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首页> 外文会议>International Symposium on Stability Control of Rotating Machinery(ISCORMA-4); 20070827-31; Calgary(CA) >MODELING AND NONLINEAR CONTROL OF A TOOTHLESS SELF- BEARING MOTOR
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MODELING AND NONLINEAR CONTROL OF A TOOTHLESS SELF- BEARING MOTOR

机译：无齿自轴承电动机的建模与非线性控制

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摘要

This paper presents developments in modeling and control for a toothless self-bearing motor (TSBM). The TSBM is a recently proposed type of permanent magnet synchronous motor that achieves radial bearing force and torque by control of four independent sets of three-phase windings. Toothless construction makes the proposed actuator ideal for precision servo applications due to the minimization of cogging torque. A reluctance network approach is taken to derive nonlinear force and torque expressions for the TSBM and these expressions are compared to their linearization. A three degree-of-freedom dynamic model is presented for which decentralized PID and nonlinear tracking controllers are derived. Simulations show that motion planning combined with nonlinear control has the potential to yield superior tracking performance and mitigate actuator saturation.
机译：本文介绍了无齿自轴承电动机（TSBM）的建模和控制方面的发展。 TSBM是最近提出的一种永磁同步电动机，其通过控制四套独立的三相绕组来实现径向轴承力和转矩。由于齿槽转矩最小，无齿结构使建议的执行器成为精密伺服应用的理想选择。采取磁阻网络方法来导出TSBM的非线性力和扭矩表达式，并将这些表达式与它们的线性化进行比较。提出了一个三自由度动态模型，该模型导出了分散的PID和非线性跟踪控制器。仿真表明，运动计划与非线性控制相结合，有可能产生出色的跟踪性能并减轻执行器的饱和度。

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