开关磁阻电机平面运动控制系统的分析与控制

Analysis and control of a novel planar motion control system

提出了基于开关磁阻电机原理的平面电机设计方案,构建了平面开关磁阻电机运动控制系统平台。与传统的X-Y工作平台不同,该平面电机无须将两个方向的运动方式进行叠加,而是在两个垂直运动方向上构造直接驱动式运动控制系统。采用三维有限元分析方法对电机的特性进行分析,仿真和实验的结果表明,电机在各相不存在耦合效应,从而每一相可以单独进行控制,简化控制算法。在分析电机特性的基础上,提出了一种双环PID控制方案。双环PID控制方法与传统PID控制方式相比,具有动态误差随频率增高而降低的特点,从而使电机适用于运行在频率变化的输入指令环境下。

A planar motor design scheme based on switched reluctance （SR） principle has been proposed and developed. Compared with traditional X-Y tables, the planar motor was constructed vertically as a direct-drive system. The finite element analysis was carried out and both simulation and experimental resuits verify that the phases were deeoupled with each other. Analysis and position control of the planar switched reluctance motor（PSRM） based on dual-loop PID were performed. Both the simulation and the hardware implementation of the PSRM have been carried out and results show that the controller has robust and reliable features.