CN107104622B - A kind of control method of double winding composite construction magnetic suspension switched reluctance motor - Google Patents
A kind of control method of double winding composite construction magnetic suspension switched reluctance motor Download PDFInfo
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- CN107104622B CN107104622B CN201710231353.6A CN201710231353A CN107104622B CN 107104622 B CN107104622 B CN 107104622B CN 201710231353 A CN201710231353 A CN 201710231353A CN 107104622 B CN107104622 B CN 107104622B
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a kind of control methods of double winding composite construction magnetic suspension switched reluctance motor, belong to the control field of magnetic suspension motor.The machine winding include 2 suspending windings, 1 biasing winding and three-phase torque winding, and bias winding with after A phase torque windings in series, and using perseverance be connected excitation, three kinds of excitation modes such as angled position control, afterflow and chop control；A phase not only generates torque, also biasing magnetic flux is provided for magnetic bearing, in Angle-domain imaging and afterflow excitation mode, using A phase real-time current as bias current, in chopper control mode, then it is based on magnetic utilization rate supreme good, optimization calculates the reference value of biasing winding current, the size and Orientation of two suspending windings electric currents is controlled, to realize suspension operation；B and C phase then uses Angle-domain imaging mode, adjusts torque jointly with A phase；The decoupling control of torque and suspending power can be achieved in the present invention, is particularly suitable for the high speed suspension operation of switched reluctance machines.
Description
Technical field
The present invention relates to a kind of control methods of double winding composite construction magnetic suspension switched reluctance motor, belong to magnetic suspension and open
Close the control technology field of reluctance motor.
Background technique
Bearing-free switch reluctance motor is a kind of novel magnetically levitated motor to grow up the 1990s.Bearing-free is opened
Reluctance motor is closed because integrating rotation and two functions that suspend, bearing friction bring when high-speed cruising not only can be effectively solved and damage
Consumption and fever the problems such as, moreover it is possible to further play switched reluctance machines high-speed adaptability, thus strengthen its aerospace, fly
Take turns the application foundation of the High Speed Fields such as energy storage, naval vessel.
With the continuous deepening of research, can people gradually recognize, solve between torque and the effective output area of suspending power
Restriction, suspend with two functions of rotation whether can decoupling control and the control precision quality that suspends when high speed, to BSRM high speed
Whether can be not fully exerted and play a crucial role.
However, traditional double winding bearing-free switch reluctance motor needs to carry out copped wave to the electric current of main winding and suspending windings
Control, to adjust torque and suspending power in real time, this control mode can obtain preferable control effect in middle low speed, with turn
Fast further to increase, due to the continuous increase of Based Motional Electromotive Force, so that the precision and effect of chop control are had a greatly reduced quality, output turns
Square and suspending power limit the application prospect of bearing-free switch reluctance motor less than design requirement.
It is proposed to this end that one kind proposes, a kind of structure is simple, power inverter is at low cost, torque and suspending power can decouple
The double winding composite construction magnetic suspension switched reluctance motor of control, in addition, due to magnetic bearing and switched reluctance machines it is mutually isolated,
The two is there is only electric relationship, and without coupling between magnetic circuit, redundancy is stronger.One phase of the biasing winding and switched reluctance machines of magnetic bearing
Windings in series constitutes a phase torque winding, using permanent excitation conduction mode, generates the biasing magnetic flux needed for suspending in magnetic bearing
Outside, also it can be made to generate an effective output torque in switched reluctance machines by effectively controlling.
The present invention is based on above-mentioned double winding composite construction magnetic suspension switched reluctance motor, proposing one kind, to be applicable in its high speed outstanding
The control method of transportation by driving row and torque and Decoupling control of levitation force.
Summary of the invention
It is a kind of suitable for double winding composite construction magnetic levitation switch object of the present invention is in view of the deficiencies of the prior art, propose
Reluctance motor high speed suspension operation and torque and suspending power can decoupling control control method.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of double winding composite construction magnetic suspension switched reluctance motor, including 1 switched reluctance machines and 1 magnetic bearing,
The switched reluctance machines and magnetic bearing arranged in series；
The switched reluctance machines, including reluctance motor stator, magnetic resistance motor rotor and armature winding
The magnetic bearing, including magnetic bearing stator, magnetic bearing rotor, bias coil and suspended coil；
The magnetic resistance motor rotor is arranged in reluctance motor stator, and the magnetic bearing rotor is arranged in magnetic bearing stator
Interior, the magnetic resistance motor rotor and magnetic bearing rotor cover in shaft；
The reluctance motor stator is salient-pole structure, and the reluctance motor stator number of teeth is 12, and all reluctance motor stator teeth are equal
Even distribution, tooth and tooth are separated by 30 °；
The magnetic bearing rotor is salient-pole structure, and magnetic bearing number of rotor teeth is 8, and all magnetic resistance motor rotor teeth uniformly divide
Cloth, tooth and tooth are separated by 45 °；
The magnetic bearing stator is salient-pole structure, and magnetic bearing number of stator teeth is 4, and all magnetic bearing stator tooths are uniformly distributed,
Tooth and tooth are separated by 90 °, and the magnetic bearing rotor is cylindrical structure；
It is wound with 1 armature winding on each reluctance motor stator tooth, is separated by 90 ° of 4 armature winding series connection, constitutes 1
Torque winding, totally 3, respectively A phase torque winding string, B phase torque winding and C phase torque winding, wherein B phase torque winding,
C phase torque winding spatially differs 30 ° and -30 ° with A phase torque winding string respectively；
1 bias coil and 1 suspended coil are wound on the magnetic bearing stator tooth, totally 4 bias coils and 4 are outstanding
Flotation line circle；
Positioned at the suspended coil series connection of 2 180 ° of differences of horizontal direction, 1 x-axis direction suspending windings is constituted, is located at perpendicular
Histogram to 2 difference 180 ° suspended coils series connection, constitute 1 y-axis direction suspending windings, the x-axis direction suspending windings
