CN106953459A - A kind of hybrid magnetic bearing switched reluctance machines and its control method - Google Patents

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

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Publication number
CN106953459A
CN106953459A CN201710231345.1A CN201710231345A CN106953459A CN 106953459 A CN106953459 A CN 106953459A CN 201710231345 A CN201710231345 A CN 201710231345A CN 106953459 A CN106953459 A CN 106953459A
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torque
suspending
windings
rotor
magnetic bearing
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CN106953459B (en
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刘泽远
蔡骏
赵春文
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Nanjing Accyrate Electronic Technology Co Ltd
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Nanjing Accyrate Electronic Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/09—Structural association with bearings with magnetic bearings
    • 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
    • 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 switched reluctance machines and its control method, belong to magnetic suspension motor and its control field.The motor is formed by 12/8 pole switching reluctance motor and 4 pole magnetic bearing series connection set；4 suspending windings be wrapped in magnetic bearing stator and 4 aligned reluctance motor stators on, for producing suspending power；8 armature winding are wound on remaining 8 reluctance motor stator, for producing torque.In control, suspending windings produce suspending power simultaneously using permanent conducting excitation in magnetic bearing and reluctance motor；8 torque windings are connected as two-phase, and excitation is turned in turn, and torque is produced in reluctance motor.In each positive and negative half period of control method of motor of the present invention, suspending windings current-symmetrical, the positive torque of generation is equal with negative torque, and average torque is zero, therefore suspending power is decoupled with average torque；In addition, the positive torque further improves electric motor starting performance, traditional two-phase induction motor can be overcome to start difficult shortcoming；And the present invention is simple in construction, power system low cost and control is simple.

Description

A kind of hybrid magnetic bearing switched reluctance machines and its control method
Technical field
The present invention relates to a kind of hybrid magnetic bearing switched reluctance machines and its control method, belong to magnetic levitation switch magnetic resistance electricity Machine and its control technology field.
Background technology
Bearing-free switch reluctance motor is a kind of novel magnetically levitated motor grown up 1990s.Bearing-free is opened Reluctance motor is closed because integrating rotation and two functions, the damage that bearing friction is brought when not only can effectively solve high-speed cruising of suspending Consumption and generate heat the problems such as, moreover it is possible to further play switched reluctance machines high-speed adaptability so that strengthen its Aero-Space, fly Take turns the application foundation of the High Speed Fields such as energy storage, naval vessel.
Can, with deepening continuously for research, people gradually recognize, solve between torque and the effective output area of suspending power Restriction, suspend with two functions of rotation whether can uneoupled control and suspension control accuracy quality during high speed, to BSRM high speeds Whether can be not fully exerted and play vital effect.
Therefore, NASA scholar Morrison proposes a kind of hybrid magnetic bearing switched reluctance machines, the motor is 8 by stator Pole salient-pole structure, and rotor then uses composite construction, is made up of a cylindrical rotor and 8 pole field spiders.Four are in level Suspending power is produced with vertical winding perseverance conducting, four additional winding is connected as two-phase two-by-two, and conducting in turn produces torque.Due to Cylindrical rotor can produce larger suspending power, therefore the radial load ability of the motor is significantly improved, while it has complete turn Sub- position is respectively provided with the ability of suspension bearing.
However, because magnetic bearing and switched reluctance machines share a stator, two-phase armature winding and four suspending windings Between there is stronger magnetic coupling, suspending power Mathematical Modeling is complicated；In addition, four suspending windings switch magnetic equivalent to traditional 8/6 pole Hinder the other two-phase of motor, and the torque direction produced limits startability all the time on the contrary, torque pulsation is big, the motor Startup ability is similar to traditional two-phase induction motor, there is startup dead band；Limited by the structure, the motor can not realize torque and suspension The uneoupled control of power, the precise control suspended at a high speed is more difficult.Therefore, improving startability, reducing its stiffness of coupling, realization Uneoupled control is one of primary study direction of such motor.
The content of the invention
A kind of simple in construction, startability is preferable, coupling strength is weak, the control that suspends is simple the present invention seeks to proposing and The hybrid magnetic bearing switched reluctance machines and its control method of torque and Decoupling control of levitation force can be achieved.
The present invention to achieve the above object, is adopted the following technical scheme that：
A kind of hybrid magnetic bearing switched reluctance machines, including reluctance motor stator, magnetic resistance motor rotor, magnetic bearing stator, Magnetic bearing rotor, torque coil, suspended coil and rotating shaft；
The reluctance motor stator is connected close arrangement with magnetic bearing stator, the magnetic resistance motor rotor and magnetic bearing rotor Series connection close arrangement；The magnetic resistance motor rotor is arranged in reluctance motor stator, and the magnetic bearing rotor is arranged in magnetic bearing In stator, magnetic resistance motor rotor and the magnetic bearing rotor is enclosed within rotating shaft；
The reluctance motor stator is salient-pole structure, and the number of teeth is 12, and all reluctance motor stator teeth are uniformly distributed, tooth and tooth It is separated by 30 °；The magnetic resistance motor rotor is salient-pole structure, and the number of teeth is 8, and all magnetic resistance motor rotor teeth are uniformly distributed, tooth and tooth It is separated by 45 °；The polar arc angle of the reluctance motor stator is equal with the polar arc angle of magnetic resistance motor rotor, and polar arc angle is 15 °；
The magnetic bearing stator is salient-pole structure, and the number of teeth is 4, and all magnetic bearing stator tooths are uniformly distributed, and tooth is separated by with tooth 90 °, the magnetic bearing rotor is cylindrical structure；
4 magnetic bearing stators are alignd with 4 reluctance motor stators, and series connection close arrangement, and 4 suspending powers are constituted altogether Stator, wherein 2 suspending power stators for being separated by 180 ° are located at horizontal direction, remaining 2 suspending power stators for being separated by 180 ° are located at Vertical direction；
1 suspended coil is wound with 4 suspending power stators, totally 4 suspended coils, constitutes A phase windings；Magnetic resistance electricity Equal 1 torque coil, totally 8 on remaining 8 teeth of machine stator；
Described 4 torque coils for being separated by 90 ° are connected, and constitute B phase torque windings；Residue 4 is separated by 90 ° of torque coil Series connection, constitutes C phase torque windings；B phase torque windings spatially differ 30 ° with C phase torque windings；4 suspended coils Independent control, wherein be wound on horizontal square to the suspended coil on suspending power stator be horizontal square to suspending windings, be wound on water Suspended coil on flat negative direction suspending power stator is horizontal negative direction suspending windings, is wound on vertical positive direction suspending power stator Suspended coil be vertical positive direction suspending windings, it is vertical losing side to be wound on suspended coil on vertical negative direction suspending power stator To suspending windings.
The 4 suspending windings perseverance conductings of A phases produce suspending power, and produce half of rotor cycle generation positive torque, then remaining half Individual rotor cycle produces negative torque；Excitation is turned in turn for B phases and C phase torques winding, produces torque；By independent control A phases 4 The size of suspending windings electric current, to adjust suspending power, and the positive and negative torque that suspending windings electric current is produced in a rotor cycle Symmetry equivalent, average torque is zero, therefore average torque is decoupled with suspending power；By controlling the big of B, C two-phase torque winding current Small, to adjust output torque, torque winding current is only as an intermediate variable of suspending windings Current calculation, with suspension control It is unrelated, and torque winding current is only related to output torque, therefore direct torque and the control that suspends are separate；Including following step Suddenly：
Step A, gathers magnetic resistance motor rotor real time position angle θ, differentiates each phase excited state；
Step A-1, magnetic resistance motor rotor position when defining θ=0 is suspending power stator tooth and magnetic resistance motor rotor tooth pair Neat position, one the magnetic resistance motor rotor cycle angle be 45 °, 4 suspending windings of A phases perseverance conducting, and each suspending power control Conducting interval is [- 22.5 °, 22.5 °], and 4 suspending windings start excitation conducting when making θ=0；
Step A-2, as θ=θonbWhen, the power switch of B phase torque winding power circuits is opened, B phases start excitation conducting, As θ=θoffbWhen, the power switch of B phase torque winding power circuits is turned off, B phases terminate excitation；Wherein, θonbAnd θoffbDifference B The turn-on angle of phase torque winding power circuit and shut-off angle, the two is related to rotating speed, θonbSpan be [- 7.5 °, 0], The angle of flow of B phase torque windings is (θoffb-θonb), its span is [15 °, 20 °]；
Step A-3, as θ=θoncWhen, the power switch of C phase torque winding power circuits is opened, C phases start excitation conducting, As θ=θoffcWhen, the power switch of C phase torque winding power circuits is turned off, C phases terminate excitation；Wherein, θoncAnd θoffcDifference C The turn-on angle of phase torque winding power circuit and shut-off angle, θonc=θonb+ 15 °, θoffc=θoffb+15°；
Step B, obtains x-axis direction and gives suspending powerSuspending power is given with y-axis directionComprise the following steps that：
Step B-1, obtains real-time displacement signal alpha and β of the rotor in x-axis and y-axis direction, wherein, x-axis and the level side Overlapped to suspending power stator tooth center line, y-axis is overlapped with the vertical direction suspending power stator tooth center line, x-axis is with y-axis in sky Between upper 90 ° of difference；
Step B-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtain x Direction of principal axis and real-time displacement the signal difference Δ α and Δ β in y-axis direction, pass through ratio by the real-time displacement signal difference Δ α and Δ β Integral-derivative controller, obtains the phase x-axis direction and gives suspending powerSuspending power is given with y-axis direction
