【作者】 王先逵； 石忠东； 陈定积； 吴丹；

【Author】 Wang Xiankui, Shi Zhongdong, Chen Dingji, Wu DanDepartment of Precision Instruments & MachnologyTsinghua University, Beijing, 100084, China

【机构】 清华大学精密仪器与机械学系制造工程研究所；

【摘要】 直线电机直接驱动系统的优势在于取消了“旋转电机+滚珠丝杠”构成的传统直线运动装置的中间传动环节,与此同时,也对直线电机伺服单元提出了更为严格的要求。本文分析了影响直接驱动永磁交流直线电机伺服单元控制精度的相关因素,提出了提高定位精度的相关措施和方法,主要包括:直线电机电磁结构的优化设计,以减小端部效应和齿槽效应对推力平稳性的影响;基于32位浮点数字信号处理器(DSP)和可编程逻辑器件(CPLD)的全数字伺服控制器的硬件结构,以提高处理能力、位置/速度解算精度和电流控制精度;以及基于扰动观察器和内部模型辨识的控制算法,以克服来自外部的扰动和来自直线电机本身的参数变化。更多还原

【Abstract】 Compared with the traditional linear motion system consist of "Rotating Motors plus Ballscrew", the advantage of Direct-drive Linear motors is the eliminating of the power transmission chain. However, it also increases the difficulties on controlling. This paper analyzes the factors which influencing the control precision of direct-drive PMLSM servo unit, suggests some methods to improve its performance. These methods can be divided into three major aspects: First, the optimization design of the electromagnetism of PMLSM to smooth the thrust force by decreasing end effect and cogging. The advanced hardware of digital servo controller based on 32 bits floating point DSP and CPLD to enhance the capacity of processing, the accuracy of position/velocity feedback, and the precision of current control. The effective control algorithm based on disturbance observer and realtime parameter recognition to resist the disturbance from outside and the deviation of PMLSM parameters.更多还原