CN103312259A - Two-freedom-degree driving method of magnetic levitation linear motor - Google Patents
Two-freedom-degree driving method of magnetic levitation linear motor Download PDFInfo
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- CN103312259A CN103312259A CN2013102685719A CN201310268571A CN103312259A CN 103312259 A CN103312259 A CN 103312259A CN 2013102685719 A CN2013102685719 A CN 2013102685719A CN 201310268571 A CN201310268571 A CN 201310268571A CN 103312259 A CN103312259 A CN 103312259A
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Abstract
The invention discloses a two-freedom-degree driving method of a magnetic levitation linear motor and relates to a linear motor current control method. By means of the two-freedom-degree driving method, two-freedom-degree current is distributed according to a horizontal driving force and a vertical driving force required by the magnetic levitation linear motor, the two-freedom-degree current is input in a converter to be converted into three-phase current which is output to three-phase coils of the motor respectively, and accordingly, linear driving in the horizontal direction of the magnetic linear motor and magnetic levitation driving in the vertical direction can be achieved. By means of the two-freedom-degree driving method of the magnetic levitation linear motor, the problem of complex structure and high cost of a motor driving device caused by the fact that driving in the vertical direction and the horizontal direction are performed respectively in the prior art can be solved.
Description
Technical field
The present invention relates to a kind of double freedom driving method of magnetic suspension linear motor, particularly a kind of linear electric motors current control method.
Background technology
Traditional motor is comprised of stator and mover, and connects or exist Mechanical Contact by mechanical bearing between its stator and the mover, so there is mechanical friction in the motion process of mover.Mechanical friction not only increases the frictional resistance of mover, make the moving component wearing and tearing, produce mechanical oscillation and noise, also can cause the parts heating, make lubricant degradation, serious meeting causes that motor gas-gap is inhomogeneous, heating in winding, temperature rise increases, and causes motor usefulness to reduce, and finally shortens motor useful life.
The magnetic suspension linear motor utilizes the principle of " two like magnetic poles repel each other, there is a natural attraction between the sexes " between stator and the mover excitation field that mover is suspended, and produces simultaneously propulsive force and orders about mover make horizontal rectilinear motion under suspended state.Therefore; the magnetic suspension linear motor can reduce the mechanical device that leading screw, screw rod etc. realize that actuating force is transmitted; there is not any Mechanical Contact between stator and the mover; can produce higher acceleration; and be easy to control, output accuracy is high, and mechanical wear is little; machinery is easy with electic protection, and it is convenient to safeguard, overhaul and change.
For the rectilinear motion of realizing magnetic suspension linear motor horizontal direction and the magnetic suspension of vertical direction, need to be driven with these two degrees of freedom of vertical direction in the horizontal direction, realize suspending so that motor overcomes gravity at vertical direction, realize in the horizontal direction the large stroke rectilinear motion of mover.Traditional driving method, a driver can only drive one degree of freedom, if be used for the magnetic suspension linear motor-driven, two degree of freedom is independent driving, needs more drive unit, causes driving arrangement complex structure and cost to improve.Therefore, a kind ofly both can reduce drive unit, and can guarantee that again the straight-line driving method of the large stroke of magnetic suspension linear motor demanded urgently proposing.
Summary of the invention
The object of the present invention is to provide a kind of magnetic suspension linear motor double freedom driving method, by reasonable setting and the distribution to electric mover coil array electric current, make motor pass through the regular magnetic field of mover coil electric current and stator generation, obtain the driving of horizontal direction and two degrees of freedom of vertical direction, to satisfy the motion requirement of electric mover.
In order to achieve the above object, technical scheme of the present invention is as follows:
A kind of magnetic suspension linear motor double freedom driving method is characterized in that said method comprising the steps of:
1) according to required vertical actuating force F
VWith horizontal direction actuating force F
HDetermine that motor-driven power with joint efforts
With the double freedom current phase
2) calculate the double freedom current amplitude according to make a concerted effort F and motor thrust constant k of motor stator magnetic steel array magnetic field magnetic flux size B, motor-driven power
3) by the double freedom current phase
With double freedom current amplitude I
mCalculate the double freedom current value:
4) double freedom electric current enter drive is obtained the three-phase electricity flow valuve of mover coil through 2/3 conversion:
5) driver is with three-phase current I
a, I
bAnd I
cExport respectively the three-phase coil of magnetic suspension linear motor to, so that mover is subject to vertical actuating force F in stator field
VWith horizontal direction actuating force F
H, realize that the two-freedom of described magnetic suspension linear motor horizontal direction and vertical direction drives.
