CN105591567B

CN105591567B - A kind of taper magnetic bearing switch reluctance motor and control method

Info

Publication number: CN105591567B
Application number: CN201510859921.8A
Authority: CN
Inventors: 刘泽远; 杨艳; 曹鑫; 邓智泉; 王世山
Original assignee: Nanjing Post and Telecommunication University
Current assignee: Nanjing Post and Telecommunication University
Priority date: 2015-11-30
Filing date: 2015-11-30
Publication date: 2017-06-16
Anticipated expiration: 2035-11-30
Also published as: CN105591567A

Abstract

The invention discloses a kind of taper magnetic bearing switch reluctance motor and control method, the motor is made up of a switched reluctance machines and two taper magnetic bearings；Two biasing windings of taper magnetic bearing are constituted together with the windings in series of switched reluctance machinesmPhase torque winding；Two radial suspension windings of each taper magnetic bearing control two suspensions of the free degree, totally four radial direction frees degree, and can uneoupled control；Two axial suspension windings in series of taper magnetic bearing together, constitute an axial suspension winding, control the suspension of axial direction；The motor can independent control torque winding current and power circuit open shut-off angle, real-time control rotating speed and torque；Five suspending windings electric currents of control, five direction suspending powers of real-time adjustment, and then realize five-degree magnetic suspension.Motor of the present invention and control method, control variables are few, and the control that suspends is simple, suspension system power inverter low cost.

Description

A kind of taper magnetic bearing switch reluctance motor and control method

Technical field

The present invention relates to a kind of taper magnetic bearing switch reluctance motor and control method, belong to the magnetic levitation switch of electric machinery Reluctance motor and its control technology field.

Background technology

Bearing-free switch reluctance motor is a kind of novel magnetically levitated motor that the nineties in 20th century grows up.Bearing-free is opened Reluctance motor is closed because integrating rotation with two functions, the damage that bearing friction brings when not only can effectively solve high-speed cruising of suspending Consumption and generate heat the problems such as, moreover it is possible to further play switched reluctance machines high-speed adaptability so that strengthen its Aero-Space, fly The application foundation of the High Speed Fields such as wheel energy storage, naval vessel.

Research finds that can the rotation of bearing-free switch reluctance motor and suspension function decouple, and is hanged during high-speed cruising How are the tracking of floating electric current and chop control precision, can the high speed performance of bearing-free switch reluctance motor be given full play to and is played Vital effect.Therefore, to solve the problems, such as the scholar of above-mentioned two aspect, Nanjing Aero-Space University and Nanjing Univ. of Posts and Telecommunications Propose some novel electric machine structures and its control method.The 12/8 pole composite rotors simplex winding bearing-free switch magnetic-resistance electricity for proposing Machine, is misplaced by timesharing and produces suspending power and torque respectively, is capable of achieving the uneoupled control suspended with spinfunction, but right because needing Each winding independent control, changed power device is relatively costly.Have also been proposed a kind of 12/8 pole composite construction with axial magnetic flux Double winding bearing-free switch reluctance motor and a kind of pole composite construction double winding bearing-free switch magnetic-resistance electricity of axial block form 12/8 Machine, while the symmetrical excitation of every phase torque winding of above-mentioned two motor produces torque, also for the phase suspending windings provide biasing magnetic Logical, torque and suspending power are independently produced by magnetic resistance motor rotor and cylindrical rotor respectively, therefore also achieve what is suspended and rotate Decoupling；But suspension system also three-phase duty, power circuit cost is also higher.In addition, above-mentioned motor, because of the control institute that suspends Need, it is necessary in the interval that suspends to torque winding current chop control, cause motor cannot abundant excitation, torque output capability receives Limit, is unfavorable for application of the motor in high speed situation.

Bearing-free switch reluctance motor is required, it is necessary to carry out chop control to levitating current because of the control that suspends.To simplex winding For bearing-free switch reluctance motor, each winding needs independent control, and power tube quantity is more, variator high cost；In addition, by While such motor suspends control, output torque is also needed, because suspension excitation width and amplitude are limited, cause motor to fill Shunt opening magnetic, so as to influence the output of torque.For double winding bearing-free switch reluctance motor, a set of is torque winding, is used for There is provided and suspend biasing magnetic flux and produce torque；Another set of is suspending windings, for producing suspending power.Frequently with conducting control in turn Method, the suspending windings number of phases is identical with the torque winding number of phases, causes Suspension power circuit complicated and relatively costly.Further, since In the suspension excitation stage, torque winding current needs to carry out chop control, the biasing magnetic flux for needed for suspending windings are provided, equally Cannot abundant excitation, cause output torque to be limited.

In addition, typical bearing-free motor is only capable of control radially two suspensions of the free degree, but realize the stabilization of rotor Suspending needs to apply constraint in five frees degree, therefore it must be complete with the use of that could constitute one with axial magnetic bearing The magnetic suspension motor of five-degree magnetic suspension.Suspension of five-freedom degree magnetic motor generally has following several composition forms：1) 1 bearing-free + 1 axial-radial magnetic bearing of motor, 2) 1 axial magnetic bearing of radial direction magnetic bearing+1 of bearing-free motor+1,3) 2 it is shaftless + 1 axial magnetic bearing of bearing motor.From above-mentioned 3 kinds of composition forms, bearing-free motor at least needs and an axial magnetic bearing Cooperation could constitute a suspension of five-freedom degree magnetic system, and this is also the technical bottleneck of bearing-free motor.Therefore, if will be axially Magnetic bearing function is integrated into bearing-free motor, by the integrated level of further lifting system, critical speed and power density.

The content of the invention

The present invention proposes a kind of taper magnetic bearing switch reluctance motor and controlling party to overcome the deficiencies in the prior art Method.The motor is the separation of decoupling, torque magnetic circuit and suspending power magnetic circuit, high-speed adaptability in a kind of suspending power and torque configurations By force, radial direction bearing capacity is big, the lower-cost new suspension of five-freedom degree magnetic switched reluctance machines of changed power device；The controlling party Method can independent control torque winding current and suspending windings electric current, rotation and suspension system between mutually decouple, affect one another weak；Five The free degree suspends and controls similar magnetic suspension bearing, using permanent switch control strategy, and only needs to control five direction suspending windings Electric current, you can five direction suspending powers needed for producing, control variables is few, the control that suspends is simple, suspension system power inverter Low cost.

In order to solve the above problems, the technical solution adopted by the present invention is：

A kind of taper magnetic bearing switch reluctance motor, including taper magnetic bearing I, switched reluctance machines and taper magnetic bearing Ⅱ；

The switched reluctance machines are arranged between taper magnetic bearing I and taper magnetic bearing II；

Taper magnetic bearing I by taper stator I, cone rotor I, biasing winding I, radial suspension winding I and axial suspension around Group I is constituted, and wherein taper stator I is made up of axial force stator I, radial load stator I and non-magnetic component I；

Taper magnetic bearing II is by taper stator II, cone rotor II, biasing winding II, radial suspension winding II and axially hangs Floating winding II is constituted, and wherein taper stator II is made up of axial force stator II, radial load stator II and non-magnetic component II；

The switched reluctance machines are made up of reluctance motor stator, magnetic resistance motor rotor and reluctance motor winding；

The cone rotor I is arranged in taper stator I, and cone rotor II is arranged in taper stator II, reluctance motor Rotor is arranged in reluctance motor stator；The cone rotor I, magnetic resistance motor rotor and cone rotor II are enclosed within rotating shaft；

The taper stator I and taper stator II are taper salient-pole structure, and the cone rotor I and cone rotor II are equal It is tapered cylinder structure；Taper stator I, taper stator II, cone rotor I are equal with the bevel angle of cone rotor II；Taper is determined Sub I, the bevel angle opening direction phase of taper stator II and cone rotor II identical with the bevel angle opening direction of cone rotor I Together；The bevel angle opening direction of taper stator I and cone rotor I and taper stator II and the bevel angle openings of cone rotor II To opposite；

The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, reluctance motor stator and magnetic resistance motor rotor The number of teeth have 12/8,6/4,8/6 3 kind of combining form；The number of teeth of wherein reluctance motor stator and magnetic resistance motor rotor is combined as When 12/8 and 6/4, switched reluctance machines are three-phase duty, and the number of teeth of reluctance motor stator and magnetic resistance motor rotor is combined as 8/ When 6, switched reluctance machines are four phase dutys；

The radial load stator I, non-magnetic component I are arranged in axial force stator I, wherein non-magnetic component I is arranged Between axial force stator I and radial load stator I；Axial force stator I and the close arrangement of non-magnetic component I, the He of non-magnetic component I The close arrangement of radial load stator I；

The axial force stator I is taper salient-pole structure, and the number of teeth is 8；The radial load stator I is by 8 c-type structure structures Into the tooth of the c-type structure is pyramidal structure, and the number of teeth is 16；The facewidth of the axial force stator I and the tooth of radial load stator I It is wide equal；The non-magnetic component I is made up of 8 L-type structures, and the tooth of the L-type structure is pyramidal structure, and the number of teeth is 8；

Be uniformly distributed on 8 tooth circumference of the axial force stator I, the angle of adjacent teeth and between cog is 45 °, and wherein with Two teeth that horizontal direction overlaps are referred to as horizontal square to tooth I and horizontal negative direction tooth I, two overlapped with vertical direction Tooth is referred to as vertical positive direction tooth I and vertical negative direction tooth I；There is air-gap between the adjacent teeth and tooth of axial force stator I, and then Form 8 stator slots；

The c-type structure and 1 L-type knot of non-magnetic component I of 1 radial load stator I are placed in described each stator slot Structure, and each L-type structure is arranged between each c-type structure and axial force stator I；Wherein, 2 L-type structures are respectively and therewith Adjacent horizontal square to the close arrangement of tooth I, 2 L-type structures respectively with the horizontal close arrangement of negative direction tooth I adjacent thereto, 2 Individual L-type structure respectively with the vertical close arrangement of positive direction tooth I adjacent thereto, 2 L-type structures are vertical with adjacent thereto respectively The close arrangement of negative direction tooth I；1 tooth in each c-type structure and the therewith tight cloth of L-type structure in same stator slot Put, there is air-gap between the tooth of another tooth of the c-type structure and axial force stator I adjacent thereto；

At horizontal square is to the position of tooth I, formed 1 from tooth from horizontal square to I, 2 L-type structures of tooth and 2 c-type knots 1 tooth wide I that 2 teeth in structure are combined；At the horizontal position of negative direction tooth I, 1 is formed by horizontal negative direction tooth I, 2 1 tooth wide I that 2 teeth in the tooth of individual L-type structure and 2 c-type structures are combined；At the vertical position of positive direction tooth I, shape 1 tooth wide I that 2 teeth into 1 tooth and 2 c-type structures by I, 2 L-type structures of vertical positive direction tooth are combined； At the vertical position of negative direction tooth I, 2 in 1 tooth and 2 c-type structures by I, 2 L-type structures of vertical negative direction tooth are formed 1 tooth wide I that tooth is combined；So as to form 4 teeth wide I altogether；

In 4 teeth wide I, remaining 4 teeth, the radial load stators I of axial force stator I not with the L-type of non-magnetic component I Remaining 8 teeth of close structure laminating, constitute 16 teeth of the taper stator I together；

Equal winding m tooth winding I wide on 4 teeth wide I, wherein m is the number of phases of switched reluctance machines；In each tooth wide 1 tooth winding I wide is chosen on I, 1 biasing winding I is connected into, so as to form m biasing winding I；

Be wound with remaining 12 teeth of the taper stator I remaining 4 teeth of 1 winding, i.e. axial force stator I around There are 1 winding, 1 axial suspension winding I in series；

In radial load stator I 1 is also wound with remaining 8 teeth not close-fitting with the L-type structure of non-magnetic component I Winding, specific connected mode is：At horizontal square is to the position of tooth I, the residue two in 2 c-type structures of same tooth wide I is constituted Windings in series on individual tooth together, constitutes 1 horizontal square to winding string I；At the horizontal position of negative direction tooth I, constitute same The windings in series on remaining two teeth in 2 c-type structures of one tooth wide I constitutes 1 horizontal negative direction winding string I together； 1 horizontal square is connected to winding string I and 1 horizontal negative direction winding string I, constitutes 1 horizontal radial suspending windings I； At the vertical position of positive direction tooth I, the windings in series on remaining two teeth in 2 c-type structures of same tooth wide I is constituted one Rise, constitute 1 vertical positive direction winding string I；At the vertical position of negative direction tooth I, in 2 c-type structures of the same tooth wide I of composition Remaining two teeth on windings in series together, constitute 1 vertical negative direction winding string I；Described 1 vertical positive direction winding String I and 1 vertical negative direction winding string I are connected, and constitute 1 vertical radial suspension winding I；

The radial load stator II, non-magnetic component II are arranged in axial force stator II, wherein non-magnetic component II It is arranged between axial force stator II and radial load stator II；Axial force stator II and the close arrangement of non-magnetic component II, it is non-to lead Magnetic component II and the close arrangement of radial load stator II；

The axial force stator II is taper salient-pole structure, and the number of teeth is 8；The radial load stator II is by 8 c-type structure structures Into the tooth of the c-type structure is pyramidal structure, and the number of teeth is 16；The facewidth of the axial force stator II and radial load stator II The facewidth is equal；The non-magnetic component II is made up of 8 L-type structures, and the tooth of the L-type structure is pyramidal structure, and the number of teeth is 8；

Be uniformly distributed on 8 tooth circumference of the axial force stator II, the angle of tooth and between cog is 45 °, and wherein with water Square horizontal square is referred to as to the negative opposite direction tooth II of tooth II and level, two overlapped with vertical direction to two teeth for overlapping Individual tooth is referred to as vertical positive direction tooth II and vertical negative direction tooth II；There is air-gap between tooth and tooth in 8 of axial force stator II, And then form 8 stator slots；

1 the c-type structure and 1 L-type of non-magnetic component II of radial load stator II are placed in described each stator slot Structure, and each L-type structure is arranged between each c-type structure and axial force stator II；Wherein, 2 L-type structures respectively and with Adjacent horizontal square to the close arrangement of tooth II, 2 L-type structures respectively with the tight cloth of horizontal negative direction tooth II adjacent thereto Put, 2 L-type structures respectively with the vertical close arrangement of positive direction tooth II adjacent thereto, 2 L-type structures respectively with it is adjacent thereto The vertical close arrangement of negative direction tooth II；1 tooth in 8 c-type structures is in each L in same stator slot respectively and therewith Type close structure is arranged, and remaining 8 teeth in 8 c-type structures, is existed between remaining 4 teeth with axial force stator II respectively Air-gap；

At horizontal square is to the position of tooth II, formed 1 from tooth from horizontal square to II, 2 L-type structures of tooth and 2 c-types 1 tooth wide II that 2 teeth in structure are combined；At the horizontal position of negative direction tooth II, 1 is formed by horizontal negative direction tooth IIth, 1 tooth wide II that 2 teeth in 2 teeth and 2 c-type structures of L-type structure are combined；In II, vertical positive direction tooth Place is put, 1 that 2 teeth in 1 tooth and 2 c-type structures by II, 2 L-type structures of vertical positive direction tooth are combined is formed Tooth wide II；At the vertical position of negative direction tooth II, 1 tooth and 2 c-types by II, 2 L-type structures of vertical negative direction tooth is formed 1 tooth wide II that 2 teeth in structure are combined；So as to form 4 teeth wide II altogether；

In 4 teeth wide II, remaining 4 teeth, the radial load stators II of axial force stator II not with non-magnetic component II Close-fitting remaining 8 teeth of L-type structure, 16 teeth of the taper stator II are constituted together；

Equal winding m tooth winding II wide on 4 teeth wide II, wherein m is the number of phases of switched reluctance machines；It is wide at each 1 tooth winding II wide is chosen on tooth II, 1 biasing winding II is connected into, so as to form m biasing winding II；

Remaining 4 teeth that 1 winding, i.e. axial force stator II are wound with remaining 12 teeth of the taper stator II are equal It is wound with 1 winding, 1 axial suspension winding II in series；

In radial load stator II 1 is also wound with remaining 8 teeth not close-fitting with the L-type structure of non-magnetic component II Individual winding, specific connected mode is：It is surplus in 2 c-type structures of the same tooth wide II of composition at horizontal square is to the position of tooth II The windings in series remaininged on two teeth together, constitutes 1 horizontal square to winding string II；At the horizontal position of negative direction tooth II, Constitute windings in series on remaining two teeth in 2 c-type structures of same tooth wide II together, constitute 1 horizontal negative direction Winding string II；1 horizontal square is connected to winding string II and 1 horizontal negative direction winding string II, constitutes 1 horizontal radial Suspending windings II；At the vertical position of positive direction tooth II, constitute on remaining two teeth in 2 c-type structures of same tooth wide II Windings in series together, constitute 1 vertical positive direction winding string II；At the vertical position of negative direction tooth II, same width is constituted The windings in series on remaining two teeth in 2 c-type structures of tooth II constitutes 1 vertical negative direction winding string II together；Institute 1 vertical positive direction winding string II and the series connection of 1 vertical negative direction winding string II are stated, 1 vertical radial suspension winding II is constituted；

1 axial suspension winding I and 1 axial suspension winding II are connected, and constitute an axial suspension winding；

It is wound with 1 winding on each stator tooth of the switched reluctance machines, the winding on all reluctance motor stator teeth, Divide m groups, be respectively connected together, constitute m reluctance motor winding；

1 reluctance motor winding is connected with 1 biasing winding I and 1 biasing winding II, constitutes 1 torque winding, common m It is individual.

The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 12/8 combination, i.e., described reluctance motor stator tooth Number is for 12, the magnetic resistance motor rotor number of teeth is when to be 8, number of motor phases m be 3, every 4 be separated by 90 ° of reluctance motor stator tooth around Group, using series connection or connected mode that is arranged side by side or going here and there and combine, links together, and constitutes 1 reluctance motor winding, is formed altogether 3 reluctance motor windings；3 reluctance motor windings enter with described 3 biasing windings I and 3 biasing windings II respectively again Row series connection, and then constitute 3 torque windings, as three-phase torque winding.

The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is combined using 6/4, i.e., described reluctance motor stator is 6th, the magnetic resistance motor rotor number of teeth be 4, number of motor phases m be 3 when, every 2 windings being separated by 180 ° of reluctance motor stator tooth are adopted With series connection or connected mode arranged side by side, link together, constitute 1 reluctance motor winding, 3 reluctance motor windings are formed altogether； 3 reluctance motor windings are connected with described 3 biasing windings I and 3 biasing windings II respectively again, and then constitute 3 Individual torque winding, as three-phase torque winding.

The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is combined using 8/6, i.e., described reluctance motor stator is 8th, the magnetic resistance motor rotor number of teeth be 6, number of motor phases m be 4 when, every 2 windings being separated by 180 ° of reluctance motor stator tooth are adopted With series connection or connected mode arranged side by side, link together, constitute 1 reluctance motor winding, 4 reluctance motor windings are formed altogether, 4 reluctance motor windings are connected with described 4 biasing windings I and 4 biasing windings II respectively again, and then constitute 4 Individual torque winding, as four phase torque windings.

The taper magnetic bearing switch reluctance motor includes 1 switching magnetic-resistance reluctance motor and 2 taper magnetic bearings, wherein Switched reluctance machines produce rotating torques, and 2 taper magnetic bearings produce five direction suspending powers, to realize five directions of rotor Suspension operation；The motor includes m phase torque windings, 4 radial suspension windings and 1 axial suspension winding, wherein, independent control M phases torque winding current processed, to adjust torque, and produces biasing magnetic flux；5 suspending windings electric currents of independent control, realize five certainly Suspended by degree and adjusted；Comprise the following steps：

Step A, obtains given torque winding current, turn-on angle and shut-off angle；Comprise the following steps that：

Step A-1, gathers the real-time rotating speed of rotor, obtains rotor velocity ω；

Step A-2, by the rotor velocity ω and reference angular velocities ω for setting^*Subtract each other, obtain rotation speed difference deltan ω；

Step A-3, as ω≤ω₀When, ω₀It is critical speed setting value, it is determined by motor actual condition；The rotating speed Difference Δ ω, passing ratio integral controller obtains torque winding current reference value i_m ^*；Turn-on angle θ_onWith shut-off angle θ_offFix not Become, θ_onAnd θ_offValue is determined by electric machine structure form；

Step A-4, as ω ＞ ω₀When, the rotation speed difference deltan ω, passing ratio integral controller obtains turn-on angle θ_onWith Shut-off angle θ_off, torque winding current do not control；

Step B, obtains the given suspending power of x-axis and y-axis direction of taper magnetic bearing I；It is comprised the following steps that：

Step B-1, obtains the x-axis of cone rotor I and the real-time displacement signal alpha in y-axis direction₁And β₁, wherein, x-axis is level Direction, y-axis is vertical direction；

Step B-2, by real-time displacement signal alpha₁And β₁Respectively with given reference displacement signal α₁ ^*And β₁ ^*Subtract each other, respectively To x-axis direction and the real-time displacement signal difference Δ α in y-axis direction₁With Δ β₁, by the real-time displacement signal difference Δ α₁With Δ β₁Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing I is obtainedWith y-axis direction suspending power

Step C, obtains the given suspending power of x-axis and y-axis direction of taper magnetic bearing II；It is comprised the following steps that：

Step C-1, obtains the x-axis of cone rotor II and the real-time displacement signal alpha in y-axis direction₂And β₂；

Step C-2, by real-time displacement signal alpha₂And β₂Respectively with given reference displacement signal α₂ ^*And β₂ ^*Subtract each other, respectively To x-axis direction and the real-time displacement signal difference Δ α in y-axis direction₂With Δ β₂, by the real-time displacement signal difference Δ α₂With Δ β₂Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing II is obtainedWith y-axis direction suspending power

Step D, obtains the given suspending power in z-axis direction；It is comprised the following steps that：

Step D-1, obtains the real-time displacement signal z in rotor z-axis direction, and wherein z-axis is vertical with x-axis and y-axis direction；

Step D-2, by real-time displacement signal z and given reference displacement signal z^*Subtract each other, obtain the real-time position in z-axis direction Shifting signal difference Δ z, by the real-time displacement signal difference Δ z by proportional plus integral plus derivative controller, the z-axis direction suspending power for obtaining

Step E, adjusts suspending power, comprises the following steps that：

Step E-1, collection m the phase winding current of torque in real time, according to the suspending powerWithAnd Current calculation FormulaWithThe x directions that resolving obtains taper magnetic bearing I hang Floating winding current reference valueWith y-axis direction suspending windings current reference valueWherein, k_f1It is suspension force coefficient,μ₀It is space permeability, l is the axial length of magnetic bearing part, and r is magnetic bearing rotor Mean radius, α_sIt is the mean pole arc angle of magnetic bearing stator, δ is the unilateral gas length of magnetic bearing part, N_b、N_sIt is inclined respectively Put the number of turn of winding and radial suspension winding, i_kIt is kth phase torque winding current；

Step E-2, according to the suspending powerWithAnd Current calculation formula WithResolving obtains the x directions suspending windings current reference value of taper magnetic bearing IIAnd y-axis Direction suspending windings current reference value

The real-time torque winding current of step E-3, collection m phase and four radial suspension winding currents, according to the suspension PowerAnd Current calculation formulaResolving obtains z-axis side To suspending windings current reference valueWherein, k_f2It is suspension force coefficient,γ₃It is axial force stator magnet Pole angle, ε is bevel angle, N_zIt is the number of turn of axial suspension winding；

Step E-4, using Current cut control method, with the x-axis direction suspending windings actual current i of taper magnetic bearing I_s1 The outstanding winding current reference value of the tracking directionWith the actual current i of y-axis direction suspending windings_s2Tracking direction suspending windings Current reference value

With the x-axis direction suspending windings actual current i of taper magnetic bearing II_s3The outstanding winding current reference value of the tracking directionWith the actual current i of y-axis direction suspending windings_s4Tracking direction suspending windings current reference value

With z-axis direction suspending windings actual current i_zThe outstanding winding current reference value of the tracking directionSo as to real-time regulation is hanged Buoyancy；

Step F, adjusts torque；Comprise the following steps that：

Step F-1, as ω≤ω₀When, using Current cut control method, with the actual current i of torque winding_mTracking turns Square winding current reference value i_m ^*, and then real-time regulation torque winding current i_m, and then reach the purpose of regulation torque；

Step F-2, as ω ＞ ω₀When, using Angle-domain imaging method, regulation turn-on angle θ_onWith shut-off angle θ_offTake Value, so that real-time regulation torque.

Beneficial effects of the present invention：The present invention proposes a kind of taper magnetic bearing switch reluctance motor and its control method, Using technical scheme, following technique effect can be reached：

(1) five-degree magnetic suspension operation, suspending power and torque decoupler are capable of achieving, high speed suspendability is good；

(2) by the way of torque winding and the biasing common excitation of windings in series, current utilization rate is high；

(3) magnetic flux that m phases torque winding sum is produced only need to control five suspending windings electric currents, no as biasing magnetic flux Need to control torque winding current for suspension operation, just can produce between suspending power needed for five directions, four radial suspension forces Mutually decoupling, control variables is few, and the control that suspends is simple, and suspension system power inverter cost is small；

(4) influence to winding Current cut control of Based Motional Electromotive Force has been eliminated, electric current real-time control effect is good；

(5) direct torque is identical with switched reluctance machines, and control is simple, can abundant excitation, torque-output characteristics are good, And high-speed adaptability is strong；

(6) each phase suspension magnetic circuit is separated, the biasing magnetic path isolation for axially and radially suspending, and torque magnetic circuit and suspension magnetic circuit Also isolate, flux coupled is weak；

(7) motor expansion is good, unrestricted to switched reluctance machines structure, as long as switching magnetic-resistance more than two-phase duty Motor is applicable.

Brief description of the drawings

Fig. 1 is the three dimensional structure diagram of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention.

Fig. 2 is the magnetic flux distribution schematic diagram that A phase torque windings are produced in reluctance motor part in the embodiment of the present invention 1.

Fig. 3 is the flux distribution of taper magnetic bearing I in the embodiment of the present invention 1.

Fig. 4 is the flux distribution of taper magnetic bearing II in the embodiment of the present invention 1.

Fig. 5 is the three dimensional structure diagram of taper magnetic bearing switch reluctance motor embodiment 2 of the present invention.

Fig. 6 is the three dimensional structure diagram of taper magnetic bearing switch reluctance motor embodiment 3 of the present invention.

Fig. 7 is the system block diagram of the control method of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention.

Fig. 8 be taper magnetic bearing switch reluctance motor embodiment 1 of the present invention control method in suspending windings Current calculation Method block diagram.

Description of reference numerals：In Fig. 1 to Fig. 7,1 is reluctance motor stator, and 2 is magnetic resistance motor rotor, 3 be reluctance motor around Group, 4 is taper stator, and 5 is axial force stator, and 6 is radial load stator, and 7 is c-type structure, and 8 is cone rotor, 9 be biasing around Group, 10 is radial suspension winding, and 11 is axial suspension winding, and 12 is non-conducting magnetic component, and 13 is rotating shaft, and 14 is switching magnetic-resistance electricity Machine, 15 is taper magnetic bearing I, and 16 is taper magnetic bearing II, and 17,18,19 are respectively the positive direction of x, y, z direction of principal axis reference axis, 20 is the magnetic flux that switched reluctance machines winding is produced, and 21 is the biasing magnetic flux that three-phase torque winding is produced in taper magnetic bearing I, 22 is the magnetic flux that the radial direction winding of taper magnetic bearing I is produced, and 23 is the magnetic flux that axial winding is produced in taper magnetic bearing I, and 24 are Air gap 1,25 be air gap 2,26 be air gap 3,27 be air gap 4,28 for three-phase torque winding produced in taper magnetic bearing II it is inclined Magnetic flux is put, 29 is the magnetic flux that the radial direction winding of taper magnetic bearing II is produced, and 30 is that axial winding is produced in taper magnetic bearing II Magnetic flux.

Specific embodiment

Below in conjunction with the accompanying drawings, the technical scheme to a kind of taper magnetic bearing switch reluctance motor of the invention and control method is entered Row is described in detail：

As shown in figure 1, be the three dimensional structure diagram of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention, wherein, 1 is reluctance motor stator, and 2 is magnetic resistance motor rotor, and 3 is reluctance motor winding, and 4 is taper stator, and 5 is axial force stator, and 6 are Radial load stator, 7 is c-type structure, and 8 is cone rotor, and 9 is biasing winding, and 10 is radial suspension winding, 11 be axial suspension around Group, 12 is non-conducting magnetic component, and 13 is rotating shaft, and 14 is 12/8 pole switching reluctance motor, and 15 is taper magnetic bearing I, and 16 is taper magnetic Bearing II.

The taper magnetic bearing switch reluctance motor, including taper magnetic bearing I, switched reluctance machines and taper magnetic bearing Ⅱ；

The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, the reluctance motor stator number of teeth is 12, The magnetic resistance motor rotor number of teeth is that 8, number of motor phases is 3；

The equal tooth winding II wide of winding 3 on 4 teeth wide II；1 tooth winding II wide, string are chosen on each tooth wide II 1 biasing winding II is unified into, so as to form 3 biasing windings II；

Every 4 windings being separated by 90 ° of reluctance motor stator tooth, using series connection or connection that is arranged side by side or going here and there and combine Mode, is linked together, and constitutes 1 reluctance motor winding, and 3 reluctance motor windings are formed altogether；

3 reluctance motor windings are connected with described 3 biasing windings I and 3 biasing windings II respectively again, are entered And 3 torque windings of composition, as three-phase torque winding.

The resultant flux that the three-phase torque winding current sum is produced, as the biasing magnetic flux that two cone rotors suspend；3 The control method of phase torque winding current is identical with Conventional switched reluctance motor；Four suspending windings electric currents in control x and y directions Size and Orientation, and then four controllable radial direction magnetic pulls of size and Orientation needed for radial suspension can be produced, Jin Ershi The radial direction four-degree-of-freedom suspension operation of existing rotor；The size and Orientation of control z directions suspending windings electric current, and combine four footpaths To the axial magnetic pull needed for suspending windings electric current and 3 phase torque winding currents, and then generation axial suspension, so as to realize rotor Axial suspension, finally realize the five-degree magnetic suspension of rotor.

The magnetic flux distribution that Fig. 2 is produced for A phase torque windings in the embodiment of the present invention 1 in 12/8 pole switching reluctance motor part Schematic diagram.A phase torque windings are spatially separated by 90 ° of coil by 4 each other, using series connection or in parallel or two and two strings Mode is formed by connecting；The symmetrical magnetic flux of the quadrupole (line is marked as 20) that A phase torques winding current is produced, is distributed in NSNS.When A phases turn When square winding is turned on, the magnetic field produced in reluctance motor, for producing torque；A, B, C three-phase torque winding are in magnetic bearing The resultant magnetic field of generation is used for the bias magnetic field for controlling that suspends.The torque winding of B, C phase is identical with A phase torque winding constructions, only In position 30 ° and -30 ° are differed with A phases.

Fig. 3 is the flux distribution of taper magnetic bearing I in the embodiment of the present invention 1.The magnetic that A, B, C three-phase torque winding are produced It is logical as shown on the solid line in figure 3 (line is marked as 21), the magnetic flux that radial suspension winding is produced as shown in figure dot-dashed line (line marked as 22) magnetic flux that, axial suspension winding is produced is as shown in dotted line long in figure (line is marked as 23).The magnetic flux that biasing winding is produced is 8 It is distributed in NSNS on individual axial force stator tooth, the magnetic flux that now axial suspension winding is produced is identical with biasing winding flow direction. As torque winding generation flow direction, magnetic flux increases suspending windings at air gap 1；And at air gap 3, in the opposite direction, magnetic It is logical to weaken, and then produce a suspending power for x positive directions.Suspending windings and torque winding produce flow direction one at air gap 2 Sample, magnetic flux increases, and at air gap 4, magnetic flux weakens, and then produces a suspending power for y positive directions.Similarly, suspending windings are worked as When electric current is reverse, the suspending power of opposite direction will be produced.Therefore, in given A, B, C three-phase torque winding current, rationally control x, The size and Orientation of y-axis suspending windings electric current, you can the suspending power for producing size and Orientation controllable.

Torque winding current can be using PWM controls, Pulse Width Control and Angle Position control etc., with Conventional switched reluctance motor Control method is identical, and levitating current uses chop control.A, B, C three-phase torque winding current can in real time be examined by current sensor Measure, rotor radial displacement is obtained by current vortex sensor real-time detection, through PI regulation obtain both direction suspending power to Definite value.Because suspending power is current related with A, B, C three-phase torque winding current and both direction suspending windings, and then can resolve To the levitating current of both direction, as the set-point of current control in power inverter, the two-freedom of motor is finally realized Suspension operation.

Fig. 4 is the flux distribution of taper magnetic bearing II in the embodiment of the present invention 1.The magnetic that now axial suspension winding is produced It is logical opposite with biasing winding flow direction.Due to flow direction of the axial suspension winding in two taper magnetic bearings conversely, because This will produce the controllable axial suspension power of a size and Orientation, so as to realize the axial suspension of rotor.

Fig. 5 is the three dimensional structure diagram of taper magnetic bearing switch reluctance motor embodiment 2 of the present invention, wherein, such as Fig. 1 institutes Show, be the three dimensional structure diagram of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention, wherein, 1 is that reluctance motor is determined Son, 2 is magnetic resistance motor rotor, and 3 is reluctance motor winding, and 4 is taper stator, and 5 is axial force stator, and 6 is radial load stator, 7 It is c-type structure, 8 is cone rotor, and 9 is biasing winding, and 10 is radial suspension winding, and 11 is axial suspension winding, and 12 is non-leading Magnetic component, 13 is rotating shaft, and 14 is 6/4 pole switching reluctance motor, and 15 is taper magnetic bearing I, and 16 is taper magnetic bearing II.

The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and the reluctance motor stator number of teeth is 6, magnetic Resistance number of teeth of motor rotor is that 4, number of motor phases is 3；

Every 2 windings being separated by 180 ° of reluctance motor stator tooth, using series connection or connected mode arranged side by side, connection Together, 1 reluctance motor winding is constituted, 3 reluctance motor windings is formed altogether；

Fig. 6 is the three dimensional structure diagram of taper magnetic bearing switch reluctance motor embodiment 3 of the present invention, wherein, such as Fig. 1 institutes Show, be the three dimensional structure diagram of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention, wherein, 1 is that reluctance motor is determined Son, 2 is magnetic resistance motor rotor, and 3 is reluctance motor winding, and 4 is taper stator, and 5 is axial force stator, and 6 is radial load stator, 7 It is c-type structure, 8 is cone rotor, and 9 is biasing winding, and 10 is radial suspension winding, and 11 is axial suspension winding, and 12 is non-leading Magnetic component, 13 is rotating shaft, and 14 is 8/6 pole switching reluctance motor, and 15 is taper magnetic bearing I, and 16 is taper magnetic bearing II.

The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and the reluctance motor stator number of teeth is 8, magnetic Resistance number of teeth of motor rotor is that 6, number of motor phases is 4；

The equal tooth winding II wide of winding 4 on 4 teeth wide II；1 tooth winding II wide, string are chosen on each tooth wide II 1 biasing winding II is unified into, so as to form 4 biasing windings II；

Every 2 windings being separated by 180 ° of reluctance motor stator tooth, using series connection or connected mode arranged side by side, connection Together, 1 reluctance motor winding is constituted, 4 reluctance motor windings is formed altogether；

4 reluctance motor windings are connected with described 4 biasing windings I and 4 biasing windings II respectively again, are entered And 4 torque windings are constituted, as four phase torque windings.

The resultant flux that the four phases torque winding current sum is produced, as the biasing magnetic flux that two cone rotors suspend；3 The control method of phase torque winding current is identical with Conventional switched reluctance motor；Four suspending windings electric currents in control x and y directions Size and Orientation, and then four controllable radial direction magnetic pulls of size and Orientation needed for radial suspension can be produced, Jin Ershi The radial direction four-degree-of-freedom suspension operation of existing rotor；The size and Orientation of control z directions suspending windings electric current, and combine four footpaths To the axial magnetic pull needed for suspending windings electric current and 3 phase torque winding currents, and then generation axial suspension, so as to realize rotor Axial suspension, finally realize the five-degree magnetic suspension of rotor.

As shown in fig. 7, being the system block diagram of the embodiment of the present invention 1.Direct torque can using PWM control, Pulse Width Control and The control method of the Conventional switched reluctance motors such as Angle Position control, and suspend control then by the way of Current cut control.

Direct torque is：Detection motor rotor position information, is computed respectively obtaining actual speed ω and open-minded per phase Angle θ_onWith shut-off angle θ_off, speed error signal is carried out into PI regulations, obtain torque winding current reference valueRecycle electric current Chop control is tracked by actual torque winding currentAnd using turn-on angle θ_onWith shut-off angle θ_offControl torque winding power electricity The conducting state on road, so as to realize that motor rotates.

Suspension is controlled to：Displacement error signal is carried out into PID regulations and obtains given suspending power In conjunction with actual measurement three-phase torque winding current sum (i₁+i₂+i₃), you can by suspending windings current controller meter Calculate：The x directions suspending windings current reference value of taper magnetic bearing IWith y-axis direction suspending windings current reference valueTaper The x directions suspending windings current reference value of magnetic bearing IIWith y-axis direction suspending windings current reference valueZ-axis direction suspends Winding current reference value

Using Current cut control method, the x-axis direction suspending windings actual current i of taper magnetic bearing I is allowed_s1The tracking party To outstanding winding current reference valueAllow the actual current i of y-axis direction suspending windings_s2Tracking direction suspending windings current reference Value

Allow the x-axis direction suspending windings actual current i of taper magnetic bearing II_s3The outstanding winding current reference value of the tracking directionAllow the actual current i of y-axis direction suspending windings_s4Tracking direction suspending windings current reference value

Allow z-axis direction suspending windings actual current i_zThe outstanding winding current reference value of the tracking directionSo as to real-time regulation is hanged Buoyancy, realizes the five-degree magnetic suspension of motor.

