CN106787538B - Hybrid magnetic suspension motor - Google Patents

Hybrid magnetic suspension motor Download PDF

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Publication number
CN106787538B
CN106787538B CN201710110758.4A CN201710110758A CN106787538B CN 106787538 B CN106787538 B CN 106787538B CN 201710110758 A CN201710110758 A CN 201710110758A CN 106787538 B CN106787538 B CN 106787538B
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motor
radial
axial
rotor
stator
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CN106787538A (en
Inventor
曾励
朱忠捷
孙冲
李艳
曾志
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Yangzhou University
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Yangzhou University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • 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
    • H02K1/146—Stator cores with salient poles consisting of a generally annular yoke 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
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
    • H02K1/278—Surface mounted magnets; Inset magnets
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

Hybrid magnetic suspension motor, including front and rear cover, rack, motor radial rotor, motor radial stator, motor axial rotor, motor axial stator, motor shaft, auxiliary bearing and detection system.Motor radial rotor and axial rotor are arranged on rotor discs, rotor part inner sleeve machine shaft passes through auxiliary bearing and the compact installation of motor body, end cap two sides are equipped with motor axial direction stator winding, and radial stator winding is mounted on the inside of rack, rack and the compact installation of front and rear cover.Shaft position sensor, radial-direction position sensor and speed probe are equipped in motor.Motor stator winding controls motor torque by the way of simplex winding and radial suspension position is stablized.The present invention realizes the contactless no friction of rotor and stator by magnetic levitation technology, and no abrasion bearing directly drives wheel rotation by electromagnetic torque, shortens transmission chain, improves drive efficiency.Using the winding configuration of simplex winding, electric machine structure is simplified, manufacturing cost is reduced, while electromagnetic torque is increased using the mode of radial-axial bi-motor, there is better economic benefit and biggish performance boost.

