电磁悬架五相圆筒型容错永磁直线作动器控制关键技术研究

Electromagnetic suspension has indubitably become one of the most important trends for suspension. However, it suffers from the problems of low reliability and high energy consumption, which limit the practical applications. The project aims to build an electromagnetic suspension system with high reliability, dynamic performance and low energy consumption. A new five-phase tubular fault-tolerant linear permanent-magnet actuator will be adopted for electromagnetic suspension. Then, a united model of the proposed motor under the healthy and faulty conditions will be established. The optimal current will be obtained by minimizing the stator ohmic loss and thrust ripple based on mirror symmetry principle. The fundamental problem will be solved, which is related to the motor’s high performance operation under fault conditions, combined with fault-tolerant vector decoupling control strategy. Secondly, the electromagnetic parameters coupling and perturbation, the load character and disturbance are studied. Then, a novel adaptive integral sliding mode control strategy will be proposed to improve the dynamic performance and robust stability of the actuator. Thirdly, the relationship among the suspension parameters, vibration isolation control and regenerative control will be analyzed. Then, the coordinated control strategy of motor-generator will be studied to achieve the coordination between the vibration isolation control and regenerative control of suspension. Finally, the actuator and electromagnetic suspension test platform will be developed, and the experimental verification will be carried out. Meanwhile, the general control rules suitable for electromagnetic suspension actuator will be summarized. And also, it will provide a new scheme for the electromagnetic suspension actuator if the project is successful. Hence, the project is not only helpful for the vehicle development, but also has a very wild application prospect.

电磁悬架已成为悬架技术发展的重要方向之一，其可靠性和能耗等问题制约其走向实用。本项目旨在搭建高可靠性、高动力学性能、低能耗的电磁悬架系统，首次采用五相圆筒型容错永磁直线电机作为电磁悬架作动器。构建电机正常与故障统一模型；在电机铜耗和推力脉动最小前提下，基于镜像对称原理优化电机电流，结合容错矢量解耦控制策略，解决电机故障后高性能无扰运行的基础问题。探讨电磁参数耦合、摄动、负载特性及外部扰动对电机性能的影响，采用自适应积分滑模解耦控制策略，提高作动器动态性能和鲁棒稳定性。分析悬架参数与隔振控制及馈能控制之间的关系，研究作动器电动和发电协调控制策略，实现电磁悬架隔振和馈能的协调。搭建电机及电磁悬架实验平台，进行实验研究。总结适用于电磁悬架系统的该类电机一般性控制方法。本项目的研究成功将为电磁悬架作动器提供新方案，不仅具有重要的科学、经济和社会价值，而且具有十分广阔的应用前景。

电磁悬架技术是主动悬架技术发展的重要方向之一。本项目结合圆筒永磁电机和多相容错电机的优点，从电机本体和控制两方面来实现高可靠性、高动态性能以及低能耗的电磁悬架作动器系统。在圆筒永磁电机中引入容错齿，提出了五相圆筒容错永磁电机，在此基础上采用混合磁性材料以降低电机成本。尽管该电机具有较好的容错性能，但电机推力密度无法满足要求。为使电机具有较高的推力密度，引入磁齿轮思想，提出了双定子圆筒型磁场调制容错永磁电机。在控制策略方面，为提升电机高动态过程中的鲁棒稳定性，在滑模面中引入扰动观测器，以观测不匹配扰动，实现电机系统对不匹配干扰和匹配干扰具有鲁棒性；同时将反馈q轴电流融入速度控制器中，实现电机速度和电流的双重控制，确保电机速度快速跟随且无超调。为实现故障电机无扰在线切换的容错运行模式以及故障前后的稳态性能和动态性能相似，在磁动势相等原则下，基于非故障相电流幅值相等的原则，采用磁场重构技术，推导出降阶正交变换矩阵，提出了电机开路故障情况下的容错矢量控制策略；基于短路电流和反电势设计电压前馈补偿器以消除短路电流对电机推力脉动的影响，再结合降阶正交变换矩阵以改善电机相短路故障情况下的动态性能以及抑制推力脉动，提出了电机相短路故障情况下的容错矢量控制策略。探讨电机不同推力对悬架性能的影响以及馈能条件，以“天棚-地棚”混合控制策略为基础，将直线电机的作用力描述为簧载质量速度和非簧载质量速度的函数，以整车舒适性为目标，采用粒子群优化算法优化电机推力控制参数，进而实现电磁悬架的隔振与馈能的协调控制，降低了电磁悬架作动系统的能耗。