CN106655549B - A kind of decoupling control method of composite rotors bearing-free switch reluctance motor - Google Patents

A kind of decoupling control method of composite rotors bearing-free switch reluctance motor Download PDF

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CN106655549B
CN106655549B CN201611052688.3A CN201611052688A CN106655549B CN 106655549 B CN106655549 B CN 106655549B CN 201611052688 A CN201611052688 A CN 201611052688A CN 106655549 B CN106655549 B CN 106655549B
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phase
suspending power
coil
current
reference value
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CN106655549A (en
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刘泽远
杨艳
刘程子
曹鑫
邓智泉
蔡骏
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Nanjing Post and Telecommunication University
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Nanjing Post and Telecommunication University
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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
    • 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
    • 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
    • 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

Abstract

The invention discloses a kind of decoupling control methods of composite rotors bearing-free switch reluctance motor, belong to the control field of magnetic suspension motor.Stator is salient-pole structure, and number of poles 6, rotor is made of field spider and cylindrical rotor, and field spider number of poles is 2, is wound with a winding on each stator；On the basis of optimization design stator and field spider polar arc angle, form the minimum and maximum inductance flat-top area that two width are 60 °, and implement suspension excitation in minimum inductance flat-top area and maximum induction flat-top area, torque output is realized in inductance region of variation, so that the decoupling control of torque and suspending power can be realized.Decoupling control method of the present invention suspends control similar to magnetic suspension bearing, and control is simple, implements convenience, and power switch tube number is few, controller is at low cost.

Description

A kind of decoupling control method of composite rotors bearing-free switch reluctance motor
Technical field
The present invention relates to a kind of decoupling control methods of composite rotors bearing-free switch reluctance motor, belong to magnetic levitation switch The control technology field of reluctance motor.
Background technique
Bearing-free switch reluctance motor is a kind of novel magnetically levitated motor to grow up the 1990s.Bearing-free is opened Reluctance motor is closed because integrating rotation and two functions that suspend, bearing friction bring when high-speed cruising not only can be effectively solved and damage Consumption and fever the problems such as, moreover it is possible to further play switched reluctance machines high-speed adaptability, thus strengthen its aerospace, fly Take turns the application foundation of the High Speed Fields such as energy storage, naval vessel.
With the continuous deepening of 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 decoupling control and the control precision quality that suspends when high speed, it is synchronous to bearing-free Whether reluctance motor BSRM high speed performance, which can be not fully exerted, plays a crucial role.
Composite rotors simplex winding bearing-free switch reluctance motor with full rotor position suspending power, has been obviously improved diameter To bearing capacity, while the restriction between traditional BSRM torque and the effective output area of suspending power is effectively broken, to be conducive to Realize the decoupling control of BSRM torque and suspending power.
However, needing to lead to power conversion to the electric current independent control of each winding since suspending power control mechanism restricts Device quantity is big, and controller is at high cost, so that the error resilience performance of control system and reliability reduce.Torque can be achieved for this purpose, exploring It is bearing-free motor neck with Decoupling control of levitation force and controller novel simplex winding bearing-free switch reluctance motor at low cost One research hotspot in domain.
Summary of the invention
Object of the present invention is in view of the deficiencies of the prior art, propose a kind of solution of composite rotors bearing-free switch reluctance motor Coupling control method.
The present invention to achieve the above object, adopts 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 Hindering motor includes stator, rotor and coil；The stator is salient-pole structure, and stator tooth number is 6, is wound on each stator tooth 1 coil, the coil totally 6,6 coils spatially differ 60 °；The rotor is by cylindrical rotor and field spider It constitutes, cylindrical rotor is cylindrical structure, and field spider is salient-pole structure, and the tooth number of field spider is 2；The cylinder turns Son and field spider series connection close arrangement, cover in shaft, and be arranged in the stator；The composite rotors bearing-free switch Reluctance motor is three-phase duty motor, and every phase winding is made of two coils for being spatially separated by 180 °, and in every phase winding Two coil independent controls；Two coils of A phase winding are respectively Na1And Na2, two coils of B phase winding are respectively Nb1With Nb2, two coils of C phase winding are respectively Nc1And Nc2；The stator poles arc angle is αs, field spider polar arc angle is αr, and Meet αs+60°≤αr≤120°-αs；Three-phase windings sequentially turn on once, and rotor rotates a rotor cycle, and rotor week Phase angle is 180 °；Every phase winding inductance is 180 ° about the period angle of rotor-position, 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 sections are 60 °；
The decoupling control method of the motor, which is characterized in that there are three types of operating modes for every phase winding: double winding suspends Excited work mode, torque excited work mode and simplex winding suspension excited work mode；When suspension excitation, pass through independent control 3 coil currents, wherein 2 coils in 3 coils belong to same phase, it is outstanding to work in double winding to adjust suspending power Floating excitation mode, remaining 1 coil belong to the phase in another two-phase, work in simplex winding suspension excitation mode；When torque excitation, Symmetrical excitation, and the shutdown angle by controlling the phase power switch are implemented to every two coil of phase in inductance variation zone, turned with adjusting Square；Since suspending power generates in maximum induction flat-top area and minimum inductance flat-top area, and torque is generated in inductance variation zone, is realized The decoupling control of torque and suspending power；Include the following steps:
Step A obtains X-direction and gives suspending powerSuspending power is given with Y-directionThe X-axis and two stator of place phase The center line of tooth is overlapped, 90 ° of the advanced X-axis of Y-axis；The specific steps of which are as follows:
