CN104967361A - Electromagnetic no-bearing doubly salient motor and control method - Google Patents
Electromagnetic no-bearing doubly salient motor and control method Download PDFInfo
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- CN104967361A CN104967361A CN201510360500.0A CN201510360500A CN104967361A CN 104967361 A CN104967361 A CN 104967361A CN 201510360500 A CN201510360500 A CN 201510360500A CN 104967361 A CN104967361 A CN 104967361A
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Abstract
The invention discloses an electromagnetic no-bearing doubly salient motor and a control method, and belongs to the no-bearing motor technology field. The motor comprises a stator iron core, a rotor iron core, an armature winding, an excitation winding and a suspension winding. The rotor iron core comprises a plurality of rotor tooth electrodes. The stator iron core comprises a plurality of stator electrodes composed of several stator tooth electrodes. A gap between adjacent stator electrodes forms a stator groove. Armature coils wound on the stator tooth electrodes are connected according to a principle which is the same as the turn chain magnetic flux change rule and the armature winding is formed. An excitation coil and a suspension coil wound on the stator electrode are embedded in each stator groove. The excitation coils wound on the stator electrodes are connected in order and form the excitation winding. The suspension coils in spatial radial relative positions are connected and form an alpha-axis direction suspension winding and a beta-axis direction suspension winding which generating an orthogonal suspension magnetic field respectively. The independent suspension winding is employed to control the suspension force and the non-linear coupling problem is avoided. A suspension current and an excitation current are controlled individually to achieve mutual coupling between motor output and suspension.
Description
Technical field
The invention discloses electromagnetic type bearing-free double salient-pole electric machine and control method thereof, belong to the technical field of bearing-free salient pole machine.
Background technology
Switched reluctance machines rotor is salient-pole structure, and stator is wound with concentratred winding, rotor has not both had permanent magnet also do not have winding, structure simple rigid, easy to maintenance.Therefore switched reluctance machines has hot environment and high-speed cruising adaptability.But high rotating speed inevitably causes the problems such as mechanical bearing heating and wearing and tearing, shortens bearing life, affects the normal operation of motor, reduce the reliability of system, weaken the advantage that reluctance motor is suitable for high-speed cruising dramatically.
Compared to mechanical bearing, magnetic bearing can realize the contactless operation of stator and rotor, possesses mechanical wearing and tearing, without the need to lubrication, control precision is high, long service life, maintenance cost are little, bear rotating speed advantages of higher.But magnetic bearing respectively all needs independent control to levitating current, power demand device is more, controls difficulty large; Magnetic bearing occupies separate space, and system configuration is comparatively complicated, and cost is high, and power density is low; Simultaneous Switching reluctance motor rotor interpolar radial electromagnetic force is comparatively large, and presents pulsating feature, has a strong impact on magnetic suspension system stable operation.
Bearing-free motor is by magnetic bearing function and driving or the integrated New-type electric machine of electricity generate function, there is space availability ratio high, the features such as compact conformation, by regulating levitating current, ACTIVE CONTROL motor interpolar radial electromagnetic force, improve high speed operation of motor reliability, improve power density and efficiency.Bearing-free motor type mainly contains induction-type bearingless motor, bearing-free permanent magnet synchronous motor, and bearing-free reluctance motor.Induction-type bearingless motor is simple with its structure, and being easy to the features such as weak magnetic becomes the bearing-free motor type studied the earliest, but its suspending power controls and direct torque intercouples, and is difficult to realize high-speed stable running.Bearing-free permanent magnet synchronous motor power density is high, and efficiency is high, but on the one hand in the adverse circumstances such as high temperature, permanent magnet easily irreversible demagnetization occurs, and affects motor performance; On the other hand because permanent magnet is positioned on rotor, high-speed cruising easily causes the cracked accident such as to come off of permanent magnet, harm system safety.Bearing-free switch reluctance motor inherits switched reluctance machines advantage simple and reliable for structure, is particularly suitable for running in severe occasions such as high temperature, and the suspension function of himself avoids the interference of interpolar radial electromagnetic force simultaneously, can realize high-speed stable running.But there is Non-linear coupling in bearing-free switch reluctance motor torque and suspending power, the system of adding realizes difficulty, patent of invention CN101546978B is such as authorized to disclose a kind of control method based on double winding bearing-free switch reluctance motor, the method can realize non-bearing switch reluctance motor complete-period electrification, compensate for periodically timesharing generating limitation, but levitating current needs to regulate in real time according to armature supply change, intercouple between winding magnetic field, control algolithm is comparatively complicated; Power device is on the other hand more, reduces system reliability, adds cost.
Summary of the invention
Technical problem to be solved by this invention is the deficiency for above-mentioned background technology, provide electromagnetic type bearing-free double salient-pole electric machine and control method thereof, the excitation that motor utilizes the excitation winding be wound in stator poles to realize motor eliminates permanent magnet with simplified structure, there is provided bias magnetic field simultaneously, adopt independent levitation winding to control suspending power and avoid Non-linear coupling problem, control method controls separately levitating current and exciting current, conveniently can realize motor suspend control and export controlling, mutual decoupling zero between achieving motor output and suspending, solve existing bearing-free motor and be difficult to high-speed stable running, permanent magnet demagnetization causes motor performance to decline, excitation is coupled with suspend control and causes control method complicated and rely on the technical problem of more power device.
The present invention adopts following technical scheme for achieving the above object:
Electromagnetic type bearing-free double salient-pole electric machine, comprise: stator core, rotor core, armature winding, excitation winding, suspending windings, rotor core comprises several rotor tooth pole, stator core comprises the several stator poles be made up of some stator tooth pole, gap between adjacent stator pole forms stator slot, stator tooth extremely on the armature coil that is wound be connected by the principle that its linkage flux change rule is identical after form armature winding, be embedded with around the magnet exciting coil in stator poles and suspended coil in stator slot, excitation winding is formed after the magnet exciting coil in each stator poles connects successively, suspended coil on spatial radial relative position forms the α direction of principal axis suspending windings producing orthogonal suspension magnetic respectively after connecting, β direction of principal axis suspending windings.
As the further prioritization scheme of described electromagnetic type bearing-free double salient-pole electric machine, rotor core is made up of Alveolus type core lamination.
Further, described electromagnetic type bearing-free double salient-pole electric machine is the three-phase structure of 12n/8n or four phase structures of 16n/12n, and n is positive integer.
Further, in described electromagnetic type bearing-free double salient-pole electric machine, stator core is positioned at rotor core outside or rotor core is positioned at stator core outside.
The control method of electromagnetic type bearing-free double salient-pole electric machine, armature winding is connected with external current-regulating circuit, and excitation winding is connected with external excitation control circuit, and suspending windings is connected with suspension control circuit, and control method is specific as follows:
The virtual voltage of detection rotor actual displacement, external current-regulating circuit DC side;
Adopt the excitation regulation link difference to the virtual voltage of external current-regulating circuit DC side and its reference value to carry out modulation and obtain exciting current reference value, regulate the duty ratio of external excitation control circuit breaker in middle device to follow the tracks of its reference value to realize exciting current;
Adopt the suspension governing loop difference to rotor actual displacement and its reference value to carry out modulation and obtain α direction of principal axis levitating current reference value, β direction of principal axis levitating current reference value, regulate suspension control circuit breaker in middle device duty ratio follows the tracks of its reference value to realize α direction of principal axis levitating current, β direction of principal axis levitating current follows the tracks of its reference value.
Further, the control method of described electromagnetic type bearing-free double salient-pole electric machine, adopts PID controller as excitation regulation link, suspension governing loop.
Further, the control method of described electromagnetic type bearing-free double salient-pole electric machine, adopts the uncontrollable rectification circuit of full-bridge or the uncontrollable rectification circuit of zero formula as external current-regulating circuit.
Further, the control method of described electromagnetic type bearing-free double salient-pole electric machine, adopts single tube chopper circuit or asymmetry half-bridge circuit as external excitation control circuit.
Further, the control method of described electromagnetic type bearing-free double salient-pole electric machine, adopts full bridge inverter as suspension control circuit.
The present invention adopts technique scheme, has following beneficial effect:
(1) excitation that motor utilizes the excitation winding be wound in stator poles to realize motor eliminates permanent magnet with simplified structure, there is provided bias magnetic field simultaneously, adopt independent levitation winding to control suspending power and avoid Non-linear coupling problem, double salient-pole electric machine stator and rotor sructure disclosed by the invention is similar to switched reluctance machines, is therefore applicable to high temperature and high speed and runs;
(2) power generation operation does not rely on controlled power converter and rotor-position angle transducer, and system configuration is simple, only needs flexible exciting current to control output voltage;
(3) levitating current in suspending windings controls to have nothing to do with rotor position angle and armature supply size, and the magnetic field orthotropic that α direction of principal axis suspending windings and β direction of principal axis suspending windings produce, the bias magnetic field that excitation winding produces is independent, therefore suspend control excellent performance;
(4) decrease suspend control power device, improve system reliability, reduce system cost;
(5) control method controls separately levitating current and exciting current, conveniently can realize motor suspend control and export controlling, the mutual decoupling zero between achieving motor output and suspending.
The aspect that the present invention adds and advantage will part provide in the following description, and these will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of electromagnetic type bearing-free double salient-pole electric machine of the present invention;
Fig. 2 (a) to Fig. 2 (d) is respectively the schematic diagram of electromagnetic type bearing-free double salient-pole electric machine external current-regulating circuit of the present invention, excitation control circuit, α axle suspension control circuit, β axle suspension control circuit;
Flow direction schematic diagram when Fig. 3 is electromagnetic type bearing-free double salient-pole electric machine rotor 0 degree of the present invention;
Fig. 4 is that electromagnetic type bearing-free double salient-pole electric machine rotor β direction of principal axis of the present invention is stressed with rotor position angle change curve schematic diagram;
Fig. 5 is the levitating current relation curve schematic diagram in electromagnetic type bearing-free double salient-pole electric machine rotor β direction of principal axis mean forced value of the present invention and β direction of principal axis suspending windings.
Number in the figure illustrates: 1, stator core; 2, rotor core; 3, armature winding; 4, excitation winding; 5, α direction of principal axis suspending windings; 6, β direction of principal axis suspending windings; 7, the magnetic flux that during logical positive direction exciting current, excitation winding produces; 8, the suspension magnetic flux that during logical positive direction levitating current, suspending windings produces; D
1-D
6it is the first to the 6th rectifier diode; L
ffor excitation winding; Q is switch mosfet pipe; Q
1-Q
8be that the first metal-oxide-semiconductor is to the 8th metal-oxide-semiconductor.
Embodiment
Being described below in detail embodiments of the present invention, is exemplary below by the execution mode be described with reference to the drawings, and only for explaining the present invention, and can not be interpreted as limitation of the present invention.
Those skilled in the art of the present technique are appreciated that unless expressly stated, and singulative used herein " ", " one ", " described " and " being somebody's turn to do " also can comprise plural form.Should be further understood that, the wording used in specification of the present invention " comprises " and refers to there is described feature, integer, step, operation, element and/or assembly, but does not get rid of and exist or add other features one or more, integer, step, operation, element, assembly and/or their combination.Should be appreciated that, when we claim element to be " connected " or " coupling " to another element time, it can be directly connected or coupled to other elements, or also can there is intermediary element.In addition, " connection " used herein or " coupling " can comprise wireless connections or couple.Wording "and/or" used herein comprises one or more arbitrary unit listing item be associated and all combinations.
Those skilled in the art will appreciate that unless otherwise defined, all terms used herein have (comprising technical term and scientific terminology) the identical meaning of the general understanding of the ordinary technical staff in the technical field of the invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
Fig. 1 shows electromagnetic type bearing-free double salient-pole electric machine structural representation of the present invention, adopt the double-salient-pole structure of 12/8 pole, comprise stator core 1, rotor core 2, armature winding 3, excitation winding 4, α direction of principal axis suspending windings 5 and β direction of principal axis suspending windings 6, wherein, α axle is the transverse axis in rectangular coordinate system, and β axle is the longitudinal axis in rectangular coordinate system, and stator core 2 comprises 12 tooth poles, every 3 tooth poles form a stator poles, and the gap between adjacent stator pole forms stator slot.Rotor core 2 is made up of Alveolus type core lamination.Each stator tooth extremely on be wound with armature coil, be followed in series to form armature winding 3 by the flux change rule principle of identity of its linkage according to the wiring shown in Fig. 1.In threephase armature winding, often have two leading-out terminals mutually, three-phase is six leading-out terminals altogether, are respectively A, X, B, Y, C, Z, and wherein, A, B, C are Same Name of Ends.Be embedded with around the magnet exciting coil in stator poles in stator slot, be followed in series to form excitation winding 4 according to the wiring shown in Fig. 1: often overlap magnet exciting coil winding method identical, have two links, be respectively the first link and the second link, with certain cover magnet exciting coil L
f1the first link be a leading-out terminal, its second link with along (inverse) conterclockwise lower a set of magnet exciting coil L
f2second link series connection, L
f2the first link again with it along (inverse) conterclockwise lower a set of magnet exciting coil L
f3first link series connection, according to this rule, first link is connected with the first link, second link is connected with the second link, by along (inverse) clockwise, all magnet exciting coils are connected successively, excitation winding, the first link of last a set of magnet exciting coil is as another leading-out terminal, and excitation winding has two leading-out terminal L
f+, L
f-, excitation winding two leading-out terminals are connected with external excitation control circuit.Be embedded with around the suspended coil in stator poles in stator slot, two cover suspended coils wherein on spatial radial relative position are connected as shown in Figure 1, the α direction of principal axis suspending windings 5 and β direction of principal axis suspending windings 6, the α direction of principal axis suspending windings 5 that form the orthogonal suspension magnetic of generation respectively have two leading-out terminal L
α+ and L
α-being connected with α axle suspension control circuit respectively, β direction of principal axis suspending windings 6 has two leading-out terminal L
β+ and L
β-be connected with β axle suspension control circuit respectively.
The electromagnetic type bearing-free double salient-pole electric machine of the structure of three-phase 12/8 shown in Fig. 1 is only one embodiment of the present of invention, and technical scheme of the present invention is also applicable to the three-phase structure of 12n/8n or four phase structures of 16n/12n, and n is positive integer.Fig. 1 is the electric machine structure that rotor is positioned at stator, and technical scheme of the present invention is also applicable to rotor and is positioned at electric machine structure outside stator.Those skilled in the art can obtain all the other attainable embodiments according to content disclosed by the invention, and disclosed embodiment is not construed as limiting the invention.
Fig. 2 (a) to Fig. 2 (d) is respectively external current-regulating circuit, external excitation control circuit, α axle suspension control circuit, the β axle suspension control circuit schematic diagram of electromagnetic type bearing-free double salient-pole electric machine of the present invention.
Fig. 2 (a) adopts full-bridge uncontrollable rectifier circuit to carry out rectification to the alternating current that threephase armature winding produces: the first rectifier diode D
1with the 4th rectifier diode D
4series connection, the second rectifier diode D
2with the 5th rectifier diode D
5series connection, the 3rd rectifier diode D
3with the 6th rectifier diode D
6series connection, the first rectifier diode D
1, the second rectifier diode D
2, the 3rd rectifier diode D
3negative electrode connect, the 4th rectifier diode D
4, the 5th rectifier diode D
5, the 6th rectifier diode D
6anode connect.L
a, L
b, L
cthe input of threephase armature winding connects, L
a, L
b, L
cthe output of three-phase windings respectively with the first rectifier diode D
1anode, the second rectifier diode D
2anode, the 3rd rectifier diode D
3anode connect.The uncontrollable rectification circuit of zero formula can also be adopted as external current-regulating circuit.
External excitation control circuit shown in Fig. 2 (b): excitation winding L
fone end and DC excitation voltage source U
fpositive pole connects, and the other end drains with switch mosfet pipe Q and is connected, switch mosfet pipe Q source electrode and DC excitation voltage source U
fnegative pole connects, fly-wheel diode negative electrode and DC excitation voltage source U
fpositive pole connects, and fly-wheel diode anode is connected with the drain electrode of switch mosfet pipe Q.Asymmetry half-bridge circuit can also be adopted as external excitation control circuit.
α axle suspension control circuit shown in Fig. 2 (c): the first metal-oxide-semiconductor Q
1with the second metal-oxide-semiconductor Q
2series connection, the 3rd metal-oxide-semiconductor Q
3with the 4th metal-oxide-semiconductor Q
4series connection, the first metal-oxide-semiconductor Q
1drain electrode, the 3rd metal-oxide-semiconductor Q
3drain electrode and direct voltage source U
αpositive pole connect, the second metal-oxide-semiconductor Q
2with the 4th metal-oxide-semiconductor Q
4source electrode and direct voltage source U
αnegative pole connect, α direction of principal axis suspending windings L
αtwo ends respectively with the first metal-oxide-semiconductor Q
1source electrode, the 3rd metal-oxide-semiconductor Q
3source electrode connect.
