CN107124082A - A kind of taper magnetic suspension switched reluctance motor system and its control method - Google Patents

A kind of taper magnetic suspension switched reluctance motor system and its control method Download PDF

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Publication number
CN107124082A
CN107124082A CN201710231300.4A CN201710231300A CN107124082A CN 107124082 A CN107124082 A CN 107124082A CN 201710231300 A CN201710231300 A CN 201710231300A CN 107124082 A CN107124082 A CN 107124082A
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mrow
taper
winding
msub
suspension
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CN107124082B (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
    • 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
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
    • 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
    • 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
    • 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
    • H02P25/092—Converters specially adapted for controlling reluctance motors
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Synchronous Machinery (AREA)

Abstract

The invention discloses a kind of taper magnetic suspension switched reluctance motor system and its control method, the system is made up of a switched reluctance machines and two taper magnetic bearings, and two taper magnetic bearings are arranged in switched reluctance machines both sides；Biasing, radial and axial suspending windings are wound with each taper stator, all biasing windings in series are constituted in a set of biasing winding, the dc bus for being connected in series to the new asymmetrical half-bridge power inverter of armature winding；The axial suspension windings in series of each magnetic bearing, constitutes two axial suspension windings, and independent control in addition to axial force is produced, also produces certain biasing magnetic flux；Rotate control mode identical with Conventional switched reluctance motor；Suspending power is only relevant with bias current and six levitating currents, and five are simplified in control；Bias current is always threephase armature electric current sum, and is not controlled, uneoupled control between torque and suspending power.Integrated level of the present invention is high, and armature supply utilization rate is high, simple in construction, and control is simple, and high-speed adaptability is strong.

Description

A kind of taper magnetic suspension switched reluctance motor system and its control method
Technical field
The present invention relates to a kind of taper magnetic suspension switched reluctance motor system and its control method, belong to the magnetcisuspension of electric machinery Floation switch reluctance motor and its control technology field.
Background technology
Magnetic suspension switched reluctance motor, not only have the advantages that magnetic bearing without friction, it is unlubricated, also inherit switching magnetic-resistance The features such as high-speed adaptability and satisfaction harshness working environment of motor, have in occasions such as Aero-Space, flywheel energy storage and military affairs Unique advantage.
Magnetic suspension switched reluctance motor is generally made up of five degree of freedom magnetic bearing and switched reluctance machines, and traditional magnetic bearing is needed Larger thrust button is wanted, it will cause larger eddy-current loss and problem of temperature rise；And traditional cone electrical excitation magnetic bearing then has more Control object, be unfavorable for simplification and the reliability of system.In addition, motor in conventional maglev switched reluctance motor system with Independent between magnetic bearing control system, integrated level is not high.Therefore, the active set between magnetic bearing system and switched reluctance motor system Into, can not only improve the integrated level of magnetic suspension system, additionally aid lifting energy converting between mechanical efficiency.
The content of the invention
The present invention proposes a kind of taper magnetic suspension switched reluctance motor system and its control to overcome the deficiencies in the prior art Method processed.The suspension rotor system be a kind of high integrated level, suspending power and torque can uneoupled control and suspension control object compared with Few novel tapered magnetic suspension switched reluctance motor system；The control method can independent control armature winding electric current and suspend around Group electric current, mutually decouples between rotation and suspension system, affects one another weak；In addition, biasing windings in series to the new of armature winding In the dc bus of asymmetrical half-bridge power inverter, and bias current is always threephase armature electric current sum, without appointing What manual control；The axial suspension windings in series of each magnetic bearing, constitutes two axial suspension windings, independent control, except generation axle To outside power, certain biasing magnetic flux is also produced；Rotate control mode identical with Conventional switched reluctance motor；Suspending power only with biasing Electric current and six levitating currents are relevant, and are decoupled between suspending power, also can uneoupled control between torque and suspending power.Integrated level of the present invention Height, armature supply utilization rate is high, simple in construction, and control is simple, and high-speed adaptability is strong.
In order to solve the above problems, the technical solution adopted by the present invention is：
A kind of taper magnetic suspension switched reluctance motor system, including taper magnetic bearing I, switched reluctance machines and taper magnetic axis Hold II；The taper magnetic bearing I and taper magnetic bearing II are respectively arranged in the both sides of switched reluctance machines；
The taper magnetic bearing I is by taper stator I, cone rotor I, bias coil I, radial suspension coil I and axially hangs Flotation line circle I is constituted；
The taper magnetic bearing II is by taper stator II, cone rotor II, bias coil II, radial suspension coil II and axle Constituted to suspended coil II；
The switched reluctance machines are made up of reluctance motor stator, magnetic resistance motor rotor and reluctance motor coil；
The cone rotor I is arranged in taper stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator, taper Rotor II is arranged in taper stator II；The cone rotor I, magnetic resistance motor rotor and cone rotor II are enclosed in rotating shaft；Institute State taper stator I, reluctance motor stator and the arranged in series of taper stator II, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, reluctance motor stator and magnetic resistance motor rotor The number of teeth have 12/8,6/4,8/6 3 kind of combining form；The number of teeth of wherein reluctance motor stator and magnetic resistance motor rotor is combined as When 12/8 and 6/4, the number of phases m of switched reluctance machines is 3, and the number of teeth of reluctance motor stator and magnetic resistance motor rotor is combined as 8/6 When, the number of phases m of switched reluctance machines is 4；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 12/8 combination, i.e., described reluctance motor stator tooth Number is 12, magnetic resistance motor rotor number of teeth when to be 8, number of motor phases m be 3, every 4 magnetic that are separated by 90 ° of reluctance motor stator tooth Motor coil is hindered, using series connection or connected mode that is arranged side by side or going here and there and combine, links together, constitutes 1 armature winding, altogether Form 3 armature winding；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 6/4 combination, i.e., described reluctance motor stator tooth Number is 6, magnetic resistance motor rotor number of teeth when to be 4, number of motor phases m be 3, every 2 magnetic that are separated by 180 ° of reluctance motor stator tooth Motor coil is hindered, using series connection or connected mode arranged side by side, is linked together, 1 armature winding is constituted, 3 armatures are formed altogether Winding；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 8/6 combination, i.e., described reluctance motor stator tooth Number is 8, magnetic resistance motor rotor number of teeth when to be 6, number of motor phases m be 4, every 2 magnetic that are separated by 180 ° of reluctance motor stator tooth Motor coil is hindered, using series connection or connected mode arranged side by side, is linked together, 1 armature winding is constituted, 4 armatures are formed altogether Winding.