As shown in figure 8, being the suspending windings current calculation method block diagram of the embodiment of the present invention 1.In figure, k_f1、k_f2To suspend Force coefficient, its expression formula is：

In formula, μ₀It is space permeability, l is the axial length of magnetic bearing part, and r is the mean radius of magnetic bearing rotor, α_s It is the mean pole arc angle of stator, δ is the unilateral gas length of magnetic bearing part, γ₁、γ₂The respectively stator of c-type structure two and magnetic The angle of pole center line, γ₃It is axial force magnetic pole of the stator angle, ε is bevel angle.

The x and y-axis direction suspending power of taper magnetic bearing IWithExpression formula be：

In formula, i₁、i₂、i₃The respectively electric current of A, B, C three-phase torque winding,The respectively x of taper magnetic bearing I, Y-axis direction suspending windings electric current, N_b、N_sThe number of turn of winding and radial suspension winding is biased respectively.

The x and y-axis direction suspending power of taper magnetic bearing IIWithExpression formula be：

In formula,The respectively x of taper magnetic bearing II, y-axis direction suspending windings electric current.

Z-axis direction suspending powerExpression formula be：

In formula, N_zIt is the number of turn of axial suspension winding, i_zIt is the electric current of axial suspension winding.

From expression formula (1)~(7), radially, axially suspending power and the rotor position of taper magnetic bearing switch reluctance motor Angle setting θ is unrelated, only current related with electric machine structure parameter, three-phase torque winding current and four suspending windings.Wherein, four footpaths It is only relevant with direction radial load electric current and three-phase torque winding current to suspending power, therefore mutually solved between four radial suspension forces Coupling；Again because five suspending powers are unrelated with rotor position angle, therefore can uneoupled control between torque and suspending power.

It is pointed out that change with the positive and negative change of suspending windings electric current because suspending power is positive and negative, thus suspend around The group sense of current can change in control, need to be using the power inverter in adjustable current direction.

The control method of the embodiment of the present invention 1, the taper magnetic bearing switch reluctance motor includes 1 switching magnetic-resistance magnetic resistance Motor and 2 taper magnetic bearings, wherein switched reluctance machines produce rotating torques, 2 taper magnetic bearings to produce five directions to hang Buoyancy, to realize five suspension operations in direction of rotor；The motor includes 3 phase torque windings, 4 radial suspension windings and 1 Individual axial suspension winding, wherein, the phase torque winding current of independent control 3 to adjust torque, and produces biasing magnetic flux；Independent control 5 suspending windings electric currents of system, realize that five-degree magnetic suspension is adjusted；Comprise the following steps：

Step E, adjusts suspending power, comprises the following steps that：

Step E-1, collection m the phase winding current of torque in real time, according to the suspending powerWithAnd Current calculation FormulaWithThe x directions that resolving obtains taper magnetic bearing I hang Floating winding current reference valueWith y-axis direction suspending windings current reference valueWherein, k_f1It is suspension force coefficient,μ₀It is space permeability, l is the axial length of magnetic bearing part, and r is magnetic bearing rotor Mean radius, α_sIt is the mean pole arc angle of magnetic bearing stator, δ is the unilateral gas length of magnetic bearing part, N_b、N_sIt is inclined respectively Put the number of turn of winding and radial suspension winding, i_kIt is kth phase torque winding current, number of phases m is 3；

Step F, adjusts torque；Comprise the following steps that：

The embodiment of the present invention 2, the control method and implementation of embodiment 3, with all same of embodiment 1, difference exists In, because stator and rotor tooth is different, turn-on angle θ_onWith shut-off angle θ_offValue is different；And because the number of phases is different, it is real needed for flow sensor When the torque winding number of phases that gathers it is different, and then torque winding current sum is also different.

In sum, the present invention realizes torque and the decoupling of suspending power in structure；The inductance of suspending windings is constant, Based Motional Electromotive Force is zero, has eliminated the influence to winding Current cut control of Based Motional Electromotive Force, improves electric current real-time control Effect；Only need to control five direction suspending windings electric currents, you can produce five required suspending powers in direction, control variables is few, hang Floating control is simple, and suspension system power inverter cost is small；Direct torque is identical with Conventional switched reluctance motor, defeated beneficial to torque Go out, high-speed adaptability is further strengthened.

For those skilled in the art, association's others can be easy to according to above implementation type excellent Point and deformation.Therefore, the invention is not limited in above-mentioned instantiation, it enters as just example to a kind of form of the invention Detailed, the exemplary explanation of row.In the range of without departing substantially from present inventive concept, those of ordinary skill in the art are according to above-mentioned specific Example should be included in scope of the presently claimed invention and its wait homotype by the technical scheme obtained by various equivalents Within enclosing.

Claims

1. a kind of taper magnetic bearing switch reluctance motor, including taper magnetic bearing I, switched reluctance machines and taper magnetic bearing II；

Taper magnetic bearing I is by taper stator I, cone rotor I, biasing winding I, radial suspension winding I and the structure of axial suspension winding I Into wherein taper stator I is made up of axial force stator I, radial load stator I and non-magnetic component I；

Taper magnetic bearing II by taper stator II, cone rotor II, biasing winding II, radial suspension winding II and axial suspension around Group II is constituted, and wherein taper stator II is made up of axial force stator II, radial load stator II and non-magnetic component II；

The cone rotor I is arranged in taper stator I, and cone rotor II is arranged in taper stator II, magnetic resistance motor rotor It is arranged in reluctance motor stator；The cone rotor I, magnetic resistance motor rotor and cone rotor II are enclosed within rotating shaft；

The taper stator I and taper stator II are taper salient-pole structure, and the cone rotor I and cone rotor II are cone Shape cylindrical structure；Taper stator I, taper stator II, cone rotor I are equal with the bevel angle of cone rotor II；The He of taper stator I The bevel angle opening direction of cone rotor I is identical, and taper stator II is identical with the bevel angle opening direction of cone rotor II；Taper The bevel angle opening direction of stator I and cone rotor I is opposite with the bevel angle opening direction of taper stator II and cone rotor II；

The reluctance motor stator and magnetic resistance motor rotor are the tooth of salient-pole structure, reluctance motor stator and magnetic resistance motor rotor Number has 12/8,6/4,8/6 3 kind of combining form；The number of teeth of wherein reluctance motor stator and magnetic resistance motor rotor is combined as 12/8 He When 6/4, switched reluctance machines are three-phase duty, when the number of teeth of reluctance motor stator and magnetic resistance motor rotor is combined as 8/6, are opened Pass reluctance motor is four phase dutys；

Characterized in that, the radial load stator I, non-magnetic component I are arranged in axial force stator I, wherein non-magnetic structure Part I is arranged between axial force stator I and radial load stator I；Axial force stator I and the close arrangement of non-magnetic component I, it is non-magnetic Component I and the close arrangement of radial load stator I；

The axial force stator I is taper salient-pole structure, and the number of teeth is 8；The radial load stator I is made up of 8 c-type structures, institute The tooth of c-type structure is stated for pyramidal structure, the number of teeth is 16；The facewidth of the axial force stator I and the facewidth phase of radial load stator I Deng；The non-magnetic component I is made up of 8 L-type structures, and the tooth of the L-type structure is pyramidal structure, and the number of teeth is 8；

Be uniformly distributed on 8 tooth circumference of the axial force stator I, the angle of adjacent teeth and between cog is 45 °, and wherein with level Two teeth that direction overlaps are referred to as horizontal square to tooth I and horizontal negative direction tooth I, and two teeth overlapped with vertical direction claim It is vertical positive direction tooth I and vertical negative direction tooth I；There is air-gap between the adjacent teeth and tooth of axial force stator I, and then formed 8 stator slots；

