CN107888120B - Suspension force winding sawtooth wave current type BSRM expected current calculation method - Google Patents

Suspension force winding sawtooth wave current type BSRM expected current calculation method Download PDF

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CN107888120B
CN107888120B CN201711257772.3A CN201711257772A CN107888120B CN 107888120 B CN107888120 B CN 107888120B CN 201711257772 A CN201711257772 A CN 201711257772A CN 107888120 B CN107888120 B CN 107888120B
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current
winding
suspension force
main winding
average
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CN107888120A (en
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陈凌
王宏华
张经炜
谭超
路天航
王燚
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Hohai University HHU
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors

Abstract

The invention discloses a suspension force winding sawtooth wave current type BSRM expected current calculation method, which comprises the following steps: and selecting a current waveform control mode and a current conduction interval of the main winding and the suspension force winding according to the expected average torque and the expected average suspension force, deducing an average suspension force and average torque calculation formula in the horizontal and vertical directions, and calculating the turn-off angle of the main winding, the required square wave expected current of the main winding and the required sawtooth wave expected current of the suspension force winding. The expected current generated by the invention can realize the control target of the BSRM average torque average suspension force, has the function of stabilizing the suspension force pulsation, is beneficial to heavy-load speed regulation operation and suspension control, is suitable for the requirements of no-load operation and suspension control, and solves the problem of mismatching of the torque and the suspension force.

Description

Suspension force winding sawtooth wave current type BSRM expected current calculation method
Technical Field
The invention relates to the technical field of a Bearingless Switched Reluctance Motor (BSRM), in particular to a method for calculating a sawtooth wave current type BSRM expected current of a suspension force winding.
Background
The Bearingless Switched Reluctance Motor (BSRM) is a combination of a rapidly developed magnetic suspension technology and a Switched Reluctance Motor (SRM), has the advantages of simple and firm structure, low cost, wide speed regulation range, high operation reliability, high allowable rotating speed, low friction power consumption, no need of lubrication, long service life and the like, has outstanding advantages in the high-speed and ultrahigh-speed operation occasions, and is one of hot spots in the research field of high-speed motors.
As the BSRM rotates at a higher speed, an average torque and average suspension force control strategy can be adopted. Since the BSRM is a complex nonlinear, strongly coupled system, its torque and levitation force are related to the main winding current, levitation force winding current, rotation angle and motor parameters. Therefore, the key to research the BSRM control method is to determine the main winding current, the levitation force winding current and the conduction interval thereof according to the desired average torque and the average levitation force.
The opening angles of the main winding and the suspension force winding are fixed, so that the speed regulation control and the stable suspension control of heavy load operation are facilitated; when the average torque T is expectedav *Smaller, and expected average suspension force F1av *Or F2av *When the magnitude is large, namely during no-load suspension control, if the problem of mismatching of torque and suspension force exists, the current of the main winding needs to be delayed and turned off so as to solve the problem of mismatching of the torque and the suspension force, and the BSRM is suitable for different working condition control requirements. In addition, since the average levitation force is used as a control target, if the levitation force winding adopts a square wave current type control mode, the BSRM levitation force has strong pulsatility, and the current waveform of the levitation force winding needs to be improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a method for calculating a suspension force winding sawtooth wave current type BSRM expected current, and solves the technical problem that torque and suspension force are not matched in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the method for calculating the suspension force winding sawtooth wave current type BSRM expected current comprises the following steps:
(1) selecting a current waveform control mode and a current conduction interval of a main winding and a levitation force winding according to the expected average torque;
(2) determining an average suspension force coefficient G according to the current waveform control mode and the current conduction interval of the main winding and the suspension force windingf1Average suspension force coupling coefficient Gf2；
(3) Determining the torque coefficient G of the main winding according to the current waveform control mode and the current conduction interval of the main winding and the suspension force windingtmSuspension force winding torque coefficient GtsMain winding delay turn-off torque coefficient Gtmd(θoffm) Wherein: thetaoffmIs the main winding turn-off angle;
(4) calculating the shutdown angle theta of the main winding according to the expected average torque and the expected average suspension force in the horizontal and vertical directions and the parameters determined in the steps (2) and (3)offmAnd the desired current i of the square wave of the main windingm；
(5) According to the expected average torque, the expected average suspension force in the horizontal and vertical directions, the angle theta of the rotor tooth pole deviating from the stator tooth pole, and the expected current i of the square wave of the main windingmCalculating the expected current i of the sawtooth wave of the suspension force winding in the horizontal and vertical directions by combining the parameters determined in the step (2)s1(θ)、is2(θ)。
Preferably, the suspension force winding current adopts a sawtooth wave current control mode, and the sawtooth wave expected current i of the suspension force winding in the horizontal and vertical directionss1(θ)、is2(θ) is:
is1(θ)＝is1c(1+cs|θ|)
is2(θ)＝is2c(1+cs|θ|)
where θ is the angle of rotor tooth pole deviating from stator tooth pole, is1cReference current value, i, for the levitation force winding in the horizontal directions2cReference current value of winding for vertical levitation force, cs36/pi is the sawtooth proportionality coefficient.
Preferably, the current conduction interval is selected as follows:
when the average torque T is expectedav *>Open angle theta of suspension force winding at 0 DEG ConsSuspension force winding off angle theta of-15 DEG offs0 °; opening angle theta of main windingonmMain winding off angle theta equal to-15 degoffm∈[0°,15°]；
When the average torque T is expectedav *When the angle is less than or equal to 0, the opening angle theta of the suspension force windingons15 deg. suspension force winding off angle theta offs0 °; main winding open angle theta onm15 °, main winding off angle θoffm∈[-15°,0°]。
Preferably, the main winding off angle θ is calculatedoffmAnd the desired current i of the square wave of the main windingmThe method comprises the following steps:
according to the desired average torque Tav *And the desired average levitation force F in the horizontal and vertical directions1av *、F2av *And in the conduction interval of the winding current, the average suspension force F in the horizontal and vertical directions is deduced1av、F2avAnd average torque TavThe calculation formula specifically includes:
according to the desired average torque Tav *And the average suspension force F in the horizontal and vertical directions generated in the current conduction interval of the suspension force winding is deduced through integration1av、F2avRespectively is as follows:
Figure GDA0002377271540000031
Figure GDA0002377271540000032
wherein: theta is the angle of rotor tooth pole deviating from stator tooth pole, K1(theta) is the coefficient of suspension force, K2(θ) is the suspension force coupling coefficient:
Figure GDA0002377271540000041
Figure GDA0002377271540000042
the average suspension force coefficient G can be obtained by integral derivationf1Average suspension force coupling coefficient Gf2The calculation formula of (2) is respectively:
Figure GDA0002377271540000043
Figure GDA0002377271540000044
in the formula, NmIs the number of main winding turns, NsNumber of turns, mu, of the levitation force winding0For vacuum permeability, h is the rotor lamination length, η is the air gap edge coefficient, r is the rotor radius, l0Is the length of the air gap between the stator and the rotor, taurPi/12 is the rotor tooth pole radian;
average torque T generated in current conducting interval of main winding and suspension force windingavComprises the following steps:
Figure GDA0002377271540000051
in the formula, TpmavAverage positive torque, T, generated for main winding currentpsavAverage positive torque, T, generated for levitation force winding currentnmdavIndicating when the main winding is offoffm>At 0 deg., the main winding delays the average negative torque generated by the off-current, if the main winding is off at an angle thetaoffmWhen the angle is 0 DEG, then Tnmdav＝0；TnmavAverage negative torque, T, generated for main winding currentnsavAverage negative torque, T, generated for levitation force winding currentpmdavIndicating when the main winding is offoffm<At 0 deg., the main winding delays the average positive torque generated by the off-current if the main winding is offoffmWhen the angle is 0 DEG, then Tpmdav＝0；
The current conduction interval integral derivation can be obtained according to the main winding and the suspension force winding:
Figure GDA0002377271540000052
Figure GDA0002377271540000053
Figure GDA0002377271540000054
Figure GDA0002377271540000055
Figure GDA0002377271540000056
Figure GDA0002377271540000057
determining a torque coefficient Kt(theta), main winding torque coefficient GtmSuspension force winding torque coefficient GtsMain winding delay turn-off torque coefficient Gtmd(θoffm) The calculation formulas are respectively as follows:
Figure GDA0002377271540000061
Figure GDA0002377271540000062
Figure GDA0002377271540000063
Figure GDA0002377271540000064
in the formula, Kt(theta) is the torque coefficient, GtmIs the main winding torque coefficient, GtsFor the suspension force winding torque coefficient, thetaoffmIs the main winding off angle, Gtmd(θoffm) Delay turn-off torque for main windingA coefficient;
calculating a decision function Jt：
Figure GDA0002377271540000065
If Jt<0, order
Figure GDA0002377271540000066
Iterative solution of main winding off-angle theta by using numerical calculation methodoffm(ii) a Otherwise thetaoffm＝0°；
Desired square-wave current i of main windingmThe calculation formula is as follows:
Figure GDA0002377271540000071
preferably, the desired square-wave current i of the main winding is calculatedmThen, the desired current i needs to be square-wave applied to the main windingmPerforming amplitude limiting processing specifically as follows:
setting the main winding current limit to im(max)If i ism>im(max)Then let im＝im(max)。
Preferably, the suspension force winding sawtooth wave current i in the horizontal and vertical directions is calculateds1(theta) and is2The specific method of (θ) is as follows:
according to the expected average suspension force F in the horizontal and vertical directions1av *、F2av *Average coefficient of suspension Gf1Average suspension force coupling coefficient Gf2And the desired current i of the main winding square wave after amplitude limiting processingmThe derivation can be:
Figure GDA0002377271540000072
Figure GDA0002377271540000073
in the horizontal and vertical directionsSuspension force winding sawtooth wave expected current is1(θ)、is2(θ) the calculation formulas are respectively:
Figure GDA0002377271540000074
Figure GDA0002377271540000081
preferably, the expected suspension force winding sawtooth wave current i in the horizontal and vertical directions is calculateds1(theta) and is2After (theta), the desired current i is required for the suspension force winding sawtooth waves in the horizontal and vertical directionss1(theta) and is2(θ) performing clipping processing, specifically as follows:
setting the current limit value of the levitation force winding to is(max)When is1(θ)|>is(max)When it is, then let is1(θ)＝sgn(is1(θ))·is(max)(ii) a When | is2(θ)|>is(max)When it is, then let is2(θ)＝sgn(is2(θ))·is(max)。
Compared with the prior art, the invention has the following beneficial effects: the calculated and generated expected current can realize the control target of the BSRM average torque average suspension force, can solve the problem of mismatching of the torque and the suspension force, has the function of stabilizing the suspension force pulsation, is beneficial to heavy-load speed regulation operation and suspension control, and is suitable for no-load operation and suspension control requirements.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the present invention;
FIG. 2 isTav *>The conduction interval schematic diagram of the square wave current of the main winding and the sawtooth wave current of the suspension force winding at 0 hour;
FIG. 3 is Tav *When the current is less than or equal to 0, the conducting interval of the square wave current of the main winding and the sawtooth wave current of the suspension force winding is schematic;
FIG. 4 is a flow chart for calculating the main winding off angle, the main winding square wave current, and the levitation force winding sawtooth current.
