圆筒型永磁直线同步电机用线性霍尔位置检测的误差补偿

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (2225 KB)
输出: BibTeX | EndNote (RIS)

摘要分析了圆筒型永磁直线同步电机采用线性霍尔传感器进行位置检测时存在的误差,并提出了一种离线标定和在线Kalman滤波相结合的误差补偿方法。霍尔传感器信号的误差形式包括存在直流偏置、两路信号幅值不相等和信号中含有谐波等。前两种误差形式分别会在位置检测结果中产生基频和2倍基频误差,对此通过离线标定的方式获得两路信号的直流偏置和幅值比,并补偿到原始信号中。霍尔信号中的谐波由气隙磁场畸变引起,利用有限元仿真分析了磁场中的谐波含量,分析表明磁场畸变会导致位置检测产生4倍基频误差,对此采用在线Kalman滤波提取霍尔信号中的基波分量,消除了谐波分量的影响。实验结果表明,补偿后的位置检测误差减小了81%,从而验证了该补偿方法的有效性。

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	严乐阳
	叶佩青
	张勇
	张辉

关键词 ：永磁直线同步电机, 线性霍尔传感器, 误差补偿, 有限元分析, Kalman滤波

Abstract：Position detection based on linear hall sensors for permanent magnetic linear synchronous motor exists error. To tackle this problem, a compensation method combing offline calibration and online Kalman filter was proposed. Errors of hall sensor signals could be classified as DC offset, amplitude imbalance and containing harmonics. The former two factors generate 1st and 2nd order errors in position detection result, and are compensated by offline calibrating use the offset error and amplitude error and ratio achieved by two hall signals. Harmonics in hall sensor signals are caused by air-gap magnetic distortion, the magnetic harmonic content is analyzed by using finite element simulation, coming to the conclusion that magnetic distortion would generate 4th order error in position detection result. So, online Kalman filter was utilized to extract fundamental component from hall signals and to eliminate the influence of harmonics. Experimental results show that the position detection error is reduced by 81%, indicating the validity of the proposed compensation method.

Key words： Permanent magnet linear synchronous motor linear hall sensors error compensation finite element analysis Kalman filter

收稿日期: 2015-11-04 出版日期: 2017-03-22

PACS:

TM341

基金资助:国家科技支撑计划资助项目(2015BAI0B16)。

通讯作者: 张辉女,1969 年生,博士,副教授,研究方向为先进制造装备及其自动化。E-mail:wwjj@mail.tsinghua.edu.cn

作者简介: 严乐阳男,1991 年生,博士研究生,研究方向为电机设计与控制。E-mail:yan_leyang@163.com

引用本文:

严乐阳,叶佩青,张勇,张辉. 圆筒型永磁直线同步电机用线性霍尔位置检测的误差补偿[J]. 电工技术学报, 2017, 32(5): 26-32. Yan Leyang,Ye Peiqing,Zhang Yong,Zhang Hui. Error Compensation of Linear Hall Based Position Detection for Tubular Permanent Magnetic Linear Synchronous Motor. Transactions of China Electrotechnical Society, 2017, 32(5): 26-32.

链接本文:

https://dgjsxb.ces-transaction.com/CN/Y2017/V32/I5/26

[1] Zhu Z Q,Howe D.Halbach permanent magnet machines and applications:a review[J].IEE Proceedings-Electric Power Applications,2001,148(4):299-308.
[2] 王一光,李晓杰,陈兴林.基于永磁直线同步电机的光刻机掩模台鲁棒自适应神经网络控制[J].电工技术学报,2016,31(6):38-46.
Wang Yiguang,Li Xiaojie,Chen Xinglin.A robust adaptive neural network control method based on permanent magnetic linear synchronous motor for the reticle stage of lithography[J].Transactions of China Electrotechnical Society,2016,31(6):38-46.
[3] 赵希梅,马志军,朱国昕.基于Smith预估和性能加权函数的永磁直线同步电机鲁棒迭代学习控制[J].电工技术学报,2016,31(19):141-146.
Zhao Ximei,Ma Zhijun,Zhu Guoxin.Robust iterative learning control for PMLSM based on Smith predictor and performance weighting function[J].Transactions of China Electrotechnical Society,2016,31(19):141-146.
[4] Cupertino F,Giangrande P,Pellegrino G,et al.End effects in linear tubular motors and compensated position sensorless control based on pulsating voltage injection[J].IEEE Transactions on Industrial Electronics,2011,58(2):494-502.
[5] 孔龙涛,程明,张邦富.基于模型参考自适应系统的模块化磁通切换永磁直线电机无位置传感器控制[J].电工技术学报,2016,31(17):132-139.
Kong Longtao,Cheng Ming,Zhang Bangfu.Position sensorless control of modular linear flux-switching permanent magnet machine based on model reference adaptive system[J].Transactions of China Electrotechnical Society,2016,31(17):132-139.
[6] Meng Gaojun,Yu Haitao,Huang Lei,et al.A novel position sensorless control of flux-switching permanent magnet linear machine for electromagnetic launch[C]//2014 17th International Conference on Electrical Machines and Systems (ICEMS),2014:780-785.
[7] 陆华才,徐月同.基于AEKF的永磁直线同步电机速度和位置估计算法[J].中国电机工程学报,2009,29(33):90-94.
Lu Huacai,Xu Yuetong.Speed and position estimation algorithm of permanent magnet linear synchronous motor[J].Proceedings of the CSEE,2009,29(33):90-94.
[8] 徐丽莉,叶云岳.基于线性霍尔元件的圆筒型永磁直线同步电机位置检测[J].微电机,2007,40(3):23-25.
Xu Lili,Ye Yunyue.Tubular permanent magnetic linear synchronous motor and its position detection[J].Micromotors,2007,40(3):23-25.
[9] Hu Jianhui,Zou Jibin,Xu Fei,et al.An improved PMSM rotor Position sensor based on linear hall sensors[J].IEEE Transactions on Magnetics,2012,48(11):3591-3594.
[10]Lee Y L,Wu R H,Xu S T.Applications of linear Hall-effect sensors on angular measurement[C]//2011 IEEE International Conference on Control Applications (CCA),2011:479 - 482.
[11]Lozanova S,Roumenin C.Angular position device with 2D low-noise Hall microsensor[J].Sensors & Actuators A-Physical,2010,162(2):167-171.
[12]赵镜红,张俊洪,方芳,等.径向充磁圆筒永磁直线同步电机磁场和推力解析计算[J].电工技术学报,2011,26(7):154-160.
Zhao Jinghong,Zhang Junhong,Fang Fang,et al.Analytical calculation of magnetic field and thrust force in radial magnetized tubular permanent magnet linear synchronous motor[J].Transactions of China Electrotechnical Society,2011,26(7):154-160.
[13]Wegener R,Senicar F,Junge C,et al.Low cost position sensor for permanent magnet linear drive[C]//7th IEEE International Conference on Power Electronics and Drive Systems (PEDS),2007:1367-1371.
[14]刘刚,肖烨然,宋欣达.永磁同步电机用线性霍尔位置检测的误差补偿[J].电机与控制学报,2014,18(8):36-42.
Liu Gang,Xiao Yeran,Song Xinda.Error compensation of rotor position detection for permanent magnetic synchronous motor based on linear hall sensors[J].Electric Machines and Control,2014,18(8):36-42.
[15]刘晓,叶云岳,郑灼,等.一种低成本的线性霍尔位置检测方法研究[J].浙江大学学报:工学版,2008,42(7):1204-1207.
Liu Xiao,Ye Yunyue,Zheng Zhuo,et al.Low-cost motor position detection method by linear Hall-effect sensors[J].Journal of Zhejiang University (Engineering Science),2008,42(7):1204-1207.