CN105375716B - The bilateral switched relutance linear motor rotor position estimating and measuring method of energy converting between mechanical - Google Patents
The bilateral switched relutance linear motor rotor position estimating and measuring method of energy converting between mechanical Download PDFInfo
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- CN105375716B CN105375716B CN201510757816.3A CN201510757816A CN105375716B CN 105375716 B CN105375716 B CN 105375716B CN 201510757816 A CN201510757816 A CN 201510757816A CN 105375716 B CN105375716 B CN 105375716B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
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- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Linear Motors (AREA)
- Control Of Electric Motors In General (AREA)
- Synchronous Machinery (AREA)
Abstract
A kind of bilateral switched relutance linear motor rotor position estimating and measuring method of energy converting between mechanical, suitable for the bilateral switched relutance linear motor rotor position estimation of the various numbers of phases, every phase stator winding of bilateral switched relutance linear motor is made up of 4 concentrating coils, there are 2 concentrating coils on per side stator, two concentrating coils stator winding u in series on the stator of side, two concentrating coils stator winding d in series on opposite side stator, on-line checking stator winding u inductance value and stator winding d inductance value, the overlap distance value d of bilateral switched relutance linear motor stator poles and mover pole is calculated, it is derived from rotor position, the precision of rotor position is not influenceed by mover eccentric degree, laid the foundation for bilateral switched relutance linear motor position Sensorless Control, have broad application prospects.
Description
Technical field
It is especially suitable the present invention relates to a kind of bilateral switched relutance linear motor rotor position estimating and measuring method of energy converting between mechanical
For the bilateral switched relutance linear motor of the various numbers of phases.
Background technology
Switched reluctance machines want enforcing location closed-loop control just to follow the operation of minimum reluctance principle, but traditional position passes
Sensor easily breaks down and failed, and it reduce the reliability of switched reluctance motor system.To switching magnetic-resistance electric rotary machine without
Position sensor control has been presented for serial of methods, and its essence is identical, i.e., is encouraged by applying to winding, measures its electricity
Stream and anode-cathode voltage, derive phase inductance or magnetic linkage, rotor-position are drawn to the mapping relations of inductance, magnetic linkage using rotor-position
Information.Switched relutance linear motor can realize that the mechanical energy of linear motion and electric energy directly turn, without intermediate conversion device or biography
Motivation structure, so as to reduce the volume of linear motion system, weight and cost, and intermediate conversion or transmission link can be eliminated
A variety of errors such as caused power, speed.Due to track and Bearing Grinding caused by motor processing technology and motor longtime running
Damage, often there is certain bias in double-flanged end switched relutance linear motor, using the biography similar to switching magnetic-resistance electric rotary machine
System stator winding connected mode, to realize position Sensorless Control, due to by mover Influence from Eccentric, rotor position estimation essence
Degree is not high, it is difficult to implements effective double-flanged end switched relutance linear motor position Sensorless Control.Therefore it provides it is a kind of not by
The bilateral switched relutance linear motor rotor position estimating and measuring method of mover Influence from Eccentric, to implementing effective double-flanged end switching magnetic-resistance
Linear electric motors position Sensorless Control is particularly significant.
The content of the invention
The purpose of the present invention is to be directed in prior art to have problem, there is provided a kind of method is simple, not by mover bias shadow
The bilateral switched relutance linear motor rotor position estimating and measuring methods of energy converting between mechanical loud, suitable for the various numbers of phases.
