CN106655549A - Decoupling method for composite rotor no-bearing switch reluctance machine - Google Patents
Decoupling method for composite rotor no-bearing switch reluctance machine Download PDFInfo
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- CN106655549A CN106655549A CN201611052688.3A CN201611052688A CN106655549A CN 106655549 A CN106655549 A CN 106655549A CN 201611052688 A CN201611052688 A CN 201611052688A CN 106655549 A CN106655549 A CN 106655549A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
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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
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
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Abstract
The invention discloses a decoupling method for a composite rotor no-bearing switch reluctance machine, and belongs to the field of magnetic suspension motor control. The stator is of a salient pole structure, wherein the number of poles is six. A rotor consists of a salient pole rotor and a cylinder rotor, wherein the number of poles of the salient pole rotor is two, and each stator is provided with a winding. On the basis of optimizing the design of pole arc angles of the stators and the salient pole rotor, two maximum and minimum inductance flat-top regions with the 60-degree width are formed, and suspension excitation is implemented in the minimum inductance flat-top region and the maximum inductance flat-top region, and torque output is implemented in an inductance change region, thereby achieving the torque and suspension force decoupling control. The suspension control of the method is similar to a magnetic suspension bearing, and the method is simple in control, is convenient to implement, is small in number of switching tubes, and is low in controller cost.
Description
Technical field
The present invention relates to a kind of decoupling control method of composite rotors bearing-free switch reluctance motor, belongs to magnetic levitation switch
The control technology field of reluctance motor.
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 and two functions that suspend, not only can effectively solving high-speed cruising when the damage brought of bearing friction
Consumption and the problems such as generate heat, moreover it is possible to further play the high-speed adaptability of switched reluctance machines, so as to strengthen its in Aero-Space, fly
The application foundation of the High Speed Fields such as wheel energy storage, naval vessel.
With deepening continuously for research, can people gradually recognize, solve between torque and the effective output area of suspending power
Restriction, suspend with two functions of rotation whether can uneoupled control and suspension control accuracy quality during high speed, to bearing-free synchronization
Whether reluctance motor BSRM high speed performances can be not fully exerted plays vital effect.
Composite rotors simplex winding bearing-free switch reluctance motor with full rotor position suspending power, has been obviously improved footpath
To bearing capacity, while effectively broken the restriction between traditional BSRM torques and the effective output area of suspending power, so as to be conducive to
Realize the uneoupled control of BSRM torques and suspending power.
However, due to the restriction of suspending power control mechanism, needing the electric current independent control to each winding, cause power conversion
Device quantity is big, controller high cost so that the fault freedom of control system and reliability are reduced.For this purpose, explore being capable of achieving torque
With Decoupling control of levitation force and controller low cost new simplex winding bearing-free switch reluctance motor, be bearing-free motor neck
One study hotspot in domain.
The content of the invention
The present invention seeks to be directed to the deficiencies in the prior art, a kind of solution of composite rotors bearing-free switch reluctance motor is proposed
Coupling control method.
The present invention for achieving the above object, is adopted the following technical scheme that：
A kind of decoupling control method of composite rotors bearing-free switch reluctance motor, the composite rotors bearing-free switch magnetic
Resistance motor includes stator, rotor and coil；The stator is salient-pole structure, and its stator tooth number is 6, is wound with each stator tooth
1 coil, the coil totally 6,6 coils spatially differ 60 °；The rotor is by cylindrical rotor and field spider
Constitute, cylindrical rotor is cylindrical structure, field spider is salient-pole structure, and the tooth number of its field spider is 2；The cylinder turns
Son and field spider series connection close arrangement, are enclosed within rotating shaft, and are arranged in the stator；The composite rotors bearing-free switch
Reluctance motor is three-phase duty motor, is made up of two coils for being spatially separated by 180 ° per phase winding, and in every phase winding
Two coil independent controls；Two coils of A phase windings are respectively Na1And Na2, two coils of B phase windings are respectively Nb1With
Nb2, two coils of C phase windings are respectively Nc1And Nc2；The stator poles arc angle is αs, the field spider polar arc angle is αr, and
Meet αs+60°≤αr≤120°-αs；Three-phase windings are sequentially turned on once, and rotor rotates a rotor cycle, and rotor week
Phase angle be 180 °；Cycle angle per phase winding inductance with regard to rotor-position is 180 °, and three kinds of constant intervals are presented, respectively most
Small inductor flat-top area, inductance variation zone, maximum induction flat-top area, the width in three intervals is 60 °；
The decoupling control method of the motor, it is characterised in that have three kinds of mode of operations per phase winding：Double winding suspends
Excited work pattern, torque excited work pattern and simplex winding suspension excited work pattern；During suspension excitation, by independent control
3 coil currents, to adjust suspending power, wherein 2 coils in 3 coils belong to same phase, work in double winding and hang
Floating excitation mode, remaining 1 coil belongs to the phase in another two-phase, works in simplex winding suspension excitation mode；During torque excitation,
Symmetrical excitation is implemented to the coil of every phase two in inductance variation zone, and by controlling the shut-off angle of the phase power switch, is turned with adjusting
Square；Because suspending power is produced in maximum induction flat-top area and minimum inductance flat-top area, and torque is produced in inductance variation zone, is realized
Torque and the uneoupled control of suspending power；Comprise the steps：
Step A, obtains the given suspending power of X-directionWith the given suspending power of Y-directionThe X-axis and the stator of place phase two
The center line of tooth overlaps, 90 ° of the advanced X-axis of Y-axis；It is comprised the following steps that：
Step A-1, obtains rotor in X-axis and the real-time displacement signal alpha and β of Y direction；
Step A-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtain X
Direction and real-time displacement the signal difference Δ α and Δ β of Y-direction, by the real-time displacement signal difference Δ α and Δ β through proportional integral
Derivative controller, obtains the phase X-direction suspending powerWith Y-direction suspending power
Step B, gathers rotor real time position angle θ, calculates the given suspending power of X-direction and Y-direction of each phase；
Step B-1, θ ∈ [θ1, θ2], A phases and B phase windings produce suspending power, the X-direction suspending power of A phasesThe Y-direction suspending power of A phasesThe X-direction suspending power of B phasesThe Y-direction of B phases
Suspending powerWherein, θ1For the starting point in A phase minimum inductance flat-tops area, advanced A aligns 150 ° of position, θ2=θ1+30°；
