CN106936285A - Simplex winding DC motor without bearing and brush and its torque suspension control method - Google Patents

Simplex winding DC motor without bearing and brush and its torque suspension control method Download PDF

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Publication number
CN106936285A
CN106936285A CN201710114187.1A CN201710114187A CN106936285A CN 106936285 A CN106936285 A CN 106936285A CN 201710114187 A CN201710114187 A CN 201710114187A CN 106936285 A CN106936285 A CN 106936285A
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CN
China
Prior art keywords
rotor
stator
motor
current
torque
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710114187.1A
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Chinese (zh)
Inventor
曾励
朱忠捷
李艳
曾志
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Yangzhou University
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Yangzhou University
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Filing date
Publication date
Application filed by Yangzhou University filed Critical Yangzhou University
Priority to CN201710114187.1A priority Critical patent/CN106936285A/en
Publication of CN106936285A publication Critical patent/CN106936285A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • 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
    • H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a kind of DC motor without bearing and brush, stator and rotor are provided with its electric machine casing, stator is arranged on the periphery of rotor；Stator is along the circumferential direction divided into four sections of stator units, and be equally spaced three stator salient poles on every section of stator unit；Every section of stator salient poles of stator unit are around equipped with three-phase windings.Torque and its suspension control method the invention also discloses above-mentioned motor：Dc source is powered through torque control module and suspension control module combine regulation, only drives the torque and its control that suspends of rotor simultaneously by a set of winding.DC motor without bearing and brush structure can be simplified using simplex winding control method of the invention, winding quantity is reduced, mitigated motor weight and reduced control difficulty.