Description

Hybrid magnetic suspension motor
Technical field
The present invention relates to a kind of novel magnetic suspension motors, using magnetic suspension principle of induction, specifically design a kind of hybrid Magnetic suspension motor.
Background technique
Magnetic suspension motor is that magnetic levitation technology is used to carry out axial force and the radial force of balance motor shaft to stablize motor and turn Shaft position substitutes the mechanical constraint of traditional bearing by the constraint of the magnetic force of electromagnetic force, realizes the contactless of rotor and stator Without friction, no abrasion bearing.As a kind of form of magnetic suspension motor, hybrid magnetic suspension motor is mixed using electromagnet and permanent magnet Mode come have the function that reduce energy consumption.General magnetic suspension motor is suspended using double set windings, a set of winding control Power balances the radial force of rotor, and a set of winding controlled motor torque, the suspension torque double control of motor is realized with this.But It is that its winding construction is relative complex, results in the raising of cost, and the mutual magnetic force due to more covering winding interferes, it can be to motor It is steady operating have an impact, the requirement to control is also relatively high.
Summary of the invention
The invention discloses a kind of hybrid magnetic suspension motors, and the object of the present invention is to provide a kind of novel hybrid magnetic Floatation electric motor structure and winding construction.Its purpose is to simplify magnetic suspension motor structure, simultaneously because using radial axle To the mode of bi-motor, motor torque is improved.Radial motor uses the winding method of simplex winding, reduces manufacturing cost, Reduce control difficulty.
The invention proposes a kind of hybrid magnetic suspension motors using radial-axial bi-motor mode, and rotor is all It is placed on rotor discs, rotor is permanent magnet.Stator winding is respectively placed on the inside of annular framework surrounding and front and rear cover, axial Motor uses the working principle of disc type electric machine, simultaneously because axial direction electric machine stator winding is divided into before two same sections are respectively placed in On the inside of rear end cap, can by way of differential adjusting two sides stator winding electrifying size of current come the axial force of balance motor with This axial displacement to balance rotor.Its radial motor is by the way of single stator winding.It only uses a set of winding and carrys out same time control The torque of motor processed and radial suspension control.Radial stator unit is mounted on annular framework, is divided into four arcs radial stator Unit is passed through three-phase timing electric current, while four arcs radial stator unit is containing there are three stator tooths on each stator unit Symmetrical vertical distribution, can be by way of differential adjusting, the size of current of differential change confrontation unit, balances electricity with this The radial force of machine shaft.Simultaneously because being passed through three-phase timing electric current, while it can control motor torque.
Detection system is housed inside the motor body, includes shaft position sensor, radial-direction position sensor and is turned Fast sensor is equipped with shaft position sensor in end cap axial direction lateral edge circumferencial direction, pacifies in end cap radial direction lateral edge circumferencial direction Equipped with radial-direction position sensor and speed probe.It can detecte signal data necessary to machine shaft stability contorting.Inspection Device is surveyed to be mounted on the stator unit of corresponding position.
The stator unit of the motor is all salient-pole structure, and be along the circumferential direction equally spaced stator salient poles, in stator salient poles Around equipped with winding.Its radial motor stator salient poles shares 12, is divided into four arcs stator unit, on every section of circular arc stator unit There are three stator salient poles, are passed through three-phase timing electric current.Its axial stator salient pole is cutd open with radial stator salient pole distributing position in motor Consistent on the direction of face, number of salient poles is also consistent with radial stator salient pole.The rotor unit of axial direction electric machine and turning for radial motor Subelement all uses permanent magnet, and field structure is also consistent on motor profile direction.The present invention uses durface mounted permanent magnet body.Its Durface mounted permanent magnet body there are four radial, pole polarity are arranged in a manner of N-S-N-S, and four durface mounted permanent magnet bodies equidistantly divide Cloth.Its axial direction has 8 durface mounted permanent magnet bodies, and each side 4, magnetic pole arrangement mode is as radial rotor, and equidistant cloth It sets.12 permanent magnets axially and radially are divided into 3 groups, every group 4, are along the circumferential direction equally spaced.Magnetic pole distributing order is consistent, And motor profile direction position consistency.
The stator winding of the motor shares 12 radial one, is axially having 24, radial stator winding every 3 are divided into One section of stator circular arc unit.It is passed through three-phase timing electric current, 12, left side and 12, right side are divided axially into, with radial step mode one It causes.The timing electric current that its left and right sides is passed through also is consistent.
When the invention works, it is passed through three-phase timing electric current, it, can be with according to the rotor current angle position θ that detection device is fed back Guarantee the torque output of radial motor and axial direction electric machine.For radial motor, according to radial deflection X, the Y detected, lead to The size of current that differential change four arcs stator unit is passed through is crossed, its X, the magnetic flux of Y-direction, to generate X, Y-direction are changed Electromagnetic force so that rotor is reached a balance in radial position to balance the radial force of rotor, make its stable radial suspension. For axial direction electric machine, according to detecting axial dipole field Z, the electric current being passed through by differential change two sides axial stator unit Size can produce the electromagnetic force to side, to balance the axial force of rotor, so that rotor is reached one in axial position and puts down Weighing apparatus, makes its stable axial suspension.By the synergistic effect of radial motor and axial direction electric machine, it can control the torque of motor and make it In radial and axial stable suspersion to reach complete suspension.
Detailed description of the invention
Fig. 1 is hybrid magnetic suspension motor structure chart；
In figure: 1- drive end bearing bracket；2- motor radial stator；3- axial stator fixes device；4- machine shaft；5- rack；6- Rear end cap；7- motor axial rotor；8- motor axial stator；9- aiding support；10- motor radial rotor；
Fig. 2 is radial motor winding magnetic pole distribution schematic diagram.
Specific embodiment
