CN103166399A - Modular single-cage barrier rotor double-stator self-excitation synchronous motor and control method thereof - Google Patents

Abstract

The invention relates to a modular single-cage barrier rotor double-stator self-excitation synchronous motor. The motor is characterized in that an inner stator and an outer stator are arranged inside and outside a rotor; a three-phase symmetry armature winding and a single-phase symmetry exciting winding are arranged in slots of each stator, which are near the rotor; cage barrier rotor modules and a sleeve are combined through positioning slots to form a rotor of which inner and outer sides have salient pole types on each of the inner and outer surfaces of the rotor; a plurality of radial trapezoid-shaped slots are formed on the surface of the side of each cage barrier rotor module, which is near the stators and have multiple different step slot widths, and short circuit cage bars are arranged in the slots; a step-shaped opening is formed on a connection part of the adjacent cage barrier rotor modules; after the modules are spliced, common trapezoid-shaped slots are formed on connection parts of the spliced modules, gaps of bottoms of the slots reach the surface of the sleeve, and common cage bars are arranged in the slots; and the invention aims to provide the novel modular single-cage barrier rotor double-stator self-excitation synchronous motor which is convenient to process and manufacture, can realize stator-side self excitation, and has high reliability, and the excellent steady state and dynamic performance.

Description

The single cage barrier rotor double-stator self-excitation synchronous machine of modularization and control method thereof

Technical field:

The present invention relates to a kind of synchronous machine, particularly the single cage barrier of a kind of modularization rotor double-stator self-excitation synchronous machine.This motor both can have been done the motor operation, can make generator operation again.

Background technology:

The single cage barrier of modularization rotor double-stator self-excitation synchronous machine has 2 stators, the three-phase symmetrical excitation winding (or single-phase symmetrical excitation winding of the three-phase symmetrical armature winding of the 2q utmost point and the 2p utmost point) that single-phase symmetrical armature winding and the 2q utmost point of the 2p utmost point are arranged on each stator, and meet 2p-2q>=4, the coupling between double winding is by p _r=p+q realizes the rotor of utmost point particular design, therefore this kind of motor is without electric brush slip ring is installed, can realize energy converting between mechanical by the interaction in excitation winding magnetic field and armature winding magnetic field, compare with conventional synchronous machine that running reliability of motor is high, maintenance cost is low.The rotor structure that can be used for this kind of motor mainly comprises Wound-rotor type and the large class of reluctance type two.Wherein Wound-rotor type comprises individual layer concentric type short-circuited winding, the double-deck distributed winding of slot ripples; The magnetic resistance class comprises the radially lamination salient pole reluctance rotor with teeth groove, axial lamination reluctance rotor.

The advantage of coiling class rotor structure be manufacturing process and conventional electric machinery seemingly, shortcoming is the coupling of stator double winding to be take fully to sacrifice rotor winding copper loss be cost, and it is not good enough to stator double winding coupling ability, the dynamic property of motor is also poor, and the manufacturability of the double-deck distributed winding of slot ripples is not good enough.The advantage of magnetic resistance class rotor be on rotor without any copper loss, different to stator double winding coupling ability and processed complex degree.Radially lamination salient pole reluctance rotor with teeth groove is easy to processing, but not good enough to the coupling effect of stator double winding; Axially the coupling ability of lamination reluctance rotor is strong, but the manufacturing process complexity, application difficult in large-size stator double winding alternating current machine.In addition, the control system of conventional stator double winding alternating current machine is subject to uncertain parameters variation and disturbing influence greatly, has the shortcomings such as poor anti jamming capability.

Summary of the invention

Goal of the invention: the invention provides the single cage barrier rotor double-stator self-excitation synchronous machine of a kind of modularization and control method thereof, its purpose is to have proposed a kind of processing and manufacturing of both being convenient to, can make again each stator double winding coupling ability is realized maximizing, thereby there is novel modularized single cage barrier rotor double-stator self-excitation synchronous motor structure of high power density and good stable state and dynamic property, also greatly improved the Ability of Resisting Disturbance of this kind of alternating current machine simultaneously.

Technical scheme: the present invention by the following technical solutions:

The single cage barrier of modularization rotor double-stator self-excitation synchronous machine, mainly comprise internal stator, external stator, rotor, controllable direct current power supply, it is characterized in that: motor radially is followed successively by internal stator, rotor, external stator from inside to outside, internal stator is fixed together by the alignment pin in rotating shaft and rotating shaft, wherein on internal stator and external stator, all lay the single-phase symmetrical excitation winding of three-phase symmetrical armature winding and the 2q utmost point of the 2p utmost point, the number of poles of armature winding and the number of poles of excitation winding are also interchangeable, and all meet 2p-2q>=4; The rotor surfaces externally and internally all adopts p _rindividual identical cage barrier rotor module along the circumferential direction is combined into each surface and has p _rthe rotor of individual salient pole type, the sleeve that each cage barrier rotor module is made with non-magnet material by location notch near central side is connected; Each cage barrier rotor module has a plurality of radially dovetail grooves near the surface of stator, radially the dovetail groove spacing can equate also can not wait, each dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each dovetail groove and forms short circuit cage bar; Adjacent cage barrier rotor module joint is the notch cuttype gap, form pr public dovetail groove in its joint after the splicing of adjacent cage barrier rotor module, and the module gap depth of this trench bottom reaches sleeve surface always, each public dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each public dovetail groove and forms public cage bar; Public cage bar and short circuit cage bar adopt respectively the end conducting ring to be connected to form galvanic circle; Cage barrier rotor module center has many groups tangentially every magnetosphere, and the dovetail groove that embeds short circuit cage bar with both sides separately respectively is combined to form organizes radially lamination magnetic barrier, a plurality of magnetic layers of formation in cage barrier rotor module more.

