CN104184286A - Magnetic suspension switch magnetic resistance flywheel motor and control method - Google Patents

Abstract

The invention discloses a magnetic suspension switch magnetic resistance flywheel motor and a control method. The magnetic suspension switch magnetic resistance flywheel motor comprises an inner stator, a rotor and an outer stator. The inner stator (6), the rotor (4) and the outer stator (1) are successively nested in a concentric mode, 12 torque poles (2) are arranged on the inner wall of the outer stator (1) at equal intervals, and the torque poles are wound by main windings (3); eight rotor salient poles (5) are arranged on the outer wall of the rotor (4) at equal intervals; and four suspension poles (7) are arranged on the outer wall of the inner stator (6) at equal intervals, and the suspension poles (7) are wound by suspension force windings (8). According to the invention, the problem of incapability of effectively generating suspension forces when a stator and a rotor are not aligned by use of a conventional magnetic suspension switch magnetic resistance motor is overcome, the radial force and the torque decoupling effect are good, the radial load capability is improved, the suspension force windings are individually controlled simply according to a needed radial suspension force, each main winding on the outer stator is also controlled simply according to needed electromagnetic torque, the control is easy, and a control algorithm is simpler and is more easily realized.

Description

A kind of magnetic levitation switch magnetic resistance fly-wheel motor and control method

Technical field

A kind of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention and control method, belong to electric machinery field.

Background technology

Further severe along with power shortage and environmental problem that using energy source causes, solar energy power generating and wind power generation are because of aboundresources, widely distributed, inexhaustible and obtained fast development.Yet the intermittence that solar energy power generating and wind power generation are intrinsic and randomness can be brought appreciable impact to the safe operation of electric power system, therefore study advanced energy storage technology particularly urgent, wherein flywheel energy storage have that long service life, energy storage density are high, environmentally safe and be easy to prevent from overcharging and overdischarge problem, to series of advantages such as temperature-insensitives, be with a wide range of applications.

Magnetic suspension switched reluctance motor utilizes radial load to produce the rotor radial required radial suspension force that suspends by motor winding, can switched reluctance machines mechanical strength be large, fault-tolerant ability is strong retaining, on the basis of operational efficiency and critical whirling speed advantages of higher, further eliminate the frictional dissipation that mechanical bearing brings, and the problems such as rotor deformation that radially magnetic pull imbalance causes, and without lubricating arrangement.Compare with the switched reluctance machines that adopts magnetic bearing to support, using magnetic suspension switched reluctance motor as fly-wheel motor, can effectively dwindle the volume and weight of fly wheel system, be particularly useful for flywheel inertia less, but system bulk and weight are required to strict occasion.

The simplex winding mixing stator magnetic suspension switched reluctance motor that Korea S scholar D.H.Lee and J.W.Ahn propose, by arranging respectively the suspension utmost point and pole of rotation weakens the coupling between suspending power and torque on stator, the document " Design and analysis of double stator type bearingless switched reluctance motor " that is published in < < Transactions of the Korean Institute of Electrical Engineers > > for 2011 has proposed the magnetic suspension switched reluctance motor of a kind of pair of stator type, by limited means, carried out initial analysis, this motor main winding and suspending power winding are wound on respectively on external stator and internal stator, the two magnetic flux path is separate, can effectively overcome the coupling influence between winding.

The document " complete period is without the design of bearing bearingless switched reluctance generator " that is published in < < Proceedings of the CSEE > > for 2011 has been announced a kind of magnetic levitation switch magnetic resistance complete-period generator, can make up the periodically low limitation of timesharing power generation mode power density of tradition, but have serious non-linear close coupling problem between suspension in motor and electricity generation system.Application number is that the patent of invention " a kind of bearingless switched reluctance generator " of 201110313992.x and the patent of invention that application number is 201210541096.3 " the short magnetic circuit magnetic suspension switch reluctance generator of a kind of stator mixed type " have all been announced a kind of bearingless switched reluctance generator that mixes stator type, its stator adopts the mixed structure of wide-narrow utmost point, can weaken the coupling between the generating utmost point and the suspension utmost point, but exciting current on radial suspension still have larger impact.

Application number is that the patent of invention " bearing-free switch magnetic-resistance starting generator and control method " of 200510040266.X has proposed a kind of bearing-free switch magnetic-resistance starting generator and control method, reduced the mechanical wear in switch magnetic-resistance starting/generator system, reduced noise of motor, but main winding and auxiliary winding be lap wound simultaneously, there is complicated non-linear close coupling impact, and the effective working region of double winding checks and balance, limited the flexibility that control method is selected.Application number is magnetic levitation switch magnetic resistance startup/generator that 201310637999.6 patent of invention " a kind of pair of stator magnet suspension switching magnetic-resistance startup/generator " has proposed a kind of pair of stator type, effectively weakened the coupling influence of main winding and suspending power winding, and double winding works alone, increased the flexibility of controlling, announced the principle that starts and generate electricity, after starting, according to generating, require to carry out Generation Control, cannot realize electronic and switching repeatedly generating state.

Application number is a kind of simplex winding mixing external rotor magnetic suspension switched reluctance motor of announcing in 201310652080.4 patent of invention, adopt the mixing outer-rotor structure of field spider and disc rotor, by the differential excitation of relative stator winding radially, produce radial suspension force and electromagnetic torque simultaneously, between radial suspension force and electromagnetic torque, still there is coupling, so the decoupling zero weak effect of radial load and torque; Meanwhile, winding differential excitation simultaneously in radially relative the two poles of the earth on stator, the two distributes according to required radial load and torque, and suspending power is controlled and torque control pins down mutually; Further, disk external rotor part will increase the axial length of motor, causes motor volume to increase, and has limited its critical maximum speed.

Summary of the invention

The object of the invention is magnetic suspension switched reluctance motor for flywheel energy storage system, as the driving motor of flywheel.Overcome above-mentioned the deficiencies in the prior art, realize electronic/electricity generate function and the decoupling zero of radial suspension function, effectively dwindle the volume of fly wheel system, be easy to the object of controlling simultaneously.

Technical scheme of the present invention is: a kind of magnetic levitation switch magnetic resistance fly-wheel motor, comprise internal stator, rotor and external stator, internal stator, rotor, external stator are nested successively with concentric manner, external stator inwall uniformly-spaced arranges 12 torque utmost points (the main winding utmost point), on the torque utmost point (the main winding utmost point), is wound with main winding; 8 rotor with salient pole (rotor pole) are equally spaced set on the outer wall of rotor, are not wound with any winding; 4 suspension utmost points (the suspending power winding utmost point) are uniformly-spaced set on the outer wall of internal stator, in suspension extremely, are wound with suspending power winding.Main winding is responsible for producing electromagnetic torque; Suspending power winding is responsible for producing radial suspension force.

The main winding that torque is extremely gone up is responsible for needing to produce electromagnetic torque according to controlling.When the direction of rotating when torque and flywheel is identical, wheel energy-storage system is in charged state; When torque and flywheel direction of rotation, flywheel is done retarded motion, and flywheel energy storage system is in discharge condition.System is at maximum speed ω _maxwith minimum speed ω _minbetween circular flow, the energy that can absorb and discharge is

The four radially vertically opposite utmost point serial connections of main winding, form A, B, C three-phase, and the power inverter of main winding adopts three-phase asymmetrical half-bridge power inverter; The power inverter of internal stator adopts four phase asymmetrical half-bridge power inverters.

