Bearingless Reluctant Rotary-Linear Motor

无轴承磁阻旋转直线电机磁悬浮系统提供了许多优点相比，传统的驱动器，因为无接触。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。采用主动控制，可以实现非常高的轴承刚度和亚微米级的精度。旋转-直线电机在一个电机单元中提供独立的旋转和平移。无轴承电机联合收割机将电机和磁轴承结合为一个单元，具有更高的利用体积、更好的精度和更容易的组装。这些驱动器提供了磁轴承的所有优点。然而，到目前为止，只有平移或旋转是可能的。由于轴承和磁路的几何形状，或由于使用永磁体，上述驱动器的结构往往是复杂和昂贵的。本研究工作的目的是开发一种无轴承磁阻电机，它可以执行旋转和平移。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。电机由一种新的控制算法控制，该算法适用于电机特性。首先，将从理论上阐述控制方法，并在DSP上实现。使用数值计算的领域，参数化的电机模型将完成。试验站建成后，将启动并设置控制参数。研究的第一步是分析对设定值变化和干扰的响应行为。根据计算结果，进一步优化控制算法，分析电机模型与真实的电机之间的误差，改进控制方法，使转子横向力最小。这使得变形更小，精度进一步提高。对控制的额外修改使得有效绕组电流最小化。无轴承磁阻旋转-直线电动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。可以在每个自由度上实现非常高的定位精度。无轴承驱动器的结构坚固、紧凑，并且由于其简单性，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.