CN104579030B - Control method for adjusting axial force of permanent magnet disc-type motor - Google Patents
Control method for adjusting axial force of permanent magnet disc-type motor Download PDFInfo
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- CN104579030B CN104579030B CN201510039832.9A CN201510039832A CN104579030B CN 104579030 B CN104579030 B CN 104579030B CN 201510039832 A CN201510039832 A CN 201510039832A CN 104579030 B CN104579030 B CN 104579030B
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- Prior art keywords
- rotor
- axial force
- permanent magnet
- phase
- axis
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
Abstract
The invention discloses a control method for adjusting the axial force of a permanent magnet disc-type motor. The permanent magnet disc-type motor comprises a stator, a rotor, a shaft and a frequency converter, wherein a winding is embedded in the stator and connected with the output of the frequency converter, a permanent magnet is attached to the rotor, and the rotor is connected with the shaft 1. When receiving axial force, torque and rotation speed instructions, the frequency converter obtains the position signal of the rotor and works out the current amplitude, phase position and frequency needing applying, then current is applied to the winding, a required rotary stator magnetic field is generated and mutually acts with the permanent magnet on the rotor, required axial force Fin and torque T are generated, the characteristic that the permanent magnet disc-type motor generates axial force is fully used, the running torque T and axial force Fin can be controlled independently, and the axial force Fout generated by a load or gravity is balanced. Thus, the size and abrasion of a thrust bearing are effectively reduced, the efficiency of the system is improved, and any additional devices are not needed.
Description
Technical field
The present invention relates to motor control technology field, more particularly, to a kind of control method of permanent magnet disc motor axial force.
Background technology
Screw, blower fan, water pump etc. need motor-driven rotating machinery to load operationally, can produce with rotation speed change
Huge axial thrust, in order to stop axial displacement it is necessary to offset axial thrust, long-play meeting by thrust bearing
Lead to the Fast Wearing of thrust bearing；When this part power is very big, needs to increase thrust face, not only increased rubbing of system
Wear consumption in addition it is also necessary to a set of lubricating system.
In prior art, have and axial thrust is offset by axial magnetic suspension bearing, this generally requires additionally to increase a set of
Bearing arrangement, not only increased cost, and increased axial size.
In addition there is the suction producing by permanent magnet to offset axial thrust, but this suction is unadjustable, when blower fan, water
When pump even load rotation speed change, axial thrust change, only can at one very it is impossible to dynamically offset this part thrust
Balancing axial thrust in little scope, and the method still needs to increase set of device.
Content of the invention
In order to solve to need motor-driven rotating machinery operationally in order to offset the problems referred to above of axial thrust appearance,
The invention provides a kind of control method adjusting permanent magnet disc motor axial force.
The present invention is the technical scheme is that for achieving the above object a kind of to adjust permanent magnet disc motor axial force
Control method, permanent magnet disc motor includes stator 2, rotor 3, axle 1, frequency converter 7, is wherein embedded with winding 4 on stator 2, winding 4 with
The output of frequency converter 7 connects, and rotor 3 posts permanent magnet 5, rotor 3 is connected with axle 1, is being connected to axial forcef out, torquetWith
Rotating speednDuring instruction, frequency converter 7 obtains the position signalling of rotor 3, calculates the current amplitude needing to applyi, phase placeθ 1And frequency
Ratef, then apply a current in winding 4, produce the rotating stator magnetic field requiring, with the permanent magnet 5 phase interaction on rotor 3
With producing the axial force requiringf inAnd torquetIt is desirable to axial forcef inWith actual axial forcef outSize is identical, direction phase
Instead, concrete grammar is as follows:
According to Electrical Motor principle, a phase, b phase and c phase winding institute galvanization are respectivelyi a、i bWithi c
(a)
Wherein:
iFor the amplitude of alternating current, unit v；
fFor the frequency of alternating current, unit hz；
θ 1For initial phase, unit rad；
tFor time, unit s；
The axis of s poled sAngle with a phase winding axis isφ 1=2πf t+θ 1, initial angle isθ 1,φ 1To the timet
Derivation can obtain angular velocity of rotationω s=2πf；
The axis of n poled rAngle with a phase winding axis isφ 2=θ 2-ω r t, initial angle isθ 2；
Stator field s pole axis lined sWith rotor field n pole axis lined rAngle beφ=φ 1+φ 2=θ 1+θ 2；
According to electromagnetic field principle it can be deduced that equation below:
(b)
Wherein:
tFor torque, just it is clockwise, is negative counterclockwise；
f inFor the electromagnetic force between rotor, suction is that just repulsion is negative；
k 1,k 2For coefficient；
b rThe magnetic field fundamental voltage amplitude producing for rotor permanent magnet independent role；
b sThe magnetic field fundamental voltage amplitude producing for stator independent role, the current amplitude that its value is led to stator windingiCheng Zheng
Than,b s=k 3 i；
φAngle between the magnetic field s pole center line producing for stator winding and rotor field n pole center line,φ=θ 1+θ 2;
In given system demandtWithf inWhen, above-mentioned equation only hasb sWithφFor unknown quantity, can solveb sWithφ, in conjunction with running speedω sAnd initial position of rotorθ 2, three control variables in (a) formula, expression formula can be solved
For:
(c)
There is provided the electric current in (a) formula to a phase, b phase and c phase winding respectively, you can to obtain the torque of needst, axial forcef inAnd rotating speedω s.