Step A-1 obtains rotor in the real-time displacement signal alpha and β of X-axis and 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 obtains X The real-time displacement signal difference Δ α and Δ β is passed through proportional integration by real-time displacement the signal difference Δ α and Δ β in direction and Y-direction Derivative controller obtains the phase X-direction suspending powerWith Y-direction suspending power
Step B acquires rotor real time position angle θ, and the X-direction and Y-direction for calculating each phase give suspending power；
Step B-1, θ ∈ [θ1, θ2], A phase and B phase winding generate suspending power, the X-direction suspending power of A phaseThe Y-direction suspending power of A phaseThe X-direction suspending power of B phaseThe Y-direction of B phase Suspending powerWherein, θ1For the starting point in A phase minimum inductance flat-top area, advanced A aligns 150 ° of position, θ2=θ1+30°；
Step B-2, θ ∈ [θ2, θ3], A phase and C phase winding generate suspending power, the X-direction suspending power of A phaseThe Y-direction suspending power of A phaseThe X-direction suspending power of C phaseThe Y-direction of C phase Suspending powerWherein, θ3=θ2+30°；
Step B-3, θ ∈ [θ3, θ4], B phase and C phase winding generate suspending power, the X-direction suspending power of B phaseThe Y-direction suspending power of B phaseThe X-direction suspending power of C phaseThe Y-direction suspending power of C phaseWherein, θ4For the maximum electricity of A phase Feel the starting point in flat-top area, θ4=θ3+30°；
Step B-4, θ ∈ [θ4, θ5], B phase and A phase winding generate suspending power, the X-direction suspending power of B phaseThe Y-direction suspending power of B phaseThe X-direction suspending power of A phaseThe side Y of A phase To suspending powerWherein, θ5=θ4+30°；
Step B-5, θ ∈ [θ5, θ6], C phase and A phase winding generate suspending power, the X-direction suspending power of C phaseThe Y-direction suspending power of C phaseThe X-direction suspending power of A phaseThe side Y of A phase To suspending powerWherein, θ6=θ5+30°；
Step B-6, θ ∈ [θ6, θ7], C phase and B phase winding generate suspending power, the X-direction suspending power of C phaseThe Y-direction suspending power of C phaseThe X-direction suspending power of B phaseThe Y-direction suspending power of B phaseWherein, θ7=θ6+ 30 °=θ + 180 °, three-phase windings complete a turn-on cycle, and rotor rotates a rotor cycle angle, i.e. rotor rotates 180 °；
Step C adjusts θ ∈ [θ1, θ2] suspending power in section, A phase generates suspending power with B phase jointly in this section, specifically Steps are as follows:
Step C-1 adjusts A phase suspending power, and A phase works in double winding suspension excitation mode in this section；
Step C-1-1, according to the X-direction suspending power of the A phaseWith the Y-direction suspending power of A phaseAnd electric current calculation formulaObtain the reference value of A phase two coil currents difference
Wherein, kf1For suspension force coefficient, expression formula kf1=μ0lcrαsN2/2δ2, N is coil turn, μ0For Vacuum Magnetic Conductance, lcFor the axial length of cylindrical rotor, r is the radius of cylindrical rotor, and δ is gas length, INFor the specified phase of the motor Electric current；
Step C-1-2, according to the reference value of A phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of A phaseWith
Step C-1-3 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Track it respectively Reference valueWith
Step C-2 adjusts B phase suspending power, and B phase works in simplex winding suspension excitation mode in this section；
Step C-2-1, according to the suspending powerDirection differentiates two coil N of B phaseb1And Nb2On state；WhenWhen, coil Nb1Excitation is connected；WhenWhen, coil Nb2Excitation is connected；
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 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Track it respectively Reference valueWith
Step D adjusts θ ∈ [θ2, θ3] suspending power in section, A phase generates suspending power with C phase jointly in this section, specifically Steps are as follows:
Step D-1 adjusts A phase suspending power, and A phase works in double winding suspension excitation mode in this section；
Step D-1-1, according to the A phase X-direction suspending powerWith Y-direction suspending powerWith And electric current calculation formulaThe reference value of A phase two coil currents difference can be obtained
Step D-1-2, according to the reference value of A phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of A phaseWith
Step D-1-3 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Track it respectively Reference valueWith
Step D-2 adjusts C phase suspending power, and C phase works in simplex winding suspension excitation mode in this section；
Step D-2-1, according to the suspending powerDirection differentiates two coil N of C phasec1And Nc2On state；WhenWhen, coil Nc1Excitation is connected, whenWhen, coil Nc2Excitation is connected；
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 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Track it respectively Reference valueWith
Step E adjusts θ ∈ [θ3, θ4] suspending power in section, B phase generates suspending power with C phase jointly in this section, specifically Steps are as follows:
Step E-1 adjusts B phase suspending power, and B phase works in double winding suspension excitation mode in this section；
Step E-1-1, according to the X-direction suspending power of the B phaseIt suspends with the Y-direction of B phase PowerAnd electric current calculation formulaObtain two line of B phase The reference value of loop current difference
Step E-1-2, according to the reference value of B phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of B phaseWith
Step E-1-3 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Track it respectively Reference valueWith
Step E-2 adjusts C phase suspending power, and C phase works in simplex winding suspension excitation mode in this section；
Step E-2-1, according to the suspending powerDirection differentiates two coil N of C phasec1And Nc2On state；WhenWhen, coil Nc1Excitation is connected, whenWhen, coil Nc2Excitation is connected；
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 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Track it respectively Reference valueWith
Step F adjusts θ ∈ [θ4, θ5] suspending power in section, B phase generates suspending power with A phase jointly in this section, specifically Steps are as follows:
Step F-1 adjusts B phase suspending power, and B phase works in double winding suspension excitation mode in this section；
Step F-1-1, according to the X-direction suspending power of the B phaseWith the Y-direction suspending power of B phaseAnd electric current calculation formulaObtain the reference value of B phase two coil currents difference
Step F-1-2, according to the reference value of B phase two coil currents differenceIt can be by electric current calculation formulaWithResolve the reference value of two coil current of B phaseWith
Step F-1-3 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Track it respectively Reference valueWith
Step F-2 adjusts A phase suspending power, and A phase works in simplex winding suspension excitation mode in this section；
Step F-2-1, according to the suspending powerDirection differentiates two coil N of A phasea1And Na2On state；WhenWhen, coil Na1Excitation is connected, whenWhen, coil Na2Excitation is connected；
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 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Track it respectively Reference valueWith
Step G adjusts θ ∈ [θ5, θ6] suspending power in section, C phase generates suspending power with A phase jointly in this section, specifically Steps are as follows:
Step G-1 adjusts C phase suspending power, and C phase works in double winding suspension excitation mode in this section；
Step G-1-1, according to the X-direction suspending power of the C phaseWith the Y-direction suspending power of C phaseAnd electric current calculation formulaObtain the reference value of C phase two coil currents difference
Step G-1-2, according to the reference value of C phase two coil currents differenceBy electric current calculation formula WithObtain the reference value of two coil current of C phaseWith
Step G-1-3 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Track it respectively Reference valueWith
Step G-2 adjusts A phase suspending power, and A phase works in simplex winding suspension excitation mode in this section；
Step G-2-1, according to the suspending powerDirection differentiates two coil N of A phasea1And Na2On state；When When, coil Na1Excitation is connected, whenWhen, coil Na2Excitation is connected；
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 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Track it respectively Reference valueWith
Step I adjusts θ ∈ [θ6, θ7] suspending power in section, C phase generates suspending power with B phase jointly in this section, specifically Steps are as follows:
Step I-1 adjusts C phase suspending power, and C phase works in double winding suspension excitation mode in this section；
Step I-1-1, according to the X-direction suspending power of the C phaseIt suspends with the Y-direction of C phase PowerAnd electric current calculation formulaObtain C phase two The reference value of coil current difference
Step I-1-2, according to the reference value of C phase two coil currents differenceBy electric current calculation formula WithObtain the reference value of two coil current of C phaseWith
Step I-1-3 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Track it respectively Reference valueWith
Step I-2 adjusts B phase suspending power, and B phase works in simplex winding suspension excitation mode in this section；
Step I-2-1, according to the suspending powerDirection differentiates two coil N of B phaseb1And Nb2On state；WhenWhen, coil Nb1Excitation is connected, whenWhen, coil Nb2Excitation is connected；
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 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Track it respectively Reference valueWith
Step J adjusts torque, the specific steps are as follows:
Step J-1 acquires the real-time revolving speed of rotor, rotor velocity ω is calculated；
The reference angular velocities ω of step J-2, rotor velocity ω and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step J-3, the rotation speed difference deltan ω obtain shutdown angle θ by pi controlleroff, utilize angle position Control method turns off angle θ by dynamic regulationoffValue, to adjust each phase torque in real time；
Step J-4, θ ∈ [θ1, θ2] when, C phase is in torque excited work mode, C correlation angle of rupture θoffC=θoff；θ∈ [θ3, θ4] when, A phase is in torque excited work mode, A correlation angle of rupture θoffA=θoff；θ∈[θ5, θ6] when, B phase is encouraged in torque Magnetic operating mode, B correlation angle of rupture θoffB=θoff。
Beneficial effects of the present invention: the invention proposes a kind of decoupling controls of composite rotors bearing-free switch reluctance motor Method, the stator of the composite rotors bearing-free switch reluctance motor are salient-pole structure, number of poles 6, rotor by field spider and Cylindrical rotor is constituted, and field spider number of poles is 2, is wound with a coil on 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；Every phase winding is by two coil groups At, and the equal independent control of each coil；When suspension excitation, 3 coils need to be simultaneously turned on, by controlling 3 coil currents, to adjust Suspending power is saved, wherein 2 coils in 3 coils belong to same phase, works in double winding suspension excitation mode, residue 1 A coil belongs to the phase in another two-phase, works in simplex winding suspension excitation mode；When torque excitation, in inductance variation zone to every Two coil of phase implements symmetrical excitation, and the shutdown angle by controlling the phase power switch, to adjust torque；Due in minimum inductance Flat-top area and maximum induction flat-top area implement suspension excitation, torque output are realized in inductance region of variation, so that torque can be realized With the decoupling control of suspending power；With technical solution of the present invention, following technical effect can be reached:
(1) decoupling control of torque and suspending power can be achieved；
(2) control is simple, implements convenience；
(3) power switch tube is few, and controller is at low cost.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of composite rotors bearing-free switch reluctance motor.
Fig. 2 is the A phase winding schematic diagram 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 symbols: in Fig. 1 to Fig. 4,1 is stator, and 2 be field spider, and 3 be cylindrical rotor, and 4 be coil, and 5 be to turn Axis, ia1+、ia2+ be respectively two coils of A phase inflow electric current, ia1-、ia2It is respectively the outflow electric current of two coils of A phase, ib1 +、ib2+ be respectively two coils of B phase inflow electric current, ib1-、ib2It is respectively the outflow electric current of two coils of B phase, ic1+、ic2+ The respectively inflow electric current of two coils of C phase, ic1-、ic2It is respectively the outflow electric current of two coils of C phase, Fα, FβRespectively A phase The suspending power that winding is generated in the X of A phase, Y direction, Fα*, FβIt * is the reference value of suspending power, FAα*, FAβIt * is A phase suspending power Reference value, FBα*, FBβIt * is the reference value of B phase suspending power, FCα*, FCβIt * is the reference value of C phase suspending power, α, β are respectively that rotor exists Center displacement on 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 θ, θ1、θ2、θ3、θ4、θ5、θ6Indicate different rotor position angles, θon、θoffRespectively phase winding rises Shutdown angle at the end of the turn-on angle and torque excitation of the conducting of beginning excitation, θonA、θoffARespectively A phase winding initial excitation is connected Turn-on angle and torque excitation at the end of shutdown angle, θonB、θoffBRespectively B phase winding initial excitation conducting turn-on angle and Shutdown angle at the end of torque excitation, θonC、θoffCThe respectively turn-on angle and torque excitation knot of C phase winding initial excitation conducting Shutdown angle when beam.
Specific embodiment
With reference to the accompanying drawing, to a kind of skill of the decoupling control method of composite rotors bearing-free switch reluctance motor of the present invention Art scheme is described in detail:
As shown in Figure 1, being the three dimensional structure diagram of composite rotors bearing-free switch reluctance motor, wherein 1 is stator, 2 It is field spider, 3 be cylindrical rotor, and 4 be coil, and 5 be shaft.
Composite rotors bearing-free switch reluctance motor includes stator, rotor and coil；The stator is salient-pole structure, number of poles It is 6；The rotor is made 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, cover in shaft, and be arranged in the stator；Often A stator tooth is wound with 1 coil, and totally 6.
Fig. 2 is the three-phase windings schematic diagram of composite rotors bearing-free switch reluctance motor.Every phase winding is by being spatially separated by 180 ° of two coils are constituted.The symmetrical magnetic flux in the two poles of the earth that every two coil current of phase generates is distributed in NS.B, C phase winding and A phase around Group structure is identical, only differs 60 ° and -60 ° with A phase in position.Two coils of A phase are respectively Na1And Na2, two coils of B phase Respectively Nb1And Nb2, two coils of C phase are respectively Nc1And Nc2；The stator poles arc angle is αs, field spider polar arc angle is αr, the two need to meet αs+60°≤αr≤120°-αs, to form maximum induction flat-top area and the minimum electricity that 2 broadbands are 60 ° Feel 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 are as follows: inspection Measured motor rotor position information obtains the turn-on angle θ of every phase windingon, every phase begins to turn on excitation；Displacement error signal is carried out PID, which is adjusted, obtains the given suspending power F of every phaseα*, Fβ*, it is distributed through suspending power and calculates link, obtain 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 phase suspending power is respectively FBαAnd F *Bβ*, the ginseng of C phase suspending power Examining value is respectively FCαAnd F *Cβ*, the reference value of each phase coil current, two lines of A phase are obtained by levitating current controller later The reference value of loop current is respectively ia1And i *a2*, the reference value of two coil currents of B phase is respectively ib1And i *b2*, two lines of C phase The reference value of loop current is respectively ic1And i *c2*, using each phase excitation controller, make each phase practical using Current cut control The reference value of each phase winding electric current of current tracking, to generate required suspending power.
Motor rotor position information is detected, actual speed ω is calculated, speed error signal is subjected to PI adjusting, is obtained Obtain the shutdown angle θ of every phase windingoff, by turning off angle θoffThe conducting width of power circuit is controlled, and then dynamic regulation output turns Square.
Fig. 4 is the three-phase windings inductance and current waveform schematic diagram of composite rotors bearing-free switch reluctance motor.
For realize the torque of composite rotors simplex winding bearing-free switch reluctance motor and suspending power decoupling control, using one kind Novel switch control strategy.One coil of phase two simultaneously turns in minimum inductance flat-top area, carries out asymmetric excitation；Another phase exists A coil is connected in maximum induction flat-top area, and 3 coils of two-phase generate the radial force 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 in every phase winding Three kinds of operating modes such as suspension excitation, torque excitation and simplex winding suspension excitation.
As shown in figure 4, every phase winding inductance is 180 ° about the period angle of rotor-position, 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 sections is 60 °, wherein electricity Feeling variation zone includes two regions, respectively inductance rising area and inductance descending 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 generate torque, and inductance rising area generates positive torque, and inductance descending area 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 two windings of A phase are begun to turn on, and are carried out asymmetry and are encouraged Magnetic, the coil conducting in B phase, one coil of two coils of A phase and B phase generates suspending power jointly, and works as θ=θ2When, B Mutually turn off；This section torque is generated by the symmetrical excitation of two coil of C phase, and in θ=θoffCPlace, C phase turn off, the phase torque excitation knot Beam.
(2) as rotor position angle θ ∈ [θ2, θ3] when, two coils of A phase continue asymmetric excitation, in θ=θ2C phase one, place Coil is begun to turn on, and one coil of two coils of A phase and C phase generates suspending power jointly, and in θ=θ3Place, two coils of A phase Terminate asymmetric excitation, starts symmetrical excitation.
(3) as rotor position angle θ ∈ [θ3, θ4] when, two symmetrical excitations of coil of A phase generate torque, and in θ=θoffA When, the shutdown of A phase winding terminates torque excitation；In θ=θ3Place's two coil of B phase is begun to turn on, and carries out asymmetric excitation, C phase winding One coil continues to be connected, and one coil of two coils of B phase and C phase generates suspending power jointly.
(4) as rotor position angle θ ∈ [θ4, θ5] when, two coils of B phase continue asymmetric excitation, in θ=θ4A phase one, place Coil is begun to turn on, and one coil of two coils of B phase and A phase generates suspending power jointly；And work as θ=θ5When, two coils of B phase Terminate asymmetric excitation, starts symmetrical excitation；
(5) as rotor position angle θ ∈ [θ5, θ6] when, in θ=θ5Place's two coils of C phase are begun to turn on, and are carried out asymmetry and are encouraged Magnetic, the coil conducting in A phase, one coil of two coils of C phase and A phase generates suspending power jointly, and works as θ=θ6When, A Mutually turn off；This section torque is generated by the symmetrical excitation of two coil of B phase, and in θ=θoffBPlace, B phase turn off, the phase torque excitation knot Beam.
(6) as rotor position angle θ ∈ [θ6, θ7] when, two coils of C phase continue asymmetric excitation, in θ=θ6B phase one, place Coil is begun to turn on, and one coil of two coils of C phase and B phase generates suspending power jointly；And in θ=θ7Place, two coils of C phase Terminate asymmetric excitation, starts symmetrical excitation；Simultaneously in θ=θ7Place, two coils of A phase start asymmetric excitation, and entrance is next A excitation period.
As A phase Na1And Na2Two coil asymmetry excitations, and B phase coil Nb1When in the conducting of suspension excitation, A phase X and Y Direction suspending power FAαAnd FAβExpression formula are as follows:
FAα=kf1(ia1+ia2)(ia1-ia2),FAβ=0 (1)
Wherein kf1For suspension force coefficient, expression formula are as follows:
kf1=μ0lcrαsN2/2δ2 (2)
In formula, μ0For space permeability, lcFor the axial length of cylindrical rotor, r is the radius of cylindrical rotor, αsFor stator Polar arc angle, δ is gas length, and N is single coil the number of turns；
B phase coil Nb1The X and Y-direction suspending power F of generationBαAnd FBβExpression formula be
Wherein kf2For suspension force coefficient, expression formula are as follows:
kf2=μ0(lc+lt)rαsN2/2δ2 (4)
In formula, ltFor the axial length of field spider.
It enables:
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 two coil of A phase Current difference.
After formula (5) are substituted into formula (1), obtain:
FAα=4kf1INΔisa,FAβ=0 (6)
Work as FαAnd F *β* when known, the reference value of A phase, B phase suspending power can be calculated:
The reference value of A phase two coils and one coil current of B phase can be calculated by formula (7), wherein two coil current of A phase is poor Reference value are as follows:
The reference value of one coil current of B phase:
For the decoupling control for realizing composite rotors bearing-free switch reluctance motor, there are three types of operating modes for every phase winding: Double winding suspension excited work mode, torque excited work mode and simplex winding suspension excited work mode；When 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； When torque excitation, symmetrical excitation is implemented to two coils of every phase in inductance region of variation, and by controlling the phase power switch Angle is turned off, to adjust torque；Since suspending power generates in maximum induction flat-top area and minimum inductance flat-top area, and torque generates Inductance variation zone, therefore can realize the decoupling control of torque and suspending power；Include the following steps:
Step A obtains X-direction and gives suspending powerSuspending power is given with Y-directionThe X-axis and two stator of place phase The center line of tooth is overlapped, 90 ° of the advanced X-axis of Y-axis；The specific steps of which are as follows:
Step A-1 obtains rotor in the real-time displacement signal alpha and β of X-axis and 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 obtains X The real-time displacement signal difference Δ α and Δ β is passed through proportional integration by real-time displacement the signal difference Δ α and Δ β in direction and Y-direction Derivative controller obtains the phase X-direction suspending powerWith Y-direction suspending power
Step B acquires rotor real time position angle θ, and the X-direction and Y-direction for calculating each phase give suspending power；
Step B-1, θ ∈ [θ1, θ2], A phase and B phase winding generate suspending power, the X-direction suspending power of A phaseThe Y-direction suspending power of A phaseThe X-direction suspending power of B phaseThe side Y of B phase To suspending powerWherein, θ1For the starting point in A phase minimum inductance flat-top area, advanced A aligns 150 ° of position, θ2=θ1+ 30°；
Step B-2, θ ∈ [θ2, θ3], A phase and C phase winding generate suspending power, the X-direction suspending power of A phaseThe Y-direction suspending power of A phaseThe X-direction suspending power of C phaseThe side Y of C phase To suspending powerWherein, θ3=θ2+30°；
Step B-3, θ ∈ [θ3, θ4], B phase and C phase winding generate suspending power, the X-direction suspending power of B phaseThe Y-direction suspending power of B phaseThe X-direction suspending power of C phaseThe Y-direction suspending power of C phaseWherein, θ4For the maximum electricity of A phase Feel the starting point in flat-top area, θ4=θ3+30°；
Step B-4, θ ∈ [θ4, θ5], B phase and A phase winding generate suspending power, the X-direction suspending power of B phaseThe Y-direction suspending power of B phaseThe X-direction suspending power of A phaseThe side Y of A phase To suspending powerWherein, θ5=θ4+30°；
Step B-5, θ ∈ [θ5, θ6], C phase and A phase winding generate suspending power, the X-direction suspending power of C phaseThe Y-direction suspending power of C phaseThe X-direction suspending power of A phaseThe side Y of A phase To suspending powerWherein, θ6=θ5+30°；
Step B-6, θ ∈ [θ6, θ7], C phase and B phase winding generate suspending power, the X-direction suspending power of C phaseThe Y-direction suspending power of C phaseThe X-direction suspending power of B phaseThe Y-direction suspending power of B phaseWherein, θ7=θ6+ 30 °=θ+ 180 °, three-phase windings complete a turn-on cycle, and rotor rotates a rotor cycle angle, i.e. rotor rotates 180 °；
Step C adjusts θ ∈ [θ1, θ2] suspending power in section, A phase generates suspending power with B phase jointly in this section, specifically Steps are as follows:
Step C-1 adjusts A phase suspending power, and A phase works in double winding suspension excitation mode in this section；
Step C-1-1, according to the X-direction suspending power of the A phaseWith the Y-direction suspending power of A phaseAnd electric current calculation formulaObtain the reference value of A phase two coil currents difference
Wherein, kf1For suspension force coefficient, expression formula kf1=μ0lcrαsN2/2δ2, N is coil turn, μ0For Vacuum Magnetic Conductance, lcFor the axial length of cylindrical rotor, r is the radius of cylindrical rotor, and δ is gas length, INFor the specified phase of the motor Electric current；
Step C-1-2, according to the reference value of A phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of A phaseWith
Step C-1-3 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Track it respectively Reference valueWith
Step C-2 adjusts B phase suspending power, and B phase works in simplex winding suspension excitation mode in this section；
Step C-2-1, according to the suspending powerDirection differentiates two coil N of B phaseb1And Nb2On state；WhenWhen, coil Nb1Excitation is connected；WhenWhen, coil Nb2Excitation is connected；
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 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Track it respectively Reference valueWith
Step D adjusts θ ∈ [θ2, θ3] suspending power in section, A phase generates suspending power with C phase jointly in this section, specifically Steps are as follows:
Step D-1 adjusts A phase suspending power, and A phase works in double winding suspension excitation mode in this section；
Step D-1-1, according to the A phase X-direction suspending powerWith Y-direction suspending powerWith And electric current calculation formulaThe reference value of A phase two coil currents difference can be obtained
Step D-1-2, according to the reference value of A phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of A phaseWith
Step D-1-3 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Track it respectively Reference valueWith
Step D-2 adjusts C phase suspending power, and C phase works in simplex winding suspension excitation mode in this section；
Step D-2-1, according to the suspending powerDirection differentiates two coil N of C phasec1And Nc2On state；WhenWhen, coil Nc1Excitation is connected, whenWhen, coil Nc2Excitation is connected；
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 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Track it respectively Reference valueWith
Step E adjusts θ ∈ [θ3, θ4] suspending power in section, B phase generates suspending power with C phase jointly in this section, specifically Steps are as follows:
Step E-1 adjusts B phase suspending power, and B phase works in double winding suspension excitation mode in this section；
Step E-1-1, according to the X-direction suspending power of the B phaseIt suspends with the Y-direction of B phase PowerAnd electric current calculation formulaObtain two line of B phase The reference value of loop current difference
Step E-1-2, according to the reference value of B phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of B phaseWith
Step E-1-3 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Track it respectively Reference valueWith
Step E-2 adjusts C phase suspending power, and C phase works in simplex winding suspension excitation mode in this section；
Step E-2-1, according to the suspending powerDirection differentiates two coil N of C phasec1And Nc2On state；WhenWhen, coil Nc1Excitation is connected, whenWhen, coil Nc2Excitation is connected；
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 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Track it respectively Reference valueWith
Step F adjusts θ ∈ [θ4, θ5] suspending power in section, B phase generates suspending power with A phase jointly in this section, specifically Steps are as follows:
Step F-1 adjusts B phase suspending power, and B phase works in double winding suspension excitation mode in this section；
Step F-1-1, according to the X-direction suspending power of the B phaseWith the Y-direction suspending power of B phaseAnd electric current calculation formulaObtain the reference value of B phase two coil currents difference
Step F-1-2, according to the reference value of B phase two coil currents differenceIt can be by electric current calculation formulaWithResolve the reference value of two coil current of B phaseWith
Step F-1-3 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Track it respectively Reference valueWith
Step F-2 adjusts A phase suspending power, and A phase works in simplex winding suspension excitation mode in this section；
Step F-2-1, according to the suspending powerDirection differentiates two coil N of A phasea1And Na2On state；WhenWhen, coil Na1Excitation is connected, whenWhen, coil Na2Excitation is connected；
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 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Track it respectively Reference valueWith
Step G adjusts θ ∈ [θ5, θ6] suspending power in section, C phase generates suspending power with A phase jointly in this section, specifically Steps are as follows:
Step G-1 adjusts C phase suspending power, and C phase works in double winding suspension excitation mode in this section；
Step G-1-1, according to the X-direction suspending power of the C phaseWith the Y-direction suspending power of C phaseAnd electric current calculation formulaObtain the reference value of C phase two coil currents difference
Step G-1-2, according to the reference value of C phase two coil currents differenceBy electric current calculation formula WithObtain the reference value of two coil current of C phaseWith
Step G-1-3 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Track it respectively Reference valueWith
Step G-2 adjusts A phase suspending power, and A phase works in simplex winding suspension excitation mode in this section；
Step G-2-1, according to the suspending powerDirection differentiates two coil N of A phasea1And Na2On state；When When, coil Na1Excitation is connected, whenWhen, coil Na2Excitation is connected；
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 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Track it respectively Reference valueWith
Step I adjusts θ ∈ [θ6, θ7] suspending power in section, C phase generates suspending power with B phase jointly in this section, specifically Steps are as follows:
Step I-1 adjusts C phase suspending power, and C phase works in double winding suspension excitation mode in this section；
Step I-1-1, according to the X-direction suspending power of the C phaseIt suspends with the Y-direction of C phase PowerAnd electric current calculation formulaObtain C phase two The reference value of coil current difference
Step I-1-2, according to the reference value of C phase two coil currents differenceBy electric current calculation formula WithObtain the reference value of two coil current of C phaseWith
Step I-1-3 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Track it respectively Reference valueWith
Step I-2 adjusts B phase suspending power, and B phase works in simplex winding suspension excitation mode in this section；
Step I-2-1, according to the suspending powerDirection differentiates two coil N of B phaseb1And Nb2On state；When When, coil Nb1Excitation is connected, whenWhen, coil Nb2Excitation is connected；
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 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Track it respectively Reference valueWith
Step J adjusts torque, the specific steps are as follows:
Step J-1 acquires the real-time revolving speed of rotor, rotor velocity ω is calculated；
The reference angular velocities ω of step J-2, rotor velocity ω and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step J-3, the rotation speed difference deltan ω obtain shutdown angle θ by pi controlleroff, utilize angle position Control method turns off angle θ by dynamic regulationoffValue, to adjust each phase torque in real time；
Step J-4, θ ∈ [θ1, θ2] when, C phase is in torque excited work mode, C correlation angle of rupture θoffC=θoff；θ∈ [θ3, θ4] when, A phase is in torque excited work mode, A correlation angle of rupture θoffA=θoff；θ∈[θ5, θ6] when, B phase is encouraged in torque Magnetic operating mode, B correlation angle of rupture θoffB=θoff。
In conclusion the Novel Control that the present invention uses realizes 6/2 pole composite rotors bearing-free switch magnetic-resistance electricity The decoupling control of machine torque and suspending power.
For those skilled in the art, it is excellent that association's others can be easy to according to the above implementation type Point and deformation.Therefore, the invention is not limited to above-mentioned specific example, as just example to a kind of form of the invention into 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 homotypes by the obtained technical solution of various equivalent replacements 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 stator tooth number is 6, is wound with 1 on each stator tooth A coil, the coil totally 6,6 coils spatially differ 60 °；The rotor is by cylindrical rotor and field spider It constitutes, cylindrical rotor is cylindrical structure, and field spider is salient-pole structure, and the tooth number of field spider is 2；The cylinder turns Son and field spider series connection close arrangement, cover in shaft, and be arranged in the stator；The composite rotors bearing-free switch Reluctance motor is three-phase duty motor, and every phase winding is made of two coils for being spatially separated by 180 °, and in every phase winding Two coil independent controls；Two coils of A phase winding are respectively Na1And Na2, two coils of B phase winding are respectively Nb1With Nb2, two coils of C phase winding are respectively Nc1And Nc2；The stator poles arc angle is αs, field spider polar arc angle is αr, and Meet αs+60°≤αr≤120°-αs；Three-phase windings sequentially turn on once, and rotor rotates a rotor cycle, and rotor week Phase angle is 180 °；Every phase winding inductance is 180 ° about the period angle that rotor-position changes, 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 sections is 60 °；
The decoupling control method of the motor, which is characterized in that there are three types of operating modes for every phase winding: double winding suspension excitation Operating mode, torque excited work mode and simplex winding suspension excited work mode；When suspension excitation, pass through independent control 3 Coil current, wherein 2 coils in 3 coils belong to same phase, works in double winding suspension and encourages to adjust suspending power Magnetic mode, remaining 1 coil belong to the phase in another two-phase, work in simplex winding suspension excitation mode；When torque excitation, in electricity Feel variation zone and symmetrical excitation, and the shutdown angle by controlling the phase power switch are implemented to every two coil of phase, to adjust torque；By It generates in suspending power in maximum induction flat-top area and minimum inductance flat-top area, and torque is generated in inductance variation zone, realizes torque With the decoupling control of suspending power；Include the following steps:
Step A obtains X-direction and gives suspending powerSuspending power is given with Y directionThe X-axis and two stator of place phase The center line of tooth is overlapped, 90 ° of the advanced X-axis of Y-axis；The specific steps of which are as follows:
Step A-1 obtains rotor in the real-time displacement signal alpha and β of X-axis and 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 obtains X-direction With real-time displacement the signal difference Δ α and Δ β of Y-direction, the real-time displacement signal difference Δ α and Δ β is passed through into proportional integral differential Controller obtains the phase X-direction suspending powerWith Y-direction suspending power
Step B acquires rotor real time position angle θ, and the X-direction and Y-direction for calculating each phase give suspending power；
Step B-1, θ ∈ [θ1, θ2], A phase and B phase winding generate suspending power, the X-direction suspending power of A phase The Y-direction suspending power of A phaseThe X-direction suspending power of B phaseThe Y-direction suspending power of B phaseIts In, θ1For the starting point in A phase minimum inductance flat-top area, advanced A aligns 150 ° of position, θ2=θ1+30°；
Step B-2, θ ∈ [θ2, θ3], A phase and C phase winding generate suspending power, the X-direction suspending power of A phase The Y-direction suspending power of A phaseThe X-direction suspending power of C phaseThe Y-direction suspending power of C phase Wherein, θ3=θ2+30°；
Step B-3, θ ∈ [θ3, θ4], B phase and C phase winding generate suspending power, the X-direction suspending power of B phaseThe Y-direction suspending power of B phaseThe X-direction suspending power of C phaseThe Y-direction suspending power of C phaseWherein, θ4For the maximum electricity of A phase Feel the starting point in flat-top area, θ4=θ3+30°；
Step B-4, θ ∈ [θ4, θ5], B phase and A phase winding generate suspending power, the X-direction suspending power of B phaseB phase Y-direction suspending powerThe X-direction suspending power of A phaseThe Y-direction suspending power of A phase Wherein, θ5=θ4+30°；
Step B-5, θ ∈ [θ5, θ6], C phase and A phase winding generate suspending power, the X-direction suspending power of C phaseC phase Y-direction suspending powerThe X-direction suspending power of A phaseThe Y-direction suspending power of A phase Wherein, θ6=θ5+30°；
Step B-6, θ ∈ [θ6, θ7], C phase and B phase winding generate suspending power, the X-direction suspending power of C phaseThe Y-direction suspending power of C phaseThe X-direction suspending power of B phaseThe Y-direction suspending power of B phaseWherein, θ7=θ6+ 30 °=θ + 180 °, three-phase windings complete a turn-on cycle, and rotor rotates a rotor cycle angle, i.e. rotor rotates 180 °；
Step C adjusts θ ∈ [θ1, θ2] suspending power in section, A phase generates suspending power, specific steps with B phase jointly in this section It is as follows:
Step C-1 adjusts A phase suspending power, and A phase works in double winding suspension excitation mode in this section；
Step C-1-1, according to the X-direction suspending power of the A phaseWith the Y-direction suspending power of A phaseAnd electric current calculation formulaObtain the reference value of A phase two coil currents difference
Wherein, kf1For suspension force coefficient, expression formula kf1=μ0lcrαsN2/2δ2, N is coil turn, μ0For space permeability, lcFor the axial length of cylindrical rotor, r is the radius of cylindrical rotor, and δ is gas length, INFor the specified phase current of the motor；
Step C-1-2, according to the reference value of A phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of A phaseWith
Step C-1-3 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Its reference is tracked respectively ValueWith
Step C-2 adjusts B phase suspending power, and B phase works in simplex winding suspension excitation mode in this section；
Step C-2-1, according to the suspending powerDirection differentiates two coil N of B phaseb1And Nb2On state；WhenWhen, Coil Nb1Excitation is connected；WhenWhen, coil Nb2Excitation is connected；
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, lt is the axial length of field spider；
Step C-2-3 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Its reference is tracked respectively ValueWith
Step D adjusts θ ∈ [θ2, θ3] suspending power in section, A phase generates suspending power, specific steps with C phase jointly in this section It is as follows:
Step D-1 adjusts A phase suspending power, and A phase works in double winding suspension excitation mode in this section；
Step D-1-1, according to the A phase X-direction suspending powerWith Y-direction suspending powerAnd electricity Stream calculation formulaThe reference value of A phase two coil currents difference can be obtained
Step D-1-2, according to the reference value of A phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of A phaseWith
Step D-1-3 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Its reference is tracked respectively ValueWith
Step D-2 adjusts C phase suspending power, and C phase works in simplex winding suspension excitation mode in this section；
Step D-2-1, according to the suspending powerDirection differentiates two coil N of C phasec1And Nc2On state；WhenWhen, Coil Nc1Excitation is connected, whenWhen, coil Nc2Excitation is connected；
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 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Its reference is tracked respectively ValueWith
Step E adjusts θ ∈ [θ3, θ4] suspending power in section, B phase generates suspending power, specific steps with C phase jointly in this section It is as follows:
Step E-1 adjusts B phase suspending power, and B phase works in double winding suspension excitation mode in this section；
Step E-1-1, according to the X-direction suspending power of the B phaseWith the Y-direction suspending power of B phaseAnd electric current calculation formulaObtain two coil of B phase The reference value of current difference
Step E-1-2, according to the reference value of B phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of B phaseWith
Step E-1-3 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Its reference is tracked respectively ValueWith
Step E-2 adjusts C phase suspending power, and C phase works in simplex winding suspension excitation mode in this section；
Step E-2-1, according to the suspending powerDirection differentiates two coil N of C phasec1And Nc2On state；WhenWhen, Coil Nc1Excitation is connected, whenWhen, coil Nc2Excitation is connected；
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 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Its reference is tracked respectively ValueWith
Step F adjusts θ ∈ [θ4, θ5] suspending power in section, B phase generates suspending power, specific steps with A phase jointly in this section It is as follows:
Step F-1 adjusts B phase suspending power, and B phase works in double winding suspension excitation mode in this section；
Step F-1-1, according to the X-direction suspending power of the B phaseWith the Y-direction suspending power of B phaseWith And electric current calculation formulaObtain the reference value of B phase two coil currents difference
Step F-1-2, according to the reference value of B phase two coil currents differenceIt can be by electric current calculation formulaWithResolve the reference value of two coil current of B phaseWith
Step F-1-3 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Its reference is tracked respectively ValueWith
Step F-2 adjusts A phase suspending power, and A phase works in simplex winding suspension excitation mode in this section；
Step F-2-1, according to the suspending powerDirection differentiates two coil N of A phasea1And Na2On state；WhenWhen, Coil Na1Excitation is connected, whenWhen, coil Na2Excitation is connected；
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 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Its reference is tracked respectively ValueWith
Step G adjusts θ ∈ [θ5, θ6] suspending power in section, C phase generates suspending power, specific steps with A phase jointly in this section It is as follows:
Step G-1 adjusts C phase suspending power, and C phase works in double winding suspension excitation mode in this section；
Step G-1-1, according to the X-direction suspending power of the C phaseWith the Y-direction suspending power of C phaseWith And electric current calculation formulaObtain the reference value of C phase two coil currents difference
Step G-1-2, according to the reference value of C phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of C phaseWith
Step G-1-3 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Its reference is tracked respectively ValueWith
Step G-2 adjusts A phase suspending power, and A phase works in simplex winding suspension excitation mode in this section；
Step G-2-1, according to the suspending powerDirection differentiates two coil N of A phasea1And Na2On state；WhenWhen, Coil Na1Excitation is connected, whenWhen, coil Na2Excitation is connected；
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 allows the actual current i of two coil of A phase using Current cut control methoda1And ia2Its reference is tracked respectively ValueWith
Step I adjusts θ ∈ [θ6, θ7] suspending power in section, C phase generates suspending power, specific steps with B phase jointly in this section It is as follows:
Step I-1 adjusts C phase suspending power, and C phase works in double winding suspension excitation mode in this section；
Step I-1-1, according to the X-direction suspending power of the C phaseWith the Y-direction suspending power of C phaseAnd electric current calculation formulaObtain two line of C phase The reference value of loop current difference
Step I-1-2, according to the reference value of C phase two coil currents differenceBy electric current calculation formulaWithObtain the reference value of two coil current of C phaseWith
Step I-1-3 allows the actual current i of two coil of C phase using Current cut control methodc1And ic2Its reference is tracked respectively ValueWith
Step I-2 adjusts B phase suspending power, and B phase works in simplex winding suspension excitation mode in this section；
Step I-2-1, according to the suspending powerDirection differentiates two coil N of B phaseb1And Nb2On state；WhenWhen, Coil Nb1Excitation is connected, whenWhen, coil Nb2Excitation is connected；
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 allows the actual current i of two coil of B phase using Current cut control methodb1And ib2Its reference is tracked respectively ValueWith
Step J adjusts torque, the specific steps are as follows:
Step J-1 acquires the real-time revolving speed of rotor, rotor velocity ω is calculated；
The reference angular velocities ω of step J-2, rotor velocity ω and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step J-3, the rotation speed difference deltan ω obtain shutdown angle θ by pi controlleroff, utilize Angle-domain imaging Method turns off angle θ by dynamic regulationoffValue, to adjust each phase torque in real time；
Step J-4, θ ∈ [θ1, θ2] when, C phase is in torque excited work mode, C correlation angle of rupture θoffC=θoff；θ∈[θ3, θ4] When, A phase is in torque excited work mode, A correlation angle of rupture θoffA=θoff；θ∈[θ5, θ6] when, B phase is in torque excited work Mode, B correlation angle of rupture θoffB=θoff。
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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
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CN109995296B (en) * 2019-01-14 2020-12-08 南京航空航天大学 Method for optimally controlling torque and suspension force of bearingless switched reluctance motor
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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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

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Publication number Priority date Publication date Assignee Title
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

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