CN109302025A - Permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine and its control method - Google Patents
Permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine and its control method Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
- H02K1/165—Shape, form or location of the slots
-
- 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
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- 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
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
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- 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
- H02K3/28—Layout of windings or of connections between windings
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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
- H02P21/18—Estimation of position or speed
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Synchronous Machinery (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
Abstract
Permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine and its control method, the synchronous motor are mainly made of external stator (1), inner stator (2) and rotor (3)；Rotor (3) is arranged between external stator (1) and inner stator (2)；This method obtains entire rotor-position by reluctance rotor position in estimation mixed rotor, and then realizes position Sensorless Control.The non-position sensor vector control method proposed is not necessarily to coordinate transform, and structure is simple, overcomes the complexity and the problem strong to parameter of electric machine dependence of conventional vector control.
Description
Technical field:
The present invention relates to a kind of permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine and its control systems.Belong to motor to set
Meter and its control system field.
Background technique:
There is the equipment for largely needing low speed high torque transmission system in modern industry, such as numerically-controlled machine tool, weight mine are mechanical, stone
Oily boring mechanic, large scale industry conveyer belt and Overloading etc., this kind of system are typical highly energy-consuming electromechanical equipment, power consumption
Account for about the 10% of industrial total power consumption.Currently, China's low speed high torque Drive mostly uses greatly " conventional rotating speed motor+deceleration
The driving method of gear mechanism ", but the deceleration transmission link having more can not only make that drive system is bulky, maintenance cost increases
Add, system reliability and operational efficiency reduction (efficiency of entire transmission chain is generally 75%-85%), and the gear mechanism of redundancy
Structure also brings along the technical problem of processing and manufacturing, transport assembly etc., can also generate oil seepage, noise pollution etc. and ask
Topic, therefore the direct drive mode for cancelling reduction gear is the high-end mechanized equipment of future development, improves transmission system entirety
The inevitable choice of performance.
Permanent magnet synchronous motor is developed rapidly in recent years, research work both domestic and external also Showed Very Brisk, due to no matter
As electronic or generator operation, permanent magnet synchronous motor is compared with induction machine, electric excitation synchronous motor and switched reluctance machines
All have simple structure, that brushless reliable, efficiency and power factor are high, starting torque is big, economical operation range is wide etc. is outstanding excellent
Benign energy, therefore large-scale popularization and application have been obtained in many fields, especially applied in low-speed high-torque direct driving system
Prospect is very wide.For raising torque density, the biggish intracavity space of low-speed high-torque direct driving permanent magnet synchronous motor is made full use of,
It reduces its cost, researches and develops novel permanent magnetic synchronous motor structure and new type rotor structure is important trend.In addition, low speed turns greatly
Square direct-drive permanent magnet synchronous motor is often run under the Various Complexes operating condition such as variable load, heavy duty, therefore finds a kind of with strong points, response
Speed is fast, strong robustness method for controlling speed regulation is of great practical significance to the performance boost of high-end equipment.
Summary of the invention
Goal of the invention: the present invention provides permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine and its control system, purpose
That there are system reliabilities is poor for the deceleration transmission link for being to solve in conventional low big torque transmission equipment, operational efficiency is low, at
The problems such as this is high.The present invention is designed using double-stator structure simultaneously, and rotor is permanent magnetism/magnetic resistance mixed rotor structure, be can be improved and is turned
Square density reduces motor cost.
Technical solution: the invention adopts the following technical scheme:
Permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine, it is characterised in that: the synchronous motor mainly by external stator (1),
Inner stator (2) and rotor (3) are constituted；Rotor (3) is arranged between external stator (1) and inner stator (2)；
Rotor (3) includes permanent magnet, magnetic barrier formula reluctance rotor structure (6) and magnetism-isolating loop (5)；It is that magnetic hinders on the inside of rotor (3)
Formula reluctance rotor structure (6), it is spaced by magnetic layer (6-1) and non-magnetic layer (6-2) which hinders formula reluctance rotor structure (6)
It constitutes, each magnetic barrier formula reluctance rotor structure (6) is connected by dovetail groove with magnetism-isolating loop (5), and magnetism-isolating loop (5) is covered in inner stator (2)
Periphery, each magnetic barrier formula reluctance rotor structure (6) setting are in magnetism-isolating loop (5) inner sidewall, each magnetic barrier formula reluctance rotor structure (6)
Between inner stator (2) and magnetism-isolating loop (5)；
Permanent magnet (10) Surface Mount on magnetism-isolating loop (5) outer surface, magnetic hinder formula reluctance rotor structure (6), magnetism-isolating loop (5) with forever
Magnet (10) collectively constitutes complete rotor (3) structure；
External stator (1) inner surface is uniformly slotted with inner stator (2) outer surface, each in external stator (1) and inner stator (2) slot
From a set of three-phase symmetric winding is embedded, (this is that winding in all slots is integrally referred to as a set of three-phase symmetric winding, actually
It is inside and outside altogether to add up just only double winding.), the winding in inside and outside stator slot is coupled using serial or parallel connection mode,
Form total stator winding of the motor.
Magnetic layer (6-1) and non-magnetic layer (6-2) in magnetic barrier formula reluctance rotor structure (6) are all made of U-shaped structure；(U-shaped
Structure is that the shape for hindering formula reluctance rotor according to magnetic is named)
Magnetic barrier formula reluctance rotor structure (6), which is alternateed by the magnetic layer (6-1) of U-shaped with non-magnetic layer (6-1), to be formed,
It is connected between each magnetic layer (6-1) by dowel (6-3), forms non-magnetic layer (6- between adjacent two layers of magnetic layer (6-1)
2)。
As long as the width of dowel is just met for the condition of mechanical strength.
Each magnetic layer (6-1) width gradually increase from inside to outside (that is, as shown in figure 3, the width of innermost layer it is narrow,
Then the secondary internal layer width of innermost layer outer layer is wider than innermost layer, and then, the width of internal layer again of secondary internal layer periphery is wider than secondary internal layer,
Successively progressive, the effect of this structure is illustrated in specific embodiment combination Fig. 3, acts on as follows: in magnetic barrier
Each magnetic layer (6-1) width differs, and combines in the way of being sequentially reduced by two sides to interior thickness, so that magnetic hinders two sides magnetic conduction
The magnetic flux that layer (6-1) flows through is more and intermediate few, is more reasonably assigned with magnetic flux, preferably limits magnetic flux path, reduces
Harmonic content in air-gap field improves the sine in motor gas-gap magnetic field, reduces torque pulsation, improves the property of motor
Energy.).
Every pole permanent magnet (10) on the outside of rotor (3) uses the incorgruous mode that magnetizes of muti-piece piecemeal, i.e., by every pole permanent magnet
It is divided into muti-piece, every piece is a region, can form multiple regions, and the magnetizing direction in each region is from both sides to intermediate and rotor
(3) radial direction angle is gradually reduced, and intermediate vertical arrow direction is the radial direction of rotor (3)！(as shown in Figure 4！).
External stator (1) uses fractional-slot winding structure, and inner stator (2) uses Distributed Winding structure.
Using above-mentioned permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine position Sensorless Control strategy, this plan
Formula reluctance rotor structure (6) position is slightly hindered by magnetic in estimation rotor (3) to obtain entire rotor-position, and then is realized without position
Sensor control；
By rotor-position estimating module (18), (rotor-position estimating module is realized in the controller, is not existed first
In motor) obtain rotor-position estimated value and revolving speed estimated value, by rotor-position estimated value and revolving speed estimated value respectively with rotor
Position given value and rotary speed setting value are compared, and obtain rotor position error value and speed error value, rotor position error value
Pass through position control (11) respectively with speed error value and speed regulator (12) obtain rotary speed setting value and torque reference value,
The reality output torque of motor is obtained by stator current space vector computing module (19) and torque calculation module (20) simultaneously, it will
The motor reality output torque being calculated is input to torque controller (13), using the output signal of torque controller (13) as
The input signal of three-phase current reference value computing module (14), so that the given value of threephase stator electric current is obtained, finally by electricity
Throttle regulator (15) obtain controlled current flow PWM inverter (16) (controlled current flow PWM inverter (16) be with motor stator three-phase around
Group is connected, and gives motor power supply) control signal control novel synchronous motor of the invention.