Description

Simplex winding DC motor without bearing and brush and its torque suspension control method
Technical field
The present invention relates to a kind of motor, more particularly to a kind of DC motor without bearing and brush is that a kind of simplex winding permanent magnetism turns The three-phase DC motor without bearing and brush of minor structure.
Background technology
DC motor without bearing and brush is a kind of Novel electric that bearing-free technology is applied to brshless DC motor and is formed Machine, is provided simultaneously with the advantage of bearing-free technology and brshless DC motor, in blood pump, high speed/Ultracentrifuge, dentistry and hand The biomedical sectors such as art high speed utensil and flywheel energy storage new energy field are widely used.
In existing technology, DC motor without bearing and brush has a double winding, a set of levitation force winding and a set of turn Away from winding, double winding shares stator core, under the control of electric machine control system, each leads into electric current, resulting magnetic Field the suspension and rotation of rotor, in p-m rotor, are realized by air gap collective effect.But due to it using double winding, electricity Machine structure is complex and control difficulty is larger.
The content of the invention
It is an object of the invention to provide a kind of new DC motor without bearing and brush, simplify electric machine structure, improve work Performance, reduces control difficulty.
In order to simplify the electric machine structure of DC motor without bearing and brush, its service behaviour is improved, the present invention proposes one kind New DC motor without bearing and brush, only comes the torque of controlled motor and suspending power simultaneously using a set of machine winding, simplifies Electric machine structure and the complexity of control system is reduced, while improving the performance of DC motor without bearing and brush.
To achieve the above object, the present invention is adopted the following technical scheme that：A kind of DC motor without bearing and brush, including electricity Machine body and detecting and controlling system；The motor body, including housing, are provided with stator and rotor, housing cavity outermost in housing Portion is made up of four arcses stator unit, is divided into two pairs of Symmetrical vertical distributions, and the suspending power on x and y directions, four are controlled respectively Rotating shaft is coaxially cased with section circular arc stator unit and does not have coaxial fixed rotor bushing iron core outside rotating shaft, four permanent magnets are with surface-mount type edge Rotor core circumferential surface is uniformly distributed, adjacent permanent magnet opposite polarity, there is three stator salient poles on every section of circular arc stator, respectively Around equipped with three-phase windings.
The present invention work when, by dc source through inverter adjust power, to the three-phase in each section of circular arc stator unit around Group is chronologically passed through electric current, rotor can be driven positive or backwards rotation.Fed back by radial direction eddy current displacement sensor Data, the size of the differential symmetrical circular arc stator unit electric current of change adjusts the size of suspension radial load, balance rotor footpath Ensure the balance of rotor to power.The control of suspending power is realized while the basic direct torque of motor is ensured to balance rotor Radial load.
The technology of the control method of above-mentioned DC motor without bearing and brush is to use following steps.First, simplex winding is shaftless The control module for holding brshless DC motor is mainly made up of three parts, is divided into torque control module, suspension control module and differential Adjustment module.Three sensors are set in motor internal, are respectively that Hall sensor is used to detect angle of rotor, current vortex x, y Direction displacement transducer is used to detect the air-gap separation between rotor and stator.Torque control module according to given motor speed and Turn to and Hall sensor detects the angle of rotor θ for obtaining, dc source is through inverter regulation output three-phase current, and circular arc is fixed Sub each set three-phase windings step mode is the circulation step mode of A → AB → B → BC → C → CA → A, and its output current is respectively iA,iB,iC.The x that suspension control module is detected according to x, y-axis to eddy current displacement sensor, y-axis to air-gap separation x, y with Motor given reference value x*, y* obtain rotor x through two pid adjusters, and y-axis is to suspending power FX, Fy, by suspending power Fx, Fy Transport to levitation force winding given value of current value computing module and obtain levitating current ix, iy.Again by it is differential regulation export 12 groups of electric currents to On 12 coils, realize sharing a set of winding with this while realizing torque and suspending to control.
Brief description of the drawings
Fig. 1 is the winding layout drawing of simplex winding DC motor without bearing and brush of the present invention
In figure：1- housings；2- stator yokes；3- torque suspending windings；4- stator tooths；5- rotating shafts；6- durface mounted permanent magnet bodies；
7- rotor cores.
Fig. 2 is Control system architecture and motor connection figure；
Fig. 3 (1), (2), (3), (4), (5), (6) are respectively that, in A, suspending power is produced when AB, B, BC, C, CA phase are powered Phase diagram
Specific embodiment
Referring to Fig. 1, motor by housing 1, stator yoke 2, stator tooth 4, durface mounted permanent magnet body 6, rotating shaft 5, torque suspend around Group 3, rotor core 7 is constituted.Stator yoke 2 is cylindrical shape, and package packing rotating shaft in stator yoke 2, rotating shaft surface rotor bushing is unshakable in one's determination, Permanent magnet is uniformly arranged in rotor core with surface-mount type, adjacent permanent magnets opposite polarity.Stator yoke 2, rotating shaft 5, rotor iron The three of the heart 7 is coaxial, and stator yoke is divided into four arcses stator unit.There are three stator tooths on every section of circular arc stator unit, altogether 12 stator tooths.Torque suspending windings wind on the stator teeth.
Torque suspending windings, using short distance winding, are made up of per phase winding A, B, C three-phase windings composition four coils, Wherein, A phase windings are made up of A1, A2, A3, A4 coil；B phase windings are made up of B1, B2, B3, B4 coil；C phase windings by C1, C2, C3, C4 coil are constituted, 12 coils altogether, this 12 coils according to A1 → B1 → C1 → A2 → B2 → C2 → A3 → B3 → The direction of C3 → A4 → B4 → C4 is distributed on corresponding stator tooth clockwise, and each coil is independently-powered.
When motor works, according to given rotating speed and steering and rotor current angle position θ, torque control module calculates output Torque current iA*, iB*, iC*, the torque output current of DC motor without bearing and brush is obtained by current track inverter IA, iB, iC, suspension control module calculate output levitating current ix, iy.Torque control module and suspension control module are specifically controlled Mode is as described below, and when rotor angle is positioned at 0 °~15 °, 90 °~105 °, 180 °~195 °, 270 °~285 °, A phases are powered, 15 °~30 °, 105 °~120 °, 195 °~210 °, 285 °~290 ° when AB simultaneously be powered, 30 °~45 °, 120 °~135 °, 210 °~225 °, 300 °~315 ° when B phases be powered, 45 °~60 °, 135 °~150 °, 225 °~240 °, 315 °~330 ° when BC Be powered simultaneously, 60 °~75 °, 150 °~165 °, 240 °~255 °, 330 °~345 ° when C phases be powered, 75 °~90 °, 165 °~ 180 °, 255 °~270 °, 345 °~360 ° when CA simultaneously be powered.
According to x, the air-gap separation that y-axis direction eddy current displacement sensor is detected calculates given through PID controller Suspending power set-point FxAnd F *y*, it is being F by phse conversionx, Fy, converting concrete mode is.First, coil distribution mode is such as Shown in accompanying drawing 1, A, B, C three-phase coil are distributed clockwise and adjacent pitch angles are 30 °, A1-A3, A2-A4, B1-B3, B2-B4, C1-C3, C2-C4 are symmetrical, A1-A3 and A2-A4, B1-B3 and B2-B4, are vertical distribution between C1-C3 and C2-C4, and right Claim winding phase current in opposite direction.When A phases are powered.A1, A2, A3, A4 coil are powered simultaneously, now
When AB is powered, A1, A2, A3, A4, B1, B2, B3, B4 coil are powered simultaneously, now
When B is powered, B1, B2, B3, B4 coil are powered simultaneously, without conversion
When BC is powered, B1, B2, B3, B4, C1, C2, C3, C4 coil are powered simultaneously, now
When C is powered, C1, C2, C3, C4 coil are powered simultaneously, now
When CA is powered, A1, A2, A3, A4, C1, C2, C3, C4 coil are powered simultaneously, now
The control electric current of table 1 and suspending power and rotor-position relation
F during rotor diverse location is obtained according to the conversion of the mapping mode of above-mentioned table 1x, Fy, then by suspension control module meter Calculate output current ix, iy.Differential regulation is carried out by differential adjustment module again, specific regulative mode is as described below：iABy ix's Differential regulation output iA1=iA+ix, iA3=iA-ix, by iyDifferential regulation output iA2=iA+iy, iA4=iA-iy。iBPass through ixDifferential regulation output iB1=iB+ix, iB3=iB-ix, by iyDifferential regulation output iB2=iB+iy, iB4=iB-iy。iC By ixDifferential regulation output iC1=iC+ix, iC3=iC-ix, by iyDifferential regulation output iC2=iC+iy, iC4=iC- iy.Amount to output iA1, iA2, iA3, iA4, iB1, iB2, iB3, iB4, iC1, iC2, iC3, iC412 groups of electric currents altogether.It is respectively outputted to correspondence Four circular arc stators amount to 12 phase coil winding A1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3, C4On.Thus can reach this The purpose of invention.
Table 2RespectivelyPhase current differential regulative mode and rotor-position relation

