CN103856112B - A kind of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor and its control method - Google Patents
A kind of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor and its control method Download PDFInfo
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- CN103856112B CN103856112B CN201210497711.5A CN201210497711A CN103856112B CN 103856112 B CN103856112 B CN 103856112B CN 201210497711 A CN201210497711 A CN 201210497711A CN 103856112 B CN103856112 B CN 103856112B
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Abstract
The present invention relates to a kind of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor and its control method.Magnetic suspension theory is incorporated into the design and control of Magneticflux-switching type permanent magnet linear synchronous motor, analyzed from motor body structure optimization and Advanced Control Strategies integrated synthesis, in design of electrical motor, ensure that the gravitation of motor permanent magnetic field generation and the gravity of electric mover balance each other or close balance, by Gravity accelerometer measurement motor mover Gravity changer in control, H is carried out by the excitation component to current of electric∞Robust control is realized, to the increasing magnetic of permanent magnetic field or degaussing, making the normal force of its linear electric motors（Suspending power）With electric mover gravitational equilibrium, friction in motor operation is eliminated.In the long stator such as track traffic application scenario, the motor can integrated straight line induction machine, simple structure, low cost and permanent-magnetism linear motor power density is high, efficiency high can fundamentally solve operating friction problem again.
Description
Technical field
The invention belongs to long stroke field of track traffic, and in particular to magnetic suspension train is same with Magneticflux-switching type permanent-magnet linear
Walk the design and control field of motor.Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor, magnetic is incorporated into by magnetic levitation technology
It will be made to be applied to the long stator applied field such as track traffic in the design of logical switch type permanent magnet linear synchronous motor and its control method
During the application of conjunction can integrated straight line induction machine simple structure, low cost and permanent-magnetism linear motor power density is high, efficiency high,
Again being capable of fundamentally operating friction problem.
Background technology
Magneticflux-switching type（flux switching）The permanent magnet and armature winding of permanent magnet linear synchronous motor are both mounted at
On short primary mover, its secondary structure is simple, is only made up of magnetic conductive iron, is integrated with line inductance electromotor simple structure, cost
Some row advantages such as low high with power density, efficiency high, power factor be high, are particularly well-suited to long stator application scenario, both at home and abroad
Scholar conducts extensive research to it, achieves corresponding achievement.
Magnetic levitation technology is initiated by Germany, and electromagnetism is just proposed early in nineteen twenty-two German engineer Herman Ken Peier
Suspension theory, and applied for the patent of magnetic suspension train in 1934.After the seventies in last century, with world industry country
The continuous reinforcement of economic strength, for improve traffic capacity to adapt to its economic development the need for, Germany, Japan, the U.S., add
Put on airs, France, the developed country such as Britain start to prepare the exploitation for carrying out conductivity magnetic levitation transport system in succession.China opens from the beginning of the nineties
Beginning has in an organized way carried out the research and development work and investigation demonstration of magnetic railway, forms railway research institute, west
Southern university of communications, the National University of Defense technology, 4 groups of electrician of the Chinese Academy of Sciences, are made that some are significant in terms of low speed
Achievement, carried out more deep investigation demonstration in terms of high speed, but in general, strength is still very weak with basis.At present,
Magnetic suspension principle is high-precision in magnetic suspension bearing, maglev planar motor and Digit Control Machine Tool except the application on magnetic suspension train
The application of the occasions such as degree permanent-magnetism linear motor feeding has also obtained the attention of domestic and foreign scholars.
If magnetic suspension principle can be incorporated into Magneticflux-switching type permanent-magnetism linear motor, i.e., using the permanent-magnet magnetic of motor
, reasonably the excitation component of controlled motor electric current carries out increasing magnetic or degaussing to permanent magnetic field, makes the normal force of motor（Magnetcisuspension
Buoyancy）With the gravitational equilibrium of electric mover, the stable suspersion of electric mover is realized, Magneticflux-switching type permanent magnetism can not only be kept straight
The advantage of line locking motor, and the friction problem in motor operation can be fundamentally solved, the same of motor performance can improved
When reduce the later stage maintenance cost.
The content of the invention
Goal of the invention：The present invention provides a kind of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor and its control method,
Stable suspersion its object is to solve the problems, such as Magneticflux-switching type permanent magnet linear synchronous motor electric mover, eliminates motor operation
In friction.
Technical scheme：
The present invention is achieved through the following technical solutions：
A kind of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor, it is characterised in that：Include two Magneticflux-switching types
Permanent magnet linear synchronous motor, mover support housing, a stator support composition；Each Magneticflux-switching type permanent-magnet linear synchronization
Motor is again all by long stator iron core, mover core, mover winding, the space between permanent magnet and mover and stator, i.e. air gap
Highly constitute；One stator supports two identicals, two long stator iron cores, and a mover support housing connects two
Two movers of identical Magneticflux-switching type permagnetic synchronous motor；There is slideway on stator supporter, have cunning on mover support housing
Block；Mover core is installed on mover support housing, mover core inner room across embedding N poles, S poles permanent magnet, mover core together with
Permanent magnetism is wrapped mover winding in vitro.