90 ° are spatially differed with y-axis direction suspending windings；
All bias coil series connection, constitute 1 biasing winding；1 biasing winding is connected with A phase torque winding string,
Constitute A phase torque winding；
A phase torque winding generates biasing magnetic flux, in switched reluctance machines using permanent conducting excitation mode in magnetic bearing
Generate torque；Excitation is connected in turn for B phase and C phase torque winding, generates torque；A phase torque winding successively undergoes three kinds of excitation sides
Formula, respectively Angle-domain imaging mode, afterflow excitation mode and Current cut control mode, A phase torque three kinds of excitations of winding
The conducting section of mode is respectively defined as the Ith conducting section, afterflow section and the IIth conducting section；In the Ith conducting section and continue
Section, directly reference value of the real-time current of acquisition A phase torque winding as biasing winding current are flowed, section is connected the IIth,
The reference value for calculating biasing winding current, so that magnetic bearing magnetic utilization rate highest；Then pass through the electric current in control suspending windings
Size and Orientation, to adjust suspending power；In control process, direct torque and suspending power control are mutually indepedent, and torque and suspension
Power realizes decoupling control；The control method, includes the following steps:
Step A obtains turn-on angle θonWith shutdown angle θoff, the specific steps are 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, the rotation speed difference deltan ω obtain turn-on angle θ by pi controlleronWith shutdown angle θoff；
Step B acquires magnetic resistance motor rotor real time position angle θ, and differentiates each phase excited state, the specific steps are as follows:
Step B-1, as θ=θonaWhen, the power switch of A phase torque winding power circuit is opened, A phase torque winding starts
Excitation conducting, A phase enters the Ith conducting section, as θ=θoffaWhen, shutdown A phase torque winding power switch, A phase torque winding rises
Begin to enter afterflow conducting section, wherein θona=θon, θoffa=θoff, the Ith conducting section is [θona, θoffa]；
Step B-2, as θ=θonbWhen, the power switch of B phase torque winding power circuit is opened, B phase torque winding starts
Excitation conducting, as θ=θoffbWhen, shutdown B phase torque winding power switch, B phase torque winding terminates excitation, wherein θonb=θona
+ 15 °, θoffb=θoffa+15°；
Step B-3, as θ=θoncWhen, the power switch of C phase torque winding power circuit is opened, C phase torque winding starts
Excitation conducting, as θ=θoffcWhen, shutdown C phase torque winding power switch, C phase torque winding terminates excitation, wherein θonc=θona
+ 30 °, θoffc=θoffa+30°；
Step C obtains the initial angle θ that section is connected in A phase torque winding the IIths, differentiate that the phase is connected in A phase torque winding afterflow
Between with the IIth corresponding rotor position angle in conducting section, the specific steps are as follows:
Step C-1, according to calculatingCalculate the reference value of the IIth conducting section interior biasing winding current
Im, wherein kfFor suspension force coefficient,FloadIt is loaded for magnetic bearing maximum radial, by magnetic axis bearing structure and electromagnetism
Parameter determines；In formula, μ0For space permeability, l is the axial length of magnetic bearing, and r is the radius of magnetic bearing rotor, αsFor radial direction
The polar arc angle of magnetic bearing stator, δ are the unilateral gas length of magnetic bearing part, NbTo bias umber of turn；
Step C-2 acquires the real-time current i of A phase torque winding in afterflow section, works as i=ImWhen, A phase is opened immediately to be turned
The power switch of square winding power circuit, A phase torque winding enter the IIth conducting section, and corresponding rotor position angle is at this time
The initial angle θ in the IIth conducting sections；As rotor position angle θ=θonaAt+45 °, the IIth conducting section terminates, A phase torque winding
Into next Ith conducting section；
The corresponding rotor position angle in afterflow section is [θoffa, θs], the corresponding rotor position angle in the IIth conducting area is [θs,
θona+45°]；
Step D obtains x-axis direction and gives suspending powerSuspending power is given with y-axis directionSpecific step is as follows:
Step D-1 obtains rotor in the real-time displacement signal alpha and β in x-axis and y-axis direction, wherein x-axis and the level side
It is overlapped to magnetic bearing stator tooth center line, y-axis is overlapped with the vertical direction magnetic bearing stator tooth center line, and x-axis and y-axis are in sky
Between upper 90 ° of difference；
Step D-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtains x
The real-time displacement signal difference Δ α and Δ β is passed through proportional integration by real-time displacement the signal difference Δ α and Δ β in direction and the direction y
Derivative controller obtains the phase x-axis direction and gives suspending powerSuspending power is given with y-axis direction
Step E adjusts suspending power, the specific steps are as follows:
Step E-1 adjusts the suspending power in the Ith conducting section and afterflow section, at this time θ ∈ [θona, θs]；
According to the suspending powerThe real-time current reference value i of biasing winding is obtained with acquisitionbiasAnd electric current
Calculation formulaWithIt can resolve to obtain the x-axis side in the Ith conducting section and afterflow section
To the reference value of suspending windings electric currentWith the reference value of y-axis direction suspending windings electric currentWherein NsFor suspending windings the number of turns；
Using Current cut control method, the actual current i of two suspending windings is allowedxAnd iyIts reference value is tracked respectively
WithTo adjust the suspending power in the section in real time；
Step E-2 adjusts the suspending power in the IIth conducting section, at this time θ ∈ [θs, θona+45°]；
According to the suspending powerWith the biasing winding current reference value I obtained in step C-1mAnd galvanometer
Calculate formulaWithThe x-axis direction suspending windings electricity in the IIth conducting section can be resolved to obtain
The reference value of streamWith the reference value of y-axis direction suspending windings electric current
Using Current cut control method, the actual current i of A phase torque winding is allowedaTracking biasing winding current reference value
Im, allow the actual current i of two suspending windingsxAnd iyIts reference value is tracked respectivelyWithTo be adjusted in the section in real time
Suspending power, and then realize the suspension operation of each rotor cycle；
Step F adjusts torque, by adjusting turn-on angle θonWith shutdown angle θoffValue, to adjust torque in real time；A phase
Torque winding only allows its practical current tracking reference value I in the IIth conducting sectionm, the negative torque generated in the section, still
By turn-on angle θonWith shutdown angle θoffDynamic regulation, compensate.
Beneficial effects of the present invention: the invention proposes a kind of controls of double winding composite construction magnetic suspension switched reluctance motor
Method processed can reach following technical effect using technical solution of the present invention:
(1) it is suitable for the high speed suspension operation of switched reluctance machines；
(2) direct torque and suspending power control are independent, and can realize the decoupling control of torque and suspending power.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of double winding composite construction magnetic suspension switched reluctance motor.
Fig. 2 is the A phase torque winding schematic diagram of switched reluctance machines in the present invention.
Fig. 3 is the biasing winding and suspending windings schematic diagram 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 double winding composite construction magnetic suspension switched reluctance motor.
Fig. 6 is the IIth conducting area's bias current calculation method block diagram in control method of the present invention.
Fig. 7 is each suspending windings current calculation method block diagram in control method of the present invention.
Description of symbols: for Fig. 1 into Fig. 7,1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, and 3 be armature winding, 4
It is magnetic bearing stator, 5 be magnetic bearing rotor, and 6 be bias coil, and 7 be suspended coil, and 8 be shaft, and 9 be 12/8 pole switching reluctance
Motor, 10 be 12 pole magnetic bearings, and the positive direction of 11,12,13 difference x, y, z axis direction reference axis, 14 be the stream of A phase torque winding
Enter electric current ia+, 15 be the outflow electric current i of A phase torque windinga, 16 be the inflow electric current i for biasing windingbias+, 17 for biasing around
The outflow electric current i of groupbias, 18 be the inflow electric current i of x-axis direction suspending windingsx+, 19 go out electric current for x-axis direction suspending windings
ix, 20 be the inflow electric current i of y-axis direction suspending windingsy+, 21 go out electric current i for y-axis direction suspending windingsy, 22,23,24,
25 be respectively air gap 1, air gap 2, air gap 3 and air gap 4,26,27,28,29 respectively A phase torque winding, B phase torque winding, C phase
The inductance curve of torque winding and suspending windings, 30,31,32,33 be respectively A phase torque winding, B phase torque winding, C phase torque
The current curve of winding and suspending windings, 34,35,35 be respectively the Ith conducting section, the afterflow section and the of A phase torque winding
II conducting section, Fα, FβFor x, the suspending power in y-axis direction, Fα*, FβIt * is the reference value of suspending power, α, β are respectively rotor in x, y
Center displacement in axis direction, α *, β * are respectively the reference value of rotor center displacement on x, y-axis direction, and θ is rotor-position
Angle, θon、θoffRespectively turn on and off angle, θonb、θoffbB phase torque winding is to turn on and off angle respectively, θonc、θoffc
C phase torque winding is to turn on and off angle respectively, ib、icB phase and C phase torque winding current respectively.
Specific embodiment
With reference to the accompanying drawing, to a kind of control method of double winding composite construction magnetic suspension switched reluctance motor of the present invention
Technical solution is described in detail:
As shown in Figure 1, being the three dimensional structure diagram of double winding composite construction magnetic suspension switched reluctance motor, wherein 1 is
Reluctance motor stator, 2 be magnetic resistance motor rotor, and 3 be armature winding, and 4 be magnetic bearing stator, and 5 be magnetic bearing rotor, and 6 be biasing
Winding, 7 be suspending windings, and 8 be shaft, and 9 be 12/8 pole switching reluctance motor, and 10 be 12 pole magnetic bearings.
A kind of double winding composite construction magnetic suspension switched reluctance motor, including 1 switched reluctance machines and 1 magnetic bearing,
The switched reluctance machines and magnetic bearing arranged in series；
The switched reluctance machines, including reluctance motor stator, magnetic resistance motor rotor and armature winding
The magnetic bearing, including magnetic bearing stator, magnetic bearing rotor, bias coil and suspended coil；
The magnetic resistance motor rotor is arranged in reluctance motor stator, and the magnetic bearing rotor is arranged in magnetic bearing stator
Interior, the magnetic resistance motor rotor and magnetic bearing rotor cover in shaft；
The reluctance motor stator is salient-pole structure, and the reluctance motor stator number of teeth is 12, and all reluctance motor stator teeth are equal
Even distribution, tooth and tooth are separated by 30 °；
The magnetic bearing rotor is salient-pole structure, and magnetic bearing number of rotor teeth is 8, and all magnetic resistance motor rotor teeth uniformly divide
Cloth, tooth and tooth are separated by 45 °；
The magnetic bearing stator is salient-pole structure, and magnetic bearing number of stator teeth is 4, and all magnetic bearing stator tooths are uniformly distributed,
Tooth and tooth are separated by 90 °, and the magnetic bearing rotor is cylindrical structure；
It is wound with 1 armature winding on each reluctance motor stator tooth, is separated by 90 ° of 4 armature winding series connection, constitutes 1
Torque winding, totally 3, respectively A phase torque winding string, B phase torque winding and C phase torque winding, wherein B phase torque winding,
C phase torque winding spatially differs 30 ° and -30 ° with A phase torque winding string respectively；
1 bias coil and 1 suspended coil are wound on the magnetic bearing stator tooth, totally 4 bias coils and 4 are outstanding
Flotation line circle；
Positioned at the suspended coil series connection of 2 180 ° of differences of horizontal direction, 1 x-axis direction suspending windings is constituted, is located at perpendicular
Histogram to 2 difference 180 ° suspended coils series connection, constitute 1 y-axis direction suspending windings, the x-axis direction suspending windings
90 ° are spatially differed with y-axis direction suspending windings；
As shown in Fig. 2, being the A phase torque winding schematic diagram of switched reluctance machines in the present invention.
All bias coil series connection, constitute 1 biasing winding；1 biasing winding is connected with A phase torque winding string,
Constitute A phase torque winding；
The polarity of the magnetic field that four biasing windings generate is distributed in NSNS, and the polarity of the magnetic field that two suspending windings generate is in NSSN
Distribution.
As shown in figure 3, being the biasing winding and suspending windings schematic diagram of magnetic bearing in the present invention.
As x-axis direction suspending windings electric current ixWhen > 0, the flux density of flux density and biasing winding generation at air gap 1 (label 22)
Direction is identical, and magnetic field increases, and the flux density at air gap 3 (label 24) is contrary with the flux density that biasing winding generates, field weakening,
And then generate the suspending power of a positive direction of the x-axis；Similarly, ixWhen < 0, the suspending power of a negative direction of the x-axis is generated.
As y-axis direction suspending windings electric current iyWhen > 0, the flux density of flux density and biasing winding generation at air gap 2 (label 23)
Direction is identical, and magnetic field increases, and the flux density at air gap 4 (label 25) is contrary with the flux density that biasing winding generates, field weakening,
And then generate the suspending power of a positive direction of the y-axis；Similarly, iyWhen < 0, the suspending power of a negative direction of the y-axis is generated.
Therefore, the size and Orientation for rationally controlling two suspending windings electric currents, that is, can produce required suspending power, to realize
The suspension of the two-freedom of rotor.
As shown in figure 4, being the inductance and current waveform schematic diagram of suspending windings and torque winding.In figure, label 26,27,
28,29 be respectively A phase torque winding, B phase torque winding, C phase torque winding and suspending windings inductance curve, label 30,31,
32,33 be respectively A phase torque winding, B phase torque winding, C phase torque winding and suspending windings current curve, 34,35,35 points
Not Wei A phase torque winding the Ith conducting section, afterflow section and the IIth conducting section.Define θ=0 be A phase torque winding not
Aligned position, winding inductance is minimum at this time.One rotor cycle angle is 45 °, and each suspension control interval is [0,45 °], wherein
[0,22.5 °] is positive torque section, and [22.5 °, 45 °] be negative torque section.
A phase torque winding generates biasing magnetic flux, in switched reluctance machines using permanent conducting excitation mode in magnetic bearing
Generate torque；Excitation is connected in turn for B phase and C phase torque winding, generates torque；A torque winding successively undergoes three kinds of excitation modes,
Respectively Angle-domain imaging mode, afterflow excitation mode and Current cut control mode, three kinds of excitation modes of A torque winding
Conducting section is respectively defined as the Ith conducting section, afterflow section and the IIth conducting section；Section and afterflow section is connected the Ith,
Reference value of the real-time current of A phase winding as biasing winding current is directly acquired, section is connected the IIth, then is based on magnetic bearing
The highest principle of magnetic utilization rate, optimization calculate the reference value of biasing winding current, then by two suspending windings of control
Size of current and direction, to adjust suspending power.
Due in the Ith conducting section and afterflow section, generating positive torque, current waveform and traditional switch magnetic in two sections
Resistance motor is identical, and using the Angle-domain imaging mode for being suitable for high-speed cruising.For this purpose, controlling party of the present invention
Method can still play the high-speed adaptability of switched reluctance machines, run in conjunction with magnetic suspension, further widen switching magnetic-resistance electricity
The high-speed operation range of machine.
As shown in figure 5, being the system block diagram of double winding composite construction magnetic suspension switched reluctance motor.Control process are as follows: will
Displacement error signal carries out PID adjusting, obtains given suspending power Fα*, Fβ*, pass through levitating current controller later, it is outstanding to obtain two
The reference value of floating winding current allows the actual current of two suspending windings to track respectively respectively using Current cut control method
Reference value, with generate needed for suspending power.
Motor rotor position information is detected, actual speed ω is calculated, speed error signal is subjected to PI adjusting, is obtained
Obtain the turn-on angle θ of every phase torque windingonWith shutdown angle θoff, and then dynamic regulation torque.
Different from the excitation mode that B, C phase are connected in turn, A phase torque winding is using permanent conducting excitation mode, in magnetic bearing
Interior generation biases magnetic flux, and torque is generated in switched reluctance machines；A torque winding successively undergoes three kinds of excitation modes, respectively
Angle-domain imaging mode, afterflow excitation mode and Current cut control mode, the conducting area of three kinds of excitation modes of A torque winding
Between be respectively defined as the Ith conducting section, afterflow section and the IIth conducting section；In the Ith conducting section and afterflow section, directly adopt
Collect reference value of the real-time current of A phase winding as biasing winding current, section is connected the IIth, then is utilized based on magnetic bearing magnetic
The highest principle of rate, optimization calculate the reference value of biasing winding current.
For this purpose, torque and suspending power control are mutually indepedent, and the two can decouple in the Ith conducting section and afterflow section
Control；In addition, what is generated in the section bears since A phase only allows its practical current tracking reference value in the IIth conducting section
Torque, still by turn-on angle θonWith shutdown angle θoffDynamic regulation, compensate；Therefore, the IIth conducting section in, torque with
Suspending power control is still mutually indepedent, and the two still can decoupling control.
As shown in fig. 6, being the IIth conducting area's interior biasing current calculation method block diagram in control method of the present invention.In figure,
kfFor suspension force coefficient, expression formula are as follows:
In formula, μ0For space permeability, l is the axial length of magnetic bearing, and r is the radius of magnetic bearing rotor, αsFor radial magnetic
The polar arc angle of bearing stator, δ are the unilateral gas length of magnetic bearing part.
The x and y-axis direction suspending power F of magnetic bearingαAnd FβExpression formula are as follows:
Fα=kfNbNsibiasix (2)
Fβ=kfNbNsibiasiy (3)
In formula, ibiasWinding current, i are biased for magnetic bearingx、iyThe respectively x of radial direction magnetic bearing, y-axis direction suspending windings
Electric current, NbFor the number of turns for biasing winding, NsFor the number of turns of suspending windings.
Behind integrated (2) and (3), obtain
Fsum=kfNbNsibiasis (4)
In formula, FsumFor the composite value of two suspending power of x and y-axis direction, isFor ixAnd iyComposite value, expression formula is
For designing and manufacturing the magnetic bearing of completion, structural parameters and electromagnetic parameter are determined, the radial maximum of magnetic bearing
Load is FloadIt is known that and N ought be metbibias=NsisWhen, the magnetic utilization rate highest of magnetic bearing, therefore available:
For this purpose, enabling A phase torque winding current, (equal with biasing winding current, the two series connection is closed in the IIth conducting area
System) reference value ImMeet formula (5), it can magnetic utilization rate highest of the magnetic bearing when the section is run.That is:
In control, real-time detection A phase torque winding is in the current value i (θ) of freewheeling period, and wherein i (θ) indicates rotor-position
Current value when angle θ is, when detecting i (θs)=ImWhen, the power switch of A phase torque winding is opened, A phase enters the IIth conducting
Area, until rotor position angle is θ=θonAt+45 °, A phase torque winding enters next Ith conducting area.
Area [θ is connected the IIths, θon+ 45 °] in, only the reality of A phase torque winding need to be allowed in the way of Current cut control
Border electric current iaTrack its reference value Im, i.e., the controllable IIth is connected winding current waveform in area, to provide for magnetic bearing required
Magnetic flux is biased, in addition this section overwhelming majority is located at the negative torque zone of switched reluctance machines, will generate one and B phase and C phase
Contrary torque.
As shown in fig. 7, being each suspending windings current calculation method block diagram in control method of the present invention.
Section is connected the Ith, revolving speed is after PI is adjusted, the turn-on angle of torque winding, and turning off angle can be kept fixed, can also
It is adjusted with the variation dynamic of revolving speed, the winding of three-phase torque at this time uses Angle-domain imaging mode, and electric current is not controlled, and need to only supervise in real time
The real-time current i of biasing winding can be obtained in the electric current for surveying A phase torque windingbias。
In afterflow section, the power switch of A phase torque winding is turned off, and is turned since electric current cannot immediately become zero, A phase
Square winding current will be through freewheeling diode to power supply feedback energy, and is gradually reduced, until when electric current is reduced to i (θs)=Im
When terminate, immediately enter the IIth conducting section.
In control, the reference value of both direction suspending power is can be obtained after PID is adjusted in two radial displacementsWith?
In Ith conducting section and afterflow section, it is based on formula (2) and (3), the reference value of available both direction suspending windings electric currentWithI.e.
Section, the reference value of both direction suspending windings electric current is connected the IIthWithCalculation formula be respectively as follows:
It is above-mentioned analysis shows that, direct torque and suspending power control are mutually indepedent, and torque is also mutually decoupled with suspending power；Separately
Outside, in the IIth conducting section, the reference value of winding current is biased, is calculated based on the highest principle of magnetic bearing magnetic utilization rate
It arrives, thus suspension operation in the section, is conducive to the core loss for reducing magnetic bearing, and then promote suspending efficiency.
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, four outstanding
Floating winding current direction can change in control, need to use the power inverter in adjustable current direction.
A kind of control method of double winding composite construction magnetic suspension switched reluctance motor, A phase torque winding is using permanent
Excitation mode is connected, biasing magnetic flux is generated in magnetic bearing, torque is generated in switched reluctance machines；B phase and C phase torque winding
Excitation is connected in turn, generates torque；A phase torque winding successively undergoes three kinds of excitation modes, respectively Angle-domain imaging mode,
The conducting section of afterflow excitation mode and Current cut control mode, A phase torque three kinds of excitation modes of winding is respectively defined as the Ith
Section, afterflow section and the IIth conducting section is connected；In the Ith conducting section and afterflow section, A phase torque winding is directly acquired
Reference value of the real-time current as biasing winding current is connected section the IIth, calculates the reference value of biasing winding current, so that
Magnetic bearing magnetic utilization rate highest；Then by controlling size of current and direction in suspending windings, to adjust suspending power；It controlled
Cheng Zhong, direct torque and suspending power control are mutually indepedent, and torque and suspending power realize decoupling control；The control method, packet
Include following steps:
Step A obtains turn-on angle θonWith shutdown angle θoff, the specific steps are 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, the rotation speed difference deltan ω obtain turn-on angle θ by pi controlleronWith shutdown angle θoff；
Step B acquires magnetic resistance motor rotor real time position angle θ, and differentiates each phase excited state, the specific steps are as follows:
Step B-1, as θ=θonaWhen, the power switch of A phase torque winding power circuit is opened, A phase torque winding starts
Excitation conducting, A phase enters the Ith conducting section, as θ=θoffaWhen, shutdown A phase torque winding power switch, A phase torque winding rises
Begin to enter afterflow conducting section, wherein θona=θon, θoffa=θoff, the Ith conducting section is [θona, θoffa]；
Step B-2, as θ=θonbWhen, the power switch of B phase torque winding power circuit is opened, B phase torque winding starts
Excitation conducting, as θ=θoffbWhen, shutdown B phase torque winding power switch, B phase torque winding terminates excitation, wherein θonb=θona
+ 15 °, θoffb=θoffa+15°；
Step B-3, as θ=θoncWhen, the power switch of C phase torque winding power circuit is opened, C phase torque winding starts
Excitation conducting, as θ=θoffcWhen, shutdown C phase torque winding power switch, C phase torque winding terminates excitation, wherein θonc=θona
+ 30 °, θoffc=θoffa+30°；
Step C obtains the initial angle θ that section is connected in A phase torque winding the IIths, differentiate that the phase is connected in A phase torque winding afterflow
Between with the IIth corresponding rotor position angle in conducting section, the specific steps are as follows:
Step C-1, according to calculatingCalculate the reference value of the IIth conducting section interior biasing winding current
Im, wherein kfFor suspension force coefficient,FloadIt is loaded for magnetic bearing maximum radial, by magnetic axis bearing structure and electromagnetism
Parameter determines；In formula, μ0For space permeability, l is the axial length of magnetic bearing, and r is the radius of magnetic bearing rotor, αsFor radial direction
The polar arc angle of magnetic bearing stator, δ are the unilateral gas length of magnetic bearing part, NbTo bias umber of turn；
Step C-2 acquires the real-time current i of A phase torque winding in afterflow section, works as i=ImWhen, A phase is opened immediately to be turned
The power switch of square winding power circuit, A phase torque winding enter the IIth conducting section, and corresponding rotor position angle is at this time
The initial angle θ in the IIth conducting sections；As rotor position angle θ=θonaAt+45 °, the IIth conducting section terminates, A phase torque winding
Into next Ith conducting section；
The corresponding rotor position angle in afterflow section is [θoffa, θs], the corresponding rotor position angle in the IIth conducting area is [θs,
θona+45°]；
Step D obtains x-axis direction and gives suspending powerSuspending power is given with y-axis directionSpecific step is as follows:
Step D-1 obtains rotor in the real-time displacement signal alpha and β in x-axis and y-axis direction, wherein x-axis and the level side
It is overlapped to magnetic bearing stator tooth center line, y-axis is overlapped with the vertical direction magnetic bearing stator tooth center line, and x-axis and y-axis are in sky
Between upper 90 ° of difference；
Step D-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtains x
The real-time displacement signal difference Δ α and Δ β is passed through proportional integration by real-time displacement the signal difference Δ α and Δ β in direction and the direction y
Derivative controller obtains the phase x-axis direction and gives suspending powerSuspending power is given with y-axis direction
Step E adjusts suspending power, the specific steps are as follows:
Step E-1 adjusts the suspending power in the Ith conducting section and afterflow section, at this time θ ∈ [θona, θs]；
According to the suspending powerThe real-time current reference value i of biasing winding is obtained with acquisitionbiasAnd electric current
Calculation formulaWithIt can resolve to obtain the x-axis side in the Ith conducting section and afterflow section
To the reference value of suspending windings electric currentWith the reference value of y-axis direction suspending windings electric currentWherein NsFor suspending windings the number of turns；
Using Current cut control method, the actual current i of two suspending windings is allowedxAnd iyIts reference value is tracked respectively
WithTo adjust the suspending power in the section in real time；
Step E-2 adjusts the suspending power in the IIth conducting section, at this time θ ∈ [θs, θona+45°]；
According to the suspending powerWith the biasing winding current reference value I obtained in step C-1mAnd galvanometer
Calculate formulaWithThe x-axis direction suspending windings electricity in the IIth conducting section can be resolved to obtain
The reference value of streamWith the reference value of y-axis direction suspending windings electric current
Using Current cut control method, the actual current i of A phase torque winding is allowedaTracking biasing winding current reference value
Im, allow the actual current i of two suspending windingsxAnd iyIts reference value is tracked respectivelyWithTo be adjusted in the section in real time
Suspending power, and then realize the suspension operation of each rotor cycle；
Step F adjusts torque, by adjusting turn-on angle θonWith shutdown angle θoffValue, to adjust torque in real time；A phase
Torque winding only allows its practical current tracking reference value I in the IIth conducting sectionm, the negative torque generated in the section, still
By turn-on angle θonWith shutdown angle θoffDynamic regulation, compensate.
In conclusion the present invention is suitable for the double winding composite construction magnetic suspension switched reluctance motor high speed suspension fortune
Row, direct torque and suspending power control are mutually indepedent, and can realize the decoupling control of torque and suspending power；In addition, control variable
Few, the control that suspends is easy to implement.
For those skilled in the art, it is excellent that association's others can be easy to according to the above implementation type
Point and deformation.Therefore, the invention is not limited to above-mentioned specific example, as just example to a kind of form of the invention into
Detailed, the exemplary explanation of row.In the range of without departing substantially from present inventive concept, those of ordinary skill in the art are according to above-mentioned specific
Example should be included in scope of the presently claimed invention and its wait homotypes by the obtained technical solution of various equivalent replacements
Within enclosing.
Claims (1)
1. a kind of control method of double winding composite construction magnetic suspension switched reluctance motor, the double winding composite construction magnetic suspension
Switched reluctance machines include 1 switched reluctance machines and 1 magnetic bearing, the switched reluctance machines and magnetic bearing arranged in series；
The switched reluctance machines, including reluctance motor stator, magnetic resistance motor rotor and armature winding
The magnetic bearing, including magnetic bearing stator, magnetic bearing rotor, bias coil and suspended coil；
The magnetic resistance motor rotor is arranged in reluctance motor stator, and the magnetic bearing rotor is arranged in magnetic bearing stator, institute
It states magnetic resistance motor rotor and magnetic bearing rotor covers in shaft；
The reluctance motor stator is salient-pole structure, and the reluctance motor stator number of teeth is 12, and all reluctance motor stator teeth uniformly divide
Cloth, tooth and tooth are separated by 30 °；
The magnetic bearing rotor is salient-pole structure, and magnetic bearing number of rotor teeth is 8, and all magnetic resistance motor rotor teeth are uniformly distributed, tooth
It is separated by 45 ° with tooth；
The magnetic bearing stator be salient-pole structure, magnetic bearing number of stator teeth be 4, all magnetic bearing stator tooths are uniformly distributed, tooth with
Tooth is separated by 90 °, and the magnetic bearing rotor is cylindrical structure；
It is wound with 1 armature winding on each reluctance motor stator tooth, is separated by 90 ° of 4 armature winding series connection, constitutes 1 torque
Winding, totally 3, respectively A phase torque winding string, B phase torque winding and C phase torque winding, wherein B phase torque winding, C phase
Torque winding spatially differs 30 ° and -30 ° with A phase torque winding string respectively；
1 bias coil and 1 suspended coil are wound on the magnetic bearing stator tooth, totally 4 bias coils and 4 suspension lines
Circle；
Positioned at the suspended coil series connection of 2 180 ° of differences of horizontal direction, 1 x-axis direction suspending windings is constituted, is located at vertical side
To 2 difference 180 ° suspended coils series connection, constitute 1 y-axis direction suspending windings, the x-axis direction suspending windings and y-axis
Direction suspending windings spatially differ 90 °；
All bias coil series connection, constitute 1 biasing winding；1 biasing winding is connected with A phase torque winding string, constitutes A
Phase torque winding；
It is characterized in that, A phase torque winding generates biasing magnetic flux using permanent conducting excitation mode in magnetic bearing, in switch magnetic
It hinders and generates torque in motor；Excitation is connected in turn for B phase and C phase torque winding, generates torque；A phase torque winding successively undergoes three
Kind excitation mode, respectively Angle-domain imaging mode, afterflow excitation mode and Current cut control mode, A phase torque winding
The conducting section of three kinds of excitation modes is respectively defined as the Ith conducting section, afterflow section and the IIth conducting section；In the Ith conducting
Section and afterflow section, directly reference value of the real-time current of acquisition A phase torque winding as biasing winding current, lead the IIth
Logical section, calculates the reference value of biasing winding current, so that magnetic bearing magnetic utilization rate highest；Then by control suspending windings
Size of current and direction, to adjust suspending power；In control process, direct torque and suspending power control are mutually indepedent, and torque
Decoupling control is realized with suspending power；The control method, includes the following steps:
Step A obtains turn-on angle θonWith shutdown angle θoff, the specific steps are 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, the rotation speed difference deltan ω obtain turn-on angle θ by pi controlleronWith shutdown angle θoff；
Step B acquires magnetic resistance motor rotor real time position angle θ, and differentiates each phase excited state, the specific steps are as follows:
Step B-1, as θ=θonaWhen, the power switch of A phase torque winding power circuit is opened, A phase torque winding starts excitation
Conducting, A phase enters the Ith conducting section, as θ=θoffaWhen, shutdown A phase torque winding power switch, A phase torque winding originate into
Enter afterflow conducting section, wherein θona=θon, θoffa=θoff, the Ith conducting section is [θona, θoffa]；
Step B-2, as θ=θonbWhen, the power switch of B phase torque winding power circuit is opened, B phase torque winding starts excitation
Conducting, as θ=θoffbWhen, shutdown B phase torque winding power switch, B phase torque winding terminates excitation, wherein θonb=θona+
15 °, θoffb=θoffa+15°；
Step B-3, as θ=θoncWhen, the power switch of C phase torque winding power circuit is opened, C phase torque winding starts excitation
Conducting, as θ=θoffcWhen, shutdown C phase torque winding power switch, C phase torque winding terminates excitation, wherein θonc=θona+
30 °, θoffc=θoffa+30°；