The taper stator I and taper stator II are taper salient-pole structure, and the stator number of teeth of the two is 4, the taper Rotor I and cone rotor II are tapered cylinder structure；Taper stator I, taper stator II, cone rotor I and cone rotor II Bevel angle it is equal；Taper stator I is identical with the bevel angle opening direction of cone rotor I, taper stator II and cone rotor II Bevel angle opening direction it is identical；The bevel angle opening direction of taper stator I and cone rotor I turns with taper stator II and taper The bevel angle opening direction of son II is opposite；
Characterized in that, being wound with 1 bias coil I, 1 axial suspension line on each stator tooth of the taper stator I I and 1 radial suspension coil I are enclosed, totally 4 bias coils I, 4 radial suspension coils I of axial suspension coil I and 4；
1 bias coil II, 1 axial suspension coil II and 1 are wound with each stator tooth of the taper stator II Radial suspension coil II, totally 4 bias coils II, 4 radial suspension coils II of axial suspension coil II and 4；
The connected mode of radial suspension coil I of the taper stator I is：2 radial directions for being separated by 180 ° in the horizontal direction are hanged Flotation line circle I is connected, and constitutes 1 horizontal direction radial suspension winding I；It is separated by 180 ° of 2 radial suspension coils I in vertical direction Series connection, constitutes 1 vertical direction radial suspension winding I；
The connected mode of radial suspension coil II of the taper stator II is：It is separated by 180 ° of 2 radial directions in the horizontal direction Suspended coil II is connected, and constitutes 1 horizontal direction radial suspension winding II；It is separated by 180 ° of 2 radial suspensions in vertical direction Coil II is connected, and constitutes 1 vertical direction radial suspension winding II；
4 axial suspension coils I of the taper stator I are connected, and constitute 1 axial suspension winding I；The taper stator II 4 axial suspension coils II are connected, and are constituted 1 axial direction and are hanged winding II；
4 bias coils I of the taper stator I are connected, and constitute 1 bias coil string I, the 4 of the taper stator II Individual bias coil II is connected, and constitutes 1 bias coil string II；1 bias coil string I and 1 bias coil string II are connected, Constitute 1 biasing winding.
A kind of control method of taper magnetic suspension switched reluctance motor system, it is characterised in that the taper magnetcisuspension Floation switch reluctance motor system includes a switching magnetic-resistance reluctance motor and two taper magnetic bearings, and wherein switched reluctance machines are produced Raw rotating torques, two taper magnetic bearings produce 4 radial suspension forces and 1 axial suspension power, to realize five directions of rotor Suspension operation；The winding of the magnetic suspension system is by m phase armature winding, 1 biasing winding, 4 radial suspension windings and 2 Individual axial suspension winding is constituted, the mother of asymmetrical half-bridge power inverter of the 1 biasing windings in series to m phase armature winding In line, the energized circuit and continuous current circuit of wherein armature winding respectively have 1 direct voltage source, and excitation and freewheeling period armature The sense of current of winding and biasing winding is identical all the time；Independent control m phase armature winding electric currents, to adjust torque, and are produced inclined Put magnetic flux；6 suspending windings electric currents of independent control, realize that five-degree magnetic suspension is adjusted；Comprise the following steps：
Step A, obtains given armature winding electric current, turn-on angle and shut-off angle；Comprise the following steps that：
Step A-1, gathers the real-time rotating speed of magnetic resistance motor rotor, obtains rotor velocity ω；
Step A-2, by 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 A-3, as ω≤ω0When, ω0For critical speed setting value, it is determined by motor actual condition；The rotating speed Poor Δ ω, passing ratio integral controller obtains armature winding current reference value im *；Turn-on angle θonWith shut-off angle θoffFix not Become, θonAnd θoffValue is determined by electric machine structure form；
Step A-4, as ω ＞ ω0When, the rotation speed difference deltan ω, passing ratio integral controller obtains turn-on angle θonWith Turn off angle θoff, armature winding electric current do not control；
Step B, adjusts torque；Comprise the following steps that：
Step B-1, as ω≤ω0When, using Current cut control method, with the actual current i of armature windingmTracking electricity Pivot winding current reference value im *, and then armature winding electric current i is adjusted in real timem, and then reach the purpose of regulation torque；
Step B-2, as ω ＞ ω0When, utilize Angle-domain imaging method, regulation turn-on angle θonWith shut-off angle θoffTake Value, so as to adjust torque in real time；
Step C, the x-axis and y-axis direction for obtaining taper magnetic bearing I gives suspending power；It is comprised the following steps that：
Step C-1, obtains the x-axis of cone rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein, x-axis is water Square to y-axis is vertical direction；
Step C-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively To the real-time displacement signal difference Δ α in x-axis direction and y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing I is obtainedWith y-axis direction suspending power
Step D, the x-axis and y-axis direction for obtaining taper magnetic bearing II gives suspending power；It is comprised the following steps that：
Step D-1, obtains the x-axis of cone rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step D-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively To the real-time displacement signal difference Δ α in x-axis direction and y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing II is obtainedWith y-axis direction suspending power
Step E, obtains z-axis direction and gives suspending power；It is comprised the following steps that：
Step E-1, obtains the real-time displacement signal z in rotating shaft z-axis directionz, wherein z-axis constitutes perpendicular to x-axis and y axles Plane；
Step E-2, by real-time displacement signal zzWith given reference displacement signal zz *Subtract each other, obtain the real-time of z-axis direction Displacement signal difference Δ zz, by the real-time displacement signal difference Δ zzBy proportional plus integral plus derivative controller, obtained z-axis direction hangs Buoyancy
Step F, adjusts suspending power, comprises the following steps that：
Step F-1, collection biases winding current i in real timebiasWith biasing winding maximum current value IP,
Mode one, biasing winding current i in real time is directly gathered by current sensorbias, it is maximum that it is then obtained again Value is IP；
Mode two, gathers real-time m phases armature winding electric current, then according to calculation formula by current sensorCalculating obtains biasing winding current i in real timebias, its maximum as I is then gathered againP, wherein ikFor kth The electric current of phase armature winding；
Step F-2, according to the biasing winding maximum current value IPWith the suspending powerWith And calculation formula：
Resolve the x-axis direction radial suspension winding current reference value for obtaining taper magnetic bearing IWith y-axis direction radial suspension Winding current reference valueThe x-axis direction radial suspension winding current reference value of taper magnetic bearing IIIt is radially outstanding with y-axis direction Floating winding current reference valueAnd the reference value of the difference of two axial suspension winding currents
Wherein, kf1For radial suspension force coefficient, kf2For axial suspension force coefficient, its expression formula is respectivelyWithμ0For space permeability, l is the axial length of taper magnetic bearing, and r is cone The mean radius of shape rotor, αsFor the polar arc angle of taper stator, δ is the unilateral gas length of magnetic bearing part, and γ is bevel angle, NbTo bias the number of turn of winding, NzFor the number of turn of axial suspension winding, NsFor the number of turn of radial suspension winding；
Step F-3, calculates the current reference value of axial suspension winding IWith the current reference value of axial suspension winding II
According to the ibias、IP、And axial winding current calculation formulaWithCalculate the current reference value of axial suspension winding IAnd the electricity of axial suspension winding II Flow reference value
Step F-4, using Current cut control method, with the actual electricity of the x-axis direction radial suspension winding of taper magnetic bearing I Flow is1Track the direction and hang winding current reference valueWith the actual current i of y-axis direction radial suspension windings2Track the direction Radial suspension winding current reference valueWith the actual current i of axial suspension winding Iz1Track its current reference value
With the x-axis direction radial suspension winding actual current i of taper magnetic bearing IIs3Track the direction and hang winding current reference ValueWith the actual current i of y-axis direction radial suspension windings4Track direction radial suspension winding current reference valueUse axle To the actual current i of suspending windings IIz2Track its current reference valueAnd then realize five-degree magnetic suspension control.
Beneficial effects of the present invention：The present invention proposes a kind of taper magnetic suspension switched reluctance motor system and its controlling party Method, using technical scheme, can reach following technique effect：
(1) five-degree magnetic suspension operation, suspending power and torque decoupler can be achieved, high speed suspendability is good；
(2) having for the new asymmetrical half-bridge power inverter of use, armature winding excitation and freewheeling period is independent Voltage source, and excitation is weaker with being affected one another during afterflow, the magnitude of voltage of convenient regulation excitation and freewheeling period；
(3) biasing winding current is equal with m phase armature winding electric current sums all the time, is easy to gather its instantaneous value and maximum Value；
(4) axial winding current also contributes certain biasing magnetic flux in addition to axial force is produced, and is conducive to improving biasing winding The biasing magnetic flux that electric current is produced, and then improve tracking and the control accuracy of levitating current；
(5) magnetic bearing magnetic circuit and reluctance motor magnetic path isolation, flux coupled are weak, and fault freedom is good.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of taper magnetic suspension switched reluctance motor system embodiment 1 of the present invention.
Fig. 2 is the power inverter schematic diagram of the embodiment of the present invention 1.
Fig. 3 is the threephase armature winding current of the embodiment of the present invention 1 and the analogous diagram of biasing winding current.
Fig. 4 is the system block diagram of the control method of taper magnetic suspension switched reluctance motor system embodiment 1 of the present invention.
Fig. 5 be taper magnetic suspension switched reluctance motor system embodiment 1 of the present invention control method in each suspending windings electricity Flow calculation methodologies block diagram.
Fig. 6 is the computational methods block diagram of two axial suspension winding currents of the invention.
Description of reference numerals：Fig. 1 is into Fig. 5, and 1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, and 3 be reluctance motor Coil, 4 be taper stator, and 5 be cone rotor, and 6 be bias coil, and 7 be radial suspension coil, and 8 be axial suspension coil, and 9 are Rotating shaft, 10 be switched reluctance machines, and 11 be taper magnetic bearing I, and 12 be taper magnetic bearing II, and 13,14,15 be respectively x, y, z axle The positive direction of direction reference axis, 16,17,18 be the emulation of 12/8 pole switching reluctance motor A, B, C phase armature winding electric current respectively Waveform, 19 be the simulation waveform for biasing winding current, and 20 be the simulation waveform for biasing winding maximum current.
Embodiment
Below in conjunction with the accompanying drawings, to a kind of technology of taper magnetic suspension switched reluctance motor system and its control method of the invention Scheme is described in detail：
As shown in figure 1, be the three dimensional structure diagram of taper magnetic suspension switched reluctance motor system embodiment 1 of the present invention, Wherein, 1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, and 3 be reluctance motor coil, and 4 be taper stator, and 5 be cone rotor, 6 be bias coil, and 7 be radial suspension coil, and 8 be axial suspension coil, and 9 be rotating shaft, and 10 be switched reluctance machines, and 11 be cone Shape magnetic bearing I, 12 be taper magnetic bearing II, and 13,14,15 be respectively the positive direction of x, y, z direction of principal axis reference axis.
A kind of taper magnetic suspension switched reluctance motor system, including taper magnetic bearing I, switched reluctance machines and taper magnetic axis Hold II；The taper magnetic bearing I and taper magnetic bearing II are respectively arranged in the both sides of switched reluctance machines；
The taper magnetic bearing I is by taper stator I, cone rotor I, bias coil I, radial suspension coil I and axially hangs Flotation line circle I is constituted；
The taper magnetic bearing II is by taper stator II, cone rotor II, bias coil II, radial suspension coil II and axle Constituted to suspended coil II；
The switched reluctance machines are made up of reluctance motor stator, magnetic resistance motor rotor and reluctance motor coil；
The cone rotor I is arranged in taper stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator, taper Rotor II is arranged in taper stator II；The cone rotor I, magnetic resistance motor rotor and cone rotor II are enclosed in rotating shaft；Institute State taper stator I, reluctance motor stator and the arranged in series of taper stator II, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, reluctance motor stator and magnetic resistance motor rotor The number of teeth have 12/8,6/4,8/6 3 kind of combining form；The number of teeth of wherein reluctance motor stator and magnetic resistance motor rotor is combined as When 12/8 and 6/4, the number of phases m of switched reluctance machines is 3, and the number of teeth of reluctance motor stator and magnetic resistance motor rotor is combined as 8/6 When, the number of phases m of switched reluctance machines is 4；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 12/8 combination, i.e., described reluctance motor stator tooth Number is 12, magnetic resistance motor rotor number of teeth when to be 8, number of motor phases m be 3, every 4 magnetic that are separated by 90 ° of reluctance motor stator tooth Motor coil is hindered, using series connection or connected mode that is arranged side by side or going here and there and combine, links together, constitutes 1 armature winding, altogether Form 3 armature winding；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 6/4 combination, i.e., described reluctance motor stator tooth Number is 6, magnetic resistance motor rotor number of teeth when to be 4, number of motor phases m be 3, every 2 magnetic that are separated by 180 ° of reluctance motor stator tooth Motor coil is hindered, using series connection or connected mode arranged side by side, is linked together, 1 armature winding is constituted, 3 armatures are formed altogether Winding；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 8/6 combination, i.e., described reluctance motor stator tooth Number is 8, magnetic resistance motor rotor number of teeth when to be 6, number of motor phases m be 4, every 2 magnetic that are separated by 180 ° of reluctance motor stator tooth Motor coil is hindered, using series connection or connected mode arranged side by side, is linked together, 1 armature winding is constituted, 4 armatures are formed altogether Winding.
