CN108400692A - Electromagnetic damping spring structure in permanent magnetic linear synchronous motor - Google Patents
Electromagnetic damping spring structure in permanent magnetic linear synchronous motor Download PDFInfo
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- 230000005483 Hooke's law Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
Abstract
The invention discloses the electromagnetic damping spring structures in a kind of permanent magnetic linear synchronous motor, it is that sliding block is set in motor the linear guide, bobbin is fixed on sliding block, and it can move along a straight line on motor slide rails with sliding block, the internal coil in bobbin, in electric mover towards yoke plate is fixedly installed on the end face of sliding block side, permanent magnet is fixedly installed on yoke plate, electromagnetic damper is constituted with permanent magnet and coil；It is attached using spring between bobbin and electric mover；The elastic force generated using spring and the electromagnetic damping power generated between coil and permanent magnet form the restraint to mover generated force oscillation when being moved on guide rail.The present invention can reduce the force oscillation of permanent magnetic linear synchronous motor, so that its operation is more stablized, can improve machining accuracy, and then it obtains broader applications in Precision Machining.
Description
Technical field
The present invention relates to a kind of electromagnetic damping spring structures for inhibiting permanent magnetic linear synchronous motor force oscillation.
Background technology
Permanent magnetic linear synchronous motor (PMSLM) has fast-response, high acceleration, high thrust density and high position precision etc.
Advantage gathers around in few cutting force precise numerical control machine and has wide practical use.However, due to PMSLM own structural characteristics, end
Portion's effect and slot effect will produce force oscillation, and force oscillation there are strong influence machine finishes, make
At workpiece surface cut, the process quality issues such as off size requirement；Force oscillation can also cause machine vibration and noise simultaneously,
Influence positioning accuracy.
Current scholar both domestic and external generally inhibits force oscillation from two angles：Body construction optimizes and control strategy.
Wherein body construction optimization is by adjusting the size of motor key structure or arrangement, optimization dependency structure shape, such as using oblique
Pole, skewed slot, permanent magnet arrangement mode, pole embrace combine and magnetize the methods of mode to inhibit force oscillation；Control strategy is
By using control method so that the three-phase current of input is more nearly sine, such as according to the force oscillation of foundation and motor speed
It spends, the Design of Mathematical Model feed-forward compensator of position, force oscillation is compensated under different motion speed.The equal energy of above two method
Enough achieve the purpose that inhibit force oscillation, but also along with as following drawbacks：Oblique pole, the angle of inclination of skewed slot are difficult to determine, increase
Parsing difficulty；By the optimal alignment of the not equal pole embraces of selection, harmonic constant can be reduced, but causes time pole utilization rate
It reduces；Changing the mode of magnetizing can make magnetic flux density be more nearly sine, but due to the technology of magnetizing, there are technologies
Problem；5 times caused by the time of Inverter Dead-time and 7 subharmonic currents, other reasons can only be inhibited to generate by feedforward compensation
Current harmonics elimination unobvious.In Publication No. CN106685178A, application No. is the patents of invention of 201710123761.X
In application documents, the applicant has been disclosed for " a kind of Viscoelastic Damped Structures and its application based on permanent magnetic linear synchronous motor "
The relevant technologies, be using additional vibration-repressing device reduce force oscillation.In this method fastening bolt press against viscoelastic damping material with
Electric mover moves together, generates the restraint opposite with motor thrust, but it is short to there is viscoelastic damping material service life
The problem of, while reducing motor thrust.
Invention content
The present invention is provided a kind of for inhibiting permanent synchronous linear electric to avoid above-mentioned deficiency of the prior art
Electromagnetic damping spring structure in the permanent magnetic linear synchronous motor of machine force oscillation, to which permanent magnetic linear synchronous motor can be reduced
Force oscillation improve machining accuracy, and then permanent synchronous linear so that permanent magnetic linear synchronous motor operation is more stablized
Motor is more widely used in precision processing technology.