Step C, adjusts torque, comprises the following steps that：
Step C-1, gathers the real-time rotating speed of magnetic resistance motor rotor, and calculating obtains magnetic resistance motor rotor angular velocity omega；
Step C-2, magnetic resistance motor rotor angular velocity omega and the reference angular velocities ω of setting*Subtract each other, obtain rotation speed difference deltan ω；
Step C-3, the rotation speed difference deltan ω, passing ratio integral controller obtains torque winding current reference value im *；
Step C-4, using Current cut control method, with the actual current i of torque windingmTrack torque winding current ginseng Examine value im *, and then torque winding current i is adjusted in real timem, and then reach the purpose of regulation torque；
Step D, adjusts suspending power, comprises the following steps that：
Step D-1, according to the suspending powerWith torque winding current reference value im *, and Current calculation formulaWithThe reference value for obtaining x-axis direction suspending windings difference between current can be resolvedWith y-axis direction suspend around The reference value of group difference between current
Wherein, kiInterval is suspended for θ ∈ [- 22.5 °, -15 °] for the suspension force coefficient that the i-th suspension is interval, the 1st, the 2nd Interval suspend for θ ∈ [- 15 °, 0], interval the 3rd suspension is θ ∈ [0, -15 °], and the 4th suspension interval is θ ∈ [15 °, 22.5 °], Each interval suspension force coefficient is respectively：
In formula, μ0For space permeability, l1For the axial length of magnetic bearing, r1For the radius of magnetic bearing rotor, αsFor magnetic axis The polar arc angle of stator is held, unit is degree, δ1For the unilateral gas length of magnetic bearing, NsFor the suspending windings number of turn, l2For switching magnetic-resistance The axial length of motor, r2For the radius of switch reluctance machine rotor, δ1For the unilateral gas length of switched reluctance machines, switch Reluctance motor stator and rotor polar arc angle is 15 °；
Step D-2, according to describedWithAnd Current calculation formula WithResolve the reference value for obtaining four suspending windings electric currentsWith
Step D-3, using Current cut control method, allows the actual current i of four suspending windingss1、is2、is3And is4Point Its reference value is not trackedWithSo as to adjust each suspending power suspended in interval in real time, and then realize each The suspension operation of rotor cycle.
Beneficial effects of the present invention：The present invention proposes a kind of hybrid magnetic bearing switched reluctance machines and its control method, Using technical scheme, following technique effect can be reached：
(1) uneoupled control of average torque and suspending power can be achieved；
(2) control simply, startability is preferable；
(3) it is simple in construction, power system low cost.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of hybrid magnetic bearing switched reluctance machines.
Fig. 2 is B the and C phase winding schematic diagrames of switched reluctance machines in the present invention.
Fig. 3 is 4 suspending windings schematic diagrames of A phases of magnetic bearing in the present invention.
Fig. 4 is the inductance and current waveform schematic diagram of suspending windings and torque winding.
Fig. 5 is the system block diagram of hybrid magnetic bearing switched reluctance machines.
Fig. 6 is each suspending windings current calculation method block diagram in control method of the present invention.
Description of reference numerals：Fig. 1 is into Fig. 6, and 1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, and 3 be that magnetic bearing is determined Son, 4 be magnetic bearing rotor, and 5 be torque coil, and 6 be suspended coil, and 7 be rotating shaft, 8,9,10 difference x, y, z direction of principal axis reference axis Positive direction, 11 be B phase torque windings inflow current ib+, 12 be the outflow electric current i of B phase torque windingsb-, 13 be C phase torques The inflow current i of windingc+, 14 be the outflow electric current i of C phase torque windingsc-, 15 be the inflow current of x-axis positive direction suspending windings is1+, 16 go out to flow i for the inflow of x-axis positive direction suspending windingss1-, 17 be the inflow current i of y-axis positive direction suspending windingss2+, 18 For the outflow electric current i of y-axis positive direction suspending windingss2-, 19 be the inflow current i of x-axis negative direction suspending windingss3+, 20 be x-axis The outflow electric current i of negative direction suspending windingss3-, 21 be the inflow current i of y-axis negative direction suspending windingss4+, 22 be y-axis negative direction The outflow electric current i of suspending windingss4-, 23,24,25,26 be respectively that air gap 1, air gap 2, air gap 3 and air gap 4,27,28,29 are distinguished It is respectively suspending windings, B phase torques for the inductance curve of suspending windings, B phase torque windings and C phase torque windings, 30,31,32 The current curve of winding and C phase torque windings, Fα, FβFor x, the suspending power in y-axis direction, Fα*, Fβ* it is the reference value of suspending power, α, β are respectively center displacement of the rotor on x, y-axis direction, and α *, β * are respectively the ginseng of rotor center displacement on x, y-axis direction Value is examined, θ is rotor position angle, θon、θoffRespectively turn on and off angle, θonb、θoffbRespectively B phases torque winding to open and Turn off angle, θonc、θoffcC phases torque winding is to turn on and off angle respectively.
Embodiment
Below in conjunction with the accompanying drawings, to a kind of hybrid magnetic bearing switched reluctance machines of the invention and its technical scheme of control method It is described in detail：
As shown in figure 1, be the three dimensional structure diagram of hybrid magnetic bearing switched reluctance machines, wherein, 1 is that reluctance motor is determined Son, 2 be magnetic resistance motor rotor, and 3 be magnetic bearing stator, and 4 be magnetic bearing rotor, and 5 be torque coil, and 6 be suspended coil, and 7 be to turn Axle.
A kind of hybrid magnetic bearing switched reluctance machines, including reluctance motor stator, magnetic resistance motor rotor, magnetic bearing stator, Magnetic bearing rotor, torque coil, suspended coil and rotating shaft；
The reluctance motor stator is connected close arrangement with magnetic bearing stator, the magnetic resistance motor rotor and magnetic bearing rotor Series connection close arrangement；The magnetic resistance motor rotor is arranged in reluctance motor stator, and the magnetic bearing rotor is arranged in magnetic bearing In stator, magnetic resistance motor rotor and the magnetic bearing rotor is enclosed within rotating shaft；
The reluctance motor stator is salient-pole structure, and the number of teeth is 12, and all reluctance motor stator teeth are uniformly distributed, tooth and tooth It is separated by 30 °；The magnetic resistance motor rotor is salient-pole structure, and the number of teeth is 8, and all magnetic resistance motor rotor teeth are uniformly distributed, tooth and tooth It is separated by 45 °；The polar arc angle of the reluctance motor stator is equal with the polar arc angle of magnetic resistance motor rotor, is 15 °；
The magnetic bearing stator is salient-pole structure, and the number of teeth is 4, and all magnetic bearing stator tooths are uniformly distributed, and tooth is separated by with tooth 90 °, the magnetic bearing rotor is cylindrical structure；
4 magnetic bearing stators are alignd with 4 reluctance motor stators, and series connection close arrangement, and 4 suspending powers are constituted altogether Stator, wherein 2 suspending power stators for being separated by 180 ° are located at horizontal direction, remaining 2 suspending power stators for being separated by 180 ° are located at Vertical direction；
1 suspended coil is wound with 4 suspending power stators, totally 4, A phase windings are constituted；Reluctance motor stator is remained Equal 1 torque coil, totally 8 on 8 remaining teeth；
Described 4 torque coils for being separated by 90 ° are connected, and constitute B phase torque windings, and residue 4 is separated by 90 ° of torque coil Series connection, constitutes C phase torque windings, and B phase torque windings spatially differ 30 ° with C phase torque windings；4 suspended coils Independent control, wherein be wound on horizontal square to the suspending windings on suspending power stator be horizontal square to suspending windings, be wound on water Suspending windings on flat negative direction suspending power stator are horizontal negative direction suspending windings, are wound on vertical positive direction suspending power stator Suspending windings be vertical positive direction suspending windings, it is vertical losing side to be wound on suspending windings on vertical negative direction suspending power stator To suspending windings.
As shown in Fig. 2 being B the and C phase winding schematic diagrames of switched reluctance machines in the present invention.B phases and C phase torque windings are equal Formed by four windings in series for being spatially separated by 90 °, the two differs 30 ° and -30 ° with suspending windings in position.B phases and C Four magnetic poles of phase are distributed in NSNS.
As shown in figure 3, being 4 suspending windings schematic diagrames of A phases of magnetic bearing in the present invention.Each suspending windings are across one Magnetic bearing stator and aligned reluctance motor stator, that is, be wound on suspending power stator, and four suspending windings are individually for a set of Winding, independent control, and asymmetric excitation is carried out, suspending power is only produced in magnetic bearing, is not only produced in switched reluctance machines Raw suspending power, also produces torque.The polarity of the magnetic field that four suspending windings are produced is distributed in NSNS.
As x-axis positive direction suspending windings electric current is1More than x-axis positive direction suspending windings electric current is3When, air gap 1 (label 23) The air gap flux density at place is more than the air gap flux density at air gap 3 (label 25) place, will produce the suspending power of an x-axis positive direction；Conversely, is1 <is3When, the suspending power of an x-axis negative direction will be produced.
As y-axis positive direction suspending windings electric current is2More than y-axis positive direction suspending windings electric current is4When, air gap 2 (label 24) The air gap flux density at place is more than the air gap flux density at air gap 4 (label 26) place, will produce the suspending power of a y-axis positive direction；Conversely, is2 <is4When, the suspending power of a y-axis negative direction will be produced.
Therefore, the size of four suspending windings electric currents is rationally controlled, you can the suspending power needed for producing, to realize rotor The suspension of two-freedom.
As shown in figure 4, being the inductance and current waveform schematic diagram of suspending windings and torque winding.In figure, label 27,28, 29 be respectively suspending windings, B phase torque windings and C phase torque windings inductance curve, label 30,31,32 be respectively suspend around The current curve of group, B phase torque windings and C phase torque windings.Because suspending windings are using permanent conducting control mode, suspending windings Electric current is one continuous and in periodically variable curve, the cycle angle be 45 °, in aligned position (θ=0), suspending windings electric current Minimum, is not lining up position (θ=22.5 ° or -22.5 °), suspending windings electric current is maximum.Due to not lining up near position [- 22.5 °, -15 °] and [15 °, 22.5 °], the magnetic resistance substantially constant of switched reluctance machines, the suspending power in this interval is also substantially permanent It is fixed, it is unrelated with rotor position angle, therefore suspending windings electric current is also essentially constant.
Two-phase torque winding current, by control bit square, is cyclically-varying rule, the cycle angle be also 45 °, and two The switching angle of person differs 15 °.
In addition, positive torque is produced in [- 22.5 °, 0] interior suspending windings electric current, in [0,22.5 °] interior suspending windings electric current production Raw negative torque, because the levitating current in [- 22.5 °, 0] and [0,22.5 °] two intervals is symmetry equivalent, therefore two interval interior generations Positive and negative torque it is just equal, average torque is zero, and then can realize the uneoupled control of average torque and suspending power.
As shown in figure 5, being the system block diagram of magnetic bearing switch reluctance motor.Control process is：Displacement error signal is entered Row PID is adjusted, and obtains given suspending power Fα*, Fβ*, the ginseng of each suspending windings electric current is obtained by levitating current controller afterwards Value is examined, using Current cut control method, allows each suspending windings actual current to track respective reference value, with outstanding needed for producing Buoyancy.
Motor rotor position information is detected, actual speed ω is calculated, the turn-on angle θ per phase torque winding is obtainedon With shut-off angle θoff, speed error signal is subjected to PI regulations, B phases and the reference value of C phase torque winding currents is obtained, utilizes electricity Reference value of the stream chop control by the tracking of two-phase actual current per phase winding electric current, and dynamic regulation output torque.
As shown in fig. 6, being each suspending windings current calculation method block diagram in control method of the present invention.Due to rotor The change of angular position theta, the suspension that each suspending windings electric current is produced also changes therewith, and the cycle of another rotor position angle is 45 °, therefore need to only derive the suspending power formula in a cycle.
1st, when rotor be in the 1st it is interval when, i.e. θ ∈ [- 22.5 °, -15 °], x and y-axis direction suspending power FαAnd FβExpression Formula is：
Wherein, k1For suspension force coefficient, its expression formula is：
In formula, μ0For space permeability, l1For the axial length of magnetic bearing, r1For the radius of magnetic bearing rotor, αsFor magnetic axis Hold the polar arc angle of stator, δ1For the unilateral gas length of magnetic bearing, NsFor the suspending windings number of turn.
2nd, when rotor be in the 2nd it is interval when, i.e. θ ∈ [- 15 °, 0], x and y-axis direction suspending power FαAnd FβExpression formula be：
Wherein, k2For suspension force coefficient, its expression formula is：
In formula, l2For the axial length of switched reluctance machines, r2For the radius of switch reluctance machine rotor, δ1For switch magnetic The unilateral gas length of motor is hindered, now switched reluctance machines stator and rotor polar arc angle is 15 °.
3rd, when rotor be in the 3rd it is interval when, i.e. θ ∈ [0,15 °], x and y-axis direction suspending power FαAnd FβExpression formula be：
Wherein, k3For suspension force coefficient, its expression formula is：
4th, when rotor be in the 4th it is interval when, i.e. θ ∈ [15 °, 22.5 °], x and y-axis direction suspending power FαAnd FβExpression formula For：
Wherein, k4For suspension force coefficient, its expression formula is：
When known to two radial suspension forces, two constraint equations need to be introduced, four current variables could be solved, are made：
Wherein, imFor B, C phase torque winding current values, Δ is1For the suspending windings difference between currents of horizontal direction two, Δ is2For The suspending windings difference between currents of vertical direction two.
Then above-mentioned suspending power formula is changed into：
Fα=kiimΔis1 (14)
Fβ=kiimΔis2 (15)
In formula, kiFor the i-th interval suspension force coefficient.
In control, after two radial displacements are adjusted through PID, the reference value of both direction suspending power can obtainWithAnd After rotating speed is adjusted through PI, the reference value of B and C phase torque winding currents can obtainTherefore, can based on formula (14) and (15) To obtain the reference value of both direction suspending windings difference between currentsWithI.e.：
The reference value of four suspending windings electric currents more further can be calculated according to formula (13), (16) and (17)WithI.e.：
Above-mentioned analysis shows, the intermediate variable that torque winding current is only calculated as levitating current, its concrete numerical value Only determined by the PI regulations in speed closed loop, that is, be only dependent upon real-time output torque；And entirely calculated in suspending windings electric current During, influence of the suspending windings electric current to output torque is not considered, and influence of the levitating current to output torque only passes through speed The PI of closure adjusts to make up.Therefore direct torque and the mutual decoupling of suspending power control, in addition, in a rotor cycle, suspend around The torque that group electric current is produced is zero, i.e., average torque is zero, therefore average torque is also mutually decoupled with suspending power.
It is pointed out that because suspending power and torque are positive and negative only with suspending windings size of current and rotor position angle change And change, therefore the direction of four suspending windings electric currents and two torque winding currents does not change in control, therefore only The power inverter in single electric current direction need to be used, the quantity of power switch pipe is can obviously reduce for this, and then reduce power The cost of converter.
