本文選題：永磁直線同步電機(jī) + 磁場解析��； 參考：《哈爾濱工業(yè)大學(xué)》2014年博士論文

【摘要】：永磁直線同步電機(jī)（Permanent Magnet Linear Synchronous Motor，PMLSM）具有推力密度高、響應(yīng)速度快；可靠性好、效率高；可控性好、精度高等顯著優(yōu)點(diǎn)，廣泛應(yīng)用在精密運(yùn)動(dòng)平臺(tái)中，實(shí)現(xiàn)高速長行程運(yùn)動(dòng)和微米級(jí)、亞微米級(jí)的定位精度。由于初級(jí)鐵心縱向開斷，直線電機(jī)存在特有的縱向端部效應(yīng)，同時(shí)受齒槽效應(yīng)、橫向端部效應(yīng)和外懸效應(yīng)等因素的影響，氣隙磁場發(fā)生了很大的畸變。受現(xiàn)有加工制造、安裝精度及人為等因素的限制，永磁直線同步電機(jī)三維空間磁場分布存在非對(duì)稱性，，產(chǎn)生了寄生力或力矩，使電機(jī)系統(tǒng)產(chǎn)生振動(dòng)和噪音。本文以精密運(yùn)動(dòng)平臺(tái)用永磁直線同步電機(jī)為研究對(duì)象，針對(duì)以上問題開展計(jì)及齒槽效應(yīng)、端部效應(yīng)和外懸效應(yīng)的永磁直線同步電機(jī)磁場精確解析、三維電磁力分析以及性能參數(shù)分析與優(yōu)化設(shè)計(jì)的研究。 本文首先分別建立基于永磁體等效磁化強(qiáng)度法和電樞繞組等效面電流法的永磁直線同步電機(jī)層分析模型，根據(jù)對(duì)稱和非對(duì)稱的邊界條件得到無鐵心和無槽PMLSM永磁體勵(lì)磁磁場與電樞反應(yīng)磁場�？紤]到鐵心開齒槽和永磁體斜極的拓?fù)浣Y(jié)構(gòu)，分別建立考慮齒槽效應(yīng)和斜極效應(yīng)的分析模型，推導(dǎo)氣隙相對(duì)磁導(dǎo)分布函數(shù)和斜極、類V形斜極磁極結(jié)構(gòu)的參數(shù)等效轉(zhuǎn)換表達(dá)式，得出斜極有鐵心PMLSM的永磁體勵(lì)磁磁場與電樞反應(yīng)磁場。結(jié)合不同的邊界條件，建立的計(jì)及齒槽效應(yīng)和斜極效應(yīng)永磁直線同步電機(jī)磁場分析方法具有廣泛的適應(yīng)性。上述分析為后續(xù)完善計(jì)及端部效應(yīng)的永磁直線同步電機(jī)磁場精確解析方法奠定理論基礎(chǔ)。 由于短初級(jí)長次級(jí)PMLSM動(dòng)子鐵心在縱向和橫向方向均為有效長，電機(jī)縱向端部和橫向端部的磁場發(fā)生很大的畸變，分別針對(duì)縱向和橫向端部效應(yīng)及外懸效應(yīng)展開研究。在縱向端部效應(yīng)靜態(tài)模型的基礎(chǔ)上，建立能模擬縱向端部效應(yīng)的鐵心端部虛擬邊界模型，得出在動(dòng)子運(yùn)動(dòng)過程中短初級(jí)有鐵心PMLSM縱向端部區(qū)域的磁場分布。建立考慮外懸效應(yīng)的有鐵心PMLSM橫向端部效應(yīng)分析模型，研究揭示外懸效應(yīng)機(jī)理和不同外懸長度對(duì)橫向端部磁場的影響規(guī)律，并分析橫向端部效應(yīng)與外懸效應(yīng)的內(nèi)在關(guān)系。采用等效磁荷法和鏡像法精確解析無鐵心PMLSM的三維空載氣隙磁場，分析橫向端部效應(yīng)對(duì)氣隙磁場的影響規(guī)律。最終建立計(jì)及各種效應(yīng)的永磁直線同步電機(jī)磁場精確解析方法。 在計(jì)及齒槽效應(yīng)、斜極效應(yīng)、端部效應(yīng)和外懸效應(yīng)的永磁直線同步電機(jī)磁場分析方法的基礎(chǔ)上，以精密運(yùn)動(dòng)平臺(tái)中常用的具有代表性的無鐵心和有鐵心PMLSM作為具體研究對(duì)象，開展三維電磁力研究。先闡述永磁直線同步電機(jī)寄生力的定義及其主要產(chǎn)生原因，揭示出永磁直線同步電機(jī)寄生力及其波動(dòng)的產(chǎn)生機(jī)理。推導(dǎo)無鐵心PMLSM的三維電磁力表達(dá)式，研究揭示繞組端部產(chǎn)生的電磁推力和初級(jí)、次級(jí)發(fā)生橫向偏移時(shí)產(chǎn)生的橫向寄生力的變化規(guī)律。之后，采用改進(jìn)積分路徑的麥克斯韋應(yīng)力法推導(dǎo)有鐵心PMLSM定位力與空載法向力、電磁推力和負(fù)載法向力；在建立斜極永磁體等效為載流導(dǎo)體的分析模型基礎(chǔ)上，推導(dǎo)斜極有鐵心PMLSM橫向寄生力表達(dá)式，揭示斜極有鐵心PMLSM橫向力及其波動(dòng)的產(chǎn)生機(jī)理，并研究極槽配比、永磁體傾斜長度、外懸長度、相電流等電磁參數(shù)對(duì)橫向力及其波動(dòng)的影響規(guī)律。