Research On The Control System Of Stator Excitation Hybrid Magnetic Circuit Linear And Rotary Permanent Magnet Motor

In recent years,with the rapid development of intelligent equipment systems,the demand for high-precision,highly reliable,and highly stable linear rotation two degree of freedom drives has become increasingly urgent.The stator excitation hybrid magnetic circuit linear and rotary permanent magnet(SEHMC-LRPM)motor is a new type of linear and rotary two degree of freedom motor that combines the characteristics of a switched reluctance motor and a flux switched permanent magnet linear motor.It can achieve linear,rotary,and helical motion,optimize system dynamic performance,effectively reduce system volume and weight.The advantages of extended maintenance cycle and high positioning accuracy have broad potential application prospects in multidimensional CNC machine tools,automotive gearboxes,industrial robots,and other fields that require high-precision linear rotation with two degrees of freedom.However,due to the complex electromagnetic structure and protruding magnetic field coupling effects,the parameters of the air gap flux,inductance,electromagnetic torque,and thrust of this type of motor often vary nonlinearly with the operating conditions,making it difficult to coordinate the control of linear and rotational motion during spiral motion.Traditional single degree of freedom motor control algorithms cannot adapt to their multi-mode variable operating conditions.Therefore,this paper focuses on the structural characteristics of this type of SEHMC-LRPM motor,analyzes its electromagnetic characteristics and magnetic field coupling effect,and proposes a stator excitation hybrid magnetic circuit linear rotating permanent magnet motor multi operating condition drive control system.The research content of the paper mainly includes the following aspects:1)The research background and significance of the project were introduced,and the current research status of the body design and control strategies of different structural types of linear and rotary motors was elaborated.Considering the coupling characteristics of magnetic field and mechanical motion of SEHMC-LRPM motor on its driving control,this paper summarizes the current research status of coupling disturbance suppression methods;On this basis,the research content of this topic has been clarified.2)A detailed analysis was conducted on the topology and operating principle of the SEHMC-LRPM motor,and a decoupled equivalent magnetic circuit model was constructed for this type of motor.The mixed magnetic circuit characteristics of this type of motor were discussed.Based on the 3D finite element method,the coupling characteristics of the hybrid magnetic circuit were analyzed,revealing the relationship between the two degree of freedom magnetic field and the magnetic field distribution of the motor,as well as the no-load and load characteristics.On this basis,combined with bearing rotor dynamics,the influence of motor motion coupling characteristics on torque and thrust was explored.3)Based on the mathematical models of traditional switched reluctance motor and flux switched permanent magnet linear motor,combined with the magnetic circuit coupling characteristics and motion coupling characteristics of the motor,the SEHMCLRPM motor is mathematically modeled.Based on current chopping control,angle position control,and field oriented control,a multi operating mode drive control system for the SEHMC-LRPM motor is constructed considering the characteristics of multiple operating modes.4)Combining the motion coupling characteristics of SEHMC-LRPM motors and considering the problems of quasi resonant linear active disturbance rejection control(QR-LADRC)in the application of SEHMC-LRPM motors,a distortion free QR-LADRC decoupling control strategy is proposed.The combination design method of ADRC and resonance controller is discussed,the advantages and disadvantages of six composite pattern are analyzed,and the QR-LADRC controller is optimized,which effectively reduces the dynamic position error,speed fluctuation,etc.caused by the coupling of SEHMC-LRPM motor.5)A simulation control model of SEHMC-LRPM motor was built based on MATLAB/Simulink,and an experimental platform was constructed using the RTUnit204 semi physical simulation system of Nanjing Ruitu Youte Technology Co.,Ltd.to conduct research on the coupling characteristics of SEHMC-LRPM motor and multi operating condition drive control,respectively,to verify the effectiveness of the proposed control strategy.