A kind of control method of described hybrid magnetic bearing switched reluctance machines, 4 suspending windings perseverance conductings of A phases produce outstanding Buoyancy, and half of rotor cycle generation positive torque is produced, then remaining half of rotor cycle produces negative torque；B phases and the torque of C phases around Excitation is turned on group in turn, produces torque；By the size of independent control A 4 suspending windings electric currents of phase, to adjust suspending power, and The positive and negative torque that suspending windings electric current is produced in a rotor cycle is symmetry equivalent, and average torque is zero, thus average torque with Suspending power is decoupled；By controlling the size of B, C two-phase torque winding current, to adjust output torque, torque winding current is only made For an intermediate variable of suspending windings Current calculation, control is unrelated with suspending, and torque winding current only with output torque phase Close, therefore direct torque and the control that suspends are separate；Comprise the following steps：
Step A, gathers rotor real time position angle θ, differentiates each phase excited state；
Step A-1, rotor-position when defining θ=0 is the position that suspending power stator tooth aligns with magnetic resistance motor rotor tooth, One rotor cycle angle is 45 °, the 4 suspending windings perseverance conductings of A phases, and the conducting interval of each suspending power control be [- 22.5 °, 22.5 °], 4 suspending windings start excitation conducting when making θ=0；
Step A-2, as θ=θonbWhen, the power switch of B phase torque winding power circuits is opened, B phases start excitation conducting, As θ=θoffbWhen, the power switch of B phase torque winding power circuits is turned off, B phases terminate excitation；Wherein, θonbAnd θoffbDifference B The turn-on angle of phase torque winding power circuit and shut-off angle, the two is related to rotating speed, θonbSpan be [- 7.5 °, 0], The angle of flow of B phase torque windings is (θoffb-θonb), its span is [15 °, 20 °]；
Step A-3, as θ=θoncWhen, the power switch of C phase torque winding power circuits is opened, C phases start excitation conducting, As θ=θoffcWhen, the power switch of C phase torque winding power circuits is turned off, C phases terminate excitation；Wherein, θoncAnd θoffcDifference C The turn-on angle of phase torque winding power circuit and shut-off angle, θonc=θonb+ 15 °, θoffc=θoffb+15°；
Step B, obtains x-axis direction and gives suspending powerSuspending power is given with y-axis directionComprise the following steps that：
Step B-1, obtains real-time displacement signal alpha and β of the rotor in x-axis and y-axis direction, wherein, x-axis and the level side Overlapped to suspending power stator tooth center line, y-axis is overlapped with the vertical direction suspending power stator tooth center line, x-axis is with y-axis in sky Between upper 90 ° of difference；
Step B-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtain x Direction of principal axis and real-time displacement the signal difference Δ α and Δ β in y-axis direction, pass through ratio by the real-time displacement signal difference Δ α and Δ β Integral-derivative controller, obtains the phase x-axis direction and gives suspending powerSuspending power is given with y-axis direction
Step C, adjusts torque, comprises the following steps that：
Step C-1, gathers the real-time rotating speed of rotor, and calculating obtains rotor velocity ω；
Step C-2, rotor velocity ω and the reference angular velocities ω of setting*Subtract each other, obtain rotation speed difference deltan ω；
Step C-3, the rotation speed difference deltan ω, passing ratio integral controller obtains torque winding current reference value im *；
Step C-4, using Current cut control method, with the actual current i of torque windingmTrack torque winding current ginseng Examine value im *, and then torque winding current i is adjusted in real timem, and then reach the purpose of regulation torque；
Step D, adjusts suspending power, comprises the following steps that：
Step D-1, according to the suspending powerWith torque winding current reference value im *, and Current calculation formulaWithThe reference value for obtaining x-axis direction suspending windings difference between current can be resolvedWith y-axis direction suspend around The reference value of group difference between current
Wherein, kiInterval is suspended for θ ∈ [- 22.5 °, -15 °] for the suspension force coefficient that the i-th suspension is interval, the 1st, the 2nd Interval suspend for θ ∈ [- 15 °, 0], interval the 3rd suspension is θ ∈ [0, -15 °], and the 4th suspension interval is θ ∈ [15 °, 22.5 °], Each interval suspension force coefficient is respectively：
In formula, μ0For space permeability, l1For the axial length of magnetic bearing, r1For the radius of magnetic bearing rotor, αsFor magnetic axis The polar arc angle of stator is held, unit is degree, δ1For the unilateral gas length of magnetic bearing, NsFor the suspending windings number of turn, l2For switching magnetic-resistance The axial length of motor, r2For the radius of switch reluctance machine rotor, δ1For the unilateral gas length of switched reluctance machines, switch Reluctance motor stator and rotor polar arc angle is 15 °；
Step D-2, according to describedWithAnd Current calculation formula WithResolve the reference value for obtaining four suspending windings electric currentsWith
Step D-3, using Current cut control method, allows the actual current i of four suspending windingss1、is2、is3And is4Point Its reference value is not trackedWithSo as to adjust each suspending power suspended in interval in real time, and then realize each The suspension operation of rotor cycle.
In summary, the present invention is simple in construction, suspends and controls easy to implement, power system low cost, and can realize average Torque and the uneoupled control of suspending power, and torque and suspending power independent control.
For those skilled in the art, association's others can be easy to according to above implementation type excellent Point and deformation.Therefore, the invention is not limited in above-mentioned instantiation, it enters as just example to a kind of form of the present invention Detailed, the exemplary explanation of row.In the range of without departing substantially from present inventive concept, those of ordinary skill in the art are according to above-mentioned specific Example should be included in scope of the presently claimed invention and its wait homotype by the technical scheme obtained by various equivalents Within enclosing.

