Bearingless Reluctant Rotary-Linear Motor

由于无接触，与传统驱动器相比，无轴承不情愿旋转线性电机磁悬浮系统具有许多优点。既没有机械磨损，也没有摩擦或粘滑效应。此外，不需要润滑剂。使用主动控制，非常高的轴承刚度和精度高达亚微米范围是可能的。旋转直线电机在一个电机单元中提供独立的旋转和平移。然而，到目前为止，这种驱动器的版本都有机械轴承，包括相应的缺点。无轴承电机将电机和磁轴承结合到一个单元，具有更高的利用率，更好的精度和更容易组装。这些驱动器提供磁轴承的所有优点。但是，到目前为止，只有平移和旋转是可能的。由于磁路的轴承和几何形状，或由于使用永磁体，上述驱动器的结构通常是复杂和昂贵的。本研究的目的是研制一种既能旋转又能平移的无轴承磁阻电机。因此，一个简单的，坚固的和具有成本效益的结构将是可能的。该电机由一种新的控制算法控制，该算法适用于电机的具体情况。它的基础是找到电机模型的最优逆。首先对控制方法进行理论阐述，并在DSP上实现。利用场的数值计算，对电机模型进行参数化。试验站建成后，启动试验站，设置控制参数。研究的第一步是分析对设定值变化和扰动的响应行为。根据实验结果，进一步优化控制算法。下一步将分析电机模型与实际电机之间的公差差异。此外，还应修改控制方法，以使转子中的横向力最小。这导致更少的变形和进一步提高精度。对控制的额外修改使有效绕组电流最小化。因此，欧姆损耗将会降低，效率将会提高。无轴承不情愿旋转直线电机与柔性控制方法相结合，提供了一种非常通用的驱动系统。每个自由度的定位精度都非常高。无轴承驱动的结构坚固，紧凑，由于其简单性，往往比传统驱动器更具成本效益。

Bearingless reluctant Rotary-Linear MotorMagnetic levitation systems offer many advantages compared to conventional drives because of contactlessness. There are neither mechanical wear, nor friction or stick-slip effects. Furthermore, no lubricant is necessary. Using an active control, very high bearing stiffness and precision up to the sub-micrometer range are possible.Rotary-linear motors provide independent rotation and translation in one motor unit. However, the versions of this drive known up to this point have mechanical bearings including the corresponding disadvantages.Bearingless motors combine motor and magnetic bearing to one unit with higher utilised volume, better precision and easier assembly. These drives offer all advantages of a magnetic bearing. But however, up to now only either translation or rotation is possible.The construction of the above-mentioned drives often is sophisticated and expensive due to both bearings and geometries of the magnetic circuits, or due to the use of permanent magnets.Objective of this research work is the development of a bearingless reluctance motor, which can execute both rotation and translation. Thus an easy, robust and cost-effective construction will be possible. The motor is controlled by a novel control algorithm that is adapted for the motor specifics. It is based on finding an optimal inverse to the motor model.At first, the control method will be elaborated theoretically and implemented into a DSP. Using numeric computation of fields, the parametrisation of the motor model will be done. After the construction of a test station, it will be started up and the control parameters will be set.First step of the investigations will be an analysis of the response behavior to setpoint changes and to disturbances. According to the results, further optimisation of the control algorithm will be done.Next step will be an analysis of the tolerance against differences between the motor model and the real motor.Furthermore, the control method shall be modified in order to obtain minimal transverse forces in the rotor. This leads to less deformation and to further increase of precision.An additional modification of the control leads to a minimisation of the effective winding currents. Thus, ohmic loss will be reduced and efficiency will be improved.The bearingless reluctant rotary-linear motor combined with the flexible control method provides a very universally usable drive system. Very high positioning accuracies in every degree of freedom can be achieved. The construction of the bearingless drive is robust, compact and, because of its simplicity, tends to be more cost-effective than conventional drives.