Armature winding is connected with electrical network, and excitation winding is connected with controllable direct current power supply.

The notch place of placing the dovetail groove of public cage bar and short circuit cage bar has interior gap and embeds slot wedge; Public cage bar end link form can be: the end conducting ring all connects together the public cage bar both side ends with layer in public dovetail groove; Also the public cage bar of individual layer in public dovetail groove can be divided into to two parts, the public cage bar of two parts is connected by the end conducting ring with the public cage bar with layer in adjacent public dovetail groove respectively; Also the public cage bar of public dovetail groove ectonexine can be connected by the end conducting ring with the public cage bar of internal layer in one-sided adjacent public dovetail groove; Also can in adjacent two public dovetail grooves, place the multiturn coil conductor; Short circuit cage bar end type of attachment can be: centered by cage barrier rotor module radial symmetric line, the same layer short circuit cage bar end that both sides are corresponding is connected by conductor, forms and organizes independently concentric type annular galvanic circle more; Also outer short circuit cage bar can be connected by conductor with the internal layer short circuit cage bar of corresponding dovetail groove, form and organize independently chiasma type concentric type loop checking installation more; Also can place the multiturn coil conductor in layer dovetail groove at corresponding two, the many groups coil-conductor number of turn on same rotor module can be identical also can be different.

Cage barrier two ends of rotor is equipped with pressing plate, add insulator separation between pressing plate and rotor, be drilled with the location hole identical with cage barrier rotor position of positioning hole on pressing plate, the clamping screw that non-magnet material is made through whole location holes, utilizes nut to be fixed at the pressing plate two ends vertically.

Whole rotor is installed in public dovetail groove gap remaining after winding and module in magnetic barrier gap pourable high temperature resistant non-magnet material or is not built.

The control method of the single cage barrier of a kind of modularization as mentioned above rotor double-stator self-excitation synchronous machine, it is characterized in that: control mode adopts the PIMD control method to realize the rotating-speed tracking of the single cage barrier of modularization rotor double-stator self-excitation synchronous machine, its control thought is to have the characteristics of uncertain parameters variation and disturbing influence for the single cage barrier of modularization rotor double-stator self-excitation synchronous machine, utilize negative related method thereof, eliminate the uncertain noises signal time of delay by adjusting, and introduced H _∞control strategy, and then the robustness of raising system; Be specially: adopt armature winding dq coordinate system, the electromagnetic torque equation of the single cage barrier of modularization rotor double-stator self-excitation synchronous machine is

$T_e=\frac{3}{2}(p_p+p_c){\mathrm{\Ψ}}_{\mathrm{dp}}{i}_{\mathrm{qc}}=J\frac{{\mathrm{d\ω}}_r}{\mathrm{dt}}+{\mathrm{B\ω}}_r+T_1---\left(1\right)$

In formula, p _pand p _cthe number of pole-pairs that means respectively armature winding and excitation winding, Ψ _dpfor the d axle component of armature winding magnetic linkage, i _qcfor the q axle component of excitation winding electric current, ω _rfor rotating speed output, J is rotor mechanical inertia, and B is the rotary damping coefficient, T _efor total electromagnetic torque, T _lfor load torque.

Laplace transformation is carried out in formula (1) both sides, and the transfer function P (s) that can obtain nominal model is

$P\left(s\right)=\frac{1}{\mathrm{Js}+B}---\left(2\right)$

The transfer function of controller can be expressed as

$K\left(s\right)=\frac{U\left(s\right)}{E\left(s\right)}=K_p+\frac{K_i}{s}-K_d{e}^{-T_{d}s}---\left(3\right)$

In formula, E(or e) be error, U(or u) be the control inputs signal, K (s) is controller, K _p, K _i, K _dfor controlling parameter, T _dfor time of delay.

Formula (3) is carried out to the Laplace inverse transformation, can obtain

$u\left(t\right)=K_{p}e\left(t\right)+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}-K_{d}e(t-T_d)$

$=(K_p-K_d)e\left(t\right)+T_d{K}_d\frac{e\left(t\right)-e(t-T_d)}{T_d}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}---\left(4\right)$

$=K_{\mathrm{pn}}e\left(t\right)+K_{\mathrm{dn}}\·\frac{1}{T_d}{\∫}_{t-T_d}^t\stackrel{\·}{e}\left(t\right)\mathrm{dt}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}$

In formula,

the derivative of e (t) to time t; K _pn=K _p-K _d, and K _p>=K _d; K _dn=T _dk _d.

If contain a sinusoidal interference d who is caused by outside in error e (t), be

d＝Asin2πft (5)

In formula, A and f are respectively amplitude and the frequency of disturbing input d.When e (t)=d (t), by its substitution formula (4), second postpones can be write as

$\frac{1}{T_d}{\∫}_{t-T_d}^t\stackrel{\·}{d}\left(t\right)\mathrm{dt}=\frac{A}{T_d}[\sin 2\mathrm{\πft}-\sin 2\mathrm{\πf}(t-T_d)]---\left(6\right)$

If make T _d=N/f, wherein N is natural number, so

sin(2πft-2πfT _d)＝sin(2πft-2πN)

＝sin(2πft)cos(2πN)+cos(2πft)sin(2πN)

＝sin(2πft)

Formula (6) is zero, that is to say, as T time of delay _dwhile leveling off to N/f, formula (6) levels off to zero, therefore, and by adjusting T time of delay _d, the PIMD controller can be eliminated differential term and disturb input.

Add weight function in PIMD controls, can be translated into H _∞control problem.If the state space form of weight function is

$W_e\left(s\right)=\left[\begin{array}{cc}{A}_e& B_e\\ C_e& D_e\end{array}\right],$ $W_u\left(s\right)=\left[\begin{array}{cc}{A}_u& B_u\\ C_u& D_u\end{array}\right]$

In formula, W _eand W (s) _u(s) be weighting function, A _e, B _e, C _e, D _e, A _u, B _u, C _u, D _ufor constant matrices,

Weight function W _e(s) be to be determined by the performance requirement of system, because the frequency of the external disturbance of system and external input signal is usually lower, for the assurance system can suppress to disturb and tracking signal accurately effectively, W _e(s) usually there is integral characteristic or high-gain low-pass characteristic, more repeatedly try to gather by emulation experiment, can obtain a preferably W _e(s) value; Weight function W _u(s) be to make system still can keep stable under the high frequency components effect having, for not increasing the order of controller, usually get W _u(s) be a constant; Weight function W _d(s) reflected load disturbing signal T _lthe effect power, usually also be taken as a constant.

System G (s) is described as

$\left\{\begin{array}{c}\stackrel{\·}{x}=\mathrm{Ax}+B_{1}w+B_{2}u\\ z=C_{1}x+D_{12}u\\ y=C_{2}x+D_{21}w\end{array}\right.$

$G\left(s\right)=\left[\begin{array}{ccc}A& B_1& B_2\\ {\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="HDA00002990800700061.png"\; state="\{\{state\}\}">C</figure-callout>}}_1& 0& D_{12}\\ C_2& D_{21}& 0\end{array}\right]$

In formula, x=[x ₁x ₂x ₃] ^tfor state variable, y is observation output signal, z=[z ₁z ₂] ^tfor evaluation signal, w=T _lfor disturbing input signal, A, B ₁, B ₂, C ₁, C ₂, D ₁₂, D ₂₁for constant matrices, K=[K _pk _ik _d] be the controller that will solve.The state space of augmentation controlled device G (s) is embodied as

Hinfsyn function in recycling MATLAB software, solve controller K, repeatedly until meet H _∞the Suboptimal Design index

||LFT(G,K)|| _∞＜γ (8)

In formula, || || _∞for Infinite Norm, LFT (G, K) is the conversion of lower linear fraction, and γ is very little constant.

Advantageous effect: the invention provides a kind of novel modularized single cage barrier rotor double-stator self-excitation synchronous machine, the coupling ability that this kind of alternating current machine has the stator double winding is strong, power density and energy converting between mechanical efficiency is high, structural module, technique are simple, be convenient to make the remarkable advantage such as large ac machines.

The invention has the beneficial effects as follows: the rotor of this motor adopts radially lamination magnetic barrier and many group cage bar composite structures, when further improving rotor magnetic coupling ability, can effectively reduce Gas-gap Magnetic Field Resonance Wave and loss, improve power density and the runnability of motor; Rotor pack radially laminates, and can reduce the eddy current loss in rotor core, improves electric efficiency; The salient pole centerline is placed conduction cage bar, adopts hierarchical design, can effectively overcome faradic kelvin effect; Excitation winding is placed in stator side and realizes brushless excitation, with conventional synchronous machine, compares, and without coaxial excitation system or electric brush slip ring device are installed, the motor reliability improves; Along rotor one week by p _rindividual identical stack of laminations forms, and such symmetrical structure can realize only processing a kind of lamination just can be assembled into whole rotor, thereby has greatly reduced process costs, is convenient to batch production.This kind of Novel composite rotor has novel structure, technique is simple, with low cost, mechanical strength is high, reliable, structural module, be convenient to the significant advantage of the aspects such as industrialization.

Control mode adopts the PIMD control method to realize the rotating-speed tracking of the single cage barrier of modularization rotor double-stator self-excitation synchronous machine, this kind of control method has the characteristics of uncertain parameters variation and disturbing influence for the single cage barrier of modularization rotor double-stator self-excitation synchronous machine, utilize negative related method thereof, eliminate the uncertain noises signal time of delay by adjusting, and introduced H _∞control strategy, can effectively suppress the uncertain load disturbance of system, has stronger robustness, greatly improved the antijamming capability of this kind of alternating current machine.

The accompanying drawing explanation

Fig. 1 is the single cage barrier of modularization of the present invention rotor double-stator self-excitation synchronous motor system structural representation;

Fig. 2 is motor stator structure schematic diagram of the present invention;

A kind of rotor structure schematic diagram that Fig. 3 is motor of the present invention;

A kind of rotor module structural representation that Fig. 4 is motor of the present invention;

Fig. 5 is rotor pressure plate structure schematic diagram of the present invention;

A kind of end connected mode schematic diagram that Fig. 6 is the public cage bar of motor of the present invention;

A kind of end connected mode expanded view that Fig. 7 is the public cage bar of motor of the present invention;

The second connected mode expanded view that Fig. 8 is the public cage bar of motor of the present invention;

The third connected mode end linked, diagram that Fig. 9 is the public cage bar of motor of the present invention;

Figure 10 is a kind of connected mode schematic diagram of motor short circuit cage bar of the present invention;

Figure 11 is motor short circuit cage bar the second connected mode of the present invention end linked, diagram;

Figure 12 is the public cage bar of motor of the present invention and short circuit cage bar scheme of installation;

The second connected mode expanded view that Figure 13 is the public cage bar of motor of the present invention and short circuit cage bar;

The PIMD control principle schematic diagram that Figure 14 is motor of the present invention;

The H that Figure 15 is PIMD controller of the present invention _∞the control problem schematic diagram.

Description of reference numerals:

1. internal stator; 2. external stator; 3. rotor; 4. controllable direct current power supply; 5. electrical network; 6. armature winding; 7. excitation winding; 8. rotating shaft; 9. every magnetosphere; 10. magnetic layer; 11. public cage bar; 12 short circuit cage bars; 13. location hole; 14. location notch; 15. sleeve; 16. module gap; 17. slot wedge; 18. end conducting ring.

Embodiment

Below in conjunction with accompanying drawing, the present invention is specifically described:

Fig. 1 is the single cage barrier of modularization of the present invention rotor double-stator self-excitation synchronous motor system structural representation, this system mainly comprises internal stator 1, external stator 2, rotor 3, controllable direct current power supply 4, motor radially is followed successively by internal stator 1 from inside to outside, rotor 3, external stator 2, internal stator and rotating shaft are fixed together by the alignment pin in rotating shaft 8 and rotating shaft 8, wherein on internal stator 1 and external stator 2, all lay three-phase symmetrical armature winding 6 and the extremely single-phase symmetrical excitation winding 7 of 2q of the 2p utmost point, be two electric ports, two stators are totally four electric ports, armature winding 6 and excitation winding 7 numbers of poles are also interchangeable, the winding electric magnetic coupling that can realize the different numbers of poles of same stator two cover maximizes.Armature winding 6 is connected with electrical network 5, and excitation winding 7 is connected with controllable direct current power supply 4.But respectively the excitation winding 7 of internal stator and external stator is provided the voltage of adjusting amplitude by controllable direct current power supply 4, these armature winding 6 output voltages and power factor (as generator) be can regulate, motor output speed and torque (as motor) also can be regulated.

Fig. 2 is motor stator structure schematic diagram of the present invention, Fig. 2 (a) is the outer stator structure schematic diagram, Fig. 2 (b) is the internal stator structural representation, two stators are slotted near the surface uniform of rotor, all embedded two in groove and overlapped the independent symmetric winding that numbers of poles are respectively the 2p utmost point and the 2q utmost point, be armature winding 6 and excitation winding 7(or excitation winding 7 and armature winding 6), embed the multilayer winding in each groove, between every layer of winding, insulation is arranged, two kinds of windings can adopt bilayer or single layer winding, and pitch can be whole distance or short distance.

A kind of rotor structure schematic diagram that Fig. 3 is motor of the present invention, described rotor surfaces externally and internally all adopts p _rindividual identical cage barrier rotor module along the circumferential direction is combined into each surface and has p _rthe rotor of individual salient pole type, the sleeve 15 that each cage barrier rotor module is made with non-magnet material by location notch 14 near central side is connected.

Fig. 4 is a kind of cage barrier of motor of the present invention rotor module schematic diagram, each module has a plurality of radially dovetail grooves near the surface of stator, each dovetail groove radially has several ladder groove widths that do not wait, put into some conductors in each dovetail groove and form short circuit cage bar 12, in order to save cost and to simplify technique and also can only in the part dovetail groove, put into conductor; In addition, adjacent cage barrier external rotor module joint is the notch cuttype gap, form a public dovetail groove in its joint after the splicing of two adjacent cage barrier external rotor modules, and module gap 16 degree of depth of this trench bottom reach sleeve 15 surfaces always, main purpose is isolation adjacent block magnetic flux, make the separate nothing coupling of magnetic circuit between each module, improve the coupling performance of corresponding side motor stator double winding, whole rotor inner surface and outer surface have p _rindividual so public dovetail groove, by p _rthe along the circumferential direction magnetic isolation of individual cage barrier rotor module, because sleeve 15 is non-magnet material, so be also non-magnetic between each cage barrier rotor module, comprise between the cage barrier module of the inside and outside both sides of rotor also not magnetic conduction, each module is all separate aspect structure and magnetic circuit two, each public dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each public dovetail groove and forms public cage bar 11.The notch place of placing the dovetail groove of public cage bar 11 and short circuit cage bar 12 has interior gap and embeds slot wedge 17, is used for fixing cage bar in groove.Well width near stator in dovetail groove is greater than or equal to the well width near sleeve 15, its objective is in order to overcome faradic kelvin effect, the cage bar number of plies in dovetail groove can be individual layer or multilayer, choose the number of plies according to the quantity of ladder in ladder-type trough, between each layer, all be added with insulation between cage bar and rotor and isolated, the cage bar is joined together to form loop by end, and it is all 2 that accompanying drawing of the present invention is chosen the number of plies.In Fig. 3, cage barrier rotor module center has many groups tangentially every magnetosphere 9, the dovetail groove that embeds short circuit cage bar with both sides separately respectively is combined to form the U-shaped radially lamination magnetic barrier of many groups, form a plurality of magnetic layers 10 in cage barrier rotor module, its objective is the increase quadrature-axis reluctance, reduce direct axis reluctance, be convenient to magnetic flux along the path circulation that is conducive to magnetic field modulation, in addition, between all cage barrier rotor module, magnetic circuit is independent, adding after magnetosphere 9 forms U-shaped radially lamination magnetic barrier, its magnetic field transfer capability obviously improves, and more every the magnetosphere number, effect is just more obvious, but when magnetosphere is too many, its cost can increase again, therefore should be chosen as the suitable number of plies every magnetosphere.In addition, each magnetic layer width can equate or not wait, width embeds short circuit cage bar dovetail groove spacing while not waiting or not, can change air-gap reluctance and distribute, weaken unfavorable magnetic field harmonic amplitude, strengthen useful magnetic field harmonic amplitude, improve the coupling ability of stator double winding, reduce supplementary load loss, improve the performance of motor, when high to performance requirement, also can not adopt the magnetic layer that width is identical.There are a plurality of location holes 13 medial septal magnetosphere inside and the lateral septal magnetosphere outside of each cage barrier rotor module.

After whole rotor is installed winding, remaining public dovetail groove gap and the interior magnetic of module hinders pourable epoxy resin or high temperature resistant non-magnet material in gap, and its order is to strengthen the rotor bulk strength, and the noise reduction vibration, also carry out fastening location to the cage bar; Also can not pour into a mould and utilize the gap ventilation heat radiation, reduce the temperature rise of motor, improve motor performance, and still can make so the not coupling of magnetic circuit of each intermodule.Cage barrier rotor module adopts lamination axially to be overrided to form, and its purpose can reduce the eddy current loss in rotor core, improves electric efficiency.Rotor adopts modular form, makes only to process a kind of rotor module and just can be assembled into whole rotor, has greatly reduced process costs, and the larger heavy-duty motor of production motor external diameter, also be of value to this motor industrialization.