The present invention is to solve technical problem to adopt the following technical scheme that：
The characteristics of electromagnetic damping spring structure in permanent magnetic linear synchronous motor of the present invention is：It is set in motor the linear guide
Sliding block is set, bobbin is fixed on sliding block, and can be moved along a straight line on motor slide rails with sliding block, in the bobbin
Internal coil is fixedly installed in electric mover towards yoke plate is fixedly installed on the end face of sliding block side on the yoke plate
Permanent magnet is constituted electromagnetic damper with the permanent magnet and coil；Between the bobbin and electric mover using spring into
Row connection, and there is guide rod punching in the spring to be arranged, using the guide rod as spring support, the guide rod is with single-ended fixation
It is arranged on bobbin, the other end is in suspension；It is generated using the elastic force of spring generation and between the coil and permanent magnet
Electromagnetic damping power forms the restraint to the mover generated force oscillation when being moved on the guide rail.
The characteristics of electromagnetic damping spring structure in permanent magnetic linear synchronous motor of the present invention, lies also in：The electromagnetic damper
It it is two groups, the coil in two groups of electromagnetic dampers is symmetrically distributed in the both sides of bobbin, and two pieces of permanent magnets and two coils are one by one
Correspondence is configured.
The characteristics of electromagnetic damping spring structure in permanent magnetic linear synchronous motor of the present invention, lies also in：In the mover upper edge
One row's spring secured adjusted hole of axial setting of guide rail, one end of the spring are fixedly connected with bobbin, and the other end is according to bullet
The setting length profit of spring is fixed by bolts in the spring secured adjusted hole of corresponding position, is changed spring and is fixed tune in the spring
Fixed position in knothole can change the number of active coils of spring.
Using electromagnetic damping spring structure of the present invention inhibit permanent magnetic linear synchronous motor force oscillation method the characteristics of be
It carries out as follows：
Step 1 carries out frequency analysis to the permanent magnetic linear synchronous motor thrust F, obtains the permanent synchronous linear electricity
The force oscillation F of machinedSuch as formula (1)：
In formula (1), fnFor the amplitude of force oscillation n-th harmonic, δnFor the initial phase angle of force oscillation n-th harmonic, x
For the displacement of motor movement, τ is motor permanent magnet pole span；
Step 2, the force oscillation F with the permanent magnetic linear synchronous motordAs the excitation of electromagnetic damping spring structure, obtain
It is used to inhibit the restraint F of force oscillation to electromagnetic damping spring structuresSuch as formula (2)：
In formula (2), G is the stiffness coefficient of spring, d0For the line footpath of spring, DmFor the central diameter of spring, NcFor the effective of spring
The number of turns, m are the weight of bobbin and coil, HcFor coercivity, I ' is the amplitude for being passed through electric current in electromagnetic damper coil, hj
It is the height of permanent magnet in electromagnetic damper, δ1It is the initial air gap of electromagnetic damper, Δ x is the deformation quantity of spring, and b is electromagnetism
The thickness of damper coil, M " are the mutual inductance between permanent magnet and coil in one of which electromagnetic damper, x1It is electromagnetism
Any point position on the equivalent magnet exciting coil of permanent magnet of damper, x2It is any one point on the coil of electromagnetic damper
It sets；
Step 3, by motor thrust F and restraint FsAddition obtains the permanent magnetic linear synchronous motor as shown in formula (3)
Compound thrust F after the effect of electromagnetic damping spring structure1Expression formula：
F1=F+Fs (3)
Step 4, the space constraint relationship according to the permanent magnetic linear synchronous motor are installed according to mounting condition determination
The spring line footpath d of spring0' and central diameter Dm′；
Step 5 makes compound thrust F in set period of time1Curve graph, adjust electromagnetic damper in initial air gap delta1With
The number of active coils N of springcSize, as the compound thrust F1Curve fluctuation be in setting value, the initial air gap adjusted and
The number of active coils of spring is the required initial air gap delta set1' number of active coils the N with springc′；
Step 6 installs sliding block on the guide rail and fixes the bobbin on sliding block, described in spring connection
One end of spring is passed through the active spring coils number adjustment hole on the mover so that spring has by bobbin and the mover
The value for imitating the number of turns is Nc', the initial air gap delta of electromagnetic damper1', the spring for completing adjustment is fixed using bolt；
Step 7, in the motion process of mover, realized for permanent magnetism using electromagnetic damping structure and spring collective effect
The inhibition of linear synchronous motor force oscillation.