Step B-2, θ ∈ [θ2, θ3], A phases and C phase windings produce suspending power, the X-direction suspending power of A phasesThe Y-direction suspending power of A phasesThe X-direction suspending power of C phasesThe Y-direction of C phases
Suspending powerWherein, θ3=θ2+30°；
Step B-3, θ ∈ [θ3, θ4], B phases and C phase windings produce suspending power, the X-direction suspending power of B phasesThe Y-direction suspending power of B phasesThe X-direction suspending power of C phasesThe Y-direction suspending power of C phasesWherein, θ4For the maximum electricity of A phases
The starting point in sense flat-top area, θ4=θ3+30°；
Step B-4, θ ∈ [θ4, θ5], B phases and A phase windings produce suspending power, the X-direction suspending power of B phases
The Y-direction suspending power of B phasesThe X-direction suspending power of A phasesThe Y-direction suspending power of A phasesWherein, θ5=θ4+30°；
Step B-5, θ ∈ [θ5, θ6], C phases and A phase windings produce suspending power, the X-direction suspending power of C phasesThe Y-direction suspending power of C phasesThe X-direction suspending power of A phasesThe Y side of A phases
To suspending powerWherein, θ6=θ5+30°；
Step B-6, θ ∈ [θ6, θ7], C phases and B phase windings produce suspending power, the X-direction suspending power of C phasesThe Y-direction suspending power of C phasesThe X-direction suspending power of B phasesThe Y-direction suspending power of B phasesWherein, θ7=θ6+ 30 °=θ
+ 180 °, three-phase windings complete a turn-on cycle, and rotor rotates a rotor cycle angle, i.e. rotor and rotates 180 °；
Step C, adjusts θ ∈ [θ1, θ2] suspending power in interval, the common generation suspending power of A phases and B phase in this interval, specifically
Step is as follows：
Step C-1, adjusts A phase suspending powers, and A phases work in double winding suspension excitation mode in this interval；
Step C-1-1, according to the X-direction suspending power of the A phasesWith the Y-direction suspending power of A phasesAnd Current calculation formulaObtain the reference value of the coil current of A phases two difference
Wherein, kf1For suspension force coefficient, its expression formula is kf1=μ0lcrαsN2/2δ2, N is coil turn, μ0For Vacuum Magnetic
Conductance, lcFor the axial length of cylindrical rotor, r for cylindrical rotor radius, δ is gas length, INFor the specified phase of the motor
Electric current；
Step C-1-2, according to the reference value of the coil current of A phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of A phases twoWith
Step C-1-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Track it respectively
Reference valueWith
Step C-2, adjusts B phase suspending powers, and B phases work in simplex winding suspension excitation mode in this interval；
Step C-2-1, according to the suspending powerDirection, differentiates the coil N of B phases twob1And Nb2Conducting state；When
When, coil Nb1Conducting excitation；WhenWhen, coil Nb2Conducting excitation；
Step C-2-2, whenWhen, according toB phase coil Nb1Current reference valueWhenWhen, according toB phase coil Nb2Current reference valueWherein, kf2For suspension force coefficient,
kf2=μ0(lc+lt)rαsN2/2δ2, ltFor the axial length of field spider；
Step C-2-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Track it respectively
Reference valueWith
Step D, adjusts θ ∈ [θ2, θ3] suspending power in interval, the common generation suspending power of A phases and C phase in this interval, specifically
Step is as follows：
Step D-1, adjusts A phase suspending powers, and A phases work in double winding suspension excitation mode in this interval；
Step D-1-1, according to the A phases X-direction suspending powerWith Y-direction suspending powerWith
And Current calculation formulaThe reference value of the coil current of A phases two difference is obtained
Step D-1-2, according to the reference value of the coil current of A phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of A phases twoWith
Step D-1-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Track it respectively
Reference valueWith
Step D-2, adjusts C phase suspending powers, and C phases work in simplex winding suspension excitation mode in this interval；
Step D-2-1, according to the suspending powerDirection, differentiates the coil N of C phases twoc1And Nc2Conducting state；When
When, coil Nc1Conducting excitation, whenWhen, coil Nc2Conducting excitation；
Step D-2-2, whenWhen, according toObtain C phase coil Nc1Current reference valueWhenWhen, according toObtain C phase coil Nc2Current reference value
Step D-2-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Track it respectively
Reference valueWith
Step E, adjusts θ ∈ [θ3, θ4] suspending power in interval, the common generation suspending power of B phases and C phase in this interval, specifically
Step is as follows：
Step E-1, adjusts B phase suspending powers, and B phases work in double winding suspension excitation mode in this interval；
Step E-1-1, according to the X-direction suspending power of the B phasesSuspend with the Y-direction of B phases
PowerAnd Current calculation formulaObtain the line of B phases two
The reference value of loop current difference
Step E-1-2, according to the reference value of the coil current of B phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of B phases twoWith
Step E-1-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Track it respectively
Reference valueWith
Step E-2, adjusts C phase suspending powers, and C phases work in simplex winding suspension excitation mode in this interval；
Step E-2-1, according to the suspending powerDirection, differentiates the coil N of C phases twoc1And Nc2Conducting state；When
When, coil Nc1Conducting excitation, whenWhen, coil Nc2Conducting excitation；
Step E-2-2, whenWhen, according toObtain C phase coil Nc1Electric current
Reference valueWhenWhen, according toObtain C phase coil Nc2Current reference value
Step E-2-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Track it respectively
Reference valueWith
Step F, adjusts θ ∈ [θ4, θ5] suspending power in interval, the common generation suspending power of B phases and A phase in this interval, specifically
Step is as follows：
Step F-1, adjusts B phase suspending powers, and B phases work in double winding suspension excitation mode in this interval；
Step F-1-1, according to the X-direction suspending power of the B phasesWith the Y-direction suspending power of B phasesAnd Current calculation formulaObtain the reference value of the coil current of B phases two difference
Step F-1-2, according to the reference value of the coil current of B phases two differenceCan be by Current calculation formulaWithResolve the reference value of the coil current of B phases twoWith
Step F-1-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Track it respectively
Reference valueWith
Step F-2, adjusts A phase suspending powers, and A phases work in simplex winding suspension excitation mode in this interval；
Step F-2-1, according to the suspending powerDirection, differentiates the coil N of A phases twoa1And Na2Conducting state；When
When, coil Na1Conducting excitation, whenWhen, coil Na2Conducting excitation；
Step F-2-2, whenWhen, according toObtain A phase coil Na1Electric current
Reference valueWhenWhen, according toObtain A phase coil Na2Current reference value
Step F-2-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Track it respectively
Reference valueWith
Step G, adjusts θ ∈ [θ5, θ6] suspending power in interval, the common generation suspending power of C phases and A phase in this interval, specifically
Step is as follows：
Step G-1, adjusts C phase suspending powers, and C phases work in double winding suspension excitation mode in this interval；
Step G-1-1, according to the X-direction suspending power of the C phasesWith the Y-direction suspending power of C phasesAnd Current calculation formulaObtain the reference value of the coil current of C phases two difference
Step G-1-2, according to the reference value of the coil current of C phases two differenceBy Current calculation formula
WithObtain the reference value of the coil current of C phases twoWith
Step G-1-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Track it respectively
Reference valueWith
Step G-2, adjusts A phase suspending powers, and A phases work in simplex winding suspension excitation mode in this interval；
Step G-2-1, according to the suspending powerDirection, differentiates the coil N of A phases twoa1And Na2Conducting state；When
When, coil Na1Conducting excitation, whenWhen, coil Na2Conducting excitation；
Step G-2-2, whenWhen, according toObtain A phase coil Na1Electric current
Reference valueWhenWhen, according toObtain A phase coil Na2Current reference value
Step G-2-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Track it respectively
Reference valueWith
Step I, adjusts θ ∈ [θ6, θ7] suspending power in interval, the common generation suspending power of C phases and B phase in this interval, specifically
Step is as follows：
Step I-1, adjusts C phase suspending powers, and C phases work in double winding suspension excitation mode in this interval；
Step I-1-1, according to the X-direction suspending power of the C phasesSuspend with the Y-direction of C phases
PowerAnd Current calculation formulaObtain C phases two
The reference value of coil current difference
Step I-1-2, according to the reference value of the coil current of C phases two differenceBy Current calculation formula
WithObtain the reference value of the coil current of C phases twoWith
Step I-1-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Track it respectively
Reference valueWith
Step I-2, adjusts B phase suspending powers, and B phases work in simplex winding suspension excitation mode in this interval；
Step I-2-1, according to the suspending powerDirection, differentiates the coil N of B phases twob1And Nb2Conducting state；When
When, coil Nb1Conducting excitation, whenWhen, coil Nb2Conducting excitation；
Step I-2-2, whenWhen, according toObtain B phase coil Nb1Electric current
Reference valueWhenWhen, according toObtain B phase coil Nb2Current reference value
Step I-2-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Track it respectively
Reference valueWith
Step J, adjusts torque, comprises the following steps that：
Step J-1, the real-time rotating speed of collection rotor, is calculated rotor velocity ω；
Step J-2, rotor velocity ω and reference angular velocities ω for setting*Subtract each other, obtain rotation speed difference deltan ω；
Step J-3, rotation speed difference deltan ω, passing ratio integral controller obtains shut-off angle θoff, using angle position
Control method, by dynamic regulation angle θ is turned offoffValue, so as to each phase torque of real-time regulation；
Step J-4, θ ∈ [θ1, θ2] when, C phase is in torque excited work pattern, C correlation angle of rupture θoffC=θoff；θ∈
[θ3, θ4] when, A phases are in torque excited work pattern, A correlation angle of rupture θoffA=θoff；θ∈[θ5, θ6] when, B phase is encouraged in torque
Magnetic mode of operation, B correlation angle of rupture θoffB=θoff。
Beneficial effects of the present invention：The present invention proposes a kind of uneoupled control of composite rotors bearing-free switch reluctance motor
Method, the stator of the composite rotors bearing-free switch reluctance motor is salient-pole structure, and number of poles is 6, rotor by field spider and
Cylindrical rotor is constituted, and field spider number of poles is 2, and a coil is wound with each stator；In optimization design stator and field spider
On the basis of polar arc angle, the minimum and maximum inductance flat-top area that two width are 60 ° is formed；Per phase winding by two coil groups
Into, and the equal independent control of each coil；During suspension excitation, 3 coils need to be simultaneously turned on, by controlling 3 coil currents, to adjust
Section suspending power, wherein 2 coils in 3 coils belong to same phase, works in double winding suspension excitation mode, residue 1
Individual coil belongs to the phase in another two-phase, works in simplex winding suspension excitation mode；During torque excitation, in inductance variation zone to every
The coil of phase two implements symmetrical excitation, and by controlling the shut-off angle of the phase power switch, to adjust torque；Due in minimum inductance
Flat-top area and maximum induction flat-top area implement suspension excitation, realize that torque is exported in inductance region of variation, so as to be capable of achieving torque
With the uneoupled control of suspending power；With technical scheme, following technique effect can be reached：
(1) it is capable of achieving the uneoupled control of torque and suspending power；
(2) simple, enforcement facility is controlled；
(3) power switch pipe is few, controller low cost.
Description of the drawings
Fig. 1 is the three dimensional structure diagram of composite rotors bearing-free switch reluctance motor.
Fig. 2 is the A phase winding schematic diagrames of composite rotors bearing-free switch reluctance motor.
Fig. 3 is the system block diagram of the decoupling control method of composite rotors bearing-free switch reluctance motor.
Fig. 4 is the three-phase windings inductance and current waveform schematic diagram of composite rotors bearing-free switch reluctance motor.
Description of reference numerals：In Fig. 1 to Fig. 4,1 is stator, and 2 is field spider, and 3 is cylindrical rotor, and 4 is coil, and 5 is to turn
Axle, ia1+、ia2+ be respectively two coils of A phases inflow current, ia1-、ia2- be respectively two coils of A phases outflow electric current, ib1
+、ib2+ be respectively two coils of B phases inflow current, ib1-、ib2- be respectively two coils of B phases outflow electric current, ic1+、ic2+
The respectively inflow current of two coils of C phases, ic1-、ic2- be respectively two coils of C phases outflow electric current, Fα, FβRespectively A phases
Winding is in the X of A phases, the suspending power of Y direction generation, Fα*, Fβ* it is the reference value of suspending power, FAα*, FAβ* it is A phase suspending powers
Reference value, FBα*, FBβ* it is the reference value of B phase suspending powers, FCα*, FCβ* it is the reference value of C phase suspending powers, α, β are respectively rotor and exist
Center displacement in the X of place phase, Y direction, α *, β * are respectively rotor center displacement in the X of place phase, Y direction
Reference value, rotor position angle is θ, θ1、θ2、θ3、θ4、θ5、θ6Represent different rotor position angles, θon、θoffRespectively phase winding rises
Shut-off angle at the end of the turn-on angle and torque excitation of the conducting of beginning excitation, θonA、θoffARespectively A phase windings initial excitation conducting
Turn-on angle and torque excitation at the end of shut-off angle, θonB、θoffBRespectively B phase windings initial excitation conducting turn-on angle and
Shut-off angle at the end of torque excitation, θonC、θoffCThe turn-on angle and torque excitation of respectively C phase windings initial excitation conducting is tied
Shut-off angle during beam.
Specific embodiment
Below in conjunction with the accompanying drawings, to a kind of skill of the decoupling control method of composite rotors bearing-free switch reluctance motor of the invention
Art scheme is described in detail：
As shown in figure 1, be the three dimensional structure diagram of composite rotors bearing-free switch reluctance motor, wherein, 1 is stator, 2
It is field spider, 3 is cylindrical rotor, and 4 is coil, and 5 is rotating shaft.
Composite rotors bearing-free switch reluctance motor includes stator, rotor and coil；The stator be salient-pole structure, number of poles
For 6；The rotor is made up of cylindrical rotor and field spider, and cylindrical rotor is cylindrical structure, and field spider is salient-pole structure,
And number of poles is 2；The cylindrical rotor and field spider series connection close arrangement, are enclosed within rotating shaft, and are arranged in the stator；Often
Individual stator tooth is wound with 1 coil, totally 6.
Fig. 2 is the three-phase windings schematic diagram of composite rotors bearing-free switch reluctance motor.Per phase winding by being spatially separated by
180 ° of two coils are constituted.Per the symmetrical magnetic flux in the two poles of the earth that the coil current of phase two is produced, in NS distributions.B, C phase winding and A phases around
Group structure is identical, only with A phases differs 60 ° and -60 ° in position.Two coils of A phases are respectively Na1And Na2, two coils of B phases
Respectively Nb1And Nb2, two coils of C phases are respectively Nc1And Nc2；The stator poles arc angle is αs, the field spider polar arc angle is
αr, the two needs to meet αs+60°≤αr≤120°-αs, to form maximum induction flat-top area and minimum electricity that 2 broadbands are 60 °
Sense flat-top area；
Fig. 3 is the system block diagram of the decoupling control method of composite rotors bearing-free switch reluctance motor.Control process is：Inspection
Measured motor rotor position information, obtains turn-on angle θ of every phase windingon, it is every mutually to begin to turn on excitation；Displacement error signal is carried out
PID is adjusted and obtained per mutually given suspending power Fα*, Fβ*, Jing suspending powers distribution calculates link, obtains the reference value of every phase suspending power, A
The reference value of phase suspending power is respectively FAαAnd F *Aβ*, the reference value of B phases suspending power is respectively FBαAnd F *Bβ*, the ginseng of C phases suspending power
Examine value and be respectively FCαAnd F *Cβ*, afterwards through the reference value of each phase coil current of levitating current controller acquisition, two lines of A phases
The reference value of loop current is respectively ia1And i *a2*, the reference value of two coil currents of B phases is respectively ib1And i *b2*, two lines of C phases
The reference value of loop current is respectively ic1And i *c2*, then through each phase excitation controller, each phase reality is allowed using Current cut control
The reference value of each phase winding electric current of current tracking, to produce required suspending power.
Detection motor rotor position information, calculates actual speed ω, and speed error signal is carried out into PI regulations, obtains
Obtain the shut-off angle θ per phase windingoff, by turning off angle θoffThe conducting width of control power circuit, and then dynamic regulation output turn
Square.
Fig. 4 is the three-phase windings inductance and current waveform schematic diagram of composite rotors bearing-free switch reluctance motor.
To realize the uneoupled control of composite rotors simplex winding bearing-free switch reluctance motor torque and suspending power, using one kind
New switch control strategy.One coil of phase two is simultaneously turned in minimum inductance flat-top area, carries out asymmetric excitation；It is another
Maximum induction flat-top area turns on a coil, and 3 coils of two-phase produce the radial load needed for suspending jointly；Two lines of a remaining phase
Circle is simultaneously turned in inductance first transition, and applies symmetrical excitation, to adjust torque.Therefore, there is double winding per phase winding
Three kinds of mode of operations such as suspension excitation, torque excitation and simplex winding suspension excitation.
As shown in figure 4, the cycle angle per phase winding inductance with regard to rotor-position is 180 °, and three kinds of constant intervals are presented,
Respectively minimum inductance flat-top area, inductance variation zone, maximum induction flat-top area, the width in three intervals is 60 °, wherein electricity
Sense variation zone includes two regions, and respectively inductance rising area and inductance decline area, and the width of the two is 30 °；Maximum electricity
The inductance in sense and minimum inductance flat-top area is constant, does not produce torque, and inductance rising area produces positive torque, and inductance declines area and produces
Raw negative torque；
The operational mode of the composite rotors bearing-free switch reluctance motor is as follows：
(1) as rotor position angle θ ∈ [θ1, θ2] when, in θ=θ1Place's A two windings of phase begin to turn on, and carry out asymmetric encouraging
Magnetic, in B phases coil conducting, one coil of two coils of A phases and B phases produces suspending power jointly, and as θ=θ2When, B
Mutually turn off；This interval torque is produced by the symmetrical excitation of the coil of C phases two, and in θ=θoffCPlace, C phases are turned off, the phase torque excitation knot
Beam.
(2) as rotor position angle θ ∈ [θ2, θ3] when, two coils of A phases continue asymmetric excitation, in θ=θ2Place C phases one
Coil begins to turn on, and one coil of two coils of A phases and C phases produces suspending power jointly, and in θ=θ3Place, two coils of A phases
Terminate asymmetric excitation, start symmetrical excitation.
(3) as rotor position angle θ ∈ [θ3, θ4] when, the symmetrical excitation of two coils of A phases produces torque, and in θ=θoffA
When, the shut-off of A phase windings terminates torque excitation；In θ=θ3The coil of place B phases two begins to turn on, and carries out asymmetric excitation, C phase windings
One coil continues to turn on, and one coil of two coils of B phases and C phases produces suspending power jointly.
(4) as rotor position angle θ ∈ [θ4, θ5] when, two coils of B phases continue asymmetric excitation, in θ=θ4Place A phases one
Coil begins to turn on, and one coil of two coils of B phases and A phases produces suspending power jointly；And as θ=θ5When, two coils of B phases
Terminate asymmetric excitation, start symmetrical excitation；
(5) as rotor position angle θ ∈ [θ5, θ6] when, in θ=θ5Place's C two coils of phase begin to turn on, and carry out asymmetric encouraging
Magnetic, in A phases coil conducting, one coil of two coils of C phases and A phases produces suspending power jointly, and as θ=θ6When, A
Mutually turn off；This interval torque is produced by the symmetrical excitation of the coil of B phases two, and in θ=θoffBPlace, B phases are turned off, the phase torque excitation knot
Beam.
(6) as rotor position angle θ ∈ [θ6, θ7] when, two coils of C phases continue asymmetric excitation, in θ=θ6Place B phases one
Coil begins to turn on, and one coil of two coils of C phases and B phases produces suspending power jointly；And in θ=θ7Place, two coils of C phases
Terminate asymmetric excitation, start symmetrical excitation；Simultaneously in θ=θ7Place, two coils of A phases start asymmetric excitation, into next
The individual excitation cycle.
When A phases Na1And Na2The asymmetric excitation of two coils, and B phase coil Nb1When turning in suspension excitation, A phases X and Y
Direction suspending power FAαAnd FAβExpression formula be：
FAα=kf1(ia1+ia2)(ia1-ia2),FAβ=0 (1)
Wherein kf1For suspension force coefficient, its expression formula is：
kf1=μ0lcrαsN2/2δ2 (2)
In formula, μ0For space permeability, lcFor the axial length of cylindrical rotor, r for cylindrical rotor radius, αsFor stator
Polar arc angle, δ is gas length, and N is the single coil number of turn；
B phase coil Nb1The X and Y-direction suspending power F of generationBαAnd FBβExpression formula be
Wherein kf2For suspension force coefficient, its expression formula is：
kf2=μ0(lc+lt)rαsN2/2δ2 (4)
In formula, ltFor the axial length of field spider.
Order：
IN=(ia1+ia2)/2,Δisa=(ia1-ia2)/2 (5)
In formula, INFor the phase rated current of 6/2 pole composite rotors bearing-free switch reluctance motor, Δ isaFor the coil of A phases two
Difference between current.
Formula (5) is substituted into after formula (1), is obtained：
FAα=4kf1INΔisa,FAβ=0 (6)
Work as FαAnd F *β* when known, A phases, the reference value of B phase suspending powers can be calculated：
The reference value of two coils of A phases and one coil current of B phases can be calculated by formula (7), the wherein coil current of A phases two is poor
Reference value be：
The reference value of one coil current of B phases：
To realize the uneoupled control of composite rotors bearing-free switch reluctance motor, there are three kinds of mode of operations per phase winding：
Double winding suspension excited work pattern, torque excited work pattern and simplex winding suspension excited work pattern；During suspension excitation, lead to
3 coil currents of independent control are crossed, to adjust suspending power, wherein 2 coils in 3 coils belong to same phase, work
In double winding suspension excitation mode, remaining 1 coil belongs to the phase in another two-phase, works in simplex winding suspension excitation mode；
During torque excitation, symmetrical excitation is implemented to two coils of every phase in inductance region of variation, and by controlling the phase power switch
Shut-off angle, to adjust torque；Because suspending power is produced in maximum induction flat-top area and minimum inductance flat-top area, and torque is produced
Inductance variation zone, therefore it is capable of achieving the uneoupled control of torque and suspending power；Comprise the steps：
Step A, obtains the given suspending power of X-directionWith the given suspending power of Y-directionThe X-axis and the stator of place phase two
The center line of tooth overlaps, 90 ° of the advanced X-axis of Y-axis；It is comprised the following steps that：
Step A-1, obtains rotor in X-axis and the real-time displacement signal alpha and β of Y direction；
Step A-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtain X
Direction and real-time displacement the signal difference Δ α and Δ β of Y-direction, by the real-time displacement signal difference Δ α and Δ β through proportional integral
Derivative controller, obtains the phase X-direction suspending powerWith Y-direction suspending power
Step B, gathers rotor real time position angle θ, calculates the given suspending power of X-direction and Y-direction of each phase；
Step B-1, θ ∈ [θ1, θ2], A phases and B phase windings produce suspending power, the X-direction suspending power of A phasesThe Y-direction suspending power of A phasesThe X-direction suspending power of B phasesThe Y-direction of B phases
Suspending powerWherein, θ1For the starting point in A phase minimum inductance flat-tops area, advanced A aligns 150 ° of position, θ2=θ1+30°；
Step B-2, θ ∈ [θ2, θ3], A phases and C phase windings produce suspending power, the X-direction suspending power of A phasesThe Y-direction suspending power of A phasesThe X-direction suspending power of C phasesThe Y-direction of C phases
Suspending powerWherein, θ3=θ2+30°；
Step B-3, θ ∈ [θ3, θ4], B phases and C phase windings produce suspending power, the X-direction suspending power of B phasesThe Y-direction suspending power of B phasesThe X-direction suspending power of C phasesThe Y-direction suspending power of C phasesWherein, θ4For the maximum electricity of A phases
The starting point in sense flat-top area, θ4=θ3+30°；
Step B-4, θ ∈ [θ4, θ5], B phases and A phase windings produce suspending power, the X-direction suspending power of B phasesThe Y-direction suspending power of B phasesThe X-direction suspending power of A phasesThe Y side of A phases
To suspending powerWherein, θ5=θ4+30°；
Step B-5, θ ∈ [θ5, θ6], C phases and A phase windings produce suspending power, the X-direction suspending power of C phasesThe Y-direction suspending power of C phasesThe X-direction suspending power of A phasesThe Y side of A phases
To suspending powerWherein, θ6=θ5+30°；
Step B-6, θ ∈ [θ6, θ7], C phases and B phase windings produce suspending power, the X-direction suspending power of C phasesThe Y-direction suspending power of C phasesThe X-direction suspending power of B phasesThe Y-direction suspending power of B phasesWherein, θ7=θ6+ 30 °=θ+
180 °, three-phase windings complete a turn-on cycle, and rotor rotates a rotor cycle angle, i.e. rotor and rotates 180 °；
Step C, adjusts θ ∈ [θ1, θ2] suspending power in interval, the common generation suspending power of A phases and B phase in this interval, specifically
Step is as follows：
Step C-1, adjusts A phase suspending powers, and A phases work in double winding suspension excitation mode in this interval；
Step C-1-1, according to the X-direction suspending power of the A phasesWith the Y-direction suspending power of A phasesAnd Current calculation formulaObtain the reference value of the coil current of A phases two difference
Wherein, kf1For suspension force coefficient, its expression formula is kf1=μ0lcrαsN2/2δ2, N is coil turn, μ0For Vacuum Magnetic
Conductance, lcFor the axial length of cylindrical rotor, r for cylindrical rotor radius, δ is gas length, INFor the specified phase of the motor
Electric current；
Step C-1-2, according to the reference value of the coil current of A phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of A phases twoWith
Step C-1-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Track it respectively
Reference valueWith
Step C-2, adjusts B phase suspending powers, and B phases work in simplex winding suspension excitation mode in this interval；
Step C-2-1, according to the suspending powerDirection, differentiates the coil N of B phases twob1And Nb2Conducting state；When
When, coil Nb1Conducting excitation；WhenWhen, coil Nb2Conducting excitation；
Step C-2-2, whenWhen, according toB phase coil Nb1Current reference valueWhenWhen, according toB phase coil Nb2Current reference valueWherein, kf2For suspension force coefficient,
kf2=μ0(lc+lt)rαsN2/2δ2, ltFor the axial length of field spider；
Step C-2-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Track it respectively
Reference valueWith
Step D, adjusts θ ∈ [θ2, θ3] suspending power in interval, the common generation suspending power of A phases and C phase in this interval, specifically
Step is as follows：
Step D-1, adjusts A phase suspending powers, and A phases work in double winding suspension excitation mode in this interval；
Step D-1-1, according to the A phases X-direction suspending powerWith Y-direction suspending powerWith
And Current calculation formulaThe reference value of the coil current of A phases two difference is obtained
Step D-1-2, according to the reference value of the coil current of A phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of A phases twoWith
Step D-1-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Track it respectively
Reference valueWith
Step D-2, adjusts C phase suspending powers, and C phases work in simplex winding suspension excitation mode in this interval；
Step D-2-1, according to the suspending powerDirection, differentiates the coil N of C phases twoc1And Nc2Conducting state；WhenWhen, coil Nc1Conducting excitation, whenWhen, coil Nc2Conducting excitation；
