磁悬浮动磁式平面电机多自由度运动电气驱动方法研究

项目名称： 磁悬浮动磁式平面电机多自由度运动电气驱动方法研究

项目编号： No.51465053

项目类型： 地区科学基金项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 张生果

作者单位： 西北民族大学

项目金额： 45万元

中文摘要： 磁悬浮平面电机具有在高洁净度、高真空度工作环境下获得综合性优良运动性能的潜在技术优势，它在先进制造、精密运动和测量等装备和系统的运动驱动中具有广阔的应用前景。其中动磁式平面电机多自由度运动电气驱动技术的研究更具普适的理论意义和实际的工程应用价值。 本项目研究内容和技术路线为：1)采用洛伦兹力体积积分方法和刚体力/矩线性叠加方法，建立电机动台多自由度运动电磁力/矩静态解析模型，并在此模型基础上对电机线圈阵列和永磁阵列进行结构优化；2)以一定约束条件下多变量目标优化为目的，通过电磁力/矩静态解析模型非方矩阵广义逆阵的求取，获得静态条件下线圈阵列电流驱动的基本法则；3)基于静态条件下线圈阵列电流驱动基本法则，通过平滑函数矩阵加权，实现动台动态运动过程中线圈阵列通电线圈的同步切换。 通过上述研究，形成磁悬浮动磁式平面电机动台按一定轨迹运动时的电气驱动方法，为电机多自由度运动控制奠定坚实的理论基础。

中文关键词： 平面电机；线圈阵列；电流分配；同步切换；磁悬浮

英文摘要： Magnetically levitated planar motor is of potential technology advantages to obtain comprehensive and excellent motion performances in high cleanliness and vacuum environment. It has broad prospects to be applied to drive advanced manufacturing equipments, precision motion and measuring system, etc. The research on the electric drive technology of magnetic levitation planar motor with moving magnets is more universal in theoretical significance and more practical in engineering value. Research contents and technical route of the project are: 1) By the volume integral of Lorenz force and the linear superposition of force/torque of rigid body, the analytical model of the electromagnetic force/torque under static condition for multi-degrees-of-freedom motion of the motor mover, is established. Then the permanent magnet array and the coil array of the motor are optimized structurally based on above analytical model of the electromagnetic force/torque under static condition. 2) Aiming at multi-objective optimization of coil current variables, the fundamental law of commutating coil array under the static condition is derived by means of generalized inverse matrix of electromagnetic force/torque model matrix. 3) The synchronous switch of commutated coils, which should be activated in order in the dynamic motion process of mover, is implemented by introducing weighted smoothing function matrix on the basis of the fundamental law of commutating coil array under the static condition. By the research, the method of electric drive, when the permanent magnet mover of the magnetically levitated planar motor is moving along certain trajectory, will be developed. This can lay sound theoretical foundation for multi-degrees-of-freedom motion control of the planar motor.

英文关键词： Planar motor;Coil array;Commutation;Synchronous switch;Magnetic levitation