基于时空域Park变换的超薄直线电机阵列集成式联动驱动控制新方法

A novel integrated synchronously driving method for ultra-thin LM array based on Park transformation in time-space domain

为了解决超薄直线电机阵列式电织针的驱动方案与经济成本之间的根本性矛盾,介绍了一种基于时空域Park变换的集成式联动驱动控制新方法。将电织针阵列运动的行波函数引入Park变换中的电角度参数,将各台电机的空间位置与电机轴的电角度联系起来,从而使得电机阵列中每台电机均具有统一的空间基准;以行波运动为目标,基于Park变换得到各超薄直线电机三相绕组驱动信号波形;基于信号传输的调制解调原理与电机驱动的V/F调制技术,在时空域中对多电机功率驱动信号采样和调制,达成多功率驱动信号波形串行传输的效果,最后在各电机端抽样重组恢复出等效的单电机驱动信号。从理论研究意义上看,所提新方法属于运动介质中的电磁场问题,或者说狭义相对论在工程中运用面临的基础理论问题;就工程应用价值而言,所提新方法能采用单一或少量的驱动器和线缆实现大量电机联动控制,从而最大程度实现降低多轴联动控制系统成本的目标。

A novel integrated synchronous driving method was introduced to ultra-thin LM array based on Park transformation in time-space domain in order to solve the contradiction between technical schema and economic cost.Every motor was aligned to the same reference frame by the travelling function of needle array motion.The electric angle in the Park transformation matrix was replaced by every linear motor′s position with respect to the travelling function so that each phase′s driving signal could be derived.On the basis of V/F modulation in motor driving theory and the signal modulation&demodulation according to signal transmission theory,multi-motor driving signals were sampled and modulated in the time-space domain so that all the power signals were able to be transmitted serially.The modulated serial signal was resampled and re-assembled to restore the original independent dri-ving signal on every motor side.In the sense of theoretic research,the recommended method could be translated into the electromagnetic field problem in moving media,or,the fundamental theoretic basis in the engineering application of the special theory of relativity.Large number of motors are able to be synchronously actuated and controlled by only one motor driver&cord,or by only few motor drivers&cords,so that economic cost of the electric control system could be minimized in multi-axis control.