Magnetic suspension principle is incorporated into Magneticflux-switching type permanent-magnetism linear motor, being run without friction for motor is realized；The electricity
Machine is made up of two Magneticflux-switching type permanent magnet linear synchronous motors, and each Magneticflux-switching type permanent magnet linear synchronous motor is without independent
Suspending windings, only a set of mover winding.
Analyzed from motor body structure optimization and Advanced Control Strategies integrated synthesis, obtain a kind of Magneticflux-switching type magnetcisuspension
Floating permanent magnet linear synchronous motor and its control method, when selecting air gap height in design of electrical motor, consider the machinery of motor
Reliability, the utilization of effective material, the reactance parameter of motor, it is contemplated that the gravity of electric mover, needed for stable suspersion
Normal force factor.
A kind of vertical direction stable suspersion control of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor as described above
Method, it is characterised in that：When stable suspersion control is carried out to it, uneoupled control reality is carried out by the electric current in mover winding
Existing motor vertical direction stable suspersion, runs along long stator direction horizontal stable；By Gravity accelerometer, motor is obtained
The change of mover gravity, it is determined that the permanent magnetic field for needing permanent magnet to produce carries out increasing magnetic or weak magnetic determining encouraging for given motor
Magnetoelectricity flow component, then by H∞Control algolithm realizes the control to motor energization current, so as to control the big of electric power normal force
It is small, make itself and electric mover gravitational equilibrium, realize mover stable suspersion；On the basis of stable suspersion is realized, to current of electric
Q axle components be controlled, realize electric mover along long stator direction horizontal stable run.
Advantageous effect：Magnetic levitation technology is incorporated into the present invention design and control of Magneticflux-switching type permanent magnet linear synchronous motor
In system, analyzed from motor body structure optimization and Advanced Control Strategies integrated synthesis, obtain a kind of Magneticflux-switching type magnetic suspension
The design and control method of permanent magnet linear synchronous motor, the method are remaining Magneticflux-switching type permanent magnet linear synchronous motor in length
Some row advantages such as stroke applications occasion has, simple structure, low cost, power density high, efficiency high, power factor be high
On the basis of, introduced by magnetic levitation technology, solve the stable suspersion of Magneticflux-switching type permanent magnet linear synchronous motor electric mover
Problem, eliminates the friction in motor operation.
Brief description of the drawings：
Fig. 1 is Magneticflux-switching type magnetic suspension permanent magnet synchronous motor three dimensional structure diagram of the present invention；
Fig. 2 is the front view of Magneticflux-switching type magnetic suspension permanent magnet synchronous motor of the present invention；
Fig. 3 is the profile of Magneticflux-switching type magnetic suspension permanent magnet synchronous motor of the present invention；
Fig. 4 is the principle schematic of Magneticflux-switching type magnetic suspension permanent magnet synchronous motor control system of the present invention；
In figure：1. long stator is unshakable in one's determination；2. mover core；3. mover winding；4. rotor permanent magnet；5. air gap height
（Hoverheight）6. housing is supported；7. long stator supporter；8. slideway；9. sliding block.
Specific embodiment：
General thought of the invention is：Magnetic suspension theory is incorporated into Magneticflux-switching type permanent magnet linear synchronous motor by the present invention
Design and control in, analyzed from motor body structure optimization and Advanced Control Strategies integrated synthesis, obtain a kind of magnetic flux and cut
Remodel the design and control method of magnetic suspension permanent magnet linear synchronous motor.Several below particular content：
（1）The optimization design of Magneticflux-switching type magnetic suspension permanent magnet linear motor
Consider that the gravitation of motor permanent magnetic field generation and the gravity of electric mover balance each other or approaches in design of electrical motor
Balance, thus without or it is few magnetic field is acted on the excitation component of current of electric, current of electric just can be used all
Come or major part is for producing electromagnetic push, so as to improve the efficiency and power factor of motor.Therefore, determine for this motor
The key parameters such as the air gap height of motor, consider the Mechanical Reliability of motor, effective material（Refer mainly to permanent magnet）Profit
With the reactance parameter of, motor, it is contemplated that the gravity of electric mover, the normal force needed for stable suspersion（Suspending power）Etc. factor
Determine the air gap height of motor.
（2）The control strategy of Magneticflux-switching type magnetic suspension permanent magnet linear motor normal force.
By the concept of vector controlled, by coordinate transform, the Transformation of Mathematical Model of motor is oriented to by permanent magnetic field
Two-phase rotating coordinate system under, realize the decoupling of stator current excitation component and thrust component.Respectively to the excitation of current of electric
Component and thrust component are controlled, and realize mover stable suspersion and ensure Magneticflux-switching type magnetic suspension permanent magnet synchronous motor stabilization
Operation.In order to ensure motor due to load change etc. cause mover mass change when, remain to stable suspersion, it is ensured that motor is just
Often operation, devises and suppresses the strong H of interference performance∞Robust controller.H∞Robust Control Algorithm is described as follows：
If the observed quantity of system is equal to the state variable of system,
(1)
On the premise of augmentation controlled device meets specified conditions, be directly based upon Riccati inequality method for designing and only
Provide H∞One particular solution of suboptimal Design problem（）.
If the state space realization of augmentation controlled device is
(2)
Then the augmentation controlled device of system is
(3)
To system (2), it is considered to state feedback controller
, (4)
For what is given, existSo that closed-loop system (2) and (4) internal stability and
(5)
The sufficient and necessary condition of establishment is the presence of positive number positively definite matrixSo that Riccati inequality
(6)
There is steady-state solution, then closed-loop system stabilization, and the Feedback Matrix that formula (5) is set up are made by formula（7）Be given
(7)
Below in conjunction with the accompanying drawings to a kind of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor of the invention and its control method
It is described in further details.
Fig. 1 and Fig. 2 are respectively Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor system structural representation and it is faced
Figure.By two Magneticflux-switching type permanent magnet linear synchronous motors in figure, 6, the stator support 7 of a mover support housing is constituted.
Each Magneticflux-switching type permanent magnet linear synchronous motor again by long stator iron core 1, mover core 2, mover winding 3, permanent magnet 4 with
And the space between mover and stator, i.e. air gap height 5 are constituted.
A stator support 7 supports two identicals, two long stator iron cores in figure, and a mover support housing 6 is connected
Two two movers of identical Magneticflux-switching type permagnetic synchronous motor.There is slideway 8 on stator supporter, on mover support housing
There is sliding block 9.Mover core 2 is installed on mover support housing 6, the inner room of mover core 2 is across embedding N poles, S poles permanent magnet 4, mover
Unshakable in one's determination 2 are wrapped mover winding 3 outward together with permanent magnet 4.By reasonably selecting air gap height 5, control is passed through two to the present invention
The size and Orientation of the excitation component id of the electric current of electric mover winding 3 come to the permanent magnetic field that permanent magnet 4 is produced carry out increase magnetic or
Person's weak magnetic, so as to realize the control to magnetic field force size, makes it equal together with the gravity of support housing with two movers, realizes dynamic
Son in the stable suspersion of air gap height 5, the electromagnetic push component iq that electric current in mover winding 3 is then passed through by control make its along
The horizontal stable operation of long stator iron core direction.
Fig. 3 gives one of Magneticflux-switching type permanent magnet linear synchronous motor profile, it can be found that and passing from figure
The magnetic-suspension linear motor of system needs single suspending windings different, and the motor only has a set of machine winding 3 on mover, and
Permanent magnet 4 is also mounted on mover, and stator is only made up of magnetic conductive iron 1, and the key parameter of the motor is determined in design of electrical motor
During air gap height 5, from motor body optimization design angle comprehensive analysis electromechanics reliability, effective material（Refer mainly to permanent magnetism
Body）Utilization, the reactance parameter of motor and electric mover gravity, and combine current of electric excitation componenti dControl method reality
The stable suspersion of existing Magneticflux-switching type permagnetic synchronous motor, eliminates operating friction.
Fig. 4 is Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor control system schematic diagram.With reference to Fig. 4 specifically
Bright its course of work, in figurevIt is linear electric motors speed.The present invention is exactly that basis can change magnetic field force by changing magnetic field size
Principle, Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor mover gravity is measured by Gravity accelerometer in Fig. 4
Change（Mainly caused by load change）, then should be equal with motor normal force according to mover gravity size, it is determined that needing to Fig. 1
In the permanent magnetic field that produces of permanent magnet 4 carry out increasing the excitation current component of magnetic or weak magnetic to determine given motor（id）, so
Afterwards by the H in figure∞Controller realizes the control to motor energization current, so as to realize the control to motor normal force, realizes
Electric mover stable suspersion.If i.e. mover gravity is increased, permanent magnetic field is carried out by the control realization to exciting current
Increase magnetic, the gravitation between increase electric mover and stator makes the normal force of motor（Suspending power）With the gravity of the mover after increase
A kind of new balance is reached, whereas if mover gravity reduces, then by the control realization to exciting current to permanent magnetic field
Weak magnetic, weakens the gravitation between electric mover and stator, makes the normal force of motor（Suspending power）With the gravity of the mover after reduction
A kind of new balance is reached, the stable suspersion on the vertical direction of electric mover is realized.It is right on the basis of stable suspersion is realized
The q axle components of current of electric are controlled, and realize that electric mover runs along long stator direction horizontal stable.
