CN107888121B - Calculation method for BSRM average torque instantaneous suspension force control expected current - Google Patents

Calculation method for BSRM average torque instantaneous suspension force control expected current Download PDF

Info

Publication number
CN107888121B
CN107888121B CN201711257848.2A CN201711257848A CN107888121B CN 107888121 B CN107888121 B CN 107888121B CN 201711257848 A CN201711257848 A CN 201711257848A CN 107888121 B CN107888121 B CN 107888121B
Authority
CN
China
Prior art keywords
current
winding
main winding
torque
average
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201711257848.2A
Other languages
Chinese (zh)
Other versions
CN107888121A (en
Inventor
陈凌
王宏华
张经炜
谭超
路天航
王燚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hohai University HHU
Original Assignee
Hohai University HHU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hohai University HHU filed Critical Hohai University HHU
Priority to CN201711257848.2A priority Critical patent/CN107888121B/en
Publication of CN107888121A publication Critical patent/CN107888121A/en
Application granted granted Critical
Publication of CN107888121B publication Critical patent/CN107888121B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Other Investigation Or Analysis Of Materials By Electrical Means (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)

Abstract

The invention discloses a calculation method for BSRM average torque instantaneous suspension force control expected current, 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 instantaneous suspension force, deriving an average torque calculation formula, and calculating the turn-off angle of the main winding, the required square wave expected current of the main winding and the required instantaneous expected current of the suspension force winding. The expected current generated by the invention can realize the control target of BSRM average torque and instantaneous suspension force, is not only beneficial to heavy-load speed regulation operation and suspension control, but also is suitable for no-load operation and suspension control requirements, and solves the problem of mismatching of torque and suspension force.