Three-phase asymmetrical half-bridge power inverter comprises three-phase asymmetrical half-bridge topological circuit, and three-phase asymmetrical half-bridge topological circuit comprises charging end capacitor C 1, discharge end capacitor C 2, discharge end inductance (L2), discharge end diode D8, switch terminals inductance L 1, power device, switching capacity C3, single-pole double-throw switch (SPDT) S and three groups of half-bridge topology circuit that are in parallel;

Four phase asymmetrical half-bridge power inverters comprise four phase asymmetrical half-bridge topological circuits, and four phase asymmetrical half-bridge topological circuits comprise four groups of half-bridge topology circuit that are in parallel and a shunt capacitance C11.

Half-bridge topology circuit comprises the first power switch pipe, the second power switch pipe, the first diode, the second diode and winding, the two ends of winding connect respectively the emitter of the first power switch pipe and the collector electrode of the second power switch pipe, the negative pole of the second diode connects the emitter of the first power switch pipe, the anodal emitter that connects the second power switch pipe, the negative pole of the first diode connects the collector electrode of the first power switch pipe, the anodal collector electrode that connects the second power switch pipe.

Winding in the half-bridge topology circuit of three-phase asymmetrical half-bridge topological circuit is main winding, the particular circuit configurations of three-phase asymmetrical half-bridge topological circuit is: the first power switch pipe V1 of three groups of half-bridge topology circuit, the collector electrode of V3, V5 are connected, the second power switch pipe V4 of three groups of half-bridge topology circuit, the emitter of V2, V6 are connected, and the two ends of switching capacity C3 connect respectively the emitter of the collector electrode of the first power switch pipe V1, V3, V5 and the second power switch pipe V4, V2, V6;

Power device is in parallel with discharge end diode D8 after connecting with discharge end capacitor C 2, one end of discharge end inductance L 2 connects discharge end capacitor C 2, three feelers of single-pole double-throw switch (SPDT) S are connecting valve end inductance L 1, discharge end inductance L 2 and charging end capacitor C 1 respectively, switch terminals inductance L 1 connects the collector electrode of the first power switch pipe V1, V3, V5, and charging end capacitor C 1 is connected in parallel between the both positive and negative polarity of charging end.

Winding in four groups of half-bridge topology circuit that are in parallel in four phase asymmetrical half-bridge topological circuits is suspending power winding L _x1, L _y1, L _x2, L _y2, the particular circuit configurations of four phase asymmetrical half-bridge topological circuits is:

Suspending power winding L _x1, L _y1, L _x2, L _y2two ends connect respectively the first power switch pipe V11, V12, V13, the emitter of V14 and the second power switch pipe V15, V16, V17, the collector electrode of V18, the second diode D15, D16, D17, the negative pole of D18 connects the first power switch pipe V11, V12, V13, the emitter of V1, the anodal second power switch pipe V15 that connects, V16, V17, the emitter of V18, the first diode D11, D12, D13, the negative pole of D14 connects the first power switch pipe V11, V12, V13, the collector electrode of V14, the anodal second power switch pipe V15 that connects, V12, V13, the collector electrode of V1,

The collector electrode of the first power switch pipe V11 of 4 groups of half-bridge topology circuit, V12, V13, V14 is connected, the emitter of the second power switch pipe V15 of 4 groups of half-bridge topology circuit, V16, V17, V18 is connected, and the two ends of shunt capacitance C11 connect respectively the emitter of the collector electrode of the first power switch pipe V11, V12, V13, V14 and the second power switch pipe V15, V16, V17, V18.

Independent mutually between the magnetic flux path of main winding and suspending power winding.

A control method for magnetic levitation switch magnetic resistance fly-wheel motor, comprises the steps:

S01, sets up electromagnetic torque expression formula:

The inductance L of main winding is disjunction linearization curve about rotor position, considers main winding current i _mon the saturated impact of magnetic circuit, note critical electric current value is i ₁, i _m< i ₁time magnetic circuit unsaturated, i _m>=i ₁time magnetic circuit saturated, the inductance L of main winding is about rotor position disjunction linearization curve L (θ, i _m) segmentation analytic expression be formula (1):

$L=\left\{\begin{array}{cc}{L}_{\min },& {\mathrm{\&theta;}}_1\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_2\\ \begin{array}{c}{L}_{\min }+K(\mathrm{\&theta;}-{\mathrm{\&theta;}}_2),\\ L_{\min }+\frac{K(\mathrm{\&theta;}-{\mathrm{\&theta;}}_2)i_1}{i_m},\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_2\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_3\\ \begin{array}{c}{L}_{\max },\\ L_{\max }+\frac{L_{\max }{i}_1}{i_m},\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_3\&le;\mathrm{\&theta;}{\&le;\mathrm{\&theta;}}_4\\ \begin{array}{c}{L}_{\max }-K(\mathrm{\&theta;}-{\mathrm{\&theta;}}_4)\\ L_{\min }+\frac{[L_{\max }-K\&CenterDot;(\mathrm{\&theta;}-{\mathrm{\&theta;}}_4)]i_1}{i_m},\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_4\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_5\end{array}\right.---\left(1\right)$

In formula: L represents to comprise A, B, C three-phase main winding L _ma, L _mb, L _mcon one of them main winding on inductance, on A, B, C three-phase main winding, the computational process of the inductance of each main winding of going up is mutually identical, same, i _mfor main winding current, represent A, B, C three-phase main winding L _ma, L _mb, L _mcon one of them main winding on electric current; K=(L _max-L _min)/(θ ₃-θ ₂); L _minminimum value for main winding self-induction; L _maxfor the maximum of main winding self-induction; θ ₁, θ ₂, θ ₃, θ ₄, θ ₅5 positions that represent rotor; θ ₁represent position when align with the extremely rear edge of torque of external stator in rotor with salient pole forward position; θ ₂position when align with the torque utmost point forward position of external stator in edge after expression rotor with salient pole; θ ₃position while aliging along the extremely rear edge of the torque with external stator after expression rotor with salient pole; θ ₄represent position when align with the torque utmost point forward position of external stator in rotor with salient pole forward position; θ ₅represent position (θ when rotor one-period finishes after the torque extremely of rear rotor with salient pole forward position and external stator to align in edge ₅with θ ₁for same position, the cyclic variation of rotor rotation process rotor position angle, for explaining conveniently, will be through θ ₄while again aliging with the extremely rear edge of torque of external stator in rotor with salient pole forward position afterwards, position is designated as θ ₅;

According to the relation in torque and magnetic field, show that main winding transient electromagnetic torque expression formula is formula (2):

$T=\left\{\begin{array}{cc}0,& {\mathrm{\&theta;}}_1\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_2\\ \begin{array}{c}K{i}_m^2/2,\\ K(i_m-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_2\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_3\\ 0,& {\mathrm{\&theta;}}_3\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_4\\ \begin{array}{c}-{\mathrm{Ki}}_m^2/2,\\ -K(i_m-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_4\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_5\end{array}\right.---\left(2\right)$

T is the torque of main winding transient electromagnetic;

By torque expression formula (2), can be found out the current i of main winding _mwaveform and size directly affect torque;