The taper stator I and taper stator II are taper salient-pole structure, and the stator number of teeth of the two is 4, the taper Rotor I and cone rotor II are tapered cylinder structure；Taper stator I, taper stator II, cone rotor I and cone rotor II Bevel angle it is equal；Taper stator I is identical with the bevel angle opening direction of cone rotor I, taper stator II and cone rotor II Bevel angle opening direction it is identical；The bevel angle opening direction of taper stator I and cone rotor I turns with taper stator II and taper The bevel angle opening direction of son II is opposite；
Characterized in that, being wound with 1 bias coil I, 1 axial suspension line on each stator tooth of the taper stator I I and 1 radial suspension coil I are enclosed, totally 4 bias coils I, 4 radial suspension coils I of axial suspension coil I and 4；
1 bias coil II, 1 axial suspension coil II and 1 are wound with each stator tooth of the taper stator II Radial suspension coil II, totally 4 bias coils II, 4 radial suspension coils II of axial suspension coil II and 4；
The connected mode of radial suspension coil I of the taper stator I is：2 radial directions for being separated by 180 ° in the horizontal direction are hanged Flotation line circle I is connected, and constitutes 1 horizontal direction radial suspension winding I；It is separated by 180 ° of 2 radial suspension coils I in vertical direction Series connection, constitutes 1 vertical direction radial suspension winding I；
The connected mode of radial suspension coil II of the taper stator II is：It is separated by 180 ° of 2 radial directions in the horizontal direction Suspended coil II is connected, and constitutes 1 horizontal direction radial suspension winding II；It is separated by 180 ° of 2 radial suspensions in vertical direction Coil II is connected, and constitutes 1 vertical direction radial suspension winding II；
4 axial suspension coils I of the taper stator I are connected, and constitute 1 axial suspension winding I；The taper stator II 4 axial suspension coils II are connected, and are constituted 1 axial direction and are hanged winding II；
4 bias coils I of the taper stator I are connected, and constitute 1 bias coil string I, the 4 of the taper stator II Individual bias coil II is connected, and constitutes 1 bias coil string II；1 bias coil string I and 1 bias coil string II are connected, Constitute 1 biasing winding.
Per phase armature winding by 4 reluctance motor coils for being spatially separated by 90 ° each other, using series connection or it is in parallel or The mode of two and two strings is formed by connecting；The symmetrical magnetic flux of quadrupole produced per phase armature winding electric current, is distributed in NSNS.When a phase When armature winding is turned on, the magnetic field produced in reluctance motor, for producing torque；A, B, C threephase armature winding are in magnetic bearing The resultant magnetic field of interior generation is used for the bias magnetic field controlled that suspends.The armature winding of B, C phase is identical with A phase armature winding structures, Only differ 30 ° and -30 ° with A phases in position.
For magnetic bearing I, horizontal square to air gap at radial suspension winding and biasing winding produce flow direction Equally, magnetic flux increase；And at the air gap of horizontal negative direction, in the opposite direction, magnetic flux weakens, and then produce the outstanding of x positive direction The suspending power of buoyancy and a z positive direction.Radial suspension winding and armature winding produce magnetic flux at the air gap of vertical positive direction Direction is the same, magnetic flux increase, and at the air gap of vertical negative direction, magnetic flux weakens, and then produces the suspending power of a y positive direction With the suspending power of a z positive direction.Similarly, when suspending windings electric current is reverse, the suspending power of opposite direction will be produced, but it is axially outstanding The direction of buoyancy is still for just.
For magnetic bearing II, horizontal square to air gap at radial suspension winding and biasing winding produce flow direction Equally, magnetic flux increase；And at the air gap of horizontal negative direction, in the opposite direction, magnetic flux weakens, and then produce the outstanding of x positive direction The suspending power of buoyancy and a z negative direction.Radial suspension winding and armature winding produce magnetic flux at the air gap of vertical positive direction Direction is the same, magnetic flux increase, and at the air gap of vertical negative direction, magnetic flux weakens, and then produces the suspending power of a y positive direction With the suspending power of a z negative direction.Similarly, when suspending windings electric current is reverse, the suspending power of opposite direction will be produced, but it is axially outstanding The direction of buoyancy is still negative.
For the axial suspension winding of two magnetic bearings, the axial suspension winding current direction of two taper magnetic bearings with Bias winding current direction identical, air-gap flux enhancing；Now, it is only necessary to control the size of two axial suspension winding currents not Together, that is, an axial force is produced.
Therefore, when the timing of motor operation operating mode one, threephase armature winding current is certain, at this moment in its dc bus The electric current for biasing winding is also definite value, is this rationally control x, size and Orientation of y-axis suspending windings electric current, is hanged with two z-axis The size of floating winding current, that is, produce size and Orientation controllable suspending power.
Threephase armature winding current can be using PWM controls, Pulse Width Control and Angle Position control etc., with Conventional switched reluctance electricity The control method of machine is identical, and levitating current uses chop control.Biasing winding current can in real time be detected by current sensor Arrive, rotor radial displacement is detected acquisition by current vortex sensor in real time, the set-point for obtaining both direction suspending power is adjusted through PI. Because suspending power is relevant with four radial suspension winding currents and two axial suspension winding currents with biasing winding current, pass through Introduce a constraint equation, you can resolving obtains six levitating currents, as the set-point of current control in power inverter, most The five-degree magnetic suspension operation of motor is realized eventually.
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 6/4 combination, i.e., described reluctance motor stator tooth Number is 6, magnetic resistance motor rotor number of teeth when to be 4, number of motor phases m be 3, every 2 magnetic that are separated by 180 ° of reluctance motor stator tooth Motor coil is hindered, using series connection or connected mode arranged side by side, is linked together, 1 armature winding is constituted, 3 armatures are formed altogether Winding；Now constitute the embodiment 2 of magnetic suspension motor system of the present invention.
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 8/6 combination, i.e., described reluctance motor stator tooth Number is 8, magnetic resistance motor rotor number of teeth when to be 6, number of motor phases m be 4, every 2 magnetic that are separated by 180 ° of reluctance motor stator tooth Motor coil is hindered, using series connection or connected mode arranged side by side, is linked together, 1 armature winding is constituted, 4 armatures are formed altogether Winding；Now constitute the embodiment 3 of magnetic suspension motor system of the present invention.
Fig. 2 is the power inverter schematic diagram of the embodiment of the present invention 1.With conventional three-phase asymmetrical half-bridge power inverter not Together, the power inverter that this method is used has two independent voltage sources, respectively Us1And Us2, and excitation stage and afterflow Stage has two current loops.By taking A phases as an example, in excitation stage, switching tube S1And S2Conducting, electric current diametral voltage source Us1, two Pole pipe D7, biasing winding Bias, diode D8, switching tube S1, A phases armature winding, switching tube S2Closure；In freewheeling period, switch Pipe S1And S2Shut-off, electric current is through A phases armature winding, diode D1, diode D10, biasing winding Bias, diode D9, voltage source Us2, diode D2Closure；Two benches bias winding current direction and size is identical with A phase armature winding electric currents all the time.Similarly, B, C phases armature also has similar excitation and afterflow process.Therefore, biasing winding current and threephase armature winding current sum phase Deng.As number of phases m>It when 3, only need to increase corresponding branch road in the power circuit shown in Fig. 2, and bias the power circuit of windings section Without change.
As shown in figure 3, the analogous diagram of the threephase armature winding current and biasing winding current for the embodiment of the present invention 1.It is imitative True result is shown, based on the power conversion circuit shown in Fig. 2, the waveform of threephase armature electric current and the electricity of Conventional switched reluctance motor Stream waveform is identical, illustrates that the power circuit shown in Fig. 2 has the function of traditional asymmetry half-bridge circuit.In addition, any time, partially Put that winding current is equal with threephase armature winding current sum all the time, be conducive to biasing the collection of winding current and its maximum.
As shown in figure 4, being the system block diagram of the embodiment of the present invention 1.Direct torque can using PWM control, Pulse Width Control and The control method of the Conventional switched reluctance motors such as Angle Position control, and suspend and control then by the way of Current cut control.
Direct torque is：Motor rotor position information is detected, is computed respectively obtaining actual speed ω and open-minded per phase Angle θonWith shut-off angle θoff, speed error signal is subjected to PI regulations, armature winding current reference value is obtainedRecycle electric current Chop control allows actual armature winding current trackingAnd utilize turn-on angle θonWith shut-off angle θoffControl armature winding power electricity The conducting state on road, so as to realize that motor rotates.
Suspension control is：Displacement error signal is subjected to PID regulations and obtains given suspending power In conjunction with actual measurement biasing winding current ibiasAnd its maximum IP, i.e., calculated by suspending windings current controller Go out：The x-axis direction suspending windings current reference value of radial direction magnetic bearing IWith y-axis direction suspending windings current reference valueRadially The x-axis direction suspending windings current reference value of magnetic bearing IIWith y-axis direction suspending windings current reference valueZ-axis direction two The reference value of suspending windings difference between currentsThen, taper magnetic bearing I is calculated further according to axial winding current calculation formula Axial positive direction suspending windings electric current reference valueAnd the axial negative direction suspending windings electric current of taper magnetic bearing II Reference value
Using Current cut control method, with the x-axis direction radial suspension winding actual current i of taper magnetic bearing Is1With The track direction hangs winding current reference valueWith the actual current i of y-axis direction radial suspension windings2Track the direction radially outstanding Floating winding current reference valueWith the actual current i of z-axis positive direction suspending windingsz1Track direction axial suspension winding current Reference value
With the x-axis direction radial suspension winding actual current i of taper magnetic bearing IIs3Track the direction and hang winding current reference ValueWith the actual current i of y-axis direction radial suspension windings4Track direction radial suspension winding current reference valueUse z The actual current i of axle negative direction suspending windingsz2Track direction axial suspension winding current reference valueAnd then realize five freely Degree, which suspends, to be controlled.
Such as Fig. 5 is shown, is the five-degree magnetic suspension winding current computational methods block diagram of the present invention.In figure, kf1For radially Suspension force coefficient, kf2For axial suspension force coefficient, its expression formula is：
In formula, μ0For space permeability, l is the axial length of taper magnetic bearing, and r is the mean radius of cone rotor, αsFor The polar arc angle of taper stator, δ is the unilateral gas length of magnetic bearing part, and γ is bevel angle.
The x and y-axis direction suspending power of taper magnetic bearing IWithExpression formula be：
In formula, ibiasTo bias the electric current of winding,Respectively the x, y, z direction of principal axis of taper magnetic bearing I hangs Floating winding current, NbTo bias the number of turn of winding, NzFor the number of turn of axial suspension winding, NsFor the number of turn of radial suspension winding.
Bias winding current ibiasRelation between m phase armature winding electric currents is：
Wherein, ikFor the electric current of kth phase armature winding.
The x and y-axis direction suspending power of taper magnetic bearing IIWithExpression formula be：
In formula,The respectively x, y, z direction of principal axis suspending windings electric current of taper magnetic bearing II.
The axial direction of two taper magnetic bearings synthesizes suspending power：
For convenience of controlling, make：
In formula,For two axial suspension difference between currents, IPFor bias current peak value, i.e., each rotor cycle interior biasing winding The maximum of electric current.Biasing winding current is monitored in real time by current sensor to be obtained, therefore the peak point current in each of which cycle Collect in real time；In addition, bias current also obtains the summation acquisition of threephase armature winding current by monitoring in real time, this is compared afterwards Individual electric current and i.e. obtain bias current peaks value.
By formula (9), bring into after (3), (4), (6) and (7), obtain：
Known by expression formula (10)~(14), when known to the set-point and bias current peak value of five direction suspending powers, asked Solve five levitating current variables.
As shown in fig. 6, being the computational methods block diagram of two axial suspension winding currents of the invention.According to formula (9), two are write out Individual axial suspension electric current is with the difference between the two relation：
Known by expression formula (10)~(14), five suspending power set-points calculate 5 control variables that suspend, further, since Suspension force coefficient is unrelated with the position angle of switched reluctance machines, therefore can realize the uneoupled control of torque and suspending power.According to formula (15) set-point of two axial suspension winding currents, is calculated.
It is pointed out that change because suspending power is positive and negative with the positive and negative change of radial suspension winding current, therefore four Individual radial suspension winding current direction can change in control, need to use the power inverter in adjustable current direction.
