CN106849565B - A kind of hybrid magnetic bearing double winding switched reluctance machines and control method - Google Patents

A kind of hybrid magnetic bearing double winding switched reluctance machines and control method Download PDF

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Publication number
CN106849565B
CN106849565B CN201611050450.7A CN201611050450A CN106849565B CN 106849565 B CN106849565 B CN 106849565B CN 201611050450 A CN201611050450 A CN 201611050450A CN 106849565 B CN106849565 B CN 106849565B
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magnetic bearing
winding
stator
suspending windings
radial direction
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CN106849565A (en
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刘泽远
蔡骏
杨艳
刘程子
曹鑫
邓智泉
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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
    • 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
    • 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
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
    • 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 hybrid magnetic bearing double winding switched reluctance machines and control method, the motor is made of a switched reluctance machines and two radial direction magnetic bearings；Magnetic bearing stator is 4 E type structure compositions, and each E structure is only wound with 1 suspending windings in center tooth；1 biasing winding and 1 reluctance motor winding are wound on each tooth of switched reluctance machines；Winding is biased across two magnetic bearing stators and Stators for Switched Reluctance Motors, and only winding is on reluctance motor stator for reluctance motor winding, and two windings in series constitute 1 torque winding string together, can form 3 phase torque windings；Direct torque is identical as Conventional switched reluctance motor control mode；The both direction suspending power of each magnetic bearing is only related with 3 phase torque winding currents and two levitating currents, and torque and suspending power can decoupling controls.Motor of the present invention and control method integrated level are high, and control variable is few, and the control that suspends is simple, and Suspension power converter is at low cost, and torque and suspending power can Decoupling designs.

Description

A kind of hybrid magnetic bearing double winding switched reluctance machines and control method
Technical field
The present invention relates to a kind of hybrid magnetic bearing double winding switched reluctance machines and control methods, belong to the magnetcisuspension of electric machinery Floation switch reluctance motor and its control technology field.
Background technique
Magnetic suspension switched reluctance motor, not only have many advantages, such as magnetic bearing without friction, it is unlubricated, also inherit switching magnetic-resistance The features such as high-speed adaptability and satisfaction harshness working environment of motor, have in occasions such as aerospace, flywheel energy storage and military affairs Unique advantage.
Magnetic suspension switched reluctance motor is usually by two kinds of ways of realization, first is that bearing-free motor structure, second is that magnetic bearing is electric Machine structure.Bearing-free switch reluctance motor is to integrate the function of magnetic bearing with motor, while realizing rotation and radial direction It suspends, this torque performance that certainly will will lead to motor is given a discount button, is unable to give full play.And magnetic bearing switch reluctance motor is It is together to form a magnetic suspension system by magnetic bearing and switched reluctance machines, suspends and controls and rotate control independently, integrated level It is not high.Therefore, the integrated of magnetic suspension system not only can be improved in the effective integration between magnetic bearing system and switched reluctance motor system Degree additionally aids and promotes energy converting between mechanical efficiency.
Summary of the invention
The present invention for overcome the deficiencies in the prior art, proposes a kind of hybrid magnetic bearing double winding switched reluctance machines and control Method processed.The motor is that a kind of suspension control is simple, suspension system is at low cost and biasing winding and reluctance motor winding use The four-degree-of-freedom magnetic suspension switched reluctance motor of formula is encouraged in series connection altogether；The control method can independent control torque winding current and outstanding Floating winding current, mutually decouples between rotation and suspension system, affects one another weak；Four-degree-of-freedom, which suspends, controls similar magnetic suspension shaft It holds, using permanent switch control strategy, and only needs control four direction suspending windings electric current, that is, can produce required four direction Suspending power, control variable are few.