Fig. 5 is rotor pressure plate structure schematic diagram of the present invention, rotor press plate is positioned at the rotor axial two ends, identical with the rotor outer contour shape, add insulator separation between pressing plate and rotor, be drilled with on pressing plate with cage barrier rotor location hole 13(and see Fig. 3) the identical location hole 13 in position, the clamping screw that non-magnet material is made is vertically through whole location holes 13, add the insulation isolation between clamping screw and rotor module, at the pressing plate two ends, utilize nut to be fixed, the clamping screw passed in the location hole of the outside has played the axial compression effect to cage barrier rotor module, also in order to resist when rotor module is rotated the centrifugal force born.The trapezoid slit that the pressing plate outside is identical with shape with rotor dovetail groove same position, public cage bar 11 and short circuit cage bar 12 pass from this gap, carry out the end link.

Rotor of the present invention can only be installed public cage bar, also can adopt in addition and short circuit cage bar only is installed or any cage bar is not installed, and the inside and outside both sides of rotor can be the same or different.Public cage bar and short circuit cage bar can play the magnetic field modulation effect, because public cage bar is positioned at the salient pole center, so its magnetic field modulation effect is more obvious than short circuit cage bar, therefore adopt form motor performance the best of public cage bar and short circuit cage bar, be followed successively by the form that only adopts public cage bar, the form that only adopts the form of short circuit cage bar, any cage bar is not installed later.

A kind of end connected mode schematic diagram that Fig. 6 is the public cage bar of motor of the present invention, adopt end conducting ring 18 that public cage bar 11 both side ends with layer in public dovetail groove are linked together, and forms p _rindividual mesh type galvanic circle, when outside magnetic flux passes the mesh center of galvanic circle, can induce therein electromotive force, thereby form electric current in loop, magnetic direction and outside magnetic flux opposite direction that this electric current produces, the main flux path of rotor thereby impact is flowed through, make main flux enter rotor from salient pole, played the effect every magnetic and change magnetic flux path, improve the magnetic field modulation effect, adopt the insulation isolation between internal layer and outer field end conducting ring 18, therefore between each layer, no current flows through, make copper loss reduction and the magnetic field modulation effect of public cage bar 11 and end conducting ring 18 better.

The end connected mode expanded view that Fig. 7 is public cage bar in Fig. 6.

The second connected mode expanded view that Fig. 8 is the public cage bar of motor of the present invention, the public cage bar 11 of individual layer in public dovetail groove is divided into to two parts, and mutually insulated isolation, the public cage bar of two parts is connected by end conducting ring 18 with the public cage bar in adjacent public dovetail groove respectively, the public cage bar 11 of same layer can be connected into to p _rthe annular galvanic circle of individual independence, its separated magnetic effect is identical with Fig. 7, but inside and outside two-layer also mutually insulated isolation can further reduce electric current in public cage bar, reduces the copper loss of public cage bar 11 and end conducting ring 18, improves the magnetic field modulation effect; Also can in adjacent two public dovetail grooves, place the multiturn coil conductor, it is identical with Fig. 8 that it connects signal, and employing multicircuit winding coil, can reduce kelvin effect, and because the number of turn is more, it is more obvious every the magnetic effect, makes the motor-field modulation effect better.

The third connected mode end linked, diagram that Fig. 9 is the public cage bar of motor of the present invention motor of the present invention, outer public cage bar 11 is connected by end conducting ring 18 with the public cage bar 11 of internal layer in one-sided adjacent inverted trapezoidal groove, forms p _rthe independent annular galvanic circle of individual different layers, its connected mode expanded view is identical with Fig. 8, and the effect reached is also identical.

Figure 10 is a kind of connected mode schematic diagram of motor short circuit cage bar of the present invention, in each cage barrier rotor module, centered by cage barrier rotor module radial symmetric line, the same layer short circuit cage bar end that both sides are corresponding is connected by conductor, form and organize independently concentric type annular galvanic circle more, there is equally the separated magnetic effect similar to public cage bar, can further improve the magnetic field modulation effect, each loop checking installation mutually insulated isolation, also mutually insulated isolation of the loop checking installation that internal layer short circuit cage bar and outer short circuit cage bar form.Also can place the multiturn coil conductor in same layer dovetail groove corresponding two, form and organize independently concentric type annular multiturn galvanic circle more, adopt the multicircuit winding coil, can reduce kelvin effect, because the number of turn is more, it is more obvious every the magnetic effect, magnetic field modulation is effective, on same rotor module, the formed independently concentric type annular galvanic circle numbers of turn of organizing can equate also can not wait more, inequality can weakened field in disadvantageous harmonic field, improve the coupling ability of stator double winding, reduce supplementary load loss, further improve the performance of motor.

Figure 11 is motor short circuit cage bar the second connected mode of the present invention end linked, diagram, outer short circuit cage bar is connected by conductor with the internal layer short circuit cage bar of corresponding dovetail groove, form and organize independently chiasma type concentric type loop checking installation more, the effect reached is identical with connected mode described in Figure 10.

Figure 12 is the public cage bar of motor of the present invention and short circuit cage bar scheme of installation, the connected mode in figure in public cage strip adoption Fig. 6, the connected mode of short circuit cage strip adoption Figure 10.No matter adopt which kind of form, all adopt the insulation isolation between all public cage bars and short circuit cage bar.

Figure 13 is the public cage bar of the second and short circuit cage bar connected mode expanded view, and in figure, public cage bar and the short circuit cage bar of the same layer of end, the same side link together by same end conducting ring.Like this under the prerequisite of impact effect not, not only reduced the quantity of end connecting ring, simplified the motor end construction, reduced motor weight, and, because all cage bar one sides link together, each conductive loop internal induction electromotive force reduces, the electric current flow through also reduces, the motor copper loss reduces, and efficiency improves.

Above-mentioned connected mode can be applied to respectively rotor inboard and the public cage bar in the rotor outside and the connection of short circuit cage bar.

The PIMD control principle schematic diagram that Figure 14 is the single cage barrier of modularization of the present invention rotor double-stator self-excitation synchronous machine, wherein, ω r ^*for rotational speed setup, ω r is rotating speed output, and e is error, and u is the control inputs signal, K (s) is controller, Kp, Ki, Kd are for controlling parameter, and Td is time of delay, and J is rotor mechanical inertia, B is the rotary damping coefficient, Kf is moment coefficient, and Tl is load torque, the nominal model that P (s) is controlled device.

Control mode adopts the PIMD control method to realize the rotating-speed tracking of the single cage barrier of modularization rotor double-stator self-excitation synchronous machine, its control thought is to have the characteristics of uncertain parameters variation and disturbing influence for the single cage barrier of modularization rotor double-stator self-excitation synchronous machine, utilize negative related method thereof, eliminate the uncertain noises signal time of delay by adjusting, and introduced H ∞ control strategy, and then improve the robustness of system.

Adopt armature winding dq coordinate system, the electromagnetic torque equation of the single cage barrier of modularization rotor double-stator self-excitation synchronous machine is

$T_e=\frac{3}{2}(p_p+p_c){\mathrm{\&Psi;}}_{\mathrm{dp}}{i}_{\mathrm{qc}}=J\frac{{\mathrm{d\&omega;}}_r}{\mathrm{dt}}+{\mathrm{B\&omega;}}_r+T_1---\left(1\right)$

In formula, p _pand p _cthe number of pole-pairs that means respectively armature winding and excitation winding, Ψ _dpfor the d axle component of armature winding magnetic linkage, i _qcfor the q axle component of excitation winding electric current, T _efor total electromagnetic torque.

Laplace transformation is carried out in formula (1) both sides, and the transfer function that can obtain nominal model is

$P\left(s\right)=\frac{1}{\mathrm{Js}+B}---\left(2\right)$

The transfer function of controller can be expressed as

$K\left(s\right)=\frac{U\left(s\right)}{E\left(s\right)}=K_p+\frac{K_i}{s}-K_d{e}^{-T_{d}s}---\left(3\right)$

Formula (3) is carried out to the Laplace inverse transformation, can obtain

$u\left(t\right)=K_{p}e\left(t\right)+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}-K_{d}e(t-T_d)$

$=(K_p-K_d)e\left(t\right)+T_d{K}_d\frac{e\left(t\right)-e(t-T_d)}{T_d}+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}---\left(4\right)$

$=K_{\mathrm{pn}}e\left(t\right)+K_{\mathrm{dn}}\&CenterDot;\frac{1}{T_d}{\&Integral;}_{t-T_d}^t\stackrel{\&CenterDot;}{e}\left(t\right)\mathrm{dt}+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}$

In formula,

the derivative of e (t) to time t; K _pn=K _p-K _d, and K _p>=K _d; K _dn=T _dk _d.

If contain a sinusoidal interference d who is caused by outside in error e (t), be

d＝Asin2πft (5)

In formula, A and f are respectively amplitude and the frequency of disturbing input d.When e (t)=d (t), by its substitution formula (4), second postpones can be write as

$\frac{1}{T_d}{\&Integral;}_{t-T_d}^t\stackrel{\&CenterDot;}{d}\left(t\right)\mathrm{dt}=\frac{A}{T_d}[\sin 2\mathrm{\&pi;ft}-\sin 2\mathrm{\&pi;f}(t-T_d)]---\left(6\right)$

If make T _d=N/f, wherein N is natural number, so

sin(2πft-2πfT _d)＝sin(2πft-2πN)

＝sin(2πft)cos(2πN)+cos(2πft)sin(2πN)

＝sin(2πft)

Formula (6) is zero,

that is to say, as T time of delay _dwhile leveling off to N/f, formula (6) levels off to zero, therefore, and by adjusting T time of delay _d, the PIMD controller can be eliminated differential term and disturb input.

The H ∞ control problem schematic diagram that Figure 15 is PIMD controller of the present invention, be to add weight function in the PIMD control principle schematic diagram shown in Figure 14, can be translated into H ∞ control problem.If the state space form of weight function is

$W_e\left(s\right)=\left[\begin{array}{cc}{A}_e& B_e\\ C_e& D_e\end{array}\right],$ $W_u\left(s\right)=\left[\begin{array}{cc}{A}_u& B_u\\ C_u& D_u\end{array}\right]$

In formula, W _eand W (s) _u(s) be weighting function, A _e, B _e, C _e, D _e, A _u, B _u, C _u, D _ufor constant matrices,

Weight function We (s) is determined by the performance requirement of system, because the frequency of the external disturbance of system and external input signal is usually lower, for the assurance system can suppress to disturb and tracking signal accurately effectively, We (s) has integral characteristic or high-gain low-pass characteristic usually, repeatedly try to gather by emulation experiment again, can obtain preferably We (s) value; Weight function Wu (s) makes system still can keep stable under the high frequency components effect having, and for not increasing the order of controller, usually getting Wu (s) is a constant; The effect power of weight function Wd (s) reflected load disturbing signal Tl, also be taken as a constant usually.

