CN103166399B - Modular single-cage barrier rotor double-stator self-excitation synchronous machine and control method thereof - Google Patents

Abstract

The present invention relates to a kind of Modular single-cage barrier rotor double-stator self-excitation synchronous machine.It is characterized in that: inside and outside rotor, both sides lay inside and outside stator respectively, each stator all lays three-phase symmetrical armature winding and single-phase symmetrical excitation winding in the groove of rotor-side; Rotor surfaces externally and internally becomes inside and outside both sides to have the rotor of salient pole type by location notch with sleeve combination by cage barrier rotor module; Cage barrier rotor module is having multiple radial dovetail groove near stator-side surface, has several ladder groove width do not waited, puts into short circuit cage bar in groove; Adjacent cage barrier rotor module joint is notch cuttype gap, and form public dovetail groove in its joint after module splicing, the gap depth of trench bottom reaches sleeve surface, puts into public cage bar in groove; Its object is to propose one and be both convenient to processing and manufacturing, again can stator side self-excitation, thus novel modularized single cage with high reliability and excellent stable state and dynamic property hinders rotor double-stator self-excitation synchronous machine.

Description

Modular single-cage barrier rotor double-stator self-excitation synchronous machine and control method thereof

Technical field:

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

Background technology:

Modular single-cage barrier rotor double-stator self-excitation synchronous machine has 2 stators, each stator there is the three-phase symmetrical excitation winding (or the three-phase symmetrical armature winding of 2q pole and the single-phase symmetrical excitation winding of 2p pole) of the single-phase symmetrical armature winding of 2p pole and 2q pole, and meeting 2p-2q>=4, the coupling between double winding is by p _r=p+q realizes the rotor of pole particular design, therefore this kind of motor is without the need to installing electric brush slip ring, namely the interaction by excitation winding magnetic field and armature winding magnetic field realizes energy converting between mechanical, and running reliability of motor is high compared with conventional synchronous motor, 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; Magnetic resistance class comprises and has the radial lamination salient pole reluctance rotor of teeth groove, axial lamination reluctance rotor.

The advantage of coiling class rotor structure is that manufacturing process and conventional motor are similar, shortcoming is completely to sacrifice rotor windings copper loss for cost to the coupling of stator double winding, 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 is without any copper loss on rotor, to stator double winding coupling ability and processed complex degree different.The radial lamination salient pole reluctance rotor with teeth groove is easy to processing, but not good enough to the coupling effect of stator double winding; The coupling ability of axial lamination reluctance rotor is strong, but manufacturing process is complicated, 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 change and disturbing influence comparatively greatly, has the shortcomings such as poor anti jamming capability.

Summary of the invention

Goal of the invention: the invention provides a kind of Modular single-cage barrier rotor double-stator self-excitation synchronous machine and control method thereof, its object is to propose one and be both convenient to processing and manufacturing, can make again to realize maximizing to each stator double winding coupling ability, thus novel modularized single cage with high power density and excellent stable state and dynamic property hinders rotor double-stator self-excitation synchronous motor structure, also substantially increase the Ability of Resisting Disturbance of this kind of alternating current machine simultaneously.

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

Modular single-cage barrier 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 is radially 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 internal stator and external stator all lay the three-phase symmetrical armature winding of 2p pole and the single-phase symmetrical excitation winding of 2q pole, the number of poles of armature winding and the number of poles of excitation winding also interchangeable, and all meet 2p-2q>=4; Rotor surfaces externally and internally all adopts p _rindividual identical cage barrier rotor module is along the circumferential direction combined into each surface and has p _rthe rotor of individual salient pole type, the sleeve that each cage barrier rotor module is made by location notch and non-magnet material near central side is connected; Each cage barrier rotor module has multiple radial dovetail groove near the surface of stator, radial dovetail groove spacing can equally also can not wait, each dovetail groove radially has several ladder groove width do not waited, and puts into some conductor composition short circuit cage bars in each dovetail groove; Adjacent cage barrier rotor module joint is notch cuttype gap, forms p after the splicing of adjacent cage barrier rotor module in its joint _rindividual public dovetail groove, and the module gap depth of this trench bottom reaches sleeve surface always, each public dovetail groove radially has several ladder groove width do not waited, and putting into some conductors in each public dovetail groove forms public cage bar; Public cage bar and short circuit cage bar adopt end conducting ring to be connected to form galvanic circle respectively; It is tangential every magnetosphere that cage barrier rotor module center has many groups, and the dovetail groove embedding short circuit cage bar respectively with respective both sides is combined to form manyly organize radial lamination magnetic and hinder, and hinders in rotor module form multiple magnetic layer at cage.