β axle suspension control circuit shown in Fig. 2 (d): the 5th metal-oxide-semiconductor Q
5with the 6th metal-oxide-semiconductor Q
6series connection, the 7th metal-oxide-semiconductor Q
7with the 8th MOS Q
8series connection, the 5th metal-oxide-semiconductor Q
5drain electrode, the 7th metal-oxide-semiconductor Q
7drain electrode and direct voltage source U
βpositive pole connect, the 6th metal-oxide-semiconductor Q
6source electrode, the 8th metal-oxide-semiconductor Q
8source electrode and direct voltage source U
βnegative pole connect, β direction of principal axis suspending windings L
βtwo ends respectively with the 5th metal-oxide-semiconductor Q
5source electrode, the 7th metal-oxide-semiconductor Q
7source electrode connect.
When Figure 3 shows that electromagnetic type bearing-free double salient-pole electric machine rotor 0 degree of the present invention, the schematic diagram of the suspension magnetic flux 8 that suspending windings the produces when magnetic flux 7 that during logical positive direction exciting current, excitation winding produces and logical positive direction levitating current, wherein, the sense of current in excitation winding and β direction of principal axis suspending windings as shown in Figure 3.The suspension magnetic flux produced at air gap place, top after the energising of β direction of principal axis suspending windings is identical with magnetic flux direction, and the suspension magnetic flux produced at air gap place, bottom is contrary with magnetic flux direction, causes air-gap field unequal at β direction of principal axis.According to the air-gap field distribution situation in this moment, the air-gap field on the upside of rotor is stronger than the air-gap field of downside, and therefore rotor will be subject to suspending power vertically upward, and counteracting rotor β direction of principal axis is stressed and suppress rotor eccentricity.When the levitating current in β direction of principal axis suspending windings increases, the suspending power that rotor is subject at β direction of principal axis increases, and when the levitating current in β direction of principal axis suspending windings is reverse, the suspending power that rotor is subject at β direction of principal axis is reverse.In like manner, by the levitating current size and Orientation in control α direction of principal axis suspending windings, the size and Orientation of rotor at the axial suspending power of α can be controlled.Visible, size and the direction of produced suspending power can be controlled by the size and Orientation of electric current in control α axle and β direction of principal axis suspending windings, thus rotor stability is suspended.
Fig. 4 is that electromagnetic type bearing-free double salient-pole electric machine rotor β direction of principal axis of the present invention is stressed with rotor position angle change curve.Levitating current in given β direction of principal axis suspending windings, in rotor rotation process, suspending power remains unchanged substantially, according to the rotor displacement signal that α direction of principal axis and the axial radial displacement transducer of β obtain during operation, quick adjustment levitating current, can realize excellent suspendability.
Fig. 5 is the current relationship curve in electromagnetic type bearing-free double salient-pole electric machine rotor β direction of principal axis mean forced value of the present invention and β direction of principal axis suspending windings.Given exciting current, rotor β axial stressed with the relation curve of the electric current in β direction of principal axis suspending windings be a straight line crossing initial point, the linearity is good, further increases suspend control performance.
Electromagnetic type bearing-free double salient-pole electric machine basic control method is: detect described electromagnetic type bearing-free double salient-pole electric machine rotor-position by the axial radial displacement transducer of α and obtain the actual displacement of α direction of principal axis rotor, detect described electromagnetic type bearing-free double salient-pole electric machine rotor-position by the axial radial displacement transducer of β and obtain the actual displacement of β direction of principal axis rotor, detect the DC side virtual voltage U of described electromagnetic type bearing-free double salient-pole electric machine armature winding after rectification circuit
dc, wherein, β axle is the longitudinal axis in rectangular coordinate system, and α axle is the transverse axis in rectangular coordinate system.Given electromagnetic type bearing-free double salient-pole electric machine α direction of principal axis is floated PID governing loop with reference to the difference of displacement and the actual displacement of α direction of principal axis rotor through α axle suspension modulate and obtain electromagnetic type bearing-free double salient-pole electric machine α direction of principal axis suspending windings and control electric current (being α direction of principal axis levitating current reference value), given electromagnetic type bearing-free double salient-pole electric machine β direction of principal axis is floated PID governing loop with reference to the difference of displacement and the actual displacement of β direction of principal axis rotor through β axle suspension modulate and obtain electromagnetic type bearing-free double salient-pole electric machine β direction of principal axis suspending windings and control electric current (being β direction of principal axis levitating current reference value), the given DC side reference voltage U of electromagnetic type bearing-free double salient-pole electric machine armature winding after rectification circuit
o *with the DC side virtual voltage U of electromagnetic type bearing-free double salient-pole electric machine armature winding after rectification circuit
dcdifference through overexcitation PID governing loop regulate obtain excitation con-trol electric current (being exciting current reference value).Regulate the switching tube duty ratio in external excitation control circuit, regulate the actual exciting current in excitation winding, reach the object controlling output voltage.Regulate the switching tube duty ratio in α axle suspension control circuit and β axle suspension control circuit, regulate the actual levitating current in α direction of principal axis suspending windings and β direction of principal axis suspending windings, effect as shown in Figure 3, suspension magnetic increases or reduces excitation field, reaches the object controlling radial suspension force.