S02, sets up radial suspension force expression formula:

If rotor is respectively x, y in the bias of x axle and y axle positive direction, ignore the magnetic saturation impact of the suspension utmost point, radial suspension force and suspending power winding current i _x1, i _x2, i _y1and i _y2relation have following formula:

$F_{\mathrm{ij}}==\frac{{\mathrm{\&mu;}}_0{N}_f^{2}h{\mathrm{\&beta;}}_r}{2l_{\mathrm{ij}}^2}{i}_{\mathrm{ij}}^2,\begin{array}{cc}i=x,y& j=\mathrm{1,2}\end{array}---\left(3\right)$

In formula: μ ₀for permeability of vacuum; β _r=π r/4, l _x1=l _o-x, l _y1=l _o-y, l _x2=l _o+ x, l _y2=l _o+ y, l _ofor the average gas length of internal stator and rotor, r is rotor radius, and h is stator lasmination length, β _rfor the rotor facewidth; N _fthe number of turn that represents the suspending power winding that a suspension is extremely gone up;

F _x1for the radial load along x positive direction, by i _x1produce; F _x2the radial load along x negative direction, by i _x2produce; F _y1the radial load along y positive direction, by i _y1produce; F _y2the radial load along y negative direction, by i _y2produce; l _x1be in rotor along and internal stator between along the gas length of x positive direction; l _x2be in rotor along and internal stator between along the gas length of x negative direction; l _y1be in rotor along and internal stator between along the gas length of y positive direction; l _y2be in rotor along and internal stator between along the gas length of y negative direction;

S03, adopts the radial displacement transducer detection of x axle to obtain fly-wheel motor rotor along the axial real-time radial displacement signal x of x ^', by along the axial real-time radial displacement signal x' of x and given x direction of principal axis with reference to radial displacement signal x ^*through the axial radial displacement ring of x, obtain along the axial displacement difference Δ of x x; To, along the axial displacement difference Δ of x x, after a PID controller regulates, export given suspending power judge whether given suspending power is greater than 0, if according to formula (3), calculate suspension utmost point x ₁suspending power winding L _x1given electric current if according to formula (3), calculate suspension utmost point x ₂utmost point suspending power winding L _x2given electric current

S04, adopt the radial displacement transducer of y axle to detect and obtain double winding bearingless switched reluctance generator rotor along the axial real-time radial displacement signal y' of y, by the y direction of principal axis along the axial real-time radial displacement signal y' of y and given double winding magnetic suspension switched reluctance motor rotor with reference to radial displacement signal y ^*through the axial radial displacement ring of y, obtain along the axial displacement difference Δ of y y, will be along the axial displacement difference Δ of y y; After the 2nd PID controller regulates, export given suspending power judge whether given suspending power is greater than 0, if according to formula (3), calculate suspension utmost point y ₁on suspending power winding L _y1given electric current if according to formula (3), calculate suspension utmost point y ₂on suspending power winding L _y2given electric current

S05, adopts photoelectric sensor to detect and obtains the angular position theta of fly-wheel motor rotor, and according to the change calculations of rotor position angle θ, go out rotational speed omega, the actual main winding current i that sampling is obtained _mbe brought into formula (2), obtain main winding transient electromagnetic torque T; T* ω estimates the electromagnetic power that fly-wheel motor absorbs the power p that energy management outer shroud stores or discharges according to upper strata controller instruction ^*and in conjunction with self power estimated value calculate the given electric current of main winding that fly-wheel motor inputs or outputs then by current inner loop, regulated the main winding current i of fly-wheel motor _m, make main winding current i _mfollow the output valve of energy management ring by main winding current i _mrealize electronic and generating the taking over seamlessly of two kinds of operating states of fly-wheel motor, as main winding current i _mwhile being greater than zero, fly-wheel motor is operated in motoring condition; As main winding current i _mwhile being less than zero, fly-wheel motor is operated in generating state.

The invention has the beneficial effects as follows:

(1) electronic/electricity generate function and the decoupling zero of radial suspension function, and radial load capability improving

Main winding and suspending power winding have independently magnetic flux path, are conducive to solve the problem of non-linear close coupling between suspending power and torque; The suspension utmost point keeps equaling the extremely wide of the auxiliary winding utmost point with the area that aligns of rotor inner surface, radial suspension force is not affected by rotor position angle, can overcome in traditional magnetic suspension switched reluctance motor the problem that can not effectively produce suspending power when stator and rotor do not line up, the decoupling zero of radial load and torque is effective, promotes radial load ability.Main winding and suspending power winding have independently magnetic circuit, and suspending power do not affect by rotor position angle, can effectively solve the coupled problem between flywheel transmission and rotor suspension function, and promote the ability that radially floats over.

(2) integrated startup, generating and rotor radial are from suspending function, more compact structure.

Radial direction magnetic bearing technology is integrated in switching magnetic-resistance fly-wheel motor, current collection is moving, generating and rotor radial from the function suspending in one, by main winding current, control taking over seamlessly of its electronic/generator operation state, retaining on the basis of switching magnetic-resistance fly-wheel motor and electromagnetic bearing supporting premium properties, can make the more compact structure of engine system, effectively dwindle the volume of fly wheel system, improve power density.

(3) internal stator in the application adopts 4 electrode structures, suspending power winding on 4 salient poles of internal stator only needs according to required radial suspension force and controls separately, on external stator, each phase main winding also only needs to control according to required electromagnetic torque, be easy to control, control algolithm also more simply more easily realizes; There is not restriction each other in the conducting interval of main winding and suspending power winding, can strengthen the flexibility that winding conducting region is selected, and then be conducive to the flexibility that raising system is controlled, optimization system performance.。

(4) the present invention will be applied to switching magnetic-resistance fly-wheel motor without bearing technology, suspending power winding by magnetic suspension switched reluctance motor produces the required radial load of radial suspension, not only can give full play to its high-speed adaptability, more can make its performance obtain General Promotion: can switched reluctance machines mechanical strength is large, fault-tolerant ability is strong retaining, on the basis of operational efficiency and critical whirling speed advantages of higher, further eliminate the frictional dissipation that mechanical bearing brings, and the problem such as the rotor deformation that radially magnetic pull imbalance causes and noise, and without lubricating arrangement.

(5) the present invention compares with the switched reluctance machines that adopts magnetic bearing to support, and can effectively dwindle the volume and weight of fly wheel system, is particularly useful for some flywheel inertias less, but system bulk and weight are required to strict occasion.

Accompanying drawing explanation

Fig. 1 is the operation principle schematic diagram of flywheel energy storage system of the present invention;

The structural representation that Fig. 2-1 is magnetic levitation switch magnetic resistance fly-wheel motor of the present invention;

The STRUCTURE DECOMPOSITION schematic diagram that Fig. 2-2 are magnetic levitation switch magnetic resistance fly-wheel motor of the present invention;

Distribution of Magnetic Field figure when Fig. 3 is the main winding conducting of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention;

Distribution of Magnetic Field figure when Fig. 4 is the suspending power winding conducting of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention;

Fig. 5 is that the main winding inductance L of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention is about the disjunction linearization curve of rotor position;

Fig. 6 is the three-phase asymmetrical half-bridge topological circuit of the main winding power inverter of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention;

Fig. 7 is four phase asymmetrical half-bridge topological circuits of the suspending power winding power converter of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention;

Fig. 8 is the control procedure block diagram of the control method of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention.