To solve the above-mentioned problems, the technical solution adopted by the present invention are as follows:
A kind of hybrid magnetic bearing double winding switched reluctance machines, the hybrid magnetic bearing double winding switched reluctance machines include Radial direction magnetic bearing I, switched reluctance machines and radial direction magnetic bearing II；The radial direction magnetic bearing I and radial direction magnetic bearing II are respectively arranged In the two sides of switched reluctance machines；
The radial direction magnetic bearing I is made of magnetic bearing stator I, magnetic bearing rotor I, biasing winding and suspending windings I；
The radial direction magnetic bearing II is made of magnetic bearing stator II, magnetic bearing rotor II, biasing winding and suspending windings II；
The switched reluctance machines are by reluctance motor stator, magnetic resistance motor rotor, biasing winding and reluctance motor winding structure At；
The magnetic bearing rotor I is arranged in magnetic bearing stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator, Magnetic bearing rotor II is arranged in magnetic bearing stator II；The magnetic bearing rotor I, magnetic resistance motor rotor and II set of magnetic bearing rotor In shaft；II arranged in series of the magnetic bearing stator I, reluctance motor stator and magnetic bearing stator, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and the number of teeth of reluctance motor stator is 12, magnetic The number of teeth for hindering rotor is 8, and the switched reluctance machines are three-phase duty；
The magnetic bearing stator I is made of 4 E type structures I, and 4 E type structures I are uniformly distributed, between each E type structure I 90 ° of difference；The number of teeth of each E type structure I is 3, and 30 ° are differed between tooth and tooth；Each tooth of E type structure I and magnetic resistance electricity Machine stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor I is cylindrical structure；
The magnetic bearing stator II is made of 4 E type structures II, and 4 E type structures II are uniformly distributed, each E type structure II Between differ 90 °；The number of teeth of each E type structure II is 3, and 30 ° are differed between tooth and tooth；Each tooth of E type structure II with it is described Reluctance motor stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor II is cylindrical structure；
1 biasing winding and 1 reluctance motor winding are wound on each tooth of the reluctance motor stator；
1 biasing winding, and the intermediate stator of each E type structure I are wound on each stator tooth of the magnetic bearing stator I 1 suspending windings I is also wound on tooth；
1 biasing winding is wound on each stator tooth of the magnetic bearing stator II, and the centre of each E type structure II is fixed 1 suspending windings II is also wound on sub- tooth；
The canoe of the biasing winding are as follows: each biasing winding is fixed across the magnetic bearing on same circumferential position 1 stator tooth of 1 stator tooth of son I, 1 reluctance motor stator tooth and magnetic bearing stator II, and is wrapped on three, altogether 12；
Each biasing winding and the reluctance motor windings in series on the reluctance motor stator tooth on same circumferential position, Constitute 1 torque winding string, totally 12；Every four are separated by 90 ° of torque winding string series connection, constitute a phase torque winding Form three-phase torque winding；
I connection type of suspending windings of the magnetic bearing stator I are as follows: 2 suspending windings I of E type structure I in the horizontal direction Series connection, constitutes 1 horizontal direction suspending windings I；It connects in 2 suspending windings I of vertical direction E type structure I, constitutes 1 and erect Histogram is to suspending windings I；
II connection type of suspending windings of the magnetic bearing stator II are as follows: in the horizontal direction 2 of E type structure II suspend around II series connection of group, constitutes 1 horizontal direction suspending windings II；It connects in 2 suspending windings II of vertical direction E type structure II, structure At 1 vertical direction suspending windings II；
The hybrid magnetic bearing double winding switched reluctance machines include a switching magnetic-resistance reluctance motor and two radial magnetic Bearing, wherein switched reluctance machines generate rotating torques, and two radial direction magnetic bearings generate 4 radial suspension forces, to realize rotor The suspension operation of four direction；The machine winding is made of 3 phase torque windings and 4 suspending windings, wherein 3 phase of independent control Torque winding current to adjust torque, and generates biasing magnetic flux；4 suspending windings electric currents of independent control realize that four-degree-of-freedom is outstanding It is floating to adjust；The control method of the hybrid magnetic bearing double winding switched reluctance machines, the specific steps of which are as follows:
Step A obtains given torque winding current, turn-on angle and shutdown angle；Specific step is as follows:
Step A-1 acquires the real-time revolving speed of magnetic resistance motor rotor, obtains magnetic resistance motor rotor angular velocity omega；
Step A-2, by the reference angular velocities ω of magnetic resistance motor rotor angular velocity omega and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step A-3, as ω≤ω0When, ω0For critical speed setting value, determined by motor actual condition；The revolving speed Poor Δ ω obtains torque winding current reference value i by pi controllerm *；Turn-on angle θonWith shutdown angle θoffIt keeps not Become, θonAnd θoffInitial value all determined by electric machine structure form；
Step A-4, as ω > ω0When, the rotation speed difference deltan ω obtains turn-on angle θ by pi controlleronWith Turn off angle θoff, torque winding current do not control；
Step B, the x-axis and y-axis direction for obtaining radial direction magnetic bearing I give suspending power；The specific steps of which are as follows:
Step B-1 obtains the x-axis of radial rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein x-axis is level Direction, y-axis are vertical direction；