研制旋轉(zhuǎn)伺服電機(jī)+滾珠絲杠副加載的直線電機(jī)氣浮測試平臺(tái)，并開展PMLSM樣機(jī)電磁力測試研究。 基于精密運(yùn)動(dòng)平臺(tái)的應(yīng)用背景，分別確定無鐵心和有鐵心PMLSM關(guān)鍵的性能參數(shù)，開展性能分析、多目標(biāo)優(yōu)化設(shè)計(jì)和兩種類型電機(jī)性能對(duì)比評(píng)估等方面的研究。對(duì)于無鐵心PMLSM，分析非重疊和重疊集中繞組電機(jī)的最佳極槽配比；研究揭示永磁體和電樞繞組的結(jié)構(gòu)、尺寸對(duì)推力體積密度、推力質(zhì)量密度、電機(jī)常數(shù)和推力波動(dòng)的影響規(guī)律。對(duì)于有鐵心PMLSM，提出齒槽效應(yīng)和縱向端部效應(yīng)分離法，推導(dǎo)齒槽定位力與齒槽效應(yīng)空載法向力、端部定位力與端部效應(yīng)空載法向力解析式，研究得到矩形、斜極和類V形磁極結(jié)構(gòu)對(duì)兩種效應(yīng)的定位力和負(fù)載法向力影響規(guī)律。之后，以非重疊繞組無鐵心PMLSM為案例，開展基于多種群遺傳算法和權(quán)重系數(shù)相結(jié)合的電機(jī)多目標(biāo)優(yōu)化設(shè)計(jì)研究。最后，對(duì)無鐵心PMLSM和有鐵心PMLSM進(jìn)行性能對(duì)比評(píng)估，并總結(jié)出精密運(yùn)動(dòng)平臺(tái)用永磁直線同步電機(jī)的選型準(zhǔn)則。
[Abstract]:Permanent Magnet Linear Synchronous Motor (PMLSM) has the advantages of high thrust density, fast response speed, good reliability, high efficiency, good controllability and high precision. It is widely used in precision motion platform to realize high speed long line movement and micron level and sub micron level positioning accuracy. Due to the primary core. In the longitudinal direction, the linear motor has a special longitudinal end effect, and the air gap magnetic field is greatly distorted by the effect of the alveolar effect, the lateral end effect and the external suspension effect. The distribution of the three-dimensional spatial magnetic field of the permanent magnet linear synchronous motor is asymmetrical due to the existing manufacturing, installation accuracy and artificial factors. In this paper, the permanent magnet linear synchronous motor (PMSM) used in precision motion platform is studied in this paper. In this paper, the precise analysis of the magnetic field of the permanent magnet linear synchronous motor with the effect of tooth and slot, the end effect and the external suspension effect, the three-dimensional electromagnetic force analysis and the performance parameter analysis are carried out in this paper. Research on optimal design.