Referring to Fig. 1, motor includes drive end bearing bracket 1, rear end cap 6, motor radial rotor 10, motor radial stator 2, motor axial direction The fixed device 3 of rotor 7, motor axial stator 8, machine shaft 4, aiding support 9, rack 5, axial stator.Rotor discs inner sleeve Machine shaft, the radially installed of rotor discs have radial rotor, and radial rotor uses four durface mounted permanent magnet bodies, adjacent pole On the contrary, arrangement mode is N-S-N-S, axial rotor is divided into mounted in rotor discs axial sides polarity.Each four surface-mount types in left and right Permanent magnet, adjacent pole polarity is on the contrary, arrangement mode is N-S-N-S, total 12 durface mounted permanent magnet bodies on rotor discs.Diameter It is mounted on the rack to motor stator, using the structure of electronics salient pole, amounts to 4 groups of 12 stator salient poles, every group of 3 salient stators Pole is divided into four arcs radial stator unit, and vertical symmetry is distributed, and three of between every section of circular arc radial stator unit and inside Stator tooth is all equally spaced, as shown in Figure 2.Axial stator unit is consolidated axial stator winding by the fixed device of axial stator It is scheduled on front and rear cover.Left and right sides axial stator unit is symmetrical, and winding method is consistent with radial motor stator winding mode To facilitate driving torque.The drive control of motor of the present invention is consistent with ordinary motor, according to the rotor angle location detected and turns Speed plays the role of controlling motor torque by being passed through the three-phase current of different size and different timing, its main feature is that torque Control is driven jointly by the way of radial and axial bi-motor, and motor torque is bigger, and the performance of motor is improved.
The suspension of machine shaft of the invention controls in the following way: the present invention uses the winding method of simplex winding, Under the premise of motor torque has been guaranteed.For radial motor, due to using the shape of four arcs stator winding unit Formula is divided into x, and the direction y two is right, the radial displacement deviation that is detected according to shaft position sensor and rotor-position sensor and turns Sub- current angle position, the symmetrical circular arc unit of change that can be differential is passed through the size of three-phase timing electric current, close to change magnetic flux Degree generates magnetic pull and comes so that rotor returns to radial equilibrium position.For axial direction electric machine, because only that the deviation of one degree of freedom Its control is needed, i.e., only needs to control axial offset deviation, it can be inclined according to the obtained axial displacement of shaft position sensor Difference carrys out the size of current that axial stator unit winding is passed through at left and right sides of differential change, to generate magnetic drawing to the left or to the right Power makes the machine shaft return to its longitudinal balance position, is protected by the radial suspension control and axial suspension control of radial motor Demonstrate,prove the complete suspension of machine shaft.
The specific control mode of direct torque is as described below: stator unit and rotor unit of the invention is in motor section It is consistent on direction, so its direct torque mode is considered as shown in Fig. 2, stator winding is by A, B, C three-phase windings composition, Using short distance winding, every phase winding is made of four coils, wherein A phase winding is made of A1, A2, A3, A4 coil；B Phase winding is made of B1, B2, B3, B4 coil；C phase winding amounts to 12 coils by C1, C2, C3, C4 coil composition, this 12 coils are distributed in clockwise according to the direction A1 → B1 → C1 → A2 → B2 → C2 → A3 → B3 → C3 → A4 → B4 → C4 On corresponding stator tooth, each coil is independently-powered.The winding arrangement tone of axial stator winding is consistent.Turned by detection The Angle Position of son is passed through the three-phase current of different size of current difference timing according to data such as the torque rotary speeds of setting.Work as rotor Angle Position A phase at 0 ° ~ 15 °, 90 ° ~ 105 °, 180 ° ~ 195 °, 270 ° ~ 285 ° is powered, 15 ° ~ 30 °, 105 ° ~ 120 °, 195 ° ~ AB is powered simultaneously at 210 °, 285 ° ~ 290 °, and B phase is powered at 30 ° ~ 45 °, 120 ° ~ 135 °, 210 ° ~ 225 °, 300 ° ~ 315 °, and 45 ° BC is powered simultaneously at ~ 60 °, 135 ° ~ 150 °, 225 ° ~ 240 °, 315 ° ~ 330 °, 60 ° ~ 75 °, 150 ° ~ 165 °, 240 ° ~ 255 °, C phase is powered at 330 ° ~ 345 °, and CA is powered simultaneously at 75 ° ~ 90 °, 165 ° ~ 180 °, 255 ° ~ 270 °, 345 ° ~ 360 °.Axial direction electric machine Similarly.It can so realize direct torque of the invention.
Suspend control specific control mode it is as described below: radial and axial totally the 6 of the machine shaft to be realized of the present invention The complete suspension of a freedom degree controls, and radial one shares 4 freedom degrees, is set as X, Y-direction, axial one shares 2 freedom Degree, is set as Z-direction.Radial suspension is controlled, since present invention employs the winding methods of simplex winding, torque and suspension are altogether With a winding, there are four arcs stator unit, vertical symmetry distribution on radial stator winding, 12 stator tooths are being passed through three Phase timing electric current guarantees on the basis of motor torque the size of current of differential adjusting relatively radially circular arc stator unit again, is come with this Its X is generated, the magnetic pull in Y-direction makes its radial stable suspersion to balance the radial force of rotor.Due to the rotation band of motor shaft The rotation of dynamic rotor, so needing to do phse conversion according to the current Angle Position of rotor to reach stable suspersion control Purpose, the air-gap separation detected according to radial displacement transducer (X, the component of Y-direction) calculate given through PID controller Suspending power given value FxAnd F *yIt *, is being F by phse conversionx, Fy, specific mapping mode enters shown in table 1.
According to transformed Fx, FY,The size of current of differential adjusting needed for being calculated by PID controlleri x ,i Y, Specifically Differential regulative mode is as described below:i A Pass throughi x Differential adjusting outputi A1 =i A +i x ,i A3 =i A -i x , pass throughi y Differential adjusting it is defeated Outi A2 =i A +i y ,i A4 =i A -i y 。i B Pass throughi x Differential adjusting outputi B1 =i B +i x ,i B3 =i B -i x , pass throughi y Differential adjusting it is defeated Outi B2 =i B +i y ,i B4 =i B -i y 。i C Pass throughi x Differential adjusting outputi C1 =i C +i x ,i C3 =i C -i x , pass throughi y Differential adjusting it is defeated Outi C2 =i C +i y ,i C4 =i C -i y .Amount to outputi A1 ,i A2 ,i A3 ,i A4 ,i B1 ,i B2 ,i B3 ,i B4 ,i C1 ,i C2 ,i C3 ,i C4 Total 12 groups of electricity Stream.It is respectively outputted to corresponding four circular arc stators and amounts to 12 phase coil winding A1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3, C4 On.Thus it can reach the purpose of radial suspension control.Axial suspension is controlled, axial stator unit is being passed through three-phase current It is consistent in timing with radial stator unit.When detecting that axial displacement deviates, according to detected axial position Deviation z is moved, has PID controller to calculate required suspending power given value Fz, then differential adjusting needed for being calculated by PID controller Size of currenti z , differential adjusting is carried out to the electric current that is passed through of both ends axial direction stator unit winding.
Axial suspension control is realized with this.Reach the control that suspends completely by the comprehensive control that suspends axially and radially, Thus it can reach the purpose of the present invention.