Step B-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively To the real-time displacement signal difference Δ α of x-axis direction and y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of radial direction magnetic bearing I is obtainedWith y-axis direction suspending power
Step C, the x-axis and y-axis direction for obtaining radial direction magnetic bearing II give suspending power；The specific steps of which are as follows:
Step C-1 obtains the x-axis of radial rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step C-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively To the real-time displacement signal difference Δ α of x-axis direction and y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of radial direction magnetic bearing II is obtainedWith y-axis direction suspending power
Step D adjusts suspending power, the specific steps are as follows:
Step D-1 acquires the real-time torque winding current of three-phase, according to the suspending powerWithAnd equation:
Obtain the direction the x suspending windings current reference value of radial direction magnetic bearing IWith y-axis direction suspending windings current reference value
Wherein, kf1、kf2For suspension force coefficient,μ0For vacuum magnetic conductance Rate, l are the axial length of radial direction magnetic bearing I and radial direction magnetic bearing II, and r is the radius of magnetic bearing rotor I and magnetic bearing rotor II, αsFor the polar arc angle of the E type structure stator of radial direction magnetic bearing I and radial direction magnetic bearing II, δ is radial direction magnetic bearing I and radial direction magnetic bearing The unilateral gas length of II, Nb are the number of turns of the biasing winding of radial direction magnetic bearing I, radial direction magnetic bearing II and switched reluctance machines, Ns is the number of turns of suspending windings I and suspending windings II, i1、i2And i3Respectively three-phase torque winding current；
Step D-2, according to the suspending powerWithAnd equation:
Obtain the direction the x suspending windings current reference value of radial direction magnetic bearing IIWith y-axis direction suspending windings current reference Value
Step D-3, using Current cut control method, with the x-axis direction suspending windings actual current i of radial direction magnetic bearing Is1 Track direction suspending windings current reference valueWith the actual current i of y-axis direction suspending windingss2Track the direction suspend around Group current reference value
With the x-axis direction suspending windings actual current i of radial direction magnetic bearing IIs3Track direction suspending windings current reference valueWith the actual current i of y-axis direction suspending windingss4Track direction suspending windings current reference value
Step E adjusts torque；Specific step is as follows:
Step E-1, as ω≤ω0When, using Current cut control method, with the actual current i of torque windingmTracking turns Square winding current reference value im *, and then torque winding current i is adjusted in real timem, and then achieve the purpose that adjust torque；
Step E-2, as ω > ω0When, using Angle-domain imaging method, adjust turn-on angle θonWith shutdown angle θoffTake Value, to adjust torque in real time.
Beneficial effects of the present invention: the invention proposes a kind of hybrid magnetic bearing double winding switched reluctance machines and its controls Method can reach following technical effect using technical solution of the present invention:
(1) four-degree-of-freedom suspension operation can be achieved, suspending power and torque decoupler, high speed suspendability are good；
(2) by the way of torque winding and the biasing common excitation of windings in series, current utilization rate is high；
(3) magnetic flux that three-phase torque winding generates only need to control four suspending windings electric currents, not need as biasing magnetic flux Torque winding current is controlled for suspension operation, can generate suspending power needed for four direction, and control variable is few, and suspend control letter Single, suspension system power inverter cost is small；
(4) direct torque is identical with switched reluctance machines, and control is simple, can abundant excitation, torque-output characteristics are good, And high-speed adaptability is strong；
(5) each phase suspension magnetic circuit separation, axially and radially suspend magnetic path isolation, and torque magnetic circuit and suspension magnetic circuit also every From flux coupled is weak；
(6) double-winding structure of switched reluctance machines is the convenience for biasing winding and reluctance motor Winding Design and providing, can Realize the decoupling optimization design of the two.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of hybrid magnetic bearing double winding switched reluctance machines of the present invention.
Fig. 2 is the magnetic flux distribution schematic diagram that A phase torque winding is generated in reluctance motor part in the embodiment of the present invention 1.
Fig. 3 is the flux distribution of radial direction magnetic bearing I in the embodiment of the present invention 1.
Fig. 4 is the system block diagram of the control method of hybrid magnetic bearing double winding switched reluctance machines of the present invention.
Fig. 5 is suspending windings electric current calculating side in the control method of hybrid magnetic bearing double winding switched reluctance machines of the present invention Method block diagram.
Description of symbols: for Fig. 1 into Fig. 5,1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, 3 be reluctance motor around Group, 4 be magnetic bearing stator, and 5 be magnetic bearing rotor, and 6 be suspending windings, and 7 be biasing winding, and 8 be shaft, and 9 be 12/8 pole switch Reluctance motor, 10 be radial direction magnetic bearing I, and 11 be radial direction magnetic bearing II, 12,13,14 be respectively x, y, z axis direction reference axis just Direction, 15 be the magnetic flux that switched reluctance machines A phase winding generates, and 16 be air gap 1,17 be air gap 2,18 be air gap 3,19 be air gap 4, the 20 biasing magnetic fluxs generated in radial direction magnetic bearing I for three-phase torque winding, 21 be suspending windings I in radial direction magnetic bearing I The magnetic flux of generation.
