CN103346721A - Thrust ripple suppressing method of primary permanent magnet linear motor - Google Patents
Thrust ripple suppressing method of primary permanent magnet linear motor Download PDFInfo
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- CN103346721A CN103346721A CN2013102440270A CN201310244027A CN103346721A CN 103346721 A CN103346721 A CN 103346721A CN 2013102440270 A CN2013102440270 A CN 2013102440270A CN 201310244027 A CN201310244027 A CN 201310244027A CN 103346721 A CN103346721 A CN 103346721A
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Abstract
The invention discloses a thrust ripple suppressing method of a primary permanent magnet linear motor. Positioning force of the primary permanent magnet linear motor is obtained by measuring in practice by a finite element simulation or torque testing instrument. The waveform of the positioning force undergoes harmonic spectral analysis to confirm the component of base waves and main ultraharmonics in the positioning force. The no-load counter emf wave form of a finite element simulation motor is utilized to calculate out the three-phase current component which is used for counteracting the harmonic component of the positioning force so that additional electromagnetic force is equal to the component of the base waves and the main ultraharmonics in the positioning force in terms of amplitude, but opposite in terms of phase. Three-phase harmonic currents are filled into a current hysteresis vector control system to suppress thrust ripple of the permanent magnet linear motor. The body of the motor does not need transforming and a control strategy can be used for achieving suppression. The thrust ripple of the motor can be obviously hindered, noise in operation of the motor is reduced and characteristics of the motor such as no-load magnetic potentials and thrust outputting capability are kept unchanged.
Description
Technical field
The present invention relates to a kind of primary permanent magnet type linear motor technology, specifically is the control method that suppresses the primary permanent magnet type linear motor force oscillation, belongs to motor-driven and control technology field, is applicable to application scenarios such as urban track traffic.
Background technology
Along with constantly perfect with the permanent-magnetism linear motor design and manufacturing technology of improving constantly of permanent magnetic material performance, permanent-magnetism linear motor is used widely in fields such as industrial automation and track traffics with characteristics such as its high-performance, high stability, low noise and high efficiency.Primary permanent magnet type linear motor is a class novel permanent magnetic brushless linear motor, its design feature is that permanent magnet and armature winding all are placed on the elementary mover, secondary structure is simple, only formed by magnetic conductive iron, integrated line inductance electromotor is simple in structure, the low advantage high with the permanent magnet linear synchronous motor power density of cost, is specially adapted to the long stator application scenario.Yet in primary permanent magnet type linear motor, the interaction of permanent magnet and biconvex electrode structure has produced bigger detent force, thereby caused the fluctuation of thrust in the motor operation course, directly influenced motor low-speed performance and the hi-Fix in position control system in speed control system.
Mainly concentrate on the motor body structure optimization design about the method that suppresses the primary permanent magnet type linear motor force oscillation at present, open auxiliary tank etc. such as add auxiliary tooth, stator length optimization, stator and rotor at the mover two ends.These class methods are applicable to the motor body structure Design stage, and the general FEM (finite element) model of setting up motor earlier by computer software is followed the structural parameters that specific optimisation strategy is adjusted motor, again to reach the effect that force oscillation reduces.But owing to the restriction that the optimization method of structure is subjected to usually dissimilar electric machine structures, make that the effect that suppresses force oscillation is limited; In addition owing to the modification to electric machine structure, will inevitably exert an influence to the unloaded back-emf of motor, power output capacity etc., also increased simultaneously manufacturing cost, feasible this type of optimization method to the motor body structure has certain limitation in actual industrialization process.
Summary of the invention
The objective of the invention is to propose a kind of force oscillation inhibition method of primary permanent magnet type linear motor, need not motor body is transformed, only need to revise relevant control software, offset the detent force of motor by control strategy, thereby reach the effect that suppresses the motor force oscillation, improved the dynamic property of motor.
The technical solution used in the present invention is: adopt conventional current hysteresis ring vector control system, may further comprise the steps:
(1) surveys the detent force that obtains primary permanent magnet type linear motor by finite element simulation or torque tester
, utilize the Fourier series approximatioss that the waveform of detent force is carried out the harmonic spectrum analysis, determine first-harmonic and main higher harmonic components in the detent force;
A k For
kThe amplitude of inferior detent force harmonic component,
φ k For
kThe phase angle of inferior detent force harmonic component,
,
τ s Be electric motor primary mover pole span,
xIt is elementary mover displacement.
