CN105871257B - A kind of torque current distribution method of moving-coil type magnetic suspension permanent magnet planar motor - Google Patents
A kind of torque current distribution method of moving-coil type magnetic suspension permanent magnet planar motor Download PDFInfo
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- CN105871257B CN105871257B CN201610290871.0A CN201610290871A CN105871257B CN 105871257 B CN105871257 B CN 105871257B CN 201610290871 A CN201610290871 A CN 201610290871A CN 105871257 B CN105871257 B CN 105871257B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Abstract
The present invention discloses a kind of torque current distribution method of the moving-coil type magnetic suspension permanent magnet planar motor in magnetic suspension permanent magnet planar motor control field, establishes global coordinate system OXYZ and local coordinate system oxyz, distribution rectangle loop A 1, A2, A3 electric current iA1、iA2、iA3And C1, C2, C3 iC1、iC2、iC3Electric current, the torque around z-axis is only produced by A, C coil group；Distribute square coil B1, B2, B3 electric current iB1、iB2、iB3And D1, D2, D3 electric current iD1、iD2、iD3, the torque around z-axis is only produced by B, D coil group：Realize between torque and the decoupling between torque and thrust, computing is simple, convenient, the needs of motion control real-time can be met completely, solves coupled problem at all from physical layer, while the motion control for magnetic suspension permanent magnet planar motor provides good basis and engineering method with being accurately positioned.
Description
Technical field
The present invention relates to magnetic suspension permanent magnet planar motor control field, and in particular to a kind of moving-coil type magnetic suspension permanent magnet plane
The current distribution method of motor.
Background technology
Magnetic suspension permanent magnet planar motor directly realizes plane motion using magnetic suspension, it is not necessary to supporting mechanism, belongs to a kind of
Multiple-input and multiple-output kinematic system, coupling between multiple frees degree be present, the long stroke motion of the single degree of freedom, will influence
The positioning precision of other frees degree.To improve the motor motion control and positioning precision, it is necessary to realize between motor thrust/torque
Decoupling.But it is that the control algolithm of its free degree is improved mostly, not currently for the design of this kind of motor
Inherently solves the coupled problem between each free degree, the coupled problem of permanent-magnet planar motor is will be to motor thrust/torque
Between decoupled, including the decoupling between the decoupling and torque between thrust.
Moving-coil type magnetic suspension permanent magnet planar motor is the planar motor that mover is coil array, stator is permanent magnet array, its
Referring to shown in Fig. 1 and Fig. 2, stator is arranged in Halbach permanent magnet arrays 1 by two kinds of different permanent magnets of volume and formed structure, and two
Kind permanent magnetism body thickness is equal, and big permanent magnet magnetization intensity is identical with small permanent magnet magnetization intensity, but the direction of magnetization is orthogonal；Such shape
Into magnetic field magnetic induction intensity side it is very strong, and opposite side is then weaker, and mover is placed in the strong side of magnetic field magnetic induction intensity；Mover does not have
There is iron core, be the coil array 2 of 12 coil compositions.Coil array 2 includes this 4 coil groups of A, B, C, D, and 4 coil groups are in
" ten " font is placed centrally, A coils group and C coil group arranged opposites, B coils group and D coil group arranged opposites.Each coil group
Be made up of three square coils, by A1, A2, A3, these three square coils form A coils group, B coils group by B1, B2, B3 this
Three square coils composition, by C1, C2, C3, these three square coils form C coils group, D coils group by D1, D2, D3 these three
Square coil forms.Take pole span τnFor the half of the centre-to-centre spacing of the adjacent two pieces big magnet steel of direction of magnetization identical, each rectangular lines
It is all even-multiple pole span τ to enclose length Ln, at a distance of 4/3 times of pole between the axis of the two neighboring square coil in same coil group
Away from τn.When distributing electric current to coil, thrust/torque will be produced with the magnetic field phase separation in stator.
Document：A kind of moving-coil type magnetic suspension permanent magnet planar motor real-time current allocation strategy (Proceedings of the CSEE,
2013,33(6):144-152. Xinhua, Sun Yukun, Xiang Qianwen, etc.), it is proposed that moving-coil type magnetic suspension permanent magnet planar motor produces
The Current Assignment Strategy of raw horizontal thrust and suspending power, each line in coil array is determined according to desired suspending power and horizontal thrust
The electric current of circle, still, document content do not have the torque current for determining each coil in coil array, and Current Assignment Strategy is simultaneously
It is not related to torque, does not produce torque, therefore, is only capable of realizing between thrust or the decoupling between thrust and torque, but can not
Realize between torque and the decoupling between torque and thrust.
