CN105024507A - Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor - Google Patents
Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor Download PDFInfo
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- CN105024507A CN105024507A CN201510435000.9A CN201510435000A CN105024507A CN 105024507 A CN105024507 A CN 105024507A CN 201510435000 A CN201510435000 A CN 201510435000A CN 105024507 A CN105024507 A CN 105024507A
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Abstract
The invention discloses bearing-free switch reluctance motor having an axial-direction parallel hybrid structure and a control method of said motor. A motor stator is composed of a reluctance motor stator and a magnetic bearing stator. A rotor is composed of a salient pole rotor and a cylinder rotor. The windings are composed of torque windings and suspension windings. The torque windings are composed of reluctance motor windings and wide-tooth windings and the number of the torque windings is identical to phase number m. The suspension windings are two and are arranged in the radial direction. The magnetic bearing stator is composed of four E-shaped structures and the width of each middle tooth is twice of the rest. According to the invention, suspension current is calculated according to a suspension force direction. Current of the torque windings and switching-on and switching-off angles of a power circuit are controlled separately and rotation speed and torque are controlled in real time. Current of the two suspension windings is controlled separately, suspension forces are regulated in real time and mutual decoupling is realized in rotation and suspension. According to the invention, the quantity of control variables is small; suspension control is simple; and a power converter of a suspension system is low in cost.
Description
Technical field
The present invention relates to a kind of axial block form mixed structure bearing-free switch reluctance motor and control method, belong to magnetic suspension switched reluctance motor and the control technology field thereof of electric machinery.
Background technology
Bearing-free switch reluctance motor is the novel magnetically levitated motor of one grown up the nineties in 20th century.Bearing-free switch reluctance motor rotates and two functions that suspend because integrating, the problem such as loss and heating that when not only effectively can solve high-speed cruising, bearing friction brings, the high-speed adaptability of switched reluctance machines can also be played further, thus strengthen its application foundation at High Speed Fields such as Aero-Space, flywheel energy storage, naval vessels.
Research finds, can the rotation of bearing-free switch reluctance motor and suspension function decoupling zero, and can the tracking of levitating current and chop control precision how, give full play to the high speed performance of bearing-free switch reluctance motor and play vital effect during high-speed cruising.Therefore, for solving above-mentioned two aspect problems, the scholar of Nanjing Aero-Space University and Nanjing Univ. of Posts and Telecommunications proposes some novel electric machine structures and control method thereof.The 12/8 pole composite rotors simplex winding bearing-free switch reluctance motor proposed, is misplaced by timesharing and produces suspending power and torque respectively, can realize suspending and the uneoupled control of spinfunction, but independently controls each winding because of needs, and changed power device cost is higher.Also been proposed a kind of 12/8 pole composite construction double winding bearing-free switch reluctance motor and the one axial block form 12/8 pole composite construction double winding bearing-free switch reluctance motor with axial magnetic flux, while every phase torque winding symmetrical excitation generation torque of above-mentioned two motors, also for this phase suspending windings provides biased magnetic flux, torque and suspending power are independently produced by field spider and cylindrical rotor respectively, therefore also achieve the decoupling zero suspending and rotate; But suspension system is three-phase duty also, power circuit cost is also higher.In addition, above-mentioned motor, needed for suspend control, must to torque winding current chop control between floating zone, cause motor cannot abundant excitation, torque output capability be limited, is unfavorable for the application of this motor in high speed situation.
In addition, bearing-free switch reluctance motor, because of suspend control requirement, needs to carry out chop control to levitating current.For simplex winding bearing-free switch reluctance motor, each winding needs independent control, and power tube quantity is many, and variator cost is high; In addition, while such motor suspend control, also need Driving Torque, because suspension excitation width and amplitude limit, cause motor cannot abundant excitation, thus affect the output of torque.For double winding bearing-free switch reluctance motor, a set of is torque winding, suspends biased magnetic flux for providing and produces torque; Another set of is suspending windings, for generation of suspending power.Normal employing conducting control method in turn, the suspending windings number of phases is identical with the torque winding number of phases, cause Suspension power circuit complicated, and cost is higher.In addition, due in the suspension excitation stage, torque winding current needs to carry out chop control, for suspending windings provides required biased magnetic flux, equally cannot abundant excitation, and cause Driving Torque limited.
Summary of the invention
The present invention, in order to overcome the deficiencies in the prior art, proposes a kind of axial block form mixed structure bearing-free switch reluctance motor and control method.Described motor is that a kind of suspending power is separated with suspending power magnetic circuit with decoupling zero in torque configurations, torque magnetic circuit, high-speed adaptability is strong, radial bearing capacity large, the lower-cost novel magnetically levitated switched reluctance machines of changed power device; Described control method can independent controlling torque winding current and suspending windings electric current, rotates and decoupling zero mutually between suspension system, affects weak each other; The similar magnetic suspension bearing of suspend control, adopts permanent switch control strategy, and only needs to control both direction suspending windings electric current, and can produce required suspending power, control variables is few, and suspend control is simple, and suspension system power inverter cost is low.
