基于动态坐标系的无轴承永磁薄片电机悬浮力建模及控制∗

摘要

Specific to eccentric displacement of bearingless permanent magnet slice motor ( BPMSM), dynamic coordinate system of rotor eccentric displacement was build up. The direction of maximum eccentricity was defined as the horizontal direction. Under the coordinate system, a radial suspension force model was deduced with Maxwell stress tensor method. Based on the model, a direct control method for rotor eccentric displacement was proposed and the controller was also designed. Simulation tests of start-up and step response were implemented in MATLAB. Preliminary experiments were implemented on the prototype. The simulation and experimental results showed that modeling and controlling with this method, the rotor had a good stability, and the motor had good dynamic and static characteristics. The validity of the control method was verified.%对无轴承永磁薄片电机( BPMSM)运行过程中产生的偏心位移，以最大偏心方向作为横坐标方向，建立转子偏心的动态坐标系。在该坐标系下采用麦克斯韦应力张量法建立径向悬浮力数学模型。在该模型基础上，提出一种针对转子偏心位移的直接控制策略，设计相应控制器；在MATLAB环境中对BPMSM进行了起动、阶跃响应等仿真试验，并进行了初步试验研究。仿真及试验结果表明采用这种方法进行建模和控制，电机转子能够稳定悬浮，电机具有良好的动、静态特性，验证了控制方法的有效性。