CN109302025B - Permanent magnet/reluctance hybrid rotor double-stator synchronous motor and control method thereof - Google Patents
Permanent magnet/reluctance hybrid rotor double-stator synchronous motor and control method thereof Download PDFInfo
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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
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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
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
- H02K1/165—Shape, form or location of the slots
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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
- H02K1/27—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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Abstract
A permanent magnet/reluctance hybrid rotor double-stator synchronous motor and a control method thereof are provided, wherein the synchronous motor mainly comprises an outer stator (1), an inner stator (2) and a rotor (3); the rotor (3) is arranged between the outer stator (1) and the inner stator (2); the method obtains the whole rotor position by estimating the reluctance rotor position in the hybrid rotor, thereby realizing the control without a position sensor. The vector control method without the position sensor does not need coordinate transformation, has simple structure, and solves the problems of complexity and strong dependence on motor parameters of the traditional vector control.
Description
Technical field:
the invention relates to a permanent magnet/reluctance hybrid rotor double-stator synchronous motor and a control system thereof. Belongs to the field of motor design and control systems thereof.
The background technology is as follows:
there are a great number of equipment in the modern industry that require low-speed, high-torque transmission systems, such as numerically controlled machine tools, heavy mining machinery, oil drilling machinery, large industrial conveyor belts, lifting equipment, etc., which are typically high-energy-consumption electromechanical devices, with power consumption accounting for about 10% of the total power consumption of the industry. At present, the low-speed and high-torque transmission equipment in China mostly adopts a driving mode of a conventional rotating speed motor and a reduction gear mechanism, but a plurality of reduction transmission links not only lead to huge volume of a driving system, increased maintenance cost and reduced system reliability and operation efficiency (the efficiency of the whole transmission chain is generally 75% -85%), but also lead to the technical problems of processing, manufacturing, transportation, assembly and the like, and also lead to the problems of lubricating oil leakage, noise pollution and the like, so that the direct driving mode of the reduction gear mechanism is omitted, and is a necessary choice for developing high-end mechanical equipment in the future and improving the overall performance of the transmission system.
The permanent magnet synchronous motor has been developed rapidly in recent years, and research work at home and abroad is extremely active, and because the permanent magnet synchronous motor has outstanding excellent performances such as simple structure, brushless reliability, high efficiency and power factor, large starting torque, wide economic operation range and the like compared with an induction motor, an electrically excited synchronous motor and a switched reluctance motor no matter being used as electric or generating operation, the permanent magnet synchronous motor is popularized and applied in a large scale in many fields, and especially has very wide application prospect in a low-speed large-torque direct-drive system. In order to improve the torque density, the large inner cavity space of the low-speed high-torque direct-drive permanent magnet synchronous motor is fully utilized, the cost is reduced, and the development of a novel permanent magnet synchronous motor structure and a novel rotor structure is an important development trend. In addition, the low-speed high-torque direct-drive permanent magnet synchronous motor is often operated under various complex working conditions such as variable load, heavy load and the like, so that the searching of the speed regulation control method with strong pertinence, high response speed and strong robustness has very important practical significance for improving the performance of high-end equipment.
Disclosure of Invention
The invention aims to: the invention provides a permanent magnet/reluctance hybrid rotor double-stator synchronous motor and a control system thereof, and aims to solve the problems of poor system reliability, low operation efficiency, high cost and the like in a speed reduction transmission link in traditional low-speed large-torque transmission equipment. Meanwhile, the invention adopts a double-stator structure design, and the rotor is of a permanent magnet/magnetic resistance hybrid rotor structure, so that the torque density can be improved, and the motor cost can be reduced.
The technical scheme is as follows: the invention adopts the following technical scheme:
the utility model provides a permanent magnetism/mixed rotor double stator synchronous machine of magnetic resistance which characterized in that: the synchronous motor mainly comprises an outer stator (1), an inner stator (2) and a rotor (3); the rotor (3) is arranged between the outer stator (1) and the inner stator (2);
the rotor (3) comprises a permanent magnet, a magnetic barrier type reluctance rotor structure (6) and a magnetism isolating ring (5); the inner side of the rotor (3) is provided with a magnetic barrier type magnetic resistance rotor structure (6), the magnetic barrier type magnetic resistance rotor structure (6) is formed by alternately arranging a magnetic conduction layer (6-1) and a non-magnetic conduction layer (6-2), each magnetic barrier type magnetic resistance rotor structure (6) is connected with a magnetic isolation ring (5) through a dovetail groove, the magnetic isolation ring (5) is sleeved on the periphery of the inner stator (2), each magnetic barrier type magnetic resistance rotor structure (6) is arranged on the inner side wall of the magnetic isolation ring (5), and each magnetic barrier type magnetic resistance rotor structure (6) is positioned between the inner stator (2) and the magnetic isolation ring (5);
the permanent magnet (10) is surface-mounted on the outer surface of the magnetism isolating ring (5), and the magnetism barrier type magnetic resistance rotor structure (6), the magnetism isolating ring (5) and the permanent magnet (10) form a complete rotor (3) structure together;
the inner surface of the outer stator (1) and the outer surface of the inner stator (2) are uniformly grooved, a set of three-phase symmetrical windings (the windings in all the grooves are collectively called a set of three-phase symmetrical windings in the whole, and only two sets of windings are actually added together in the whole) are respectively embedded in the grooves of the outer stator (1) and the inner stator (2), and the windings in the grooves of the inner stator and the outer stator are connected in series or in parallel to form the total stator winding of the motor.