In order to solve the problem, the technical solution used in the present invention is:
A kind of axial block form mixed structure bearing-free switch reluctance motor, comprises motor stator, rotor and motor winding; Described motor stator is made up of reluctance motor stator and magnetic bearing stator; Described rotor is made up of field spider and cylindrical rotor; Described motor winding is made up of torque winding and suspending windings; Described cylindrical rotor is arranged in magnetic bearing stator, and field spider is arranged in reluctance motor stator; Described magnetic bearing stator and reluctance motor stator axial series are arranged, described cylindrical rotor and field spider are enclosed within rotating shaft; Described reluctance motor stator and field spider are salient-pole structure, and described cylindrical rotor is column structure; The number of teeth of described reluctance motor stator and field spider has 12/8,6/4,8/6 3 kind of combining form; When wherein the number of teeth of reluctance motor stator and field spider is combined as 12/8 and 6/4, reluctance motor is three-phase duty, and when the number of teeth of reluctance motor stator and field spider is combined as 8/6, reluctance motor is four phase dutys;
Described magnetic bearing stator is by 4 E type Structure composing, and 4 E type structures are circumferentially being uniformly distributed, and spatially differs 90 °; The number of teeth of each E type structure is 3, and its center tooth facewidth is two times of all the other two teeth; Two narrow teeth in each E type structure all have 1 winding, and the windings in series on each E type structure two narrow teeth forms 1 narrow tooth winding, and 4 E type structures form 4 narrow tooth windings; To be separated by described 4 narrow tooth windings two winding differential concatenations of 180 °, to form a suspending windings; Two other narrow tooth winding differential concatenation of 180 ° of being separated by, forms another suspending windings; Described two suspending windings are spatially separated by 90 °;
Described torque winding number is identical with the number of phases m of reluctance motor, and each torque winding is made up of a reluctance motor winding and a wide tooth windings in series;
Each reluctance motor stator tooth is wound with 1 winding, the winding on all reluctance motor stator teeth, point m group, is connected to together, forms m reluctance motor winding;
Described wide tooth winding m altogether, the wide tooth of each E type structure is wound with m winding; In 4 E type structures, each wide tooth is chosen 1 winding, be connected into 1 wide tooth winding, thus form m wide tooth winding.
The number of teeth of described reluctance motor stator and field spider adopts 12/8 combination, namely when the described reluctance motor stator number of teeth is 12, the field spider number of teeth is 8, number of motor phases m is 3, every 4 windings of being separated by the reluctance motor stator tooth of 90 °, adopt series connection or side by side or go here and there and the connected mode combined, link together, form 1 reluctance motor winding, form 3 reluctance motor windings altogether; Described 3 reluctance motor windings are connected with described 3 wide tooth windings more respectively, and then form 3 torque windings, are three-phase torque winding.
The number of teeth of described reluctance motor stator and field spider adopts 6/4 combination, namely when described reluctance motor stator is 6, the field spider number of teeth is 4, number of motor phases m is 3, every 2 windings of being separated by the reluctance motor stator tooth of 180 °, adopt series connection or connected mode arranged side by side, link together, form 1 reluctance motor winding, form 3 reluctance motor windings altogether; Described 3 reluctance motor windings are connected into 3 torque windings respectively with described 3 wide tooth windings again, are three-phase torque winding.
The number of teeth of described reluctance motor stator and field spider adopts 8/6 combination, namely when described reluctance motor stator is 8, the field spider number of teeth is 6, number of motor phases m is 4, every 2 windings of being separated by the reluctance motor stator tooth of 180 °, adopt series connection or connected mode arranged side by side, link together, form 1 reluctance motor winding, form 4 reluctance motor windings altogether, described 4 reluctance motor windings are connected respectively with described 4 wide tooth windings again, and then form 4 torque windings, be four phase torque windings.
A control method for axial block form mixed structure bearing-free switch reluctance motor, the torque of described switched reluctance machines and suspending power control mutual decoupling zero, independently controlling torque winding current and suspending windings electric current; Comprise the steps:
Steps A, obtains the given suspending power in x-axis and y-axis direction; Its concrete steps are as follows:
Steps A-1, obtain real-time displacement signal alpha and the β in rotor x-axis and y-axis direction, wherein, x-axis overlaps with the center tooth pole center line of two E type structures, and these two E type structures spatially differ 180 °, and y-axis and x-axis spatially differ 90 °;
Steps A-2, by real-time displacement signal alpha and β respectively with given reference bit shifting signal α
*and β
*subtract each other, obtain real-time displacement signal difference Δ α and the Δ β in x-axis direction and y-axis direction respectively, by described real-time displacement signal difference Δ α and Δ β through proportional plus integral plus derivative controller, obtain x-axis direction suspending power
with y-axis direction suspending power
Step B, obtains given torque winding current, turn-on angle and the pass angle of rupture; Concrete steps are as follows:
Step B-1, gathers rotor real-time rotate speed, calculates rotor velocity ω;
Step B-2, the reference angular velocities ω of rotor velocity ω and setting
*subtract each other, obtain rotation speed difference deltan ω;
Step B-3, as ω≤ω
0time, ω
0for critical speed set point, it is determined by motor actual condition; Described rotation speed difference deltan ω, passing ratio integral controller, obtains torque winding current reference value i
m *; Turn-on angle θ
onwith pass angle of rupture θ
offimmobilize, θ
onand θ
offvalue is determined by electric machine structure form;
Step B-4, as ω > ω
0time, described rotation speed difference deltan ω, passing ratio integral controller, obtains turn-on angle θ
onwith pass angle of rupture θ
off, torque winding current does not control;
Step C, regulate suspending power, concrete steps are as follows:
Step C-1, gathers the torque winding current that m phase is real-time, according to described suspending power
with
and Current calculation formula
with
resolve and obtain x direction suspending windings current reference value
with y-axis direction suspending windings current reference value
wherein, k
ffor suspending power coefficient,
μ
0for permeability of vacuum, l is the axial length of magnetic bearing, and r is the radius of magnetic bearing rotor, α
sfor the polar arc angle of the narrow stator tooth of magnetic bearing, δ is the monolateral gas length of magnetic bearing, N
b, N
mbe respectively the number of turn of magnetic bearing narrow tooth winding, wide tooth winding, i
kfor kth phase torque winding current;
Step C-2, utilizes Current cut control method, allows the actual current i of x-axis direction suspending windings
s1follow the tracks of this direction and hang winding current reference value
allow the actual current i of y-axis direction suspending windings
s2follow the tracks of this direction suspending windings current reference value
thus regulate suspending power in real time;
Step D, regulates torque; Concrete steps are as follows:
Step D-1, as ω≤ω
0time, utilize Current cut control method, allow the actual current i of torque winding
mfollow the tracks of torque winding current reference value i
m *, and then regulate torque winding current i in real time
m, and then reach the object regulating torque;
Step D-2, as ω > ω
0time, utilize Angle-domain imaging method, regulate turn-on angle θ
onwith pass angle of rupture θ
offvalue, thus regulate torque in real time.