Claims (4)

1. a kind of simplex winding DC motor without bearing and brush, including motor body and detection control unit；
The motor body includes housing（1）, housing（1）Inside it is provided with stator and rotor, it is characterised in that：Housing（1）Inner side sets Put cylindrical stator yoke（2）, stator yoke（2）Along the circumferential direction it is divided into four arcses stator unit, every section of circular arc stator There are three stator tooths on unit（4）, every section of the three of circular arc stator unit stator tooths（4）On around equipped with three-phase torque suspending windings （3）；One group of current output unit for chronologically changing is connected with the phase winding correspondence of circular arc stator unit to realize motor Direct torque；Stator yoke（2）Rotor, rotor, stator yoke are set in inner chamber（2）It is coaxially disposed, rotor outer periphery is radially uniform Four durface mounted permanent magnet bodies are distributed with（6）；Four arcses stator unit is Symmetrical vertical distribution two-by-two, and x, y directions are controlled respectively Suspending power, while be passed through three-phase sequential electric current on three stator tooths on every section of circular arc stator unit, while controlled motor turns Square is exported；
The detection control unit includes x, y directions displacement transducer, angle of rotor detection Hall sensor, direct torque mould Block, suspension control module, current differential adjustment module and current output unit；X, y direction sensor and Hall sensor are examined Rotor displacement and angle position signal are measured, passing it to suspension control module carries out the calculating of levitating current, levitating current The electric current exported with torque control module carries out differential regulation by current differential adjustment module, its X or Y direction is symmetrically justified One end electric current increase of arc stator unit, other end electric current reduces, and radial load and the rotor radial power of generation balance each other, and make rotor Its centre of gyration is suspended in, the suspension control of rotor is realized with this.
2. simplex winding DC motor without bearing and brush according to claim 1, it is characterised in that：The torque suspending windings （3）Be made up of ABC three-phase windings, be made up of four coils respectively per phase winding, winding according to A1, B1, C1, A2, B2, C2, A3, The order of B3, C3, A4, B4, C4 coil is wound in stator tooth in the counterclockwise direction successively（4）On, each coil is independently-powered.
3. simplex winding DC motor without bearing and brush according to claim 1, it is characterised in that：The rotor includes rotating shaft （5）, rotor core（7）, stator yoke（2）Interior package packing rotating shaft（5）, rotating shaft（5）Surface rotor bushing is unshakable in one's determination（7）, permanent magnet（6） Rotor core is uniformly arranged on surface-mount type（7）On, adjacent permanent magnet（6）Opposite polarity.
4. suspending power and method for controlling torque are carried out using a kind of DC motor without bearing and brush described in claim 1-3, It is characterized in that：The control method is the x by detection control unit detection rotor, the displacement of y directions and angle of rotor position Put, its torque current and levitating current are calculated according to different displacement and rotor angle, by levitating current and torque electricity The mode of differential regulation is flowed, 12 groups of electric currents are exported, 12 phase windings installed around on stator are powered respectively, to realize the outstanding of its rotor Floating and direct torque；Specifically include following steps：
（1）The angle of rotor θ that torque control module is obtained according to given motor speed and steering and Hall sensor detection, directly Stream power supply respectively covers three-phase windings step mode for A → AB → B through inverter regulation output three-phase current, circular arc stator unit The circulation step mode of → BC → C → CA → A, its output current is respectivelyi A ,i B ,i C ；
（2）The x that suspension control module is detected according to x, y-axis to eddy current displacement sensor, y-axis to air-gap separation x, y with Motor given reference value x*, y* obtain rotor x through two pid adjusters, and y-axis is to suspending power FX, Fy, by suspending power Fx, F yLevitation force winding given value of current value computing module is transported to, levitating current is obtainedi x ,i y ；
（2）Exported on 12 groups of electric currents to 12 coils by differential regulation again, realize that share a set of winding realizes turning simultaneously with this Square and the control that suspends.
CN201710114187.1A 2017-02-28 2017-02-28 Simplex winding DC motor without bearing and brush and its torque suspension control method Pending CN106936285A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108054973A (en) * 2018-01-13 2018-05-18 福州大学 Reduce the simplex winding stator permanent magnetic type flux switch motor driving method of levitating current
CN110855031A (en) * 2019-11-27 2020-02-28 河南科技大学 Single-winding BL-BLDC control method with 8/4 slot pole ratio
CN110855032A (en) * 2019-11-27 2020-02-28 河南科技大学 Single winding BL-BLDC topology with 8/4 slot pole ratio
CN111946748A (en) * 2020-08-20 2020-11-17 董文昌 Magnetic processing bearing in wind motor and processing equipment thereof