Compared with the prior art, the present invention has the beneficial effect that：
1, the restraint that the present invention is generated using electromagnetic damping spring system reduces the force oscillation generated when motor operation,
Without changing internal structure of motor, solve that the difficulty of processing that the structure changes such as permanent magnet or coil are brought is big, and parsing difficulty increases
The problems such as adding.
2, the present invention reduces the thrust of permanent magnetic linear synchronous motor using the restraint of electromagnetic damping spring structure generation
Fluctuation, due to excitation of the force oscillation as electromagnetic damping spring structure of permanent magnetic linear synchronous motor, then restraint frequency and
The frequency of motor force oscillation is identical, therefore restraint can be with the variation of adaptive tracing force oscillation so that inhibits thrust wave
It is dynamic with obvious effects.
3, the present invention inhibits force oscillation using electromagnetic damping spring structure, without more becoming control strategy, solves multiple
The problems such as hardware burden that miscellaneous control strategy is brought to control system.
4, electromagnetic damping power is positive damping force in the present invention, and direction is consistent with motor thrust direction, solves additional
Vibration-repressing device reduces the problem of motor thrust.
5, electromagnetic damping spring structure and electric mover of the invention are integral structures, have service life long, are applicable in
The wide advantage of range ability.
Description of the drawings
Fig. 1 is electromagnetic damping spring structure schematic diagram in the present invention；
Fig. 2 is electromagnetic damping spring structure partial schematic diagram in the present invention；
Fig. 3 is electromagnetic damper center line coil schematic diagram in the present invention；
Fig. 4 is electromagnetic damping spring structure sectional view in the present invention
Fig. 5 is electromagnetic damper schematic cross-section in the present invention；
Fig. 6 is permanent magnetic linear synchronous motor layer analysis schematic diagram in the prior art；
Fig. 7 is permanent magnet surface current line density model in the prior art；
Fig. 8 is two parallel coil space coordinates in the prior art；
Fig. 9 is permanent magnetic linear synchronous motor thrust and compound thrust correlation curve in the present invention；
Figure label：1 coil, 2 motor slide rails, 3 movers, 4 bolts, 5 yoke plates, 6 bobbins, 7 sliding blocks, 8 permanent magnets, 9 bullets
Spring secured adjusted hole, 10 springs, 11 guide rods.
Specific implementation mode
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the electromagnetic damping spring knot in the present embodiment in permanent magnetic linear synchronous motor
Structure is：
Sliding block 7 is set in motor the linear guide 2, and bobbin 6 is fixed on sliding block 7, and can be with sliding block 7 in electricity
It moves along a straight line on machine guide rail 2, the internal coil 1 in bobbin 6, in electric mover towards solid on the end face of 7 side of sliding block
Yoke plate 5 is set surely, permanent magnet 8 is fixedly installed on yoke plate 5, electromagnetic damper is constituted with permanent magnet 8 and coil 1；In bobbin 6
It is attached using spring 10 between electric mover 3, and there is the punching in spring 10 of guide rod 11 to be arranged, using guide rod 11 as bullet
Spring bracket, guide rod 11 are fixed at single-ended on bobbin 6, and the other end is in suspension；Using spring 10 generate elastic force and
The electromagnetic damping power generated between coil 1 and permanent magnet 8 forms to mover 3 the generated force oscillation when being moved on guide rail 2
Restraint.
In specific implementation, electromagnetic damper is two groups, and the coil 1 in two groups of electromagnetic dampers is symmetrically distributed in bobbin 6
Both sides, two pieces of permanent magnets 8 and coil 1 one-to-one correspondence is configured；It is solid in one row's spring of axial setting of 3 upper edge guide rail of mover
It sets the tone knothole 9, one end of spring 10 is fixedly connected with bobbin 6, and the other end utilizes bolt 4 to fix according to the setting length of spring
In the spring secured adjusted hole 9 of corresponding position, bullet can be changed by changing fixed position of the spring in spring secured adjusted hole 9
The number of active coils of spring 10.