In described step C-1, the calculating of described suspending windings electric current comprises the steps:
Step e, calculates x, y-axis direction suspending windings current reference value
with
Step e-1, when required
with
time, regulate x and y-axis direction suspending windings current reference value
with
m phase torque winding current is obtained by current sensor Real-time Collection;
Step e-2, when required
with
time, regulate x and y-axis direction suspending windings current reference value
with
Step e-3, when required
with
time, regulate x and y-axis direction suspending windings current reference value
with
Step e-4, when required
with
time, regulate x and y-axis direction suspending windings current reference value
with
Beneficial effect of the present invention: the present invention proposes a kind of axial block form mixed structure bearing-free switch reluctance motor and control method thereof, adopt technical scheme of the present invention, following technique effect can be reached:
(1) suspending power and torque decoupler, high speed suspendability is good;
(2) magnetic flux that produces of m phase torque winding sum is as biased magnetic flux, only need control two suspending windings electric currents, does not need for suspension operation and controlling torque winding current, just required suspending power can be produced, control variables is few, and suspend control is simple, and suspension system power inverter cost is little;
(3) eliminated the impact on winding Current cut control of Based Motional Electromotive Force, the real-time control effects of electric current is good;
(4) direct torque is identical with switched reluctance machines, controls simple, can abundant excitation, and torque-output characteristics is good, and high-speed adaptability is strong;
(5) each suspension magnetic circuit is mutually separated, and torque magnetic circuit and suspension magnetic circuit are also isolated, and flux coupled is weak.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure schematic diagram of the present invention's axial block form mixed structure bearing-free switch reluctance motor embodiment 1.
Fig. 2 is the magnetic flux distribution schematic diagram that in the embodiment of the present invention 1, A phase torque winding produces in reluctance motor part.
Fig. 3 is the flux distribution of magnetic bearing part in the embodiment of the present invention 1.
Fig. 4 is the three-dimensional structure schematic diagram of the present invention's axial block form mixed structure bearing-free switch reluctance motor embodiment 2.
Fig. 5 is the three-dimensional structure schematic diagram of the present invention's axial block form mixed structure bearing-free switch reluctance motor embodiment 3.
Fig. 6 is the system block diagram of the control method of the present invention's axial block form mixed structure bearing-free switch reluctance motor embodiment 1.
Fig. 7 is suspending windings current calculation method block diagram in the control method of the present invention's axial block form mixed structure bearing-free switch reluctance motor embodiment 1.
In description of reference numerals: Fig. 1 to Fig. 7,1 is reluctance motor stator, and 2 is field spiders, 3 is reluctance motor windings, and 4 is magnetic bearing stators, and 5 is cylindrical rotors, 6 is wide tooth windings, and 7 is narrow tooth windings, and 8 is rotating shafts, 9 is magnetic fluxs that reluctance motor winding produces, and 10 is the magnetic flux that wide tooth winding produces, and 11 is magnetic fluxs that narrow tooth winding produces, 12 is air gaps 1, and 12 is air gaps 2, and 14 is air gaps 3,15 is air gaps 4,16,17 positive directions being respectively x, y-axis direction reference axis.
Embodiment
Below in conjunction with accompanying drawing, the technical scheme of a kind of axial block form mixed structure bearing-free switch reluctance motor of the present invention and control method is described in detail:
As shown in Figure 1, it is the three-dimensional structure schematic diagram of the present invention's axial block form mixed structure bearing-free switch reluctance motor embodiment 1, wherein, 1 is reluctance motor stator, and 2 is field spiders, 3 is reluctance motor windings, 4 is magnetic bearing stators, and 5 is cylindrical rotors, and 6 is wide tooth windings, 7 is narrow tooth windings, and 8 is rotating shafts.