The present invention compared with prior art, have the following advantages and the high-lighting effect: the driving method of conventional motors is a driver drives one degree of freedom, and two degrees of freedom of magnetic suspension linear motor demand motive horizontal direction and vertical direction, if adopt conventional method to drive, then the driving of level and vertical two degrees of freedom need be distinguished separately driving, so that the drive unit demand increases, cause driving arrangement complex structure and cost to improve, the method of the invention only needs a driver just can realize the driving of two degrees of freedom, guaranteeing in the straight-line situation of the large stroke of magnetic suspension linear motor stabilizing, can effectively reduce drive unit quantity, simplify the driving arrangement structure and reduce cost.
Description of drawings
Fig. 1 is the current signal schematic flow sheet of magnetic suspension linear motor double freedom driving method of the present invention.
Fig. 2 is described magnetic suspension linear motor produces the double freedom actuating force under the three-phase current of driver output overall structure schematic diagram.
Wherein, 1-driver, 2-magnetic suspension linear motor, 3-mover coil array, 4-magnetic steel of stator array.
Embodiment
Below in conjunction with accompanying drawing magnetic suspension linear motor double freedom driving method of the present invention is described.
Fig. 1 is double freedom electric current enter drive, through the current signal schematic flow sheet of 2/3 conversion output three-phase current to magnetic suspension linear motor three-phase coil.With reference to figure 2, described magnetic suspension linear motor comprises mover coil array 3 and magnetic steel of stator array 4.
The invention provides a kind of magnetic suspension linear motor double freedom driving method, the method may further comprise the steps:
1) according to required vertical actuating force F
VWith horizontal direction actuating force F
HDetermine that motor-driven power with joint efforts
With the double freedom current phase
2) calculate the double freedom current amplitude according to make a concerted effort F and motor thrust constant k of the magnetic field magnetic flux of motor stator magnetic steel array 4 size B, motor-driven power
3) by the double freedom current phase
With double freedom current amplitude I
mCalculate the double freedom current value:
4) with double freedom electric current enter drive 1 through 2/3 conversion:
The amplitude of at first supposing three-phase current is I
S, phase place is
So according to the double freedom electric current I
1And I
2Can get
Again according to three-phase current I
a, I
bAnd I
cSatisfy respectively
Obtain the three-phase electricity flow valuve I of mover coil array 3
a, I
bAnd I
cBe respectively:
5) driver 1 is with three-phase current I
a, I
bAnd I
cExport respectively the three-phase coil of magnetic suspension linear motor 2 to, so that mover is subject to vertical actuating force F in stator field
VWith horizontal direction actuating force F
H, realize that the two-freedom of described magnetic suspension linear motor horizontal direction and vertical direction drives.
Embodiment:
With reference to figure 1,2, suppose required vertical direction actuating force F
V=30N and horizontal direction actuating force F
H=30N, the magnetic field magnetic flux size B=0.1T of magnetic suspension linear motor stator magnetic steel array 4, motor thrust constant
Employing the method for the invention comprises the steps:
1) according to required vertical actuating force F
VWith horizontal direction actuating force F
HDetermine that motor-driven power with joint efforts
The double freedom current phase
2) calculate the double freedom current amplitude according to make a concerted effort F and motor thrust constant k of the magnetic field magnetic flux in magnetic suspension linear motor stator magnetic steel array magnetic field 4 size B, motor-driven power
3) by the double freedom current phase
With double freedom current amplitude I
mCalculate the double freedom current value:
4) with biphase current enter drive 1 through 2/3 conversion:
At first according to the double freedom electric current I
1And I
2Can get
Again according to three-phase current I
a, I
bAnd I
cSatisfy respectively
Obtain the three-phase electricity flow valuve I of mover coil array 3
a, I
bAnd I
cBe respectively:
5) driver 1 is with three-phase current I
a, I
bAnd I
cExport respectively the three-phase coil of magnetic suspension linear motor 2 to, so that mover is subject to vertical actuating force F in stator field
VWith horizontal direction actuating force F
H, realize that the two-freedom of described magnetic suspension linear motor horizontal direction and vertical direction drives.