Fig. 6 show permanent magnetic linear synchronous motor layer analysis schematic diagram, the thrust F expression about permanent magnetic linear synchronous motor
Have derivation in some open source literatures, such as：Proceedings of the CSEE periodical 12 phase 3594-3601 of volume 37 in 2017
Page, " the coreless permanent magnet linear synchronous motor optimization design research based on center of gravity neighborhood processing "；By to motor gas-gap magnetic field
With the analysis of induced electromotive force, can obtain by the thrust F of the permanent magnetic linear synchronous motor expressed by formula (1.0)：
In formula (1.0), I is current of electric amplitude, and N is electrical-coil the number of turns, and L is electrical-coil effective length, μ0For sky
Gas magnetic conductivity, miFor motor-field spatial frequency, and have：mi=(2i-1) π/τ i=1,2 ...；τ is motor permanent magnet pole span, Mi
For with the relevant coefficient of motor space magnetic field, and have：BrFor motor permanent magnet remanent magnetization
Intensity, τmFor the width of motor permanent magnet；δ is motor gas-gap, h1For motor permanent magnet height, h2For electrical-coil height；ω is
Current of electric frequency, t are the time, and D is the width of one coil of motor, and d is the One-sided Widths of electrical-coil, and V is motor operation
Speed.
Electromagnetic damping spring structure is used to inhibit the method for permanent magnetic linear synchronous motor force oscillation by such as in the present embodiment
Lower step carries out：
Step 1 carries out frequency analysis to permanent magnetic linear synchronous motor thrust F, obtains the thrust of permanent magnetic linear synchronous motor
Fluctuate FdSuch as formula (1)：
In formula (1), fnFor the amplitude of force oscillation n-th harmonic, δnFor the initial phase angle of force oscillation n-th harmonic, x
For the displacement of motor movement.
The restraint that electromagnetic damping spring structure generates includes the elastic force and electromagnetic damping power of spring, according to Hooke's law,
The elastic force F of its springtExpression is such as formula (1.1)：
Ft=k Δs x (1.1)
K is the coefficient of elasticity of spring, and Δ x is spring deformation amount, and is had：
G is the stiffness coefficient of spring, d0For the line footpath of spring, DmFor the central diameter of spring, NcFor the number of active coils of spring.
Step 2, the force oscillation F with permanent magnetic linear synchronous motordAs the excitation of electromagnetic damping spring structure, spring shape
Variable Δ x is expressed as formula (1.3)：
M is the weight of bobbin and coil, then the elastic force F of springtIt is expressed as formula (1.4)：
Electromagnetic damping power F is obtained as followsn：
1st step：It is equivalent that excitation is carried out to electromagnetic damper permanent magnet
To calculate electromagnetic damping power, electromagnetic damper permanent magnet is equivalent to by several using equivalent surface currcnt method first and is led to
Electric coil a is as shown in fig. 7, equivalent surface currcnt density JmsAs shown in formula (1.5)：
Jms=Mc×n′ (1.5)
McFor electromagnetic damper permanent magnet internal magnetization intensity, n ' is the normal direction point of electromagnetic damper permanent magnetism external surface
Amount.
Permanent magnet uses NdFeB materials, and magnetic characteristic is close to ideal permanent magnet, it is assumed that and its demagnetizing curve is straight line,
Then have：
Mc≈Mc0=Br′/μ0 (1.6)
Jms=Br′/μ0=Hc (1.7)
Mc0For ideal permanent magnet internal magnetization intensity, Br' it is electromagnetic damper permanent magnet remanent magnetization, HcFor coercive
Power.
After the permanent magnet of electromagnetic damper is equivalent to several energization square coils a, electromagnetic damper is considered as forever
The system of the equivalent magnet exciting coil of magnet and coil composition.
2nd step：Mutual inductance analysis is carried out for permanent magnet excitation equivalent coil and coil
In order to solve electromagnetic damping power using the principle of virtual work, total mutual inductance needs between permanent magnet excitation equivalent coil and coil
It solves, for this purpose, first solving the mutual inductance between a pair of of coil, reapplies principle of stacking and acquire total mutual inductance.Fig. 7 gives a permanent magnet
The space coordinates of excitation equivalent coil A1 and loop A 2, (x1, y1, z1) are any one on permanent magnet excitation equivalent coil A1
The coordinate of point, (x2, y2, z2) are the coordinate at any point in the loop A 2.
