|
|
|
| A Hardware-in-the-Loop Simulation for Position and Speed Measurement System of High-Speed Linear Motor |
| Fan Manyi1, Shi Liming1, Li Zixin1, Xu Fei1, Zhou Shijiong1,2 |
1. Key Laboratory of Power Electronics and Electric Drive Institute of Electrical Engineering Chinese Academy of Sciences Beijing 100190 China;
2. University of Chinese Academy of Sciences Beijing 100049 China |
|
|
|
Abstract For the high-speed linear motor, the stability of control is very sensitive to speed measurement errors, so high-precision and real-time position and speed measurement system is crucial for the stable operation of high-speed linear motors. The current position and speed measurement methods applied to maglev trains and electromagnetic catapults can only meet the requirements of position and speed detection at speeds below 600 km/h. However,it is not yet clear for speeds above 1 000 km/h with these methods. Optical encoders have the advantages of fast response frequency and high measurement accuracy, and are widely used for position and speed measurement for rotating motors. Its applications in linear electric fields are mainly concentrated in the field of small machining machines. In the field of large-scale linear motor applications, the operating environment of the system is complex, and lasers are prone to interference. Therefore, there is still limited research on the application of optoelectronic encoders in this field. In this paper, a laser array-based position and speed measurement system for high-speed linear motor control systems is proposed. By closed-loop joint hardware-in-the-loop simulation with motor control system, it accurately measures the position and speed of the rotator and the motor system operates well in the high-speed section.
Firstly, according to the mathematical model of a high-speed linear motor, the normalized thrust Fe/Femax of the motor was calculated as a function of the speed measurement error δ at different speeds. Then, the impact of grating ruler vibration and yaw on speed measurement error is analyzed. The constraints condition for grating ruler and sensor spot diameter is derived. The position and speed measurement algorithm are given. In order to realize high precision speed measurement in all speed range, traditional T method and tracking differentiator are used.
Secondly, a hardware-in-the-loop simulation system for position and speed measurement was constructed based on the developed collector, pulse generator, multi-channel simulator, and controller. A mathematical model of the encoder and laser sensor array was established in the pulse generator. Pulse signals were generated based on the given position information to drive the laser, simulating the optical pulse signals generated by the encoder at different speeds. Based on the detected optical pulse signals, the position and speed of the rotor were calculated. The measurement error is quantified by comparing the data results of the given position/speed with the detected position/speed. Finally, a closed-loop joint hardware-in-the-loop simulation was conducted with the motor control system.
The experiment shows that the pulse wave after filter is good and can meet the requirements of position and speed detection at highest design speed. Simulation results show that the speed measurement error is basically stable at 0.5 m/s, with a maximum value of 0.6 m/s in all speed range by comparing the reference speed and position curve and measurement results. The speed measurement error can meet the error requirements of the motor control system in the full speed range. From the closed-loop joint hardware-in-the-loop simulation, it can be seen that the motor operates stably and the thrust remains basically unchanged in the entire process.
The following conclusions can be drawn from the simulation analysis: The hardware-in-the-loop simulation system for position and speed measurement based on the developed distributed acquisition equipment, pulse generator, laser generator, multi-channel simulator, and system controller has a high degree of compatibility with the actual system. It can perform hardware-in-the-loop simulation experiments on different position and speed detection algorithms, extract and analyze simulation results data at any time to quantify speed measurement errors At the same time, hardware-in-the-loop simulation was conducted with the motor control system based on RT-LAB, verifying the effectiveness of the position and speed measurement system topology network and speed measurement algorithm. The system has high integration and strong applicability, which is beneficial for improving research on position and speed algorithms, fault detection and analysis methods, and redundant control strategy. It has high guiding significance and reference value for engineering practice.
Based on the constructed hardware-in-the-loop simulation system, the fault diagnosis and fault-tolerant control algorithms, speed sensorless control method for segmented linear induction motors will be researched in the future work.
|
|
Received: 18 March 2023
|
|
|
|
|
|
[1] 李冠醇. 超高速大推力直线电机及其控制方法研究[D]. 长沙: 国防科技大学, 2018.
[2] 徐伟, 肖新宇, 董定昊, 等. 直线感应电机效率优化控制技术综述[J]. 电工技术学报, 2021, 36(5): 902-915, 934.
Xu Wei, Xiao Xinyu, Dong Dinghao, et al.Review on efficiency optimization control strategies of linear induction machines[J]. Transactions of China Electrotechnical Society, 2021, 36(5): 902-915, 934.
[3] 文晓燕, 郑琼林, 韦克康, 等. 增量式编码器测速的典型问题分析及应对策略[J]. 电工技术学报, 2012, 27(2): 185-189, 209.
Wen Xiaoyan, Zheng Qionglin, Wei Kekang, et al.Typical issues analysis and corresponding strategy for incremental encoder speed measurement[J]. Transactions of China Electrotechnical Society, 2012, 27(2): 185-189, 209.
[4] 郝双晖, 刘勇, 郝明晖. 一种新颖的绝对式磁栅位移传感器[J]. 电机与控制学报, 2008, 12(4): 451-454.
Hao Shuanghui, Liu Yong, Hao Minghui.Study on a novel absolute magnetic grating[J]. Electric Machines and Control, 2008, 12(4): 451-454.
[5] 王擎宇, 何娜, 芮万智. 电磁发射用直线感应电机位置检测系统关键技术研究[J]. 中国电机工程学报, 2016, 36(5): 1413-1420.
Wang Qingyu, He Na, Rui Wanzhi.Study on key technology of position measurement system for linear induction motor applied in electromagnetic emission system[J]. Proceedings of the CSEE, 2016, 36(5): 1413-1420.
