Bearingless Reluctant Rotary-Linear Motor

无轴承不情愿旋转直线电机磁悬浮系统由于无接触，与传统驱动器相比具有许多优势。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，可以实现非常高的轴承刚度和精度，精度可达亚微米级。旋转式直线电机在一个电机单元中提供独立的旋转和平移。然而，到目前为止已知的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中，具有更高的利用率、更高的精度和更容易的组装。这些驱动器具有磁轴承的所有优点。然而，到目前为止，只有平移或旋转是可能的。由于磁路的轴承和几何形状，或者由于使用永磁体，上述驱动器的结构往往复杂且昂贵。本研究工作的目的是开发一种既可以旋转又可以平移的无轴承磁阻电机。因此，一种简单、坚固和成本效益高的建筑将成为可能。电机由一种新的控制算法控制，该算法适合于电机的具体情况。首先从理论上阐述了该控制方法，并将其应用于数字信号处理器中。使用场的数值计算，将完成电机模型的参数化。试验站建成后，将启动并设置控制参数。调查的第一步将是分析对设定值变化和干扰的响应行为。根据计算结果，对控制算法进行进一步的优化，分析电机模型与实际电机之间的偏差，并对控制方法进行改进，以获得最小的转子横向力。这将导致较小的变形并进一步提高精度。对控制的额外修改将使有效绕组电流最小化。因此，欧姆损耗将被降低，效率将被提高。无轴承磁阻旋转直线电机与灵活的控制方法相结合提供了一个非常通用的驱动系统。在每个自由度上都可以实现非常高的定位精度。无轴承传动的结构坚固、紧凑，由于其简单，往往比传统传动更具成本效益。

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.