Reference numeral: 1-external stator is unshakable in one's determination, the 2-main winding utmost point, 3-main winding, 4-rotor, 5-rotor pole, 6-internal stator, the 7-suspending power winding utmost point, 8-suspending power winding.L _ma, L _mb, L _mcrepresent that respectively main winding extremely goes up the main winding of A, B, C three-phase; V1～V2 is power switch pipe; D1～D8 is diode; C1～C2 is electric capacity; Shown in discharge end inductance L 2, discharge end capacitor C 2, power switch pipe V7, diode D7 and discharge end diode D8 form Cuk converter; L _x1, L _y1, L _x2, L _y2represent respectively suspension utmost point x ₁, y ₁, x ₂, y ₂on suspending power winding; V11～V18 is power switch pipe; D11～D18 is diode; C11 is electric capacity.

Embodiment

Below in conjunction with accompanying drawing, the present invention is further described.

Figure 1 shows that the operation principle schematic diagram of magnetic levitation switch magnetic resistance fly-wheel motor system of the present invention.While driving magnetic levitation switch magnetic resistance fly-wheel motor flywheel driven to accelerate rotation by converters, flywheel is stored up electric energy with the form of mechanical energy, and fly wheel system is in charge mode, and now motor moves as motor; When not needing for outside power supply, fly-wheel motor invariablenes turning speed, flywheel energy storage system is in Holdover mode, now motor standby; When needs outwards provide electric energy, flywheel is because inertia High Rotation Speed generates electricity as the motor in prime mover dragging system of system, the energy that generator sends is via output current of power converter and voltage, kinetic transformation is that electric energy is discharged by system, fly wheel system is in releasing energy pattern, and now fly-wheel motor is as generator operation.

Fig. 2-1 and Fig. 2-1 are depicted as the structural representation of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention, adopt three salient-pole structures of 12/8/4 utmost point nested, concentric, comprise internal stator 6, rotor 4 and external stator 1, internal stator 6, rotor 4, external stator 1 are nested successively with concentric manner, external stator 1 inwall uniformly-spaced arranges 12 torque utmost points (the main winding utmost point 2), on the torque utmost point (the main winding utmost point) 2, is wound with main winding 3; 8 rotor with salient pole (rotor pole) 5 are equally spaced set on the outer wall of rotor 4, are not wound with any winding; 4 suspension utmost points (the suspending power winding utmost point) 7 are uniformly-spaced set on the outer wall of internal stator 6, on the suspension utmost point 7, are wound with suspending power winding 8.The four radially vertically opposite utmost point serial connections of main winding, form A, B, C three-phase, and the power inverter of main winding 3 adopts three-phase asymmetrical half-bridge power inverter; The power inverter of internal stator 6 adopts four phase asymmetrical half-bridge power inverters.

Each torque utmost point 2 is provided with N _mcircle main winding 3, four radially vertically opposite utmost point serial connections, are divided into into A, B, C three-phase (only drawn a phase in figure, omitted all the other two-phases); Eight suspension utmost points 7 are set on internal stator 6, and each suspension utmost point 7 is provided with N _fcircle radial load winding (suspending power winding) 8, each suspending power winding 8 is not connected in series each other.

Suspending power winding 8 on the suspension utmost point 7 is responsible for rotor suspension function, i in Fig. 2 _x1and i _y1be respectively the suspending power winding current that is positioned at x, y axle positive direction; i _x2and i _y2be respectively the suspending windings electric current of x, y axle negative direction.I _x1during conducting, produce x positive direction suspending power, otherwise, i _x2during conducting, produce x negative direction suspending power; i _y1during conducting, produce y positive direction suspending power, otherwise, i _y2during conducting, produce y negative direction suspending power.The suspending power that can synthesize any direction by controlling x direction and y direction suspending power, thus the rotor radial of realizing is from suspending function.By controlling suspending power winding current i _x1, i _x2, i _y1and i _y2generation can obtain required radial load.In rotor rotation process, the suspension utmost point equals with the area that aligns of rotor the extremely wide of the utmost point that suspend all the time, so radial load is with rotor position angle change, can effectively improve radial suspension performance.The main winding that torque is extremely gone up is responsible for needing to produce electromagnetic torque according to controlling.I in figure _mafor the electric current of A phase main winding, the main winding of B phase and C phase lays respectively at distance A mutually clockwise 1/3 and 2/3 place.By controlling A phase, B phase and C phase main winding current, can obtain required electromagnetic torque.When the direction of rotating when torque and flywheel is equidirectional, flywheel accelerates; When torque and flywheel direction of rotation, flywheel deceleration.Fly wheel system is at maximum speed ω _maxwith minimum speed ω _minbetween circular flow, the energy that can absorb and discharge is

Independent mutually between the magnetic flux path of main winding 3 and suspending power winding 8; Fig. 3 is the magnetic circuit distribution map of the main winding of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention, can find out that the magnetic flux of main winding 3 generations is without internal stator 6; Fig. 4 is the magnetic circuit distribution map of the suspending power winding of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention, can find out that the magnetic flux of suspending power winding 8 generations is without external stator 1.Therefore main winding 3 has independently magnetic flux path with suspending power winding 8.Can find out, the magnetic flux that main winding produces is without internal stator, the magnetic flux that suspending power winding produces is also without external stator, independent mutually between main winding and the magnetic flux path of suspending power winding, efficiently solves the close coupling problem between winding in traditional magnetic suspension switched reluctance motor.

Fig. 6 is the three-phase asymmetrical half-bridge topological circuit of the main winding power inverter of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention, wherein: L _ma, L _mb, L _mcrepresent that respectively main winding extremely goes up the main winding of A, B, C three-phase; V1～V2 is power switch pipe; D1～D8 is diode; C1～C2 is electric capacity; Shown in discharge end inductance L 2, discharge end capacitor C 2, power switch pipe V7, diode D7 and discharge end diode D8 form Cuk converter; Three-phase asymmetrical half-bridge power inverter comprises three-phase asymmetrical half-bridge topological circuit, and three-phase asymmetrical half-bridge topological circuit comprises charging end capacitor C 1, discharge end capacitor C 2, discharge end inductance L 2, discharge end diode D8, switch terminals inductance L 1, power device 10, switching capacity C3, single-pole double-throw switch (SPDT) S and three groups of half-bridge topology circuit 11 that are in parallel; Shown in power device 10 comprise power switch pipe V7 and diode D7, the positive and negative end of D7 connects respectively the emitter and collector of V7, and it is anodal that C2 one end connects D8, and one end connects the collector electrode of V7, the negative pole of D8 connects the emitter of V7, and L2, C2, V7, D7 and D8 form Cuk converter.

Fig. 7 is four phase asymmetrical half-bridge topological circuits of the suspending power winding power converter of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention, wherein: L _x1, L _y1, L _x2, L _y2represent respectively suspension utmost point x ₁, y ₁, x ₂, y ₂on suspending power winding; V11～V18 is power switch pipe; D11～D18 is diode; C11 is electric capacity.Four phase asymmetrical half-bridge power inverters comprise four phase asymmetrical half-bridge topological circuits, and four phase asymmetrical half-bridge topological circuits comprise four groups of half-bridge topology circuit 11 that are in parallel and a shunt capacitance C11.