Description

Calculation method for BSRM average torque instantaneous suspension force control expected current
Technical Field
The invention relates to the technical field of a Bearingless Switched Reluctance Motor (BSRM), in particular to a calculation method for BSRM average torque instantaneous suspension force control expected current.
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 rotating speed of the BSRM is continuously increased, an average torque control strategy can be adopted, and an instantaneous suspension force control strategy is adopted to ensure a high-precision stable suspension control target. 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 of the BSRM control method is to determine the main winding current, the levitation force winding current and the conduction interval thereof according to the expected average torque and the instantaneous 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, but expected instantaneous levitation force F1 *(theta) or F2 *When the value (theta) is larger, 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.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a calculation method for BSRM average torque instantaneous levitation force control expected current, and solves the technical problem that the torque and the levitation 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: a calculation method for BSRM average torque instantaneous suspension force control 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) according to the current waveform control mode and the current conduction interval of the main winding and the suspension force winding, the average torque T is deducedavDetermining the torque coefficient G of the main windingtmSuspension force winding torque coefficient GtsMain winding delay turn-off torque coefficient Gtmd(θoffm) (ii) a Wherein: thetaoffmIs the main winding turn-off angle;
(3) calculating the turn-off angle theta of the main winding according to the expected average torque and the expected suspension force at the turn-on moment of the winding and by combining the parameters determined in the step (2)offmAnd the desired current i of the square wave of the main windingm；
(4) According to the expected instantaneous suspension force and suspension force coefficient K in the horizontal and vertical directions1(theta), coefficient of coupling of levitation force K2(theta), rotor tooth pole deviation angle theta from stator tooth pole and desired square wave current i of main windingmCalculating the instantaneous expected current i of the levitation force winding in the horizontal and vertical directionss1(θ)、is2(θ)。
Preferably, the main winding current adopts a square wave current control mode, and the suspension force winding current adopts an instantaneous current control mode.
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 specific method comprises the following steps:
according to the desired average torque Tav *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):
Figure BDA0001492929190000031
where the desired average torque Tav *>At 0, 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 T nmdav0; when the average torque T is expectedav *When less than or equal to 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；
Respectively deducing the average positive torque T generated by the current of the main winding according to the current conduction intervals of the main winding and the levitation force windingpmavAverage positive torque T generated by levitation winding currentpsavAverage negative torque T generated by delayed turn-off current of main windingnmdavAverage negative torque T generated by main winding currentnmavAverage negative torque T generated by levitation winding currentnsavMean positive torque T generated by delayed turn-off current of main windingpmdav：
Figure BDA0001492929190000032
Figure BDA0001492929190000033
Figure BDA0001492929190000034
Figure BDA0001492929190000035
Figure BDA0001492929190000041
Figure BDA0001492929190000042
Figure BDA0001492929190000043
Where θ is the angle of rotor tooth pole deviating from stator tooth pole, NmIs the number of main winding turns, NsNumber of turns of winding for suspension force imIs a square wave current of the main winding is1(theta) is the instantaneous current of the levitation force winding in the horizontal direction, is2(theta) is the instantaneous current of the suspension force winding in the vertical direction, Kt(θ) is the torque coefficient, μ0For vacuum permeability, h is the rotor lamination length, r is the rotor radius, η is the air gap edge coefficient, l0The length of an air gap between the stator and the rotor is shown;
according to instantaneous suspension force F in horizontal and vertical directions1(θ)、F2(θ) and the main winding current and the levitation winding current have a relationship:
Figure BDA0001492929190000044
in the formula, K1(theta) is the coefficient of suspension force, K2(theta) is the suspension force coupling coefficient;
Figure BDA0001492929190000045
Figure BDA0001492929190000046
wherein, taurIs the rotor tooth pole radian;
integral derivation of average positive torque T generated by main winding currentpmavAverage positive torque T generated by levitation winding currentpsavAverage negative torque T generated by delayed turn-off current of main windingnmdavAverage negative torque T generated by main winding currentnmavAverage negative torque T generated by levitation winding currentnsavMean positive torque T generated by delayed turn-off current of main windingpmdavThe method comprises the following steps:
Figure BDA0001492929190000051
Figure BDA0001492929190000052
Figure BDA0001492929190000053
Figure BDA0001492929190000054
Figure BDA0001492929190000055
Figure BDA0001492929190000056
in the formula, F1 *(θonm) For the desired instantaneous levitation force in the horizontal direction at the moment of switching-on of the main winding, F2 *(θonm) The expected instantaneous suspension force in the vertical direction at the moment of switching on the main winding;
determining a 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 BDA0001492929190000057
Figure BDA0001492929190000058
Figure BDA0001492929190000061
calculating a decision function Jt：
Figure BDA0001492929190000062
If Jt<0, order
Figure BDA0001492929190000063
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 BDA0001492929190000064
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 instantaneous expected current i of the levitation force winding in the horizontal and vertical directions is calculateds1(θ)、is2The specific method of (θ) is as follows:
according to the angle theta of the rotor tooth pole deviating from the stator tooth pole and the suspension force coefficient K1(theta), coefficient of coupling of levitation force K2(theta), desired instantaneous levitation force F in the horizontal and vertical directions1 *(θ)、F2 *(theta) and the desired current i of the main winding square wave after the amplitude limiting treatmentmCalculating the instantaneous expected current i of the levitation force winding in the horizontal and vertical directionss1(theta) and is2(θ), the specific calculation formula is as follows:
Figure BDA0001492929190000065
；
Figure BDA0001492929190000071
。
preferably, the instantaneous expected current i of the levitation force winding in the horizontal and vertical directions is calculateds1(theta) and is2(theta) instantaneous desired current i for the levitation force winding in the horizontal and vertical directionss1(theta) and is2(θ) performing clipping processing, specifically as follows:
setting the instantaneous 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 control target of meeting the average torque and ensuring stable suspension is realized, the problem of mismatching of the torque and the suspension force is solved, the speed regulation control of load operation is facilitated, and the control method is suitable for the requirement of no-load suspension control.
Drawings
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 is Tav *>A schematic diagram of a conduction interval of square wave current of a main winding and instantaneous current of a suspension force winding at 0 time;
FIG. 3 is Tav *A schematic diagram of the conducting interval of the square wave current of the main winding and the instantaneous current of the suspension force winding when the current is less than or equal to 0;
fig. 4 is a flow chart for calculating the main winding off angle, the main winding square wave current, and the levitation force winding instantaneous current.
Detailed Description
The invention provides a calculation method for BSRM average torque instantaneous suspension force control expected current, 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 instantaneous suspension force, deriving an average torque calculation formula, and calculating the turn-off angle of the main winding, the required square wave expected current of the main winding and the required instantaneous expected current of the suspension force winding. The expected current generated by the invention can realize the control target of BSRM average torque and instantaneous suspension force, is not only beneficial to heavy-load speed regulation operation and suspension control, but also is suitable for no-load operation and suspension control requirements, and solves the problem of mismatching of torque and 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 main winding current adopts a square wave current control mode, and the suspension force winding current adopts an instantaneous current control mode.
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 conducting interval of the square wave current of the main winding and the instantaneous 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 conducting interval of the square wave current of the main winding and the instantaneous current of the suspension force winding is schematic.
S102, determining a main winding torque coefficient G according to the BSRM main winding and levitation force winding current waveform control mode and the current conduction interval thereoftmSuspension 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 generated in current conducting interval of BSRM main winding and suspension force windingavComprises the following steps:
Figure BDA0001492929190000091
where the desired average torque Tav *>At 0, 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 T nmdav0; when the average torque T is expectedav *When less than or equal to 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。
S1022, respectively deducing the average positive torque T generated by the current of the main winding according to the current conduction intervals of the main winding and the levitation force windingpmavAverage positive torque T generated by levitation winding currentpsavAverage negative torque T generated by delayed turn-off current of main windingnmdavAverage negative torque T generated by main winding currentnmavAverage negative torque T generated by levitation winding currentnsavMean positive torque T generated by delayed turn-off current of main windingpmdav。
Figure BDA0001492929190000092
Figure BDA0001492929190000093
Figure BDA0001492929190000101
Figure BDA0001492929190000102
Figure BDA0001492929190000103
Figure BDA0001492929190000104
Figure BDA0001492929190000105
Where θ is the angle of rotor tooth pole deviating from stator tooth pole, NmIs the number of main winding turns, NsNumber of turns of winding for suspension force imIs a square wave current of the main winding is1(theta) is the instantaneous current of the levitation force winding in the horizontal direction, is2(theta) is the instantaneous current of the suspension force winding in the vertical direction, Kt(θ) is the torque coefficient, μ0For vacuum permeability, h is the rotor lamination length, r is the rotor radius, η is the air gap edge coefficient, l0The length of the air gap between the stator and the rotor is shown.
S1023, according to the instantaneous suspension force F in the horizontal and vertical directions1(θ)、F2(theta) determining the torque coefficient G of the main winding by using a relation between the current of the main winding and the current of the levitation force windingtmSuspension force winding torque coefficient GtsAnd main winding delay turn-off torque coefficient Gtmd(θoffm) The calculation formula of (2).
Figure BDA0001492929190000106
In the formula, K1(theta) is the coefficient of suspension force, K2(theta) is the suspension force coupling coefficient;
Figure BDA0001492929190000107
Figure BDA0001492929190000111
wherein, taurIs the rotor tooth pole radian;
integral derivation of average positive torque T generated by main winding currentpmavAverage positive torque T generated by levitation winding currentpsavAverage negative torque T generated by delayed turn-off current of main windingnmdavAverage negative torque T generated by main winding currentnmavAverage negative torque T generated by levitation winding currentnsavMean positive torque T generated by delayed turn-off current of main windingpmdav。
Figure BDA0001492929190000112
Figure BDA0001492929190000113
Figure BDA0001492929190000114
Figure BDA0001492929190000115
Figure BDA0001492929190000116
Figure BDA0001492929190000117
Figure BDA0001492929190000118
Figure BDA0001492929190000119
Figure BDA0001492929190000121
In the formula, GtmIs the main winding torque coefficient, GtsFor winding the rotor in suspensionMoment coefficient, F1 *(θonm) For the desired instantaneous levitation force in the horizontal direction at the moment of switching-on of the main winding, F2 *(θonm) For the desired instantaneous levitation force in the vertical direction at the moment of switching-on of the main winding, Gtmd(θoffm) The turn-off torque factor is delayed for the main winding.
S103, expecting average torque T according to BSRMav *And the expected instantaneous suspension force F in the horizontal and vertical directions at the turn-on moment of the main winding1 *(θonm)、F2 *(θonm) Main 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 BDA0001492929190000122
S1032, calculating the turn-off angle theta of the main windingoffm。
If Jt<0, order
Figure BDA0001492929190000123
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 BDA0001492929190000124
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 angle theta of the BSRM rotor tooth pole deviating from the stator tooth pole and the suspension force coefficient K1(theta), coefficient of coupling of levitation force K2(theta), desired instantaneous levitation force F in the horizontal and vertical directions1 *(θ)、F2 *(theta) and desired current i of square wave of main windingmCalculating the instantaneous expected current i of the levitation force winding in the horizontal and vertical directionss1(theta) and is2(θ)。
Specifically, step S104 includes the steps of:
s1041, calculating instantaneous expected current i of the suspension force winding in the horizontal direction and the vertical directions1(θ)、is2(θ)。
Figure BDA0001492929190000131
Figure BDA0001492929190000132
S1042, instantaneous expected current i of the levitation force winding in the 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 square wave current of the main winding, and the desired instantaneous current of the levitation 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 (6)