Described axial block form mixed structure bearing-free switch reluctance motor, comprises motor stator, rotor and motor winding;
Described motor stator is made up of reluctance motor stator and magnetic bearing stator; Described rotor is made up of field spider and cylindrical rotor; Described motor winding is made up of torque winding and suspending windings; Described torque winding is made up of reluctance motor winding and wide tooth winding, and suspending windings is formed by narrow tooth winding switching;
Described magnetic bearing stator and reluctance motor stator axial series are arranged; Described cylindrical rotor is arranged in magnetic bearing stator, and field spider is arranged in reluctance motor stator; Described cylindrical rotor and field spider are enclosed within rotating shaft; Described reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and described cylindrical rotor is column structure, and described magnetic bearing stator is E type structure;
Described magnetic bearing stator is by 4 E type Structure composing, and 4 E type structures are circumferentially being uniformly distributed, and spatially differs 90 °; The number of teeth of each E type structure is 3, and its center tooth facewidth is two times of all the other two teeth;
Described suspending windings totally 2, each suspending windings is formed by the winding switching on 4 narrow teeth of being separated by 2 E type structures of 180 °; Windings in series on each E type structure two narrow teeth forms 1 winding string, and 4 E type structures form 4 winding strings; Be separated by described 4 winding strings two winding strings of 180 °, differential concatenation connects, and forms a suspending windings; Two other winding string of 180 ° of being separated by, differential concatenation connects, and forms another suspending windings; Described two suspending windings are α and β direction suspending windings, are spatially separated by 90 °;
Described torque winding is made up of reluctance motor winding and wide tooth winding; Each reluctance motor stator tooth is wound with 1 winding, when described reluctance motor stator is 12, the field spider number of teeth is 8, number of motor phases m is 3, every 4 windings of being separated by the reluctance motor stator tooth of 90 °, adopt series connection or side by side or go here and there and the connected mode combined, link together, form 1 reluctance motor winding, form 3 reluctance motor windings altogether;
Described wide tooth winding totally 3, the wide tooth of each E type structure is wound with 3 windings; In 4 E type structures, each wide tooth is chosen 1 winding, be connected into 1 wide tooth winding, thus form 3 wide tooth windings; The magnetic flux that described 3 wide tooth windings produce spatially all distributes in NSNS; The magnetic flux that described two suspending windings produce the spatially distribution in NSSN;
Described 3 reluctance motor windings are connected with described 3 wide tooth windings respectively, and then form 3 torque windings, are three-phase torque winding;
The resultant flux that described three-phase torque winding current sum produces, as the biased magnetic flux of rotor suspension; The control method of 3 phase torque winding currents is identical with Conventional switched reluctance motor; The magnetic flux that x-axis direction suspending windings produces, an air gap place in this direction magnetic bearing stator is identical with the flow direction that torque winding produces at this place, then contrary at another air gap place in this direction, by controlling the size and Orientation of electric current in x-axis direction suspending windings, a controlled radial magnetic force can be produced in the positive and negative direction of x; In like manner, a controlled radial magnetic force also can be produced in the positive and negative direction of y; And then the synthesis magnetic pull of a size and Orientation control can be obtained, thus meet needed for suspension.
Fig. 2 is the magnetic flux distribution schematic diagram that in the embodiment of the present invention 1, A phase torque winding produces in reluctance motor part.A phase torque winding is spatially separated by each other by 4 the coil of 90 °, adopt series connection in parallel or two and the modes of two strings be formed by connecting; The four extremely symmetrical magnetic fluxs that A phase torque winding current produces, distribute in NSNS.When A phase torque winding conducting, the magnetic field produced in reluctance motor, for generation of torque; The resultant magnetic field that A, B, C three-phase torque winding produces in magnetic bearing is for the bias magnetic field of suspend control.The torque winding of B, C phase is identical with A phase torque winding construction, only differs 30 ° and-30 ° in position with A phase.
Fig. 3 is the flux distribution of magnetic bearing part in the embodiment of the present invention 1.As shown on the solid line in figure 3, the magnetic flux that x and y-axis direction suspending windings produce as shown in phantom in FIG. for the magnetic flux that A, B, C three-phase torque winding produces.Produce flow direction at air gap 1 place suspending windings and torque winding the same, magnetic flux increases; And at air gap 3 place, direction is contrary, magnetic flux weakens, and then produces the suspending power of an x positive direction.Produce flow direction at air gap 2 place suspending windings and torque winding the same, magnetic flux increases, and at air gap 4 place, magnetic flux weakens, and then produces the suspending power of a y positive direction.In like manner, when suspending windings electric current is reverse, reciprocal suspending power will be produced.Therefore, when given A, B, C three-phase torque winding current, the size and Orientation of conservative control x, y-axis suspending windings electric current, can produce the suspending power that size and Orientation is all controlled.
Torque winding current can adopt PWM control, Pulse Width Control and Angle Position control etc., identical with the control method of Conventional switched reluctance motor, and levitating current adopts chop control.A, B, C three-phase torque winding current can be detected in real time by current sensor and obtain, and rotor radial displacement detects acquisition in real time by current vortex sensor, regulates the set-point obtaining both direction suspending power through PI.Due to suspending power and A, B, C three-phase torque winding current and both direction suspending windings current related, and then the levitating current obtaining both direction can be resolved, as the set-point of Current Control in power inverter, finally realize the suspension operation of motor.
As shown in Figure 4, it is the three-dimensional structure schematic diagram of the present invention's axial block form mixed structure bearing-free switch reluctance motor embodiment 2, wherein, 1 is reluctance motor stator, and 2 is field spiders, 3 is reluctance motor windings, 4 is magnetic bearing stators, and 5 is cylindrical rotors, and 6 is wide tooth windings, 7 is narrow tooth windings, and 8 is rotating shafts.