As shown in the dotted line frame content of Fig. 7, half-bridge topology circuit 11 comprises the first power switch pipe V11, the second power switch pipe V15, the first diode D11, the second diode D15 and winding, the two ends of winding connect respectively the emitter of the first power switch pipe V11 and the collector electrode of the second power switch pipe V15, the negative pole of the second diode D15 connects the emitter of the first power switch pipe V11, the anodal emitter that connects the second power switch pipe V15, the negative pole of the first diode D11 connects the collector electrode of the first power switch pipe V11, the anodal collector electrode that connects the second power switch pipe V15.

As shown in Figure 6, the winding in 3 of three-phase asymmetrical half-bridge topological circuit groups of half-bridge topology circuit is main winding L _ma, L _mb, L _mcthe particular circuit configurations of three-phase asymmetrical half-bridge topological circuit is: the first power switch pipe V1 of three groups of half-bridge topology circuit 11, the collector electrode of V3, V5 are connected, the second power switch pipe V4 of three groups of half-bridge topology circuit 11, the emitter of V2, V6 are connected, and the two ends of switching capacity C3 connect respectively the emitter of the collector electrode of the first power switch pipe V1, V3, V5 and the second power switch pipe V4, V2, V6;

Power device 10 is in parallel with discharge end diode D8 after connecting with discharge end capacitor C 2, one end of discharge end inductance L 2 connects discharge end capacitor C 2, three feelers of single-pole double-throw switch (SPDT) S are connecting valve end inductance L 1, discharge end inductance L 2 and charging end capacitor C 1 respectively, switch terminals inductance L 1 connects the collector electrode of the first power switch pipe V1, V3, V5, charging end capacitor C 1 is connected in parallel between the both positive and negative polarity of charging end, and L2, C2, V7, D7 and D8 form Cuk converter like this.

As shown in Figure 7, the winding in four groups of half-bridge topology circuit 11 that are in parallel in four phase asymmetrical half-bridge topological circuits is suspending power winding L _x1, L _y1, L _x2, L _y2, the particular circuit configurations of four phase asymmetrical half-bridge topological circuits is:

Suspending power winding L _x1, L _y1, L _x2, L _y2two ends connect respectively the first power switch pipe V11, V12, V13, the emitter of V14 and the second power switch pipe V15, V16, V17, the collector electrode of V18, the second diode D15, D16, D17, the negative pole of D18 connects the first power switch pipe V11, V12, V13, the emitter of V1, the anodal second power switch pipe V15 that connects, V16, V17, the emitter of V18, the first diode D11, D12, D13, the negative pole of D14 connects the first power switch pipe V11, V12, V13, the collector electrode of V14, the anodal second power switch pipe V15 that connects, V12, V13, the collector electrode of V1,

The collector electrode of the first power switch pipe V11 of 4 groups of half-bridge topology circuit 11, V12, V13, V14 is connected, the emitter of the second power switch pipe V15 of 4 groups of half-bridge topology circuit 11, V16, V17, V18 is connected, and the two ends of shunt capacitance C11 connect respectively the emitter of the collector electrode of the first power switch pipe V11, V12, V13, V14 and the second power switch pipe V15, V16, V17, V18.

The three-phase asymmetrical half-bridge topological circuit of the main winding power inverter of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention as shown in Figure 6.Adopt the form of this power inverter, the sense of current of main winding is fixed, and can, by the opening and turn-offing of control switch pipe, regulate the size of main winding current.During the battery charger operation mode of flywheel energy storage system: flywheel energy storage system absorbs energy from external power source, by main winding power inverter, drive this magnetic levitation switch magnetic resistance fly-wheel motor to move with electronic acceleration mode, thereby the electric energy of absorption is stored with the kinetic energy form of flywheel, and now switch S is got to charging end.4 utmost point main winding serial connections of A phase, when upper pipe V1 and lower pipe V4 conducting simultaneously, produce A phase main winding current i as shown in the direction of arrow _ma.When V1 and V4 turn-off simultaneously, by diode D1 and D4 conducting afterflow.The main winding power conversion circuit of B phase and C utmost point phase also has identical operation principle.Adopt the form of this power inverter, the sense of current of main winding is fixed, and can, by the opening and turn-offing of control switch pipe, regulate the size of main winding current.

When the electric discharge mode of operation of flywheel energy storage system: flywheel energy storage system releases energy to outside, by main winding power inverter, drive this magnetic levitation switch magnetic resistance fly-wheel motor to move with regenerative braking state, thereby the kinetic energy of storage is outwards exported with electric energy form, and now switch S is got to discharge end.D1～D6 forms the uncontrollable rectification circuit of three-phase, at a, b two ends output dc voltage U _ab.In order to realize output voltage stable of controlling flywheel energy storage system, can design voltage current double closed-loop control system, prime is voltage controller, rear class is current controller, controller be two with the PID adjuster of amplitude limit, front and back level is in series take the double closed-loop control system that output voltage is sub-control object as master control object, output current.In flywheel discharge process, Speed of Reaction Wheels can reduce gradually, only depends on the voltage that uncontrollable rectifier obtains to decline thereupon and to have very great fluctuation process, adopts Cuk converter to carry out buck control to discharge circuit for this reason.Also need Real-Time Monitoring motor speed, when the rotating speed of flywheel surpasses maximum speed or during lower than minimum speed, flywheel energy storage system enters energy reserving state simultaneously.

Main winding current transformer adopts energy management ring as outer shroud, adopts electric current loop as interior ring.Wherein, energy management ring, according to the instruction of upper strata controller and in conjunction with s own situation, under specific energy management strategy, calculates the main winding current that motor inputs or outputs, and wherein the feedback signal of energy ring can be calculated by main winding current and rotating speed.The effect of electric current loop is to regulate motor winding current to make it follow the output valve of energy management ring.In fly wheel system, taking over seamlessly of fly-wheel motor operating state can realize by main winding current.When main winding current is greater than zero, machine operation is at motoring condition; When main winding current is less than zero, machine operation is at generating state.

Fig. 7 is four phase asymmetrical half-bridge topological circuits of the suspending power winding power converter of magnetic levitation switch magnetic resistance fly-wheel motor of the present invention.When upper pipe V11 and lower pipe V15 conducting simultaneously, produce x as shown in the direction of arrow ₁the suspending power winding current i of the utmost point _x1; When V11 and V15 turn-off simultaneously, by diode VD11 and VD15 conducting afterflow; y ₁, x ₂, y ₂the suspending power winding power translation circuit of the utmost point also has identical operation principle.The every phase main switch of this asymmetry half-bridge circuit and diode be break-make simultaneously; Completely independent between each phase, can meet heterogeneous while workplace; Total head is controlled phase winding electric current, and the back-pressure that switching tube and diode bear is motor phase voltage U _s, components and parts requirement of withstand voltage is lower; Owing to realizing substep, turn-off, be conducive to the control of noise of motor; Every mutually up and down pipe share a control signal, convenient, flexible control.The suspending power winding power converter of generator.