Specific embodiment
With reference to the accompanying drawing, to the technology of a kind of hybrid magnetic bearing double winding switched reluctance machines of the present invention and control method Scheme is described in detail:
As shown in Figure 1, being the three dimensional structure diagram of hybrid magnetic bearing double winding switched reluctance machines of the present invention, wherein 1 It is reluctance motor stator, 2 be magnetic resistance motor rotor, and 3 be reluctance motor winding, and 4 be magnetic bearing stator, and 5 be magnetic bearing rotor, 6 It is suspending windings, 7 be biasing winding, and 8 be shaft, and 9 be 12/8 pole switching reluctance motor, and 10 be radial direction magnetic bearing I, and 11 be radial Magnetic bearing II, 12,13,14 is respectively the positive direction of x, y, z axis direction reference axis.
The hybrid magnetic bearing double winding switched reluctance machines, including radial direction magnetic bearing I, switched reluctance machines and radial magnetic Bearing II；The radial direction magnetic bearing I and radial direction magnetic bearing II are arranged in the two sides of switched reluctance machines；
The radial direction magnetic bearing I is made of magnetic bearing stator I, magnetic bearing rotor I, biasing winding and suspending windings I；
The radial direction magnetic bearing II is made of magnetic bearing stator II, magnetic bearing rotor II, biasing winding and suspending windings II；
The switched reluctance machines are by reluctance motor stator, magnetic resistance motor rotor, biasing winding and reluctance motor winding structure At；
The magnetic bearing rotor I is arranged in magnetic bearing stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator, Magnetic bearing rotor II is arranged in magnetic bearing stator II；The magnetic bearing rotor I, magnetic resistance motor rotor and II set of magnetic bearing rotor In shaft；II arranged in series of the magnetic bearing stator I, reluctance motor stator and magnetic bearing stator, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and the number of teeth of reluctance motor stator is 12, magnetic The number of teeth for hindering rotor is 8, and the switched reluctance machines are three-phase duty；
The magnetic bearing stator I is made of 4 E type structures I, and 4 E type structures I are uniformly distributed, between each E type structure I 90 ° of difference；The number of teeth of each E type structure I is 3, and 30 ° are differed between tooth and tooth；Each tooth of E type structure I and magnetic resistance electricity Machine stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor I is cylindrical structure；
The magnetic bearing stator II is made of 4 E type structures II, and 4 E type structures II are uniformly distributed, each E type structure II Between differ 90 °；The number of teeth of each E type structure II is 3, and 30 ° are differed between tooth and tooth；Each tooth of E type structure II with it is described Reluctance motor stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor II is cylindrical structure；
1 biasing winding and 1 reluctance motor winding are wound on each tooth of the reluctance motor stator；
1 biasing winding, and the intermediate stator of each E type structure I are wound on each stator tooth of the magnetic bearing stator I 1 suspending windings I is also wound on tooth；
1 biasing winding is wound on each stator tooth of the magnetic bearing stator II, and the centre of each E type structure II is fixed 1 suspending windings II is also wound on sub- tooth；
The canoe of the biasing winding are as follows: each biasing winding is fixed across the magnetic bearing on same circumferential position 1 stator tooth of 1 stator tooth of son I, 1 reluctance motor stator tooth and magnetic bearing stator II, and is wrapped on three, altogether 12；
Each biasing winding and the reluctance motor windings in series on the reluctance motor stator tooth on same circumferential position, Constitute 1 torque winding string, totally 12；Every four are separated by 90 ° of torque winding string series connection, constitute a phase torque winding Form three-phase torque winding；
I connection type of suspending windings of the magnetic bearing stator I are as follows: 2 suspending windings I of E type structure I in the horizontal direction Series connection, constitutes 1 horizontal direction suspending windings I；It connects in 2 suspending windings I of vertical direction E type structure I, constitutes 1 and erect Histogram is to suspending windings I；
II connection type of suspending windings of the magnetic bearing stator II are as follows: in the horizontal direction 2 of E type structure II suspend around II series connection of group, constitutes 1 horizontal direction suspending windings II；It connects in 2 suspending windings II of vertical direction E type structure II, structure At 1 vertical direction suspending windings II；
The resultant flux that the three-phase torque winding current generates, the biasing magnetic flux as two radial direction magnetic bearings；3 phases turn The control method of square winding current is identical as Conventional switched reluctance motor；Control the big of four suspending windings electric currents in the direction x and y Small and direction, and then four radial magnetic pulls that size and Orientation needed for can produce radial suspension is controllable, and then realize and turn The radial four-degree-of-freedom suspension operation of son.
Fig. 2 is the magnetic flux distribution schematic diagram that A phase torque winding of the present invention is generated in 12/8 pole switching reluctance motor part.Often Reluctance motor winding and biasing windings in series on a stator tooth constitute 1 torque winding string together；Spatially it is separated by the 4 of 90 ° A torque winding string, then connect together, constitute 1 phase torque winding.