Advantageous effect:
Permanent magnetism of the present invention/magnetic resistance mixed rotor double-stator synchronous machine rotor is combined using permanent magnet with magnetic resistance mixed
Rotor structure is closed, is magnetic layer (6-1) and non-magnetic layer (6-2) alternate U-shaped magnetoresistive structures, Surface Mount on the outside of rotor on the inside of rotor
The incorgruous permanent magnet to magnetize of piecemeal.Magnetic resistance and permanent magnet are connected together by magnetism-isolating loop, and magnetism-isolating loop also makes outside in rotor
Magnetic circuit it is mutually indepedent.Motor uses double-stator structure, and external stator inner surface is uniformly slotted with inner stator outer surface, interior external stator
Respectively have a set of three-phase windings in slot, and double winding is coupled using serial or parallel connection mode, formed total stator of this kind of motor around
Group.External stator uses score slot structure, and inner stator uses Distributed Winding structure.Permanent magnetism of the present invention/magnetic resistance mixed rotor bimorph transducer
Synchronous motor uses non-position sensor vector control method, entire to obtain by reluctance rotor position in estimation mixed rotor
Rotor-position, and then realize position Sensorless Control.Rotor-position estimated value and revolving speed are obtained by rotor-position estimating module
Rotor-position estimated value and revolving speed estimated value are compared with rotor-position given value and rotary speed setting value by estimated value respectively,
Obtain rotor position error value and speed error value, rotor position error value and speed error value pass through respectively position control and
Speed regulator obtains rotary speed setting value and torque reference value, while by stator current space vector computing module and torque calculation
Module obtains the reality output torque of motor, and the motor reality output torque being calculated is input to torque controller, will turn
Input signal of the output signal of square adjuster as three-phase current reference value computing module, to obtain threephase stator electric current
Given value, it is of the invention novel same to control to obtain the control signal of controlled current flow PWM inverter finally by current regulator
Walk motor.
Specific beneficial effect of the invention is: this kind of motor uses bimorph transducer single-turn minor structure, makes full use of low speed big
The biggish intracavity space of torque direct driving synchronous motor substantially increases the torque density and stock utilization of motor, and same
The volume and weight of motor can significantly be reduced under constant power.Under the premise of not considering radiating condition variation, Double-stator motor
Torque density can be improved 40% or so compared with conventional single rotor motor；In other words under equal-wattage, motor volume can
Reduce 30% or so.Not only structure is reliable, at low cost, high-efficient for permanent magnetism of the present invention/magnetic resistance mixed rotor double-stator synchronous machine,
But also there is outstanding advantages of torque density and mechanical integrity are high, electric machine structure stock utilization is high.
Novel mixed rotor of the invention makes permanent magnetism and magnetic while having permanent magnetism auxiliary reluctance type rotor advantage
It is relatively independent to hinder structure, solves the problems, such as that permanent magnetism auxiliary reluctance type rotor design parameter is more, optimization difficulty is big, design method is more
Add flexibly；Motor is greatly reduced to permanent magnet demand and magnetic property requirements, and reduces motor cost；Motor can be simultaneously
Electromagnetic torque and reluctance torque are generated, improves the torque density of motor, and two kinds of torques are mutually indepedent, greatly strengthen control
The flexibility of mode processed improves torque density, the efficiency, the utilization rate of weak-magnetic speed-regulating ability and inverter of motor.
The magnetic layer (6-1) of reluctance parts and non-magnetic layer (6-2) use U-shaped structure on rotor of the present invention, are equivalent to increasing
Add the air gap in motor quadrature axis, to improve quadrature-axis reluctance, is conducive to the reluctance torque for improving motor；Each magnetic barrier structure uses
The thickness of magnetic layer (6-1) improves magnetic barrier structure and makees to the modulation in magnetic field according to the structure being gradually reduced by centre to two sides
With improving the sine of air-gap field between inner stator and rotor, reduce harmonic content；Permanent magnet on rotor, which uses, to be divided
The incorgruous mode that magnetizes of block can not only be such that the permanent magnetic field at air gap more concentrates, and motor gas-gap magnetic flux distribution is more
Adding and levels off to sine, harmonic content is few, and flux density distribution is more uniform, rotor saliency can also be further enhanced, into
And improve output electromagnetic torque ability and permanent magnet utilization rate.External stator matches with durface mounted permanent magnet body on the outside of rotor, for solution
Certainly motor speed is lower, number of pole-pairs is more and the limited contradiction of slot number, and external stator uses score slot structure, while utilizing score
The Equivalent Distributed effect of slot winding and the weakening effect to slot ripples back-emf improve potential waveform and raising winding benefit to reach
With the effect of rate.Inner stator matches with magnetoresistive structures on the inside of rotor, in order to reduce motor harmonic content, improve reluctance torque,
Back-emf sine is improved, inner stator uses Distributed Winding structure.
Control mode responds strong robust vector control without position sensor side using the height based on stator current space vector
Method, this method obtains entire rotor-position by reluctance rotor position in estimation mixed rotor, and then realizes position sensorless
Device control.The non-position sensor vector control method proposed is not necessarily to coordinate transform, and structure is simple, overcomes conventional vector control
The complexity of system and the problem strong to parameter of electric machine dependence.
Detailed description of the invention
Fig. 1 is permanent magnetism of the present invention/magnetic resistance mixed rotor double-stator synchronous machine structural schematic diagram；
Fig. 2 is permanent magnetism of the present invention/magnetic resistance mixed rotor structural schematic diagram；
Fig. 3 is that single magnetic hinders schematic diagram；
Fig. 4 is the incorgruous permanent magnet schematic diagram of arranging that magnetizes of piecemeal；
Fig. 5 is permanent magnetism of the present invention/magnetic resistance mixed rotor double-stator synchronous machine vector control without position sensor principle
Block diagram.
Description of symbols:
1. external stator；2. inner stator；3. permanent magnetism/magnetic resistance mixed rotor；4. external stator slot；5. magnetism-isolating loop；6. magnetic hinders formula magnetic
Hinder rotor structure；6-1. magnetic layer；The non-magnetic layer of 6-2.；6-3. dowel；7. inner stator air gap；8. default pilot trench；It is fixed outside 9.
Sub- air gap；10. permanent magnet；11. position control；12. speed regulator；13. torque controller；14. three-phase current reference value
Computing module；15. current regulator；16. controlled current flow PWM inverter；17. three-phase rectifier；18. rotor-position estimates mould
Block；19. stator current space vector computing module；20. torque calculation module.
Specific embodiment
Permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine, it is characterised in that: the synchronous motor mainly by external stator (1),
Inner stator (2) and rotor (3) are constituted；Rotor (3) is arranged between external stator (1) and inner stator (2)；
Rotor (3) includes permanent magnet, magnetic barrier formula reluctance rotor structure (6) and magnetism-isolating loop (5)；It is that magnetic hinders on the inside of rotor (3)
Formula reluctance rotor structure (6), it is spaced by magnetic layer (6-1) and non-magnetic layer (6-2) which hinders formula reluctance rotor structure (6)
It constitutes, each magnetic barrier formula reluctance rotor structure (6) is connected by dovetail groove with magnetism-isolating loop (5), and magnetism-isolating loop (5) is covered in inner stator (2)
Periphery, each magnetic barrier formula reluctance rotor structure (6) setting are in magnetism-isolating loop (5) inner sidewall, each magnetic barrier formula reluctance rotor structure (6)
Between inner stator (2) and magnetism-isolating loop (5)；
For permanent magnet (10) Surface Mount on magnetism-isolating loop (5) outer surface, it is common that magnetic hinders structure, magnetism-isolating loop (5) and permanent magnet (10)
Form complete rotor (3) structure；
External stator (1) inner surface is uniformly slotted with inner stator (2) outer surface, each in external stator (1) and inner stator (2) slot
From a set of three-phase symmetric winding is embedded, (this is that winding in all slots is integrally referred to as a set of three-phase symmetric winding, actually
It is inside and outside altogether to add up just only double winding.), the winding in inside and outside stator slot is coupled using serial or parallel connection mode,
Form total stator winding of the motor.
Magnetic layer (6-1) and non-magnetic layer (6-2) in magnetic barrier formula reluctance rotor structure (6) are all made of U-shaped structure；(U-shaped
Structure is that the shape for hindering formula reluctance rotor according to magnetic is named)
Magnetic barrier formula reluctance rotor structure (6), which is alternateed by the magnetic layer (6-1) of U-shaped with non-magnetic layer (6-1), to be formed,
It is connected between each magnetic layer (6-1) by dowel (6-3), forms non-magnetic layer (6- between adjacent two layers of magnetic layer (6-1)
2)。
As long as the width of dowel is just met for the condition of mechanical strength.
Each magnetic layer (6-1) width gradually increase from inside to outside (effect of this structure specific embodiment combine
Fig. 3 is illustrated, act on it is as follows: magnetic hinder in each magnetic layer (6-1) width differ, according to by two sides to interior thickness according to
Secondary reduced mode combines, so that the magnetic flux that magnetic barrier two sides magnetic layer (6-1) flows through is more and intermediate few, is more reasonably assigned with magnetic
Flux preferably limits magnetic flux path, reduces the harmonic content in air-gap field, improves the sine in motor gas-gap magnetic field
Property, torque pulsation is reduced, the performance of motor is improved.).
Every pole permanent magnet (10) on the outside of rotor (3) uses the incorgruous mode that magnetizes of muti-piece piecemeal, i.e., by every pole permanent magnet
It is divided into muti-piece, every piece is a region, can form multiple regions, and the magnetizing direction in each region is from both sides to intermediate and rotor
(3) radial direction angle is gradually reduced, and intermediate vertical arrow direction is the radial direction of rotor (3)！(as shown in Figure 4！).
To cooperate interior external stator preferably with novel rotor, external stator (1) uses fractional-slot winding structure, inner stator
(2) Distributed Winding structure is used.
It is special using above-mentioned permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine position Sensorless Control strategy
Sign is:
This strategy obtains entire rotor-position by magnetic barrier formula reluctance rotor structure (6) position in estimation rotor (3), into
And realize position Sensorless Control；
By rotor-position estimating module (18), (rotor-position estimating module is realized in the controller, is not existed first
In motor) obtain rotor-position estimated value and revolving speed estimated value, by rotor-position estimated value and revolving speed estimated value respectively with rotor
Position given value and rotary speed setting value are compared, and obtain rotor position error value and speed error value, rotor position error value
Pass through position control (11) respectively with speed error value and speed regulator (12) obtain rotary speed setting value and torque reference value,
The reality output torque of motor is obtained by stator current space vector computing module (19) and torque calculation module (20) simultaneously, it will
The motor reality output torque being calculated is input to torque controller (13), using the output signal of torque controller (13) as
The input signal of three-phase current reference value computing module (14), so that the given value of threephase stator electric current is obtained, finally by electricity
Throttle regulator (15) obtain controlled current flow PWM inverter (16) (controlled current flow PWM inverter (16) be with motor stator three-phase around
Group is connected, and gives motor power supply) control signal control novel synchronous motor of the invention.
Detailed illustrate is carried out with reference to the accompanying drawing:
The invention proposes a kind of permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machines, as shown in Figure 1, the motor is by outer
Stator 1, inner stator 2, permanent magnetism/magnetic resistance mixed rotor 3 are constituted.1 inner surface of external stator is uniformly slotted with 2 outer surface of inner stator, interior
A set of three-phase windings are respectively embedded on external stator slot, and double winding is coupled using serial or parallel connection mode, forms the total of the motor
Stator winding.External stator 1 matches with durface mounted permanent magnet body 10 on the outside of rotor, and to solve, motor speed is lower, number of pole-pairs is more
And the limited contradiction of slot number, the use score slot structure of external stator 1, while the Equivalent Distributed of utilization fractional-slot winding act on and right
The weakening effect of slot ripples back-emf, to achieve the effect that improve potential waveform and improve winding utilization.Inner stator 2 and rotor
Inside magnetoresistive structures match, and in order to reduce motor harmonic content, improve reluctance torque, improve back-emf sine, inner stator 2
Using Distributed Winding structure.
Fig. 2 is permanent magnetism of the present invention/magnetic resistance mixed rotor structural schematic diagram, and rotor is combined using permanent magnet with magnetic resistance
Mixed structure, be that the magnetic layer 6-1 U-shaped magnetic alternate with non-magnetic layer 6-2 hinders structure on the inside of rotor, each independent magnetic, which hinders, to be passed through
Dovetail groove is connected with magnetism-isolating loop 5.It is permanent magnet 10 on the outside of rotor, Surface Mount is on 5 outer surface of magnetism-isolating loop.
Magnetic resistance and permanent magnet are combined together by magnetism-isolating loop 5, form complete rotor structure, and magnetism-isolating loop 5 is but also turn
External magnetic circuit is mutually indepedent in son.The mode that magnetoresistive structures are combined with permanent magnet, so that rotor is having permanent magnetism auxiliary reluctance type
While rotor advantage, and make permanent magnetism relatively independent with magnetoresistive structures, solves permanent magnetism auxiliary reluctance type rotor design parameter
Problem more, optimization difficulty is big, design method are more flexible；Motor is greatly reduced to want permanent magnet demand and magnetic property
It asks, and reduces motor cost；Motor can generate electromagnetic torque and reluctance torque simultaneously, improve the torque density of motor,
And two kinds of torques are mutually indepedent, greatly strengthen the flexibility of control mode, improve the torque density of motor, efficiency, weak
The utilization rate of magnetic speed regulation capacity and inverter.
Fig. 3 is that single magnetic hinders structural schematic diagram.Magnetic, which hinders structure, mutually to be handed over by the magnetic layer 6-1 and non-magnetic layer 6-2 of U-shaped
For composition, it is connected between each magnetic layer 6-1 by dowel, forms unified entirety.Under conditions of meeting mechanical strength, even
It is more narrower better to connect muscle, this will preferably limit magnetic flux and circulate along defined path, to improve the energy conversion efficiency of motor.
In addition to this, each magnetic layer 6-1 width in magnetic barrier differs, and combines in the way of being sequentially reduced by two sides to interior thickness,
So that the magnetic flux that magnetic barrier two sides magnetic layer 6-1 flows through is more and intermediate few, it is more reasonably assigned with magnetic flux, preferably limits magnetic
Path reduces the harmonic content in air-gap field, improves the sine in motor gas-gap magnetic field, reduces torque pulsation,
Improve the performance of motor.
Fig. 4 is the incorgruous permanent magnet schematic diagram of arranging that magnetizes of piecemeal.Same permanent magnet is divided into different regions, and each region is filled
Magnetic mode is different, i.e., the magnetizing direction in each region from both sides to centre and vertical direction angle by the way of being gradually reduced.This
Sample can not only be such that the permanent magnetic field at the air gap more concentrates, and motor gas-gap magnetic flux distribution more levels off to sine,
Harmonic content is few, and flux density distribution is more uniform, can also further enhance rotor saliency, and then improves output electromagnetism
Torque capacity and permanent magnet utilization rate.In addition to this it is possible to cogging torque is efficiently reduced, it is torque pulsation inhibited.
The invention proposes a kind of permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine vector control without position sensor
Method, as shown in figure 5, the present invention obtains entire rotor by hindering 6 position of formula reluctance rotor structure by magnetic in estimation rotor 3
Position, and then realize position Sensorless Control；Non-position sensor vector control method of the invention is not necessarily to coordinate transform, knot
Structure is simple, overcomes the complexity and the problem strong to parameter of electric machine dependence of conventional vector control.
The output torque of novel synchronous motor of the invention is interior external stator to be superimposed with rotor field interaction result,
Since the salient pole of reluctance rotor synchronous motor is bigger, it is easy to estimate rotor-position, therefore the present invention passes through estimation mixed rotor
Middle reluctance rotor position obtains entire rotor-position, and then realizes position Sensorless Control.The stator three-phase that will test
Current value is input to rotor-position estimating module 18, obtains rotor-position estimated value and revolving speed estimated value, is given by rotor-position
Value subtracts rotor-position estimated value, obtains rotor position error value, and rotor position error value is input to position control 11, is obtained
To rotary speed setting value, revolving speed estimated value is subtracted by rotary speed setting value, obtains speed error value, speed error value is input to revolving speed
Adjuster 12 obtains torque reference value, while the stator three-phase electricity flow valuve that will test is input to stator current space vector meter
It calculates module 19 and obtains the amplitude and space electrical angle of stator current space vector, motor is calculated by torque calculation module 20
Reality output torque, reality output torque is subtracted by torque reference value, obtains motor torque error amount, by motor torque error
Value is input to torque controller 13, obtains stator current space vector given value, by stator current space vector given value and three
Phase current initial phase is input to three-phase current given value computing module 14, to obtain the given value of threephase stator electric current, most
Stator three-phase current detection value is subtracted by threephase stator given value of current value afterwards, threephase stator current error value is obtained, three-phase is determined
Electron current error amount be input to current regulator 15 obtain controlled current flow PWM inverter 16 control signal it is of the invention to control
Novel synchronous motor.Non-position sensor vector control method of the invention is not necessarily to coordinate transform, and structure is simple, overcomes tradition
The complexity of vector controlled and the problem strong to parameter of electric machine dependence.
Claims (7)
1. permanent magnetism/magnetic resistance mixed rotor double-stator synchronous machine, it is characterised in that: the synchronous motor is mainly by external stator (1), interior
Stator (2) and rotor (3) are constituted；Rotor (3) is arranged between external stator (1) and inner stator (2)；
Rotor (3) includes permanent magnet, magnetic barrier formula reluctance rotor structure (6) and magnetism-isolating loop (5)；It is that magnetic hinders formula magnetic on the inside of rotor (3)
It hinders rotor structure (6), which hinders formula reluctance rotor structure (6) by magnetic layer (6-1) and non-magnetic layer (6-2) spaced structure
At, each magnetic barrier formula reluctance rotor structure (6) is connected by dovetail groove with magnetism-isolating loop (5), magnetism-isolating loop (5) cover inner stator (2) outside
It encloses, each magnetic barrier formula reluctance rotor structure (6) setting is in interior in magnetism-isolating loop (5) inner sidewall, each magnetic barrier formula reluctance rotor structure (6)
Between stator (2) and magnetism-isolating loop (5)；
On magnetism-isolating loop (5) outer surface, magnetic barrier structure, magnetism-isolating loop (5) collectively constitute permanent magnet (10) Surface Mount with permanent magnet (10)
Complete rotor (3) structure；
External stator (1) inner surface is uniformly slotted with inner stator (2) outer surface, external stator (1) in inner stator (2) slot respectively it is embedding
A set of three-phase symmetric winding is put, the winding in inside and outside stator slot is coupled using serial or parallel connection mode, forms the motor
Total stator winding.
2. permanent magnetism according to claim 1/magnetic resistance mixed rotor double-stator synchronous machine, it is characterised in that: magnetic hinders formula magnetic
Magnetic layer (6-1) and non-magnetic layer (6-2) in resistance rotor structure (6) are all made of U-shaped structure；
Magnetic barrier formula reluctance rotor structure (6), which is alternateed by the magnetic layer (6-1) of U-shaped with non-magnetic layer (6-1), to be formed, and is respectively led
It is connected between magnetosphere (6-1) by dowel (6-3), forms non-magnetic layer (6-2) between adjacent two layers of magnetic layer (6-1).