As shown in Figure 8, a kind of control method of magnetic levitation switch magnetic resistance fly-wheel motor, comprises the steps:

S01, sets up electromagnetic torque expression formula:

The inductance L of main winding is disjunction linearization curve about rotor position, considers main winding current i _mon the saturated impact of magnetic circuit, note critical electric current value is i ₁, i _m< i ₁time magnetic circuit unsaturated, i _m>=i ₁time magnetic circuit saturated, the inductance L of main winding is about rotor position disjunction linearization curve L (θ, i _m) segmentation analytic expression be formula (1):

$L=\left\{\begin{array}{cc}{L}_{\min },& {\mathrm{\&theta;}}_1\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_2\\ \begin{array}{c}{L}_{\min }+K(\mathrm{\&theta;}-{\mathrm{\&theta;}}_2),\\ L_{\min }+\frac{K(\mathrm{\&theta;}-{\mathrm{\&theta;}}_2)i_1}{i_m},\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_2\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_3\\ \begin{array}{c}{L}_{\max },\\ L_{\max }+\frac{L_{\max }{i}_1}{i_m},\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_3\&le;\mathrm{\&theta;}{\&le;\mathrm{\&theta;}}_4\\ \begin{array}{c}{L}_{\max }-K(\mathrm{\&theta;}-{\mathrm{\&theta;}}_4)\\ L_{\min }+\frac{[L_{\max }-K\&CenterDot;(\mathrm{\&theta;}-{\mathrm{\&theta;}}_4)]i_1}{i_m},\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_4\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_5\end{array}\right.---\left(1\right)$

In formula: L represents to comprise A, B, C three-phase main winding L _ma, L _mb, L _mcon one of them main winding on inductance, on A, B, C three-phase main winding, the computational process of the inductance of each main winding of going up is mutually identical, same, i _mfor main winding current, represent A, B, C three-phase main winding L _ma, L _mb, L _mcon one of them main winding on electric current; K=(L _max-L _min)/(θ ₃-θ ₂); L _minminimum value for main winding self-induction; L _maxfor the maximum of main winding self-induction, i _mfor main winding current; θ ₁, θ ₂, θ ₃, θ ₄, θ ₅represent 5 kinds of typical rotor-positions as shown in Figure 5; θ ₁represent position when align with the extremely rear edge of torque of external stator in rotor with salient pole forward position; θ ₂position when align with the torque utmost point forward position of external stator in edge after expression rotor with salient pole; θ ₃position while aliging along the extremely rear edge of the torque with external stator after expression rotor with salient pole; θ ₄represent position when align with the torque utmost point forward position of external stator in rotor with salient pole forward position; θ ₅represent position (θ when rotor one-period finishes after the torque extremely of rear rotor with salient pole forward position and external stator to align in edge ₅with θ ₁for same position, the cyclic variation of rotor rotation process rotor position angle, for explaining conveniently, will be through θ ₄while again aliging with the extremely rear edge of torque of external stator in rotor with salient pole forward position afterwards, position is designated as θ ₅;

According to the relation in torque and magnetic field, show that main winding transient electromagnetic torque expression formula is formula (2):

$T=\left\{\begin{array}{cc}0,& {\mathrm{\&theta;}}_1\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_2\\ \begin{array}{c}K{i}_m^2/2,\\ K(i_m-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_2\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_3\\ 0,& {\mathrm{\&theta;}}_3\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_4\\ \begin{array}{c}-{\mathrm{Ki}}_m^2/2,\\ -K(i_m-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_4\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_5\end{array}\right.---\left(2\right)$

T is the torque of main winding transient electromagnetic;

The A phase main winding of take is example, according to torque and the relation in magnetic field, can draw A phase transient electromagnetic torque T _aexpression formula

$T_a=\left\{\begin{array}{cc}0,& {\mathrm{\&theta;}}_1\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_2\\ \begin{array}{c}K{i}_{\mathrm{ma}}^2/2,\\ K(i_{\mathrm{ma}}-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_{\mathrm{ma}}\&le;i_1\\ i_{\mathrm{ma}}\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_2\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_3\\ 0,& {\mathrm{\&theta;}}_3\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_4\\ \begin{array}{c}-{\mathrm{Ki}}_{\mathrm{ma}}^2/2,\\ -K(i_{\mathrm{ma}}-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_{\mathrm{ma}}\&le;i_1\\ i_{\mathrm{ma}}\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_4\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_5\end{array}\right.---(2-1)$

I _mafor A phase main winding current; In like manner, can obtain B phase transient electromagnetic torque T _b, C phase transient electromagnetic torque T _c:

$T_b=\left\{\begin{array}{cc}0,& {\mathrm{\&theta;}}_1\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_2\\ \begin{array}{c}K{i}_{\mathrm{mb}}^2/2,\\ K(i_{\mathrm{mb}}-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_{\mathrm{mb}}\&le;i_1\\ i_{\mathrm{mb}}\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_2\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_3\\ 0,& {\mathrm{\&theta;}}_3\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_4\\ \begin{array}{c}-{\mathrm{Ki}}_{\mathrm{mb}}^2/2,\\ -K(i_{\mathrm{mb}}-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_{\mathrm{mb}}\&le;i_1\\ i_{\mathrm{mb}}\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_4\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_5\end{array}\right.---(2-2)$

$T_c=\left\{\begin{array}{cc}0,& {\mathrm{\&theta;}}_1\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_2\\ \begin{array}{c}K{i}_{\mathrm{mc}}^2/2,\\ K(i_{\mathrm{mc}}-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_{\mathrm{mc}}\&le;i_1\\ i_{\mathrm{mc}}\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_2\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_3\\ 0,& {\mathrm{\&theta;}}_3\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_4\\ \begin{array}{c}-{\mathrm{Ki}}_{\mathrm{mc}}^2/2,\\ -K(i_{\mathrm{mc}}-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_{\mathrm{mc}}\&le;i_1\\ i_{\mathrm{mc}}\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_4\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_5\end{array}\right.---(2-3)$

Wherein, i _mbfor B phase main winding current, i _mcfor C phase main winding current;

By torque expression formula, can be found out, the waveform of electric current and size directly affect torque.

S02, sets up radial suspension force expression formula (3):

If rotor is respectively x, y in the bias of x axle and y axle positive direction, ignore the magnetic saturation impact of the suspension utmost point, radial suspension force and each radial load winding current i _x1, i _x2, i _y1and i _y2relation have following formula:

$F_{\mathrm{ij}}==\frac{{\mathrm{\&mu;}}_0{N}_f^{2}h{\mathrm{\&beta;}}_r}{2l_{\mathrm{ij}}^2}{i}_{\mathrm{ij}}^2,\begin{array}{cc}i=x,y& j=\mathrm{1,2}\end{array}---\left(3\right)$

In formula: μ ₀for permeability of vacuum; β _r=π r/4, l _x1=l _o-x, l _y1=l _o-y, l _x2=l _o+ x, l _y2=l _o+ y, l _ofor the average gas length of internal stator and rotor, r is rotor radius, and h is stator lasmination length, β _rfor the rotor facewidth; F _x1the radial load along x positive direction, by i _x1produce; F _x2the radial load along x negative direction, by i _x2produce; F _y1the radial load along y positive direction, by i _y1produce; F _y2the radial load along y negative direction, by i _y2produce; l _x1be in rotor along and internal stator between along the gas length of x positive direction; l _x2be in rotor along and internal stator between along the gas length of x negative direction; l _y1be in rotor along and internal stator between along the gas length of y positive direction; l _y2be in rotor along and internal stator between along the gas length of y negative direction;