Claims (2)

1. a kind of hybrid magnetic bearing switched reluctance machines, it is characterised in that including reluctance motor stator, magnetic resistance motor rotor, magnetic Bearing stator, magnetic bearing rotor, torque coil, suspended coil and rotating shaft；
The reluctance motor stator is connected close arrangement with magnetic bearing stator, the magnetic resistance motor rotor and magnetic bearing rotor inline Close arrangement；The magnetic resistance motor rotor is arranged in reluctance motor stator, and the magnetic bearing rotor is arranged in magnetic bearing stator Interior, magnetic resistance motor rotor and the magnetic bearing rotor is enclosed within rotating shaft；
The reluctance motor stator is salient-pole structure, and the number of teeth is 12, and all reluctance motor stator teeth are uniformly distributed, and tooth is separated by with tooth 30°；The magnetic resistance motor rotor is salient-pole structure, and the number of teeth is 8, and all magnetic resistance motor rotor teeth are uniformly distributed, and tooth is separated by with tooth 45°；The polar arc angle of the reluctance motor stator is equal with the polar arc angle of magnetic resistance motor rotor, and polar arc angle is 15 °；
The magnetic bearing stator is salient-pole structure, and the number of teeth is 4, and all magnetic bearing stator tooths are uniformly distributed, and tooth is separated by 90 ° with tooth, The magnetic bearing rotor is cylindrical structure；
4 magnetic bearing stators are alignd with 4 reluctance motor stators, and series connection close arrangement, and 4 suspending powers are constituted altogether and are determined Son, wherein 2 suspending power stators for being separated by 180 ° are located at horizontal direction, the remaining 2 suspending power stators for being separated by 180 ° are located at perpendicular Nogata to；
1 suspended coil is wound with 4 suspending power stators, totally 4 suspended coils, constitutes A phase windings；Reluctance motor is determined Equal 1 torque coil, totally 8 on remaining 8 teeth of son；
Described 4 torque coils for being separated by 90 ° are connected, and constitute B phase torque windings；Residue 4 is separated by 90 ° of torque coil string Connection, constitutes C phase torque windings；B phase torque windings spatially differ 30 ° with C phase torque windings；4 suspended coils are only Vertical control, wherein be wound on horizontal square to the suspended coil on suspending power stator be horizontal square to suspending windings, be wound on level Suspended coil on negative direction suspending power stator is horizontal negative direction suspending windings, is wound on vertical positive direction suspending power stator Suspended coil is vertical positive direction suspending windings, and the suspended coil being wound on vertical negative direction suspending power stator is vertical negative direction Suspending windings.
2. a kind of control method of hybrid magnetic bearing switched reluctance machines according to claim 1, it is characterised in that A phases 4 Individual suspending windings perseverance conducting produces suspending power, and produces half of rotor cycle generation positive torque, then the production of remaining half of rotor cycle Raw negative torque；Excitation is turned in turn for B phases and C phase torques winding, produces torque；Pass through 4 suspending windings electric currents of independent control A phases Size, to adjust suspending power, and the positive and negative torque that suspending windings electric current is produced in a rotor cycle is symmetry equivalent, average Torque is zero, therefore average torque is decoupled with suspending power；By controlling the size of B, C two-phase torque winding current, to adjust output Torque, torque winding current is only as an intermediate variable of suspending windings Current calculation, and control is unrelated with suspending, and torque around Group electric current is only related to output torque, therefore direct torque and the control that suspends are separate；Comprise the following steps：
Step A, gathers magnetic resistance motor rotor real time position angle θ, differentiates each phase excited state；
Step A-1, what magnetic resistance motor rotor position when defining θ=0 was alignd for suspending power stator tooth with magnetic resistance motor rotor tooth Position, one the magnetic resistance motor rotor cycle angle be 45 °, 4 suspending windings of A phases perseverance conducting, and the conducting of each suspending power control Interval is [- 22.5 °, 22.5 °], and 4 suspending windings start excitation conducting when making θ=0；
Step A-2, as θ=θonbWhen, the power switch of B phase torque winding power circuits is opened, B phases start excitation conducting, work as θ =θoffbWhen, the power switch of B phase torque winding power circuits is turned off, B phases terminate excitation；Wherein, θonbAnd θoffbB phases turn respectively The turn-on angle of square winding power circuit and shut-off angle, the two is related to rotating speed, θonbSpan be [- 7.5 °, 0], B phases The angle of flow of torque winding is (θoffb-θonb), its span is [15 °, 20 °]；
Step A-3, as θ=θoncWhen, the power switch of C phase torque winding power circuits is opened, C phases start excitation conducting, work as θ =θoffcWhen, the power switch of C phase torque winding power circuits is turned off, C phases terminate excitation；Wherein, θoncAnd θoffcC phases turn respectively The turn-on angle of square winding power circuit and shut-off angle, θonc=θonb+ 15 °, θoffc=θoffb+15°；
Step B, obtains x-axis direction and gives suspending powerSuspending power is given with y-axis directionComprise the following steps that：
