【作者】 张晓峰；

【导师】 徐永向；

【作者基本信息】 哈尔滨工业大学 ， 电气工程， 2025， 博士

【摘要】 绕组分段永磁直线同步电机(Winding Segmented Permanent Magnet Linear Synchronous Motor,WSPMLSM)由多个独立的定子单元构成初级,模块化设计使得故障单元能够迅速更换,提高了系统的可维护性;组合式设计为结构创新提供了广阔的扩展空间,有助于未来技术升级与功能扩展。因此,WSPMLSM被广泛应用在轨道交通、电磁弹射、工业运输和传送系统。由于其绕组分段特性,WSPMLSM通常以单段定子为控制单元,采用分段供电驱动策略,根据动子位置实时切换供电区段。本文以WSPMLSM为研究对象,提出了新的驱动策略,对功率变换电路拓扑、速度波动抑制以及开路故障容错控制方法进行深入研究。主要工作包括以下几方面:针对传统分段供电驱动策略中单段定子只能容纳一个动子以及未耦合绕组持续通电增加系统铜耗的局限性,本文提出了一种基于线圈独立控制的WSPMLSM驱动策略,推导了线圈工作状态判断公式和线圈电流指令计算公式,建立了基于该驱动策略的变参数WSPMLSM数学模型,揭示了模型中电磁参数随动子位置变化规律,理论分析线圈独立控制驱动策略可行性,通过仿真、实验的方式进行验证。为了解决线圈独立控制驱动策略下半桥功率变换电路中因零序电流引起的中点电压波动,进而导致速度波动问题,本文深入探究了半桥电路中点电压波动的机理,提出了一种通过增设辅助桥臂构造电压控制器的中点电压平衡策略,该电压控制器稳定性不受均压电容的影响。另外,将零序电流视为扰动,分析了扰动下控制器稳态误差,并研究了电压控制器参数整定方法。实验结果表明,采用该策略后能够有效将中点电压稳定在理想水平,从而大幅抑制了速度的波动。为了抑制由线圈切换、定子拼接、外部负载及动子质量变化引起的周期性和非周期性速度波动,本文在速度控制器中设计了具有滑模控制强鲁棒性和迭代学习控制抑制周期波动能力的并联结构控制器——滑模迭代学习控制器(Slid-ing Mode Iterative Learning Controller,SMILC)。文中分别设计了滑模控制器和基于滑模面的迭代学习控制器,并构造Lyapunov函数证明了SMILC的稳定性。实验结果表明,SMILC在空载和负载工况下均能迅速将速度波动抑制到极窄范围内,展现出优异的动态跟踪性能和对外部负载和动子质量变化的鲁棒性。针对线圈独立控制驱动策略下的绕组开路故障问题,本文根据故障线圈数量对开路故障类型进行了分类与深入分析。基于故障前后推力保持不变的原则,提出了针对不同数量故障线圈的开路故障容错控制方法。该方法通过重构健康线圈的电流,实现了在开路故障情况下,WSPMLSM控制系统仍能输出稳定推力。实验结果表明,无论在电流环模式还是速度闭环模式下空载或者负载工况,所提出的容错控制策略均能使系统运行效果接近正常状态,从而显著提升了系统的可靠性。更多还原

【Abstract】 The Winding Segmented Permanent Magnet Linear Synchronous Motor(WSPMLSM)is composed of multiple independent stator units forming the primary section.Its modular design enables the rapid replacement of faulty units,significantly improving system maintainability?the composite configuration offers vast potential for structural innovation,facilitating future technological upgrades and functional expansion.As a result,WSPMLSM is widely applied in rail transportation,electromagnetic launch systems,industrial conveying,and transmission systems.Owing to its segmented winding structure,WSPMLSM typically uses a single stator segment as a control unit and adopts a segmented power supply strategy that switches the energized section in real time according to the mover’s position.This paper focuses on WSPMLSM and proposes a novel drive strategy,conducting in-depth research on power converter topology,velocity ripple suppression,and open-circuit fault-tolerant control methods.The main contributions are as follows:To overcome the limitations of traditional segmented supply strategy—such as the restriction that one stator segment accommodates only one mover and the continuous energization of decoupled windings increases copper losses—this paper proposes a WSPMLSM drive strategy based on independent coil control.Formulas are derived to determine the operating state of each coil and compute current commands.A variable-parameter mathematical model of WSPMLSM based on this strategy is established,revealing how the electromagnetic parameters change with the mover’s position.The feasibility of the independent coil control strategy is theoretically analyzed and validated through simulation and experimental results.To address the issue of midpoint voltage ripple in the half-bridge converter under the independent coil control strategy—caused by zero-sequence currents and resulting in velocity ripple—this paper investigates the mechanism behind the ripple and proposes a midpoint voltage balancing strategy.This strategy introduces an auxiliary bridge arm to construct a voltage controller whose stability is unaffected by the voltage balancing capacitors.Additionally,the zero-sequence current is treated as a disturbance,and the steady-state error of the controller under such disturbance is analyzed.A tuning method for the voltage controller parameters is also provided.Experimental results confirm that the proposed strategy effectively stabilizes the midpoint voltage at the desired level and significantly suppresses velocity ripple.To suppress both periodic and aperiodic velocity ripple induced by coil switching,stator assembly,external loads,and variations in mover mass,a parallel-structure controller—Sliding Mode Iterative Learning Controller(SMILC)—is designed in the velocity control loop.This controller combines the strong robustness of sliding mode control with the periodic ripple suppression capability of iterative learning control.The paper separately designs a sliding mode controller and an iterative learning controller based on the sliding surface,and proves the stability of SMILC using a Lyapunov function.Experimental results show that SMILC effectively suppresses velocity ripple within a very narrow range under both no-load and load conditions,demonstrating excellent dynamic tracking performance and robustness against external disturbances and mover mass variations.Regarding the issue of winding open-circuit faults under the independent coil control strategy,this paper classifies and analyzes fault types based on the number of faulty coils.Based on the principle of maintaining constant thrust before and after the fault,open-circuit fault-tolerant control strategies are proposed for different fault cases.These methods reconstruct the current of healthy coils to ensure that the WSPMLSM system can still deliver stable thrust under open-circuit fault conditions.Experimental results indi-cate that,whether in current loop mode or speed closed-loop mode,and regardless of load condition,the proposed fault-tolerant control strategies enable the system to operate with performance close to its healthy state,significantly enhancing overall system reliability.更多还原