CN115913000B - A method for compensating thrust fluctuation of a moving magnet independent winding linear motor - Google Patents
A method for compensating thrust fluctuation of a moving magnet independent winding linear motor Download PDFInfo
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- CN115913000B CN115913000B CN202211467996.8A CN202211467996A CN115913000B CN 115913000 B CN115913000 B CN 115913000B CN 202211467996 A CN202211467996 A CN 202211467996A CN 115913000 B CN115913000 B CN 115913000B
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Abstract
A thrust fluctuation compensation method for a moving-magnet type independent winding linear motor relates to an independent winding permanent magnet synchronous linear motor, and aims to solve the problem that the existing harmonic injection method cannot solve the problem that the counter potential of a winding close to the end is distorted, so that the dynamic performance and positioning accuracy are poor. The invention selects a winding which is completely coupled with a primary and a secondary of a motor and does not correspond to a region at the end part of the secondary as a compensation winding, and introduces compensation current, wherein the solving formula of the compensation current is as follows: wherein i c represents the compensation current fed by the compensation winding, E sum represents the sum of no-load counter-potential of all the compensation windings, F end represents the effective stress of the secondary end part of the motor, F H represents the ripple thrust of the motor, and F T represents the cogging force of the motor. The motor has the beneficial effects that the dynamic performance and the positioning precision of the motor are greatly improved.
Description
Technical Field
The invention relates to an independent winding permanent magnet synchronous linear motor.
Background
In a permanent magnet linear synchronous motor with an iron core, the air gap field at the end part is distorted due to the breakage of the two ends of a primary iron core to generate a longitudinal end effect, and in addition, similar to a rotating motor, the air gap field distribution of the permanent magnet linear synchronous motor with the iron core can change at the slotting position of the iron core, namely so-called cogging, generally, the thrust fluctuation caused by the magnetic circuit magnetic resistance change caused by the end effect and the cogging is called positioning force or magnetic resistance, the positioning force represents a basic performance index of the permanent magnet linear synchronous motor, is the inherent characteristic of the linear motor, the size and the direction of the positioning force are irrelevant to the running condition of the motor, the main components of the thrust fluctuation of the two linear motors reduce the dynamic performance and the positioning precision of the linear motor, are the targets of the design and the driving control optimization of the linear motor body, in order to reduce the thrust fluctuation of the motor output, the harmonic compensation thrust fluctuation is usually adopted by adopting an armature winding to be introduced, the same current harmonic wave is introduced into all windings, the generated compensation thrust component is compensated by the compensation thrust fluctuation component, and the purpose of the motor output thrust fluctuation is reduced, however, the ideal compensation force cannot be generated by the harmonic injection method due to the existence of the end effect, the distortion of the winding counter potential near the end effect is generated.
Disclosure of Invention
The invention aims to solve the problem that the existing harmonic injection method cannot solve the problem that the dynamic performance and positioning accuracy are poor due to distortion of the counter potential of a winding close to the end part, and provides a thrust fluctuation compensation method of a moving-magnet type independent winding linear motor.
The invention relates to a moving-magnet type independent winding linear motor thrust fluctuation compensation method, which comprises the following steps:
firstly, selecting a winding which is completely coupled with a secondary of a motor and is not in a region corresponding to the end part of the secondary as a compensation winding;
Step two, introducing compensation current into the compensation winding selected in the step one;
the solving formula of the compensation current is as follows:
Wherein i c represents the compensation current fed by the compensation winding, E sum represents the sum of no-load counter-potential of all the compensation windings, F end represents the effective stress of the secondary end part of the motor, F H represents the ripple thrust of the motor, and F T represents the cogging force of the motor.
The invention has the beneficial effects that by adopting the optimal design method, the thrust fluctuation amplitude of the motor is reduced from 5.027N to 0.693N, and the dynamic performance and positioning accuracy of the motor are greatly improved.