Claims (2)
1. a kind of control method of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor, the motor includes two magnetic fluxs switchings
Type permanent magnet linear synchronous motor a, mover supports housing（6）, a stator support（7）Composition；Each Magneticflux-switching type permanent magnetism
Linear synchronous generator is again all unshakable in one's determination by long stator（1）, mover core（2）, mover winding（3）, permanent magnet（4）And mover and fixed
Space between son, i.e. air gap height（5）Composition；One stator support（7）Support two identical long stators unshakable in one's determination（1）,
One mover supports housing（6）Two two movers of identical Magneticflux-switching type permanent magnet linear synchronous motor of connection；Stator branch
Support（7）On have slideway（8）, mover support housing（6）On have sliding block（9）；Mover supports housing（6）Upper installation mover core（2）,
Mover core（2）Inner room is across embedding N poles, S poles permanent magnet（4）, mover core（2）Together with permanent magnet（4）It is wrapped mover outward
Winding（3）, it is characterised in that：The Magneticflux-switching type permanent magnet linear synchronous motor is without single suspending windings, only a set of mover
Winding（3）；By coordinate transform, by under the Transformation of Mathematical Model of motor to the two-phase rotating coordinate system for pressing permanent magnetic field orientation,
Current excitation component id and electromagnetic push component iq decouplings are carried out to motor, control electric current excitation component id realizes that electric mover is steady
Fixed to suspend, control electromagnetic push component iq realizes Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor stable operation.
2. the control method of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor according to claim 1, its feature exists
In：By Gravity accelerometer, the change of electric mover gravity is obtained, it is determined that the current excitation component id of given motor,
Then H is passed through∞Control algolithm is controlled to the current excitation component id of motor, so that controlled motor normal force, makes its motor
Mover gravitational equilibrium.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210497711.5A CN103856112B (en) | 2012-11-29 | 2012-11-29 | A kind of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor and its control method |
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| CN201210497711.5A CN103856112B (en) | 2012-11-29 | 2012-11-29 | A kind of Magneticflux-switching type magnetic suspension permanent magnet linear synchronous motor and its control method |
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| CN104092410B (en) * | 2014-06-16 | 2016-06-15 | 浙江大学 | Hot type Boundary layer flow drag reduction ultraprecise magnetic suspended guide work system and method thereof |
| CN105241409B (en) * | 2015-09-25 | 2018-01-12 | 上海新纪元机器人有限公司 | Measure the device and method of Z axis vibration displacement |
| CN113162365B (en) * | 2021-05-11 | 2023-10-13 | 沈阳工业大学 | Double-sided magnetic flux switching type magnetic suspension permanent magnet linear synchronous motor and control method thereof |
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| GB1449469A (en) * | 1973-06-01 | 1976-09-15 | Lamb C St J | Linear electric motor systems |
| KR101004511B1 (en) * | 2002-10-01 | 2010-12-31 | 마그네모션, 인코포레이티드 | Magnetic suspension system |
| CN101875173A (en) * | 2010-05-21 | 2010-11-03 | 沈阳工业大学 | Gantry type milling and boring machine adopting electromagnet and permanent magnet mixed magnetic pole suspending and control method thereof |
| CN102255471B (en) * | 2011-06-24 | 2012-12-19 | 江苏中容电气有限公司 | Linear switch magnetic flux permanent magnet motor with low location force and high thrust |
| CN203014718U (en) * | 2012-11-29 | 2013-06-19 | 沈阳工业大学 | Flux-switching magnetic-suspension permanent-magnet linear synchronous motor |
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Effective date of registration: 20210210 Address after: 110000 405, no.19-1, Huahai Road, Shenyang Economic and Technological Development Zone, Liaoning Province Patentee after: Shenyang Yide Electric Power Technology Co.,Ltd. Address before: 110870 No. 111 Shenyang West Road, Shenyang economic and Technological Development Zone, Liaoning Patentee before: SHENYANG University OF TECHNOLOGY |
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Effective date of registration: 20210721 Address after: 110000 99 a-34-1, Chuangxin 1st Road, Hunnan District, Shenyang City, Liaoning Province Patentee after: SHENYANG RUIJIE ELECTRIC POWER TECHNOLOGY Co.,Ltd. Address before: 110000 405, no.19-1, Huahai Road, Shenyang Economic and Technological Development Zone, Liaoning Province Patentee before: Shenyang Yide Electric Power Technology Co.,Ltd. |