The position signalling of described rotor 3 passes through position sensor 6 or position-sensor-free algorithm obtains.
The control method of the regulation permanent magnet disc motor axial force of the present invention, takes full advantage of permanent magnet disc motor itself and produces
The feature of raw axial force, can be by turning momenttAnd axial forcef inIndividually control, except revolving force can be produced as conventional motors
Square bringing onto load, can also actively adjust axial forcef inSize, balanced load or gravity produce axial forcef out, thus
Effectively reduce volume and the abrasion of thrust bearing, improve the efficiency of system simultaneously.This device not only can actively adjust axial direction
Power, and do not need additionally to increase any device.
Brief description
Fig. 1 is the first mounting structure figure of disc type electric machine.
Fig. 2 is the second mounting structure figure of disc type electric machine.
Fig. 3 is the right view of permanent magnet disc motor rotor in Fig. 1.
Fig. 4 is the left view of permanent magnet disc motor stator in Fig. 1.
Fig. 5 is the maximum operational limit border schematic diagram of permanent magnet disc motor axial force and torque.
In figure: 1, axle, 2, stator, 3, rotor, 4, winding, 5, permanent magnet, 6, position sensor, 7, frequency converter, 8, radially
Groove.
Specific embodiment
Disc type electric machine of the present invention is as shown in figure 1, permanent magnet disc motor includes stator 2, rotor 3, axle 1, frequency converter 7, position
Sensor 6(is when using position-sensorless control algorithm it is also possible to omit), winding 4, winding 4 and frequency converter are wherein embedded with stator 2
7 output connects, and rotor 3 posts permanent magnet 5, rotor 3 is connected with axle 1, the rotor portion of sensor 6 is installed on axle 1, passes
The rotating position signal of rotor 1 is passed to frequency converter 7 by sensor 6.
It is being connected to axial forcef out, torquetAnd rotating speednDuring instruction, frequency converter 7 obtains the position of rotor 3 from sensor 6
Signal, calculates, by control algolithm, current amplitude, the phase and frequency needing to apply, then applies a current in winding 4,
Produce the rotating stator magnetic field requiring, interact with the permanent magnet 5 on rotor 3, produce the axial force requiringf inTorquet,
Axial forcef inWithf outSize is identical, in opposite direction, thus balancing axial force, reduces the abrasion of thrust bearing.
Fig. 2 is disc type electric machine another kind arrangement, and compared to Figure 1, the axial force of generation is contrary.
As shown in figure 1, when axial force isf outThrust, the direction of rotation of axle is (in terms of axle stretch end) counterclockwise.This enforcement
The number of phases of middle motor is 3, and number of pole-pairs is 1, other numbers of phases and number of pole-pairs.Stator 2 is annulus cylindricality, material magnetic conduction and non-lead
Magnetic.As shown in figure 3, opening radial slot 8 on stator 2, circumferentially it is uniformly distributed, two sides up and down of winding 4 are embedded in not respectively
In same groove 8, the number of winding 4 is 3*m, and m is positive integer, wherein a phase, and b phase and c phase winding are made up of m winding respectively, a
Phase, b phase and c phase winding are uniformly distributed clockwise in circumferencial direction, and space quadrature is 120 °.In figure a, tri- rays of b and c divide
Do not represent a phase, the geometric center lines of b phase and c phase winding, when every phase winding leads to forward current, the magnetic field s that its winding produces
Center line ray corresponding with this phase winding in pole overlaps.
According to Electrical Motor principle, when a phase, b phase and c phase winding institute galvanization are respectivelyi a、i bWithi c
(a)
Wherein:
iFor the amplitude of alternating current, unit v；
fFor the frequency of alternating current, unit hz；
θ 1For initial phase, unit rad；
tFor time, unit s；
Can be controlled respectively by frequency converter 7i 、fWithθ 1；
It is passed through above-mentioned electric current, then produces a clockwise rotating excitation field, number of pole-pairs is 1, magnetic field amplitudeb sWithiCheng Zheng
The ratio axis of s poled sAngle with a phase winding axis (space is static) isφ 1=2πf t+θ 1, initial angle isθ 1,φ 1To the timetDerivation can obtain angular velocity of rotationω s=2πf.
