基于组合继电反馈的永磁同步直线电机推力波动辨识方法

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摘要在永磁同步直线电机中,由齿槽效应和端部效应引起的推力波动是制约其动态性能的重要因素。提出一种基于组合继电反馈的推力波动辨识方法,且利用辨识结果实现推力波动的补偿。针对某直驱进给实验平台,首先建立其动力学模型,设计基于理想继电环节和含有死区的迟滞继电环节相结合的信号激励源;其次利用描述函数对各非线性环节进行谐波线性化进而获取各环节的双输入描述函数,再根据非线性系统极限环存在条件确定系统待辨识参数的解析表达式;最后,通过仿真和实验验证了该方法的可行性和准确性。实验表明当直驱进给系统匀速运动时,含有推力波动补偿时伺服系统的推力电流波动比补偿前降低了46.3%,其跟踪误差的方均根由34.1 μm降至19.3 μm。

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	张翔
	叶佩青
	张辉

关键词 ：直线电机, 极限环, 参数辨识, 继电反馈, 推力波动

Abstract：Force ripples,caused by slot force and end force,are the significant factor which restricts the dynamic performance of linear motors.As a consequence,a new identification method based on the relay feedback was proposed to model and compensate for the force ripples in linear motors.Taking the direct feed platform as a researching object,the dynamic of the system was modeled and a signal source which included an ideal relay component and a hysteresis relay component along with dead zone was designed firstly.Hence,dual input description functions were obtained by implementing the method of describe function to linearize the designed relay components.Furthermore,the analytical expressions of the identified parameters in the nonlinear system were solved according to the requirement for oscillation.Finally,simulation study has been carried out for validating the feasibility and accuracy of the method while relevant experiments were conducted on the platform.Experiment results have shown that the thrust current fluctuation was reduced 46.3% while the RMSE of the tracking error can be reduced from 34.1 μm to 19.3 μm.

Key words： Linear motors oscillation parameter identification relay feedback force ripple

收稿日期: 2016-03-30 出版日期: 2017-05-12

PACS:

TM351

基金资助:国家科技支撑计划项目(2015BAI03B00)、清华大学摩擦学国家重点实验室重点项目(SKLT12A03)及北京市科技计划项目(Z141100000514015)资助

通讯作者: 叶佩青男,1963年生,研究员,博士生导师,研究方向为伺服驱动技术、数控技术与装备。E-mail:yepq@tsinghua.edu.cn

作者简介: 张翔男,1989年生,博士研究生,研究方向为伺服控制技术。E-mail:xiang-zhang12@mails.tsinghua.edu.cn

引用本文:

张翔, 叶佩青, 张辉. 基于组合继电反馈的永磁同步直线电机推力波动辨识方法[J]. 电工技术学报, 2017, 32(9): 1-9. Zhang Xiang, Ye Peiqing, Zhang Hui. An Identification Method of Force Ripple in Permanent Magnet Synchronous Linear Motors Based on the Combined Relay Apparatus. Transactions of China Electrotechnical Society, 2017, 32(9): 1-9.

链接本文:

https://dgjsxb.ces-transaction.com/CN/Y2017/V32/I9/1

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