CN108649764B - Three-degree-of-freedom bearingless permanent magnet motor with constant current source excitation - Google Patents

Three-degree-of-freedom bearingless permanent magnet motor with constant current source excitation Download PDF

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Publication number
CN108649764B
CN108649764B CN201810702153.9A CN201810702153A CN108649764B CN 108649764 B CN108649764 B CN 108649764B CN 201810702153 A CN201810702153 A CN 201810702153A CN 108649764 B CN108649764 B CN 108649764B
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axial
core
stator
rotor
winding
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CN108649764A (en
Inventor
张涛
陈万
鲁庆
丁祖军
丁卫红
唐中一
王业琴
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Huaiyin Institute of Technology
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Huaiyin Institute of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K19/00—Synchronous motors or generators
    • H02K19/02—Synchronous motors
    • H02K19/10—Synchronous motors for multi-phase current
    • H02K19/103—Motors having windings on the stator and a variable reluctance soft-iron rotor without windings
    • 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
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
    • H02K1/278—Surface mounted magnets; Inset magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/12—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors arranged in slots
    • 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

Abstract

The invention discloses a three-degree-of-freedom bearingless permanent magnet motor with constant current source excitation, which comprises a rotor and a stator, wherein the rotor consists of a rotating shaft and a rotor iron core, and rotor permanent magnets are uniformly arranged on the outer circumference of the rotor iron core; the stator comprises a stator core, a magnetism isolating ring, an axial suspension winding, a magnetic conduction ring, an axial control core and a circular constant current source winding, wherein the stator core, the magnetism isolating ring, the axial suspension winding and the magnetic conduction ring are sequentially connected along the radial direction of the rotor core outwards; the stator core and the magnetism isolating ring are both of a T-shaped structure consisting of an axial part and a radial part of which the outer end is connected with the inner wall of the axial part, the outer wall of the radial part of the stator core is attached to the inner wall of the axial part of the magnetism isolating ring, and the radial part of the magnetism isolating ring divides the axial part and the radial part of the stator core into two symmetrical parts; and the stator iron core is wound with a motor torque winding and a radial suspension winding which are respectively positioned on the inner layer and the outer layer.