(2) the unloaded counter potential waveform of employing finite element simulation primary permanent magnet type linear motor is determined unloaded back-emf
,
E m Be the back-emf amplitude.
(3) according to additional electromagnetic thrust
And additional electromagnetic thrust
F ' PMk Equate with the amplitude of main higher harmonic components with first-harmonic in the detent force and phase place opposite,
, calculate for counteracting
kThe three-phase current component of inferior detent force harmonic component
i Ak (x),
i Bk (x),
i Ck (x):
vBe the speed of actual measurement motor,
I Mk Be the amplitude of current component,
μ k Be the harmonic number of current component,
θ k Phase angle for current component.
(4) current hysteresis ring vector control system is injected the three phase harmonic electric current
, the force oscillation of permanent magnet type linear motor is suppressed.
The present invention adopts has following beneficial effect after the technique scheme:
1, the present invention is on the current hysteresis ring vector control drive system basis of generally using, proposed to inject the control method that current harmonics is offset the primary permanent magnet type linear motor detent force, first-harmonic in the additional electromagnetic thrust that make to produce and the detent force equates with main higher harmonic components amplitude, phase place is opposite, can cancel out each other, thereby reach the purpose that suppresses force oscillation, be easy to realize.
2, the present invention need not motor body is transformed, can realize by control strategy, only need to revise relevant control software, both can significantly suppress the motor force oscillation, reduce the operating noise of motor, kept the characteristics such as unloaded magnetic potential, thrust fan-out capability of motor constant simultaneously again.
Description of drawings
Fig. 1 is the detent force waveform of primary permanent magnet type linear motor;
Fig. 2 is the detent force waveform harmonics analysis of Fig. 1;
Fig. 3 is the unloaded counter potential waveform of primary permanent magnet type linear motor;
Fig. 4 is the control system block diagram that is used for suppressing the primary permanent magnet type linear motor force oscillation that the present invention adopts current hysteresis ring vector control;
Fig. 5 is that Fig. 4 control system is at the preflood thrust of harmonic current and current waveform;
Fig. 6 is thrust and the current waveform of Fig. 4 control system after harmonic current injects.
Embodiment
The present invention is based on the primary permanent magnet type linear motor driving control system of conventional current hysteresis ring vector control.At first, survey the detent force data that obtain primary permanent magnet type linear motor by finite element simulation or torque tester, utilize the Fourier series approximatioss that the detent force waveform is carried out the harmonic spectrum analysis, determine in the detent force
kInferior first-harmonic and main higher harmonic components, it is that the harmonic component amplitude is compared with fundamental voltage amplitude that main higher harmonic components is calibrated standard really, the harmonic component that ratio can not be ignored greatly is defined as main higher harmonic components.The detent force of primary permanent magnet type linear motor
,
,
A k For detent force
kThe amplitude of inferior first-harmonic and main higher harmonic components,
φ k For
kThe phase angle of inferior first-harmonic and main higher harmonic components,
,
τ s Be electric motor primary mover pole span,
xIt is elementary mover displacement.
Secondly, adopt the unloaded counter potential waveform of finite element simulation primary permanent magnet type linear motor, the counter potential waveform of primary permanent magnet type linear motor is analyzed, write out corresponding unloaded back-emf mathematic(al) representation, unloaded back-emf
,
E m Be the back-emf amplitude.
The unloaded counter potential waveform of primary permanent magnet type linear motor is Sine distribution, and except the first-harmonic of unloaded back-emf, the harmonic content of all the other back-emfs is ignored.
Then, intercouple according to harmonic current components and permanent magnetism back-emf fundametal compoment, produce the mechanism of additional electromagnetic thrust component, calculate corresponding harmonic current components, first-harmonic in the additional electromagnetic thrust that make to produce and the detent force equates with main higher harmonic components amplitude, phase place is opposite, namely this additional electromagnetic thrust component and detent force can roughly be cancelled out each other, and can cancel out each other, thereby reach the purpose that suppresses force oscillation.