Step B-1, obtains real-time displacement signal alpha and β of the rotor in x-axis and y-axis direction, wherein, x-axis is hanged with the horizontal direction Buoyancy stator tooth center line is overlapped, and y-axis is overlapped with the vertical direction suspending power stator tooth center line, and x-axis and y-axis are spatially 90 ° of difference；
Step B-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtain x-axis side To real-time displacement the signal difference Δ α and Δ β with y-axis direction, the real-time displacement signal difference Δ α and Δ β are passed through into proportional integration Derivative controller, obtains the phase x-axis direction and gives suspending powerSuspending power is given with y-axis direction
Step C, adjusts torque, comprises the following steps that：
Step C-1, gathers the real-time rotating speed of magnetic resistance motor rotor, and calculating obtains magnetic resistance motor rotor angular velocity omega；
Step C-2, magnetic resistance motor rotor angular velocity omega and the reference angular velocities ω of setting*Subtract each other, obtain rotation speed difference deltan ω；
Step C-3, the rotation speed difference deltan ω, passing ratio integral controller obtains torque winding current reference value im *；
Step C-4, using Current cut control method, with the actual current i of torque windingmTrack torque winding current reference value im *, and then torque winding current i is adjusted in real timem, and then reach the purpose of regulation torque；
Step D, adjusts suspending power, comprises the following steps that：
Step D-1, according to the suspending power With torque winding current reference value im *, and Current calculation formulaWithThe reference value for obtaining x-axis direction suspending windings difference between current can be resolvedWith y-axis direction suspend around The reference value of group difference between current
Wherein, kiInterval is suspended for θ ∈ [- 22.5 °, -15 °] for the suspension force coefficient that the i-th suspension is interval, the 1st, and the 2nd suspension is interval For θ ∈ [- 15 °, 0], the 3rd suspension is interval to suspend interval for θ ∈ [15 °, 22.5 °] for θ ∈ [0, -15 °], the 4th, each interval Suspension force coefficient is respectively：
In formula, μ0For space permeability, l1For the axial length of magnetic bearing, r1For the radius of magnetic bearing rotor, αsIt is fixed for magnetic bearing The polar arc angle of son, unit is degree, δ1For the unilateral gas length of magnetic bearing, NsFor the suspending windings number of turn, l2For switched reluctance machines Axial length, r2For the radius of switch reluctance machine rotor, δ1For the unilateral gas length of switched reluctance machines, switching magnetic-resistance Motor stator and rotor polar arc angle is 15 °；
Step D-2, according to describedWithAnd Current calculation formula WithResolve the reference value for obtaining four suspending windings electric currentsWith
Step D-3, using Current cut control method, allows the actual current i of four suspending windingss1、is2、is3And is4Respectively with Its reference value of trackWithSo as to adjust each suspending power suspended in interval in real time, and then realize each rotor The suspension operation in cycle.
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CN109494952A (en) * 2018-11-12 2019-03-19 江苏大学 A kind of highly integrated magnetic suspension switched reluctance motor
CN109687798A (en) * 2019-01-08 2019-04-26 江苏大学 Mix stator magnetic suspension switched reluctance motor suspension system high_order sliding mode control method
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CN113113994A (en) * 2021-04-12 2021-07-13 南京邮电大学 Bearingless switched reluctance motor, power converter and control method
CN113162315A (en) * 2021-04-06 2021-07-23 南京邮电大学 Four-degree-of-freedom magnetic suspension switched reluctance motor and co-excitation driving method

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CN104038002A (en) * 2014-06-03 2014-09-10 南京邮电大学 Permanent-magnet biased hybrid magnetic bearing switch reluctance motor
CN105024507A (en) * 2015-07-22 2015-11-04 南京邮电大学 Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor

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CN104038002A (en) * 2014-06-03 2014-09-10 南京邮电大学 Permanent-magnet biased hybrid magnetic bearing switch reluctance motor
CN105024507A (en) * 2015-07-22 2015-11-04 南京邮电大学 Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor

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CN111712996A (en) * 2018-02-12 2020-09-25 Lg电子株式会社 Motor drive device for reducing load on rotating shaft
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CN111712996B (en) * 2018-02-12 2022-07-29 Lg电子株式会社 Motor drive device for reducing load on rotating shaft
CN108599505A (en) * 2018-06-30 2018-09-28 淮阴工学院 A kind of five degrees of freedom without bearing switched reluctance machines
CN109494952A (en) * 2018-11-12 2019-03-19 江苏大学 A kind of highly integrated magnetic suspension switched reluctance motor
CN109494952B (en) * 2018-11-12 2020-08-28 江苏大学 High-integration magnetic suspension switched reluctance motor
CN109687798A (en) * 2019-01-08 2019-04-26 江苏大学 Mix stator magnetic suspension switched reluctance motor suspension system high_order sliding mode control method
CN113162315A (en) * 2021-04-06 2021-07-23 南京邮电大学 Four-degree-of-freedom magnetic suspension switched reluctance motor and co-excitation driving method
CN113162315B (en) * 2021-04-06 2022-09-02 南京邮电大学 Four-degree-of-freedom magnetic suspension switched reluctance motor and co-excitation driving method
CN113113994A (en) * 2021-04-12 2021-07-13 南京邮电大学 Bearingless switched reluctance motor, power converter and control method
CN113113994B (en) * 2021-04-12 2022-04-15 南京邮电大学 Bearingless switched reluctance motor, power converter and control method

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