[6] 宋香磊. 基于感应环线的测速定位系统的设计与实现[D]. 长沙: 国防科学技术大学, 2012.
[7] 任愈, 陈建政. 基于交叉感应回线的磁浮车辆连续测速定位方法[J]. 交通运输工程学报, 2020, 20(1): 140-149.
Ren Yu, Chen Jianzheng.Continuous velocity and location detection method of maglev vehicle based on cross inductive loop[J]. Journal of Traffic and Transportation Engineering, 2020, 20(1): 140-149.
[8] Sun Le, Taylor J, Guo Xizheng, et al.A linear position measurement scheme for long-distance and high-speed applications[J]. IEEE Transactions on Industrial Electronics, 2021, 68(5): 4435-4447.
[9] 戴春辉, 薛松, 龙志强. 基于长定子齿槽的磁浮列车测速定位传感器信号处理[J]. 传感技术学报, 2009, 22(6): 822-826.
Dai Chunhui, Xue Song, Long Zhiqiang.The signal disposal of position and speed detection sensors based upon long stators for maglev train[J]. Chinese Journal of Sensors and Actuators, 2009, 22(6): 822-826.
[10] 殷红梅, 汪木兰, 叶畅, 等. LIDA485直线光栅尺在PMSLM位置与速度检测中应用研究[J]. 微电机, 2014, 47(6): 74-77.
Yin Hongmei, Wang Mulan, Ye Chang, et al.Research on position and speed detection of PMSLM based on LIDA485 linear grating ruler[J]. Micromotors, 2014, 47(6): 74-77.
[11] 谢介宸. 低速伺服系统M/T测速改进与预测控制算法研究[D]. 哈尔滨: 哈尔滨工业大学, 2020.
[12] 徐张旗. 基于卡尔曼滤波的增量式光电编码器测速方法的研究[D]. 合肥: 中国科学技术大学, 2018.
[13] 窦峰山, 何洪礼, 谢云德, 等. 基于跟踪微分器的磁浮列车定位测速系统信号处理问题研究[J]. 铁道学报, 2016, 38(1): 81-85.
Dou Fengshan, He Hongli, Xie Yunde, et al.Research on the signal processing of position and speed detection system in maglev train based on tracking differentiator[J]. Journal of the China Railway Society, 2016, 38(1): 81-85.
[14] Lee S, Song J B.Acceleration estimator for low-velocity and low-acceleration regions based on encoder position data[J]. IEEE/ASME Transactions on Mechatronics, 2001, 6(1): 58-64.
[15] Wang Gaolin, Xu Dianguo, Yu Yong, et al.Low speed control of permanent magnet synchronous motor based on instantaneous speed estimation[C]//2006 6th World Congress on Intelligent Control and Automation, Dalian, 2006: 8033-8036.
[16] 张明远, 史黎明, 范满义, 等. 长初级双边直线感应电动机分段推力协同控制和测速算法[J]. 电工技术学报, 2023, 38(3): 659-669.
Zhang Mingyuan, Shi Liming, Fan Manyi, et al.Thrust cooperative control and speed measurement algorithm of segmented long primary double-sided linear induction motor[J]. Transactions of China Electrotechnical Society, 2023, 38(3): 659-669.
[17] 刘可安, 田红旗, 刘勇. 轨道交通直线感应电动机牵引系统精确瞬时速度检测技术研究[J]. 电工技术学报, 2015, 30(21): 161-169.
Liu Kean, Tian Hongqi, Liu Yong.Precise instantaneous speed detection method for linear induction motor railway traction system[J]. Transactions of China Electrotechnical Society, 2015, 30(21): 161-169.
[18] Hung C Y, Liu P, Lian K Y.Fuzzy virtual reference model sensorless tracking control for linear induction motors[J]. IEEE Transactions on Cybernetics, 2013, 43(3): 970-981.
[19] 杨凯, 李孺涵, 罗成, 等. 考虑参数误差的无速度传感器异步电机低速发电工况稳定性提升策略[J/OL]. 电工技术学报, 2023, DOI:10.19595/j.cnki. 1000-6753.tces. 221140.
Yang Kai, Li Ruhan, Luo Cheng, et al.Enhanced stability for speed-sensorless induction motor drives in low-speed regenerating region considering parameter uncertainties[J/OL]. Transactions of China Electrotechnical Society, 2023, DOI:10.19595/j.cnki. 1000-6753.tces.221140.
[20] Zerdali E, Barut M.The comparisons of optimized extended Kalman filters for speed-sensorless control of induction motors[J]. IEEE Transactions on Industrial Electronics, 2017, 64(6): 4340-4351.
[21] Wang Bo, Zhao Yongzheng, Yu Yong, et al.Speed-sensorless induction machine control in the field-weakening region using discrete speed-adaptive full-order observer[J]. IEEE Transactions on Power Electronics, 2016, 31(8): 5759-5773.
[22] 王震宇, 孙伟, 蒋栋. 基于虚拟电压注入的闭环磁链观测器的感应电机无速度传感器矢量控制系统[J]. 电工技术学报, 2022, 37(2): 332-343.
Wang Zhenyu, Sun Wei, Jiang Dong.Induction motor speed sensorless vector control system based on closed-loop flux observer with virtual voltage injection[J]. Transactions of China Electrotechnical Society, 2022, 37(2): 332-343.
[23] 张明远, 史黎明, 郭科宇, 等. 分段长初级双边直线感应电动机建模分析[J]. 电工技术学报, 2021, 36(11): 2344-2354.
Zhang Mingyuan, Shi Liming, Guo Keyu, et al.Modeling and analysis of segmented long primary double-sided linear induction motor[J]. Transactions of China Electrotechnical Society, 2021, 36(11): 2344-2354. |
|
|
|
2023, Vol. 38 