Additional electromagnetic thrust
,
vBe the speed of actual measurement motor,
,
,
Be for counteracting
kThe three-phase current component of inferior detent force harmonic component.
Additional electromagnetic thrust
F ' PMk Equate with the amplitude of main higher harmonic components with first-harmonic in the detent force and phase place opposite, namely have
, can calculate for counteracting
kThe three-phase current component of inferior detent force harmonic component
,
,
:
I Mk Be the amplitude of current component,
μ k Be the harmonic number of current component,
θ k Phase angle for current component.
Current hysteresis ring vector control system is injected the three phase harmonic electric current
, offset detent force, the force oscillation of permanent magnet type linear motor is suppressed.
Below to switch primary permanent magnet type linear motor with three-phase magnetic flux be that example further describes the present invention.
Embodiment
The three-phase magnetic flux that Fig. 1 obtains for the employing finite element simulation switches the detent force waveform of primary permanent magnet type linear motor.As seen from Figure 1, the detent force amplitude that this three-phase magnetic flux switches primary permanent magnet type linear motor is bigger, and its fluctuation peak-to-peak value surpasses 330N, and the detent force waveform includes higher harmonic components, need carry out harmonic analysis to set up the mathematic(al) representation of detent force to it, analysis result as shown in Figure 2.
Following table 1 has provided the result of detent force harmonic analysis:
The harmonic analysis of table 1 detent force
By the amplitude of the main harmonic component in the table 1, with the ratio of fundametal compoment and phase angle as seen, the harmonic component of detent force is very big, wherein the amplitude of 2,5,6 subharmonic is bigger, reached 15.45%, 9.78%, 13.75% with fundamental voltage amplitude than respectively, and the amplitude of all the other remaining high order harmonic components and first-harmonic is than all less than 5%, therefore can think that 2,5,6 subharmonic are main higher harmonic components, all the other high order harmonic components can be ignored.The main higher harmonic components here refers to the main higher harmonic components that the harmonic component amplitude is compared with fundamental voltage amplitude and can not be ignored greatly.
Therefore, the detent force of magnetic flux switching primary permanent magnet type linear motor can approximate expression be:
Wherein,
τ s Be the mover pole span,
A k With
φ k Be respectively
kThe amplitude of order harmonic components and phase angle,
xIt is the displacement that the relative initial position of mover produces.
The unloaded counter potential waveform of Fig. 3 for adopting finite element simulation to obtain, utilize wavestar software that it is carried out harmonic analysis, can obtain its total percent harmonic distortion (THD) is 2.914% only, and harmonic component is very little, and therefore the mathematic(al) representation of unloaded back-emf can be expressed as:
Wherein
E m Be the back-emf amplitude.
Intercouple according to harmonic current components and permanent magnetic potential fundametal compoment, produce the mechanism of additional electromagnetic thrust component, calculate corresponding harmonic current components, first-harmonic in the additional electromagnetic thrust that make to produce and the detent force equates with main higher harmonic components amplitude, phase place is opposite, can cancel out each other, thereby reach the purpose that suppresses force oscillation.Specific as follows:
Be used for offsetting
kThe additional electromagnetic thrust of inferior detent force harmonic component
F ' PMk :
（3）
Wherein,
F ' PMk For being used for offsetting
kThe additional electromagnetic thrust of inferior detent force harmonic component,
i Ak (x),
i Bk (x)With
i Ck (x)For being used for offsetting
kThe three-phase current component of inferior detent force harmonic component,
vSpeed for the actual measurement motor
,Be used for offsetting
kThe three-phase current component of inferior detent force harmonic component
i Ak (x),
i Bk (x),
i Ck (x)For:
Wherein,
I Mk Be the amplitude of current component,
μ k Be the harmonic number of current component,
θ k Phase angle for current component.
Formula (2), (4) substitution formula (3) can be got:
Therefore three-phase injection harmonic current can be expressed as:
Current hysteresis ring vector control system is injected described three phase harmonic electric current can be suppressed the force oscillation of permanent magnet type linear motor.