The symmetrical magnetic flux of quadrupole (line is marked as 15) that A phase torque winding current generates is distributed in NSNS.When the torque of A phase around When group conducting, the magnetic field generated in reluctance motor, for generating torque；A, B, C three-phase torque winding generate in magnetic bearing Resultant magnetic field be used for suspends control bias magnetic field.B, the torque winding of C phase is identical as A phase torque winding construction, only in place It sets and differs 30 ° and -30 ° with A phase.
Fig. 3 is the flux distribution of radial direction magnetic bearing I of the present invention.A, in the magnetic flux such as Fig. 3 that B, C three-phase torque winding generate (line is marked as 20) shown in solid, the magnetic flux (line is marked as 21) as shown in figure dot-dashed line that suspending windings generate.Bias winding The magnetic flux of generation is distributed in the center tooth of each E type structure in NSNS.Suspending windings and torque winding generate magnetic at air gap 1 Logical direction is the same, and magnetic flux increases；And at air gap 3, contrary, magnetic flux weakens, and then generates the suspension of an x positive direction Power.As torque winding generation flow direction, magnetic flux increases suspending windings at air gap 2, and at air gap 4, magnetic flux weakens, And then generate the suspending power of a y positive direction.Similarly, when suspending windings electric current is reversed, the suspending power of opposite direction will be generated.Cause This rationally controls the size and Orientation of x, y-axis suspending windings electric current, can produce in given A, B, C three-phase torque winding current The controllable suspending power of raw size and Orientation.
PWM control, pulse control and Angle Position control etc. can be used in torque winding current, with Conventional switched reluctance motor Control method is identical, and levitating current uses chop control.A, B, C three-phase torque winding current can be examined in real time by current sensor Measure, rotor radial displacement is obtained by current vortex sensor real-time detection, through PI adjust to obtain both direction suspending power to Definite value.Since suspending power and A, B, C three-phase torque winding current and both direction suspending windings are current related, and then can resolve To the levitating current of both direction, as the given value of current control in power inverter, the final two-freedom for realizing motor Suspension operation.
As shown in figure 4, being system block diagram of the invention.PWM control, pulse control and Angle Position control can be used in direct torque The control method of the Conventional switched reluctances motors such as system, and suspend and control then by the way of Current cut control.
Direct torque are as follows: detection motor rotor position information is computed and respectively obtains the open-minded of actual speed ω and every phase Angle θonWith shutdown angle θoff, speed error signal is subjected to PI adjusting, obtains torque winding current reference valueRecycle electric current Chop control is tracked by actual torque winding currentAnd utilize turn-on angle θonWith shutdown angle θoffControl torque winding power electricity The on state on road, to realize that motor rotates.
Suspend control are as follows: displacement error signal is carried out PID and adjusts the given suspending power of acquisition In conjunction with actual measurement three-phase torque winding current i1、i2And i3, can be calculated by suspending windings current controller: radial magnetic axis Hold I direction x suspending windings current reference valueWith y-axis direction suspending windings current reference valueThe side x of radial direction magnetic bearing II To suspending windings current reference valueWith y-axis direction suspending windings current reference value
Using Current cut control method, the x-axis direction suspending windings actual current i of radial direction magnetic bearing I is alloweds1Track the party To suspending windings current reference valueAllow the actual current i of y-axis direction suspending windingss2Track direction suspending windings electric current ginseng Examine value
Allow the x-axis direction suspending windings actual current i of radial direction magnetic bearing IIs3Track direction suspending windings current reference valueAllow the actual current i of y-axis direction suspending windingss4Track direction suspending windings current reference valueTo adjust in real time Suspending power realizes that the four-degree-of-freedom of motor suspends.
As shown in figure 5, being suspending windings current calculation method block diagram of the invention.In figure, kf1、kf2For suspension force coefficient, Its expression formula are as follows:
In formula, μ0For space permeability, l is the axial length of radial direction magnetic bearing I and radial direction magnetic bearing II, and r is magnetic bearing The radius of rotor I and magnetic bearing rotor II, αsFor the polar arc angle of the E type structure stator of radial direction magnetic bearing I and radial direction magnetic bearing II, δ is the unilateral gas length of radial direction magnetic bearing I and radial direction magnetic bearing II.
The x and y-axis direction suspending power of radial direction magnetic bearing IWithExpression formula are as follows:
In formula, i1、i2、i3The respectively electric current of A, B, C three-phase torque winding,The respectively x of radial direction magnetic bearing I, Y-axis direction suspending windings electric current, Nb are the circle of the biasing winding of radial direction magnetic bearing I, radial direction magnetic bearing II and switched reluctance machines Number, Ns are the number of turns of suspending windings I and suspending windings II.
