CN114759759B - Dynamic armature segmented permanent magnet synchronous linear motor and drive control method - Google Patents
Dynamic armature segmented permanent magnet synchronous linear motor and drive control method Download PDFInfo
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- CN114759759B CN114759759B CN202210409979.2A CN202210409979A CN114759759B CN 114759759 B CN114759759 B CN 114759759B CN 202210409979 A CN202210409979 A CN 202210409979A CN 114759759 B CN114759759 B CN 114759759B
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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
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
- H02P25/064—Linear motors of the synchronous type
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Abstract
A dynamic armature segmented permanent magnet synchronous linear motor and a drive control method solve the problems of how to effectively reduce the thrust fluctuation of the motor and increase the thrust density of the motor, and belong to the field of permanent magnet synchronous linear motors. The invention comprises a stator and a rotor, wherein the rotor comprises m dynamic armature units, each dynamic armature unit is an armature rotor, each armature rotor is independently controlled to operate, the m dynamic armature units are axially arranged along a motor, the distance between every two adjacent dynamic armature units is D, D = T/m, T represents a thrust fluctuation period, and m is an integer greater than or equal to 2; and the power supply driving module is used for inputting alternating current into each phase of each moving armature unit, the alternating current is determined according to the thrust ripple caused by the harmonic wave elimination of the ripple phase difference between different moving armature units, and the thrust ripple is in sinusoidal variation. The motor can eliminate thrust ripples brought by multiple magnetic fields and improve the effective thrust of the motor.
Description
Technical Field
The invention relates to an armature segmented permanent magnet synchronous linear motor and a drive control method, and belongs to the field of permanent magnet synchronous linear motors.
Background
The linear motor is used as a device for linear feeding instead of the traditional rotating shaft screw rod. The linear motor has special advantages in a material transmission system, and the permanent magnet type synchronous linear motor has the advantages of simple structure, reliable operation, high efficiency and the like, so that the permanent magnet type synchronous linear motor is more and more widely applied to material transmission systems related to material sorting, automatic production lines and the like. The moving armature permanent magnet synchronous linear motor is widely applied to various occasions, particularly in the field of precision machining, due to the simple structure and low cost compared with a moving magnetic steel type permanent magnet synchronous linear motor winding. The precise machining occasion requires that the thrust fluctuation of the linear motor is as small as possible.
Disclosure of Invention
The invention provides an armature segmented permanent magnet synchronous linear motor and a drive control method, aiming at the problems of effectively reducing the thrust fluctuation of the motor and increasing the thrust density of the motor.
The invention relates to a segmented permanent magnet synchronous linear motor of an armature, which comprises a stator and an active cell, wherein the active cell comprises m active armature units, each active armature unit is an armature active cell, each armature active cell independently controls the operation, the m active armature units are arranged along the axial direction of the motor, the distance between the adjacent active armature units is D, D = T/m, T represents a thrust fluctuation period, and m is an integer more than or equal to 2;
and the power supply driving module is used for inputting alternating current into each phase of each electric pivot unit, the alternating current is determined according to the thrust ripple caused by the elimination of harmonic waves of the ripple phase difference between different electric pivot units, and the thrust ripple is in sinusoidal variation.
The application discloses a drive control method of a movable armature sectional permanent magnet synchronous linear motor, which comprises the following steps:
the method for leading the nth motor armature unit A to be communicated with the alternating current by utilizing the power supply driving module comprises the following steps:
I A sin(ωt+(n-1)πT/mτ)；
the power driving module is used for inputting alternating current to the nth armature unit B:
I B sin(ωt+(n-1)πT/mτ-4π/3)；
the method for inputting alternating current into the nth motor armature unit C by utilizing the power driving module comprises the following steps:
I c sin (ω T + (n-1) π T/m τ -2 π/3); wherein τ denotes the pole pitch, I A The amplitude of the current passing through the armature winding is represented, and omega represents the angular velocity of the current passing through the armature winding; n =1,2 …, m.
The motor has the beneficial effects that the motor can eliminate thrust ripples caused by multiple magnetic fields and improve the effective thrust of the motor.
