中文摘要：

针对动圈式永磁平面电机无位置传感器控制起浮过程中出现的误差过大、抖动以及下降过程中撞击定子表面等问题,分析了在实时电流分配策略下动子的移动过程,提出了＂假气隙点＂概念,推导出了＂假气隙点＂位置与期望气隙点位置的数学关系表达式和动子起浮至期望气隙点和下降至零高度的时间计算积分公式,并给出了平稳起浮和下降控制策略。＂假气隙点＂现象表现为动子停留在零位置时,对线圈分配＂假气隙点＂恒定电流,在此电流驱动下动子运行至期望气隙点处速度为0;动子悬浮在期望气隙点位置时,对线圈分配＂假气隙点＂恒定电流,在此电流驱动下动子运行至零位置处速度为0。控制策略利用上述现象,通过切换电流使动子在零位置和气隙点之间平稳移动。仿真结果表明,动子运行误差、抖动很小,证明了控制策略的正确性。

英文摘要：

Aiming at the problem of excessive deviation and jitter in the process of floating and impacting stator surface in the process of descend in the sensorless control on moving-coil permanent-magnet planar motor,this paper analyzes the maglev up and down moving process under the control of real-time current distribution strategy,proposes the concept of ＂false air-gap point ＂,deduces the mathematical equation between the position of ＂ false air-gap point＂ and the desired air-gap position and the time calculation integral formula that when mover moves up to desired air-gap position and descends to zero altitude. The＂false air-gap point＂has two reflections.One is that when the mover stays at the zero position,the coil is assigned a ＂ false air-gap point＂ constant current and the speed of the mover running to the desired air-gap point is zero on the condition of the current drive. The other is that when the mover floats at the desired air-gap position,the coil is distributed ＂false air-gap point＂constant current and the speed of mover running to zero position is zero as the result of the current drive. The control strategy utilizes the phenomena mentioned above,and moves the mover smoothly between the zero position and the air-gap point by switching the current. The simulation result shows that the mover running deviation and the jitter are very small,which proves the validity of control strategy.