Drawings
Fig. 1 is a schematic diagram of selecting a compensation position of a compensation winding of a 4-pole 3-slot long-stator permanent magnet synchronous linear motor according to a first embodiment, (a) shows that the 4-pole 3-slot long-stator permanent magnet synchronous linear motor is in a state of completely coupling primary and secondary, and (b) shows that the 4-pole 3-slot long-stator permanent magnet synchronous linear motor is in an initial transition stage;
fig. 2 is a schematic diagram of selecting a compensation position of a compensation winding of an 8-pole 7-slot long-stator permanent magnet synchronous linear motor according to a first embodiment, (a) shows a complete coupling state of the 8-pole 7-slot long-stator permanent magnet synchronous linear motor, and (b) shows an incomplete coupling state of the 8-pole 7-slot long-stator permanent magnet synchronous linear motor;
Fig. 3 is a graph showing the comparison of the thrust fluctuation after the compensation by the dynamic magnetic independent winding linear motor thrust fluctuation compensation method in the first embodiment, wherein the dotted line represents the thrust graph output by the motor when no compensation is performed;
fig. 4 is a schematic diagram of a compensation position selection of a compensation winding of a linear motor with no slot and independent windings in a first embodiment, wherein (a) represents a primary pole matching state and (b) represents a primary pole unmatched state, in the diagram, 1 is a secondary yoke, 2 is a primary yoke, 3 is a winding, and 4 is a permanent magnet;
FIG. 5 is a schematic diagram showing the selection of compensation positions for compensation windings of a slotted independent winding linear motor according to a first embodiment, wherein (a) represents a primary pole matching state and (b) represents a primary pole mismatch state;
fig. 6 is a schematic diagram showing the selection of compensation positions of compensation windings of a linear motor with a slotted multiphase independent winding according to a first embodiment, wherein (a) represents a primary pole matching state and (b) represents a primary pole mismatch state.
Detailed Description
A first embodiment is a method for compensating for thrust fluctuation of a moving-magnet independent winding linear motor according to the present embodiment, with reference to fig. 1 to 6, the method comprising the steps of:
firstly, selecting a winding which is completely coupled with a secondary of a motor and is not in a region corresponding to the end part of the secondary as a compensation winding;
Step two, introducing compensation current into the compensation winding selected in the step one;
the solving formula of the compensation current is as follows:
Wherein i c represents the compensation current fed by the compensation winding, E sum represents the sum of no-load counter-potential of all the compensation windings, F end represents the effective stress of the secondary end part of the motor, F H represents the ripple thrust of the motor, and F T represents the cogging force of the motor.
In this embodiment, since the zero crossing point does not exist in E sum due to the proposal of the compensation winding switching strategy, the compensation winding can always compensate for the thrust fluctuation. As shown in FIG. 3, the comparison graph of finite element simulation results obtained by maxwell D is shown, and by adopting the optimal design method, the thrust fluctuation amplitude of the motor is reduced from 5.027N to 0.693N.
In a preferred embodiment, the motor in the first step is a moving-magnet independent winding linear motor;
each coil of the stator winding of the moving-magnetic independent winding linear motor is provided with a driving circuit, the coils are independently controlled, and current compensation is carried out on only a certain number of windings.
In the preferred embodiment, for a 4-pole 3-slot long-stator permanent magnet synchronous linear motor, the 4 pole distances correspond to 3 winding widths, the compensation winding selects a winding which is completely coupled with the secondary, namely, when the long-stator permanent magnet synchronous linear motor is in a primary and secondary complete coupling state, the compensation winding selects a No. 4 winding, and when the long-stator permanent magnet synchronous linear motor is in a primary transition stage, the compensation winding selects a No. 4 winding and a No. 5 winding, wherein the sequence numbers of the windings are sequentially arranged from left to right from No. 1.
In this embodiment, for a moving-magnet type independent winding linear motor, each coil of the stator winding is provided with a driving circuit, and the coils can be independently controlled without mutual influence. Only a few windings may be current compensated. For the selection of the compensation winding, the rule of the back-emf distortion of the winding is followed. For a long stator permanent magnet synchronous linear motor, the secondary and primary dimensions are matched with each other in design, and a 4-pole 3-slot motor is taken as an example, and 4 pole distances correspond to 3 winding widths. However, during operation of the motor, the coil portions at the two ends are coupled to the secondary, resulting in a change in the back-emf of the end coils. In addition, the end effect produced by the secondary end also distorts the back-emf of the end winding. The compensation winding should be selected to be fully coupled to the secondary, for example, in fig. 1 (a), the motor is in a state of fully coupling to the primary and the secondary, windings No. 3 and No. 5 are located in the secondary end region, the counter potential is distorted, so the compensation winding is selected to be winding No. 4, in fig. 1 (b), the motor is in a transition stage of windings No. 3 and No. 6, windings No. 3 and No. 6 are coupled to the secondary portion, and counter potential harmonics are contained, so windings No. 4 and No. 5 are selected as compensation windings.