S03, adopts the radial displacement transducer detection of x axle to obtain fly-wheel motor rotor along the axial real-time radial displacement signal x of x ^', by along the axial real-time radial displacement signal x' of x and given x direction of principal axis with reference to radial displacement signal x ^*through the axial radial displacement ring of x, obtain along the axial displacement difference Δ of x x; To, along the axial displacement difference Δ of x x, after a PID controller regulates, export given suspending power judge whether given suspending power is greater than 0, if according to formula (3), calculate suspension utmost point x ₁suspending power winding L _x1given electric current if according to formula (3), calculate suspension utmost point x ₂utmost point suspending power winding L _x2given electric current

S04, adopts the radial displacement transducer detection of y axle to obtain double winding bearingless switched reluctance generator rotor along the axial real-time radial displacement signal y of y ^', will be along the axial real-time radial displacement signal y of y ^'with the y direction of principal axis of given double winding magnetic suspension switched reluctance motor rotor with reference to radial displacement signal y ^*through the axial radial displacement ring of y, obtain along the axial displacement difference Δ of y y, will be along the axial displacement difference Δ of y y; After the 2nd PID controller regulates, export given suspending power judge whether given suspending power is greater than 0, if according to formula (3), calculate suspension utmost point y ₁on suspending power winding L _y1given electric current if according to formula (3), calculate suspension utmost point y ₂on suspending power winding L _y2given electric current

S05, adopts photoelectric sensor to detect and obtains the angular position theta of fly-wheel motor rotor, and according to the change calculations of rotor position angle θ, go out rotational speed omega, the actual main winding current i that sampling is obtained _mbe brought into formula (2), obtain main winding transient electromagnetic torque T; T* ω estimates the electromagnetic power that fly-wheel motor absorbs the power p that energy management outer shroud (EMS of position or terminal) stores or discharges according to upper strata controller instruction ^*and in conjunction with self power estimated value calculate the given electric current of main winding that fly-wheel motor inputs or outputs then by current inner loop, regulated the main winding current i of fly-wheel motor _m, make main winding current i _mfollow the output valve of energy management ring by main winding current i _mrealize electronic and generating the taking over seamlessly of two kinds of operating states of fly-wheel motor, as main winding current i _mwhile being greater than zero, fly-wheel motor is operated in motoring condition; As main winding current i _mwhile being less than zero, fly-wheel motor is operated in generating state.

The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (8)

1. a magnetic levitation switch magnetic resistance fly-wheel motor, comprise internal stator (6), rotor (4) and external stator (1), it is characterized in that: described internal stator (6), rotor (4), external stator (1) are nested successively with concentric manner, described external stator (1) inwall uniformly-spaced arranges 12 torque utmost points (2), is wound with main winding (3) on the described torque utmost point (2); 8 rotor with salient pole (5) are equally spaced set on the outer wall of rotor (4); 4 suspension utmost points (7) are uniformly-spaced set on the outer wall of internal stator (6), on the described suspension utmost point (7), are wound with suspending power winding (8).

2. magnetic levitation switch magnetic resistance fly-wheel motor according to claim 1, it is characterized in that: the four radially vertically opposite utmost point serial connections of described main winding (3), form A, B, C three-phase, the power inverter of described main winding (3) adopts three-phase asymmetrical half-bridge power inverter; The power inverter of described internal stator adopts four phase asymmetrical half-bridge power inverters.

3. magnetic levitation switch magnetic resistance fly-wheel motor according to claim 2, it is characterized in that: described three-phase asymmetrical half-bridge power inverter comprises three-phase asymmetrical half-bridge topological circuit, described three-phase asymmetrical half-bridge topological circuit comprises charging end capacitor C 1, discharge end capacitor C 2, discharge end inductance L 2, discharge end diode D8, switch terminals inductance L 1, power device (10), switching capacity C3, single-pole double-throw switch (SPDT) S and three groups of half-bridge topology circuit (11) that are in parallel; Shown in power device (10) comprise power switch pipe V7 and diode D7, shown in discharge end inductance L 2, discharge end capacitor C 2, power switch pipe V7, diode D7 and discharge end diode D8 form Cuk converter;

Described four phase asymmetrical half-bridge power inverters comprise four phase asymmetrical half-bridge topological circuits, and described four phase asymmetrical half-bridge topological circuits comprise four groups of half-bridge topology circuit (11) that are in parallel and a shunt capacitance C11.

4. magnetic levitation switch magnetic resistance fly-wheel motor according to claim 3, it is characterized in that: described half-bridge topology circuit (11) comprises the first power switch pipe (V11), the second power switch pipe (V15), the first diode (D11), the second diode (D15) and winding, the two ends of described winding connect respectively the emitter of the first power switch pipe (V11) and the collector electrode of the second power switch pipe (V15), the negative pole of the second diode (D15) connects the emitter of the first power switch pipe (V11), the anodal emitter that connects the second power switch pipe (V15), the negative pole of the first diode (D11) connects the collector electrode of the first power switch pipe (V11), the anodal collector electrode that connects the second power switch pipe (V15).

5. magnetic levitation switch magnetic resistance fly-wheel motor according to claim 4, is characterized in that: the winding in three groups of half-bridge topology circuit (11) of described three-phase asymmetrical half-bridge topological circuit is respectively main winding L _ma, L _mb, L _mcthe particular circuit configurations of described three-phase asymmetrical half-bridge topological circuit is: the first power switch pipe V1 of three groups of half-bridge topology circuit (11), the collector electrode of V3, V5 are connected, the second power switch pipe V4 of described three groups of half-bridge topology circuit (11), the emitter of V2, V6 are connected, and the two ends of described switching capacity C3 connect respectively the emitter of the collector electrode of the first power switch pipe V1, V3, V5 and the second power switch pipe V4, V2, V6;

Described power device (10) is in parallel with described discharge end diode D8 after connecting with discharge end capacitor C 2, one end of discharge end inductance L 2 connects discharge end capacitor C 2, three feelers of single-pole double-throw switch (SPDT) S are connecting valve end inductance L 1, discharge end inductance L 2 and charging end capacitor C 1 respectively, switch terminals inductance L 1 connects the collector electrode of the first power switch pipe V1, V3, V5, and charging end capacitor C 1 is connected in parallel between the both positive and negative polarity of charging end.

6. magnetic levitation switch magnetic resistance fly-wheel motor according to claim 4, is characterized in that: the winding of the four groups of half-bridge topology circuit (11) in described four phase asymmetrical half-bridge topological circuits is respectively suspending power winding L _x1, L _y1, L _x2, L _y2, the particular circuit configurations of described four phase asymmetrical half-bridge topological circuits is:

The collector electrode of the first power switch pipe V11 of described four groups of half-bridge topology circuit (11), V12, V13, V14 is connected, the emitter of the second power switch pipe V15 of described four groups of half-bridge topology circuit (11), V16, V17, V18 is connected, and the two ends of described shunt capacitance C11 connect respectively the emitter of the collector electrode of the first power switch pipe V11, V12, V13, V14 and the second power switch pipe V15, V16, V17, V18.