Detailed Description
The invention provides a suspension force winding sawtooth wave current type BSRM expected current calculation method, which comprises the following steps: and selecting a current waveform control mode and a current conduction interval of the main winding and the suspension force winding according to the expected average torque and the expected average suspension force, deducing an average suspension force and average torque calculation formula in the horizontal and vertical directions, and calculating the turn-off angle of the main winding, the required square wave expected current of the main winding and the required sawtooth wave expected current of the suspension force winding. The expected current generated by the invention can realize the control target of the BSRM average torque average suspension force, has the function of stabilizing the suspension force pulsation, is beneficial to heavy-load speed regulation operation and suspension control, is suitable for the requirements of no-load operation and suspension control, and solves the problem of mismatching of the torque and the suspension force.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the embodiment of the present invention specifically includes the steps of:
s101, expecting average torque T according to BSRMav *And selecting a current waveform control mode and a current conduction interval of the main winding and the suspension force winding.
Specifically, step S101 includes the steps of:
and S1011, selecting a current waveform control mode of the main winding and the suspension force winding.
The current of the main winding adopts a square wave current control mode, and the expected current of the square wave of the main winding is im(ii) a The current of the suspension force winding adopts a sawtooth wave current control mode, and the sawtooth wave expected current i of the suspension force winding in the horizontal and vertical directionss1(θ)、is2(θ) is:
is1(θ)＝is1c(1+cs|θ|)
is2(θ)＝is2c(1+cs|θ|)
where θ is the angle of rotor tooth pole deviating from stator tooth pole, is1cReference current value, i, for the levitation force winding in the horizontal directions2cReference current value of winding for vertical levitation force, cs36/pi is the sawtooth proportionality coefficient.
S1012, expectation average torque Tav *>And when 0, selecting a current conduction interval of the main winding and the suspension force winding.
Wherein, the opening angle theta of the suspension force windingonsSuspension force winding off angle theta of-15 DEG offs0 °; opening angle theta of main windingonmMain winding off angle theta equal to-15 degoffm∈[0°,15°]The specific conduction interval is shown in fig. 2. FIG. 2 shows Tav *>And the conduction interval of the square wave current of the main winding and the sawtooth wave current of the suspension force winding is schematic at 0.
S1013, desired average Torque Tav *And when the current is less than or equal to 0, selecting a current conduction interval of the main winding and the suspension force winding.
Wherein, the opening angle theta of the suspension force windingons15 deg. suspension force winding off angle theta offs0 °; main winding open angle theta onm15 °, main winding off angle θoffm∈[-15°,0°]The specific conduction interval is shown in fig. 3. FIG. 3 shows Tav *And when the current is less than or equal to 0, the conduction interval between the square wave current of the main winding and the sawtooth wave current of the suspension force winding is schematic.
S102, determining average suspension according to the BSRM main winding and suspension force winding current waveform control mode and the current conduction interval thereofCoefficient of buoyancy Gf1Average suspension force coupling coefficient Gf2Main winding torque coefficient GtmSuspension force winding torque coefficient GtsAnd main winding delay turn-off torque coefficient Gtmd(θoffm) The calculation formula of (2).
Specifically, step S102 includes the steps of:
s1021, average torque T expected according to BSRMav *Average suspension force F in horizontal and vertical directions1av、F2avThe calculation formula of (2).
Average suspension force F in horizontal and vertical directions generated in current conducting interval of suspension force winding1av、F2avRespectively as follows:
Figure GDA0002377271540000101
Figure GDA0002377271540000111
Figure GDA0002377271540000112
Figure GDA0002377271540000113
Figure GDA0002377271540000114
Figure GDA0002377271540000115
in the formula, K1(theta) is the coefficient of suspension force, K2(theta) is the suspension force coupling coefficient, NmIs the number of main winding turns, NsNumber of turns, mu, of the levitation force winding0For vacuum permeability, h is the rotor lamination length, η is the air gap edge coefficient, r is the rotor radius, l0Is the length of the air gap between the stator and the rotor, taurPi/12 is rotor tooth arc, Gf1Is the average coefficient of suspension force, Gf2The average suspension force coupling coefficient is shown.
S1022, average levitation force F according to expectation in horizontal and vertical directions1av *、F2av *And in the current conduction interval of the main winding and the suspension force winding, the average torque T is deducedavThe calculation formula of (2).
According to the expected average suspension force F in the horizontal and vertical directions1av *、F2av *The derivation can be:
Figure GDA0002377271540000121
Figure GDA0002377271540000122
Figure GDA0002377271540000123
average torque T generated in current conducting interval of main winding and suspension force windingavComprises the following steps:
Figure GDA0002377271540000124
in the formula, TpmavAverage positive torque, T, generated for main winding currentpsavAverage positive torque, T, generated for levitation force winding currentnmdavIndicating when the main winding is offoffm>At 0 deg., the main winding delays the average negative torque generated by the off-current, if the main winding is off at an angle thetaoffmWhen the angle is 0 DEG, then Tnmdav＝0；TnmavAverage negative torque, T, generated for main winding currentnsavAverage negative torque, T, generated for levitation force winding currentpmdavIndicating when the main winding is offoffm<At 0 deg., the main winding delays the average positive torque generated by the off-current if the main winding is offoffmWhen the angle is 0 DEG, then Tpmdav＝0。
According to the current conduction interval of the main winding and the suspension force winding, integral derivation can be obtained:
Figure GDA0002377271540000125
Figure GDA0002377271540000131
Figure GDA0002377271540000132
Figure GDA0002377271540000133
Figure GDA0002377271540000134
Figure GDA0002377271540000135
Figure GDA0002377271540000136
Figure GDA0002377271540000137
Figure GDA0002377271540000138
Figure GDA0002377271540000139
in the formula, Kt(theta) is the torque coefficient, GtmIs the main winding torque coefficient, GtsFor the suspension force winding torque coefficient, thetaoffmIs the main winding off angle, Gtmd(θoffm) Is a main windingThe turn-off torque factor is delayed.
S103, expecting average torque T according to BSRMav *Expected average suspension force F in the horizontal and vertical directions1av *、F2av *Average coefficient of suspension Gf1Average suspension force coupling coefficient Gf2Main winding torque coefficient GtmSuspension force winding torque coefficient GtsAnd main winding delay turn-off torque coefficient Gtmd(θoffm) Calculating the turn-off angle theta of the main windingoffmAnd the desired current i of the square wave of the main windingm。
Specifically, step S103 includes the steps of:
s1031, calculating decision function Jt。
Figure GDA0002377271540000141
S1032, calculating the turn-off angle theta of the main windingoffm。
If Jt<0, order
Figure GDA0002377271540000142
Iterative solution of main winding off-angle theta by using numerical calculation methodoffm(ii) a Otherwise thetaoffm＝0°。
S1033, calculating the expected current i of the square wave of the main windingm。
Figure GDA0002377271540000143
S1034, carrying out square wave expected current i on the main windingmAnd carrying out amplitude limiting processing.
Wherein the main winding current limit value is im(max)If i ism>im(max)Then let im＝im(max)。
S104, according to the expected average suspension force F of the BSRM in the horizontal and vertical directions1av *、F2av *Average coefficient of suspension Gf1Average suspension force coupling coefficient Gf2Rotor tooth pole deviation angle theta from stator tooth pole and main winding square wave expected current imCalculating the expected current i of the suspension force winding sawtooth wave in the horizontal and vertical directionss1(theta) and is2(θ)。
Specifically, step S104 includes the steps of:
s1041, calculating expected current i of suspension force winding sawtooth waves in horizontal and vertical directionss1(θ)、is2(θ)。
Figure GDA0002377271540000151
Figure GDA0002377271540000152
S1042, expected current i of suspension force winding sawtooth waves in horizontal and vertical directionss1(theta) and is2(θ) each performs a clipping process.
Wherein the current limit value of the suspension force group is is(max)When is1(θ)|>is(max)When it is, then let is1(θ)＝sgn(is1(θ))·is(max)(ii) a When | is2(θ)|>is(max)When it is, then let is2(θ)＝sgn(is2(θ))·is(max)。
As shown in fig. 4, the present invention calculates the off angle of the main winding, the desired current of the square wave of the main winding, and the desired current of the sawtooth wave of the levitation force winding.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. The method for calculating the BSRM expected current of the suspension force winding sawtooth wave current type is characterized by comprising the following steps of:
(1) selecting a current waveform control mode and a current conduction interval of a main winding and a levitation force winding according to the expected average torque;
(2) determining an average suspension force coefficient G according to the current waveform control mode and the current conduction interval of the main winding and the suspension force windingf1Average suspension force coupling coefficient Gf2；
(3) Determining the torque coefficient G of the main winding according to the current waveform control mode and the current conduction interval of the main winding and the suspension force windingtmSuspension force winding torque coefficient GtsMain winding delay turn-off torque coefficient Gtmd(θoffm) Wherein: thetaoffmIs the main winding turn-off angle;
(4) calculating the shutdown angle theta of the main winding according to the expected average torque and the expected average suspension force in the horizontal and vertical directions and the parameters determined in the steps (2) and (3)offmAnd the desired current i of the square wave of the main windingm；
(5) According to the expected average torque, the expected average suspension force in the horizontal and vertical directions, the angle theta of the rotor tooth pole deviating from the stator tooth pole, and the expected current i of the square wave of the main windingmCalculating the expected current i of the sawtooth wave of the suspension force winding in the horizontal and vertical directions by combining the parameters determined in the step (2)s1(θ)、is2(θ)。
2. The method for calculating BSRM desired current of suspension force winding sawtooth wave current type according to claim 1, wherein the suspension force winding current is controlled in sawtooth wave current control mode, and the suspension force winding sawtooth wave desired current i in horizontal and vertical directionss1(θ)、is2(θ) is:
is1(θ)＝is1c(1+cs|θ|)
is2(θ)＝is2c(1+cs|θ|)
where θ is the angle of rotor tooth pole deviating from stator tooth pole, is1cReference current value, i, for the levitation force winding in the horizontal directions2cReference current value of winding for vertical levitation force, cs36/pi is the sawtooth proportionality coefficient.
3. The method for calculating the BSRM expected current of the levitation force winding sawtooth wave current type according to claim 2, wherein the selection method of the current conducting interval is as follows:
when the average torque T is expectedav *>Open angle theta of suspension force winding at 0 DEG ConsSuspension force winding off angle theta of-15 DEGoffs0 °; opening angle theta of main windingonmMain winding off angle theta equal to-15 degoffm∈[0°,15°]；
When the average torque T is expectedav *When the angle is less than or equal to 0, the opening angle theta of the suspension force windingons15 deg. suspension force winding off angle thetaoffs0 °; main winding open angle thetaonm15 °, main winding off angle θoffm∈[-15°,0°]。
4. The method for calculating BSRM expected current of suspension force winding sawtooth wave current type according to claim 3, characterized in that a main winding off-angle θ is calculatedoffmAnd the desired current i of the square wave of the main windingmThe method comprises the following steps:
according to the desired average torque Tav *And the desired average levitation force F in the horizontal and vertical directions1av *、F2av *And in the conduction interval of the winding current, the average suspension force F in the horizontal and vertical directions is deduced1av、F2avAnd average torque TavThe calculation formula specifically includes:
according to the desired average torque Tav *And the average suspension force F in the horizontal and vertical directions generated in the current conduction interval of the suspension force winding is deduced through integration1av、F2avRespectively is as follows:
Figure FDA0002377271530000021
Figure FDA0002377271530000022
wherein: theta is the angle of rotor tooth pole deviating from stator tooth pole, K1(theta) is the coefficient of suspension force, K2(θ) is the suspension force coupling coefficient:
Figure FDA0002377271530000031