Step D-2-2, whenWhen, according toObtain C phase coil Nc1Current reference valueWhenWhen, according toObtain C phase coil Nc2Current reference value
Step D-2-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Track it respectively
Reference valueWith
Step E, adjusts θ ∈ [θ3, θ4] suspending power in interval, the common generation suspending power of B phases and C phase in this interval, specifically
Step is as follows：
Step E-1, adjusts B phase suspending powers, and B phases work in double winding suspension excitation mode in this interval；
Step E-1-1, according to the X-direction suspending power of the B phasesSuspend with the Y-direction of B phases
PowerAnd Current calculation formulaObtain the line of B phases two
The reference value of loop current difference
Step E-1-2, according to the reference value of the coil current of B phases two differenceBy Current calculation formula
WithObtain the reference value of the coil current of B phases twoWith
Step E-1-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Track it respectively
Reference valueWith
Step E-2, adjusts C phase suspending powers, and C phases work in simplex winding suspension excitation mode in this interval；
Step E-2-1, according to the suspending powerDirection, differentiates the coil N of C phases twoc1And Nc2Conducting state；When
When, coil Nc1Conducting excitation, whenWhen, coil Nc2Conducting excitation；
Step E-2-2, whenWhen, according toObtain C phase coil Nc1Electric current
Reference valueWhenWhen, according toObtain C phase coil Nc2Current reference value
Step E-2-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Track it respectively
Reference valueWith
Step F, adjusts θ ∈ [θ4, θ5] suspending power in interval, the common generation suspending power of B phases and A phase in this interval, specifically
Step is as follows：
Step F-1, adjusts B phase suspending powers, and B phases work in double winding suspension excitation mode in this interval；
Step F-1-1, according to the X-direction suspending power of the B phasesWith the Y-direction suspending power of B phasesAnd Current calculation formulaObtain the reference value of the coil current of B phases two difference
Step F-1-2, according to the reference value of the coil current of B phases two differenceCan be by Current calculation formulaWithResolve the reference value of the coil current of B phases twoWith
Step F-1-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Track it respectively
Reference valueWith
Step F-2, adjusts A phase suspending powers, and A phases work in simplex winding suspension excitation mode in this interval；
Step F-2-1, according to the suspending powerDirection, differentiates the coil N of A phases twoa1And Na2Conducting state；When
When, coil Na1Conducting excitation, whenWhen, coil Na2Conducting excitation；
Step F-2-2, whenWhen, according toObtain A phase coil Na1Electric current
Reference valueWhenWhen, according toObtain A phase coil Na2Current reference value
Step F-2-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Track it respectively
Reference valueWith
Step G, adjusts θ ∈ [θ5, θ6] suspending power in interval, the common generation suspending power of C phases and A phase in this interval, specifically
Step is as follows：
Step G-1, adjusts C phase suspending powers, and C phases work in double winding suspension excitation mode in this interval；
Step G-1-1, according to the X-direction suspending power of the C phasesWith the Y-direction suspending power of C phasesAnd Current calculation formulaObtain the reference value of the coil current of C phases two difference
Step G-1-2, according to the reference value of the coil current of C phases two differenceBy Current calculation formula
WithObtain the reference value of the coil current of C phases twoWith
Step G-1-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Track it respectively
Reference valueWith
Step G-2, adjusts A phase suspending powers, and A phases work in simplex winding suspension excitation mode in this interval；
Step G-2-1, according to the suspending powerDirection, differentiates the coil N of A phases twoa1And Na2Conducting state；When
When, coil Na1Conducting excitation, whenWhen, coil Na2Conducting excitation；
Step G-2-2, whenWhen, according toObtain A phase coil Na1Electric current
Reference valueWhenWhen, according toObtain A phase coil Na2Current reference value
Step G-2-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Track it respectively
Reference valueWith
Step I, adjusts θ ∈ [θ6, θ7] suspending power in interval, the common generation suspending power of C phases and B phase in this interval, specifically
Step is as follows：
Step I-1, adjusts C phase suspending powers, and C phases work in double winding suspension excitation mode in this interval；
Step I-1-1, according to the X-direction suspending power of the C phasesSuspend with the Y-direction of C phases
PowerAnd Current calculation formulaObtain the line of C phases two
The reference value of loop current difference
Step I-1-2, according to the reference value of the coil current of C phases two differenceBy Current calculation formula
WithObtain the reference value of the coil current of C phases twoWith
Step I-1-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Track it respectively
Reference valueWith
Step I-2, adjusts B phase suspending powers, and B phases work in simplex winding suspension excitation mode in this interval；
Step I-2-1, according to the suspending powerDirection, differentiates the coil N of B phases twob1And Nb2Conducting state；When
When, coil Nb1Conducting excitation, whenWhen, coil Nb2Conducting excitation；
Step I-2-2, whenWhen, according toObtain B phase coil Nb1Electric current
Reference valueWhenWhen, according toObtain B phase coil Nb2Current reference value
Step I-2-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Track it respectively
Reference valueWith
Step J, adjusts torque, comprises the following steps that：
Step J-1, the real-time rotating speed of collection rotor, is calculated rotor velocity ω；
Step J-2, rotor velocity ω and reference angular velocities ω for setting*Subtract each other, obtain rotation speed difference deltan ω；
Step J-3, rotation speed difference deltan ω, passing ratio integral controller obtains shut-off angle θoff, using angle position
Control method, by dynamic regulation angle θ is turned offoffValue, so as to each phase torque of real-time regulation；
Step J-4, θ ∈ [θ1, θ2] when, C phase is in torque excited work pattern, C correlation angle of rupture θoffC=θoff；θ∈
[θ3, θ4] when, A phases are in torque excited work pattern, A correlation angle of rupture θoffA=θoff；θ∈[θ5, θ6] when, B phase is encouraged in torque
Magnetic mode of operation, B correlation angle of rupture θoffB=θoff。
In sum, the Novel Control that the present invention is adopted realizes 6/2 pole composite rotors bearing-free switch magnetic-resistance electricity
Machine torque and the uneoupled control of suspending power.