Described axial block form mixed structure bearing-free switch reluctance motor, comprises motor stator, rotor and motor winding;
Described motor stator is made up of reluctance motor stator and magnetic bearing stator; Described rotor is made up of field spider and cylindrical rotor; Described motor winding is made up of torque winding and suspending windings; Described torque winding is made up of reluctance motor winding and wide tooth winding, and suspending windings is formed by narrow tooth winding switching;
Described magnetic bearing stator and reluctance motor stator axial series are arranged; Described cylindrical rotor is arranged in magnetic bearing stator, and field spider is arranged in reluctance motor stator; Described cylindrical rotor and field spider are enclosed within rotating shaft; Described reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and described cylindrical rotor is column structure, and described magnetic bearing stator is E type structure;
Described magnetic bearing stator is by 4 E type Structure composing, and 4 E type structures are circumferentially being uniformly distributed, and spatially differs 90 °; The number of teeth of each E type structure is 3, and its center tooth facewidth is two times of all the other two teeth;
Described suspending windings totally 2, each suspending windings is formed by the winding switching on 4 narrow teeth of being separated by 2 E type structures of 180 °; Windings in series on each E type structure two narrow teeth forms 1 winding string, and 4 E type structures form 4 winding strings; Be separated by described 4 winding strings two winding strings of 180 °, differential concatenation connects, and forms a suspending windings; Two other winding string of 180 ° of being separated by, differential concatenation connects, and forms another suspending windings; Described two suspending windings are α and β direction suspending windings, are spatially separated by 90 °;
Described torque winding is made up of reluctance motor winding and wide tooth winding; Each reluctance motor stator tooth is wound with 1 winding, when described reluctance motor stator is 6, the field spider number of teeth is 4, number of motor phases m is 3, every 2 windings of being separated by the reluctance motor stator tooth of 180 °, adopt series connection or connected mode arranged side by side, link together, form 1 reluctance motor winding, form 3 reluctance motor windings altogether;
Described wide tooth winding totally 3, the wide tooth of each E type structure is wound with 3 windings; In 4 E type structures, each wide tooth is chosen 1 winding, be connected into 1 wide tooth winding, thus form 3 wide tooth windings; The magnetic flux that described 3 wide tooth windings produce spatially all distributes in NSNS; The magnetic flux that described two suspending windings produce the spatially distribution in NSSN;
Described 3 reluctance motor windings are connected with described 3 wide tooth windings respectively, and then form 3 torque windings, are three-phase torque winding;
The resultant flux that described three-phase torque winding current sum produces, as the biased magnetic flux of rotor suspension; The control method of 3 phase torque winding currents is identical with Conventional switched reluctance motor; The magnetic flux that x-axis direction suspending windings produces, an air gap place in this direction magnetic bearing stator is identical with the flow direction that torque winding produces at this place, then contrary at another air gap place in this direction, by controlling the size and Orientation of electric current in x-axis direction suspending windings, a controlled radial magnetic force can be produced in the positive and negative direction of x; In like manner, a controlled radial magnetic force also can be produced in the positive and negative direction of y; And then the synthesis magnetic pull of a size and Orientation control can be obtained, thus meet needed for suspension.
As shown in Figure 5, it is the three-dimensional structure schematic diagram of the present invention's axial block form mixed structure bearing-free switch reluctance motor embodiment 3, wherein, 1 is reluctance motor stator, and 2 is field spiders, 3 is reluctance motor windings, 4 is magnetic bearing stators, and 5 is cylindrical rotors, and 6 is wide tooth windings, 7 is narrow tooth windings, and 8 is rotating shafts.
Described axial block form mixed structure bearing-free switch reluctance motor, comprises motor stator, rotor and motor winding;
Described motor stator is made up of reluctance motor stator and magnetic bearing stator; Described rotor is made up of field spider and cylindrical rotor; Described motor winding is made up of torque winding and suspending windings; Described torque winding is made up of reluctance motor winding and wide tooth winding, and suspending windings is formed by narrow tooth winding switching;
Described magnetic bearing stator and reluctance motor stator axial series are arranged; Described cylindrical rotor is arranged in magnetic bearing stator, and field spider is arranged in reluctance motor stator; Described cylindrical rotor and field spider are enclosed within rotating shaft; Described reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and described cylindrical rotor is column structure, and described magnetic bearing stator is E type structure;
Described magnetic bearing stator is by 4 E type Structure composing, and 4 E type structures are circumferentially being uniformly distributed, and spatially differs 90 °; The number of teeth of each E type structure is 3, and its center tooth facewidth is two times of all the other two teeth;
Described suspending windings totally 2, each suspending windings is formed by the winding switching on 4 narrow teeth of being separated by 2 E type structures of 180 °; Windings in series on each E type structure two narrow teeth forms 1 winding string, and 4 E type structures form 4 winding strings; Be separated by described 4 winding strings two winding strings of 180 °, differential concatenation connects, and forms a suspending windings; Two other winding string of 180 ° of being separated by, differential concatenation connects, and forms another suspending windings; Described two suspending windings are α and β direction suspending windings, are spatially separated by 90 °;
Described torque winding is made up of reluctance motor winding and wide tooth winding; Each reluctance motor stator tooth is wound with 1 winding, when described reluctance motor stator is 8, the field spider number of teeth is 6, number of motor phases m is 4, every 2 windings of being separated by the reluctance motor stator tooth of 180 °, adopt series connection or connected mode arranged side by side, link together, form 1 reluctance motor winding, form 4 reluctance motor windings altogether;
Described wide tooth winding totally 4, the wide tooth of each E type structure is wound with 4 windings; In 4 E type structures, each wide tooth is chosen 1 winding, be connected into 1 wide tooth winding, thus form 4 wide tooth windings; The magnetic flux that described 4 wide tooth windings produce spatially all distributes in NSNS; The magnetic flux that described two suspending windings produce the spatially distribution in NSSN;
Described 4 reluctance motor windings are connected with described 4 wide tooth windings respectively, and then form 4 torque windings, are four phase torque windings;
The resultant flux that described four phase torque winding current sums produce, as the biased magnetic flux of rotor suspension; The control method of 3 phase torque winding currents is identical with Conventional switched reluctance motor; The magnetic flux that x-axis direction suspending windings produces, an air gap place in this direction magnetic bearing stator is identical with the flow direction that torque winding produces at this place, then contrary at another air gap place in this direction, by controlling the size and Orientation of electric current in x-axis direction suspending windings, a controlled radial magnetic force can be produced in the positive and negative direction of x; In like manner, a controlled radial magnetic force also can be produced in the positive and negative direction of y; And then the synthesis magnetic pull of a size and Orientation control can be obtained, thus meet needed for suspension.