In a preferred embodiment, when the pole pair number of the moving-magnet independent winding linear motor is greater than 2, the compensation winding selects two adjacent coils.
In the preferred embodiment, for an 8-pole 7-slot long-stator permanent magnet synchronous linear motor, the windings 4 to 7 are in a complete coupling state, the compensation winding is selected from the windings 5 and 6, and with the operation of the 8-pole 7-slot long-stator permanent magnet synchronous linear motor, the counter potential of the windings 5 has zero points, namely when the windings 5 are switched to the windings 7 through the counter potential zero points, the windings 6 are switched to the windings 8 through the counter potential zero points, wherein the sequence numbers of the windings are sequentially arranged from left to right from the number 1.
In this embodiment, for a moving-magnet independent winding linear motor with a large number of pole pairs, two adjacent coils can be selected as the compensation windings, taking fig. 2 as an example, the motor is in a state of complete coupling of primary and secondary, windings No. 4 to No. 7 are all in a state of complete coupling, at this time, winding 5 and winding 6 can be selected as the compensation windings, as the motor operates, the counter potential of winding No. 5 has a zero point, at this time, the compensation current of the winding cannot generate compensation thrust, so when the winding passes through the zero point, the compensation winding needs to be switched, namely, when winding No. 5 passes through the counter potential zero point and is switched to winding No. 7, winding No. 6 passes through the counter potential zero point and is switched to winding No. 8, and so on.
In the preferred embodiment, the motor in the first step is a slotless independent winding linear motor, the winding No. 3 is selected as a compensation winding when the primary and the secondary are matched, the winding No. 3 and the winding No. 4 are selected as the compensation windings when the primary and the secondary are not matched, and the serial numbers of the windings are sequentially arranged from the left to the right from the number No. 1.
In this embodiment, as shown in fig. 4, the primary-secondary matching means that the primary yokes and the secondary yokes are exactly corresponding in length, and for a 2-pole linear motor, the secondary yokes are 3 primary yokes in length, but with the movement of the secondary yokes, the number of windings to which the primary yokes are coupled becomes 4, that is, the primary poles are not matched.
In the preferred embodiment, the motor in the first step is a linear motor with independent windings with grooves, the number 3 winding is selected as a compensation winding when the primary and the secondary are matched, the number 3 winding and the number 4 winding are selected as the compensation windings when the primary and the secondary are not matched, and the serial numbers of the windings are sequentially arranged from the number 1 from left to right.
In this embodiment, as shown in fig. 5, the primary-secondary matching means that the primary yokes and the secondary yokes are exactly corresponding in length, and for a 2-pole linear motor, the secondary yokes are 3 primary yokes in length, but with the movement of the secondary yokes, the number of windings to which the primary yokes are coupled becomes 4, that is, the primary poles are not matched.
In the preferred embodiment, the motor in the first step is a slotted multiphase independent winding linear motor, when the primary and the secondary are matched, a number 3 winding, a number 4 winding and a number 5 winding are selected as compensation windings, when the primary and the secondary are not matched, a number 3 winding, a number 4 winding, a number 5 winding and a number 6 winding are selected as compensation windings, wherein the serial numbers of the windings are sequentially arranged from the left to the right from the number 1.
In this embodiment, as shown in fig. 6, the primary-secondary matching means that the primary yokes and the secondary yokes are exactly corresponding in length, and for a 2-pole linear motor, the secondary yokes are 3 primary yokes in length, but with the movement of the secondary yokes, the number of windings to which the primary yokes are coupled becomes 4, that is, the primary poles are not matched.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The method for compensating the thrust fluctuation of the moving-magnet type independent winding linear motor is characterized by comprising the following steps of:
firstly, selecting a winding which is completely coupled with a secondary of a motor and is not in a region corresponding to the end part of the secondary as a compensation winding;
Step two, introducing compensation current into the compensation winding selected in the step one;
the solving formula of the compensation current is as follows:
Wherein i c represents the compensation current fed by the compensation winding, E sum represents the sum of no-load counter-potential of all the compensation windings, F end represents the effective stress of the secondary end part of the motor, F H represents the ripple thrust of the motor, and F T represents the cogging force of the motor.
2. The method for compensating for thrust fluctuation of a moving-magnet independent-winding linear motor according to claim 1, wherein the motor in the first step is a moving-magnet independent-winding linear motor;
Each winding of the stator winding of the moving-magnetic independent winding linear motor is provided with a driving circuit, and the windings are independently controlled.