Figure FDA0002377271530000032
the average suspension force coefficient G can be obtained by integral derivationf1Average suspension force coupling coefficient Gf2The calculation formula of (2) is respectively:
Figure FDA0002377271530000033
Figure FDA0002377271530000034
in the formula, NmIs the number of main winding turns, NsNumber of turns, mu, of the levitation force winding0For vacuum permeability, h is the rotor lamination length, η isAir gap edge coefficient, r is rotor radius, l0Is the length of the air gap between the stator and the rotor, taurPi/12 is the rotor tooth pole radian;
average torque T generated in current conducting interval of main winding and suspension force windingavComprises the following steps:
Figure FDA0002377271530000041
in the formula, TpmavAverage positive torque, T, generated for main winding currentpsavAverage positive torque, T, generated for levitation force winding currentnmdavIndicating when the main winding is offoffm>At 0 deg., the main winding delays the average negative torque generated by the off-current, if the main winding is off at an angle thetaoffmWhen the angle is 0 DEG, then Tnmdav＝0；TnmavAverage negative torque, T, generated for main winding currentnsavAverage negative torque, T, generated for levitation force winding currentpmdavIndicating when the main winding is offoffm<At 0 deg., the main winding delays the average positive torque generated by the off-current if the main winding is offoffmWhen the angle is 0 DEG, then Tpmdav＝0；
The current conduction interval integral derivation can be obtained according to the main winding and the suspension force winding:
Figure FDA0002377271530000042
Figure FDA0002377271530000043
Figure FDA0002377271530000044
Figure FDA0002377271530000045
Figure FDA0002377271530000046
Figure FDA0002377271530000047
determining a torque coefficient Kt(theta), main winding torque coefficient GtmSuspension force winding torque coefficient GtsMain winding delay turn-off torque coefficient Gtmd(θoffm) The calculation formulas are respectively as follows:
Figure FDA0002377271530000051
Figure FDA0002377271530000052
Figure FDA0002377271530000053
Figure FDA0002377271530000054
in the formula, Kt(theta) is the torque coefficient, GtmIs the main winding torque coefficient, GtsFor the suspension force winding torque coefficient, thetaoffmIs the main winding off angle, Gtmd(θoffm) Delay turn-off torque coefficient for main winding;
calculating a decision function Jt：
Figure FDA0002377271530000055
If Jt<0, order
Figure FDA0002377271530000056
Iterative solution of main winding off-angle theta by using numerical calculation methodoffm(ii) a Otherwise thetaoffm＝0°；
Desired square-wave current i of main windingmThe calculation formula is as follows:
Figure FDA0002377271530000061
5. the method for calculating BSRM expected current of a suspension force winding sawtooth wave current type according to claim 4, wherein the main winding square wave expected current i is obtained through calculationmThen, the desired current i needs to be square-wave applied to the main windingmPerforming amplitude limiting processing specifically as follows:
setting the main winding current limit to im(max)If i ism>im(max)Then let im＝im(max)。
6. The method of claim 5, wherein calculating the levitation force winding sawtooth current i in horizontal and vertical directions is performed by using a BSRM current expectation calculation methods1(theta) and is2The specific method of (θ) is as follows:
according to the expected average suspension force F in the horizontal and vertical directions1av *、F2av *Average coefficient of suspension Gf1Average suspension force coupling coefficient Gf2And the desired current i of the main winding square wave after amplitude limiting processingmThe derivation can be:
Figure FDA0002377271530000062
Figure FDA0002377271530000063
suspension force winding sawtooth wave expected current i in horizontal and vertical directionss1(θ)、is2(θ) the calculation formulas are respectively:
Figure FDA0002377271530000071
Figure FDA0002377271530000072
7. the method of claim 6, wherein the calculation of the levitation force winding sawtooth current type BSRM expected current is carried out to obtain the levitation force winding sawtooth expected current i in the horizontal and vertical directionss1(theta) and is2After (theta), the desired current i is required for the suspension force winding sawtooth waves in the horizontal and vertical directionss1(theta) and is2(θ) performing clipping processing, specifically as follows:
setting the current limit value of the levitation force winding to is(max)When is1(θ)|>is(max)When it is, then let is1(θ)＝sgn(is1(θ))·is(max)(ii) a When | is2(θ)|>is(max)When it is, then let is2(θ)＝sgn(is2(θ))·is(max)。
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