As shown in Figure 6, be the system block diagram of the embodiment of the present invention 1.Suspend control is: displacement error signal is carried out PID and regulate the given suspending power of acquisition
with
combine actual measurement torque winding current i again
m, namely calculate x direction suspending windings current reference value by suspending windings current controller
with y-axis direction suspending windings current reference value
follow the tracks of by actual current with Current cut control
to produce required suspending power, realize the suspension of motor.
Direct torque is: detect motor rotor position information, obtain the turn-on angle θ of actual speed ω and every phase as calculated respectively
onwith pass angle of rupture θ
off, speed error signal is carried out PI adjustment, obtains torque winding current reference value
recycling Current cut control is followed the tracks of by actual torque winding current
and utilize turn-on angle θ
onwith pass angle of rupture θ
offthe conducting state of controlling torque winding power circuit, thus realize motor rotation.
As shown in Figure 7, be the suspending windings current calculation method block diagram of the embodiment of the present invention 1.In figure, k
ffor suspending power coefficient, its expression formula is:
In formula, μ
0for permeability of vacuum, l is the axial length of magnetic bearing part, and r is the radius of magnetic bearing rotor, α
sfor the polar arc angle of narrow magnetic bearing stator, δ is the monolateral gas length of magnetic bearing part.
X and y-axis direction suspending power
with
expression formula be:
In formula, i
1, i
2, i
3be respectively the electric current of A, B, C three-phase torque winding,
be respectively x, y-axis direction suspending windings electric current, N
b, N
mthe number of turn of suspending windings and torque winding respectively.
From expression formula (1), (2) and (3), suspending power and the rotor position angle θ of axial block form mixed structure bearing-free switch reluctance motor have nothing to do, only with electric machine structure parameter, three-phase torque winding current and two suspending windings current related.Change with the positive and negative change of suspending windings electric current because suspending power is positive and negative, therefore the suspending windings sense of current can change when controlling, and need adopt the power inverter in adjustable current direction.
The control method of the embodiment of the present invention 1, the decoupling zero that can realize torque and suspending power independently controls; Wherein, direct torque adopts the control strategy of each phase torque winding conducting in turn, by the turn-on angle of the power switch pipe of the torque of speed closed loop independent regulation, torque winding current and torque winding power circuit with close the angle of rupture; Suspending power controls to adopt permanent switch control strategy, by the suspending windings electric current in displacement closed loop independent regulation suspending power and x and y-axis direction; When suspending power controls, torque winding current is only as the bias current producing suspension magnetic flux, and do not do any control, x and the then permanent conducting of y-axis direction suspending windings, by regulating the suspending windings electric current of this both direction, to produce required suspending power; Comprise the steps:
Steps A, obtains the given suspending power in x-axis and y-axis direction; Its concrete steps are as follows:
Steps A-1, obtain real-time displacement signal alpha and the β in rotor x-axis and y-axis direction, wherein, x-axis overlaps with the center tooth pole center line of two E type structures, and these two E type structures spatially differ 180 °, and y-axis and x-axis spatially differ 90 °;
Steps A-2, by real-time displacement signal alpha and β respectively with given reference bit shifting signal α
*and β
*subtract each other, obtain real-time displacement signal difference Δ α and the Δ β in x-axis direction and y-axis direction respectively, by described real-time displacement signal difference Δ α and Δ β through proportional plus integral plus derivative controller, obtain x-axis direction suspending power
with y-axis direction suspending power
Step B, obtains given torque winding current, turn-on angle and the pass angle of rupture; Concrete steps are as follows:
Step B-1, gathers rotor real-time rotate speed, calculates rotor velocity ω;
Step B-2, the reference angular velocities ω of rotor velocity ω and setting
*subtract each other, obtain rotation speed difference deltan ω;
Step B-3, as ω≤ω
0time, ω
0for critical speed set point, it is determined by motor actual condition; ω≤ω
0time, switched reluctance machines adopts permanent torque Starting mode usually, and ω > ω
0time, motor adopts power limitation control pattern usually, ω
0for the critical point of permanent torque and power limitation control, therefore its concrete value can be selected flexibly by motor operating state and speed adjustable range;
Described rotation speed difference deltan ω, passing ratio integral controller, obtains torque winding current reference value i
m *; Turn-on angle θ
onwith pass angle of rupture θ
offimmobilize, θ
onand θ
offvalue is determined by electric machine structure form;
Step B-4, as ω > ω
0time, described rotation speed difference deltan ω, passing ratio integral controller, obtains turn-on angle θ
onwith pass angle of rupture θ
off, torque winding current does not control;
Step C, regulate suspending power, concrete steps are as follows:
Step C-1, gathers the torque winding current that m phase is real-time, according to described suspending power
with
and Current calculation formula
with
can resolve and obtain x-axis direction suspending windings current reference value
with y-axis direction suspending windings current reference value
wherein, k
ffor suspending power coefficient,
μ
0for permeability of vacuum, l is the axial length of magnetic bearing, and r is the radius of magnetic bearing rotor, α
sfor the polar arc angle of the narrow stator tooth of magnetic bearing, δ is the monolateral gas length of magnetic bearing, N
b, N
mbe respectively the number of turn of magnetic bearing narrow tooth winding, wide tooth winding, i
kfor kth phase torque winding current;
Step C-2, utilizes Current cut control method, allows the actual current i of x-axis direction suspending windings
s1follow the tracks of this direction and hang winding current reference value
allow the actual current i of y-axis direction suspending windings
s2follow the tracks of this direction suspending windings current reference value
thus regulate suspending power in real time;
Step D, regulates torque; Concrete steps are as follows:
Step D-1, as ω≤ω
0time, utilize Current cut control method, allow the actual current i of torque winding
mfollow the tracks of torque winding current reference value i
m *, and then regulate torque winding current i in real time
m, and then reach the object regulating torque;
Step D-2, as ω > ω
0time, utilize Angle-domain imaging method, by dynamic adjustments, turn-on angle θ
onwith pass angle of rupture θ
offvalue, thus regulate torque in real time.
