高加速精密直线电机运动平台键合图建模与分析

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孙立宁, 李腾, 刘延杰. 高加速精密直线电机运动平台键合图建模与分析[J]. 机器人, 2011, 33(4): 467-474.. SUN Lining, LI Teng, LIU Yanjie. Modelling and Analysis of a High Acceleration and Precision Linear Motor Direct Drive Motion Stage with Bond Graph Approach. ROBOT, 2011, 33(4): 467-474..

摘要针对高加速度精密直线电机运动平台的特点，在宽频范围内对其进行了全局耦合动力学建模和分析．利用键合图法建立了包括电机、机械部分并考虑柔性连接和系统非线性摩擦作用的运动平台全局耦合动力学模型，基于建立的模型利用Matlab/Simulink仿真语言分析了电机的机械时间常数、电气时间常数、摩擦以及螺栓连接对系统响应性能的影响．所建模型及分析结果体现了此平台基本特征及进行系统分析和控制器设计时需考虑和可忽略的各种影响因素，为电机选型、系统搭建、轨迹规划及控制算法设计提供依据．

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	孙立宁
	李腾
	刘延杰

关键词 ：直线电机, 运动平台, 键合图, 高加速度, 高精度

Abstract：According to the characteristics of high acceleration and precision linear motor direct drive motion stage,global coupling dynamic modeling and analysis are performed in a wide bandwidth.The bond graph approach is used to build the global coupling dynamic model of motion stage,in which electrical parts,mechanical parts,flexible connection,and nonlinear friction in the system are considered.Based on the model,the influence of motor mechanical time constant,electrical time constant,friction and bolted connection on the system response performance are analyzed by Matlab/Simulink simulation language.The proposed model and analysis results reflect the basic features of this stage and influen'cing factors that can be ignored or need to be considered in system analysis and control.It lays a foundation for motor selection,system construction, trajectory planning and control algorithms design.

Key words： linear motor motion stage bond graph high acceleration high precision

收稿日期: 2010-09-13 录用日期: 2010-12-15

TH-39

基金资助:国家自然科学基金资助项目（50705027）；国家科技重大专项资助项目（2009ZX02021-003）；国家973计划资助项目（2009CB724206）；长江学者和创新团队发展计划资助项目

通讯作者: 李腾 E-mail: liteng_ha@126.com

作者简介: 孙立宁（1964- ），男，博士，教授．研究领域：高速高精度机构，微驱动及微操作机构等．
李腾（1982- ），女，博士生．研究领域：直线电机驱动运动系统的建模与控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I4/467

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