  1. The method for calculating the BSRM average torque instantaneous suspension force control expected current 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) according to the current waveform control mode and the current conduction interval of the main winding and the suspension force winding, the average torque T is deducedavDetermining the torque coefficient G of the main windingtmSuspension force winding torque coefficient GtsMain winding delay turn-off torque coefficient Gtmd(θoffm) (ii) a Wherein: thetaoffmIs the main winding turn-off angle;
    (3) calculating the turn-off angle theta of the main winding according to the expected average torque and the expected suspension force at the turn-on moment of the winding and by combining the parameters determined in the step (2)offmAnd the desired current i of the square wave of the main windingm(ii) a Calculating the main winding off angle thetaoffmAnd the desired current i of the square wave of the main windingmThe specific method comprises the following steps:
    according to the desired average torque Tav *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):
    Figure FDA0002377777110000011
    where the desired average torque Tav *>At 0, 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 Tnmdav0; when the average torque T is expectedav *When less than or equal to 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；
    Respectively deducing the average positive torque T generated by the current of the main winding according to the current conduction intervals of the main winding and the levitation force windingpmavAverage positive torque T generated by levitation winding currentpsavAverage negative torque T generated by delayed turn-off current of main windingnmdavAverage negative torque T generated by main winding currentnmavAverage negative torque T generated by levitation winding currentnsavMean positive torque T generated by delayed turn-off current of main windingpmdav：
    Figure FDA0002377777110000021
    Figure FDA0002377777110000022
    Figure FDA0002377777110000023
    Figure FDA0002377777110000024
    Figure FDA0002377777110000025
    Figure FDA0002377777110000026
    Figure FDA0002377777110000027
    Where θ is the angle of rotor tooth pole deviating from stator tooth pole, NmIs the number of main winding turns, NsNumber of turns of winding for suspension force imIs a square wave current of the main winding is1(theta) is the instantaneous current of the levitation force winding in the horizontal direction, is2(theta) is the instantaneous current of the suspension force winding in the vertical direction, Kt(θ) is the torque coefficient, μ0For vacuum permeability, h is the rotor lamination length, r is the rotor radius, η is the air gap edge coefficient, l0The length of an air gap between the stator and the rotor is shown;
    according to instantaneous suspension force F in horizontal and vertical directions1(θ)、F2(θ) and the main winding current and the levitation winding current have a relationship:
    Figure FDA0002377777110000028
    in the formula, K1(theta) is the coefficient of suspension force, K2(theta) is the suspension force coupling coefficient;
    Figure FDA0002377777110000031
    Figure FDA0002377777110000032
    wherein, taurIs the rotor tooth pole radian;
    integral derivation of average positive torque T generated by main winding currentpmavAverage positive torque T generated by levitation winding currentpsavAverage negative torque T generated by delayed turn-off current of main windingnmdavAverage negative torque T generated by main winding currentnmavAverage negative torque T generated by levitation winding currentnsavMean positive torque T generated by delayed turn-off current of main windingpmdavThe method comprises the following steps:
    Figure FDA0002377777110000033
    Figure FDA0002377777110000034
    Figure FDA0002377777110000035
    Figure FDA0002377777110000036
    Figure FDA0002377777110000037
    Figure FDA0002377777110000038
    in the formula, F1 *(θonm) For the desired instantaneous levitation force in the horizontal direction at the moment of switching-on of the main winding, F2 *(θonm) The expected instantaneous suspension force in the vertical direction at the moment of switching on the main winding;
    determining a main winding torque coefficient GtmSuspension force winding torque coefficient GtsMain winding delay turn-off torque coefficient Gtmd(θoffm) The calculation formulas are respectively asThe following:
    Figure FDA0002377777110000041
    Figure FDA0002377777110000042
    Figure FDA0002377777110000043
    calculating a decision function Jt：
    Figure FDA0002377777110000044
    If Jt<0, order
    Figure FDA0002377777110000045
    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 FDA0002377777110000046
    (4) according to the expected instantaneous suspension force and suspension force coefficient K in the horizontal and vertical directions1(theta), coefficient of coupling of levitation force K2(theta), rotor tooth pole deviation angle theta from stator tooth pole and desired square wave current i of main windingmCalculating the instantaneous expected current i of the levitation force winding in the horizontal and vertical directionss1(θ)、is2(θ)。
  2. 2. The method for calculating the BSRM average torque instantaneous levitation force control desired current according to claim 1, wherein the main winding current is controlled by a square wave current and the levitation force winding current is controlled by an instantaneous current.
  3. 3. The method for calculating the desired BSRM average torque instantaneous levitation force control current according to claim 2, wherein the current conducting interval is selected by:
    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. 4. The method for calculating the BSRM mean torque instantaneous levitation force control desired current according to claim 1, wherein the desired current i is calculated as the square wave desired current i of the main windingmThen, 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)。
  5. 5. The method of claim 4 wherein calculating the suspension winding instantaneous desired current i in horizontal and vertical directionss1(θ)、is2The specific method of (θ) is as follows:
    according to the angle theta of the rotor tooth pole deviating from the stator tooth pole and the suspension force coefficient K1(theta), coefficient of coupling of levitation force K2(theta), desired instantaneous levitation force F in the horizontal and vertical directions1 *(θ)、F2 *(theta) and the desired current i of the main winding square wave after the amplitude limiting treatmentmCalculating the instantaneous expected current i of the levitation force winding in the horizontal and vertical directionss1(theta) and is2(θ), the specific calculation formula is as follows:
    Figure FDA0002377777110000051
    Figure FDA0002377777110000052
  6. 6. the method of claim 5 wherein calculating the instantaneous desired current i for levitation force winding in horizontal and vertical directionss1(theta) and is2(theta) instantaneous desired current i for the levitation force winding in the horizontal and vertical directionss1(theta) and is2(θ) performing clipping processing, specifically as follows:
    setting the instantaneous 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)。
CN201711257848.2A 2017-12-04 2017-12-04 Calculation method for BSRM average torque instantaneous suspension force control expected current Active CN107888121B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711257848.2A CN107888121B (en) 2017-12-04 2017-12-04 Calculation method for BSRM average torque instantaneous suspension force control expected current