Pass through above-mentioned steps, the method of the invention is with respect to the independent driving of level and two degrees of freedom of vertical direction of conventional ADS driving method, effectively reduced drive unit quantity, realized that the magnetic suspension linear motor is at the normal suspension of vertical direction and large stroke rectilinear motion in the horizontal direction.
More than disclose preferred embodiment of the present invention, in the situation that do not deviate from disclosed scope of the present invention in claims, any various modifications, interpolation and replacement all belong to protection scope of the present invention.
Claims (1)
1. magnetic suspension linear motor double freedom driving method, described magnetic suspension linear motor is comprised of magnetic steel of stator array (4) and mover coil array (3), and described driving method is characterised in that, and it comprises:
1) according to required vertical actuating force F
VWith horizontal direction actuating force F
HDetermine that motor-driven power with joint efforts
With the double freedom current phase
2) calculate the double freedom current amplitude according to make a concerted effort F and motor thrust constant k of the magnetic field magnetic flux of motor stator magnetic steel array (4) size B, motor-driven power
3) by the double freedom current phase
With double freedom current amplitude I
mCalculate the double freedom current value:
4) with double freedom electric current enter drive (1), obtain the three-phase electricity flow valuve of mover coil through 2/3 conversion:
5) driver (1) is with three-phase current I
a, I
bAnd I
cExport respectively the three-phase coil of magnetic suspension linear motor (2) to, so that electric mover is subject to vertical actuating force F in stator field
VWith horizontal direction actuating force F
H, realize that the two-freedom of described magnetic suspension linear motor horizontal direction and vertical direction drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102685719A CN103312259A (en) | 2013-06-28 | 2013-06-28 | Two-freedom-degree driving method of magnetic levitation linear motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102685719A CN103312259A (en) | 2013-06-28 | 2013-06-28 | Two-freedom-degree driving method of magnetic levitation linear motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103312259A true CN103312259A (en) | 2013-09-18 |
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|---|---|---|---|
| CN2013102685719A Pending CN103312259A (en) | 2013-06-28 | 2013-06-28 | Two-freedom-degree driving method of magnetic levitation linear motor |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10215547A (en) * | 1997-01-30 | 1998-08-11 | Ebara Corp | Magnetic bearing motor |
| US6078119A (en) * | 1997-11-26 | 2000-06-20 | Ebara Corporation | Bearingless rotary machine |
| CN102158158A (en) * | 2010-12-10 | 2011-08-17 | 南京信息职业技术学院 | Bearing-free synchronous reluctance motor rotor displacement soft measurement and suspension system construction method |
-
2013
- 2013-06-28 CN CN2013102685719A patent/CN103312259A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10215547A (en) * | 1997-01-30 | 1998-08-11 | Ebara Corp | Magnetic bearing motor |
| US6078119A (en) * | 1997-11-26 | 2000-06-20 | Ebara Corporation | Bearingless rotary machine |
| CN102158158A (en) * | 2010-12-10 | 2011-08-17 | 南京信息职业技术学院 | Bearing-free synchronous reluctance motor rotor displacement soft measurement and suspension system construction method |
Non-Patent Citations (1)
| Title |
|---|
| 罗建召等: "恒流源偏置三相磁悬浮轴承研究", 《机械科学与技术》, vol. 29, no. 2, 28 February 2010 (2010-02-28) * |
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Effective date of registration: 20151116 Address after: 100084 Haidian District, Beijing,,, Tsinghua University, the 100084 letter box office Applicant after: Tsinghua University Applicant after: U-PRECISION TECH CO., LTD. Address before: 100084 Haidian District, Beijing,,, Tsinghua University, the 100084 letter box office Applicant before: Tsinghua University |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130918 |