7. magnetic levitation switch magnetic resistance fly-wheel motor according to claim 1, is characterized in that: independent mutually between described main winding and the magnetic flux path of suspending power winding.

8. a control method for magnetic levitation switch magnetic resistance fly-wheel motor, is characterized in that, comprises the steps:

S01, sets up electromagnetic torque expression formula:

The inductance L of described main winding is disjunction linearization curve about rotor position, considers main winding current i _mon the saturated impact of magnetic circuit, note critical electric current value is i ₁, i _m< i ₁time magnetic circuit unsaturated, i _m>=i ₁time magnetic circuit saturated, the inductance L of main winding is about rotor position disjunction linearization curve L (θ, i _m) segmentation analytic expression be formula (1):

$L=\left\{\begin{array}{cc}{L}_{\min },& {\mathrm{\&theta;}}_1\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_2\\ \begin{array}{c}{L}_{\min }+K(\mathrm{\&theta;}-{\mathrm{\&theta;}}_2),\\ L_{\min }+\frac{K(\mathrm{\&theta;}-{\mathrm{\&theta;}}_2)i_1}{i_m},\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_2\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_3\\ \begin{array}{c}{L}_{\max },\\ L_{\max }+\frac{L_{\max }{i}_1}{i_m},\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_3\&le;\mathrm{\&theta;}{\&le;\mathrm{\&theta;}}_4\\ \begin{array}{c}{L}_{\max }-K(\mathrm{\&theta;}-{\mathrm{\&theta;}}_4)\\ L_{\min }+\frac{[L_{\max }-K\&CenterDot;(\mathrm{\&theta;}-{\mathrm{\&theta;}}_4)]i_1}{i_m},\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_4\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_5\end{array}\right.---\left(1\right)$

According to the relation in torque and magnetic field, show that main winding transient electromagnetic torque expression formula is formula (2):

$T=\left\{\begin{array}{cc}0,& {\mathrm{\&theta;}}_1\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_2\\ \begin{array}{c}K{i}_m^2/2,\\ K(i_m-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_2\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_3\\ 0,& {\mathrm{\&theta;}}_3\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_4\\ \begin{array}{c}-{\mathrm{Ki}}_m^2/2,\\ -K(i_m-i_1/2)i_1,\end{array}& \left.\begin{array}{c}0\&le;i_m\&le;i_1\\ i_m\&GreaterEqual;i_1\end{array}\right\}{\mathrm{\&theta;}}_4\&le;\mathrm{\&theta;}\&le;{\mathrm{\&theta;}}_5\end{array}\right.---\left(2\right)$

Wherein, T is the torque of main winding transient electromagnetic; K=(L _max-L _min)/(θ ₃-θ ₂); L _minminimum value for main winding self-induction; L _maxfor the maximum of main winding self-induction, i _mfor main winding current; θ ₁, θ ₂, θ ₃, θ ₄, θ ₅5 positions that represent rotor; θ ₁represent position when align with the extremely rear edge of torque of external stator in rotor with salient pole forward position; θ ₂position when align with the torque utmost point forward position of external stator in edge after expression rotor with salient pole; θ ₃position while aliging along the extremely rear edge of the torque with external stator after expression rotor with salient pole; θ ₄represent position when align with the torque utmost point forward position of external stator in rotor with salient pole forward position; θ ₅represent position when rotor one-period finishes after the torque extremely of rear rotor with salient pole forward position and external stator to align in edge;

S02, sets up radial suspension force expression formula:

If rotor is respectively x, y in the bias of x axle and y axle positive direction, ignore the magnetic saturation impact of the suspension utmost point, radial suspension force and suspending power winding current i _x1, i _x2, i _y1and i _y2relation have following formula:

$F_{\mathrm{ij}}==\frac{{\mathrm{\&mu;}}_0{N}_f^{2}h{\mathrm{\&beta;}}_r}{2l_{\mathrm{ij}}^2}{i}_{\mathrm{ij}}^2,\begin{array}{cc}i=x,y& j=\mathrm{1,2}\end{array}---\left(3\right)$

In formula: μ ₀for permeability of vacuum; β _r=π r/4, l _x1=l _o-x, l _y1=l _o-y, l _x2=l _o+ x, l _y2=l _o+ y, l _ofor the average gas length of internal stator and rotor, r is rotor radius, and h is stator lasmination length, β _rfor the rotor facewidth; N _fthe number of turn that represents the suspending power winding that a suspension is extremely gone up;

F _x1for the radial load along x positive direction, by i _x1produce; F _x2for the radial load along x negative direction, by i _x2produce; F _y1the radial load along y positive direction, by i _y1produce; F _y2the radial load along y negative direction, by i _y2produce; l _x1be in rotor along and internal stator between along the gas length of x positive direction; l _x2be in rotor along and internal stator between along the gas length of x negative direction; l _y1be in rotor along and internal stator between along the gas length of y positive direction; l _y2be in rotor along and internal stator between along the gas length of y negative direction;

S03, adopts the radial displacement transducer of x axle to detect and obtains described fly-wheel motor rotor along the axial real-time radial displacement signal x' of x, by described along the axial real-time radial displacement signal x' of x and given x direction of principal axis with reference to radial displacement signal x ^*through the axial radial displacement ring of x, obtain along the axial displacement difference Δ of x x; To, along the axial displacement difference Δ of x x, after a PID controller regulates, export given suspending power judge whether given suspending power is greater than 0, if according to formula (3), calculate suspension utmost point x ₁suspending power winding L _x1given electric current if according to formula (3), calculate suspension utmost point x ₂utmost point suspending power winding L _x2given electric current

S04, adopt the radial displacement transducer of y axle to detect and obtain described double winding bearingless switched reluctance generator rotor along the axial real-time radial displacement signal y' of y, by the described y direction of principal axis along the axial real-time radial displacement signal y' of y and given double winding magnetic suspension switched reluctance motor rotor with reference to radial displacement signal y ^*through y axial radial displacement ring, obtain along the axial displacement difference Δ of y y, by described along the axial displacement difference Δ of y y; After the 2nd PID controller regulates, export given suspending power judge whether given suspending power is greater than 0, if according to formula (3), calculate suspension utmost point y ₁on suspending power winding L _y1given electric current if according to formula (3), calculate suspension utmost point y ₂on suspending power winding L _y2given electric current

S05, adopts photoelectric sensor to detect and obtains the angular position theta of described fly-wheel motor rotor, and according to the change calculations of rotor position angle θ, go out rotational speed omega, the actual main winding current i that sampling is obtained _mbe brought into formula (2), obtain main winding transient electromagnetic torque T; T* ω estimates the electromagnetic power that fly-wheel motor absorbs the power p that energy management outer shroud stores or discharges according to upper strata controller instruction ^*and in conjunction with self power estimated value calculate the given electric current of main winding that fly-wheel motor inputs or outputs then by current inner loop, regulated the main winding current i of fly-wheel motor _m, make described main winding current i _mfollow the output valve of energy management ring by main winding current i _mrealize electronic and generating the taking over seamlessly of two kinds of operating states of fly-wheel motor, as main winding current i _mwhile being greater than zero, fly-wheel motor is operated in motoring condition; As main winding current i _mwhile being less than zero, fly-wheel motor is operated in generating state.