【作者】 邬清海；

【导师】 朱熀秋；

【作者基本信息】 江苏大学 ， 电力电子与电力传动， 2009， 硕士

【摘要】 磁轴承具有无摩擦磨损、无需润滑、转速高、精度高、寿命长等许多突出优点,在高速机床电主轴系统中具有潜在应用前景。磁轴承从根本上改变了传统的支承方式,为高速电主轴系统技术水平的提高创造了有利条件。由于目前国内外对磁轴承的研究多为主动的直流控制式磁轴承,而直流功放相对于逆变器成本较高。根据无轴承电机的原理,本课题组研究设计了新型的交流二自由度混合磁轴承和集径向、轴向控制于一体的交直流三自由度混合磁轴承,均采用交流功率逆变器提供径向控制电流。本论文工作是在国家自然科学基金项目“交流混合磁轴承支承高速机床电主轴系统研究”(50575099)和国家高新技术研究发展计划(863计划)项目“基于无轴承永磁同步电机的机器人伺服驱动系统”(2007AA04Z213)的联合资助下开展的。论文在研究五自由度交流混合磁轴承支承高速电主轴的整体结构的基础上,设计并优化了交流二自由度混合磁轴承和交直流三自由度混合磁轴承的机械结构和磁路结构;构建了五自由度交流混合磁轴承支承高速电主轴的数字控制系统;对高速机床电主轴的五自由度悬浮支承技术进行了基础理论和典型试验研究,具体研究内容如下:1.介绍了交流混合磁轴承系统的工作原理;在分析了几种典型磁轴承的结构和工作原理的基础上,阐述了交流混合磁轴承参数设计方法和步骤;设计了2种五自由度交流混合磁轴承支承的高速电主轴的机械结构。2.分别对用于高速电主轴悬浮支承的交流二自由度混合磁轴承和交直流三自由度混合磁轴承进行了结构设计和优化,采用等效磁路法对2种磁轴承的磁路进行了推算,导出了悬浮力计算公式及数学模型。依据数学模型,分别提出了交流二自由度混合磁轴承和交直流三自由度混合磁轴承的控制策略,给出了相关设计参数。采用仿真软件MATLAB对各自悬浮力的非线性和交叉耦合性特性进行了仿真分析;采用有限元分析软件ANSOFT对轴承的机械结构和磁路结构进行了计算分析,验证了结构设计的合理性和可行性。3.采用TI公司的TMS320F2812 DSP芯片作为五自由度交流混合磁轴承系统的数字控制器,设计了五自由度交流混合磁轴承的数字控制系统,研制了位移接口电路、DSP开发板、功率驱动电路等硬件电路;设计了相关软件,给出了相关的程序流程图。4.以交流二自由度混合磁轴承为研究对象,对五自由度交流混合磁轴承支承高速电主轴系统进行了典型试验研究,给出了试验调试的方法和步骤,开发设计了基于可视化窗口的VB调试界面;分别进行了起浮试验、稳定悬浮试验、抗干扰试验等;给出了相关的位移波形图和电流波形图,并对试验结果进行了分析,给出了试验结论,验证了理论的正确性。理论研究与实验结果表明:本论文设计的用于高速机床电主轴悬浮支承的五自由度交流混合磁轴承系统,结构设计合理、参数设计正确,构建的数字控制系统控制性能良好。更多还原

【Abstract】 Magnetic bearings have huge potential application foreground in the high-speed machine tool spindle system due to the advantages of no friction,in-gage,high-speed,high-precision,long service life,and so on.Magnetic bearings have changed the traditional supporting forms fundamentally,and created favorable conditions for improving the technological capability of high-speed machine tool spindle system.Because of the research of magnetic bearing at home and abroad is give first place to DC active magnetic bearings(AMBs) much at present,and the cost of DC power amplifiers is much higher than AC power converters.Be based on the principle of bearingless motor,our team have researched a new kind of AC two degrees of freedom hybrid magnetic bearing(HMB) and an innovated AC-DC three degrees of freedom hybrid magnetic bearing,which combine radial and axial hybrid magnetic bearings in a unit.This two kinds of magnetic bearings both use AC power converters to provide radial control current.This paper works is joint supported by National Natural Science Foundation of China project "Research on high-speed machine tool spindle system supported by AC hybrid magnetic bearing"(50575099) and National High Technology Research and Development Program of China (863 Program) project "Research on the application of bearingless permanent magnet synchronous motor in the robot-driven system"(2007AA04Z213).Based on the research of monolithic construction of high-speed electric spindle supported by five degrees of freedom AC hybrid magnetic bearings,the mechanical structure and magnetic circuit configuration of AC two degrees of freedom hybrid magnetic bearing and AC-DC three degrees of freedom hybrid magnetic bearing are designed and optimized.The digital control system of high-speed electric spindle supported by five degrees of freedom AC hybrid magnetic bearing is developed.The basic theory and typical tests of high-speed machine tool spindle system’s five degrees of freedom suspension supporting technology are researched.The detail contents are as follows:1.The working principle of AC hybrid magnetic bearing is introduced.Based on the configuration and working principle of several kinds of typical magnetic bearings are analyzed, the method of parameters design and design steps are presented.Two kinds of mechanical structure of high-speed electric spindle supported by five degrees of freedom AC hybrid magnetic bearings are designed.2.The configurations of AC two degrees of freedom hybrid magnetic bearing and AC-DC 3 degrees of freedom hybrid magnetic bearing are designed and optimized,respectively.The flux path of this two kinds of magnetic bearings are calculated by using equivalent magnetic circuit, the formulas and mathematics models of the axial and radial magnetic suspension forces are deduced respectively.Then based on the mathematics models,the control strategy of AC two degrees of freedom hybrid magnetic bearing and AC-DC three degrees of freedom hybrid magnetic bearing are proposed,respectively.The relatively design parameters are also given. Nonlinearities of suspension forces and cross coupling between different degrees of freedom are analyzed by using simulation software MATLAB.The mechanical structures and magnetic circuit configurations of this two kinds AC hybrid magnetic bearings are calculated and analyzed by using finite element analysis software ANSOFT,and the rationality and feasibility of configuration design are proved.3.To use the chip TMS320F2812 DSP of TI company as the digital controller of five degrees of freedom AC hybrid magnetic bearings system.The digital control system of five degrees of freedom AC hybrid magnetic bearings is designed.The hardware circuits are developed,such as displacement interface circuit,DSP development board,power driver circuit,and so on.The related software is designed,and related program flow charts are given.4.This paper takes the AC two degrees of freedom hybrid magnetic bearing as the object of study,the typical tests of high-speed electric spindle system supported by five degrees of freedom AC hybrid magnetic bearings are researched.The debugging methods and steps of tests are given. The VB debugging interface boundary based on visualization window is developed and designed. The floating test,static suspension test and disturbance test are carried out,and the correlatively displacement waveforms and current waveforms are given.The test results are analyzed,and the test conclusions are given.The validity of theory research is verified by the test results and conclusions.The results of theory research and test have shown that the configurations design are reasonable,parameters design are accurate,and control performance of digital control system is excellent for high-speed machine tool electric spindle supported by five degrees of freedom AC hybrid magnetic bearings.更多还原