To achieve the above object, the bilateral switched relutance linear motor rotor position estimation side of energy converting between mechanical of the present invention
Method, including bilateral switched relutance linear motor is used, two stators and a mover of bilateral switched relutance linear motor, two
Stator is respectively provided at the both sides of mover, and every phase stator winding of bilateral switched relutance linear motor is made up of 4 concentrating coils, and two
Respectively there are 2 concentrating coils on the stator of side, it is another by the two concentrating coils stator winding u in series on the side stator
Two concentrating coils stator winding d in series on the stator of side, sets stator winding u inductance value as Lu, stator winding d
Inductance value is Ld, on-line checking inductance value LuWith inductance value Ld, bilateral switched relutance linear motor stator poles are calculated by following formula
With the overlap distance value d of mover pole：
In formula：μ0For space permeability value, L is that the folded thickness of bilateral switched relutance linear motor is worth, g0It is straight for bilateral switching magnetic-resistance
The unilateral gas length value of line motor, N are the number of turn value of each concentrating coil on stator；
According to obtained bilateral switched relutance linear motor stator poles and the overlap distance value d of mover pole, obtained by following formula
Bilateral switched relutance linear motor rotor position estimated value x：
X=d+0.5Wms-0.5Wsp
In formula：Wsp is stator tooth width values, and Wms is mover groove width value, and x=0 represents stator poles center line and mover groove center
Rotor position when line aligns.
Described electric mover is in the case of uninfluenced, its mover side gas length value and opposite side gas length value
It is identical, it is unilateral gas length value g0。
Beneficial effect：By adopting the above-described technical solution, the present invention is by bilateral switched relutance linear motor both sides stator
Winding inductance value is reciprocal and obtains bilateral switched relutance linear motor stator poles and the overlap distance value of mover pole, then is opened by bilateral
Overlap distance value, stator poles width values and the mover groove width value of magnetic resistance linear motor stator electric pole and mover pole are closed, obtains bilateral switch
Magnetic resistance linear motor rotor positional value, not by mover Influence from Eccentric, bilateral switched relutance linear motor rotor position estimation is accurate,
Laid the foundation for bilateral switched relutance linear motor position Sensorless Control, suitable for the energy converting between mechanical of the various numbers of phases
Bilateral switched relutance linear motor rotor position estimation.Its method is simple, and effect is good, has broad application prospects.
Brief description of the drawings
Fig. 1 is the bilateral switched relutance linear motor stator winding coil connection diagram of the present invention.
The bilateral switched relutance linear motor one that Fig. 2 is the present invention communicates electrical equivalent magnetic circuit schematic diagram.
Fig. 3 is the rotor position value and stator poles and mover pole overlap distance value relation schematic diagram of the present invention.
Fig. 4 is the bilateral switched relutance linear motor power converter circuit topological structure schematic diagram of the present invention.
Embodiment
One embodiment of the present of invention is further described below in conjunction with the accompanying drawings：
As shown in figure 1, the bilateral switched relutance linear motor rotor position estimating and measuring method of energy converting between mechanical of the present invention, is adopted
With bilateral switched relutance linear motor, two stators and a mover of bilateral switched relutance linear motor, two stator difference
The both sides of mover are located at, every phase stator winding of bilateral switched relutance linear motor is made up of 4 concentrating coils, on the stator of both sides
Respectively there are 2 concentrating coils, by two concentrating coils stator winding u in series on the side stator, on opposite side stator
Two concentrating coils stator winding d in series, set stator winding u inductance value as Lu, stator winding d inductance value be
Ld, on-line checking inductance value LuWith inductance value Ld, bilateral switched relutance linear motor stator poles and mover pole are calculated by following formula
Overlap distance value d：
In formula：μ0For space permeability value, L is that the folded thickness of bilateral switched relutance linear motor is worth, g0It is straight for bilateral switching magnetic-resistance
The unilateral gas length value of line motor, in the case of electric mover is uninfluenced, electric mover side gas length value with it is another
Side gas length value is identical, is unilateral gas length value g0, N is the number of turn value of each concentrating coil on stator；
According to obtained bilateral switched relutance linear motor stator poles and the overlap distance value d of mover pole, obtained by following formula
Bilateral switched relutance linear motor rotor position estimated value x：
X=d+0.5Wms-0.5Wsp
In formula：Wsp is stator tooth width values, and Wms is mover groove width value, and x=0 represents stator poles center line and mover groove center
Rotor position when line aligns.