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711257848.2A CN107888121B (en) 2017-12-04 2017-12-04 Calculation method for BSRM average torque instantaneous suspension force control expected current

Publications (2)

Publication Number Publication Date
CN107888121A CN107888121A (en) 2018-04-06
CN107888121B true CN107888121B (en) 2020-05-22

Family

ID=61772862

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711257848.2A Active CN107888121B (en) 2017-12-04 2017-12-04 Calculation method for BSRM average torque instantaneous suspension force control expected current

Country Status (1)

Country Link
CN (1) CN107888121B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6922036B1 (en) * 2000-11-30 2005-07-26 The Texas A&M University System Method and apparatus for reducing noise and vibration in switched reluctance motor drives
CN101697469A (en) * 2009-10-28 2010-04-21 南京航空航天大学 Method for controlling position-less sensor of bearing-less switched reluctance motor
CN103916056A (en) * 2014-03-17 2014-07-09 南京航空航天大学 Fault-tolerant operation control method of 12/8 single-winding bearing-free switch reluctance motor
CN105549419A (en) * 2015-12-11 2016-05-04 河海大学 BSRM (Bearingless Switched Reluctance Motor) analytical modeling method based on Maxwell stress method
CN107222151A (en) * 2017-08-04 2017-09-29 张艳雪 A kind of switched reluctance machines oscillation damping method of bearing-free