System G in Figure 15 (s) is described as

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{x}=\mathrm{Ax}+B_{1}w+B_{2}u\\ z=C_{1}x+D_{12}u\\ y=C_{2}x+D_{21}w\end{array}\right.$

$G\left(s\right)=\left[\begin{array}{ccc}A& B_1& B_2\\ {\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="HDA00002990800700061.png"\; state="\{\{state\}\}">C</figure-callout>}}_1& 0& D_{12}\\ C_2& D_{21}& 0\end{array}\right]$

In formula, x=[x ₁x ₂x ₃] ^tfor state variable, y is observation output signal, z=[z ₁z ₂] ^tfor evaluation signal, w=T _lfor disturbing input signal, A, B ₁, B ₂, C ₁, C ₂, D ₁₂, D ₂₁for constant matrices, K=[K _pk _ik _d] be the controller that will solve.The state space that can be obtained augmentation controlled device G (s) by Figure 15 is embodied as

Hinfsyn function in recycling MATLAB software, solve controller K, repeatedly until meet H _∞the Suboptimal Design index

||LFT(G,K)|| _∞＜γ (8)

In formula, || || _∞for Infinite Norm, LFT (G, K) is the conversion of lower linear fraction, and γ is very little constant.

Propose to adopt the PIMD control method can realize the rotating-speed tracking of the single cage barrier of modularization rotor double-stator self-excitation synchronous machine, effectively suppressed the uncertain load disturbance of system, there is stronger robustness, greatly improved the antijamming capability of this kind of alternating current machine.

Claims (7)

1. the single cage of modularization hinders rotor double-stator self-excitation synchronous machine, mainly comprise internal stator (1), external stator (2), rotor (3), controllable direct current power supply (4), it is characterized in that: motor radially is followed successively by internal stator (1) from inside to outside, rotor (3), external stator (2), internal stator (1) is fixed together by alignment pin and the rotating shaft in rotating shaft (8), wherein on internal stator (1) and external stator (2), all lay the single-phase symmetrical excitation winding (7) of three-phase symmetrical armature winding (6) and the 2q utmost point of the 2p utmost point, perhaps the number of poles of the number of poles of armature winding (6) and excitation winding (7) exchanges, and all meet 2p-2q>=4, rotor (3) surfaces externally and internally all adopts p _rindividual identical cage barrier rotor module along the circumferential direction is combined into each surface and has p _rthe rotor of individual salient pole type, the sleeve (15) that each cage barrier rotor module is made with non-magnet material by location notch (14) near central side is connected, each cage barrier rotor module has a plurality of radially dovetail grooves near the surface of stator, radially the dovetail groove spacing equates or does not wait, each dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each dovetail groove and forms short circuit cage bar (12), adjacent cage barrier rotor module joint is the notch cuttype gap, after the splicing of adjacent cage barrier rotor module, in its joint, forms p _rindividual public dovetail groove, and module gap (16) degree of depth of this trench bottom reaches sleeve (15) surface always, and each public dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each public dovetail groove and forms public cage bar (11), public cage bar (11) and short circuit cage bar (12) adopt respectively end conducting ring (18) to be connected to form galvanic circle, cage barrier rotor module center has many groups tangentially every magnetosphere (9), and the dovetail groove that embeds short circuit cage bar (12) with both sides separately respectively is combined to form organizes radially lamination magnetic barrier, formation a plurality of magnetic layers (10) in cage barrier rotor module more.

2. the single cage of the described modularization of claim 1 hinders rotor double-stator self-excitation synchronous machine, and it is characterized in that: armature winding (6) is connected with electrical network (5), and excitation winding (7) is connected with controllable direct current power supply (4).

3. the single cage of the described modularization of claim 1 hinders rotor double-stator self-excitation synchronous machine, and it is characterized in that: the notch place of placing the dovetail groove of public cage bar (11) and short circuit cage bar (12) has interior gap and embeds slot wedge (17); Public cage bar (11) end link form can be: end conducting ring (18) all connects together public cage bar (11) both side ends with layer in public dovetail groove; Also the public cage bar of individual layer in public dovetail groove (11) can be divided into to two parts, the public cage bars of two parts (11) are connected by end conducting ring (18) with the public cage bar (11) with layer in adjacent public dovetail groove respectively; Also the public cage bar of public dovetail groove ectonexine (11) can be connected by end conducting ring (18) with the public cage bar of internal layer (11) in one-sided adjacent public dovetail groove; Also can in adjacent two public dovetail grooves, place the multiturn coil conductor; Short circuit cage bar (12) end type of attachment can be: centered by cage barrier rotor module radial symmetric line, same layer short circuit cage bar (12) end that both sides are corresponding is connected by conductor, forms and organizes independently concentric type annular galvanic circle more; Also outer short circuit cage bar can be connected by conductor with the internal layer short circuit cage bar of corresponding dovetail groove, form and organize independently chiasma type concentric type loop checking installation more; Also can place the multiturn coil conductor in layer dovetail groove at corresponding two, the many groups coil-conductor number of turn on same rotor module can be identical also can be different.

4. the single cage of the described modularization of claim 1 hinders rotor double-stator self-excitation synchronous machine, it is characterized in that: cage barrier two ends of rotor is equipped with pressing plate, add insulator separation between pressing plate and rotor, be drilled with the location hole (13) identical with cage barrier rotor location hole (13) position on pressing plate, the clamping screw that non-magnet material is made through whole location holes (13), utilizes nut to be fixed at the pressing plate two ends vertically.

5. the single cage barrier of the described modularization of claim 1 rotor double-stator self-excitation synchronous machine is characterized in that: whole rotor is installed in public dovetail groove gap remaining after winding and module in magnetic barrier gap pourable high temperature resistant non-magnet material or is not built.

