大偏航角状态下无铁永磁平面电机的电磁力建模及解耦控制研究

项目名称： 大偏航角状态下无铁永磁平面电机的电磁力建模及解耦控制研究

项目编号： No.51207020

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 电机分析与设计

项目作者： 周赣

作者单位： 东南大学

项目金额： 25万元

中文摘要： 对于需要大偏航旋转的高精度平面定位应用，如果能不叠加额外的偏航转动执行器，仅通过控制手段直接驱动平面电机进行大角度偏航旋转，将充分发挥平面电机结构紧凑、定位精度高的优点。针对典型的平面电机结构，提出基于绕组磁场控制的双参数模型和基于线圈电流控制的单线圈模型两种全新的电磁力数学模型，形成一套较完整的大偏航角无铁平面电机电磁力建模的理论体系。以上述电磁力数学模型为基础，提出基于绕组磁场控制的电磁力解耦控制策略和基于合力－活动线圈组电流变换的电磁力解耦控制策略。通过活动线圈组切换策略和Moore-Penrose反变化来有效抑制电磁力脉动和欧姆发热。搭建一套电磁力测试平台，用于在平面电机全行程范围内测试磁力、磁力矩。项目的研究成果将提高我国平面电机尤其是具备大偏航角运动能力的平面电机的理论水平，缩短紧凑型多自由度高精度定位平台领域与发达国家的技术差距。

中文关键词： 平面电机；大偏航角；电磁力；建模；解耦控制

英文摘要： Some information and optical equipments require high-precision planar positioner capable of traveling over relatively large displacements (on the order of tens of degrees) in one rotational DOF, such as yaw DOF. An ideal solution is, without adding extra yaw-actuators, driving planar motors to travel over the large yaw displacement directly. This technical scheme will keep the compact structures of planar motors unchanged. Focusing on large-yaw-angle planar motors, this project includes the following main contents. 1) Two novel modeling methods of the force and torque: the dual-parameter modeling method based on magnetic field control and the single-coil modeling method based on coil current control. These two modeling methods will form a relatively integral theoretical system. 2) Two novel decoupling control strategies for the force and torque: the decoupling strategy based on magnetic field control and the decoupling strategy based on the transformation from net forces to active-coil-set currents. 3) The coil-switching strategy for reducing the force ripples and the Moore-Penrose inverse for minimizing the ohmic loss. 4) The test platform capable of measuring the force and torque in the whole stroke of planar motor. Through this project, the theoretical level of planar motors, especially large-yaw-angle planar

英文关键词： planar motor；large yaw angle；eletromagnetic force；modeling；decoupling control