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 public cage bar both side ends with layer in public dovetail groove all connects together by end conducting ring; Also public for individual layer in public dovetail groove cage bar can be divided into two parts, two parts public cage bar is connected by end conducting ring with the public cage bar with layer in adjacent public dovetail groove respectively; Also public dovetail groove ectonexine public cage bar can be connected by end conducting ring with the public cage bar of internal layer in one-sided adjacent public dovetail groove; Also multiturn coil conductor can be placed in adjacent two public dovetail grooves; Short circuit cage bar end type of attachment can be: centered by cage barrier rotor module radial symmetric line, be connected same layer short circuit cage bar end corresponding for both sides, formed and organize independently concentric type ring shaped conductive loop more by conductor; Also outer short circuit cage bar can be connected by conductor with the internal layer short circuit cage bar of corresponding dovetail groove, be formed and organize independently chiasma type concentric type loop checking installation more; Also can place multiturn coil conductor at corresponding two with in layer dovetail groove, the many groups coil-conductor number of turn in same rotor module can identical also can be different.

Cage barrier two ends of rotor is equipped with pressing plate, insulator separation is added between pressing plate and rotor, pressing plate is drilled with and hinders the identical location hole in rotor fixed position hole site with cage, the clamping screw that non-magnet material is made passes axially through whole location hole, utilizes nut to be fixed at pressing plate two ends.

Pourable high temperature resistant non-magnet material or do not build in magnetic barrier gap in remaining public dovetail groove gap and module after winding installed by whole rotor.

A kind of control method of Modular single-cage barrier rotor double-stator self-excitation synchronous machine described above, it is characterized in that: control mode adopts PIMD control method to realize the rotating-speed tracking of Modular single-cage barrier rotor double-stator self-excitation synchronous machine, its control thought is the feature for Modular single-cage barrier rotor double-stator self-excitation synchronous machine with uncertain parameters change and disturbing influence, utilize negative related method thereof, eliminate uncertain noises signal time of delay by adjustment, and introduce H _∞control strategy, and then the robustness improving system; Be specially: adopt armature winding dq coordinate system, then the electromagnetic torque equation of Modular single-cage barrier rotor double-stator self-excitation synchronous machine is

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

In formula, p _pand p _crepresent the number of pole-pairs of armature winding and excitation winding respectively, 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 exports, J is rotor mechanical inertia, and B is rotary damping coefficient, T _efor total electromagnetic torque, T _lfor load torque.

Carry out Laplace transformation to formula (1) both sides, 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 control inputs signal, K (s) is controller, K _p, K _i, K _dfor controling parameters, T _dfor time of delay.

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

$\begin{array}{c}u\left(t\right)=K_{p}e\left(t\right)+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}-K_{d}e(t-T_d)\\ =(K_p-K_d)e\left(t\right)+T_d{K}_d\frac{e\left(t\right)-e(t-T_d)}{T_d}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}\\ =K_{\mathrm{pn}}e\left(t\right)+K_{\mathrm{dn}}\·\frac{1}{T_d}{\∫}_{t-T_d}^t\stackrel{\·}{e}\left(t\right)\mathrm{dt}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}\end{array}---\left(4\right)$

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 in error e (t) containing a sinusoidal interference d caused by outside be

d＝Asin2πft(5)

In formula, A and f is respectively amplitude and the frequency of exogenous disturbances d.As e (t)=d (t), substituted in formula (4), then Section 2 delay item 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)

Then formula (6) is zero, namely that is, as T time of delay _dlevel off to N/f time, formula (6) levels off to zero, therefore, by adjustment time of delay T _d, PIMD controller can eliminate differential term exogenous disturbances.