Step e, calculates x, y-axis direction suspending windings current reference value
with
Step e-1, when required
with
time, regulate x and y-axis direction suspending windings current reference value
with
three-phase torque winding current is obtained by current sensor Real-time Collection;
Step e-2, when required
with
time, regulate x and y-axis direction suspending windings current reference value
with
Step e-3, when required
with
time, regulate x and y-axis direction suspending windings current reference value
with
Step e-4, when required
with
time, regulate x and y-axis direction suspending windings current reference value
with
The control method of the embodiment of the present invention 2, embodiment 3 and implementation, all identical with embodiment 1, difference is, because stator and rotor tooth is different, turn-on angle θ
onwith pass angle of rupture θ
offvalue is different; And because of number of phases difference, the torque winding number of phases of Real-time Collection needed for flow sensor is different, and then torque winding current sum is also different.
In sum, field spider of the present invention is for generation of torque, and cylindrical rotor is for generation of suspending power; Structurally achieve the decoupling zero of torque and suspending power; The inductance of suspending windings is constant, and Based Motional Electromotive Force is zero, has eliminated the impact on winding Current cut control of Based Motional Electromotive Force, improves the real-time control effects of electric current; Only need to control both direction suspending windings electric current, can produce required suspending power, control variables is few, and suspend control is simple, and suspension system power inverter cost is little; Direct torque is identical with Conventional switched reluctance motor, and be beneficial to torque and export, high-speed adaptability is strengthened further.
Control method of the present invention, by independent controlling torque winding current and suspending windings electric current, realizes motor respectively and rotates and suspension function, and rotate and decoupling zero mutually between suspension system, affect weak each other; The similar magnetic suspension bearing of suspend control, adopts permanent switch control strategy, and only needs to control both direction suspending windings electric current, and can produce required suspending power, control variables is few, and suspend control is simple, and suspension system power inverter cost is low.For those skilled in the art, according to above implementation type can be easy to association other advantage and distortion.Therefore, the present invention is not limited to above-mentioned instantiation, and it carries out detailed, exemplary explanation as just example to a kind of form of the present invention.Not deviating from the scope of present inventive concept, the technical scheme that those of ordinary skill in the art are obtained by various equivalent replacement according to above-mentioned instantiation, all should be included within right of the present invention and equivalency range thereof.
Claims (5)
1. an axial block form mixed structure bearing-free switch reluctance motor, comprises motor stator, rotor and motor winding; Described motor stator is made up of reluctance motor stator and magnetic bearing stator; Described rotor is made up of field spider and cylindrical rotor; Described motor winding is made up of torque winding and suspending windings; Described cylindrical rotor is arranged in magnetic bearing stator, and field spider is arranged in reluctance motor stator; Described magnetic bearing stator and reluctance motor stator axial series are arranged, described cylindrical rotor and field spider are enclosed within rotating shaft; Described reluctance motor stator and field spider are salient-pole structure, and described cylindrical rotor is column structure; The number of teeth of described reluctance motor stator and field spider has 12/8,6/4,8/6 3 kind of combining form; When wherein the number of teeth of reluctance motor stator and field spider is combined as 12/8 and 6/4, reluctance motor is three-phase duty, and when the number of teeth of reluctance motor stator and field spider is combined as 8/6, reluctance motor is four phase dutys;
It is characterized in that, described magnetic bearing stator is by 4 E type Structure composing, and 4 E type structures are circumferentially being uniformly distributed, and spatially differs 90 °; The number of teeth of each E type structure is 3, and its center tooth facewidth is two times of all the other two teeth;
Two narrow teeth in each E type structure all have 1 winding, and the windings in series on each E type structure two narrow teeth forms 1 narrow tooth winding, and 4 E type structures form 4 narrow tooth windings; To be separated by described 4 narrow tooth windings two winding differential concatenations of 180 °, to form a suspending windings; Two other narrow tooth winding differential concatenation of 180 ° of being separated by, forms another suspending windings; Described two suspending windings are spatially separated by 90 °;
Described torque winding number is identical with the number of phases m of reluctance motor, and each torque winding is made up of a reluctance motor winding and a wide tooth windings in series;
Each reluctance motor stator tooth is wound with 1 winding, the winding on all reluctance motor stator teeth, point m group, is connected to together, forms m reluctance motor winding;
Described wide tooth winding m altogether, the wide tooth of each E type structure is wound with m winding; In 4 E type structures, each wide tooth is chosen 1 winding, be connected into 1 wide tooth winding, thus form m wide tooth winding.
2. one according to claim 1 axial block form mixed structure bearing-free switch reluctance motor, it is characterized in that, the number of teeth of described reluctance motor stator and field spider adopts 12/8 combination, namely when the described reluctance motor stator number of teeth is 12, the field spider number of teeth is 8, number of motor phases m is 3, every 4 windings of being separated by the reluctance motor stator tooth of 90 °, adopt series connection or side by side or go here and there and the connected mode combined, link together, form 1 reluctance motor winding, form 3 reluctance motor windings altogether; Described 3 reluctance motor windings are connected with described 3 wide tooth windings more respectively, and then form 3 torque windings, are three-phase torque winding.
3. one according to claim 1 axial block form mixed structure bearing-free switch reluctance motor, it is characterized in that, the number of teeth of described reluctance motor stator and field spider adopts 6/4 combination, namely when described reluctance motor stator is 6, the field spider number of teeth is 4, number of motor phases m is 3, every 2 windings of being separated by the reluctance motor stator tooth of 180 °, adopt series connection or connected mode arranged side by side, link together, form 1 reluctance motor winding, form 3 reluctance motor windings altogether; Described 3 reluctance motor windings are connected into 3 torque windings respectively with described 3 wide tooth windings again, are three-phase torque winding.
4. one according to claim 1 axial block form mixed structure bearing-free switch reluctance motor, it is characterized in that, the number of teeth of described reluctance motor stator and field spider adopts 8/6 combination, namely described reluctance motor stator is 8, the field spider number of teeth is 6, when number of motor phases m is 4, every 2 windings of being separated by the reluctance motor stator tooth of 180 °, adopt series connection, or connected mode arranged side by side, link together, form 1 reluctance motor winding, form 4 reluctance motor windings altogether, described 4 reluctance motor windings are connected respectively with described 4 wide tooth windings again, and then form 4 torque windings, be four phase torque windings.
5. the control method of a kind of axial block form mixed structure bearing-free switch reluctance motor according to claim 1,2,3 or 4, it is characterized in that, the torque of described switched reluctance machines and suspending power control mutual decoupling zero, independently controlling torque winding current and suspending windings electric current; Comprise the steps:
Steps A, obtains the given suspending power in x-axis and y-axis direction; Its concrete steps are as follows:
Steps A-1, obtain real-time displacement signal alpha and the β in rotor x-axis and y-axis direction, wherein, x-axis overlaps with the center tooth pole center line of two E type structures, and these two E type structures spatially differ 180 °, and y-axis and x-axis spatially differ 90 °;
Steps A-2, by real-time displacement signal alpha and β respectively with given reference bit shifting signal α
*and β
*subtract each other, obtain real-time displacement signal difference Δ α and the Δ β in x-axis direction and y-axis direction respectively, by described real-time displacement signal difference Δ α and Δ β through proportional plus integral plus derivative controller, obtain x-axis direction suspending power
with y-axis direction suspending power
Step B, obtains given torque winding current, turn-on angle and the pass angle of rupture; Concrete steps are as follows:
Step B-1, gathers rotor real-time rotate speed, calculates rotor velocity ω;
Step B-2, the reference angular velocities ω of rotor velocity ω and setting
*subtract each other, obtain rotation speed difference deltan ω;
Step B-3, as ω≤ω
0time, ω
0for critical speed set point, it is determined by motor actual condition; Described rotation speed difference deltan ω, passing ratio integral controller, obtains torque winding current reference value i
m *; Turn-on angle θ
onwith pass angle of rupture θ
offimmobilize, θ
onand θ
offvalue is determined by electric machine structure form;
Step B-4, as ω > ω
0time, described rotation speed difference deltan ω, passing ratio integral controller, obtains turn-on angle θ
onwith pass angle of rupture θ
off, torque winding current does not control;
Step C, regulate suspending power, concrete steps are as follows:
Step C-1, gathers the torque winding current that m phase is real-time, according to described suspending power
with
and Current calculation formula
With
Resolve and obtain x direction suspending windings current reference value
with y-axis direction suspending windings current reference value
wherein, k
ffor suspending power coefficient,
μ
0for permeability of vacuum, l is the axial length of magnetic bearing, and r is the radius of magnetic bearing rotor, α
sfor the polar arc angle of the narrow stator tooth of magnetic bearing, δ is the monolateral gas length of magnetic bearing, N
b, N
mbe respectively the number of turn of magnetic bearing narrow tooth winding, wide tooth winding, i
kfor kth phase torque winding current;
Step C-2, utilizes Current cut control method, allows the actual current i of x-axis direction suspending windings
s1follow the tracks of this direction and hang winding current reference value
allow the actual current i of y-axis direction suspending windings
s2follow the tracks of this direction suspending windings current reference value
thus regulate suspending power in real time;
Step D, regulates torque; Concrete steps are as follows:
Step D-1, as ω≤ω
0time, utilize Current cut control method, allow the actual current i of torque winding
mfollow the tracks of torque winding current reference value i
m *, and then regulate torque winding current i in real time
m, and then reach the object regulating torque;
Step D-2, as ω > ω
0time, utilize Angle-domain imaging method, regulate turn-on angle θ
onwith pass angle of rupture θ
offvalue, thus regulate torque in real time.
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| CN201510435000.9A CN105024507B (en) | 2015-07-22 | 2015-07-22 | A kind of axial block form mixed structure bearing-free switch reluctance motor and control method |
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