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8736128B2 (en) * 2011-08-10 2014-05-27 Toyota Motor Engineering & Manufacturing North America, Inc. Three dimensional magnetic field manipulation in electromagnetic devices

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6922036B1 (en) * 2000-11-30 2005-07-26 The Texas A&M University System Method and apparatus for reducing noise and vibration in switched reluctance motor drives
CN101697469A (en) * 2009-10-28 2010-04-21 南京航空航天大学 Method for controlling position-less sensor of bearing-less switched reluctance motor
CN103916056A (en) * 2014-03-17 2014-07-09 南京航空航天大学 Fault-tolerant operation control method of 12/8 single-winding bearing-free switch reluctance motor
CN105549419A (en) * 2015-12-11 2016-05-04 河海大学 BSRM (Bearingless Switched Reluctance Motor) analytical modeling method based on Maxwell stress method
CN107222151A (en) * 2017-08-04 2017-09-29 张艳雪 A kind of switched reluctance machines oscillation damping method of bearing-free

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
Independent Control of Average Torque and Radial Force in Bearingless Switched-Reluctance Motors With Hybrid Excitations;Xin Cao, Zhiquan Deng, Gang Yang, and Xiaolin Wang;《IEEE TRANSACTIONS ON POWER ELECTRONICS》;20090531;第24卷(第5期);1376-1385 *
一种新型的无轴承开关磁阻电机数学模型;邓智泉，杨 钢，张 媛，曹 鑫，王晓琳;《中国电机工程学报》;20050531;第25卷(第9期);139-146 *
无轴承开关磁阻电机控制策略研究;李倬;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;中国学术期刊（光盘版）电子杂志社;20100215(第02期);正文第3章 *
无轴承开关磁阻电机转子质量偏心振动抑制;陈杰;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;中国学术期刊（光盘版）电子杂志社;20170315(第03期);摘要及53-58页 *

Also Published As

Publication number Publication date
CN107888121A (en) 2018-04-06

Similar Documents

Publication Publication Date Title
Sun et al. OCTSF for torque ripple minimisation in SRMs
CN106160609A (en) A kind of permanent magnetic brushless control method
Lin et al. Infinite speed drives control with MTPA and MTPV for interior permanent magnet synchronous motor
Zhang et al. Combined commutation optimisation strategy for brushless DC motors with misaligned hall sensors
CN104779855A (en) Reverse position-sensorless control method for outdoor fan
CN105515456A (en) Method and controls system for automatically adjusting efficiency of DC brushless motor according to loads
CN110212839A (en) It is a kind of to eliminate the model prediction Direct Torque Control for opening winding electric machine common-mode voltage influences
CN107888121B (en) Calculation method for BSRM average torque instantaneous suspension force control expected current
CN107046381B (en) A kind of switched reluctance machines varied angle PI control method, controller and speed-regulating system
Cheng Modified PWM direct instantaneous torque control system for SRM
CN107888120B (en) Suspension force winding sawtooth wave current type BSRM expected current calculation method
CN103762806A (en) Method for restraining vibration torques of shaded pole type single phase alternating current asynchronous motors
CN1880119A (en) Five-phase alternating current permanent-magnet synchronous driving motor speed-controller
CN107769623A (en) The BSRM expectation electric current computational methods that a kind of winding shut-off angle can be adjusted simultaneously
CN107508515B (en) Security control method and device for permanent magnet synchronous motor
CN110880900A (en) Method for inhibiting torque ripple of switched reluctance motor
Yao et al. Rapid estimation and compensation method of commutation error caused by Hall sensor installation error for BLDC motors
CN207010470U (en) A kind of drive circuit of magneto
CN109617467A (en) Permasyn morot low complex degree forecast Control Algorithm
CN107947665B (en) Current prediction control method and system of alternating current servo motor
CN204652275U (en) A kind of permagnetic synchronous motor direct torque control device based on constant switching frequency space vector modulation
Zhang et al. Research on a sensorless SVM-DTC strategy for induction motors based on modified stator model
Tseng et al. Implementation of on-line maximum efficiency control for a dual-motor drive system
Chu et al. SISO PID-fuzzy controller for BLDC motor speed control base on low cost MSP430 solution
WO2024179271A1 (en) System for determining position of magnetic pole

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant