Detent Force Compensation for PMLSM Systems Based on Structural Design and Control Method Combination
Detent Force Compensation for PMLSM Systems Based on Structural Design and Control Method Combination
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DOI：
10.1109/tie.2015.2443096
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发表时间：
2015-06
影响因子：
7.7
通讯作者：
Mingyi Wang;Liyi Li;Donghua Pan
中科院分区：
文献类型：
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作者：
Mingyi Wang;Liyi Li;Donghua Pan
永磁直线同步电动机作为直接驱动的执行机构，广泛应用于高速、高精度场合。然而，制动力会使性能恶化，甚至激发机械共振。针对永磁直线同步电动机系统，从结构设计和控制方法两个方面提出了一种新型的磁阻力补偿方案。首先，由于控制系统的带宽限制，消除高频纹波是不可行的，考虑最佳的斜置长度的斜置永磁体（PM）的设计，以抑制高次谐波分量。其次，基于偏置永磁直线同步电机的模型，推导出线性化观测器，并将其独立应用于速度控制器，以进一步抑制低次谐波分量。为了便于在数字控制系统中实现，设计了一种考虑估计误差的离散化方法。通过在线计算，估计的定位力以前馈方式注入到控制系统。为了合理调整所提出的方案，利用李雅普诺夫稳定性理论分析了算法的收敛性。仿真研究证明了该方法的有效性，并通过实验验证了理论分析和仿真结果。
As direct-drive actuators, permanent-magnet linear synchronous motors (PMLSMs) are widely used in high velocity and high precision applications. The detent force, however, can deteriorate the performance and even excite the mechanical resonance. This paper focuses on a novel detent force compensation scheme for PMLSM systems through a combination of structural design and control method. First, due to the bandwidth constraint of the control system, eliminating high frequency ripples is unfeasible; skewed permanent magnets (PMs) considering an optimal skewing length are designed to suppress high order harmonic components. Second, based on the model of PMLSM with skewed PMs, a linearization observer is derived and applied independently to the velocity controller for further diminishing low-order harmonic components. To facilitate implementation in the digital control system, a discretization method taking account of estimated errors is designed. Through the online calculation, the estimated detent force is injected to the control system in a feedforward way. To tune the proposed scheme properly, the convergence of the algorithm is analyzed by utilizing Lyapunov stability theory. Simulation studies are performed to prove the effectiveness of the proposed method, and experiments are provided to confirm the theoretical analysis and simulation results.