Description

Three-degree-of-freedom bearingless permanent magnet motor with constant current source excitation
Technical Field
The invention relates to the technical field of manufacturing of bearingless and magnetic suspension motors, in particular to a three-degree-of-freedom bearingless permanent magnet motor excited by a constant current source.
Background
The bearingless motor and the magnetic suspension motor are novel high-speed special motors developed in the last 80 years of the last century, the bearingless motor is mainly divided into a reluctance type motor, an induction type motor and a permanent magnet type bearingless motor, and compared with the other two motors, the permanent magnet type bearingless motor adopts a rotor permanent magnet structure, has the advantages of no need of excitation, high power density and torque density, simplicity in control and the like, and is a bearingless motor with the best industrial application prospect. Conventional permanent magnet type bearingless motorThree magnetic fields exist inside, namely a torque winding magnetic field, a suspension winding magnetic field and a rotor permanent magnet magnetic field, and the number of pole pairs of the torque winding magnetic fieldP MAnd the number of pole pairs of the magnetic field of the suspension windingP BMust satisfyP M=P BThe relation of +/-1, torque is generated by a torque winding magnetic field and a rotor permanent magnet magnetic field, suspension force is generated by a suspension winding magnetic field and the rotor permanent magnet magnetic field, a complex suspension force and torque dynamic decoupling control algorithm is required to be adopted for realizing stable suspension and rotation of the rotor, and a constraint balance relation exists between the torque and the suspension force, so that the two inherent defects limit the industrial application process of the traditional permanent magnet type bearingless motor.
In addition, if the bearingless permanent magnet motor is to realize five-degree-of-freedom suspension operation, an axial magnetic suspension bearing is required to be matched with the bearingless permanent magnet motor for use. The axial magnetic bearing will tend to increase the axial length of the suspension motor system, thereby reducing the critical rotation speed and power density. Therefore, on the basis of realizing decoupling control of torque and suspension force, realizing integration of the bearingless permanent magnet motor and the axial magnetic bearing becomes a research hotspot in the field of magnetic suspension motors.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom bearingless permanent magnet motor excited by a constant current source, which has a compact structure and is free of coupling of axial suspension force, radial suspension force and torque.
The invention is realized by the following technical scheme:
a three-degree-of-freedom bearingless permanent magnet motor excited by a constant current source comprises a rotor and a stator, wherein the rotor consists of a rotating shaft and a rotor iron core, and rotor permanent magnets are uniformly arranged on the outer circumference of the rotor iron core; the stator comprises a stator core, a magnetism isolating ring, an axial suspension winding, a magnetic conduction ring, an axial control core and a circular constant current source winding, wherein the stator core, the magnetism isolating ring, the axial suspension winding and the magnetic conduction ring are sequentially connected along the radial direction of the rotor core outwards; the stator core and the magnetism isolating ring are both of a T-shaped structure consisting of an axial part and a radial part of which the outer end is connected with the inner wall of the axial part, the outer wall of the axial part of the stator core is attached to the inner wall of the axial part of the magnetism isolating ring, and the radial part of the magnetism isolating ring divides the axial part and the radial part of the stator core into two symmetrical parts; and a radial working air gap is arranged between the stator iron core and the rotor iron core, and a motor torque winding and a radial suspension winding which are respectively positioned on the inner layer and the outer layer are wound on the stator iron core.
The further scheme of the invention is that stator slots are arranged on the stator iron core, and the motor torque winding and the radial suspension winding are respectively embedded in the stator slots.
The invention further provides that the difference between the number of magnetic field pole pairs of the torque winding of the motor and the number of magnetic field pole pairs of the radial suspension winding is more than or equal to three.
Compared with the prior art, the invention has the advantages that:
the integrated structure of the two-freedom-degree bearingless permanent magnet motor and the axial magnetic bearing is realized, the three-freedom-degree bearingless permanent magnet motor is novel in structure and is created in the world, two circular constant current source windings provide axial and radial bias magnetic fluxes respectively, the axial suspension winding is electrified to generate axial suspension magnetic flux, the radial suspension winding is electrified to generate radial suspension magnetic flux, the radial and axial suspension magnetic fluxes respectively adjust the bias magnetic flux to enhance the magnetic field on one side of an axial air gap and a radial air gap, the magnetic field in the opposite direction is weakened to generate suspension force pointing to the magnetic field enhancement direction, and according to the prior art, an axial and radial displacement closed-loop control system is established to realize stable suspension of the rotor in axial and radial three degrees of freedom; the torque is generated by the interaction of a torque winding magnetic field generated by a motor torque winding and a rotor permanent magnet magnetic field generated by a rotor permanent magnet, and the number of pole pairs of the torque winding magnetic fieldP MAnd the pole pair number of the magnetic field of the suspension winding generated by the radial suspension windingP BSatisfyP M‒P BThe relation of more than or equal to 3, no coupling between torque and suspension force, simple control and easy realization;
and secondly, the magnetic suspension system is applied to a five-degree-of-freedom suspension driving system, can replace an axial magnetic bearing and a two-degree-of-freedom bearingless permanent magnet motor, greatly reduces the axial length and the volume and weight of the system, and has milestone significance for realizing the industrial application of the bearingless switched reluctance motor.
Drawings
Fig. 1 is an axial structure and a cross-sectional view of magnetic flux of the present invention.
Fig. 2 is a schematic view of the stator core and rotor structure, winding arrangement and magnetic flux of the present invention.