1 the c-type structure and 1 L-type structure of non-magnetic component I of radial load stator I are placed in each described stator slot, and Each L-type structure is arranged between each c-type structure and axial force stator I；Wherein, 2 L-type structures respectively with it is adjacent thereto Horizontal square to the close arrangement of tooth I, 2 L-type structures respectively with the horizontal close arrangement of negative direction tooth I adjacent thereto, 2 L-types Structure respectively with the vertical close arrangement of positive direction tooth I adjacent thereto, 2 L-type structures respectively with vertical losing side adjacent thereto To the close arrangement of tooth I；1 tooth in each c-type structure and therewith the L-type structure close arrangement in same stator slot, the C There is air-gap between the tooth of another tooth of type structure and axial force stator I adjacent thereto；

At horizontal square is to the position of tooth I, 1 is formed from horizontal square in the tooth and 2 c-type structures of I, 2 L-type structures of tooth 1 tooth wide I combining of 2 teeth；At the horizontal position of negative direction tooth I, 1 is formed by I, 2 L-types of horizontal negative direction tooth 1 tooth wide I that 2 teeth in the tooth of structure and 2 c-type structures are combined；At the vertical position of positive direction tooth I, 1 is formed 1 tooth wide I combined by 2 teeth in the tooth and 2 c-type structures of I, 2 L-type structures of vertical positive direction tooth；Vertical At the position of negative direction tooth I, 2 tooth groups in 1 tooth and 2 c-type structures by I, 2 L-type structures of vertical negative direction tooth are formed 1 tooth wide I for closing；So as to form 4 teeth wide I altogether；

In 4 teeth wide I, remaining 4 teeth, the radial load stators I of axial force stator I not with the L-type structure of non-magnetic component I Remaining 8 teeth being brought into close contact, constitute 16 teeth of the taper stator I together；

Equal winding m tooth winding I wide on 4 teeth wide I, wherein m is the number of phases of switched reluctance machines；On each tooth wide I 1 tooth winding I wide is chosen, 1 biasing winding I is connected into, so as to form m biasing winding I；

Remaining 4 teeth that 1 winding, i.e. axial force stator I are wound with remaining 12 teeth of the taper stator I are wound with 1 Individual winding, 1 axial suspension winding I in series；

Also be wound with remaining 8 teeth not close-fitting with the L-type structure of non-magnetic component I in radial load stator I 1 around Group, specific connected mode is：At horizontal square is to the position of tooth I, the residue two in 2 c-type structures of same tooth wide I is constituted Windings in series on tooth together, constitutes 1 horizontal square to winding string I；At the horizontal position of negative direction tooth I, constitute same The windings in series on remaining two teeth in 2 c-type structures of tooth wide I constitutes 1 horizontal negative direction winding string I together； 1 horizontal square is connected to winding string I and 1 horizontal negative direction winding string I, constitutes 1 horizontal radial suspending windings I； At the vertical position of positive direction tooth I, the windings in series on remaining two teeth in 2 c-type structures of same tooth wide I is constituted one Rise, constitute 1 vertical positive direction winding string I；At the vertical position of negative direction tooth I, in 2 c-type structures of the same tooth wide I of composition Remaining two teeth on windings in series together, constitute 1 vertical negative direction winding string I；Described 1 vertical positive direction winding String I and 1 vertical negative direction winding string I are connected, and constitute 1 vertical radial suspension winding I；

The radial load stator II, non-magnetic component II are arranged in axial force stator II, wherein non-magnetic component II is arranged Between axial force stator II and radial load stator II；Axial force stator II and the close arrangement of non-magnetic component II, non-magnetic structure Part II and the close arrangement of radial load stator II；

The axial force stator II is taper salient-pole structure, and the number of teeth is 8；The radial load stator II is made up of 8 c-type structures, The tooth of the c-type structure is pyramidal structure, and the number of teeth is 16；The facewidth of the axial force stator II and the facewidth of radial load stator II It is equal；The non-magnetic component II is made up of 8 L-type structures, and the tooth of the L-type structure is pyramidal structure, and the number of teeth is 8；

Be uniformly distributed on 8 tooth circumference of the axial force stator II, the angle of tooth and between cog is 45 °, and wherein with level side Horizontal square is referred to as to tooth II and the negative opposite direction tooth II of level, two teeth overlapped with vertical direction to two teeth for overlapping Referred to as vertical positive direction tooth II and vertical negative direction tooth II；There is air-gap between tooth and tooth in 8 of axial force stator II, and then Form 8 stator slots；

1 the c-type structure and 1 L-type structure of non-magnetic component II of radial load stator II are placed in each described stator slot, And each L-type structure is arranged between each c-type structure and axial force stator II；Wherein, 2 L-type structures respectively and therewith phase Adjacent horizontal square to the close arrangement of tooth II, 2 L-type structures respectively with the horizontal close arrangement of negative direction tooth II adjacent thereto, 2 Individual L-type structure respectively with the vertical close arrangement of positive direction tooth II adjacent thereto, 2 L-type structures are perpendicular with adjacent thereto respectively The straight close arrangement of negative direction tooth II；1 tooth in 8 c-type structures is in each the L-type knot in same stator slot respectively and therewith , there is air between remaining 4 teeth with axial force stator II respectively in remaining 8 teeth in structure close arrangement, and 8 c-type structures Gap；

At horizontal square is to the position of tooth II, formed 1 from tooth from horizontal square to II, 2 L-type structures of tooth and 2 c-type structures In 1 tooth wide II combining of 2 teeth；At the horizontal position of negative direction tooth II, 1 is formed by horizontal negative direction tooth II, 2 1 tooth wide II that 2 teeth in the tooth of individual L-type structure and 2 c-type structures are combined；In the vertical position of positive direction tooth II Place, combine 1 of 2 teeth formed in 1 tooth and 2 c-type structures by II, 2 L-type structures of vertical positive direction tooth is wide Tooth II；At the vertical position of negative direction tooth II, 1 tooth and 2 c-type knots by II, 2 L-type structures of vertical negative direction tooth is formed 1 tooth wide II that 2 teeth in structure are combined；So as to form 4 teeth wide II altogether；

In 4 teeth wide II, remaining 4 teeth, the radial load stators II of axial force stator II not with the L-type of non-magnetic component II Remaining 8 teeth that close structure coordinates, constitute 16 teeth of the taper stator II together；

Equal winding m tooth winding II wide on 4 teeth wide II, wherein m is the number of phases of switched reluctance machines；In each tooth wide II 1 tooth winding II wide of upper selection, is connected into 1 biasing winding II, so as to form m biasing winding II；

Remaining 4 teeth that 1 winding, i.e. axial force stator II are wound with remaining 12 teeth of the taper stator II are wound with 1 winding, 1 axial suspension winding II in series；

Also be wound with remaining 8 teeth not close-fitting with the L-type structure of non-magnetic component II in radial load stator II 1 around Group, specific connected mode is：At horizontal square is to the position of tooth II, the residue two in 2 c-type structures of same tooth wide II is constituted Windings in series on individual tooth together, constitutes 1 horizontal square to winding string II；At the horizontal position of negative direction tooth II, constitute The windings in series on remaining two teeth in 2 c-type structures of same tooth wide II constitutes 1 horizontal negative direction winding together String II；1 horizontal square is connected to winding string II and 1 horizontal negative direction winding string II, is constituted 1 horizontal radial and is suspended Winding II；At the vertical position of positive direction tooth II, constitute on remaining two teeth in 2 c-type structures of same tooth wide II around Group is cascaded, and constitutes 1 vertical positive direction winding string II；At the vertical position of negative direction tooth II, same tooth wide II is constituted 2 c-type structures in remaining two teeth on windings in series together, constitute 1 vertical negative direction winding string II；Described 1 Individual vertical positive direction winding string II and 1 vertical negative direction winding string II are connected, and constitute 1 vertical radial suspension winding II；

1 winding, the winding on all reluctance motor stator teeth, point m are wound with each stator tooth of the switched reluctance machines Group, is respectively connected together, and constitutes m reluctance motor winding；

1 reluctance motor winding is connected with 1 biasing winding I and 1 biasing winding II, constitutes 1 torque winding, common m.

