摘要
永磁直线同步电机(Permanent magnet linear sⅦchronous motor，PMLSM)因其具有力能指标高、损耗小、响应速度快等优点，在数控机床、高速运输、电磁弹射和提升系统等场合部有着广泛的应用前景。而绕组分段永磁直线同步电机(Segment windmg PMLSM，SW-PMLSM)，由于其初级绕组分段的结构特点，降低了直流母线的供电电压，方便了电机的维护，提高了系统安全性。并且，通过有效的供电、控制，可以降低电机损耗，提高系统效率。因此，实现SW-PMLSM的有效控制，对其应用推广具有积极的意义。
用于控制算法的电磁参数的精确度对伺服控制系统性能影响至关重要。考虑到动子位置变化对SW-PMLSM电磁参数的影响，根据有无动子将电机模型分为有动子区域和无动子区域。基于电磁场理论对两区域的电磁场进行解析分析，得到动子在不同位置时的气隙磁密表达式。进一步推导了单段电机的绕组自感、互感和两段电机绕组问的互感，得到动子位置变化对这些电感的影响规律。基于磁场定向控制理论推导了直交轴电感受动子位置变化的影响规律。同时基于反电势产生机理，提出根据段边界处两段电机的反电势获取子段电机永磁体磁链的方法。另外，通过对一个波动周期的定位力进行仿真分析，得到定位力的谐波成分，并采用曲线拟台方法识别出定位力的变化规律，为定位力的补偿控制奠定了基础。
从电机推力动态响应性能的角度，本文在对多种电流控制策略进行比较的基础上，确定了将预测控制作为本课题SW-PMLSM的电流控制策略。基于磁场定向控制理论，分别推导了动子在非共用区和共用区的SW-PMLSM的连续与离散系统模型，建立了SW-PMLSM的运动方程表达式，完善了SW-PMLSM的全程控制模型表达式，为电流预测控制奠定了理论基础。在完成对逆变器模型、SW-PMLSM模型进行建模的基础上，提出了一种基于电流误差矢量的电流预测控制方法(CEVPC)，提高了系统电流的动态响应能力。鉴于CEVPC控制不能实现零电流误差的缺点，兼顾SW-PMLSM的优点，提出了基于svPWM的[)eadbeat电流预测控制方法(SVPWM-DBPC)通过矩阵与向量之积及dq平面电压矢量的图解形象地说明了SVPWM-DBPC的原理。
预测控制为基于系统模型的控制方法，其控制效果与模型参数的准确度直接相关。文中分别基于绕组电阻、直交轴电感和永磁体磁链三个参数的变化对CEVPC控制系统与SVPWM-DBPC控制系统性能的影响规律进行分析；研宄直流母线电压限制和逆变器电流限制对系统性能的影响；并研宄受限制条件下，参考电压矢量的调整方法。针对数字处理器存在延时问题，剖析产生延时的机理，研究不同运动状态下子预测量的延时现象及其补偿方法。
基于Flux软件和Matlab软件的联合仿真平台对控制系统进行仿真分析。对基于CEVPC和SVPWM-DBPC的段间恒推力控制和段间匀速运动控制分别进行仿真分析。搭建系统的驱动控制硬件平台，重点考虑关键单元电路的设计与关键参数的选取，为系统稳定、安全运行提供保障。分别对基于CEVPC和SVPWM-DBPC的SW-PMLSM段间恒推力控制和段间匀速运动控制进行实验研究，对断提方法加以验证。此外，对定子段非正确导通对系统运动性能的影响进行实验研究。
理论分析、仿真研究和实验验证表明：本文断提出的基于CEVPC和SVPWM-DBPC的SW-PMLSM控制系统，通过段问恒推力控制实现了全行程恒推力特性，适合于要求推力平稳的应用场合；而通过段问匀速运动控制实现了全行程匀速运动特性，适合于要求匀速运动场合。另外，两种运动控制的实现为SW-PMLSM的精确定位提供技术储备，使其应用于数控机床成为可能。
Compared with other sophisticated systems, Permanent magnet linear synchronous motor (PMLSM) shows obvious advantage because of high thrust ability, low loss, fast response and ease maintenance. The PMLSM is expected to have a wide range of applications in the Computerized Numerical Control (CNC) machine tools, high-speed transport, electromagnetic catapults and elevating systems. The segment winding PMLSM (SW-PMLSM), whose primary winding is divided into sections with only one unit iron core, can improve the efficiency of the system with reasonable power supply and effective control strategy. Therefore, it is of great meaning to implement effective control of the SW-PMLSM.