Drawings
FIG. 1 is a diagram of a conventional armature-type PMSM linear motor employing Halbach magnetic pole arrangement;
fig. 2 is a sectional permanent magnet synchronous linear motor of an electric armature adopting Halbach magnetic pole arrangement, wherein n =3;
fig. 3 is a moving armature segmented permanent magnet synchronous linear motor of the present invention employing Halbach magnetic pole arrangement, n =2;
FIG. 4 is a comparison graph of finite element simulation results obtained by using maxwell 2D;
fig. 5 is a single-side flat plate type moving armature segmented permanent magnet synchronous linear motor of the invention, wherein n =3;
fig. 6 shows a single-sided flat-plate type armature segmented permanent magnet synchronous linear motor of the present invention, wherein n =2.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The moving armature segmented permanent magnet synchronous linear motor comprises a stator and an active cell, wherein the active cell comprises m moving armature units, each moving armature unit is an armature active cell, each moving armature unit can be independently controlled to operate, the m moving armature units are arranged along the axial direction of the motor, the distance between every two adjacent moving armature units is D, D = T/m, T represents a thrust fluctuation period, and m is an integer greater than or equal to 2.
And the power supply driving module is used for inputting alternating current into each phase of each moving armature unit, the alternating current is determined according to the thrust ripple caused by the harmonic wave elimination of the ripple phase difference between different moving armature units, and the thrust ripple is in sinusoidal variation.
The principle of eliminating the thrust ripple brought by multiple magnetic fields is as follows:
take the thrust fluctuation caused by the cancellation of the fifth harmonic in the air gap magnetic field as an example. The Halbach magnetic pole array excites a sinusoidal magnetic field in an air gap magnetic field, the period of a fundamental wave magnetic field is 2 tau, and a period of 2 tau/5 is a fifth harmonic magnetic field. Therefore, the expression of the air-gap magnetic field can be expressed by the formula (1)
B＝B 1 sin(ω 1 t)+B 3 sin(ω 3 t) (1)
B 1 Representing the flux density amplitude of the first harmonic in the air-gap field, B 3 Representing the flux density amplitude, omega, of the third harmonic in the gap field 1 Angular velocity, ω, representing first harmonic variation in the air gap field 3 Angular velocity representing third harmonic variation in the airgap magnetic field; t represents time;
therefore, the thrust expression of the conventional three-unit linear motor is shown in formula (2):
F＝∑B An I A +B Bn I B +B Cn I C (2)
the thrust generated by the fifth magnetic field harmonic wave can be deduced to be shown in the formula (3):
B 5 representing the flux density amplitude, omega, of the fifth harmonic in the air-gap field 5 Angular velocity representing fifth harmonic variation in the air gap magnetic field;
according to the derived unit motor thrust ripple formula, the thrust ripple of the motor is in sinusoidal variation and can be eliminated by utilizing the ripple phase difference between different units. Taking 3 units as an example, the ripple of the first unit motor is:
the ripple of the second unit motor is:
the ripple of the third unit motor is:
the ripple of the motor as a whole can be expressed as:
the power driving module can eliminate thrust ripples caused by harmonic waves by utilizing ripple phase differences among different electric pivot units according to the integral ripples of the motor.
The conventional three-unit linear motor has thrust ripples generated by a fifth harmonic magnetic field during operation. The motor designed by the application can eliminate thrust ripples brought by five magnetic fields.
The drive control method of the present embodiment includes:
the nth motor unit A is communicated with alternating current I A sin(ωt+(n-1)πT/mτ)；
The input alternating current of the nth motor armature unit B is as follows: i is B sin(ωt+(n-1)πT/mτ-4π/3)；
The input alternating current of the nth motor armature unit C is as follows: i is c sin (ω T + (n-1) π T/m τ -2 π/3); wherein τ represents the pole pitch, I A Representing the amplitude of the current passing through the armature winding, and omega representing the angular speed of the current passing through the armature winding;
n＝1,2…,m。
the present embodiment can suppress any harmonic thrust fluctuations, such as end forces (for a linear motor with an iron core moving armature). The end effect stress is due to the primary core breaking. The iron core is disconnected to cause large distortion of air gap flux density, large static magnetic resistance is formed between the iron core at the primary end part and the secondary magnetic pole, the static magnetic resistance of two end part areas changes periodically along with the change of the relative position between the primary end part and the secondary end part, and finally end part effective stress which greatly fluctuates along with the change of the primary position is formed. If the thrust fluctuation period T is τ for a moving armature type linear motor. The expression for the reluctance force and its harmonics can be expressed as:
for example, for end force suppression. The thrust fluctuation period T of the end force is τ, and D = τ/m for m armature units. The electrifying logic is that the phase of the nth unit A is communicated with the alternating current I A sin(ωt+(n-1)π/m)。
Example (b): in a conventional three-unit segmented linear motor, as shown in fig. 1, one unit winding has a length of L, and adjacent units are closely arranged. Fig. 2 is a three-unit segmented linear motor in the present embodiment, which is an armature segmented permanent magnet synchronous linear motor adopting Halbach magnetic pole arrangement, and the size design of the motor is designed according to a 4-pole 3-slot structure, that is, one group of AXBYCZ windings is a unit motor, and three groups of AXBYCZ windings are three-unit segmented forms. The three sets of unit motor control circuits are independent of each other. And the second section unit motor is arranged at a distance D from the first section unit motor, wherein D = tau/9. Similarly, the installation distance between the third-stage unit motor and the second-stage unit motor is also D = τ/9.
The energization logic of each unit of the conventional three-unit segmented linear motor is the same, and the phase sequence is also the same, but the energization logic of each power supply of the three-unit segmented linear motor proposed in the embodiment is different from each other. Taking phase A as an example, phase A of the first unit is connected with alternating current I A sin (ω t), phase B with alternating current: i is B sin (ω t-4 π/3), phase C with alternating current: i is c sin (ω t-2 π/3); the phase A of the second unit is connected with alternating current I A sin (ω t + π/9), the second cell B phase with alternating current: I.C. A B sin (ω t + π/9-4 π/3); the alternating current input to the second unit C is as follows: i is c sin (ω t +2 π/9-2 π/3); the phase A of the third unit is connected with alternating current I A sin (ω t +2 π/9), the third cell, phase B, with alternating current: i is B sin (ω t + π/9-4 π/3), the second cell C, which is charged with an alternating current: i is c sin(ωt+2π/9-2π/3)；
In addition, the two-unit movable armature is shown in a structural form in fig. 3, and the optimization logic is similar to a three-unit structure. The difference is that the installation distance D between the second section unit motor and the first section unit motor becomes tau/6. Further, drive control of the motorIn a different way, phase A is taken as an example to illustrate that phase A of the first unit is connected with alternating current I A sin (ω t), phase A of the second unit should be fed with alternating current I A sin (ω t + π/6). The power-on logic for the BC phase is similar.
A comparison graph of finite element simulation results obtained by using maxwell2D is shown in fig. 4, and the thrust fluctuation rate of the motor is reduced from the unused 3.990% to 0.928% by using the optimized design method of the three-unit segmented movable armature of the embodiment. The dynamic performance of the motor is greatly improved. In addition, by adopting the design method of the three-unit segmented linear motor provided by the embodiment, the effective thrust of the motor is improved from 6.315KN to 6.462KN, and the thrust density of the motor is improved by 2.328%.
Fig. 5 and 6 show a single-side flat armature segmented permanent magnet synchronous linear motor, fig. 5 shows a three-unit motor, fig. 6 shows a two-unit motor, and the armature unit interval D and the energization logic of each unit are the same as those of the above-described embodiment.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that various dependent claims and the features described herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (6)
1. A moving armature segmented permanent magnet synchronous linear motor is characterized by comprising a stator and a rotor, wherein the rotor comprises m moving armature units, each moving armature unit is an armature rotor, each armature rotor is independently controlled to operate, the m moving armature units are arranged along the axial direction of the motor, the distance between every two adjacent moving armature units is D, D = T/m, T represents a thrust fluctuation period, and m is an integer greater than or equal to 2;
the power supply driving module is used for inputting alternating current into each phase of each electric pivot unit, the alternating current is determined according to the thrust ripple caused by the harmonic wave elimination of the ripple phase difference among different electric pivot units, and the thrust ripple is in sinusoidal variation;
the power driving module inputs alternating current to the nth armature unit A:
I A sin(ωt+(n-1)πT/mτ)；
the power driving module inputs alternating current to the nth armature unit B:
I B sin(ωt+(n-1)πT/mτ-4π/3)；
the power driving module inputs alternating current to the nth armature unit C:
I c sin (ω T + (n-1) π T/m τ -2 π/3); wherein τ represents the pole pitch, I A 、I B 、I C Respectively representing the amplitude of the current passing through the armature windings of the A phase, the B phase and the C phase, and omega represents the angular velocity of the current passing through the armature windings;
n＝1,2…,m。
2. an armature segmented permanent magnet synchronous linear motor according to claim 1, wherein said motor is a double sided motor.
3. An armature segmented permanent magnet synchronous linear motor according to claim 2, wherein the stator employs a Halbach pole arrangement.
4. A segmented permanent magnet synchronous linear motor according to claim 3, wherein the motor employs 4 poles and 3 slots.
5. An armature segmented permanent magnet synchronous linear motor according to claim 1, wherein said motor is a single sided flat motor.
6. An armature segmented permanent magnet synchronous linear motor according to claim 1, wherein said motor is a cylindrical motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210409979.2A CN114759759B (en) | 2022-04-19 | 2022-04-19 | Dynamic armature segmented permanent magnet synchronous linear motor and drive control method |
| PCT/CN2022/088209 WO2023201634A1 (en) | 2022-04-19 | 2022-04-21 | Moving armature segmented permanent magnet synchronous linear motor and driving control method |
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| CN202210409979.2A CN114759759B (en) | 2022-04-19 | 2022-04-19 | Dynamic armature segmented permanent magnet synchronous linear motor and drive control method |
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| CN114759759A CN114759759A (en) | 2022-07-15 |
| CN114759759B true CN114759759B (en) | 2023-02-07 |
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| CN115995934B (en) * | 2023-02-27 | 2023-07-21 | 哈尔滨工业大学 | Independent winding multi-rotor linear motor and thrust fluctuation suppression method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005057992A (en) * | 2003-07-22 | 2005-03-03 | Neomax Co Ltd | Moving coil-type linear motor and control method therefor |
| CN101170272A (en) * | 2007-11-19 | 2008-04-30 | 哈尔滨工业大学 | Long stroke constant acceleration line electromotor and its control method |
| CN101599677A (en) * | 2008-10-17 | 2009-12-09 | 哈尔滨工业大学 | Recombination current driving nine phase plane motors, straight line-electric rotating machine and driver thereof |
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| JP2011067030A (en) * | 2009-09-18 | 2011-03-31 | Yaskawa Electric Corp | Field of linear motor, and linear motor with the same |
| CN103872876A (en) * | 2012-12-07 | 2014-06-18 | 上海微电子装备有限公司 | Linear motor and platform device |
| CN104967275A (en) * | 2015-07-06 | 2015-10-07 | 东南大学 | Double-salient-pole permanent magnet linear motor and motor module group using same |
| CN106411096B (en) * | 2016-10-31 | 2018-08-21 | 华中科技大学 | A kind of modularization vernier permanent-magnetism linear motor based on Halbach permanent-magnet structures |
| US10450705B2 (en) * | 2017-02-22 | 2019-10-22 | Hyperloop Transportation Technologies, Inc. | Magnetic levitation train system |
| CN107493004A (en) * | 2017-09-22 | 2017-12-19 | 南京航空航天大学 | A kind of modularization cylindrical permanent linear synchronous motor |
| CN108880183B (en) * | 2018-08-14 | 2020-03-24 | 南京航空航天大学 | Two-section type non-groove cylindrical permanent magnet linear motor |
| CN110098703B (en) * | 2019-04-24 | 2021-05-25 | 江苏大学 | Method for reducing torque ripple of continuous pole permanent magnet synchronous motor |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005057992A (en) * | 2003-07-22 | 2005-03-03 | Neomax Co Ltd | Moving coil-type linear motor and control method therefor |
| CN101170272A (en) * | 2007-11-19 | 2008-04-30 | 哈尔滨工业大学 | Long stroke constant acceleration line electromotor and its control method |
| CN101599677A (en) * | 2008-10-17 | 2009-12-09 | 哈尔滨工业大学 | Recombination current driving nine phase plane motors, straight line-electric rotating machine and driver thereof |
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| WO2023201634A1 (en) | 2023-10-26 |
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