By Nie with graceful formula it is found that such as formulas (1.8) of the mutual inductance M ' between A1 and A2 shown in Fig. 7 are characterized：
l1For the perimeter of A1, l2For the perimeter of A2, R is the distance of any two points on A1 and A2, such as formula (1.9)
Electromagnetic damper, which only exists in X-direction, to be moved, and permanent magnet in one group of electromagnetic damper is obtained according to principle of stacking
Mutual inductance M " between coil is as expressed by formula (2.0)：
hjFor electromagnetic damper permanent magnet height, δ1For the initial air gap of electromagnetic damper, b is electromagnetic damper coil
Thickness.
3rd step：Parse electromagnetic damping power
For two parallel energization square coil of space, i.e., A1 and A2 shown in Fig. 7 can acquire two coils with the principle of virtual work
Between power Fx：
I1For the equivalent exciting current of permanent magnet in one group of electromagnetic damper, I2To correspond to the electric current of coil, and there is formula
(2.2)：
I ' is the amplitude for being passed through electric current in electromagnetic damper coil.
Then according to formula (2.0), formula (2.1) and formula (2.2) permanent magnet of the acquisition in one group of electromagnetic damper and coil it
Between power Fx' such as the characterization of formula (2.3)：
Then, the electromagnetic damping power F that two groups of electromagnetic dampers generate jointlynAs formula (2.4) characterizes：
Fn=2Fx′ (2.4)
Therefore, electromagnetic damping spring structure is used to inhibit the restraint F of force oscillationsSuch as formula (2)：
Step 3, by motor thrust F and restraint FsAddition obtains the permanent magnetic linear synchronous motor as shown in formula (3)
Compound thrust F after the effect of electromagnetic damping spring structure1Expression formula：
F1=F+Fs (3)
Step 4, the space constraint relationship according to permanent magnetic linear synchronous motor, the mover bottom of motor to motor back iron away from
From for 8mm, the outer diameter of general spring is less than the 2-3mm of the distance, therefore determines installed spring according to the mounting condition
Spring outer diameter 5mm, the spring line footpath d of the suitable outer diameter0' it is 0.5mm, then central diameter Dm' it is 4.5mm；What table 1 provided is permanent magnetism
Linear synchronous motor structural parameters, the electromagnetic damping spring structure parameter that table 2 provides.
Table 1
Table 2
The electromagnetic damping spring that step 5, the design parameter of the permanent magnetic linear synchronous motor provided according to table 1 and table 2 provide
The design parameter and formula (3) of structure make compound thrust F in set period of time1Curve graph, adjust initial in electromagnetic damper
Air gap delta1With the number of active coils N of springcSize, as compound thrust F1Curve fluctuation be in setting value, such as：It is pushed away when compound
Power F1Curve maximum fluctuation value and minimal ripple value difference be 2N when, the number of active coils of the initial air gap and spring that are adjusted
The initial air gap delta set needed for as1' number of active coils the N with springc′。
Fig. 9 is that permanent magnetic linear synchronous motor has run 100mm with the speed of 0.5m/s, namely has run the motor after 0.2s
Thrust F and compound thrust F1Comparison diagram, initial air gap at this time is 4mm, and active spring coils number is 12, F1The maximum wave of curve
The difference of value and minimal ripple value is moved as 2N, therefore δ1' take 4mm, Nc' take 12.
Step 6 installs sliding block on guide rail and in sliding block upper fixed line coil, bobbin and mover is connected with spring, will
One end of spring passes through the active spring coils number adjustment hole on mover so that the number of active coils N of springc' value be 12, electromagnetism resistance
The initial air gap delta of Buddhist nun's device1' value be 4mm, using bolt to complete adjustment spring be fixed.
Step 7, in the motion process of mover, realized for permanent magnetism using electromagnetic damping structure and spring collective effect
The inhibition of linear synchronous motor force oscillation.
Claims (4)
1. the electromagnetic damping spring structure in a kind of permanent magnetic linear synchronous motor, it is characterized in that：It is set in motor the linear guide (2)
Set sliding block (7), bobbin (6) is fixed on sliding block (7), and can with sliding block (7) on motor slide rails (2) straight line transport
It is dynamic, the internal coil (1) in the bobbin (6), in electric mover towards being fixedly installed on the end face of sliding block (7) side
Permanent magnet (8) is fixedly installed on the yoke plate (5), electromagnetic damping is constituted with the permanent magnet (8) and coil (1) for yoke plate (5)
Device；It is attached using spring (10) between the bobbin (6) and electric mover (3), and has guide rod (11) in the bullet
Punching is arranged in spring (10), and using the guide rod (11) as spring support, the guide rod (11) is fixed at coil with single-ended
On frame (6), the other end is in suspension；It is generated using the elastic force of spring (10) generation and between the coil (1) and permanent magnet (8)
Electromagnetic damping power form the restraint to the mover (3) generated force oscillation when being moved on the guide rail (2).