The x and y-axis direction suspending power of radial direction magnetic bearing IIWithExpression formula are as follows:
In formula,The respectively x of radial direction magnetic bearing II, y-axis direction suspending windings electric current.
By expression formula (3)~(6) it is found that the radially, axially suspending power of hybrid magnetic bearing switched reluctance machines of the present invention with Rotor position angle θ is unrelated, only current related with electric machine structure parameter, three-phase torque winding current and five suspending windings.Wherein, Four radial suspension forces are only related with direction radial suspension electric current and three-phase torque winding current；Again because four suspending powers are equal It is unrelated with rotor position angle, therefore can decoupling control between torque and suspending power.
It should be pointed out that changing due to the positive and negative positive and negative variation with suspending windings electric current of suspending power, five outstanding Floating winding current direction can change in control, need to use the power inverter in adjustable current direction.
The control method of magnetic suspension motor of the present invention, the hybrid magnetic bearing double winding switched reluctance machines include one and open Magnetic resistance reluctance motor and two radial direction magnetic bearings are closed, wherein switched reluctance machines generate rotating torques, and two radial direction magnetic bearings produce Raw 4 radial suspension forces, to realize the suspension operation of rotor four direction；The machine winding is by 3 phase torque windings and 4 diameters It is constituted to suspending windings, wherein 3 phase torque winding current of independent control, to adjust torque, and generates biasing magnetic flux；Independent control 4 suspending windings electric currents are realized that four-degree-of-freedom suspends and are adjusted；Include the following steps:
Step A obtains given torque winding current, turn-on angle and shutdown angle；Specific step is as follows:
Step A-1 acquires the real-time revolving speed of magnetic resistance motor rotor, obtains magnetic resistance motor rotor angular velocity omega；
Step A-2, by the reference angular velocities ω of magnetic resistance motor rotor angular velocity omega and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step A-3, as ω≤ω0When, ω0For critical speed setting value, determined by motor actual condition；The revolving speed Poor Δ ω obtains torque winding current reference value i by pi controllerm *；Turn-on angle θonWith shutdown angle θoffKeep permanent It is fixed, θonAnd θoffValue is determined by electric machine structure form；
Step A-4, as ω > ω0When, the rotation speed difference deltan ω obtains turn-on angle θ by pi controlleronWith Turn off angle θoff, torque winding current do not control；
Step B, the x-axis and y-axis direction for obtaining radial direction magnetic bearing I give suspending power；The specific steps of which are as follows:
Step B-1 obtains the x-axis of radial rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein x-axis is level Direction, y-axis are vertical direction；
Step B-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively To the real-time displacement signal difference Δ α of x-axis direction and y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of radial direction magnetic bearing I is obtainedWith y-axis direction suspending power
Step C, the x-axis and y-axis direction for obtaining radial direction magnetic bearing II give suspending power；The specific steps of which are as follows:
Step C-1 obtains the x-axis of radial rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step C-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively To the real-time displacement signal difference Δ α of x-axis direction and y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of radial direction magnetic bearing II is obtainedWith y-axis direction suspending power
Step D adjusts suspending power, the specific steps are as follows:
Step D-1 acquires 3 mutually real-time torque winding currents, according to the suspending powerWithAnd calculation formulaWithSolution Calculation obtains the direction the x suspending windings current reference value of radial direction magnetic bearing IWith y-axis direction suspending windings current reference valueIts In, kf1、kf2For suspension force coefficient,μ0It is radial magnetic axis for space permeability l The axial length of I and radial direction magnetic bearing II are held, r is the radius of magnetic bearing rotor I and magnetic bearing rotor II, αsFor radial direction magnetic bearing The polar arc angle of the E type structure stator of I and radial direction magnetic bearing II, δ are that the unilateral air gap of radial direction magnetic bearing I and radial direction magnetic bearing II is long Degree, Nb are the number of turns of the biasing winding of radial direction magnetic bearing I, radial direction magnetic bearing II and switched reluctance machines, and Ns is I He of suspending windings The number of turns of suspending windings II, i1、i2And i3Respectively three-phase torque winding current；
Step D-2, according to the suspending powerWithAnd calculation formula WithResolving obtains the direction x of radial direction magnetic bearing II Suspending windings current reference valueWith y-axis direction suspending windings current reference value
Step D-3, using Current cut control method, with the x-axis direction suspending windings actual current i of radial direction magnetic bearing Is1 Track direction suspending windings current reference valueWith the actual current i of y-axis direction suspending windingss2Track the direction suspend around Group current reference value
With the x-axis direction suspending windings actual current i of radial direction magnetic bearing IIs3Track direction suspending windings current reference valueWith the actual current i of y-axis direction suspending windingss4Track direction suspending windings current reference value
Step E adjusts torque；Specific step is as follows:
Step E-1, as ω≤ω0When, using Current cut control method, with the actual current i of torque windingmTracking turns Square winding current reference value im *, and then torque winding current i is adjusted in real timem, and then achieve the purpose that adjust torque；
Step E-2, as ω > ω0When, using Angle-domain imaging method, adjust turn-on angle θonWith shutdown angle θoffTake Value, to adjust torque in real time.
