开关磁阻式平面电动机及其控制

该文提出了一类新颖结构的平面电动机，这类电动机采用开关磁阻电动机的工作原理，结构简单、适用性强，可产生直接驱动的平面运动；在对平面电动机特性分析的基础上，进行了速度自抗扰控制研究；采取的特殊结构使半面电动机两个方向的运动解耦，使平面电动机的平面运动控制等效为两个直线电动机的运动控制；利用扩张状态观测器对扰动的观测和补偿，实现了速度的自抗扰控制；在进行控制器设计时，采用力分配函数的方法，即减小了纹波推力扰动，又使控制器的设计简单和易于实现；实验结果验证了所用方法的可行性和有效性。

THE CONTROL OF THE SWITCHED RELUCTANCE PLANAR MACHINE

This paper presents a novel 2D switched reluctance (SR) planar motor. The planar motor can drive the X-Y table directly. It is decoupled between the X-axis and X-axis owing to the special structure. This feature enables that the motion control of 2D planar motor can be reduced order to the motion control of two linear motor. The auto disturbance rejection controller (ADRC) is applied to control the speed of 2D planar motor. The disturbance is observed through the expending state observer (ESO) and is compensated by the nonlinear state error feedback control law (NLSEF). The force distribution function is used in the design of controller and makes the design of multiphase switched reluctance as single phase switched reluctance. The force ripple is reduced and the controller is implemented easily. The feasibility and effect of the control strategy are testified by the experimental result.