Claims (6)

1. a kind of hybrid magnetic suspension motor, including drive end bearing bracket (1), rear end cap (6), motor shaft (4), rack (5), rack (5) The drive end bearing bracket (1), rear end cap (6) is respectively set in front and back end, and motor shaft (4) passes through the center of rotor, characterized in that sets There are motor radial rotor (10), motor radial stator (2), motor axial rotor (7), motor axial stator (8)；Rotor circle Disk is arranged radially the motor radial rotor (10), and motor axial rotor (7), motor shaft is respectively set in rotor discs axial sides It is located at motor radial rotor (10) two sides to rotor (7), motor radial stator is arranged in motor radial rotor (10) radial outside (2), motor radial stator (2) is arranged on rack (5) inner peripheral surface；Motor shaft is arranged in motor axial rotor (7) axial direction outer ring To stator (3), motor axial stator (3) is separately positioned on drive end bearing bracket (1), on rear end cap (6), motor axial stator (3) and electricity Machine axial rotor (7) is concentric and maintains gap；Shaft position sensor is equipped in motor, radial-direction position sensor and revolving speed pass Sensor；
Motor torque control: according to the rotor angle location and revolving speed detected, by be passed through different size and different timing three Phase current plays the role of controlling motor torque, and direct torque driven jointly by the way of radial and axial bi-motor；
The suspension of machine shaft controls: using the winding method of simplex winding, under the premise of motor torque has been guaranteed；It is right It is divided into x, the direction y two is right, according to axial displacement due to using the form of four arcs stator winding unit in radial motor The radial displacement deviation and rotor current angle position that sensor and radial-direction position sensor detect, the symmetrical circle of differential change Arc unit is passed through the size of three-phase timing electric current, to change magnetic flux density, generates magnetic pull and comes so that rotor returns to radial equilibrium Position；
For axial direction electric machine, because only that the deviation of one degree of freedom needs its control, i.e., only need to control axial offset deviation, It is logical come axial stator unit winding at left and right sides of differential change according to the obtained axial displacement deviation of shaft position sensor The size of current entered makes the machine shaft return to its longitudinal balance position, passes through diameter to generate magnetic pull to the left or to the right Guarantee the complete suspension of machine shaft to the control of the radial suspension of motor and axial suspension control.
2. a kind of hybrid magnetic suspension motor according to claim 1, characterized in that the front and rear cover (1,6) and Rack (5) is assembled motor body, and rack (5) is ring structure, by stator fixing apparatus (3) respectively by axial stator (8) it is mounted on the inside of forward and backward end cap (1,6).
3. a kind of hybrid magnetic suspension motor according to claim 1, characterized in that the motor axial stator (8) and Radial stator (8) is all salient-pole structure, and axial stator (8) and radial stator (8) are circumferentially to be divided into four arcs stator Unit, there are three stator tooth on every section of circular arc stator unit, around equipped with a set of on three stator tooths of every section of circular arc stator unit Three-phase windings, winding configuration are cage winding, and the phase winding of same circular arc stator unit, which has been correspondingly connected with one group, chronologically to be changed Current output unit；Realize the direct torque of radial motor with this, while four arcs stator unit Symmetrical vertical two-by-two Distribution, can carry out differential adjusting to it, increase one end electric current of its symmetrical cell, and other end electric current reduces, the diameter of generation Xiang Liyu rotor radial power balances each other, and makes rotor suspension in its centre of gyration；Motor radial rotor (10) and motor axial rotor (7) permanent magnet is all used.
4. a kind of hybrid magnetic suspension motor according to claim 1, characterized in that motor torque is controlled by radial motor With axial direction electric machine co- controlling, the consistent three-phase current of timing is generated by control and is passed through winding, turns its co- controlling motor Square；The suspending power control of its machine shaft radial deflection is controlled by the differential radial motor for adjusting simplex winding form；It is axial to turn Subelement be it is symmetrical, come the axial displacement of balance motor shaft by way of differential adjusting, be suspended in rotor axial Equilbrium position；Its axial dipole field is passed through the differential regulative mode of size of current by axial direction electric machine two sides stator unit to control electricity The stabilization of machine shaft axial direction.
5. a kind of hybrid magnetic suspension motor according to claim 1, characterized in that it is characterized in that, motor shaft (4) both ends It is connect by aiding support (9) with motor body；Rotor part inner sleeve machine shaft passes through auxiliary bearing and motor body Compact installation.
6. a kind of hybrid magnetic suspension motor according to claim 1, characterized in that it is characterized in that, in end cap axial direction side The shaft position sensor is along the circumferential direction installed, the radial position is installed in end cap radial direction lateral edge circumferencial direction and is passed Sensor and the speed probe.
CN201710110758.4A 2017-02-28 2017-02-28 Hybrid magnetic suspension motor Active CN106787538B (en)