As shown in figure 4, rotor 3 is made using permeability magnetic material, such as iron or silicon steel sheet, post permanent magnet 4, point n pole above
With s pole, the magnetic field under permanent magnet 4 independent role isb r, because permanent magnet 4 is attached to above rotor 3, thereforeb rRotation
Speed isω r, the axis of n pole is can determine that by rotor-position sensor 6 or position-sensor-free algorithmd rWith a phase
The angle of winding axis isφ 2=θ 2-ω r t, initial angle isθ 2.
Because magneto is a kind of synchronous motor, stator fieldb sAnd rotor fieldb rRotary speed identical, that is,ω s= ω r, therefore stator field s pole axis lined sWith rotor field n pole axis lined rAngle beφ=φ 1+φ 2=θ 1+θ 2.
Magnetic field path between its rotor as shown in figure 1, being sent by rotor n pole, through air gap subsequently into stator 2,
Then from the s pole formation closed-loop path along dashed path from opposite side out, again passing by air gap entrance rotor.
Stator field and rotor field interact, and not only produce turning momenttAnd produce axial forcef in, then basis
Electromagnetic field principle is it can be deduced that equation below:
(b)
Wherein:
tFor torque, just it is clockwise, is negative counterclockwise；
f inFor the electromagnetic force between rotor, suction is that just repulsion is negative；
k 1,k 2For coefficient, once motor manufacturing completes, just for constant constant；
b rThe magnetic field fundamental voltage amplitude producing for rotor permanent magnet independent role, once motor manufacturing completes, just for constant
Constant；
b sThe magnetic field fundamental voltage amplitude producing for stator independent role, the current amplitude that its value is led to stator windingiIt is directly proportionalb s=k 3 i；
φAngle between the magnetic field s pole center line producing for stator winding and rotor field n pole center line,φ=θ 1+θ 2；
Obviously, in given system demandtWithf inWhen, above-mentioned equation only hasb sWithφFor unknown quantity, can solveb sWithφ, in conjunction with running speedω sAnd initial position of rotorθ 2, three control variables in (a) formula can be solved, expression
Formula is:
(c)
Then pass through frequency converter 7, provide the electric current in (a) formula respectively to a phase, b phase and c phase winding, you can be needed
Wantt、f inAnd rotating speedω s.
In addition, by formula (b)φEliminate, can obtain following elliptic equation:
(d)
Willb s=k 3 iBring formula (d) into obtain
(e)
Because temperature rise limits, electric currentiMaximum bei max, thus determining axial forcef inAnd torquetValue only
Can oval in Figure 5 in that is to say, that the ellipse in Fig. 5 be this permanent magnet disc motor operational limit border.
As shown in figure 5, axial forcef inAnd torquetCan be in four quadrant values it is meant that axial force can be suction
Can also be repulsion, torque can be can also to be clockwise counterclockwise.
The present invention specially takes full advantage of the feature that permanent magnet disc motor itself produces axial force, by control algolithm, permissible
Turning moment and axial force are individually controlled, except turning moment band dynamic load rotation can be produced, can also actively adjust axially
The size of power, thus in larger range of speeds inner equilibrium axial thrust, volume and the abrasion of thrust bearing can be effectively reduced,
The efficiency of raising system.This method not only actively can adjust axial force, and does not need additionally to increase any device.
The present invention is described by embodiment, and those skilled in the art know, in the spirit without departing from the present invention
In the case of scope, various changes or equivalence replacement can be carried out to these features and embodiment.In addition, the religion in the present invention
Lead down, these features and embodiment can be modified with the essence adapting to particular situation and material without departing from the present invention
God and scope.Therefore, the present invention is not limited to the particular embodiment disclosed, fallen with claims hereof
In the range of embodiment broadly fall into protection scope of the present invention.