It's of significance to the high-performance servo systems that the electromagnetic parameters used in the algorithm are precisely evaluated. Taking into account the effect to the SW-PMLSM electromagnetic parameters caused by the rotor position change, the machine model is classified into two kinds: one is the area with the mover; the other is the area without the mover, according to the mover position. The electromagnetic fields of both areas are analyzed based on the electromagnetic theory, and the flux density expression is obtained with the mover in different positions. The self inductance, mutual inductance of one single section and mutual inductance between the two sections are all derived, and the relationships between them and the motor position are acquired. Based on Field Oriented Control (FOC) theory, the relationships between the d-axis, q-axis inductance and the motor position are deduced also. Meanwhile, it's proposed that the flux linkages of the two sections can be acquired through the back EMFs of these section windings, based on the production mechanism of EMF. In addition, the harmonic components of the detent force are gained by its simulation in one periodic. And the curve fitting method is used to reconstruct the detent force, which sets a foundation for the detent force compensation.
In the view of the SW-PMLSM dynamic performance, the predictive control strategy is selected to control the current after the comparison among various current control strategies. Based on vector control theory, continuous and discrete system model of the SW-PMLSM are deduced when the mover isn't above the shared area and when it is respectively. Also, the motion equations are derived, which improves the overall control model for the SW-PMLSM, and lays a theoretical foundation for the current predictive control. Having constructed the inverter model and the SW-PMLSM model, this thesis proposes a current predictive control method which is based on the current error vector (named "CEVPC"). The shortcoming of CEVPC control is that it can not realize zero current error. To overcome this disadvantage, another current predictive method is proposed based on SVPWM (named "SVPWM-DBPC") control. The working principle of SVPWM-DBPC is described with the diagram to the product between a matrix and a vector and the voltage vector diagram in the dq coordinate.
Since the two current predictive control methods are based on machine model, the control effectiveness relates to the accuracy of the model parameters directly. The relationships between the winding resistance, d-axis and q-axis inductances, flux linkage and the two current predictive control methods are analyzed; the influence of DC-link voltage and inverter current to the system performance are investigated; the adjustment method of the reference voltage vector are studied when the reference voltage vector magnitude exceeds the limit voltage. To the system delay problem, this thesis gains an insight to its mechanism. And the delay phenomena of the predictive quantities are studied, so are the corresponding compensation methods.
The whole control system is modeled based on the Flux and Simulink co-simulation platform. The simulations such as: inter-section constant thrust control and inter-section constant velocity control are carried out in the two co-simulation models for CEVPC and SVPWM-DBPC control system respectively. The hardward platform of the system is constructed and full consideration is paid to the critical unit circuits and critical parameters which guarantees stable and safe operation of the SW-PMLSM. The inter-section constant thrust control and inter-section constant speed control for SW-PMLSM based on CEVPC and SVPWM-DBPC are carried out experimentally and respectively, whereby verifies the proposed methods. Experiment test are carried out on the condition that the related primary section is not enable correctly when the mover is on the shared area.
Theoretical analysis, simulation and experimental results show that: the proposed control system of the SW-PMLSM based on CEVPC or SVPWM-DBPC realizes whole-range constant thrust control with inter-section constant thrust control method, which is adapt to constant thrust applications; the control system realizes whole-range constant velocity control with inter-section constant velocity control method, which is adapt to constant velocity applications. The completion of both motion control reserves essential techniques for precise position control of SW-PMLSM, and make it to be used in CNC machine tools possible.
引文
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