In PIMD controls, add weight function, can H be translated into _∞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 _e(s) and W _us () is weighting function, A _e, B _e, C _e, D _e, A _u, B _u, C _u, D _ufor constant matrices,

Weight function W _es () 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 guarantee system can suppress interference and accurately tracking signal effectively, and W _es () has integral characteristic or high-gain low-pass characteristic usually, more repeatedly try to gather by emulation experiment, can obtain a preferably W _e(s) value; Weight function W _us () makes system still can keep stable under high frequency components effect having, for not increasing the order of controller, usually get W _us () is a constant; Weight function W _d(s) reflected load disturbing signal T _leffect strong and weak, be usually also taken as a constant.

System G (s) is described as

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

Namely

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

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 exogenous disturbances signal, A, B ₁, B ₂, C ₁, C ₂, D ₁₂, D ₂₁for constant matrices, K=[K _pk _ik _d] be the controller of required solution.The state space realization of augmentation controlled device G (s) is

Hinfsyn function in recycling MATLAB software, solves controller K, repeatedly until meet H _∞suboptimal Design index

||LFT(G,K)|| _∞＜γ(8)

In formula, || || _∞for Infinite Norm, LFT (G, K) is lower linear fraction transformation, and γ is very little constant, K _ffor moment coefficient.

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 stator double winding is strong, power density and energy converting between mechanical efficiency is high, structural module, technique simple, be convenient to make the remarkable advantages such as large ac machines.

The invention has the beneficial effects as follows: the rotor of this motor adopts radial lamination magnetic to hinder and many group cage bar composite structures, while improving rotor magnetic coupling ability further, Gas-gap Magnetic Field Resonance Wave and loss be can effectively reduce, power density and the runnability of motor improved; Rotor pack radially laminates, and can reduce the eddy current loss in rotor core, improves electric efficiency; Salient pole centerline places conduction cage bar, adopts hierarchical design, can effectively overcome faradic kelvin effect; Excitation winding is placed in stator side and realizes brushless excitation, and compared with conventional synchronous motor, without the need to installing coaxial excitation system or electric brush slip ring device, motor reliability improves; Along rotor one week by p _rindividual identical stack of laminations is formed, and such symmetrical structure can realize only processing a kind of lamination just can be assembled into whole rotor, thus greatly reduces 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 PIMD control method to realize the rotating-speed tracking of Modular single-cage barrier rotor double-stator self-excitation synchronous machine, this kind of control method has the feature of uncertain parameters change and disturbing influence for Modular single-cage barrier rotor double-stator self-excitation synchronous machine, utilize negative related method thereof, eliminate uncertain noises signal time of delay by adjustment, and introduce H _∞control strategy, effectively can suppress the uncertain load disturbance of system, have stronger robustness, substantially increase the antijamming capability of this kind of alternating current machine.

Accompanying drawing explanation

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Figure 15 is the H of PIMD controller of the present invention _∞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 bars; 12 short circuit cage bars; 13. location holes; 14. location notchs; 15. sleeves; 16. module gaps; 17. slot wedges; 18. end conducting rings.

Embodiment

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

Fig. 1 is Modular single-cage barrier rotor double-stator self-excitation synchronous motor system structural representation of the present invention, this system mainly comprises internal stator 1, external stator 2, rotor 3, controllable direct current power supply 4, motor is radially 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 internal stator 1 and external stator 2 are all laid three-phase symmetrical armature winding 6 and the extremely single-phase symmetrical excitation winding 7 of 2q of 2p pole, be two electric ports, two stators totally four electric ports, armature winding 6 and excitation winding 7 number of poles also interchangeable, the winding electric that same stator two overlaps different number of poles can be realized maximise magnetic coupling.Armature winding 6 is connected with electrical network 5, and excitation winding 7 is connected with controllable direct current power supply 4.Respectively the excitation winding 7 of internal stator and external stator is provided to the voltage of adjustable amplitude by controllable direct current power supply 4, this armature winding 6 output voltage and power factor (as generator) can be regulated, also can regulate motor output speeds and torque (as motor).

Fig. 2 is motor stator structure schematic diagram of the present invention, Fig. 2 (a) is outer stator structure schematic diagram, Fig. 2 (b) is internal stator structural representation, two stators are slotted near the surface uniform of rotor, the independent symmetrical winding that two cover numbers of poles are respectively 2p pole and 2q pole has all been embedded in groove, i.e. armature winding 6 and excitation winding 7 (or excitation winding 7 and armature winding 6), multi-layer winding is embedded in each groove, insulation is had between every layer of winding, two kinds of windings can adopt bilayer or single layer winding, and pitch can be whole distance or short distance.

Fig. 3 is a kind of rotor structure schematic diagram of motor of the present invention, and described rotor surfaces externally and internally all adopts p _rindividual identical cage barrier rotor module is along the circumferential direction 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 by location notch 14 and non-magnet material 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 multiple radial dovetail groove near the surface of stator, each dovetail groove radially has several ladder groove width do not waited, some conductors composition short circuit cage bars 12 are put into, in order to save cost and Simplified flowsheet also only can put into conductor in part trapezoidal groove in each dovetail groove; In addition, adjacent cage barrier outer rotor module joint is notch cuttype gap, a public dovetail groove is formed in its joint after the splicing of two adjacent cage barrier outer rotor module, and module gap 16 degree of depth of this trench bottom reaches sleeve 15 surface always, main purpose is isolation adjacent block magnetic flux, make magnetic circuit between each module separate without coupling, improve the coupling performance of corresponding side motor stator double winding, whole rotor inner surface and outer surface have p _rindividual public dovetail groove like this, by p _rindividual cage barrier rotor module along the circumferential direction Magnetic isolation, because sleeve 15 is non-magnet material, so be also non-magnetic between each cage barrier rotor module, also not magnetic conduction between the cage barrier module comprising both sides inside and outside rotor, each module is all separate in structure and magnetic circuit two, each public dovetail groove radially has several ladder groove width do not waited, and puts into some conductors and form public cage bar 11 in each public dovetail groove.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.The well width near sleeve 15 is greater than or equal near the well width of stator in dovetail groove, its objective is to overcome faradic kelvin effect, the cage bar number of plies in dovetail groove can be individual layer or multilayer, the number of plies is chosen according to the quantity of ladder in ladder-type trough, all be added with insulation between each layer, between cage bar and rotor to isolate, cage bar is joined together to form loop by end, and the number of plies chosen by accompanying drawing of the present invention is all 2.In Fig. 3, cage barrier rotor module center has many groups tangentially every magnetosphere 9, the dovetail groove embedding short circuit cage bar respectively with respective both sides is combined to form morely to be organized U-shaped radial lamination magnetic and hinders, multiple magnetic layer 10 is formed in cage barrier rotor module, its objective is increase quadrature-axis reluctance, reduce direct axis reluctance, be convenient to magnetic flux along the path circulation being conducive to magnetic field modulation, in addition, between all cage barrier rotor module, magnetic circuit is independent, adding after magnetosphere 9 forms U-shaped radial lamination magnetic barrier, its magnetic field transfer capability significantly improves, and it is more every magnetosphere number, effect is more obvious, but when magnetosphere is too many, its cost can increase again, therefore the suitable number of plies should be chosen as every magnetosphere.In addition, each magnetic layer width can be equal or not etc., the dovetail groove spacing that width then embeds short circuit cage bar when not waiting is not etc., air-gap reluctance distribution can be changed, weaken unfavorable magnetic field harmonics amplitude, strengthen useful magnetic field harmonics amplitude, improve the coupling ability of stator double winding, reduce supplementary load loss, improve the performance of motor, when not high to performance requirement, also can adopt the magnetic layer that width is identical.There is multiple location hole 13 medial septal magnetosphere inside and the lateral septal magnetosphere outside of each cage barrier rotor module.

Whole rotor to install after winding in remaining public dovetail groove gap and module pourable epoxy resin or high temperature resistant non-magnet material in magnetic barrier gap, and its order strengthens rotor bulk strength, reduces noise and vibration, also carry out fastening location to cage bar; Also can not carry out cast utilizes gap ventilation to dispel the heat, and reduces the temperature rise of motor, improves motor performance, and the magnetic circuit of each intermodule still can be made not to be coupled like this.Cage barrier rotor module adopts lamination to be axially overrided to form, and its object 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, greatly reduce process costs, produces the heavy-duty motor that motor external diameter is larger, is also 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 rotor axial two ends, identical with rotor outer profile shape, insulator separation is added between pressing plate and rotor, pressing plate is drilled with and hinders the identical location hole 13 in rotor fixed position hole 13 (see Fig. 3) position with cage, the clamping screw that non-magnet material is made passes axially through whole location hole 13, insulation isolation is added between clamping screw and rotor module, nut is utilized to be fixed at pressing plate two ends, the clamping screw passed in the location hole of outside serves axial compression effect to cage barrier rotor module, also in order to resist the centrifugal force born when rotor module rotates.Trapezoid slit identical with shape with rotor dovetail groove same position outside pressing plate, public cage bar 11 and short circuit cage bar 12 pass from this gap, carry out end link.

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

Fig. 6 is a kind of end connected mode schematic diagram of motor of the present invention public cage bar, adopts end conducting ring 18 public cage bar 11 both side ends with layer in public dovetail groove to be linked together, forms p _rindividual mesh type galvanic circle, when outside magnetic flux passes the mesh center of galvanic circle, electromotive force can be induced wherein, thus form electric current in the loop, the magnetic direction that this electric current produces is contrary with outside flow direction, thus impact flows through the main flux path of rotor, main flux is made to enter rotor from salient pole, serve every magnetic and the effect changing magnetic flux path, improve magnetic field modulation effect, insulation isolation is adopted between internal layer and outer field end conducting ring 18, therefore between each layer, no current flows through, make public cage bar 11 and end conducting ring 18 copper loss reduce and magnetic field modulation effect is better.

Fig. 7 is the end connected mode expanded view of public cage bar in Fig. 6.

Fig. 8 is the second connected mode expanded view of the public cage bar of motor of the present invention, public for individual layer in public dovetail groove cage bar 11 is divided into two parts, and mutually insulated isolation, two parts public cage bar is connected by end conducting ring 18 with the public cage bar in adjacent public dovetail groove respectively, public for same layer cage bar 11 can be connected into 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, electric current in public cage bar can be reduced further, reduce the copper loss of public cage bar 11 and end conducting ring 18, improve magnetic field modulation effect; Also can place multiturn coil conductor in adjacent two public dovetail grooves, it is identical with Fig. 8 that it connects signal, adopts multicircuit winding coil, can reduce kelvin effect, due to the number of turn more its every magnetic effect more obviously, make motor-field modulation effect better.

Fig. 9 is the third connected mode end linked, diagram of the public cage bar of motor of the present invention, and outer public cage bar 11 is connected by end conducting ring 18 with the public cage bar 11 of the 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 electric motor short circuit cage bar of the present invention, in each cage barrier rotor module, centered by cage barrier rotor module radial symmetric line, same layer short circuit cage bar end corresponding for both sides is connected by conductor, formed and organize independently concentric type ring shaped conductive loop more, there is the separated magnetic effect equally similar to public cage bar, magnetic field modulation effect can be improved further, each loop checking installation mutually insulated isolation, the loop checking installation that internal layer short circuit cage bar and outer short circuit cage bar are formed also mutually insulated isolation.Also multiturn coil conductor can be placed at corresponding two with in layer dovetail groove, formed and organize independently concentric type annular multiturn galvanic circle more, adopt multicircuit winding coil, kelvin effect can be reduced, because the number of turn is more, it is more obvious every magnetic effect, magnetic field modulation is effective, many groups that same rotor module is formed independently the concentric type ring shaped conductive loop number of turn can equally also can not wait, inequality can disadvantageous harmonic field in weakened field, improve the coupling ability of stator double winding, reduce supplementary load loss, improve the performance of motor further.

Figure 11 is electric motor short circuit cage bar the second connected mode end of the present invention linked, diagram, outer short circuit cage bar is connected by conductor with the internal layer short circuit cage bar of corresponding dovetail groove, formed 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 to insulate between all public cage bars and short circuit cage bar and isolate.

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

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

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

Control mode adopts PIMD control method to realize the rotating-speed tracking of Modular single-cage barrier rotor double-stator self-excitation synchronous machine, its control thought is the feature for Modular single-cage barrier rotor double-stator self-excitation synchronous machine with uncertain parameters change and disturbing influence, utilize negative related method thereof, eliminate uncertain noises signal time of delay by adjustment, and introduce H _∞control strategy, and then the robustness improving system.

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

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

In formula, p _pand p _crepresent the number of pole-pairs of armature winding and excitation winding respectively, 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.

Carry out Laplace transformation to formula (1) both sides, 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

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

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

$\begin{array}{c}u\left(t\right)=K_{p}e\left(t\right)+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}-K_{d}e(t-T_d)\\ =(K_p-K_d)e\left(t\right)+T_d{K}_d\frac{e\left(t\right)-e(t-T_d)}{T_d}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}\\ =K_{\mathrm{pn}}e\left(t\right)+K_{\mathrm{dn}}\·\frac{1}{T_d}{\∫}_{t-T_d}^t\stackrel{\·}{e}\left(t\right)\mathrm{dt}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}\end{array}---\left(4\right)$

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 in error e (t) containing a sinusoidal interference d caused by outside be

d＝Asin2πft(5)

In formula, A and f is respectively amplitude and the frequency of exogenous disturbances d.As e (t)=d (t), substituted in formula (4), then Section 2 delay item 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)

Then formula (6) is zero, namely that is, as T time of delay _dlevel off to N/f time, formula (6) levels off to zero, therefore, by adjustment time of delay T _d, PIMD controller can eliminate differential term exogenous disturbances.

Figure 15 is the H of PIMD controller of the present invention _∞control problem schematic diagram, is 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 _e(s) and W _us () is 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 guarantee system can suppress interference and accurately tracking signal effectively, We (s) has integral characteristic or high-gain low-pass characteristic usually, repeatedly try to gather by emulation experiment again, preferably We (s) value can be obtained; Weight function Wu (s) makes system still can keep stable under high frequency components effect having, and for not increasing the order of controller, usually getting Wu (s) is a constant; The effect of weight function Wd (s) reflected load disturbing signal Tl is strong and weak, is usually also taken as a constant.

System G (s) in Figure 15 is described as

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

Namely

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

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 exogenous disturbances signal, A, B ₁, B ₂, C ₁, C ₂, D ₁₂, D ₂₁for constant matrices, K=[K _pk _ik _d] be the controller of required solution.The state space realization that can be obtained augmentation controlled device G (s) by Figure 15 is

Hinfsyn function in recycling MATLAB software, solves controller K, repeatedly until meet H _∞suboptimal Design index

||LFT(G,K)|| _∞＜γ(8)

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

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

Claims (7)

1. Modular single-cage barrier 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 is radially followed successively by internal stator (1) from inside to outside, rotor (3), external stator (2), internal stator (1) is fixed together by the alignment pin in rotating shaft (8) and rotating shaft, wherein internal stator (1) and external stator (2) all lay the three-phase symmetrical armature winding (6) of 2p pole and the single-phase symmetrical excitation winding (7) of 2q pole, or 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 is along the circumferential direction 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 multiple radial dovetail groove near the surface of stator, radial dovetail groove spacing is equal or not etc., each dovetail groove radially has several ladder groove width do not waited, and puts into some conductors composition short circuit cage bar (12) in each dovetail groove, adjacent cage barrier rotor module joint is notch cuttype gap, forms p after the splicing of adjacent cage barrier rotor module in its joint _rindividual public dovetail groove, and module gap (16) degree of depth of this trench bottom reaches sleeve (15) surface always, each public dovetail groove radially has several ladder groove width do not waited, and putting into some conductors in each public dovetail groove forms public cage bar (11), public cage bar (11) and short circuit cage bar (12) adopt end conducting ring (18) to be connected to form galvanic circle respectively, it is tangential every magnetosphere (9) that cage barrier rotor module center has many groups, the dovetail groove embedding short circuit cage bar (12) respectively with respective both sides is combined to form manyly organize radial lamination magnetic and hinders, and hinders in rotor module form multiple magnetic layer (10) at cage.