Simulation Application example of the present invention below is provided, can learns effect of the present invention thus:
As shown in Figure 4, magnetic flux in current hysteresis ring vector control switches on the permanent-magnetism linear motor drive system basis, in conjunction with above-mentioned harmonic current injection method, can obtain the control system of the primary permanent magnet type linear motor force oscillation that the corresponding inhibition magnetic flux as Fig. 4 switches, this control system comprises PI speed regulator 1, thrust- current transformation module 2,2r/3s conversion (static three phase inversion of rotor rotation two-phase/stator) module 3, summation module 4, current hysteresis ring PWM module 5, inverter 6, LFSPM motor 7(primary permanent magnet type linear motor 7), photoelectric encoder 8, motor speed and position detecting module 9, harmonic current is found the solution module 10.Speed according to the actual measurement motor
vAnd command speed
v * , obtain speed difference
V (n)This speed difference obtains required electromagnetic push command value by PI speed regulator 1
F e * Adopt
I d =0Control, by thrust-current transformation module 2, by
F e * Obtain corresponding ac-dc axis current reference value
i d * With
i q * Utilize the rotor position angle of feedback
θ e , do the 2r/3s conversion through module 3, obtain the three-phase winding current under the stator rest frame
i a ,
i b ,
i c This electric current with find the solution the harmonic current that module 10 is tried to achieve by harmonic current
i a ' ,
i b ' ,
i c ' Calculate by summation module 4 together, obtain required three-phase winding current reference value
i a * ,
i b * ,
i c * This reference current
i a * ,
i b * ,
i c * With three phase winding real-time current values of feedback
i A1 ,
i B1 ,
i C1 Stagnate chain rate through current hysteresis ring PWM module 5, obtain the PWM conducting cut-off signals of power electronic device in the inverter 6, thus the current following instruction current value in the control winding; Record the pulse signal of LFSPM motor 7 by photoelectric encoder 8, calculate the real-time feedback speed of motor again by motor speed and position detecting module 9
vWith the rotor position angle
θ e , be used for closed-loop control and the corresponding calculating of speed ring.Set up the Matlab/Simulink simulation model according to the block diagram of Fig. 4.Fig. 5 is the preflood thrust of harmonic current and current waveform, and Fig. 6 is thrust and the current waveform of harmonic current after injecting.By Fig. 5 and Fig. 6 as can be seen: harmonic current injects forward thrust pulsation peak-to-peak value and reaches 386N, and every phase current presents good sine; Harmonic current injects back thrust pulsation peak-to-peak value and has only 165N, and every phase current comprises certain harmonic components, and the electromagnetic push that this harmonic components produces is just in time offset the detent force that magnetic flux switches permanent-magnetism linear motor.The control strategy that the present invention of simulation result proof proposes has significantly suppressed the force oscillation of primary permanent magnet type motor, has kept the thrust fan-out capability of motor constant again simultaneously.
Claims (1)
1. the force oscillation inhibition method of a primary permanent magnet type linear motor adopts conventional current hysteresis ring vector control system, it is characterized in that may further comprise the steps:
(1) surveys the detent force that obtains primary permanent magnet type linear motor by finite element simulation or torque tester
, utilize the Fourier series approximatioss that the waveform of detent force is carried out the harmonic spectrum analysis, determine first-harmonic and main higher harmonic components in the detent force;
A k For
kThe amplitude of inferior detent force harmonic component,
φ k For
kThe phase angle of inferior detent force harmonic component,
,
τ s Be electric motor primary mover pole span,
xIt is elementary mover displacement;
(2) the unloaded counter potential waveform of employing finite element simulation primary permanent magnet type linear motor is determined unloaded back-emf
,
E m Be the back-emf amplitude;
(3) according to additional electromagnetic thrust
And additional electromagnetic thrust
F ' PMk Equate with the amplitude of main higher harmonic components with first-harmonic in the detent force and phase place opposite,
, calculate for counteracting
kThe three-phase current component of inferior detent force harmonic component
i Ak (x),
i Bk (x),
i Ck (x):
vBe the speed of actual measurement motor,
I Mk Be the amplitude of current component,
μ k Be the harmonic number of current component,
θ k Phase angle for current component;
(4) current hysteresis ring vector control system is injected the three phase harmonic electric current
, the force oscillation of permanent magnet type linear motor is suppressed.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107395091A (en) * | 2017-07-24 | 2017-11-24 | 东南大学 | A kind of linear induction motor system detent force cutting method |
| CN109889110A (en) * | 2019-03-14 | 2019-06-14 | 西北工业大学 | A kind of multi-stag starting/generator starting torque calculation method |
| CN112234891A (en) * | 2020-09-21 | 2021-01-15 | 瑞声新能源发展(常州)有限公司科教城分公司 | Method for suppressing thrust fluctuation of linear motor, related equipment and medium |
| CN112234892A (en) * | 2020-09-21 | 2021-01-15 | 瑞声新能源发展(常州)有限公司科教城分公司 | Method for suppressing thrust fluctuation of linear motor, related equipment and medium |
| CN112234893A (en) * | 2020-09-21 | 2021-01-15 | 瑞声新能源发展(常州)有限公司科教城分公司 | Method for suppressing thrust fluctuation of linear motor, related equipment and medium |
| CN114759859A (en) * | 2022-05-18 | 2022-07-15 | 哈尔滨工业大学 | Thrust fluctuation fitting method for segmented linear motor |
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| CN101515780A (en) * | 2009-04-03 | 2009-08-26 | 东南大学 | Control method for compensating location torque of permanent-magnet motor by injecting current harmonics |
| CN102931907A (en) * | 2012-11-15 | 2013-02-13 | 上海海事大学 | Energy-saving transportation system based on permanent-magnet linear motor |
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Patent Citations (3)
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| JP2004032944A (en) * | 2002-06-27 | 2004-01-29 | Okuma Corp | Controller of synchronous motor and synchronous motor |
| CN101515780A (en) * | 2009-04-03 | 2009-08-26 | 东南大学 | Control method for compensating location torque of permanent-magnet motor by injecting current harmonics |
| CN102931907A (en) * | 2012-11-15 | 2013-02-13 | 上海海事大学 | Energy-saving transportation system based on permanent-magnet linear motor |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107395091A (en) * | 2017-07-24 | 2017-11-24 | 东南大学 | A kind of linear induction motor system detent force cutting method |
| CN107395091B (en) * | 2017-07-24 | 2019-05-31 | 东南大学 | A kind of linear induction motor system detent force cutting method |
| CN109889110A (en) * | 2019-03-14 | 2019-06-14 | 西北工业大学 | A kind of multi-stag starting/generator starting torque calculation method |
| CN109889110B (en) * | 2019-03-14 | 2020-09-22 | 西北工业大学 | Method for calculating starting torque of multi-stage starting/power generator |
| CN112234891A (en) * | 2020-09-21 | 2021-01-15 | 瑞声新能源发展(常州)有限公司科教城分公司 | Method for suppressing thrust fluctuation of linear motor, related equipment and medium |
| CN112234892A (en) * | 2020-09-21 | 2021-01-15 | 瑞声新能源发展(常州)有限公司科教城分公司 | Method for suppressing thrust fluctuation of linear motor, related equipment and medium |
| CN112234893A (en) * | 2020-09-21 | 2021-01-15 | 瑞声新能源发展(常州)有限公司科教城分公司 | Method for suppressing thrust fluctuation of linear motor, related equipment and medium |
| WO2022057010A1 (en) * | 2020-09-21 | 2022-03-24 | 瑞声声学科技(深圳)有限公司 | Method for suppressing thrust ripple of linear motor, related device, and medium |
| WO2022056981A1 (en) * | 2020-09-21 | 2022-03-24 | 瑞声声学科技(深圳)有限公司 | Method for suppressing thrust ripple of linear motor, and related device and medium |
| WO2022056976A1 (en) * | 2020-09-21 | 2022-03-24 | 瑞声声学科技(深圳)有限公司 | Method for restraining thrust ripple of linear motor, related device, and medium |
| CN114759859A (en) * | 2022-05-18 | 2022-07-15 | 哈尔滨工业大学 | Thrust fluctuation fitting method for segmented linear motor |
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Application publication date: 20131009 |