The content of the invention
Asked the present invention seeks to overcome existing for above-mentioned existing moving-coil type magnetic suspension permanent magnet planar motor Current Assignment Strategy
Topic, proposes a kind of torque current distribution method of moving-coil type magnetic suspension permanent magnet planar motor, reasonable by being carried out to 4 coil groups
Electric current distribution, realize between torque and the decoupling between torque and thrust.
The technical scheme that a kind of torque current distribution method of moving-coil type magnetic suspension permanent magnet planar motor of the present invention uses is：
The stator of the moving-coil type magnetic suspension permanent magnet planar motor is made up of Halbach permanent magnet arrays, and mover is made up of 12 coils
Coil array, coil array include this 4 coil groups of A, B, C, D, A, C coil group arranged opposite, B, D coil group arranged opposite, A
By A1, A2, A3, these three square coils form coil group, and by B1, B2, B3, these three square coils form B coils group, C coils
By C1, C2, C3, these three square coils form group, and by D1, D2, D3, these three square coils form D coils group, including following step
Suddenly：
1) global coordinate system OXYZ and local coordinate system oxyz are established, origin of coordinates O is Halbach permanent magnet arrays upper surface
N poles magnet steel center, origin of coordinates o is the center of coil array, and X, x-axis with each square coil in B, D coil group to growing
It is consistent to spend direction, Y, y-axis to consistent with each square coil length direction in A, C coil group, Z axis to, z-axis to
The short transverse of Halbach permanent magnet arrays is consistent, and the center point coordinate of mover is (X in global coordinate system OXYZC, YC, ZC)；
2) square coil A1, A2, A3 electric current iA1、iA2、iA3And C1, C2, C3 iC1、iC2、iC3Electric current is assigned asThe torque around z-axis is only produced by A, C coil group；
3) square coil B1, B2, B3 electric current iB1、iB2、iB3And D1, D2, D3 electric current iD1、iD2、iD3It is assigned asThe torque around z-axis is only produced by B, D coil group：
Im is the current amplitude of coil, α=π XC/τn, β=π YC/τn, τn- permanent magnet array magnetic field pole span.
Further, the electric current of each square coil is in A, C coil groupPass through A, C
Coil group only produces the torque around x-axis；B, the electric current of each square coil is in D coils group
The torque around y-axis is only produced by B, D coil group.
Compared with prior art, the beneficial effects of the invention are as follows：Stress equation of the invention according to maglev planar motor,
According to electromagnetic push/torque mathematical modeling of moving-coil type magnetic suspension permanent magnet planar motor, can easily determine each in coil group
The torque current of coil, reasonable distribution is carried out to the electrical currents of multiple coils, realize between torque and torque and thrust it
Between decoupling.Computing is simple, convenient, can meet the needs of motion control real-time completely, be solved at all from physical layer
Coupled problem；Simultaneously good basis and engineering are provided for the motion control of magnetic suspension permanent magnet planar motor with being accurately positioned
Change method.
Brief description of the drawings
Fig. 1 is heretofore described moving-coil type magnetic suspension permanent magnet planar motor structural representation；
In Fig. 1：1-Halbach permanent magnet arrays；2- coil arrays；Three square coils in A1, A2, A3-A coil group；
Three square coils in B1, B2, B3-B coil group；Three square coils in C1, C2, C3-C coil group；D1、D2、D3-D
Three square coils in coil group；τn- permanent magnet array magnetic field pole span；L- loop lengths；OXYZ- global coordinate systems；Oxyz- offices
Portion's coordinate system.
Fig. 2 is A-A profiles in Fig. 1；
In Fig. 2：hm- magnet steel height；OXYZ- global coordinate systems；Oxyz- local coordinate systems.
Fig. 3 is that the A coils group in moving-coil type magnetic suspension permanent magnet planar motor shown in Fig. 1 works when only producing x-axis to thrust
Situation schematic diagram
In Fig. 3：iA1、iA2、iA3- A1, A2, A3 coil electric current；FAxX-axis caused by-A coil groups is to thrust；TAz- A coil groups
It is caused around z-axis torque；TAyAround y-axis torque caused by-A coils group；OXYZ- global coordinate systems；Oxyz- local coordinate systems.
Fig. 4 is that the A coils group in moving-coil type magnetic suspension permanent magnet planar motor shown in Fig. 1 works when only producing z-axis to thrust
Situation schematic diagram
In Fig. 4：iA1、iA2、iA3- A1, A2, A3 coil electric current；FAzZ-axis caused by-A coil groups is to thrust；TAx- A coil groups
It is caused around x-axis torque；TAyAround y-axis torque caused by-A coils group；OXYZ- global coordinate systems；Oxyz- local coordinate systems.
Embodiment
Referring to Fig. 1 and Fig. 2, global coordinate system OXYZ and local seat are established to moving-coil type magnetic suspension permanent magnet planar motor structure
Mark system oxyz, and global coordinate system OXYZ origin of coordinates O is defined on to the N poles of the upper surface of Halbach permanent magnet arrays 1 of stator
Magnet steel center, local coordinate system oxyz origin of coordinates o is defined on to the center of the coil array 2 of mover.X axis, x-axis are to equal
It is consistent with the direction of each square coil length L in B, D coil group, Y-axis, y-axis to each rectangular lines in A, C coil group
It is consistent to enclose length L direction, Z axis to, z-axis to magnet steel height hmDirection it is consistent, i.e. the height of Halbach permanent magnet arrays 1
It is consistent to spend direction.
Then space three-dimensional fundamental wave magnetic field magnetic induction intensity expression formula is as follows caused by Halbach permanent magnet arrays 1：
In formula, τnFor the pole span in permanent magnet array magnetic field, KmFor magnetic field, magnetic induction is strong at the upper surface of Halbach permanent magnet arrays 1
Spend amplitude.BX、BYAnd BZFor three-dimensional fundamental wave magnetic field magnetic induction intensity X-component, Y-component and Z-component.BXIt is in X
Sinusoidal variations, it is unrelated with Y；BYIt is in sinusoidal variations with Y, it is unrelated with X；BZIt is in varies with cosine with X, but size has been superimposed with Y thereon
In the DC component of varies with cosine, or BZIt is in varies with cosine with Y, but size has been superimposed with X in the straight of varies with cosine thereon
Flow component；The exponentially rule reduction with Z increase of the amplitude of each component.
In global coordinate system OXYZ, the center point coordinate of mover is (XC, YC, ZC), defined parameters α=π XC/τn, β=π
YC/τn, the current amplitude of each square coil is Im, it is specified that being counterclockwise coil current reference direction.
A coils group only produces x-axis to working condition schematic diagram during thrust as shown in figure 3, the direction of each physical quantity is equal in Fig. 3
For reference direction, the electric current in tri- square coils of A1, A2 and A3 is identical with reference direction, and iA1、iA2And iA3Value is as follows
Then x-axis caused by A coils group is to thrust FAxIt is not zero, caused y-axis is to thrust FAyWith z-axis to thrust FAzIt is
Zero；Around the torque T of y-axis caused by distributed force suffered by A coil groupsAyWith the torque T around z-axisAzIt is not zero, it is caused around x-axis
Torque TAxIt is zero.
A coils group only produces z-axis to working condition schematic diagram during thrust as shown in figure 4, the direction of each physical quantity is equal in Fig. 4
For reference direction, the electric current in tri- square coils of A1, A2 and A3 is identical with reference direction, and iA1、iA2And iA3Value is as follows
Then z-axis caused by A coils group is to thrust FAzIt is not zero, caused x-axis is to thrust FAxWith y-axis to thrust FAyIt is
Zero；Around the torque T of x-axis caused by distributed force suffered by A coil groupsAxWith the torque T around y-axisAyIt is not zero, it is caused around z-axis
Torque TAzIt is zero.
Similarly, tri- square coil groups of remaining C, B, D only produce x-axis to thrust or z-axis to thrust working condition
Similar with the operation principle of A coil groups, here is omitted.Therefore, can only be produced around z by A, C coil group or B, D coil group
The torque of axle, the torque around x-axis is only produced by A, C coil group, B, D coil group only produce the torque around y-axis, each group coil
Torque current distribution method is as follows：
1) torque around z-axis is only produced by A, C coil group：Electric current in each coil is identical with reference direction and value such as
Under
In formula, iC1、iC2And iC3Electric current respectively in C coils group in three square coils C1, C2, C3.A, C coils group
For produced y-axis to thrust being zero with z-axis, x-axis is equal in magnitude to thrust, in the opposite direction, cancels out each other；Two groups of coil group institutes
Generation is zero around the torque of x-axis, and the torque around y-axis is also equal in magnitude, in the opposite direction, cancels out each other, and the torque around z-axis is identical,
It is overlapped mutually；Now mover only produces the torque around z-axis, is zero around x-axis, around the torque of y-axis, is also respectively zero to thrust.
The torque around z-axis is only produced by B, D coil group：Electric current in each coil is identical with reference direction and value is as follows
In formula, iB1、iB2And iB3Electric current in respectively square coil B1, B2 and B3, iD1、iD2And iD3Respectively rectangular lines
The electric current enclosed in D1, D2 and D3.B, x-axis produced by the two coil groups of D is to thrust being zero with z-axis, and y-axis is to thrust size
It is equal, in the opposite direction, cancel out each other；Torque produced by two coil groups around y-axis is zero, and the torque around x-axis is also equal in magnitude,
In the opposite direction, cancel out each other, the torque around z-axis is identical, is overlapped mutually；Now mover only produces the torque around z-axis, around x-axis, around
The torque of y-axis is zero, is also respectively zero to thrust.
2) torque around x-axis is only produced by A, C coil group：Electric current in each coil is identical with reference direction and value is as follows
A, for x-axis produced by C coils group to thrust being zero with y-axis, z-axis is equal in magnitude to thrust, in the opposite direction, mutually supports
Disappear；Torque produced by two coil groups around z-axis is zero, and the torque around y-axis is also equal in magnitude, in the opposite direction, cancels out each other, around x
The torque of axle is identical, is overlapped mutually；Now mover only produces the torque around x-axis, around z-axis, around the torque of y-axis be zero, respectively to
Thrust is also zero.
3) torque around y-axis is only produced by B, D coil group：Electric current in each coil is identical with reference direction and value is as follows
X-axis produced by two coil groups is to thrust being zero with y-axis, and z-axis is equal in magnitude to thrust, in the opposite direction, mutually
Offset；Torque produced by two coil groups around z-axis is zero, and the torque around x-axis is also equal in magnitude, in the opposite direction, cancels out each other, around
The torque of y-axis is identical, is overlapped mutually；Now mover only produces the torque around y-axis, around z-axis, around the torque of x-axis be zero, respectively to
Thrust is also zero.
Claims (3)
1. a kind of torque current distribution method of moving-coil type magnetic suspension permanent magnet planar motor, the moving-coil type magnetic suspension permanent magnet plane
The coil array that the stator of motor is made up of Halbach permanent magnet arrays, mover is made up of 12 coils, coil array include A,
B, this 4 coil groups of C, D, A, C coil group arranged opposite, B, D coil group arranged opposite, A coils group by A1, A2, A3 these three
Square coil forms, and by B1, B2, B3, these three square coils form B coils group, and C coils group is by these three rectangles of C1, C2, C3
Coil forms, and by D1, D2, D3, these three square coils form D coils group, it is characterized in that comprising the following steps：
1) global coordinate system OXYZ and local coordinate system oxyz are established, origin O is the N poles magnetic of Halbach permanent magnet arrays upper surface
Steel center, origin o are the centers of coil array, X, x-axis to consistent with each square coil length direction in B, D coil group,
Y, y-axis is to consistent with each square coil length direction in A, C coil group, and Z, z-axis are to the height with Halbach permanent magnet arrays
Degree direction is consistent, and the center point coordinate of mover is (X in global coordinate system OXYZC, YC, ZC)；
2) square coil A1, A2, A3 electric current iA1、iA2、iA3And C1, C2, C3 iC1、iC2、iC3Electric current is assigned asThe torque around z-axis is only produced by A, C coil group；
3) square coil B1, B2, B3 electric current iB1、iB2、iB3And D1, D2, D3 electric current iD1、iD2、iD3It is assigned asThe torque around z-axis is only produced by B, D coil group：
ImIt is the current amplitude of coil, α=π XC/τn, β=π YC/τn, τn- permanent magnet array magnetic field pole span.
2. a kind of torque current distribution method of moving-coil type magnetic suspension permanent magnet planar motor according to claim 1, its feature
It is：A, the electric current of each square coil is assigned as in C coils groupBy A, C coil group only
Produce the torque around x-axis.
3. a kind of torque current distribution method of moving-coil type magnetic suspension permanent magnet planar motor according to claim 2, its feature
It is：B, the electric current of each square coil is assigned as in D coils groupBy B, D coil group only
Produce the torque around y-axis.
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| CN107247821B (en) * | 2017-05-06 | 2020-10-02 | 安徽工程大学 | Method for stably floating and descending position-sensorless of moving-coil permanent magnet planar motor |
| CN109918772B (en) * | 2019-03-05 | 2023-04-18 | 中国科学院近代物理研究所 | Coil modeling method, coil modeling device, electronic device and storage medium |
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| US6441514B1 (en) * | 1997-04-28 | 2002-08-27 | Ultratech Stepper, Inc. | Magnetically positioned X-Y stage having six degrees of freedom |
| CN102800368A (en) * | 2012-07-12 | 2012-11-28 | 清华大学 | Positioning method of initial zero position of air floatation planar motor |
| CN103795297A (en) * | 2012-11-02 | 2014-05-14 | 上海微电子装备有限公司 | Magnetic-levitation planar motor |
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Effective date of registration: 20210106 Address after: No. 159, Chengjiang Middle Road, Jiangyin City, Wuxi City, Jiangsu Province Patentee after: Jiangyin Intellectual Property Operation Co., Ltd Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |