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类型 基础研究 预答辩日期 2017-11-29
开始(开题)日期 2016-06-21 论文结束日期 2017-10-10
地点 动力楼316 论文选题来源 国家自然科学基金项目     论文字数 6 (万字)
题目 磁通反向直线旋转永磁作动器的设计及其控制系统研究
主题词 磁通反向直线旋转永磁作动器,三维磁场解析计算,等效曲率系数法,相对比磁导,驱动控制
摘要 磁通反向直线旋转永磁作动器(Flux reversal linear and rotary permanent magnet actuator, FR-LRPMA)是一种将磁通反向原理与直线旋转永磁作动器结合的新型电磁执行机构,可实现旋转、直线或螺旋运动,在工业驱动领域、机器人以及航天航空等领域具有广阔的应用前景,因此,开展该类作动器的设计分析和驱动控制具有重要的理论意义和实际的工程应用价值。 本文对直线旋转作动器的研究现状进行了综述,比较了各种结构和性能特征,并对驱动控制系统进行了分析和总结。提出了FR-LRPMA拓扑结构,对其结构、工作原理以及电磁参数计算进行了研究,建立了线性模型以计算其电感、磁链特性等参数,并用三维有限元对其进行了验证。 采用基于等效曲率系数法计算作动器的空载气隙磁场。假设定子和动子为无槽结构,将管状结构等效成平面模型,在笛卡尔坐标系下计算三维解析磁场,进而计算曲率系数,减小平面解析磁场与圆柱型解析磁场之间的误差,通过计算气隙相对比磁导,分析由于定子永磁极和铁极磁导不同对气隙磁场的影响,以及定子槽和转子槽对气隙磁场的影响,得到空载情况下的气隙磁场解析公式。基于Maxwell应力张量法,推导了旋转运动齿槽转矩和直线定位力的解析公式,基于虚功法,推导了转矩和直线推力的解析公式,并对其结构进行了优化。 根据永磁体发生不可逆退磁的机理和退磁模型,分析了影响FR-LRPMA永磁体退磁的主要因素,提出了可以将电流、转子位置、温度和永磁体厚度等因素考虑在内的拟合公式,优化得到永磁体厚度和允许的最大电流值,避免了永磁体发生不可逆退磁的可能。 分析了磁通反向型电机与传统永磁同步电机控制模型的区别,推导了FR-LRPMA的九相定子坐标系下及动子坐标系下的数学模型。基于双dq坐标变换和矢量控制算法,在Matlab/Simulink中建立了控制系统的仿真模型,并进行仿真分析。 制作了FR-LRPMA样机,构建以DSP芯片为核心的控制系统,搭建了实验系统,编制了控制系统软件程序。对样机的主要性能参数进行了试验测试,验证了解析计算方法的正确性,实现了基于双dq变换动子数学模型的控制,为FR-LRPMA的进一步理论研究和工程化奠定了理论和实验基础。
英文题目 STUDY ON DESIGN AND CONTROL OF FLUX REVERSAL LINEAR ROTARY PERMANENT MAGNET ACTUATOR
英文主题词 Flux reversal linear rotary permanent magnet actuator, 3-D magnetic field analysis, equivalent curvature coefficient method, the relative magnetic permance, drive control
英文摘要 Flux reversal linear-rotary permanent magnet actuator (FR-LRPMA) is a novel electromagnetic actuator integrating the features of flux reversal principle and linear-rotary permanent magnet actuator, which can achieve the rotary, linear or spiral motion. It can be widely used in the industrial field, robotics and aerospace and other fields. Therefore, it has greatly theoretical significance and practical engineering application value in the design and drive control field. In the paper, the state of linear rotary actuator (LRA) is analyzed, the different topologies and performance characteristics of all kinds of LRA are compared. Then the control principle of the LRM is analyzed and summarized. A FR-LRPMA topology is proposed, and its basic working principle and main electromagnetic parameters are studied. The inductance and flux linkage characteristics of FR-LRPMA are analyzed by the linear model, and it is verified by 3-D finite element method. Based on the equivalent curvature coefficient method, an analytical method is used for the no-load air-gap magnetic field. Assuming that the stator and the mover are slotless, the tubular structure can be transformed to a planar one, 3-D analytical magnetic field is calculated in the Cartesian coordinate system, and then the curvature coefficient is calculated to reduce the error between the analytical magnetic field in the plane model and the tubular model. The relative air permeability is calculated, which can consider the influence of the permanent magnet pole and the ferromagnetic pole in the air gap magnetic field and the influence of the stator slot and the mover slot on the air gap magnetic field, and then the no-load air-gap magnetic flux density is obtained. Based on the Maxwell stress tensor method, the analytical function of the cogging torque and the linear positioning force is derived. The virtual power method is used to derive the analytical function of the torque and thrust and optimize the topology structure. According to the mechanism of irreversible demagnetization and the demagnetization model of the permanent magnets, the main demagnetization factors of the permanent magnet material of FR-LRPMA are analyzed. The fitting function is proposed, which takes the current, the mover position, temperature and permanent magnet thickness in consideration. The optimized value of permanent magnet thickness and the maximum current value is obtained, which avoids the possibility of irreversible demagnetization of permanent magnet. The difference of control model between the flux reversal machine and traditional permanent magnet synchronous motor is analyzed, and the mathematic model of FR-LRPMA in the nine-phase stator coordinate system and mover coordinate system is built. According to the double dq coordinate system and space vector pulse width modulation, a simulation model of the control system is built in the Matlab/Simulink software, and then the simulation analysis is carried out. A prototype is manufactured and the drive control system is constructed using DSP. The experimental system is built and the control system software is programmed. The main performance parameters of the prototype is tested, which verifies that the analytical method is correct. Based on the double dq transform, the mathematical model is achieved, which lays a theoretical and experimental foundation for the further theoretical research and the engineering application.
学术讨论
主办单位时间地点报告人报告主题
电气工程学院 2015年1月5日 礼堂二楼报告厅 Richard A. Williams教授 Feeding and Fueling by Unlocking the Cold Chain-the role of cryogenic energy storage systems
电气工程学院 2016年8月9日 动力楼318 Vijay Vittal Risk Based Transient Security Assessment Using Protection Modeling with High Penetration of Wind Resources
电气工程学院 2016年9月6日 礼东二楼报告厅 陈清泉 文艺复兴、一流大学和新能源汽车
林鹤云老师课题组 2014年6月4日 动力楼204 郭凯凯 The basic control strategy of switched reluctance motor
电气工程学院 2016年1月20日 礼东二楼报告厅 马伟明院士 科研创新实践与体会
林鹤云老师课题组 2015年2月6日 动力楼204 郭凯凯 同步电动机变压变频调速系统
林鹤云老师课题组 2016年7月26日 动力楼204 郭凯凯 新型磁通反向直线旋转永磁作动器结构
林鹤云老师课题组 2017年1月19日 动力楼318 郭凯凯 磁通反向直线旋转永磁作动器控制方法的理论对比分析研究
     
学术会议
会议名称时间地点本人报告本人报告题目
2015 Intermag国际会议 2015年5月11日至15日 北京 a novel linear-rotary permanent magnet actuator using interlaced poles
2015 ASEMD 国际会议 2015年11月20日至23日 上海 a linear-rotary permanent magnet actuator with independent magnetic circuit structure
     
代表作
论文名称
A novel linear–rotary permanent-magnet actuator using interlaced poles
Electromagnetic Analysis of a HTS Linear-rotary Permanent Magnet Actuator
A Linear-Rotary Permanent Magnet Actuator With Independent Magnetic Circuit Structure
3-D analytical analysis of magnetic field of flux reversal linear-rotary permanent magnet actuator
Optimzation design and analysis of a linear-rotary permanent magnet actuator with interlaced poles
Irreversible demagnetization analysis of permanent magnet materials in a novel FR-LRPMA
3-D analytical cogging force and cogging torque analysis of a novel LRPMA
 
答辩委员会组成信息
姓名职称导师类别工作单位是否主席备注
张卓然 正高 教授 博导 南京航空航天大学
徐伟 正高 教授 博导 华中科技大学
张品佳 副高 副教授 博导 清华大学
花为 正高 教授 博导 东南大学
樊英 正高 教授 博导 东南大学
      
答辩秘书信息
姓名职称工作单位备注
阳辉 其他 讲师 东南大学