The taper magnetic suspension switched reluctance motor system includes a switching magnetic-resistance reluctance motor and two taper magnetic axises Hold, wherein switched reluctance machines produce rotating torques, two taper magnetic bearings produce 4 radial suspension forces and 1 axial suspension Power, to realize the suspension operation in five directions of rotor；The winding of the magnetic suspension system by m phase armature winding, 1 biasing around Group, 4 radial suspension windings and 2 axial suspension windings are constituted, 1 biasing windings in series to m phases armature winding not In the bus of symmetrical half bridge power inverter, the energized circuit and continuous current circuit of wherein armature winding respectively have 1 direct voltage source, And the sense of current of excitation and freewheeling period armature winding and biasing winding is identical all the time；Independent control m phases armature winding electricity Stream, to adjust torque, and produces biasing magnetic flux；6 suspending windings electric currents of independent control, realize that five-degree magnetic suspension is adjusted；Bag Include following steps：
Step A, obtains given armature winding electric current, turn-on angle and shut-off angle；Comprise the following steps that：
Step A-1, gathers the real-time rotating speed of rotor, obtains rotor velocity ω；
Step A-2, by rotor velocity ω and the reference angular velocities ω of setting*Subtract each other, obtain rotation speed difference deltan ω；
Step A-3, as ω≤ω0When, ω0For critical speed setting value, it is determined by motor actual condition；The rotating speed Poor Δ ω, passing ratio integral controller obtains armature winding current reference value im *；Turn-on angle θonWith shut-off angle θoffFix not Become, θonAnd θoffValue is determined by electric machine structure form；
Step A-4, as ω ＞ ω0When, the rotation speed difference deltan ω, passing ratio integral controller obtains turn-on angle θonWith Turn off angle θoff, armature winding electric current do not control；
Step B, adjusts torque；Comprise the following steps that：
Step B-1, as ω≤ω0When, using Current cut control method, with the actual current i of armature windingmTracking electricity Pivot winding current reference value im *, and then armature winding electric current i is adjusted in real timem, and then reach the purpose of regulation torque；
Step B-2, as ω ＞ ω0When, utilize Angle-domain imaging method, regulation turn-on angle θonWith shut-off angle θoffTake Value, so as to adjust torque in real time；
Step C, the x-axis and y-axis direction for obtaining taper magnetic bearing I gives suspending power；It is comprised the following steps that：
Step C-1, obtains the x-axis of cone rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein, x-axis is water Square to y-axis is vertical direction；
Step C-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively To the real-time displacement signal difference Δ α in x-axis direction and y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing I is obtainedWith y-axis direction suspending power
Step D, the x-axis and y-axis direction for obtaining taper magnetic bearing II gives suspending power；It is comprised the following steps that：
Step D-1, obtains the x-axis of cone rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step D-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively To the real-time displacement signal difference Δ α in x-axis direction and y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2Through Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing II is obtainedWith y-axis direction suspending power
Step E, obtains z-axis direction and gives suspending power；It is comprised the following steps that：
Step E-1, obtains the real-time displacement signal z in rotating shaft z-axis directionz, wherein z-axis is vertical with x-axis and y-axis direction；
Step E-2, by real-time displacement signal zzWith given reference displacement signal zz *Subtract each other, obtain the real-time of z-axis direction Displacement signal difference Δ zz, by the real-time displacement signal difference Δ zzBy proportional plus integral plus derivative controller, obtained z-axis direction hangs Buoyancy
Step F, adjusts suspending power, comprises the following steps that：
Step F-1, collection biases winding current i in real timebiasWith biasing winding maximum current value IP,
Mode one, biasing winding current i in real time is directly gathered by current sensorbias, it is maximum that it is then obtained again Value is IP；
Mode two, gathers real-time m phases armature winding electric current, then according to calculation formula by current sensorCalculating obtains biasing winding current i in real timebias, its maximum as I is then gathered againP, wherein ikFor kth The electric current of phase armature winding；
Step F-2, according to the biasing winding maximum current value IPWith the suspending powerWith And calculation formula：
Resolve the x-axis direction radial suspension winding current reference value for obtaining taper magnetic bearing IWith y-axis direction radial suspension Winding current reference valueThe x-axis direction radial suspension winding current reference value of taper magnetic bearing IIIt is radially outstanding with y-axis direction Floating winding current reference valueAnd the reference value of the difference of two axial suspension winding currents
Wherein, kf1For radial suspension force coefficient, kf2For axial suspension force coefficient, its expression formula is respectivelyWithμ0For space permeability, l is the axial length of taper magnetic bearing, and r is cone The mean radius of shape rotor, αsFor the polar arc angle of taper stator, δ is the unilateral gas length of magnetic bearing part, and γ is bevel angle, NbTo bias the number of turn of winding, NzFor the number of turn of axial suspension winding, NsFor the number of turn of radial suspension winding；
Step F-3, calculates the reference value of the axial suspension winding current of taper magnetic bearing IIt is axially outstanding with taper magnetic bearing II The reference value of floating winding current
According to the ibias、IP、And axial winding current calculation formulaWithCalculate the reference value of the axial positive direction suspending windings electric current of taper magnetic bearing IAnd The reference value of the axial negative direction suspending windings electric current of taper magnetic bearing II
Step F-4, using Current cut control method, with the actual electricity of the x-axis direction radial suspension winding of taper magnetic bearing I Flow is1Track the direction and hang winding current reference valueWith the actual current i of y-axis direction radial suspension windings2Track the direction Radial suspension winding current reference valueWith the actual current i of z-axis positive direction suspending windingsz1Track direction axial suspension around Group current reference value
With the x-axis direction radial suspension winding actual current i of taper magnetic bearing IIs3Track the direction and hang winding current reference ValueWith the actual current i of y-axis direction radial suspension windings4Track direction radial suspension winding current reference valueUse z The actual current i of axle negative direction suspending windingsz2Track direction axial suspension winding current reference valueAnd then realize five freely Degree, which suspends, to be controlled.
It is pointed out that structure expansion of the present invention is good, and it is unrestricted to switched reluctance machines structure, as long as two-phase works The switched reluctance machines of system and the above are applicable.
In summary, the achievable five-degree magnetic suspension operation of the present invention, suspending power and torque decoupler；Using new not right Claim half-bridge power converter, armature winding excitation and freewheeling period have an independent voltage source, and during excitation and afterflow that This influence is weaker, the magnitude of voltage of convenient regulation excitation and freewheeling period；Bias winding current all the time with m phase armature winding electric current it With it is equal, be easy to gather its instantaneous value and maximum；Axial winding current also contributes certain biasing magnetic in addition to axial force is produced It is logical, be conducive to improving the biasing magnetic flux that biasing winding current is produced, and then improve tracking and the control accuracy of levitating current；Magnetic axis Magnetic circuit and reluctance motor magnetic path isolation are held, flux coupled is weak, fault freedom is good.
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 equivalent substitutions Within enclosing.