2. Modular single-cage barrier rotor double-stator self-excitation synchronous machine described in claim 1, 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. Modular single-cage barrier rotor double-stator self-excitation synchronous machine described in claim 1, 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 is: public cage bar (11) both side ends with layer in public dovetail groove all connects together by end conducting ring (18); Or public for individual layer in public dovetail groove cage bar (11) is divided into two parts, two parts public cage bar (11) is connected by end conducting ring (18) with the public cage bar (11) with layer in adjacent public dovetail groove respectively; Or public dovetail groove ectonexine public cage bar (11) is connected by end conducting ring (18) with the public cage bar (11) of the internal layer in one-sided adjacent public dovetail groove; Or multiturn coil conductor is placed in adjacent two public dovetail grooves; Short circuit cage bar (12) end type of attachment is: centered by cage barrier rotor module radial symmetric line, be connected same layer short circuit cage bar (12) end corresponding for both sides, formed and organize independently concentric type ring shaped conductive loop more by conductor; Or outer short circuit cage bar is connected by conductor with the internal layer short circuit cage bar of corresponding dovetail groove, formed and organize independently chiasma type concentric type loop checking installation more; Or place multiturn coil conductor at corresponding two with in layer dovetail groove, the many groups coil-conductor number of turn in same rotor module is identical or different.

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

5. Modular single-cage barrier rotor double-stator self-excitation synchronous machine described in claim 1, is characterized in that: pour into a mould high temperature resistant non-magnet material in magnetic barrier gap in remaining public dovetail groove gap and module after winding installed by whole rotor or do not pour into a mould.

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

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

In formula, p _pand p _crepresent the number of pole-pairs of armature winding and excitation winding respectively, 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 exports, J is rotor mechanical inertia, and B is rotary damping coefficient, T _efor total electromagnetic torque, T _lfor load torque,

Carry out Laplace transformation to formula (1) both sides, 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 control inputs signal, K (s) is controller, K _p, K _i, K _dfor controling parameters, T _dfor time of delay,

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

$\begin{array}{c}u\left(t\right)=K_{p}e\left(t\right)+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}-K_{d}e(t-T_d)\\ =(K_p-K_d)e\left(t\right)+T_d{K}_d\frac{e\left(t\right)-e(t-T_d)}{T_d}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}\\ =K_{\mathrm{pn}}e\left(t\right)+K_{\mathrm{dn}}\·\frac{1}{T_d}{\∫}_{t-T_d}^t\stackrel{\·}{e}\left(t\right)\mathrm{dt}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}\end{array}---\left(4\right)$

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 in error e (t) containing a sinusoidal interference d caused by outside be

d＝Asin2πft(5)

In formula, A and f is respectively amplitude and the frequency of exogenous disturbances d, as e (t)=d (t), is substituted in formula (4), then Section 2 delay item 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)

Then formula (6) is zero, namely that is, as T time of delay _dlevel off to N/f time, formula (6) levels off to zero, therefore, by adjustment time of delay T _d, PIMD controller can eliminate differential term exogenous disturbances.

7. the control method of Modular single-cage barrier rotor double-stator self-excitation synchronous machine according to claim 6, is characterized in that: in PIMD controls, add weight function, 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 _e(s) and W _us () is weighting function, A _e, B _e, C _e, D _e, A _u, B _u, C _u, D _ufor constant matrices,

Weight function W _es () 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 guarantee system can suppress interference and accurately tracking signal effectively, and W _es () has integral characteristic or high-gain low-pass characteristic usually, more repeatedly try to gather by emulation experiment, can obtain a preferably W _e(s) value; Weight function W _us () makes system still can keep stable under high frequency components effect having, for not increasing the order of controller, usually get W _us () is a constant; Weight function W _d(s) reflected load disturbing signal T _leffect strong and weak, be usually also taken as a constant,

System G (s) is described as

Namely

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

In formula, x=[x ₁x ₂x ₃] ^tfor state variable, y is observation output signal, for evaluation signal, w=T _lfor exogenous disturbances signal, A, B ₁, B ₂, C ₁, C ₂, D ₁₂, D ₂₁for constant matrices, K=[K _pk _ik _d] be the controller of required solution, the state space realization of augmentation controlled device G (s) is

Hinfsyn function in recycling MATLAB software, solves controller K, repeatedly until meet H _∞suboptimal Design index

||LFT(G,K)|| _∞＜γ(8)

In formula, || || _∞for Infinite Norm, LFT (G, K) is lower linear fraction transformation, and γ is constant, K _ffor moment coefficient.