永磁同步平面电动机三自由度运动控制器

A Three-degree-of-freedom Motion Controller for Synchronous Permanent-magnet Planar Motors

建立了永磁同步平面电动机动子的3自由度动力学模型,并在偏摆角位移较小的假设基础上,对动力学模型进行了简化,进而拟定了通过同时调节4个电磁推力以产生所需偏摆限位转矩的力控制策略。此外,基于状态空间极点配置法,分别设计了与3个自由度对应的位置伺服控制算法,并且对所建立的控制系统进行了数值仿真,仿真结果表明所采用的控制策略和控制算法使控制系统达到了预期的动、静态指标。

A three-degree-of-freedom dynamic model of the mover of a SPMPM was established. Then an assumption that the yaw angle of the mover is near to zero was taken for simplifying the dynamic model. From the simplified dynamic model, a strategy of controlling the x-direction thrust, y-direction thrust and the yaw torque on the mover was derived. Using pole placement method based on state space equations, the servo control algorithms corresponding to three-degreeof-freedom motions were designed. An SPMPM control system with the controller proposed was simulated numerically. The simulation results show that the control strategy and algorithms proposed can make the system with the desired performances and the control system has the robust stability even if the un-modeled dynamic exists.