Claims (2)

1. a kind of taper magnetic suspension switched reluctance motor system, including taper magnetic bearing I, switched reluctance machines and taper magnetic bearing Ⅱ；The taper magnetic bearing I and taper magnetic bearing II are respectively arranged in the both sides of switched reluctance machines；
The taper magnetic bearing I is by taper stator I, cone rotor I, bias coil I, radial suspension coil I and axial suspension line Circle I is constituted；
The taper magnetic bearing II is by taper stator II, cone rotor II, bias coil II, radial suspension coil II and axially hangs Flotation line circle II is constituted；
The switched reluctance machines are made up of reluctance motor stator, magnetic resistance motor rotor and reluctance motor coil；
The cone rotor I is arranged in taper stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator, cone rotor II is arranged in taper stator II；The cone rotor I, magnetic resistance motor rotor and cone rotor II are enclosed in rotating shaft；The cone Shape stator I, reluctance motor stator and the arranged in series of taper stator II, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are the tooth of salient-pole structure, reluctance motor stator and magnetic resistance motor rotor Number has 12/8,6/4,8/6 3 kind of combining form；The number of teeth of wherein reluctance motor stator and magnetic resistance motor rotor is combined as 12/8 He When 6/4, the number of phases m of switched reluctance machines is 3, when the number of teeth of reluctance motor stator and magnetic resistance motor rotor is combined as 8/6, switch The number of phases m of reluctance motor is 4；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is combined using 12/8, i.e., the described reluctance motor stator number of teeth is 12nd, the magnetic resistance motor rotor number of teeth is 8, number of motor phases m when being 3, the every 4 magnetic resistance electricity that are separated by 90 ° of reluctance motor stator tooth Machine coil, using series connection or connected mode that is arranged side by side or going here and there and combine, links together, constitutes 1 armature winding, formed altogether 3 armature winding；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is combined using 6/4, i.e., the described reluctance motor stator number of teeth is 6th, the magnetic resistance motor rotor number of teeth is 4, number of motor phases m when being 3, the every 2 magnetic resistance electricity that are separated by 180 ° of reluctance motor stator tooth Machine coil, using series connection or connected mode arranged side by side, link together, constitute 1 armature winding, altogether formed 3 armatures around Group；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is combined using 8/6, i.e., the described reluctance motor stator number of teeth is 8th, the magnetic resistance motor rotor number of teeth is 6, number of motor phases m when being 4, the every 2 magnetic resistance electricity that are separated by 180 ° of reluctance motor stator tooth Machine coil, using series connection or connected mode arranged side by side, link together, constitute 1 armature winding, altogether formed 4 armatures around Group.
The taper stator I and taper stator II are taper salient-pole structure, and the stator number of teeth of the two is 4, the cone rotor I It is tapered cylinder structure with cone rotor II；Taper stator I, taper stator II, the taper of cone rotor I and cone rotor II Angle is equal；Taper stator I is identical with the bevel angle opening direction of cone rotor I, the taper of taper stator II and cone rotor II Angle opening direction is identical；The bevel angle opening direction of taper stator I and cone rotor I and taper stator II and cone rotor II Bevel angle opening direction is opposite；
Characterized in that, being wound with 1 bias coil I, 1 and of axial suspension coil I on each stator tooth of the taper stator I 1 radial suspension coil I, totally 4 bias coils I, 4 radial suspension coils I of axial suspension coil I and 4；
1 bias coil II, 1 axial suspension coil II and 1 radial direction are wound with each stator tooth of the taper stator II Suspended coil II, totally 4 bias coils II, 4 radial suspension coils II of axial suspension coil II and 4；
The connected mode of radial suspension coil I of the taper stator I is：It is separated by 180 ° of 2 radial suspension lines in the horizontal direction Circle I is connected, and constitutes 1 horizontal direction radial suspension winding I；It is separated by 180 ° of 2 strings of radial suspension coil I in vertical direction Connection, constitutes 1 vertical direction radial suspension winding I；
The connected mode of radial suspension coil II of the taper stator II is：It is separated by 180 ° of 2 radial suspensions in the horizontal direction Coil II is connected, and constitutes 1 horizontal direction radial suspension winding II；It is separated by 180 ° of 2 radial suspension coils in vertical direction II series connection, constitutes 1 vertical direction radial suspension winding II；
4 axial suspension coils I of the taper stator I are connected, and constitute 1 axial suspension winding I；The taper stator II 4 axial suspension coils II are connected, and are constituted 1 axial direction and are hanged winding II；
4 bias coils I of the taper stator I are connected, and constitute 1 bias coil string I, 4 of the taper stator II are partially The series connection of coil II is put, 1 bias coil string II is constituted；1 bias coil string I and 1 bias coil string II are connected, and are constituted 1 biasing winding.
2. a kind of control method of taper magnetic suspension switched reluctance motor system according to claim 1, it is characterised in that The taper magnetic suspension switched reluctance motor system includes a switching magnetic-resistance reluctance motor and two taper magnetic bearings, wherein opening Close reluctance motor and produce rotating torques, two taper magnetic bearings produce 4 radial suspension forces and 1 axial suspension power, to realize The suspension operation in five directions of rotor；The winding of the magnetic suspension system is by m phase armature winding, 1 biasing winding, 4 radial directions Suspending windings and 2 axial suspension windings are constituted, the asymmetrical half-bridge work(of 1 biasing windings in series to m phase armature winding In the bus of rate converter, the energized circuit and continuous current circuit of wherein armature winding respectively have 1 direct voltage source, and excitation and The sense of current of freewheeling period armature winding and biasing winding is identical all the time；Independent control m phase armature winding electric currents, are turned with adjusting Square, and produce biasing magnetic flux；6 suspending windings electric currents of independent control, realize that five-degree magnetic suspension is adjusted；Comprise the following steps：
Step A, obtains given armature winding electric current, turn-on angle and shut-off angle；Comprise the following steps that：
Step A-1, gathers the real-time rotating speed of magnetic resistance motor rotor, obtains rotor velocity ω；
Step A-2, by 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 A-3, as ω≤ω0When, ω0For critical speed setting value, it is determined by motor actual condition；The rotation speed difference deltan ω, passing ratio integral controller obtains armature winding current reference value im *；Turn-on angle θonWith shut-off angle θoffImmobilize, θonAnd θoffValue is determined by electric machine structure form；
Step A-4, as ω ＞ ω0When, the rotation speed difference deltan ω, passing ratio integral controller obtains turn-on angle θonAnd shut-off Angle θoff, armature winding electric current do not control；
Step B, adjusts torque；Comprise the following steps that：
Step B-1, as ω≤ω0When, using Current cut control method, with the actual current i of armature windingmTrack armature around Group current reference value im *, and then armature winding electric current i is adjusted in real timem, and then reach the purpose of regulation torque；
Step B-2, as ω ＞ ω0When, utilize Angle-domain imaging method, regulation turn-on angle θonWith shut-off angle θoffValue, from And torque is adjusted in real time；
