垂直运动的定子绕组不连续永磁直线电机运行稳定控制

This work is devoted to the stabilization of vertical permanent magnet linear motor with stationary discontinuous armature, where the focus is on destabilizing phenomenon issue results from frequent switching of the stator armature winding, non-uniform air-gap, detent force and winding interturn short circuit. The main contents include as follows: 1) The varying of disturbances and feature vector acquisition algorithms close to instability are studied, which contains power angle measurement methods based on non-direct measurement technology, measurement methods of air-gap varied value, thrust fluctuations and mover position in long-distance running, and signal extraction methods of the motor windings open-circuit and interturn short circuit. 2) The model of the permanent magnet linear motor and the stability are considered. The mainly issues are focused on the functional relationship between the cogging force and mover position, the functional relationship between the motor air gap and mover position and thrust force, and determination of the motor stable residue (stability). 3) The stability control strategy of permanent magnet linear motor is addressed, which mainly focus on self-learning and self-adaptive feed forward compensation algorithm for the force ripple suppression, out-of-step prevention control analysis model and advance protection strategies after lose stability. This work is devoted to establishing stable operation control theories and methods for vertical permanent magnet linear motor. The results can provide theoretical support for the motor and industrial applications.

针对垂直运动的定子绕组不连续永磁直线电机在运行过程中，存在定子电枢绕组频繁切换、气隙不均匀、磁定位力、绕组匝间短路等扰动，引起推力波动导致电机失去稳定的问题，开展该电机的运行稳定控制理论与方法研究。主要内容有：1）永磁直线电机运行失稳前后各种扰动量的变化规律及其特征量获取算法研究：基于非直接测量技术的电机功率角测量方法，长距离运行过程中电机的气隙变化量、推力波动量及位置的测量方法，电机绕组断线与匝间短路信号的提取方法；2）永磁直线电机稳定性分析及模型研究：磁定位力与位置之间的函数关系，电机气隙、位置、推力三者的函数关系，电机的稳定余量（稳定度）确定；3）永磁直线电机运行稳定控制策略研究：抑制电机推力波动的自学习自适应前馈补偿算法，失步预防控制模型，以及电机失去稳定后的超前保护策略。建立一套垂直运动的永磁直线电机运行稳定控制理论与方法，为该电机的研究和工业应用提供理论支持。

本课题主要是针对垂直运动的定子绕组不连续永磁直线电机在运行过程中，存在的电磁推力波动及其导致电机失去稳定的问题，开展该电机的运行稳定控制理论与方法研究。 经过一年的研究，圆满完成预定任务，主要成果有：. （1）得到垂直运动的定子电枢绕组不连续永磁直线电机失去运行稳定前后各种扰动量的变化规律及其特征量获取方法，包括基于非直接测量技术的电机功率角测量方法，长距离运行过程中电机的气隙变化量、推力波动量及位置的测量方法等。. （2）建立了永磁直线电机稳定性分析数学模型，得到了直线电机的运行位置、推力波动二者之间的函数关系。. （3）建立基于模糊神经网路的永磁直线同步电机的失步预防控制模型和稳定运行控制策略，以及基于迭代算法的长行程永磁同步直线电机推力波动抑制策略。该课题的研究成果，为垂直运动的永磁直线电机运行稳定控制研究，以及直线电机驱动垂直运输系统的工业应用提供一定的理论支持。