For those skilled in the art, association's others can be easy to according to above implementation type excellent
Point and deformation.Therefore, above-mentioned instantiation is the invention is not limited in, it enters as just example to a kind of form of the present 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 concrete
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)
1. a kind of decoupling control method of composite rotors bearing-free switch reluctance motor, the composite rotors bearing-free switch magnetic-resistance
Motor includes stator, rotor and coil；The stator is salient-pole structure, and its stator tooth number is 6, and on each stator tooth 1 is wound with
Individual coil, the coil totally 6,6 coils spatially differ 60 °；The rotor is by cylindrical rotor and field spider
Constitute, cylindrical rotor is cylindrical structure, field spider is salient-pole structure, and the tooth number of its field spider is 2；The cylinder turns
Son and field spider series connection close arrangement, are enclosed within rotating shaft, and are arranged in the stator；The composite rotors bearing-free switch
Reluctance motor is three-phase duty motor, is made up of two coils for being spatially separated by 180 ° per phase winding, and in every phase winding
Two coil independent controls；Two coils of A phase windings are respectively Na1And Na2, two coils of B phase windings are respectively Nb1With
Nb2, two coils of C phase windings are respectively Nc1And Nc2；The stator poles arc angle is αs, the field spider polar arc angle is αr, and
Meet αs+60°≤αr≤120°-αs；Three-phase windings are sequentially turned on once, and rotor rotates a rotor cycle, and rotor week
Phase angle be 180 °；The cycle angle changed with regard to rotor-position per phase winding inductance is 180 °, and three kinds of constant intervals are presented, respectively
For minimum inductance flat-top area, inductance variation zone, maximum induction flat-top area, the width in three intervals is 60 °；
The decoupling control method of the motor, it is characterised in that have three kinds of mode of operations per phase winding：Double winding suspension excitation
Mode of operation, torque excited work pattern and simplex winding suspension excited work pattern；During suspension excitation, by independent control 3
Coil current, to adjust suspending power, wherein 2 coils in 3 coils belong to same phase, works in double winding suspension and encourages
Magnetic pattern, remaining 1 coil belongs to the phase in another two-phase, works in simplex winding suspension excitation mode；During torque excitation, in electricity
Symmetrical excitation is implemented in sense variation zone to the coil of every phase two, and by controlling the shut-off angle of the phase power switch, to adjust torque；By
Produce in maximum induction flat-top area and minimum inductance flat-top area in suspending power, and torque is produced in inductance variation zone, realizes torque
With the uneoupled control of suspending power；Comprise the steps：
Step A, obtains the given suspending power of X-directionWith the given suspending power of Y-directionThe X-axis and the stator tooth of place phase two
Center line overlaps, 90 ° of the advanced X-axis of Y-axis；It is comprised the following steps that：
Step A-1, obtains rotor in X-axis and the real-time displacement signal alpha and β of Y direction；
Step A-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtain X-direction
With real-time displacement the signal difference Δ α and Δ β of Y-direction, by the real-time displacement signal difference Δ α and Δ β through PID
Controller, obtains the phase X-direction suspending powerWith Y-direction suspending power
Step B, gathers rotor real time position angle θ, calculates the given suspending power of X-direction and Y-direction of each phase；
Step B-1, θ ∈ [θ1, θ2], A phases and B phase windings produce suspending power, the X-direction suspending power of A phases
The Y-direction suspending power of A phasesThe X-direction suspending power of B phasesThe Y-direction suspending power of B phasesIts
In, θ1For the starting point in A phase minimum inductance flat-tops area, advanced A aligns 150 ° of position, θ2=θ1+30°；
Step B-2, θ ∈ [θ2, θ3], A phases and C phase windings produce suspending power, the X-direction suspending power of A phases
The Y-direction suspending power of A phasesThe X-direction suspending power of C phasesThe Y-direction suspending power of C phasesIts
In, θ3=θ2+30°；
Step B-3, θ ∈ [θ3, θ4], B phases and C phase windings produce suspending power, the X-direction suspending power of B phasesThe Y-direction suspending power of B phasesThe X-direction suspending power of C phasesThe Y-direction suspending power of C phasesWherein, θ4For the maximum electricity of A phases
The starting point in sense flat-top area, θ4=θ3+30°；
Step B-4, θ ∈ [θ4, θ5], B phases and A phase windings produce suspending power, the X-direction suspending power of B phasesB phases
Y-direction suspending powerThe X-direction suspending power of A phasesThe Y-direction suspending power of A phases
Wherein, θ5=θ4+30°；
Step B-5, θ ∈ [θ5, θ6], C phases and A phase windings produce suspending power, the X-direction suspending power of C phasesC phases
Y-direction suspending powerThe X-direction suspending power of A phasesThe Y-direction suspending power of A phases
Wherein, θ6=θ5+30°；
Step B-6, θ ∈ [θ6, θ7], C phases and B phase windings produce suspending power, the X-direction suspending power of C phasesThe Y-direction suspending power of C phasesThe X-direction suspending power of B phasesThe Y-direction suspending power of B phasesWherein, θ7=θ6+ 30 °=θ
+ 180 °, three-phase windings complete a turn-on cycle, and rotor rotates a rotor cycle angle, i.e. rotor and rotates 180 °；
Step C, adjusts θ ∈ [θ1, θ2] suspending power in interval, the common generation suspending power of A phases and B phase, concrete steps in this interval
It is as follows：
Step C-1, adjusts A phase suspending powers, and A phases work in double winding suspension excitation mode in this interval；
Step C-1-1, according to the X-direction suspending power of the A phasesWith the Y-direction suspending power of A phasesAnd Current calculation formulaObtain the reference value of the coil current of A phases two difference
Wherein, kf1For suspension force coefficient, its expression formula is kf1=μ0lcrαsN2/2δ2, N is coil turn, μ0For space permeability,
lcFor the axial length of cylindrical rotor, r for cylindrical rotor radius, δ is gas length, INFor the specified phase current of the motor；
Step C-1-2, according to the reference value of the coil current of A phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of A phases twoWith
Step C-1-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Its reference is tracked respectively
ValueWith
Step C-2, adjusts B phase suspending powers, and B phases work in simplex winding suspension excitation mode in this interval；
Step C-2-1, according to the suspending powerDirection, differentiates the coil N of B phases twob1And Nb2Conducting state；WhenWhen,
Coil Nb1Conducting excitation；WhenWhen, coil Nb2Conducting excitation；
Step C-2-2, whenWhen, according toB phase coil Nb1Current reference valueWhen
When, according toB phase coil Nb2Current reference valueWherein, kf2For suspension force coefficient, kf2=μ0
(lc+lt)rαsN2/2δ2, ltFor the axial length of field spider；
Step C-2-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Its reference is tracked respectively
ValueWith
Step D, adjusts θ ∈ [θ2, θ3] suspending power in interval, the common generation suspending power of A phases and C phase, concrete steps in this interval
It is as follows：
Step D-1, adjusts A phase suspending powers, and A phases work in double winding suspension excitation mode in this interval；
Step D-1-1, according to the A phases X-direction suspending powerWith Y-direction suspending powerAnd electricity
Stream calculation formulaThe reference value of the coil current of A phases two difference is obtained
Step D-1-2, according to the reference value of the coil current of A phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of A phases twoWith
Step D-1-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Its reference is tracked respectively
ValueWith
Step D-2, adjusts C phase suspending powers, and C phases work in simplex winding suspension excitation mode in this interval；
Step D-2-1, according to the suspending powerDirection, differentiates the coil N of C phases twoc1And Nc2Conducting state；WhenWhen,
Coil Nc1Conducting excitation, whenWhen, coil Nc2Conducting excitation；
Step D-2-2, whenWhen, according toObtain C phase coil Nc1Current reference valueWhenWhen, according toObtain C phase coil Nc2Current reference value
Step D-2-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Its reference is tracked respectively
ValueWith
Step E, adjusts θ ∈ [θ3, θ4] suspending power in interval, the common generation suspending power of B phases and C phase, concrete steps in this interval
It is as follows：
Step E-1, adjusts B phase suspending powers, and B phases work in double winding suspension excitation mode in this interval；
Step E-1-1, according to the X-direction suspending power of the B phasesWith the Y-direction suspending power of B phasesAnd Current calculation formulaObtain the coil of B phases two
The reference value of difference between current
Step E-1-2, according to the reference value of the coil current of B phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of B phases twoWith
Step E-1-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Its reference is tracked respectively
ValueWith
Step E-2, adjusts C phase suspending powers, and C phases work in simplex winding suspension excitation mode in this interval；
Step E-2-1, according to the suspending powerDirection, differentiates the coil N of C phases twoc1And Nc2Conducting state；WhenWhen,
Coil Nc1Conducting excitation, whenWhen, coil Nc2Conducting excitation；
Step E-2-2, whenWhen, according toObtain C phase coil Nc1Current reference
ValueWhenWhen, according toObtain C phase coil Nc2Current reference value
Step E-2-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Its reference is tracked respectively
ValueWith
Step F, adjusts θ ∈ [θ4, θ5] suspending power in interval, the common generation suspending power of B phases and A phase, concrete steps in this interval
It is as follows：
Step F-1, adjusts B phase suspending powers, and B phases work in double winding suspension excitation mode in this interval；
Step F-1-1, according to the X-direction suspending power of the B phasesWith the Y-direction suspending power of B phasesWith
And Current calculation formulaObtain the reference value of the coil current of B phases two difference
Step F-1-2, according to the reference value of the coil current of B phases two differenceCan be by Current calculation formulaWithResolve the reference value of the coil current of B phases twoWith
Step F-1-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Its reference is tracked respectively
ValueWith
Step F-2, adjusts A phase suspending powers, and A phases work in simplex winding suspension excitation mode in this interval；
Step F-2-1, according to the suspending powerDirection, differentiates the coil N of A phases twoa1And Na2Conducting state；WhenWhen,
Coil Na1Conducting excitation, whenWhen, coil Na2Conducting excitation；
Step F-2-2, whenWhen, according toObtain A phase coil Na1Current reference valueWhenWhen, according toObtain A phase coil Na2Current reference value
Step F-2-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Its reference is tracked respectively
ValueWith
Step G, adjusts θ ∈ [θ5, θ6] suspending power in interval, the common generation suspending power of C phases and A phase, concrete steps in this interval
It is as follows：
Step G-1, adjusts C phase suspending powers, and C phases work in double winding suspension excitation mode in this interval；
Step G-1-1, according to the X-direction suspending power of the C phasesWith the Y-direction suspending power of C phasesWith
And Current calculation formulaObtain the reference value of the coil current of C phases two difference
Step G-1-2, according to the reference value of the coil current of C phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of C phases twoWith
Step G-1-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Its reference is tracked respectively
ValueWith
Step G-2, adjusts A phase suspending powers, and A phases work in simplex winding suspension excitation mode in this interval；
Step G-2-1, according to the suspending powerDirection, differentiates the coil N of A phases twoa1And Na2Conducting state；WhenWhen,
Coil Na1Conducting excitation, whenWhen, coil Na2Conducting excitation；
Step G-2-2, whenWhen, according toObtain A phase coil Na1Current reference valueWhenWhen, according toObtain A phase coil Na2Current reference value
Step G-2-3, using Current cut control method, allows the actual current i of the coil of A phases twoa1And ia2Its reference is tracked respectively
ValueWith
Step I, adjusts θ ∈ [θ6, θ7] suspending power in interval, the common generation suspending power of C phases and B phase, concrete steps in this interval
It is as follows：
Step I-1, adjusts C phase suspending powers, and C phases work in double winding suspension excitation mode in this interval；
Step I-1-1, according to the X-direction suspending power of the C phasesWith the Y-direction suspending power of C phasesAnd Current calculation formulaObtain the coil of C phases two
The reference value of difference between current
Step I-1-2, according to the reference value of the coil current of C phases two differenceBy Current calculation formulaWithObtain the reference value of the coil current of C phases twoWith
Step I-1-3, using Current cut control method, allows the actual current i of the coil of C phases twoc1And ic2Its reference is tracked respectively
ValueWith
Step I-2, adjusts B phase suspending powers, and B phases work in simplex winding suspension excitation mode in this interval；
Step I-2-1, according to the suspending powerDirection, differentiates the coil N of B phases twob1And Nb2Conducting state；WhenWhen,
Coil Nb1Conducting excitation, whenWhen, coil Nb2Conducting excitation；
Step I-2-2, whenWhen, according toObtain B phase coil Nb1Current reference valueWhenWhen, according toObtain B phase coil Nb2Current reference value
Step I-2-3, using Current cut control method, allows the actual current i of the coil of B phases twob1And ib2Its reference is tracked respectively
ValueWith
Step J, adjusts torque, comprises the following steps that：
Step J-1, the real-time rotating speed of collection rotor, is calculated rotor velocity ω；
Step J-2, rotor velocity ω and reference angular velocities ω for setting*Subtract each other, obtain rotation speed difference deltan ω；
Step J-3, rotation speed difference deltan ω, passing ratio integral controller obtains shut-off angle θoff, using Angle-domain imaging
Method, by dynamic regulation angle θ is turned offoffValue, so as to each phase torque of real-time regulation；
Step J-4, θ ∈ [θ1, θ2] when, C phase is in torque excited work pattern, C correlation angle of rupture θoffC=θoff；θ∈[θ3, θ4]
When, A phases are in torque excited work pattern, A correlation angle of rupture θoffA=θoff；θ∈[θ5, θ6] when, B phase is in torque excited work
Pattern, B correlation angle of rupture θoffB=θoff。
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| CN106981966A (en) * | 2017-05-19 | 2017-07-25 | 北京航空航天大学 | A kind of permanent magnet bias bearing-free switch magnetic-resistance starting/generator |
| CN108199640A (en) * | 2018-01-31 | 2018-06-22 | 福州大学 | Six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless hold flux electric machine driving method |
| CN109802613A (en) * | 2019-02-15 | 2019-05-24 | 南京邮电大学 | Based on the BSRMWR method for suppressing torque ripple for opening hold-off angle control |
| CN109995296A (en) * | 2019-01-14 | 2019-07-09 | 南京航空航天大学 | A kind of bearing-free switch reluctance motor torque and suspending power optimal control method |
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| CN103296847A (en) * | 2013-05-15 | 2013-09-11 | 南京邮电大学 | Bearingless switched reluctance motor and control method thereof |
| CN105024507A (en) * | 2015-07-22 | 2015-11-04 | 南京邮电大学 | Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor |
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| JP2006087229A (en) * | 2004-09-16 | 2006-03-30 | Nissan Motor Co Ltd | Apparatus and method for controlling current for switched reluctance motor |
| CN103296847A (en) * | 2013-05-15 | 2013-09-11 | 南京邮电大学 | Bearingless switched reluctance motor and control method thereof |
| CN105024507A (en) * | 2015-07-22 | 2015-11-04 | 南京邮电大学 | Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106981966A (en) * | 2017-05-19 | 2017-07-25 | 北京航空航天大学 | A kind of permanent magnet bias bearing-free switch magnetic-resistance starting/generator |
| CN106981966B (en) * | 2017-05-19 | 2019-03-29 | 北京航空航天大学 | A kind of permanent magnet bias bearing-free switch magnetic-resistance starting/generator |
| CN108199640A (en) * | 2018-01-31 | 2018-06-22 | 福州大学 | Six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless hold flux electric machine driving method |
| CN108199640B (en) * | 2018-01-31 | 2019-12-31 | 福州大学 | Driving method of open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor |
| CN109995296A (en) * | 2019-01-14 | 2019-07-09 | 南京航空航天大学 | A kind of bearing-free switch reluctance motor torque and suspending power optimal control method |
| CN109802613A (en) * | 2019-02-15 | 2019-05-24 | 南京邮电大学 | Based on the BSRMWR method for suppressing torque ripple for opening hold-off angle control |
| CN109802613B (en) * | 2019-02-15 | 2022-02-08 | 南京邮电大学 | BSRMWR torque ripple suppression method based on-off angle control |
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