In conclusion the present invention realizes torque and the decoupling of suspending power in structure；Switched reluctance machines armature winding With the mode of magnetic bearing biasing windings in series excitation simultaneously, the energy converting between mechanical efficiency of system is improved, and improve electricity The utilization rate of stream；Control four direction suspending windings electric current is only needed, that is, can produce the required suspending power of four direction, controls variable Few, the control that suspends is simple, and suspension system power inverter cost is small；Direct torque is identical as Conventional switched reluctance motor, is conducive to Torque output, high-speed adaptability further strengthen.
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 (2)

1. a kind of hybrid magnetic bearing double winding switched reluctance machines, the hybrid magnetic bearing double winding switched reluctance machines include diameter To magnetic bearing I, switched reluctance machines and radial direction magnetic bearing II；The radial direction magnetic bearing I and radial direction magnetic bearing II are arranged in The two sides of switched reluctance machines；
The radial direction magnetic bearing I is made of magnetic bearing stator I, magnetic bearing rotor I, biasing winding and suspending windings I；
The radial direction magnetic bearing II is made of magnetic bearing stator II, magnetic bearing rotor II, biasing winding and suspending windings II；
The switched reluctance machines are made of reluctance motor stator, magnetic resistance motor rotor, biasing winding and reluctance motor winding；
It is characterized in that, the magnetic bearing rotor I is arranged in magnetic bearing stator I, magnetic resistance motor rotor is arranged in reluctance motor In stator, magnetic bearing rotor II is arranged in magnetic bearing stator II；The magnetic bearing rotor I, magnetic resistance motor rotor and magnetic bearing II set of rotor in shaft；II arranged in series of the magnetic bearing stator I, reluctance motor stator and magnetic bearing stator, and between There are gaps；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and the number of teeth of reluctance motor stator is 12, magnetic resistance electricity The number of teeth of machine rotor is 8, and the switched reluctance machines are three-phase duty；
The magnetic bearing stator I is made of 4 E type structures I, and 4 E type structures I are uniformly distributed, and is differed between each E type structure I 90°；The number of teeth of each E type structure I is 3, and 30 ° are differed between tooth and tooth；The each tooth and the reluctance motor of E type structure I are fixed Sub- tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor I is cylindrical structure；
The magnetic bearing stator II is made of 4 E type structures II, and 4 E type structures II are uniformly distributed, between each E type structure II 90 ° of difference；The number of teeth of each E type structure II is 3, and 30 ° are differed between tooth and tooth；The each tooth and the magnetic resistance of E type structure II Motor stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor II is cylindrical structure；
1 biasing winding and 1 reluctance motor winding are wound on each tooth of the reluctance motor stator；
1 biasing winding is wound on each stator tooth of the magnetic bearing stator I, and on the intermediate stator tooth of each E type structure I Also it is wound with 1 suspending windings I；
1 biasing winding, and the intermediate stator tooth of each E type structure II are wound on each stator tooth of the magnetic bearing stator II On be also wound with 1 suspending windings II；
The canoe of the biasing winding are as follows: each biasing winding is across the magnetic bearing stator I on same circumferential position 1 stator tooth, 1 reluctance motor stator tooth and magnetic bearing stator II 1 stator tooth, and be wrapped on three, totally 12 It is a；
Each biasing winding and the reluctance motor windings in series on the reluctance motor stator tooth on same circumferential position, are constituted 1 torque winding string, totally 12；Every four are separated by 90 ° of torque winding string series connection, constitute a phase torque winding, form three-phase Torque winding；
I connection type of suspending windings of the magnetic bearing stator I are as follows: 2 suspending windings I string of E type structure I in the horizontal direction Connection, constitutes 1 horizontal direction suspending windings I；It connects in 2 suspending windings I of vertical direction E type structure I, constitutes 1 vertically Direction suspending windings I；
II connection type of suspending windings of the magnetic bearing stator II are as follows: 2 suspending windings II of E type structure II in the horizontal direction Series connection, constitutes 1 horizontal direction suspending windings II；It connects in 2 suspending windings II of vertical direction E type structure II, constitutes 1 Vertical direction suspending windings II.