3. permanent magnetism according to claim 2/magnetic resistance mixed rotor double-stator synchronous machine, it is characterised in that: dowel
As long as width is just met for the condition of mechanical strength.
4. permanent magnetism according to claim 2/magnetic resistance mixed rotor double-stator synchronous machine, it is characterised in that: each magnetic layer
(6-1) width gradually increases from inside to outside.
5. permanent magnetism as claimed in any of claims 1 to 4/magnetic resistance mixed rotor double-stator synchronous machine, feature
Be: every pole permanent magnet (10) on the outside of rotor (3) uses the incorgruous mode that magnetizes of muti-piece piecemeal, i.e., is divided into every pole permanent magnet
Muti-piece, every piece is a region, can form multiple regions, and the magnetizing direction in each region is from both sides to centre and rotor (3)
Radial direction angle is gradually reduced, and intermediate vertical arrow direction is the radial direction of rotor (3).
6. permanent magnetism according to claim 1/magnetic resistance mixed rotor double-stator synchronous machine, it is characterised in that: external stator (1)
Using fractional-slot winding structure, inner stator (2) uses Distributed Winding structure.
7. being applied to permanent magnetism described in claim 1/magnetic resistance mixed rotor double-stator synchronous machine position Sensorless Control
Strategy, it is characterised in that:
This strategy hinders formula reluctance rotor structure (6) position by magnetic in estimation rotor (3) to obtain entire rotor-position, Jin Ershi
Existing position Sensorless Control；
Rotor-position estimated value and revolving speed estimated value are obtained by rotor-position estimating module (18) first, by rotor-position estimated value
It is compared respectively with rotor-position given value and rotary speed setting value with revolving speed estimated value, obtains rotor position error value and revolving speed
Error amount, rotor position error value and speed error value pass through position control (11) respectively and speed regulator (12) is turned
Fast given value and torque reference value, while being obtained by stator current space vector computing module (19) and torque calculation module (20)
The motor reality output torque being calculated is input to torque controller (13), by torque tune by the reality output torque of motor
Input signal of the output signal of device (13) as three-phase current reference value computing module (14) is saved, to obtain threephase stator electricity
The given value of stream obtains the control signal of controlled current flow PWM inverter (16) finally by current regulator (15) to control this
The novel synchronous motor of invention.
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| CN110030916A (en) * | 2019-04-18 | 2019-07-19 | 安徽拓信电气科技有限公司 | A kind of primary permanent magnet formula linear position sensors |
| CN110138163A (en) * | 2019-05-22 | 2019-08-16 | 湖北研道特磁科技有限公司 | A kind of bimorph transducer alternating current-direct current power generation motor system applied in energy-accumulating power station |
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| CN111614298A (en) * | 2020-04-23 | 2020-09-01 | 沈阳工业大学 | Torque decoupling vector control method for hybrid rotor double-stator synchronous motor |
| CN112600477A (en) * | 2020-12-09 | 2021-04-02 | 青岛大学 | Sensorless control method for absolute position of multi-pole motor rotor |
| CN113131813A (en) * | 2021-04-07 | 2021-07-16 | 沈阳工业大学 | Control system and method for torque decoupling vector of hybrid rotor double-stator synchronous motor |
| CN113131813B (en) * | 2021-04-07 | 2024-05-28 | 沈阳工业大学 | Control system and method for torque decoupling vector of hybrid rotor double-stator synchronous motor |
| CN114552928A (en) * | 2022-03-18 | 2022-05-27 | 沈阳工业大学 | Permanent magnet/reluctance rotor double-stator synchronous motor control method based on internal model control |
| CN114552928B (en) * | 2022-03-18 | 2022-08-02 | 沈阳工业大学 | Permanent magnet/reluctance rotor double-stator synchronous motor control method based on internal model control |
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