3. The method for compensating thrust fluctuation of a moving-magnet independent winding linear motor according to claim 1 is characterized in that for a 4-pole 3-slot long-stator permanent magnet synchronous linear motor, 4 pole distances correspond to 3 winding widths, a compensation winding is selected to be fully coupled with a secondary, namely, when the long-stator permanent magnet synchronous linear motor is in a primary and secondary fully coupled state, a compensation winding is selected to be a number 4 winding, and when the long-stator permanent magnet synchronous linear motor is in a primary transition stage, the compensation winding is selected to be a number 4 winding and a number 5 winding, wherein the sequence numbers of the windings are sequentially arranged from left to right from the number 1.
4. The method for compensating for thrust fluctuation of a moving-magnet independent-winding linear motor according to claim 1, wherein when the pole pair number of the moving-magnet independent-winding linear motor is greater than 2, the compensation winding selects two adjacent windings.
5. The method for compensating thrust fluctuation of a moving-magnet independent winding linear motor according to claim 4, wherein for an 8-pole 7-slot long-stator permanent magnet synchronous linear motor, the windings 4 to 7 are in a complete coupling state, the compensation winding is selected from the windings 5 and 6, and as the 8-pole 7-slot long-stator permanent magnet synchronous linear motor operates, the counter potential of the winding 5 has a zero point, namely, when the winding 5 is switched to the winding 7 through the counter potential zero point, the winding 6 is switched to the winding 8 through the counter potential zero point, wherein the sequence numbers of the windings are sequentially arranged from the 1 from left to right.
6. The method for compensating thrust fluctuation of a moving-magnet type independent winding linear motor according to claim 1, wherein the motor in the first step is a slotless independent winding linear motor, a winding No. 3 is selected as a compensation winding when primary and secondary are matched, a winding No. 3 and a winding No. 4 are selected as compensation windings when primary and secondary are not matched, and the sequence numbers of the windings are sequentially arranged from left to right from No. 1.
7. The method for compensating thrust fluctuation of a moving-magnet type independent winding linear motor according to claim 1, wherein the motor in the first step is a slotted independent winding linear motor, a number 3 winding is selected as a compensation winding when primary and secondary are matched, a number 3 winding and a number 4 winding are selected as compensation windings when primary and secondary are not matched, and the sequence numbers of the windings are sequentially arranged from left to right from number 1.
8. The method for compensating thrust fluctuation of a moving-magnet type independent winding linear motor according to claim 1, wherein the motor in the first step is a slotted multiphase independent winding linear motor, a number 3 winding, a number 4 winding and a number 5 winding are selected as compensation windings when primary and secondary are matched, a number 3 winding, a number 4 winding, a number 5 winding and a number 6 winding are selected as compensation windings when primary and secondary are not matched, and the serial numbers of the windings are sequentially arranged from left to right from the number 1.
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| CN202211467996.8A CN115913000B (en) | 2022-11-22 | 2022-11-22 | A method for compensating thrust fluctuation of a moving magnet independent winding linear motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110112970A (en) * | 2019-05-30 | 2019-08-09 | 华中科技大学 | A kind of permanent magnetism vernier linear motor method for control speed and system |
| CN110957889A (en) * | 2019-12-02 | 2020-04-03 | 深圳市深信创联智能科技有限责任公司 | Linear permanent magnet synchronous motor and thrust fluctuation suppression method thereof |
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| JPS5413919A (en) * | 1977-07-04 | 1979-02-01 | Hitachi Ltd | Preventive controller for torque pulsation |
| US7170241B1 (en) * | 1998-02-26 | 2007-01-30 | Anorad Corporation | Path module for a linear motor, modular linear motor system and method to control same |
| JP4033030B2 (en) * | 2003-04-21 | 2008-01-16 | 株式会社ジェイテクト | Electric power steering device |
| CN102361388A (en) * | 2011-11-04 | 2012-02-22 | 哈尔滨工业大学 | Thrust fluctuation active compensation type linear permanent magnet synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110112970A (en) * | 2019-05-30 | 2019-08-09 | 华中科技大学 | A kind of permanent magnetism vernier linear motor method for control speed and system |
| CN110957889A (en) * | 2019-12-02 | 2020-04-03 | 深圳市深信创联智能科技有限责任公司 | Linear permanent magnet synchronous motor and thrust fluctuation suppression method thereof |
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