13 1 2009 1 EL ECTR IC MACH IN ES AND CON TROL Vol113 No11 Jan. 2009,, (, 518060) :, X 2Y,,,,,,, P ID P ID P ID,, : ; ; ; P ID : TM33 : A : 1007-449X (2009) 01-0022- 06 Analysis and control of a novel lanar motion control system PAN J ian2fei, CAO Guang2zhong, WANG Xin ( School of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China) Abstract:A lanar motor design scheme based on switched reluctance ( SR) rinci le has been roosed and develoed. Comared w ith traditional X 2Y tables, the lanar motor was constructed vertically as a di2 rect2drive system. The finite element analysis was carried out and both simulation and exerimental re2 sults verify that the hases were decou led with each other. Analysis and osition control of the lanar sw itched reluctance motor( PSRM ) based on dual2loo P ID were erformed. Both the simulation and the hardware im lementation of the PSRM have been carried out and results show that the controller has ro2 bust and reliable features. Key words: lanar sw itched reluctance motor; direct2drive system; finite element analysis; dual2 loo P ID 1 ( ) ; X 2Y,, ;, : 2008-01 - 15 : (60204013) ; (06301289) ; (200734) : (1978 - ),,,, ; (1968 - ),,,,, ; (1981 - ),,,,
1 23 [ 1 ],, P ID 2 6 /4, X 2Y, [ 1 ],, 3 6, [ 2 ],, 1 1 1 M over structure of the PSRM [ 4 ],, 2 4 ; 4, ;,, 2 2 Sta tor forma tion and magnetic a th 3, :,, ;, ; ; 3 3 M otor structure 3, V k = R k i k + 5 k ( i k, x) 5x k dx dt + 5 k ( i k, x) di k 5i k dt, = kj + km + ke (1) : V k i k R k ; x ( t) k k kj km ke 0 f x / y ( i a ( t), i b ( t), i c ( t), x ( t) ) = c k =a i k ( t) 5 k d k ( t) 5x ( t) c f k ( i k ( t), x ( t) ) = M d2 x ( t) dx ( t) +B k =a dt 2 v dt = + f l ( t) (2) : f x/ y ; f l ( t) ; M B v [ 3 ], L a =L ls +L o +L cos 2 s x / y L b =L ls +L o +L cos 2 s x / y - 2 /3 L c =L ls +L o +L cos 2 s x / y - 4 /3 L o = 0 d 2 N 2 z L 0 d 2 N 2 z, (3), (4), (5) - q, (6) q (7) : L ls ; N ; z ; ; d q
24 13 4 411,,, 4, Z, 4 ( a) 4 ( b),,,,, ( 8 A ), /, ( 3mm 9 mm ), ( 9 A ),,,, [ 5 ] 4 4 Ana lysis of m utua l inductance 412 41211 ( Y ),, Y, 5,, 0155 mm 0160 mm 41212 (X ), 6 41213 Z Z X,, X Z : X Z,,, Z X,, Z X Z, X = 3 mm Z = 0 mm
1 25 1 mm Z = 6 mm,, 7 7, Z : Z = 0 mm Z = 6 mm,, Z, Z = 3 mm 10 A, 215 N, X 715%, Z K 1 K s h (x, f 3 ) (K P +K 2 ) 2M K P ; = M K D [B v +K 1 K s K D h (x, f 3 ) ] ; f 3 K 1 K 2, K 1 K 2 K s h ( x, f 3 ) µ M s 2 +B v s, E ( s) R ( s) = K 1 K 2 K s h (x, f 3 ) M s 2 + [B v + K 1 K s K D h (x, f 3 ) ]s + K 1 K s (K 2 + K P ) h (x, f 3 ) 2, 7 Z ( X = 3 mm ) 8 P ID 7 Z force d isar ity 8 D ua l2loo P ID osition con trol Z, 512 Z [ 2 ] dspace DS1104,, 250MHz, Z, PC I 2 24, Z, 6 12, X Z 9 10 khz, 5 511 P ID P ID, [ 2 ] P ID P ID 8,,, 8 K 1 K 2 C ( s) R ( s) = K 1 K s h (x, f 3 ) (K P +K D s) Ms 2 + [B v +K 1 K s K D h (x, f 3 ) ]s +K 1 K s (K 2 +K P ) h (x, f 3 ) = K ( s + n ) (8) s 2 + 2 n s + 2 n : K = K 1 K D K s h (x, f 3 ), M B v +K 1 K D K s h (x, f 3 ) = ; 2 M K 1 K s (K P +K 2 ) h (x, f 3 n = ) 2 khz [ 6 ] 9 9 Position con trol setu P ID K P = 15, K I = 015, K D = 0101; K 1 = 3, K 2 = 112 X, 30 mm, 015 Hz 1 Hz, P ID P ID 015 Hz, 10 ( a),
26 13 012 mm, 01667% 1 Hz, 013 mm, 10 (b), 1% P ID, X P ID, 10 ( c), 015Hz 01125 mm, 01417% ; 1 Hz, 01075 mm, 0125%, 10 ( d), P ID 10 P ID 10 Reson se under dua l2loo P ID con trol 11 P ID,, 12 ( a) 12 ( b) P ID,,, P ID, P ID ; 11 11 Tra jectory reson se of the PSRM
1 27 12 12 Tra jectory reson se of the PSRM under c ircle command 6,, P ID,, : [ 1 ] CHEUNG N C, PAN J F, YANG J M. Two dimensional variable reluctance lanar motor: U. S., 7170203 [ P ]. 2007-1 - 30. [ 2 ] PAN J F, CHEUNG N C, YANG J M. H igh2osition control of a novel lanar switched reluctance motor [ J ]. IEEE Transactions on Industrial Electronics, 2005, 52 (6) : 1644-1652. [ 3 ] L IU C T, KUO J L. Exerimental investigation and 32D modeling of linear variable2reluctance machine with magnetic2flux decou led windings [ J ]. IEEE Trans. on M agnetics, 1994, 30 ( 6 ) : 4737-4739. [ 4 ] M ILLER T J E. Sw itched reluctance m otor and their control[m ]. Oxford: Magna Physics Publishing and Clarendon Press, 1993. [ 5 ]. [M ]. :, 1995. [ 6 ] PAN J F, CHEUNG N C, YANG J M. Position control of a novel lanar switched reluctance motor [ C ] / /30 th Annual Conference of IEEE Industrial Electronics Society, Busan, Korea, Nov. 2-6, 2004: 2400-2405. ( : )