弧形永磁同步电机定位转矩补偿控制方法研究

Research on Compensation Control Method of Detent Torque of Arc-linear Permanent Magnet Synchronous Motor

弧形永磁同步电机(arc-linear permanent magnet synchronous motor,AL-PMSM)在诸如天线扫描系统、机器人关节和雷达系统等角位移受限制的场合应用广泛,然而定位转矩的存在会降低系统性能。为削弱定位转矩,提出一种通过补偿绕组混合励磁实现的前馈控制补偿方法。补偿绕组安装在初级侧端部齿上,利用线性化观测器估计定位转矩进而计算出补偿电流,实现前馈控制。首先,建立带补偿绕组的AL-PMSM数学模型。其次,设计定位转矩线性观测器,并给出补偿电流计算方法。与在电枢绕组中注入谐波电流补偿方法相比,所提出的定位转矩补偿方法效果更好。然后,分析由次级端部效应引起的定位转矩,利用所提出的补偿方法扩展电机的平稳行程范围。最后,通过实验验证了所提方法有效性。

The arc-linear permanent magnet synchronous motor(AL-PMSM) is widely used in applications where angular movement is limited, such as antenna scanning systems, robot joints, and radar systems. However, the existence of detent torque will reduce system performance. To reduce the detent torque, a feed-forward control compensation method realized by compensation windings was proposed. The compensation windings were installed on the end teeth of the primary side. The linearization observer was used to estimate the detent torque, and then the compensation current was calculated to realize the feed-forward control. Firstly, the mathematical model of AL-PMSM with compensation windings was established. Secondly, a detent torque linearization observer was designed, and the compensation current was calculated. Compared with the method of harmonic current injecting in armature windings, the proposed method performs better. Then, the detent torque caused by the secondary end effect was analyzed, and the smooth travel range was extended by the proposed method. Finally, the effectiveness of the proposed method was verified by experiments.