直线电机数学模型.pptxVIP

Dynamic models of the linear motor 2013.11Adaptive robust precision motion control of linear motors with negligible electrical dynamics: theory and experiments(2001)The linear motor considered here is a current-controlled three-phase epoxy core motor driving a linear positioning stage supported by recirculating bearings.The mathematical model of the system can be described by the following equations:where y represents the position of the inertia load,M is the mass of the inertia load plus the coil assembly, u is the input voltage to the motor,F is the normalized lumped effect of uncertain nonlinearities such as the friction , ripple forces , and external disturbance (e.g., cutting force in machining).Cogging force and ripple forceCogging force is a magnetic force developed due to the attraction between the permanent magnets and the iron cores of the translator.It depends only on the relative position of the motor coils w.s.t the magnets, and is independent of the motor current.Thus, this force can be described as a position-dependent function .If the permanent magnets of the same linear motor are all identical and are equally spaced at a pitch of P, then is a periodic function with a period of P, i.e. Ripple force is developed due to the periodic variation of the force constant; when the position of the translator (or load) change, the winding self-inductance varies, which in turn results in the variation of the force constant.Thus, when current flow through the coils, a position-dependent periodic force is resulted.A simple and often adequate approach is to regard friction force as a static nonlinear function of the velocity, i.e., , which is given by where B is an equivalent viscous friction coefficient of the system, is the nonlinear friction term which can be modeled as where is the level of static friction, is the minimum level of Coulomb friction, and are empirical param