.
[42]李庆雷,王先逵.永磁同步直线电机推力波动分析及改善措施.清华大学学报,2000,40(5)：33-36.
[43]陈幼平,张颖,艾武等.永磁同步直线电动机磁场和推力波动分析及实验研究.微电机,2007,40(8)： 4-8.
[2]张伯霖,潘珊珊,于兆勤等.直线电机及其在超高速机床上的应用.中国机械工程,1997,8(4)：85-88.
[3]郭庆鼎,王成元,周美文等.直线交流伺服系统的精密控制技术.北京：机械工业出版社,2000.
[4]邵晓强.直线电机现状与发展方向.电气技术,2006(7)：58-60.
[5]黄祖尧.精密滚珠丝杠副实现高速化的前景,制造技术与机床,2001,(3)：5-7.
[6]张春良,陈子辰,梅德庆.直线驱动新技术及其在加工装备上的应用.电工技术学报,2002,17(5)：45-49.
[7]张春良,陈子辰,梅德庆.直线电机驱动技术的研究现状与发展.农业机械学报.2002,33(5)：119-123.
[8]杨正新,陈志华,涂阳虎等.直接驱动的发展与未来.中国机械工程,2000,11(10)：180-182.
[9]张伯霖,张志润,肖曙红.超高速加工与机床的零传动.中国机械工程,1996,7(5)：37-41.
[10]王先逵,陈定积,吴丹.机床进给系统用直线电动机综述.制造技术与机床,2001,(8)：18-20.
[11]陈定积,刘泉,王先逵.永磁直线电机空载反电势的分层有限元分析.清华大学学报,2004,44.
[12]石忠东,王先逵,陈定积等.永磁交流直线电机直接驱动伺服控制技术.微特电机,2002,(3)：8-10.
[13]Zhu Z O,Xia Z P,Howe D, etal.Reduction of cogging force in slotless linear permanent magnet motors.Electric Power Applications,IIEE Proceedings,1997,144(4):277-282.
[14]Inoue M,Sato K.An approach to a suitable stator length for minimizing the detent force of permanent magnet linear synchronous motors.IEEE Transactions on Magnetics,2000,36(4): 1890-1893.
[15]包化顺.清华大学研制成功交流永磁同步直线伺服系统http://www.lkkj.gov.cn/scl/file/ gwt5.doc.2004-9-14.
[16]叶云岳.直线电机原理与应用.北京：机械工业出版社,2000.
[17]潘开林.永磁直线电机的驱动特性理论及推力波动优化设计研究.杭州：浙江大学,2003.
[18]徐月同.高速精密永磁直线同步电机进给系统及控制技术研究.杭州：浙江大学,2004.
[19]潘开林,傅建中,陈子辰.永磁同步直线电机的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.
[20]石丽梅,郭庆鼎,孙宜标.采用滑模观测器的交流永磁直线伺服电机无传感器控制.电气传动,1997,27(4)：7-12.
[21]郭庆鼎,周悦,郭微.高精度永磁直线同步电动机伺服系统鲁棒位置控制器的设计.电机与控制学报,1998,2(4)：208-212.
[22]张盛锋.永磁直线同步电动机关键技术的研究.沈阳：(硕士学位论文)沈阳工业大学.2007.
[23]叶云岳.直线电机技术手册.北京：机械工业出版社,1997.
[24]司纪凯,汪旭东,陈昊,袁世鹰,焦留成.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)：550-554.
[25]王旭强,汪旭东,杜卫民,余淋.永磁直线同步电机磁阻力最小化研究.微电机,2009,42(12)：28-30.
[26]潘开林,傅建中,陈子辰.永磁直线同步电机的磁阻力分析及其优化.浙江大学学报,2005,39(12)：1627-1631.
[27]In-Soung Jung, Sang-Baeck Yoon, Jang-Ho Shim and Dong-Seok Hyun. Analysis of Forces in a Short Primary Type and a Short Secondary Type Permanent Magnet Linear Synchronous Motor.
[28]Ki-Chae Lim, Joon-Keun Woo, Gyu-Hong Kang, Jung-Pyo Hong, and Gyu-Tak Kim, Detent Force Minimization Techniques in Permanent Magnet Linear Synchronous Motors. IEEE TRANSACTIONS ON MAGNETICS,2002,38(2):1157-1160.
[29]P.J.Hor, Z.Q.Zhu, D.Howe, J.Rees-Jones.Minimization of Cogging Force in a Linear Permanent Magnet Motor.IEEE TRANSACTIONS ON MAGNETICS,1998,34 (5):3544-3547.
[30]N. Bianchi, S. Bolognani and A.D.F. Cappello. Reduction of cogging force in PM linear motors by pole-shifting. IEE Proceedings. Electric Power Applications,2005,152(3).
[31]AW van Zyl, CF Landy.REDUCTION OF COGGING FORCES IN A TUBULAR LINEAR SYNCHRONOUS MOTOR BY OPTIMISING THE SECONDARY DESIGN.IEEE Africon 2002:689-692.
[32]R.J. Cruise,C.F. Landy. Reduction of Cogging Forces in Linear Synchronous Motors.
[33]夏加宽.高精密永磁直线电机端部效应推力波动及补偿策略研究： (博士学位论文).沈阳：沈阳工业大学,2006.
[34]Dailin Zhang, Youping Chen,Wu Ai,Zude Zhou. Precision motion control of permanent magnet linear motors. Int J Adv Manuf Technol,2007.35:301-308.
[35]FAVRE.E,CARDOLETTI.L,JUFER.M.Cogging torque suppression by current control.IEEE Trans,199329 (6):1141-1149.
[36]AKMESE.R,EASTHAM.J.F.Design of permanent magnet flat linear motors for standstill applications.IEEE Trans,1992,28(5):3042-3044.
[37]LI,T.SLEMON,G.R.Reduction of cogging torque in permanent motor.IEEE Trans,1988,24(6): 2901-2903.
[38]HOWE,D,ZHU,Z.Q.The influence of finite element discretisation on the prediction of cogging torque in permanent magnet excited motor.IEEE Trans,1992,28(2):1371-1374.
[39]陈世坤.电机设计.北京：机械工业出版社,2000.
[40]Gutt H.-J.,Scholl,F.D.,Blattner J.High precision servo drives with DSP-based torque ripple r eduction.IEEE AFRICON Conference,1996,2:632-637.
[41]王秀和.永磁电机.北京：中国电力出版社,2007.
[42]李庆雷,王先逵.永磁同步直线电机推力波动分析及改善措施.清华大学学报,2000,40(5)：33-36.
[43]陈幼平,张颖,艾武等.永磁同步直线电动机磁场和推力波动分析及实验研究.微电机,2007,40(8)： 4-8.
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