直驱型机电作动器中永磁容错电机非线性模型研究

针对直驱型机电作动器中永磁容错电机存在饱和凸极效应的特点,建立三相12槽10极永磁容错电机非线性数学模型。将电机绕组磁链分为定子电流和转子磁极产生的磁链两部分,把转子磁极产生磁链等效为随转子位置变化的等效电流产生磁链,将电感表示为绕组总电流函数。辨识电机非线性磁链模型,在此基础上得出永磁容错电机非线性模型参数,在Matlab/Simulink中建立永磁容错电机非线性数学模型,并进行仿真分析。最后,利用有限元法和实验验证永磁容错电机非线性数学模型的有效性。此模型可推广到其他永磁容错电机中,可以为永磁容错电机无传感器控制设计提供参考,对提高直驱型机电作动器可靠性很有帮助。

A Nonlinear Model of Fault Tolerant Permanent Magnet Motors in the Direct Drive Electromechanical Actuator

A nonlinear model of three phase 12-slot 10-pole fault tolerant permanent magnet motors was proposed considering magnetic saturation saliency.The total flux linkage can be separated into the flux linkage components produced by the stator current and the rotor permanent magnet.The flux linkage produced by the rotor permanent magnet can be expressed as the flux linkage produced by the equivalent current with respect to the rotor position angle.A function of the total winding currents was defined to express the inductance.A numerical nonlinear flux linkage model was developed with the identifiable parameters.After identifying out all the parameters,a nonlinear mathematical model of fault tolerant permanent magnet motor was built up in Matlab/Simulink and the performance was simulated.The model was verified by the finite element method and experiments,which can be extended to general fault tolerant permanent magnet motors and provide a foundation for the sensorless control of the fault tolerant permanent magnet motor.