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11285289A (en) * 1998-03-26 1999-10-15 Ebara Corp Non-bearing rotating machine
CN204118995U (en) * 2014-07-07 2015-01-21 扬州大学 Individual layer many drivings winding magnetic suspension switched reluctance motor
CN105391214A (en) * 2015-11-05 2016-03-09 华中科技大学 Unified-winding bearingless motor and drive control system thereof
CN105897064A (en) * 2016-05-30 2016-08-24 南京航空航天大学 Self-levitation permanent magnet motor employing integrated windings and control system and control method
CN206533262U (en) * 2017-02-28 2017-09-29 扬州大学 A kind of simplex winding DC motor without bearing and brush

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11285289A (en) * 1998-03-26 1999-10-15 Ebara Corp Non-bearing rotating machine
CN204118995U (en) * 2014-07-07 2015-01-21 扬州大学 Individual layer many drivings winding magnetic suspension switched reluctance motor
CN105391214A (en) * 2015-11-05 2016-03-09 华中科技大学 Unified-winding bearingless motor and drive control system thereof
CN105897064A (en) * 2016-05-30 2016-08-24 南京航空航天大学 Self-levitation permanent magnet motor employing integrated windings and control system and control method
CN206533262U (en) * 2017-02-28 2017-09-29 扬州大学 A kind of simplex winding DC motor without bearing and brush

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108054973A (en) * 2018-01-13 2018-05-18 福州大学 Reduce the simplex winding stator permanent magnetic type flux switch motor driving method of levitating current
CN108054973B (en) * 2018-01-13 2019-09-13 福州大学 Reduce the simplex winding stator permanent magnetic type flux switch motor driving method of levitating current
CN110855031A (en) * 2019-11-27 2020-02-28 河南科技大学 Single-winding BL-BLDC control method with 8/4 slot pole ratio
CN110855032A (en) * 2019-11-27 2020-02-28 河南科技大学 Single winding BL-BLDC topology with 8/4 slot pole ratio
CN110855032B (en) * 2019-11-27 2022-01-21 河南科技大学 Single winding BL-BLDC topology with 8/4 slot pole ratio
CN110855031B (en) * 2019-11-27 2022-01-21 河南科技大学 Single-winding BL-BLDC control method with 8/4 slot pole ratio
CN111946748A (en) * 2020-08-20 2020-11-17 董文昌 Magnetic processing bearing in wind motor and processing equipment thereof
CN111946748B (en) * 2020-08-20 2021-11-16 天津市城西广源电力工程有限公司 Magnetic processing bearing in wind motor and processing equipment thereof

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Application publication date: 20170707