Step C obtains the initial angle θ that section is connected in A phase torque winding the IIths, differentiate A phase torque winding afterflow conducting during and
The corresponding rotor position angle in IIth conducting section, the specific steps are as follows:
Step C-1, according to calculatingCalculate the reference value I of the IIth conducting section interior biasing winding currentm,
In, kfFor suspension force coefficient,FloadFor the load of magnetic bearing maximum radial, determined by magnetic axis bearing structure and electromagnetic parameter
It is fixed；In formula, μ0For space permeability, l is the axial length of magnetic bearing, and r is the radius of magnetic bearing rotor, αsFor radial direction magnetic bearing
The polar arc angle of stator, δ are the unilateral gas length of magnetic bearing part, NbTo bias umber of turn；
Step C-2 acquires the real-time current i of A phase torque winding in afterflow section, works as i=ImWhen, A phase torque winding is opened immediately
The power switch of power circuit, A phase torque winding enter the IIth conducting section, and corresponding rotor position angle is the IIth to lead at this time
The initial angle θ in logical sections；As rotor position angle θ=θonaAt+45 °, the IIth conducting section terminates, under A phase torque winding enters
One the Ith conducting section；
The corresponding rotor position angle in afterflow section is [θoffa, θs], the corresponding rotor position angle in the IIth conducting area is [θs, θona+
45°]；
Step D obtains x-axis direction and gives suspending powerSuspending power is given with y-axis directionSpecific step is as follows:
Step D-1 obtains rotor in the real-time displacement signal alpha and β in x-axis and y-axis direction, wherein x-axis and the horizontal direction magnetic
Bearing stator tooth center line is overlapped, and y-axis is overlapped with the vertical direction magnetic bearing stator tooth center line, and x-axis and y-axis are spatially
90 ° of difference；
Step D-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtains the direction x
With real-time displacement the signal difference Δ α and Δ β in the direction y, the real-time displacement signal difference Δ α and Δ β is passed through into proportional integral differential
Controller obtains the x-axis direction and gives suspending powerSuspending power is given with y-axis direction
Step E adjusts suspending power, the specific steps are as follows:
Step E-1 adjusts the suspending power in the Ith conducting section and afterflow section, at this time θ ∈ [θona, θs]；
According to the suspending powerThe real-time current reference value i of biasing winding is obtained with acquisitionbiasAnd electric current calculates public affairs
FormulaWithThe x-axis direction that can resolve to obtain in the Ith conducting section and afterflow section suspends
The reference value of winding currentWith the reference value of y-axis direction suspending windings electric currentWherein NsFor suspending windings the number of turns；
Using Current cut control method, the actual current i of two suspending windings is allowedxAnd iyIts reference value is tracked respectivelyWith
To adjust the suspending power in the section in real time；
Step E-2 adjusts the suspending power in the IIth conducting section, at this time θ ∈ [θs, θona+45°]；
According to the suspending powerWith the biasing winding current reference value I obtained in step C-1mAnd electric current calculates public affairs
FormulaWithThe x-axis direction suspending windings electric current in the IIth conducting section can be resolved to obtain
Reference valueWith the reference value of y-axis direction suspending windings electric current
Using Current cut control method, the actual current i of A phase torque winding is allowedaTracking biasing winding current reference value Im, allow
The actual current i of two suspending windingsxAnd iyIts reference value is tracked respectivelyWithTo adjust the suspension in the section in real time
Power, and then realize the suspension operation of each rotor cycle；
Step F adjusts torque, by adjusting turn-on angle θonWith shutdown angle θoffValue, to adjust torque in real time；A phase torque
Winding only allows its practical current tracking reference value I in the IIth conducting sectionm, the negative torque generated in the section, still by opening
Current flow angle θonWith shutdown angle θoffDynamic regulation, compensate.
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| CN107612255B (en) * | 2017-09-19 | 2020-03-31 | 南京埃克锐特机电科技有限公司 | Five-degree-of-freedom conical magnetic suspension switched reluctance motor and control method |
| CN109802613B (en) * | 2019-02-15 | 2022-02-08 | 南京邮电大学 | BSRMWR torque ripple suppression method based on-off angle control |
| CN112532147B (en) * | 2020-12-01 | 2022-07-22 | 南京邮电大学 | Co-excitation control method of magnetic suspension switched reluctance motor |
| CN113113994B (en) * | 2021-04-12 | 2022-04-15 | 南京邮电大学 | Bearingless switched reluctance motor, power converter and control method |
| CN114726180A (en) * | 2022-05-12 | 2022-07-08 | 中国矿业大学 | Wide-narrow stator pole axial flux switch reluctance motor and control method thereof |
| CN115001183B (en) * | 2022-06-29 | 2024-07-05 | 南京邮电大学 | Magnetic suspension switch reluctance motor and suspension force control device, method and system thereof |
| CN114977892B (en) * | 2022-07-28 | 2022-10-18 | 南京工程学院 | Decoupling control device and control method for magnetic suspension motor |
| CN116255395B (en) * | 2022-12-30 | 2024-01-05 | 淮阴工学院 | Constant current source excitation six-pole active electromagnetic bearing and design method |
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| CN104377880A (en) * | 2014-10-08 | 2015-02-25 | 南京邮电大学 | Composite structure duplex winding maglev switched reluctance motor |
| KR20150139219A (en) * | 2014-06-03 | 2015-12-11 | 경성대학교 산학협력단 | 12/14 Hybrid Pole Type Bearingless Switched Reluctance Motor |
| CN106059425A (en) * | 2016-02-16 | 2016-10-26 | 国家电网公司 | Control method for dual-winding magnetic suspension switched reluctance generator |
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| KR20150139219A (en) * | 2014-06-03 | 2015-12-11 | 경성대학교 산학협력단 | 12/14 Hybrid Pole Type Bearingless Switched Reluctance Motor |
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