Position Detection Method for Linear Motor Based on Cascaded Delay Filter and Multiple Magnetoresistive Sensors
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摘要:
为提高初级分段绕组直线电机动子位置的检测精度，减小谐波磁场及温度等因素在磁阻传感器输出信号中的直流偏置与谐波干扰，对基于频率自适应级联延时信号滤波器的位置检测方法进行研究. 首先，设计一种频率自适应级联延时信号滤波器，通过将输入信号延时以及滤波器级联，实现对直流偏置及多阶次谐波扰动的抑制，以解决传统方法需预先确定谐波阶次及邻近主频干扰所引起的滤除效果欠佳的问题；其次，结合三型锁相环技术，对滤波后的信号进行正交锁相，实现电机磁极角度和动子位置信息的同步提取；最后，搭建初级分段绕组直线电机实验平台，对所提方法的滤波性能与位置检测精度进行验证. 研究结果表明：该滤波方法能在不依赖电机模型的前提下有效抑制接近主频的谐波电压及直流偏置；且在复杂的谐波干扰工况下，相较于传统滤波器与锁相环结合的检测方案，使得直线电机动子位置的估计误差降低了68.75%.
Abstract:To improve the detection accuracy of the mover position of a primary segmented winding linear motor and reduce the direct current (DC) bias and harmonic interference introduced into the output signals of magnetoresistive sensors by harmonic magnetic fields, temperature variations, and other factors, a position detection method based on a frequency-adaptive cascaded delayed signal filter was investigated. First, a frequency-adaptive cascaded delayed signal filter was designed to suppress DC bias and multi-order harmonic disturbances by introducing signal delay and cascading the filters, thereby addressing the limitations of traditional methods, which required prior knowledge of harmonic orders and showed poor filtering performance for interferences near the fundamental frequency. Second, combined with type-Ⅲ phase-locked loop technology, quadrature phase locking was performed on the filtered signals to achieve synchronous extraction of the motor’s magnetic pole angle and mover position information. Finally, an experimental platform for the primary segmented winding linear motor was established to verify the filtering performance and position detection accuracy of the proposed method. The research results indicate that the proposed filtering method can effectively suppress harmonic voltages near the fundamental frequency and DC bias without relying on a motor model; under complex harmonic interference conditions, compared with the detection scheme combining traditional filters and phase-locked loops, it reduces the estimation error of the mover position of the linear motor by 68.75%.
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图 1 磁阻传感器检测阵列安装位置示意
Figure 1. Schematic diagram of installation position of magnetoresistive sensor detection array
图 2 直线电机动子位置检测及输出电压示意
Figure 2. Schematic diagram of position detection and output voltage of linear motor mover
图 5 不同阶次DSC滤波器幅频响应曲线
Figure 5. Amplitude-frequency response curves of DSC filters with different orders
图 8 不同CDSC谐波抑制效果对比
Figure 8. Comparison of harmonic suppression effects of different CDSCs
图 11 基于CDSC的直线电机动子位置检测算法总框图
Figure 11. Overall block diagram of position detection algorithm for linear motor mover based on CDSC
图 14 磁阻传感器电压谐波抑制效果
Figure 14. Suppression effect of voltage harmonics of magnetoresistive sensor
图 15 传统反正切算法电机动子估计位置和检测误差
Figure 15. Estimated position of motor mover by traditional arctangent algorithm
图 16 CDSC-PLL算法电机动子的估计位置与检测误差
Figure 16. Estimated position and measurement error of motor mover by CDSC-PLL algorithm
图 17 采用自适应陷波器的电压信号FFT分析结果
Figure 17. FFT analysis results of voltage signal using adaptive notch filter
图 18 采用陷波器算法的电机动子位置检测误差
Figure 18. Position detection error of motor mover using notch filter algorithm
图 19 电机变频率运行工况下角度观测值
Figure 19. Angle observation values under variable-frequency operating conditions of motor
图 20 电机变频率运行工况下Ⅱ-PLL + CDSC方案动子位置检测误差
Figure 20. Position detection error of mover by Ⅱ-PLL + CDSC scheme under variable-frequency operating conditions of motor
图 21 电机变频率运行工况下Ⅱ-PLL + CDSC方案估计频率与真实频率对比
Figure 21. Comparison between estimated frequency and actual frequency of Ⅱ-PLL + CDSC scheme under variable-frequency operating conditions of motor
图 22 电机变频率运行工况下直接微分 + CDSC方案动子位置检测误差
Figure 22. Position detection error of mover by direct differentiation + CDSC scheme under variable-frequency operating conditions of motor
图 23 电机变频率运行工况下Ⅲ-PLL + CDSC方案估计频率与真实频率对比
Figure 23. Comparison between estimated frequency and actual frequency of Ⅲ-PLL + CDSC scheme under variable-frequency operating conditions of motor
图 24 电机变频率运行工况下Ⅲ-PLL + CDSC方案动子位置检测误差
Figure 24. Position detection error of mover by Ⅲ-PLL + CDSC scheme under variable-frequency operating conditions of motor
表 1 CDSC III-PLL滤波器各项参数
Table 1. Parameters of CDSC III-PLL filters
参数 ωn/（rad·s−1） p r Ts（s） h 取值 45 5 5000 0.0001 0.008 
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