Claims (2)
1. a kind of adjust permanent magnet disc motor axial force control method it is characterised in that: permanent magnet disc motor includes stator
(2), rotor (3), axle (1), frequency converter (7), is wherein embedded with winding (4), the output of winding (4) and frequency converter (7) on stator (2)
Connect, rotor (3) posts permanent magnet (5), rotor (3) is connected with axle (1), be connected to axial force (f out), torque (T)With
Rotating speed (N)During instruction, frequency converter (7) obtain rotor (3) position signalling, calculate need apply current amplitude (i), s
The axis of poled sWith a phase winding axis initial phase (θ 1) and frequency (f), then apply a current in winding (4), produce
Require rotating stator magnetic field, with rotor (3) on permanent magnet (5) interact, produce require axial force (f in) and torque
(T)It is desirable to axial force (f in) and actual axial force (f out) size is identical, in opposite direction, concrete grammar is as follows:
According to Electrical Motor principle, a phase, b phase and c phase winding institute galvanization are respectivelyi a、i bWithi c
(a)
Wherein:
iFor the amplitude of alternating current, unit v；
fFor the frequency of alternating current, unit hz；
θ 1Axis for s poled sWith a phase winding axis initial phase, unit rad；
tFor time, unit s；
The axis of s poled sAngle with a phase winding axis isφ 1=2πf t+θ 1, the axis of s poled sWith at the beginning of a phase winding axis
Beginning phase place isθ 1,φ 1To the timetDerivation can obtain angular velocity of rotationω s=2πf；
The axis of n poled rAngle with a phase winding axis isφ 2=θ 2-ω r t, the axis of n poled rWith at the beginning of a phase winding axis
Beginning phase place isθ 2；
Stator field s pole axis lined sWith rotor field n pole axis lined rAngle beφ=φ 1+φ 2=θ 1+θ 2；
According to electromagnetic field principle it can be deduced that equation below:
(b)
Wherein:
tFor torque, just it is clockwise, is negative counterclockwise；
f inFor the electromagnetic force between rotor, suction is that just repulsion is negative；
k 1,k 2For coefficient；
b rThe magnetic field fundamental voltage amplitude producing for rotor permanent magnet independent role；
b sThe magnetic field fundamental voltage amplitude producing for stator independent role, the current amplitude that its value is led to stator windingiIt is directly proportional,b s
=k 3 i；
Angle between the magnetic field s pole center line producing for stator winding and rotor field n pole center line,=θ 1+θ 2;
In given system demandtWithf inWhen, above-mentioned equation only hasb sWithφFor unknown quantity, can solveb sWithφ, then
In conjunction with running speedω sAxis with n poled rWith a phase winding axis initial phase it isθ 2, three in (a) formula can be solved
Individual control variables, expression formula is:
(c)
Electric current in (a) formula is provided respectively to a phase, b phase and c phase winding, you can with obtain needs torque (T), axial force
(f in) and rotating speed (ω s).
2. according to claim 1 a kind of adjust permanent magnet disc motor axial force control method it is characterised in that: described
The position signalling of rotor (3) passes through position sensor (6) or position-sensor-free algorithm obtains.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510039832.9A CN104579030B (en) | 2015-01-27 | 2015-01-27 | Control method for adjusting axial force of permanent magnet disc-type motor |
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| CN201510039832.9A CN104579030B (en) | 2015-01-27 | 2015-01-27 | Control method for adjusting axial force of permanent magnet disc-type motor |
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| CN104579030B true CN104579030B (en) | 2017-01-18 |
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| AT512002B1 (en) * | 2011-09-15 | 2014-02-15 | Xylem Ip Holdings Llc | MOTOR CONTROL FOR A SYNCHRONOUS MOTOR |
| CN103066761B (en) * | 2011-10-20 | 2017-08-01 | 深圳飞能能源有限公司 | A kind of axial thrust balancing devices and apply its high-speed electric expreess locomotive |
| CN102828984A (en) * | 2012-06-27 | 2012-12-19 | 北京航空航天大学 | Axial force control method of back-to-back type two-stage centrifugal compressor |
| CN202696448U (en) * | 2012-08-06 | 2013-01-23 | 王颖 | Permanent magnet shaft coupler with axial force suppression device and disassembly and assembly adjustment mechanisms |
| CN103939345B (en) * | 2014-04-02 | 2016-01-20 | 西安交通大学 | A kind of axial force automatic control tegulatingdevice for double-screw compressor and regulating method |
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| CB03 | Change of inventor or designer information |
Inventor after: Feng Tie Inventor before: Bi Liuxin |
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| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A control method for adjusting axial force of permanent magnet disk motor Effective date of registration: 20210322 Granted publication date: 20170118 Pledgee: China Construction Bank Co.,Ltd. Dalian Shahekou sub branch Pledgor: DALIAN GUANLI MOTOR TECHNOLOGY Co.,Ltd. Registration number: Y2021210000012 |
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Date of cancellation: 20230518 Granted publication date: 20170118 Pledgee: China Construction Bank Co.,Ltd. Dalian Shahekou sub branch Pledgor: DALIAN GUANLI MOTOR TECHNOLOGY Co.,Ltd. Registration number: Y2021210000012 |
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