One of ordinary skill in the art will appreciate that: accompanying drawing is the schematic diagram of an embodiment, the module in accompanying drawing or flow process might not be that enforcement the present invention is necessary.
Claims (9)
1. electromagnetic type bearing-free double salient-pole electric machine, it is characterized in that, comprise: stator core, rotor core, armature winding, excitation winding, suspending windings, rotor core comprises several rotor tooth pole, stator core comprises the several stator poles be made up of some stator tooth pole, gap between adjacent stator pole forms stator slot, stator tooth extremely on the armature coil that is wound be connected by the principle that its linkage flux change rule is identical after form armature winding, be embedded with around the magnet exciting coil in stator poles and suspended coil in stator slot, excitation winding is formed after the magnet exciting coil in each stator poles connects successively, suspended coil on spatial radial relative position forms the α direction of principal axis suspending windings producing orthogonal suspension magnetic respectively after connecting, β direction of principal axis suspending windings.
2. electromagnetic type bearing-free double salient-pole electric machine according to claim 1, it is characterized in that, described rotor is made up of Alveolus type core lamination.
3. electromagnetic type bearing-free double salient-pole electric machine according to claim 1, is characterized in that, described electromagnetic type bearing-free double salient-pole electric machine is the three-phase structure of 12n/8n or four phase structures of 16n/12n, and n is positive integer.
4. electromagnetic type bearing-free double salient-pole electric machine according to claim 1, is characterized in that, stator core is positioned at rotor core outside or rotor core is positioned at stator core outside.
5. the control method of electromagnetic type bearing-free double salient-pole electric machine described in claim 1 or 2 or 3 or 4, it is characterized in that, armature winding is connected with external current-regulating circuit, and excitation winding is connected with external excitation control circuit, suspending windings is connected with suspension control circuit, and control method is specific as follows:
The virtual voltage of detection rotor actual displacement, external current-regulating circuit DC side;
Adopt the excitation regulation link difference to the virtual voltage of external current-regulating circuit DC side and its reference value to carry out modulation and obtain exciting current reference value, regulate the duty ratio of external excitation control circuit breaker in middle device to follow the tracks of its reference value to realize exciting current;
Adopt the suspension governing loop difference to rotor actual displacement and its reference value to carry out modulation and obtain α direction of principal axis levitating current reference value, β direction of principal axis levitating current reference value, regulate suspension control circuit breaker in middle device duty ratio follows the tracks of its reference value to realize α direction of principal axis levitating current, β direction of principal axis levitating current follows the tracks of its reference value.
6. the control method of electromagnetic type bearing-free double salient-pole electric machine according to claim 5, is characterized in that, described excitation regulation link, suspension governing loop are PID controller.
7. the control method of electromagnetic type bearing-free double salient-pole electric machine according to claim 5, is characterized in that, described external current-regulating circuit is the uncontrollable rectification circuit of full-bridge or the uncontrollable rectification circuit of zero formula.
8. the control method of electromagnetic type bearing-free double salient-pole electric machine according to claim 5, is characterized in that, described external excitation control circuit is single tube chopper circuit or asymmetry half-bridge circuit.
9. the control method of electromagnetic type bearing-free double salient-pole electric machine according to claim 5, is characterized in that, described suspension control circuit is full bridge inverter.
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