2. a kind of taper magnetic bearing switch reluctance motor according to claim 1, it is characterised in that the reluctance motor Using 12/8 combination, i.e., the described reluctance motor stator number of teeth is 12, magnetic resistance motor rotor to the number of teeth of stator and magnetic resistance motor rotor The number of teeth be 8, number of motor phases m be 3 when, every 4 windings being separated by 90 ° of reluctance motor stator tooth, using series connection or side by side, Or the connected mode gone here and there and combine, link together, 1 reluctance motor winding is constituted, 3 reluctance motor windings are formed altogether；Institute State 3 reluctance motor windings to be connected with described 3 biasing windings I and 3 biasing windings II respectively again, and then constitute 3 Torque winding, as three-phase torque winding.

3. a kind of taper magnetic bearing switch reluctance motor according to claim 1, it is characterised in that the reluctance motor is determined The number of teeth of sub and magnetic resistance motor rotor is combined using 6/4, i.e., described reluctance motor stator is 6, the magnetic resistance motor rotor number of teeth is 4, When number of motor phases m is 3, every 2 windings being separated by 180 ° of reluctance motor stator tooth, using series connection or connection side arranged side by side Formula, is linked together, and constitutes 1 reluctance motor winding, and 3 reluctance motor windings are formed altogether；3 reluctance motor windings are again Connected with described 3 biasing windings I and 3 biasing windings II respectively, and then constituted 3 torque windings, as three-phase is turned Square winding.

4. a kind of taper magnetic bearing switch reluctance motor according to claim 1, it is characterised in that the reluctance motor is determined The number of teeth of sub and magnetic resistance motor rotor is combined using 8/6, i.e., described reluctance motor stator is 8, the magnetic resistance motor rotor number of teeth is 6, When number of motor phases m is 4, every 2 windings being separated by 180 ° of reluctance motor stator tooth, using series connection or connection side arranged side by side Formula, is linked together, and constitutes 1 reluctance motor winding, and 4 reluctance motor windings are formed altogether, and 4 reluctance motor windings are again Connected with described 4 biasing windings I and 4 biasing windings II respectively, and then constituted 4 torque windings, as four phases are turned Square winding.

5. a kind of control method of the taper magnetic bearing switch reluctance motor according to claim 1,2,3 or 4, its feature exists In the taper magnetic bearing switch reluctance motor includes 1 switched reluctance machines and 2 taper magnetic bearings, wherein switching magnetic-resistance Motor produces rotating torques, 2 taper magnetic bearings to produce five direction suspending powers, is transported with the suspension for realizing five directions of rotor OK；The taper magnetic bearing switch reluctance motor includes m phase torque windings, 4 radial suspension windings and 1 axial suspension around Group, wherein, independent control m phase torque winding currents to adjust torque, and produce biasing magnetic flux；5 suspending windings of independent control Electric current, realizes that five-degree magnetic suspension is adjusted；Comprise the following steps：

Step A-3, as ω≤ω₀When, ω₀It is critical speed setting value, it is determined by motor actual condition；The rotation speed difference deltan ω, passing ratio integral controller obtains torque winding current reference value i_m ^*；Turn-on angle θ_onWith shut-off angle θ_offImmobilize, θ_onAnd θ_offValue is determined by electric machine structure form；

Step A-4, as ω ＞ ω₀When, the rotation speed difference deltan ω, passing ratio integral controller obtains turn-on angle θ_onAnd shut-off Angle θ_off, torque winding current do not control；

Step B-1, obtains the x-axis of cone rotor I and the real-time displacement signal alpha in y-axis direction₁And β₁, wherein, x-axis is level side To y-axis is vertical direction；

Step B-2, by real-time displacement signal alpha₁And β₁Respectively with given reference displacement signal α₁ ^*And β₁ ^*Subtract each other, respectively obtain x Direction of principal axis and the real-time displacement signal difference Δ α in y-axis direction₁With Δ β₁, by the real-time displacement signal difference Δ α₁With Δ β₁By than Example integral-derivative controller, obtains the x-axis direction suspending power of taper magnetic bearing IWith y-axis direction suspending power

Step C-2, by real-time displacement signal alpha₂And β₂Respectively with given reference displacement signal α₂ ^*And β₂ ^*Subtract each other, respectively obtain x Direction of principal axis and the real-time displacement signal difference Δ α in y-axis direction₂With Δ β₂, by the real-time displacement signal difference Δ α₂With Δ β₂By than Example integral-derivative controller, obtains the x-axis direction suspending power of taper magnetic bearing IIWith y-axis direction suspending power

Step D-2, by real-time displacement signal z and given reference displacement signal z^*Subtract each other, obtain the real-time displacement letter in z-axis direction Number difference Δ z, by the real-time displacement signal difference Δ z by proportional plus integral plus derivative controller, the z-axis direction suspending power for obtaining

Step E, adjusts suspending power, comprises the following steps that：

Step E-1, collection m the phase winding current of torque in real time, according to the suspending powerWithAnd Current calculation is public FormulaWithThe x directions that resolving obtains taper magnetic bearing I suspend Winding current reference valueWith y-axis direction suspending windings current reference valueWherein, k_f1It is suspension force coefficient,μ₀It is space permeability, l is the axial length of magnetic bearing part, and r is magnetic bearing rotor Mean radius, α_sIt is the mean pole arc angle of magnetic bearing stator, δ is the unilateral gas length of magnetic bearing part, N_b、N_sIt is inclined respectively Put the number of turn of winding and radial suspension winding, i_kIt is kth phase torque winding current；γ₁、γ₂Respectively the stator of c-type structure two with The angle of pole center line；

Step E-2, according to the suspending powerWithAnd Current calculation formulaWithResolving obtains the x directions suspending windings current reference value of taper magnetic bearing IIWith y-axis side To suspending windings current reference value

The real-time torque winding current of step E-3, collection m phase and four radial suspension winding currents, according to the suspending power And Current calculation formulaResolving obtains z-axis direction and hangs Floating winding current reference valueWherein, k_f2It is suspension force coefficient,γ₃For axial force magnetic pole of the stator is pressed from both sides Angle, ε is bevel angle, N_zIt is the number of turn of axial suspension winding；

Step E-4, using Current cut control method, with the x-axis direction suspending windings actual current i of taper magnetic bearing I_s1Tracking Direction suspending windings current reference valueWith the actual current i of y-axis direction suspending windings_s2Tracking direction suspending windings electricity Stream reference value

With the x-axis direction suspending windings actual current i of taper magnetic bearing II_s3Tracking direction suspending windings current reference value With the actual current i of y-axis direction suspending windings_s4Tracking direction suspending windings current reference value

With z-axis direction suspending windings actual current i_zTracking direction suspending windings current reference valueSo as to real-time regulation suspends Power；

Step F, adjusts torque；Comprise the following steps that：

Step F-1, as ω≤ω₀When, using Current cut control method, with the actual current i of torque winding_mTracking torque around Group current reference value i_m ^*, and then real-time regulation torque winding current i_m, and then reach the purpose of regulation torque；

Step F-2, as ω ＞ ω₀When, using Angle-domain imaging method, regulation turn-on angle θ_onWith shut-off angle θ_offValue, from And real-time regulation torque.