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108955596A (en) * 2018-08-13 2018-12-07 珠海格力电器股份有限公司 Bearing axis position monitoring method and device and control device
CN109038990A (en) * 2018-08-21 2018-12-18 山东大学 High torque density error-tolerance type mixing magnetic flow permanent magnet motor
CN111308252A (en) * 2020-03-24 2020-06-19 珠海格力电器股份有限公司 Detection method and device of magnetic suspension system, storage medium and processor

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101119047A (en) * 2007-07-25 2008-02-06 上海大学 High temperature superconducting magnetic suspension frequency conversion electric motor
CN101771308A (en) * 2008-12-31 2010-07-07 张玉宝 Magnetic levitation rotor support system, magnetic levitation bearing and magnetic biasing weight reducing device
CN101769334A (en) * 2008-12-31 2010-07-07 张玉宝 Single degree of freedom magnetic suspension rotor support system as well as magnetic bearing and weight losing method
CN103441630A (en) * 2013-06-20 2013-12-11 南京航空航天大学 Three-freedom-degree magnetic levitation switch reluctance motor of 12/4 pole structure
CN103490572A (en) * 2013-05-28 2014-01-01 南京航空航天大学 Three-degree-of-freedom magnetic suspension switch reluctance motor
CN104993637A (en) * 2015-07-24 2015-10-21 扬州大学 Magnetic levitation induction motor electric bicycle driving system
CN204858842U (en) * 2015-07-24 2015-12-09 扬州大学 Magnetic suspension induction machine drive formula electric bicycle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101119047A (en) * 2007-07-25 2008-02-06 上海大学 High temperature superconducting magnetic suspension frequency conversion electric motor
CN101771308A (en) * 2008-12-31 2010-07-07 张玉宝 Magnetic levitation rotor support system, magnetic levitation bearing and magnetic biasing weight reducing device
CN101769334A (en) * 2008-12-31 2010-07-07 张玉宝 Single degree of freedom magnetic suspension rotor support system as well as magnetic bearing and weight losing method
CN103490572A (en) * 2013-05-28 2014-01-01 南京航空航天大学 Three-degree-of-freedom magnetic suspension switch reluctance motor
CN103441630A (en) * 2013-06-20 2013-12-11 南京航空航天大学 Three-freedom-degree magnetic levitation switch reluctance motor of 12/4 pole structure
CN104993637A (en) * 2015-07-24 2015-10-21 扬州大学 Magnetic levitation induction motor electric bicycle driving system
CN204858842U (en) * 2015-07-24 2015-12-09 扬州大学 Magnetic suspension induction machine drive formula electric bicycle

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