2. a kind of control method of hybrid magnetic bearing double winding switched reluctance machines according to claim 1, feature exist In, the hybrid magnetic bearing double winding switched reluctance machines include a switching magnetic-resistance reluctance motor and two radial direction magnetic bearings, Wherein switched reluctance machines generate rotating torques, and two radial direction magnetic bearings generate 4 radial suspension forces, to realize four sides of rotor To suspension operation；The machine winding is made of 3 phase torque windings and 4 suspending windings, wherein 3 phase torque of independent control around Group electric current, to adjust torque, and generates biasing magnetic flux；4 suspending windings electric currents of independent control are realized that four-degree-of-freedom suspends and are adjusted Section；Include the following steps:
Step A obtains given torque winding current, turn-on angle and shutdown angle；Specific step is as follows:
Step A-1 acquires the real-time revolving speed of magnetic resistance motor rotor, obtains magnetic resistance motor rotor angular velocity omega；
Step A-2, by the reference angular velocities ω of magnetic resistance motor rotor angular velocity omega and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step A-3, as ω≤ω0When, ω0For critical speed setting value, determined by motor actual condition；The rotation speed difference deltan ω obtains torque winding current reference value i by pi controllerm *；Turn-on angle θonWith shutdown angle θoffIt remains unchanged, θonAnd θoffInitial value all determined by electric machine structure form；
Step A-4, as ω > ω0When, the rotation speed difference deltan ω obtains turn-on angle θ by pi controlleronAnd shutdown Angle θoff, torque winding current do not control；
Step B, the x-axis and y-axis direction for obtaining radial direction magnetic bearing I give suspending power；The specific steps of which are as follows:
Step B-1 obtains the x-axis of radial rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein x-axis is level side To y-axis is vertical direction；
Step B-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively obtains x The real-time displacement signal difference Δ α of axis direction and y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1By than Example integral-derivative controller, obtains the x-axis direction suspending power of radial direction magnetic bearing IWith y-axis direction suspending power
Step C, the x-axis and y-axis direction for obtaining radial direction magnetic bearing II give suspending power；The specific steps of which are as follows:
Step C-1 obtains the x-axis of radial rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step C-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively obtains x The real-time displacement signal difference Δ α of axis direction and y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2By than Example integral-derivative controller, obtains the x-axis direction suspending power of radial direction magnetic bearing IIWith y-axis direction suspending power
Step D adjusts suspending power, the specific steps are as follows:
Step D-1 acquires the real-time torque winding current of three-phase, according to the suspending powerWithAnd equation:
Obtain the direction the x suspending windings current reference value of radial direction magnetic bearing IWith y-axis direction suspending windings current reference value
Wherein, kf1、kf2For suspension force coefficient,μ0For space permeability, l is The axial length of radial direction magnetic bearing I and radial direction magnetic bearing II, r are the radius of magnetic bearing rotor I and magnetic bearing rotor II, αsFor diameter To the polar arc angle of the E type structure stator of magnetic bearing I and radial direction magnetic bearing II, δ is the list of radial direction magnetic bearing I and radial direction magnetic bearing II Side gas length, Nb are the number of turns of the biasing winding of radial direction magnetic bearing I, radial direction magnetic bearing II and switched reluctance machines, and Ns is outstanding The number of turns of floating winding I and suspending windings II, i1、i2And i3Respectively three-phase torque winding current；
Step D-2, according to the suspending powerWithAnd equation:
Obtain the direction the x suspending windings current reference value of radial direction magnetic bearing IIWith y-axis direction suspending windings current reference value
Step D-3, using Current cut control method, with the x-axis direction suspending windings actual current i of radial direction magnetic bearing Is1Tracking Direction suspending windings current reference valueWith the actual current i of y-axis direction suspending windingss2Track direction suspending windings electricity Flow reference value
With the x-axis direction suspending windings actual current i of radial direction magnetic bearing IIs3Track direction suspending windings current reference value With the actual current i of y-axis direction suspending windingss4Track direction suspending windings current reference value
Step E adjusts torque；Specific step is as follows:
Step E-1, as ω≤ω0When, using Current cut control method, with the actual current i of torque windingmTrack torque around Group current reference value im *, and then torque winding current i is adjusted in real timem, and then achieve the purpose that adjust torque；
Step E-2, as ω > ω0When, using Angle-domain imaging method, adjust turn-on angle θonWith shutdown angle θoffValue, from And torque is adjusted in real time.
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US6114788A (en) * 1996-12-10 2000-09-05 Seagate Technology L.L.C. Motor/active magnetic bearing combination structure
WO2007063073A2 (en) * 2005-12-01 2007-06-07 Siemens Aktiengesellschaft Linear/rotary drive assembly
CN101251149A (en) * 2008-03-17 2008-08-27 南京化工职业技术学院 Low power consumption 5-freedom permanent magnetism off-set magnetic suspension bearing system
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