2. the electromagnetic damping spring structure in permanent magnetic linear synchronous motor according to claim 1, it is characterized in that：The electricity
Magnetic damper is two groups, and the coil (1) in two groups of electromagnetic dampers is symmetrically distributed in the both sides of bobbin (6), two pieces of permanent magnets
(8) it corresponds and is configured with two coils (1).
3. the electromagnetic damping spring structure in permanent magnetic linear synchronous motor according to claim 1, it is characterized in that：Described
One row's spring secured adjusted hole (9) of axial setting of mover (3) upper edge guide rail, one end and the bobbin (6) of the spring (10)
It is fixedly connected, the other end is fixed on the spring secured adjusted hole (9) of corresponding position according to the setting length of spring using bolt (4)
In, the number of active coils of spring can be changed by changing fixed position of the spring in spring secured adjusted hole (9).
4. a kind of side inhibiting permanent magnetic linear synchronous motor force oscillation using electromagnetic damping spring structure described in claim 1
Method, it is characterized in that carrying out as follows：
Step 1 carries out frequency analysis to the permanent magnetic linear synchronous motor thrust F, obtains the permanent magnetic linear synchronous motor
Force oscillation FdSuch as formula (1)：
In formula (1), fnFor the amplitude of force oscillation n-th harmonic, δnFor the initial phase angle of force oscillation n-th harmonic, x is electricity
The displacement of machine movement, τ are motor permanent magnet pole span；
Step 2, the force oscillation F with the permanent magnetic linear synchronous motordAs the excitation of electromagnetic damping spring structure, electricity is obtained
Magnetic damping spring structure is used to inhibit the restraint F of force oscillationsSuch as formula (2)：
In formula (2), G is the stiffness coefficient of spring, d0For the line footpath of spring, DmFor the central diameter of spring, NcFor the coil of spring
Number, m are the weight of bobbin and coil, HcFor coercivity, I ' is the amplitude for being passed through electric current in electromagnetic damper coil, hjIt is
The height of permanent magnet, δ in electromagnetic damper1It is the initial air gap of electromagnetic damper, Δ x is the deformation quantity of spring, and b is electromagnetism resistance
The thickness of Buddhist nun's device coil, M " are the mutual inductance between permanent magnet and coil in one of which electromagnetic damper, x1It is electromagnetism resistance
Any point position on the equivalent magnet exciting coil of permanent magnet of Buddhist nun's device, x2It is any one point on the coil of electromagnetic damper
It sets；
Step 3, by motor thrust F and restraint FsAddition obtains the permanent magnetic linear synchronous motor as shown in formula (3) in electromagnetism
Compound thrust F after damper spring arrangement effect1Expression formula：
F1=F+Fs (3)
Step 4, the space constraint relationship according to the permanent magnetic linear synchronous motor determine installed spring according to mounting condition
Spring line footpath d0' and central diameter Dm′；
Step 5 makes compound thrust F in set period of time1Curve graph, adjust electromagnetic damper in initial air gap delta1And spring
Number of active coils NcSize, as the compound thrust F1Curve fluctuation be in setting value, the initial air gap and spring adjusted
Number of active coils be needed for set initial air gap delta1' number of active coils the N with springc′；
Step 6 installs sliding block on the guide rail and fixes the bobbin on sliding block, and the coil is connected with the spring
One end of spring is passed through the active spring coils number adjustment hole on the mover so that the coil of spring by frame and the mover
Several values is Nc', the initial air gap delta of electromagnetic damper1', the spring for completing adjustment is fixed using bolt；
Step 7, in the motion process of mover, realized for permanent-magnet synchronous using electromagnetic damping structure and spring collective effect
The inhibition of linear motor pushing force fluctuation.
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