6. the control method of the single cage barrier of modularization rotor double-stator self-excitation synchronous machine as claimed in claim 1, it is characterized in that: control mode adopts the PIMD control method to realize the rotating-speed tracking of the single cage barrier of modularization rotor double-stator self-excitation synchronous machine, its control thought is to have the characteristics of uncertain parameters variation and disturbing influence for the single cage barrier of modularization rotor double-stator self-excitation synchronous machine, utilize negative related method thereof, eliminate the uncertain noises signal time of delay by adjusting, and introduced H _∞control strategy, and then the robustness of raising system; Be specially: adopt armature winding dq coordinate system, the electromagnetic torque equation of the single cage barrier of modularization rotor double-stator self-excitation synchronous machine is

$T_e=\frac{3}{2}(p_p+p_c){\mathrm{\&Psi;}}_{\mathrm{dp}}{i}_{\mathrm{qc}}=J\frac{{\mathrm{d\&omega;}}_r}{\mathrm{dt}}+{\mathrm{B\&omega;}}_r+T_1---\left(1\right)$

In formula, p _pand p _cthe number of pole-pairs that means respectively armature winding and excitation winding, Ψ _dpfor the d axle component of armature winding magnetic linkage, i _qcfor the q axle component of excitation winding electric current, ω _rfor rotating speed output, J is rotor mechanical inertia, and B is the rotary damping coefficient, T _efor total electromagnetic torque, T _lfor load torque,

Laplace transformation is carried out in formula (1) both sides, and the transfer function P (s) that can obtain nominal model is

$P\left(s\right)=\frac{1}{\mathrm{Js}+B}---\left(2\right)$

The transfer function of controller can be expressed as

$K\left(s\right)=\frac{U\left(s\right)}{E\left(s\right)}=K_p+\frac{K_i}{s}-K_d{e}^{-T_{d}s}---\left(3\right)$

In formula, E(or e) be error, U(or u) be the control inputs signal, K (s) is controller, K _p, K _i, K _dfor controlling parameter, T _dfor time of delay,

Formula (3) is carried out to the Laplace inverse transformation, can obtain

$u\left(t\right)=K_{p}e\left(t\right)+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}-K_{d}e(t-T_d)$

$=(K_p-K_d)e\left(t\right)+T_d{K}_d\frac{e\left(t\right)-e(t-T_d)}{T_d}+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}---\left(4\right)$

$=K_{\mathrm{pn}}e\left(t\right)+K_{\mathrm{dn}}\&CenterDot;\frac{1}{T_d}{\&Integral;}_{t-T_d}^t\stackrel{\&CenterDot;}{e}\left(t\right)\mathrm{dt}+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}$

In formula,

the derivative of e (t) to time t; K _pn=K _p-K _d, and K _p>=K _d; K _dn=T _dk _d,

If contain a sinusoidal interference d who is caused by outside in error e (t), be

d＝Asin2πft (5)

In formula, A and f are respectively amplitude and the frequency of disturbing input d, and when e (t)=d (t), by its substitution formula (4), second postpones can be write as

$\frac{1}{T_d}{\&Integral;}_{t-T_d}^t\stackrel{\&CenterDot;}{d}\left(t\right)\mathrm{dt}=\frac{A}{T_d}[\sin 2\mathrm{\&pi;ft}-\sin 2\mathrm{\&pi;f}(t-T_d)]---\left(6\right)$

If make T _d=N/f, wherein N is natural number, so

sin(2πft-2πfT _d)＝sin(2πft-2πN)

＝sin(2πft)cos(2πN)+cos(2πft)sin(2πN)

＝sin(2πft)

Formula (6) is zero,

that is to say, as T time of delay _dwhile leveling off to N/f, formula (6) levels off to zero, therefore, and by adjusting T time of delay _d, the PIMD controller can be eliminated differential term and disturb input.

7. the control method of the single cage barrier of modularization according to claim 8 rotor double-stator self-excitation synchronous machine, is characterized in that: add weight function in PIMD controls, can be translated into H _∞control problem, the state space form of establishing weight function is

$W_e\left(s\right)=\left[\begin{array}{cc}{A}_e& B_e\\ C_e& D_e\end{array}\right],$ $W_u\left(s\right)=\left[\begin{array}{cc}{A}_u& B_u\\ C_u& D_u\end{array}\right]$

In formula, W _eand W (s) _u(s) be weighting function, A _e, B _e, C _e, D _e, A _u, B _u, C _u, D _ufor constant matrices,

Weight function W _e(s) be to be determined by the performance requirement of system, because the frequency of the external disturbance of system and external input signal is usually lower, for the assurance system can suppress to disturb and tracking signal accurately effectively, W _e(s) usually there is integral characteristic or high-gain low-pass characteristic, more repeatedly try to gather by emulation experiment, can obtain a preferably W _e(s) value; Weight function W _u(s) be to make system still can keep stable under the high frequency components effect having, for not increasing the order of controller, usually get W _u(s) be a constant; Weight function W _d(s) reflected load disturbing signal T _lthe effect power, usually also be taken as a constant,

System G (s) is described as

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{x}=\mathrm{Ax}+B_{1}w+B_{2}u\\ z=C_{1}x+D_{12}u\\ y=C_{2}x+D_{21}w\end{array}\right.$

$G\left(s\right)=\left[\begin{array}{ccc}A& B_1& B_2\\ C_1& 0& D_{12}\\ C_2& D_{21}& 0\end{array}\right]$

In formula, x=[x ₁x ₂x ₃] ^tfor state variable, y is observation output signal, z=[z ₁z ₂] ^tfor evaluation signal, w=T _lfor disturbing input signal, A, B ₁, B ₂, C ₁, C ₂, D ₁₂, D ₂₁for constant matrices, K=[K _pk _ik _d] be the controller that will solve, the state space of augmentation controlled device G (s) is embodied as

Hinfsyn function in recycling MATLAB software, solve controller K, repeatedly until meet H _∞the Suboptimal Design index

||LFT(G,K)|| _∞＜γ (8)

In formula, || || _∞for Infinite Norm, LFT (G, K) is the conversion of lower linear fraction, and γ is very little constant.

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