Step C, the x-axis and y-axis direction for obtaining taper magnetic bearing I gives suspending power；It is comprised the following steps that：
Step C-1, obtains the x-axis of cone rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein, x-axis is level side To y-axis is vertical direction；
Step C-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively obtain x Direction of principal axis and the real-time displacement signal difference Δ α in y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1By than Example integral-derivative controller, obtains the x-axis direction suspending power of taper magnetic bearing IWith y-axis direction suspending power
Step D, the x-axis and y-axis direction for obtaining taper magnetic bearing II gives suspending power；It is comprised the following steps that：
Step D-1, obtains the x-axis of cone rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step D-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively obtain x Direction of principal axis and the real-time displacement signal difference Δ α in y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2By than Example integral-derivative controller, obtains the x-axis direction suspending power of taper magnetic bearing IIWith y-axis direction suspending power
Step E, obtains z-axis direction and gives suspending power；It is comprised the following steps that：
Step E-1, obtains the real-time displacement signal z in rotating shaft z-axis directionz, the plane that wherein z-axis is constituted perpendicular to x-axis and y-axis；
Step E-2, by real-time displacement signal zzWith given reference displacement signal zz *Subtract each other, obtain the real-time displacement in z-axis direction Signal difference Δ zz, by the real-time displacement signal difference Δ zzBy proportional plus integral plus derivative controller, obtained z-axis direction suspending power
Step F, adjusts suspending power, comprises the following steps that：
Step F-1, collection biases winding current i in real timebiasWith biasing winding maximum current value IP,
Mode one, biasing winding current i in real time is directly gathered by current sensorbias, its maximum is then obtained again is IP；
Mode two, gathers real-time m phases armature winding electric current, then according to calculation formula by current sensor Calculating obtains biasing winding current i in real timebias, its maximum as I is then gathered againP, wherein ikFor kth phase armature winding Electric current；
Step F-2, according to the biasing winding maximum current value IPWith the suspending powerWithAnd Calculation formula：
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<mrow> <msubsup> <mi>F</mi> <mi>z</mi> <mo>*</mo> </msubsup> <mo>=</mo> <msub> <mi>k</mi> <mrow> <mi>f</mi> <mn>2</mn> </mrow> </msub> <mo>&amp;lsqb;</mo> <msubsup> <mi>N</mi> <mi>s</mi> <mn>2</mn> </msubsup> <mrow> <mo>(</mo> <msubsup> <mi>i</mi> <mrow> <mi>s</mi> <mn>1</mn> </mrow> <mrow> <mo>*</mo> <mn>2</mn> </mrow> </msubsup> <mo>+</mo> <msubsup> <mi>i</mi> <mrow> <mi>s</mi> <mn>2</mn> </mrow> <mrow> <mo>*</mo> <mn>2</mn> </mrow> </msubsup> <mo>-</mo> <msubsup> <mi>i</mi> <mrow> <mi>s</mi> <mn>3</mn> </mrow> <mrow> <mo>*</mo> <mn>2</mn> </mrow> </msubsup> <mo>-</mo> <msubsup> <mi>i</mi> <mrow> <mi>s</mi> <mn>4</mn> </mrow> <mrow> <mo>*</mo> <mn>2</mn> </mrow> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <mn>4</mn> <msub> <mi>N</mi> <mi>b</mi> </msub> <msub> <mi>I</mi> <mi>p</mi> </msub> <msub> <mi>N</mi> <mi>z</mi> </msub> <msubsup> <mi>&amp;Delta;i</mi> <mi>z</mi> <mo>*</mo> </msubsup> <mo>&amp;rsqb;</mo> </mrow>
Resolve the x-axis direction radial suspension winding current reference value for obtaining taper magnetic bearing IWith y-axis direction radial suspension winding Current reference valueThe x-axis direction radial suspension winding current reference value of taper magnetic bearing IIWith y-axis direction radial suspension around Group current reference valueAnd the reference value of the difference of two axial suspension winding currents
Wherein, kf1For radial suspension force coefficient, kf2For axial suspension force coefficient, its expression formula is respectively Withμ0For space permeability, l is the axial length of taper magnetic bearing, and r is average the half of cone rotor Footpath, αsFor the polar arc angle of taper stator, δ is the unilateral gas length of magnetic bearing part, and γ is bevel angle, NbFor biasing winding The number of turn, NzFor the number of turn of axial suspension winding, NsFor the number of turn of radial suspension winding；
Step F-3, calculates the current reference value of axial suspension winding IWith the current reference value of axial suspension winding II
According to the ibias、IP、And axial winding current calculation formulaWithCalculate the current reference value of axial suspension winding IAnd the electricity of axial suspension winding II Flow reference value
Step F-4, using Current cut control method, with the x-axis direction radial suspension winding actual current i of taper magnetic bearing Is1 Track the direction and hang winding current reference valueWith the actual current i of y-axis direction radial suspension windings2Track the direction radially Suspending windings current reference valueWith the actual current i of axial suspension winding Iz1Track its current reference value
With the x-axis direction radial suspension winding actual current i of taper magnetic bearing IIs3Track the direction and hang winding current reference valueWith the actual current i of y-axis direction radial suspension windings4Track direction radial suspension winding current reference valueWith axial direction The actual current i of suspending windings IIz2Track its current reference valueAnd then realize five-degree magnetic suspension control.
CN201710231300.4A 2017-04-11 2017-04-11 A kind of taper magnetic suspension switched reluctance motor system and its control method Active CN107124082B (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107612255A (en) * 2017-09-19 2018-01-19 南京埃克锐特机电科技有限公司 A kind of five degree of freedom taper magnetic suspension switched reluctance motor and control method
CN114257033A (en) * 2021-12-31 2022-03-29 中磁动力设备(深圳)有限公司 Energy storage motor and use method
CN115986990A (en) * 2022-12-30 2023-04-18 南京航空航天大学 Bearingless doubly-salient motor with radial and axial suspension functions and suspension control method
CN117477815A (en) * 2023-11-07 2024-01-30 沈阳工业大学 Permanent magnet offset type cylindrical-conical hybrid rotor bearingless switch reluctance motor

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Publication number Priority date Publication date Assignee Title
US6727618B1 (en) * 2002-06-10 2004-04-27 The United States Of America, As Represented By The Administrator Of National Aeronautics And Space Administration Bearingless switched 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
CN105591567A (en) * 2015-11-30 2016-05-18 南京邮电大学 Taper magnetic bearing switched reluctance motor and control method thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6727618B1 (en) * 2002-06-10 2004-04-27 The United States Of America, As Represented By The Administrator Of National Aeronautics And Space Administration Bearingless switched 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
CN105591567A (en) * 2015-11-30 2016-05-18 南京邮电大学 Taper magnetic bearing switched reluctance motor and control method thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107612255A (en) * 2017-09-19 2018-01-19 南京埃克锐特机电科技有限公司 A kind of five degree of freedom taper magnetic suspension switched reluctance motor and control method
CN114257033A (en) * 2021-12-31 2022-03-29 中磁动力设备(深圳)有限公司 Energy storage motor and use method
CN115986990A (en) * 2022-12-30 2023-04-18 南京航空航天大学 Bearingless doubly-salient motor with radial and axial suspension functions and suspension control method
CN115986990B (en) * 2022-12-30 2024-01-30 南京航空航天大学 Bearingless doubly salient motor with radial and axial suspension functions and suspension control method
CN117477815A (en) * 2023-11-07 2024-01-30 沈阳工业大学 Permanent magnet offset type cylindrical-conical hybrid rotor bearingless switch reluctance motor
CN117477815B (en) * 2023-11-07 2024-05-28 沈阳工业大学 Permanent magnet offset type cylindrical-conical hybrid rotor bearingless switch reluctance motor

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