径向双绕组直线旋转开关磁阻电机基础理论与关键技术研究

The linear-rotary motor (LRM) can achieve a hybrid motion including rotation and linear motion simultaneously, thus it has several advantages such as compact structure, high-precision control, and high reliability. Therefore, LRMs can be ideally suited for the multi degree-of-freedom (DOF) driving application. In order to take full advantage of switched reluctance motors (SRMs), this project focuses on a novel linear-rotary switched reluctance motor (LRSRM) with a special winding configuration, which has compact structure, simple control, superior performance and good fault-tolerant ability. The main contents are summarized as follows. Firstly, the influence on the electromagnetic field caused by the radial dual-winding configuration is studied to facilitate the electromagnetic analysis and machine design. Secondly, based on the analysis of the coupling mechanism between the torque and axial force, the mathematical model of LRSRMs is developed, which is necessary for the motor control. Thirdly, in order to improve the system performance, the flux-linkage control is studied, and the direct-control concept is also employed to reduce the torque ripple and axial-force fluctuation. Finally, the mathematical model and operation principle are investigated when winding fault occurs in LRSRMs, which can improve its fault-tolerant ability. Accordingly, the compensation strategy of the torque and axial force is proposed so that the rotation and linear motions can work well even when winding fault occurs in LRSRMs. In summary, this project is aiming at establishing the design theory, analytical method and control law for LRSRMs in 2-DOF driving applications. As a result, the advantages of conventional SRMs can be greatly inherited and developed in LRSRMs, which can further enhance its particular competitiveness in multi-DOF applications.

直线旋转电机（LRM）具有结构紧凑、控制精度高、系统可靠性好等优点，在多维驱动领域具有重要的应用前景。本项目以充分利用开关磁阻电机（SRM）的优点为目标，结合两自由度运动的功能需求，研究结构紧凑、控制简单、性能优越、容错性强的直线旋转开关磁阻电机(LRSRM)，具体内容包括：研究径向双绕组配置方式对电磁场耦合作用影响机理，探明该类电机电磁分布特征和本体结构设计规律；建立转矩和轴向力数学模型，揭示二者耦合机理及其协调控制方法；研究磁链控制对电机性能的影响机制，提出基于直接控制思想的转矩和轴向力脉动的有效抑制方法；探索绕组故障运行时的电磁力分布变化规律，提出转矩和轴向力补偿控制策略，探明LRSRM容错运行时的性能优化控制机理。本项目旨在建立SRM应用于两自由度驱动领域的设计理论、分析方法和控制规律，对于拓宽SRM应用领域、提升LRM在多维驱动领域的竞争力具有重要的理论意义和工程应用价值。

直线旋转开关磁阻电机(LRSRM)是集旋转电机、直线电机控制技术于一体的两自由度电机。其具有结构简单，系统集成度高，功率密度高，适用性广等优点，为工业机器人、火炮转台、雷达跟踪等领域提供了新的研究方向。本项目以径向双绕组6/4极LRSRM为研究对象进行系统、深入的研究。具体研究成果包括：获得了LRSRM本体结构的理论模型，掌握了电磁特性分析方法，获得了转矩与轴向力的分布特性，揭示了多自由度开关磁阻电机（SRM）工作原理与控制规律；研究了一种适用于旋转与直线运动的控制策略，掌握了电流解算的方法，提升了电机的运行性能；针对运动过程中的转矩脉动与轴向力波动，研究了一种直接转矩与直接轴向力控制策略，并对算法进行相应优化，为LRSRM中直接控制思想的进一步发展提供了理论依据；研究了一种不依赖于数学模型解算的直线运动控制算法，揭示了电机旋转与直线运动的运行规律，完善了多自由度运动的理论研究体系；研究了适用于两自由度运动下的高集成化功率变换器拓扑以及相应的控制策略，为实现多自由度SRM系统化、集成化应用奠定了基础。本项目的研究对于提高我国在多自由度电机领域的创新能力以及技术的发展有着重要意义。

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