Detailed Description
The three-degree-of-freedom bearingless permanent magnet motor excited by the constant current source comprises a rotor and a stator, wherein the rotor consists of a rotating shaft 12 and a rotor iron core 11, and a rotor permanent magnet 13 is embedded in the surface of the rotor iron core.
The stator comprises a stator core 5, a magnetism isolating ring 8, a circular annular axial suspension winding 4 and a magnetic conduction ring 2 which are sequentially connected along the radial direction of a rotor core 11 outwards, a left axial control core 1 and a right axial control core 3 which are symmetrically arranged at two sides of the stator core 5, a left circular constant current source winding 6 and a right circular constant current source winding 7, wherein the left axial control core 1 and the right axial control core 3 can be of disc-shaped, three-pole, four-pole and other magnetic pole structures, the embodiment is disc-shaped, the left circular constant current source winding 6 and the right circular constant current source winding 7 can be connected in series, the outer edges of the left axial control core 1 and the right axial control core 3 are respectively connected with the left side surface and the right side surface of the magnetic conduction ring 2, and the inner edges respectively extend towards the rotor core 11 and are provided with a; the stator core 5 and the magnetism isolating ring 8 are both of a T-shaped structure consisting of an axial part and a radial part of which the outer end is connected with the inner wall of the axial part, the outer wall of the axial part of the stator core 5 is attached to the inner wall of the axial part of the magnetism isolating ring 8, the radial part of the magnetism isolating ring 8 separates the axial part and the radial part of the stator core 5 into two parts which are symmetrical in a left-right mode and are in a 7-shaped mode, and the thickness of the axial part and the radial part of the magnetism isolating ring 8 is larger than the sum of axial air gaps on the left side and the; the axial part of the stator core 5, the axial part of the magnetism isolating ring 8 and the left side and the right side of the axial suspension winding 4 are respectively attached to the inner walls of the left axial control core 1 and the right axial control core 3; the magnetism isolating ring 8 is made of a whole piece of aluminum material; the left side, the right side and the outer wall of the left side circular constant current source winding 6 are respectively attached to the left axial control iron core 1 and the stator iron core 5, and the left side, the right side and the outer wall of the right side circular constant current source winding 7 are respectively attached to the right axial control iron core 3 and the stator iron core 5.
A radial working air gap is arranged between the stator core 5 and the rotor core 11, a stator slot is arranged on the stator core 5, a motor torque winding 9 and a radial suspension winding 10 which are respectively positioned on an inner layer and an outer layer are embedded in the stator slot, the radial suspension winding 10 is a centralized winding, as shown in fig. 2, windings on upper and lower six teeth in the Y direction are used for controlling to generate Y-direction suspension force, namely Y1-Y12 are connected in series to form one phase, and windings on left and right six teeth in the X direction are used for generating X-direction suspension force, namely X1-X12 are connected in series to form one phase.
The rotor iron core 11, the left axial control iron core 1, the magnetic conduction ring 2, the right axial control iron core 3 and the stator iron core 5 are all made of materials with good axial and radial magnetic conduction performance.
The left axial control iron core 1, the right axial control iron core 3, the left annular constant current source winding 6, the right annular constant current source winding 7, the stator iron core 5, the magnetism isolating ring 8, the axial suspension winding 4, the magnetic conduction ring 2, the radial suspension winding 10 and the torque winding 9 are axially laminated.
The suspension principle is as follows: the left circular constant current source winding 6 and the right circular constant current source winding 7 respectively generate a left bias magnetic flux 17 and a right bias magnetic flux 16, and the left bias magnetic flux 17 sequentially passes through the left axial control iron core 1, the left axial working air gap, the rotor iron core 11, the radial working air gap and the stator iron core 5 to form a closed path; the right-side bias magnetic flux 16 sequentially passes through the right-side axial control iron core 3, the right-side axial working air gap, the rotor iron core 11, the radial working air gap and the stator iron core 5 to form a closed path.
The axial suspension winding 4 is electrified to generate an axial suspension magnetic flux 15, and the axial suspension magnetic flux 15 sequentially passes through the magnetic conductive ring 2, the left axial control iron core 1, the left axial working air gap, the rotor iron core 11, the right axial working air gap and the right axial control iron core 3 to form a closed path; the radial suspension winding 10 is electrified to generate a radial suspension magnetic flux 14, and the radial suspension magnetic flux 14 passes through the upper stator core 5, the upper radial working air gap, the rotor core 11, the lower radial working air gap and the lower stator core 5 to form a closed path with the stator core yoke. The radial and axial suspension magnetic fluxes adjust corresponding bias magnetic fluxes to enable an air gap magnetic field on one side of the radial direction and the axial direction to be enhanced and an air gap magnetic field in the opposite direction to be weakened so as to generate suspension force pointing to the enhancement direction of the air gap magnetic field, axial and radial displacement sensors are mounted on a stator, or radial and axial displacement signals of a rotor are detected and identified through a displacement-free sensor algorithm, axial and radial displacement closed-loop control is established, and three-degree-of-freedom stable suspension of the rotor is realized.
The rotation principle is as follows: the motor torque winding 9 is energized to produce a torque winding field having a pole pair number as shown in fig. 2P MAnd the number of pole pairs of the magnetic field of the suspension windingP BSatisfyP M‒P BAnd the number of pole pairs of the magnetic field of the rotor permanent magnet generated by the rotor permanent magnet 13 is the same as that of the magnetic field of the torque winding, so that the decoupling of the torque and the suspension force is realized structurally, and the torque is generated by the interaction of the magnetic field of the torque winding and the magnetic field of the rotor permanent magnet.

Claims (2)

1. The utility model provides a three degree of freedom no bearing permanent-magnet machine of constant current source excitation, includes rotor and stator, the rotor comprises pivot (12) and rotor core (11), its characterized in that: rotor permanent magnets (13) are uniformly arranged on the outer circumference of the rotor core (11); the stator comprises a stator core (5), a magnetism isolating ring (8), an axial suspension winding (4), a magnetic conduction ring (2) and an axial control core and a circular constant current source winding which are sequentially connected along the radial direction of a rotor core (11) outwards, wherein the axial control core and the circular constant current source winding are symmetrically arranged on two sides of the stator core (5), the outer edge of the axial control core is connected with the magnetic conduction ring (2), and the inner edge of the axial control core extends towards the rotor core (11) and is provided with an axial working air gap; the stator core (5) and the magnetism isolating ring (8) are both of a T-shaped structure consisting of an axial part and a radial part of which the outer end is connected to the inner wall of the axial part, the outer wall of the axial part of the stator core (5) is attached to the inner wall of the axial part of the magnetism isolating ring (8), and the radial part of the magnetism isolating ring (8) divides the radial part and the axial part of the stator core (5) into two symmetrical parts; a radial working air gap is arranged between the stator iron core (5) and the rotor iron core (11), the stator iron core (5) is wound with a motor torque winding (9) and a radial suspension winding (10) which are respectively positioned at an inner layer and an outer layer, and the difference between the number of magnetic field pole pairs of the motor torque winding and the number of magnetic field pole pairs of the radial suspension winding is more than or equal to three.
2. The three-degree-of-freedom bearingless permanent magnet motor with constant current source excitation as claimed in claim 1, wherein: stator slots are formed in the stator iron core (5), and the motor torque winding (9) and the radial suspension winding (10) are embedded into the stator slots respectively.
CN201810702153.9A 2018-06-30 2018-06-30 Three-degree-of-freedom bearingless permanent magnet motor with constant current source excitation Active CN108649764B (en)

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CN108696193A (en) * 2018-06-30 2018-10-23 淮阴工学院 A kind of Three Degree Of Freedom induction-type bearingless motor of constant-current source excitation

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CN100409545C (en) * 2006-04-30 2008-08-06 南京航空航天大学 Super-high-speed high-power magnetic-suspension main-shaft motor
CN101207309A (en) * 2007-12-07 2008-06-25 沈阳工业大学 High speed magnetic suspension permanent magnet motor without bearing
CN101392795B (en) * 2008-10-24 2010-08-25 江苏大学 External rotor radial-axial three freedom degree mixed magnetic bearing
DE102012205566A1 (en) * 2012-04-04 2013-10-10 Ksb Aktiengesellschaft Asynchronous motor and underwater pump
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Application publication date: 20181012

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Contract record no.: X2021980014312

Denomination of invention: A three degree of freedom bearingless permanent magnet motor excited by constant current source

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Record date: 20211213