By taking the A phases of motor as an example, A phase windings are by winding A1~A4Composition, two winding A of side stator1And A2It is connected in series
Form side stator winding Au, equally, opposite side stator A3And A4It is connected in series and forms opposite side side stator winding Ad；
By taking the B phases of motor as an example, B phase windings are by winding B1~B4Composition, two winding B of side stator1And B2It is connected in series
Form side stator winding Bu, equally, opposite side stator B3And B4It is connected in series and forms opposite side side stator winding Bd；
By taking the C phases of motor as an example, C phase windings are by winding C1~C4Composition, two winding C of side stator1And C2It is connected in series
Form side stator winding Cu, equally, opposite side stator C3And C4It is connected in series and forms opposite side side stator winding Cd；
By taking the B phases of motor as an example, its equivalent magnetic circuit is as shown in Fig. 2 RsFor stator core magnetic resistance value, RuFor side air gap magnetic
Resistance, RdFor opposite side air-gap reluctance value, RmFor mover core magnetic resistance value, and
In formula：μ0It is space permeability value, AgIt is the equivalent magnetic flux area value of air gap, guFor side gas length value, gdTo be another
Side gas length value, the gas length value of mover side and opposite side gas length value phase in the case of electric mover is not eccentric
Together, it is g0, L is the folded thick value of bilateral switched relutance linear motor, and d is bilateral switched relutance linear motor stator poles and mover pole
Overlap distance value, as shown in figure 3, ε is mover eccentricity, i.e.,
In formula：Δ g is mover center displacement value.
Because air-gap reluctance value is much larger than stator, mover core magnetic resistance value, therefore ignore R in magnetic circuitmAnd RsInfluence, such as
Shown in Fig. 2；Between measuring point a and measuring point b approximate " short circuit ", whole magnetic circuit is divided into two independent magnetic circuits and analyzed, in Fig. 2
NiuIt is side stator winding coil B1And B2Magnetic potential, NidIt is opposite side stator winding coil B3And B4Magnetic potential.
In Fig. 2 loops 1, total magnetic resistanceDrawn by following formula：
By coil B1With coil B2Series connection, the side stator winding B connected intouInductance value LuApproximate calculation is
In formula：N is the number of turn value of each concentrating coil on stator.
Similarly, in Fig. 2 loops 2, opposite side stator winding BdInductance value LdApproximate calculation is：
Drawn by formula (5) and formula (6)：
Bilateral switched relutance linear motor both sides stator winding BuAnd BdInductance it is reciprocal and with bilateral switching magnetic-resistance straight-line electric
Motor-driven sub- eccentricity is unrelated, has one-to-one corresponding with the overlap distance value d of bilateral switched relutance linear motor stator poles and mover pole
Relation；
As long as detect inductance value LuWith inductance value LdWith regard to overlap distance value d can be calculated by formula (7).
Work as x=0, then it represents that rotor position when stator poles center line aligns with mover groove center line, bilateral switching magnetic-resistance
Linear motor rotor positional value x, Wsp are stator poles width values, Wms is mover groove width value, stator poles and the overlap distance of mover pole
Value d, bilateral switched relutance linear motor rotor position estimated value x can obtain by following formula：
X=d+0.5Wms-0.5Wsp (8)
As shown in figure 4, bilateral switched relutance linear motor stator winding is powered with power inverter, A phase main switches SA1、
SA2And SA0Conducting, sustained diodeA1、DA2And DA0Shut-off, A phase winding excitations, current path as shown in FIG., AuAnd AdRespectively
It is A phases both sides stator winding；B phase main switches SB1And SB2Shut-off, SB0Conducting, sustained diodeB1And DB2Conducting, DB0Shut-off, B
Phase winding no-voltage afterflow, current path as shown in FIG., BuAnd BdIt is B phases both sides stator winding respectively；C phase main switches SC1、
SC2And SC0Shut-off, sustained diodeC1、DC2And DC0Conducting, C phase winding negative voltage freewheel currents path as shown in FIG., CuWith
CdIt is C phases both sides stator winding respectively.
By controlling main switch turn-on and turn-off, high-frequency pulse voltage is injected to non-conduction phase, allows non-conduction phase winding to pass through
Excitation, no-voltage afterflow, negative voltage freewheeling period are gone through, by institute's response impulse current amplitude and pulse in the stator winding of each phase both sides
Electric current rising and falling time, calculate the inductance value L of both sides stator windinguAnd Ld, then by formula (7) and formula (8) calculated and can be obtained
To bilateral switched relutance linear motor rotor position estimated value x, not by mover Influence from Eccentric.
Claims (2)
1. a kind of bilateral switched relutance linear motor rotor position estimating and measuring method of energy converting between mechanical, including use bilateral switch magnetic
Linear electric motors, two stators and a mover of bilateral switched relutance linear motor are hindered, two stators are respectively provided at the two of mover
Side, every phase stator winding of bilateral switched relutance linear motor are made up of 4 concentrating coils, respectively there is 2 concentrations on the stator of both sides
Coil, it is characterised in that：By two concentrating coils stator winding u in series on the stator of side, two on opposite side stator
Individual concentrating coil stator winding d in series, sets stator winding u inductance value as Lu, stator winding d inductance value be Ld,
Line detection inductance value LuWith inductance value Ld, the weight of bilateral switched relutance linear motor stator poles and mover pole is calculated by following formula
Folded distance value d：
<mrow>
<mfrac>
<mn>1</mn>
<msub>
<mi>L</mi>
<mi>u</mi>
</msub>
</mfrac>
<mo>+</mo>
<mfrac>
<mn>1</mn>
<msub>
<mi>L</mi>
<mi>d</mi>
</msub>
</mfrac>
<mo>=</mo>
<mfrac>
<msub>
<mi>g</mi>
<mn>0</mn>
</msub>
<mrow>
<msub>
<mi>&mu;</mi>
<mn>0</mn>
</msub>
<msup>
<mi>dLN</mi>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
</mrow>
In formula：μ0For space permeability value, L is that the folded thickness of bilateral switched relutance linear motor is worth, g0For bilateral switching magnetic-resistance straight-line electric
The unilateral gas length value of machine, N are the number of turn value of each concentrating coil on stator；
According to obtained bilateral switched relutance linear motor stator poles and the overlap distance value d of mover pole, obtained by following formula bilateral
Switched relutance linear motor rotor position estimated value x：
X=d+0.5Wms-0.5Wsp
In formula：Wsp is stator tooth width values, and Wms is mover groove width value, and x=0 represents stator poles center line and mover groove center line pair
Rotor position when neat.
A kind of 2. bilateral switched relutance linear motor rotor position estimation side of energy converting between mechanical according to claim 1
Method, it is characterised in that：Described electric mover is in the case of uninfluenced, its mover side gas length value and opposite side air gap
Length value is identical, is unilateral gas length value g0。
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510757816.3A CN105375716B (en) | 2015-11-09 | 2015-11-09 | The bilateral switched relutance linear motor rotor position estimating and measuring method of energy converting between mechanical |
| AU2015408849A AU2015408849B2 (en) | 2015-11-09 | 2015-12-09 | Rotor position estimation method for electromechanical energy conversion bilateral switched reluctance linear motor |
| PCT/CN2015/096784 WO2017080010A1 (en) | 2015-11-09 | 2015-12-09 | Method for estimating position of electromechanical energy conversion double-sided switched reluctance linear electric motor rotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510757816.3A CN105375716B (en) | 2015-11-09 | 2015-11-09 | The bilateral switched relutance linear motor rotor position estimating and measuring method of energy converting between mechanical |
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| Publication Number | Publication Date |
|---|---|
| CN105375716A CN105375716A (en) | 2016-03-02 |
| CN105375716B true CN105375716B (en) | 2017-11-28 |
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| CN201510757816.3A Active CN105375716B (en) | 2015-11-09 | 2015-11-09 | The bilateral switched relutance linear motor rotor position estimating and measuring method of energy converting between mechanical |
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| Country | Link |
|---|---|
| CN (1) | CN105375716B (en) |
| AU (1) | AU2015408849B2 (en) |
| WO (1) | WO2017080010A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108282073A (en) * | 2018-01-18 | 2018-07-13 | 扬州大学 | A kind of linear stepping motor |
| CN108494220A (en) * | 2018-03-15 | 2018-09-04 | 鲁东大学 | A kind of cylindrical linear motor |
| KR102326970B1 (en) | 2019-01-30 | 2021-11-16 | 명남수 | Coil Array for Electromagnetic Machine and Moving Electromagnetic Machine by Using Thereof |
| CN110429894B (en) * | 2019-08-29 | 2021-03-05 | 扬州大学 | Coupling voltage-based control method for block type linear switch reluctance motor |
| CN113507240B (en) * | 2021-07-19 | 2023-02-21 | 扬州大学 | Linear switch reluctance motor on-line correction control method under rotor offset condition |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7453179B2 (en) * | 2004-06-03 | 2008-11-18 | Hitachi, Ltd. | DC brushless motor for electrical power steering and the production method thereof |
| JP4879249B2 (en) * | 2008-11-19 | 2012-02-22 | 三菱電機株式会社 | Electric motor and air conditioner |
| EP1251629B1 (en) * | 2001-04-17 | 2012-09-12 | Moteurs Leroy-Somer | Electrical machine with at least one magnetic field detector |
| US8860270B2 (en) * | 2011-03-30 | 2014-10-14 | Kabushiki Kaisha Toshiba | Transverse flux machine and vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101771298A (en) * | 2008-12-26 | 2010-07-07 | 三洋电机株式会社 | Molded motor and electric vehicle |
| CN101882819A (en) * | 2010-07-08 | 2010-11-10 | 东南大学 | Rectilinear cylindrical switching magnetic flux permanent magnet generator |
| JP2013005563A (en) * | 2011-06-15 | 2013-01-07 | Asmo Co Ltd | Brushless motor |
| JP5628140B2 (en) * | 2011-11-25 | 2014-11-19 | Thk株式会社 | Linear motor control device and control method |
| JP6166088B2 (en) * | 2013-03-29 | 2017-07-19 | 日立オートモティブシステムズ株式会社 | Electromagnetic suspension device |
-
2015
- 2015-11-09 CN CN201510757816.3A patent/CN105375716B/en active Active
- 2015-12-09 WO PCT/CN2015/096784 patent/WO2017080010A1/en active Application Filing
- 2015-12-09 AU AU2015408849A patent/AU2015408849B2/en not_active Ceased
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1251629B1 (en) * | 2001-04-17 | 2012-09-12 | Moteurs Leroy-Somer | Electrical machine with at least one magnetic field detector |
| US7453179B2 (en) * | 2004-06-03 | 2008-11-18 | Hitachi, Ltd. | DC brushless motor for electrical power steering and the production method thereof |
| JP4879249B2 (en) * | 2008-11-19 | 2012-02-22 | 三菱電機株式会社 | Electric motor and air conditioner |
| US8860270B2 (en) * | 2011-03-30 | 2014-10-14 | Kabushiki Kaisha Toshiba | Transverse flux machine and vehicle |
| CN102738990B (en) * | 2011-03-30 | 2015-05-06 | 株式会社东芝 | Transverse flux machine and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105375716A (en) | 2016-03-02 |
| AU2015408849B2 (en) | 2017-12-07 |
| WO2017080010A1 (en) | 2017-05-18 |
| AU2015408849A1 (en) | 2017-05-25 |
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