Research On Position-sensorless Mover Position Identification Of The Planar Switched Reluctance Motor

The planar switched reluctance motor(PSRM)has many advantages,such as direct drive,simple structure,long stroke,high accuracy,high reliability and strong resilience to harsh environment.It has shown great application prospects in the advanced manufacturing fields such as semiconductor manufacturing equipment.At present,the PSRM uses position sensor to detect the position of the mover,which improves the cost,reduces the high reliability and environmental adaptability,and seriously hinders its application and development in the advanced manufacturing field.Therefore,position-sensorless identification algorithm of the PSRM based on sliding mode observer is studied.It is of great theoretical and practical significance to provide a new method for the PSRM and to further promote the industrial application of the PSRM.The main research work described as follows.The basic structure of the PSRM is given.The working principle of the PSRM is described.The voltage balance equation,the electromagnetic force equation and the kinematic equation of the PSRM are established,and the control system of the PSRM is constructed.A sliding mode observer for the PSRM is designed by sliding mode variable structure theory.The current of the PSRM is calculated by the mathematical relationship of the flux linkage,the inductance and the position of the motor.Applying a proportional-integral(PI)control algorithm to adjust the calculated motor current in real time.The position of the motor is identified by the designed sliding mode observer and the adjusted current.Based on Lyapunov stability theory,the stability of position-sensorless identification algorithm based on sliding mode observer for the PSRM is discussed.The simulation model of the position-sensorless identification algorithm based on sliding mode observer is set up in MATLAB/Simulink using voltage and current of the PSRM obtained by experiment and PD control algorithm.Based on the dSPACE loop simulation platform,position-sensorless identification experiment platform for the PSRM is built.An experimental study on the proposed algorithm is carried out using PD control algorithm in the experiment platform.The simulation results of the position-sensorless identification algorithm for the PSRM show that under the sine motion of 50 mm amplitude and 0.1Hz frequency,real-time identification of the X-axis and Y-axis mover positions of the motor was realized.The position error of the X-axis mover position and the actual mover position in the range of-2.7166 mm to 2.7104 mm was identified.The error between the position of the mover and the position of the actual mover on the Y-axis is within the range of-2.8612 mm to 2.7938 mm.The experimental results of the position-sensorless identification algorithm for the PSRM show that under the sine motion of 50 mm amplitude and 0.1Hz frequency,the real-time identification of the X axis and Y axis position of the motor is realized,and the X axis position error between the identified mover postion and the actual mover position is within the-2.2392mm~1.7853 mm range,the Y axis position error between the identified mover postion and the actual mover position is within the-2.3648mm~2.5347 mm range.Under the sine motion of 50 mm amplitude and 0.1Hz frequency,the position of mover identified by the simulation system and the experimental system is consistent.Simulation and experimental results verify the effectiveness of the proposed position-sensorless identification algorithm for the PSRM based on sliding mode observer.