In this paper, the permanent magnet linear synchronous motor layer analysis model based on the equivalent magnetization method of permanent magnet and the armature winding equivalent surface current method is respectively established. The magnetizing magnetic field and the armature reactive magnetic field of the core free and slotless PMLSM permanent magnets are obtained according to the symmetric and asymmetric boundary conditions. The analysis model considering the cogging and skew effect is established respectively. The equivalent conversion expression of the parameters of the air gap relative magnetic conductivity distribution function and the oblique pole, the V like pole structure is derived, and the magnetizing magnetic field and the armature reactive magnetic field with the inclined pole with the core PMLSM are obtained. The different boundary conditions are formed and the cogging effect is established. The method of magnetic field analysis for permanent magnet linear synchronous motor (PMSM) with oblique pole effect has extensive adaptability. The above analysis lays a theoretical foundation for the accurate analysis of the magnetic field of permanent magnet linear synchronous motor (PMSM) with the end effect.
The magnetic field of the longitudinal and transverse ends of the short primary secondary PMLSM is very long, and the magnetic field in the longitudinal and lateral ends of the motor is greatly distorted. The longitudinal and lateral end effect and the external suspension effect are studied respectively. On the basis of the longitudinal end effect static model, the iron can be established to simulate the longitudinal end effect. The virtual boundary model in the end of the heart is used to obtain the magnetic field distribution in the longitudinal end region of the short primary core PMLSM during the moving process. The analysis model of the lateral end effect of the core PMLSM with the external suspension effect is established, and the effect of the external suspension effect and the external suspension length on the transverse end magnetic field is revealed, and the lateral end effect is analyzed. The equivalent magnetic charge method and mirror image method are used to accurately analyze the three-dimensional air gap magnetic field of PMLSM without iron core, and the effect of the lateral end effect on the air gap magnetic field is analyzed by the equivalent magnetic charge method and the mirror method. Finally, the accurate analytical method of the magnetic field of the permanent magnet linear synchronous motor with various effects is established.
On the basis of the magnetic field analysis method of the permanent magnet linear synchronous motor with the cogging effect, the oblique pole effect, the end effect and the external suspension effect, the three dimensional electromagnetic force research is carried out with the typical typical iron free core and the core PMLSM in the precision motion platform. First, the parasitic force of permanent magnet linear synchronous motor is set forth. The cause of the parasitic force and the generation mechanism of the permanent magnet linear synchronous motor is revealed. The expression of the three dimensional electromagnetic force of the PMLSM without iron core is deduced. The change law of the transverse parasitic force generated by the electromagnetic thrust and primary and secondary lateral migration of the end of the winding is studied. After that, the improved integral path is adopted. The Maxwell stress method is used to derive the PMLSM positioning force of the iron core and the unloaded normal force, the electromagnetic thrust and the load normal force. On the basis of the analysis model of the equivalent carrier conductor of the inclined pole permanent magnet, the expression of the transverse parasitic force of the core PMLSM in the inclined pole is derived, and the mechanism of the transverse force and the fluctuation of the core PMLSM of the inclined pole is revealed, and the study is made. The influence of the ratio of pole slot, the length of the permanent magnet, the length of the permanent magnet, the length of the permanent magnet, the phase current and other electromagnetic parameters on the lateral force and its fluctuation, and develop the air floating test platform of the linear motor loaded with the rotating servo motor and the ball screw, and carry out the research on the mechanical and electrical magnetic force of the PMLSM sample.
Based on the application background of precision motion platform, the key performance parameters of core free core and core PMLSM are determined respectively, performance analysis, multi-objective optimization design and two types of motor performance comparison evaluation are studied. For non iron core PMLSM, the optimal slot ratio of winding motor in non overlapping and overlapping sets is analyzed. The structure of permanent magnets and armature windings, the influence of size on thrust volume density, thrust mass density, motor constant and thrust fluctuation. For the core PMLSM, the cogging effect and the longitudinal end effect separation method are put forward to deduce the no-load force of the alveolar positioning force and the cogging effect, the end positioning force and the end effect analytical force analysis. The influence of the positioning force and the load normal force on the two effects of rectangular, oblique and V shaped magnetic poles is studied. Then, a multi target optimization design based on multi group genetic algorithm and weight coefficient is carried out in the case of non overlapping winding without core PMLSM. Finally, the non iron core PMLSM and the core PMLSM are carried out. Performance comparison is made and the selection criteria of permanent magnet linear synchronous motor for precision motion platform are summarized.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM341

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