A method for initial phase positioning of the mover of a maglev planar motor

A planar motor and positioning method technology, applied to the phase angle between voltage and current, measuring electrical variables, instruments, etc., can solve problems such as errors and inability to measure the rotation angle of the maglev platform, and achieve precise positioning and improve positioning accuracy. Effect

Inactive Publication Date: 2017-04-26
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0003] The patent [CN 101750187 A] proposes to measure the phase of the magnetic field at the centroid of the planar motor mover by arranging more than 4 Hall sensors at different positions in the planar motor mover, but this method has two defects: 1) It cannot measure the phase of the magnetic field in the initial state The rotation angle of the maglev platform, 2) Since the magnetic field distribution above the magnetic steel array is not ideal, there will be some errors in the measurement by this method, and it will take a period of time to obtain the accurate center-of-mass phase of the mover through Kalman filter learning

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  • A method for initial phase positioning of the mover of a maglev planar motor
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  • A method for initial phase positioning of the mover of a maglev planar motor

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[0037] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0038] see figure 1 , is a schematic diagram of the planar Halbach magnetic steel array, and the magnetic steel arrangement has the characteristics of periodic changes. 1, 2, 3, and 4 in the figure represent the installation positions of the four linear Hall sensors, and θ represents the rotation angle of the mover.

[0039] see figure 2 , above the Halbach array m The magnetic field in the z direction can be represented by the analytical model (18), where A represents the maximum amplitude of the horizontal magnetic flux intensity at the installation position of the linear Hall sensor, τ is th...

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Abstract

The invention discloses a magnetic suspension planar motor rotor initial phase positioning method. The method includes the steps: placing four Hall sensors at different positions of a magnetic suspension planar motor rotor; selecting three measured values of the lowest magnetic flux density as observed values by measuring the magnetic flux density of the positions of the sensors when a motor is static; calculating the magnetic field phase of a geometric center of the magnetic suspension planar motor according to a specific mathematical model according to a magnetic flux density distribution model on a magnetic steel array; positioning the initial magnetic field phase and the rotating angle of the geometric center of the planar motor rotor. According to the method, data acquisition of the sensors at a magnetic field peak value is avoided by adding a redundant sensor and reasonably arranging the sensors, and positioning precision is improved.

Description

technical field [0001] The invention belongs to the technical field of measurement and control, and in particular relates to a method for initial phase positioning of a mover of a maglev planar motor. Background technique [0002] The magnetic levitation planar motor can greatly simplify the planar motion mechanism, reduce the mass of motion, and realize high-speed precision motion with near zero friction and no wear. It is currently a hot spot in the research of large-stroke high-speed precision motion control systems. At present, research on maglev planar motors mainly focuses on motor design, motor control decoupling methods, and suppression of the end effect of the magnetic steel array. Certain results have been achieved, and even small batch production has been achieved. However, there is little research on the initial phase positioning of the maglev platform. Similarly, the initial phase detection method of the linear motor cannot be used in the maglev planar motor. F...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01R25/00
Inventor 周柔刚周云飞周才健涂骁
Owner HUAZHONG UNIV OF SCI & TECH
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