The magnetic conductive layer (6-1) and the non-magnetic layer (6-2) in the magnetic barrier type reluctance rotor structure (6) are both U-shaped structures; (the U-shaped structure is named according to the shape of the reluctance rotor of the magnetic barrier type)
The magnetic barrier type magnetic resistance rotor structure (6) is formed by alternately forming U-shaped magnetic conduction layers (6-1) and non-magnetic conduction layers (6-1), wherein the magnetic conduction layers (6-1) are connected through connecting ribs (6-3), and a non-magnetic conduction layer (6-2) is formed between two adjacent magnetic conduction layers (6-1).
The width of the connecting rib just meets the condition of mechanical strength.
The effect of the structure, in which the width of each magnetically permeable layer (6-1) in the magnetic barrier is unequal and combined in such a way that the thicknesses from two sides to the middle are sequentially reduced, the magnetic flux flowing through the magnetically permeable layers (6-1) at two sides of the magnetic barrier is more and less in the middle, the magnetic flux path is more reasonably distributed, the harmonic content in the air gap field is reduced, the sine of the air gap field of the motor is improved, the torque pulsation is reduced, and the performance of the motor is improved.
Each pole permanent magnet (10) outside the rotor (3) adopts a multi-block anisotropic magnetizing mode, namely each pole permanent magnet is divided into a plurality of blocks, each block is a region, a plurality of regions can be formed, the magnetizing direction of each region gradually decreases from two sides to the middle to the radial direction of the rotor (3), the vertical arrow direction in the middle is the radial direction of the rotor (3)! (as shown in fig. 4 |).
The outer stator (1) adopts a fractional slot winding structure, and the inner stator (2) adopts a distributed winding structure.
The position-sensor-free control strategy of the permanent magnet/reluctance hybrid rotor double-stator synchronous motor is applied, and the position of the whole rotor is obtained by estimating the position of a magnetic barrier reluctance rotor structure (6) in a rotor (3), so that the position-sensor-free control is realized;
the method comprises the steps of firstly, obtaining a rotor position estimated value and a rotation speed estimated value by a rotor position estimating module (18) (the rotor position estimating module is realized in a controller and is not arranged in a motor), comparing the rotor position estimated value and the rotation speed estimated value with a rotor position given value and a rotation speed given value respectively to obtain a rotor position error value and a rotation speed error value, obtaining the rotation speed given value and a torque given value respectively through a position regulator (11) and a rotation speed regulator (12), obtaining the actual output torque of the motor by a stator current space vector calculating module (19) and a torque calculating module (20), inputting the calculated actual output torque of the motor into the torque regulator (13), taking an output signal of the torque regulator (13) as an input signal of a three-phase current reference value calculating module (14), obtaining a given value of a three-phase stator current, and finally obtaining a control signal of a current controllable PWM inverter (16) (the current controllable PWM inverter (16) is connected with a three-phase winding of the motor, and supplying power to the motor) to control the novel synchronous motor.
The advantages and effects are that:
the rotor of the permanent magnet/reluctance hybrid rotor double-stator synchronous motor adopts a hybrid rotor structure with permanent magnets and reluctance combined, the inner side of the rotor is a U-shaped reluctance structure with alternating magnetic conductive layers (6-1) and non-magnetic conductive layers (6-2), and the outer side of the rotor is provided with the permanent magnets which are magnetized in a surface-mounted block and different directions. The magnetic resistance and the permanent magnet are connected together through a magnetism isolating ring, and the magnetism isolating ring also enables the magnetic circuits on the inner side and the outer side of the rotor to be mutually independent. The motor adopts a double-stator structure, the inner surface of the outer stator and the outer surface of the inner stator are uniformly grooved, a set of three-phase windings are respectively arranged in the inner stator groove and the outer stator groove, and the two sets of windings are connected in series or in parallel to form the total stator winding of the motor. The outer stator adopts a fractional slot structure, and the inner stator adopts a distributed winding structure. The permanent magnet/reluctance hybrid rotor double-stator synchronous motor adopts a position-sensor-free vector control method, and the whole rotor position is obtained by estimating the reluctance rotor position in the hybrid rotor, so that the position-sensor-free control is realized. The rotor position estimation module obtains a rotor position estimation value and a rotation speed estimation value, the rotor position estimation value and the rotation speed estimation value are respectively compared with a rotor position given value and a rotation speed given value to obtain a rotor position error value and a rotation speed error value, the rotor position error value and the rotation speed error value respectively obtain a rotation speed given value and a torque given value through a position regulator and a rotation speed regulator, meanwhile, the stator current space vector calculation module and the torque calculation module obtain the actual output torque of the motor, the calculated actual output torque of the motor is input to the torque regulator, the output signal of the torque regulator is used as the input signal of the three-phase current reference value calculation module, thus obtaining the given value of three-phase stator current, and finally, the current regulator obtains the control signal of the current controllable PWM inverter to control the novel synchronous motor.
The invention has the specific beneficial effects that: the motor adopts a double-stator single-rotor structure, fully utilizes the larger inner cavity space of the low-speed high-torque direct-drive synchronous motor, greatly improves the torque density and the material utilization rate of the motor, and can greatly reduce the volume and the weight of the motor under the same power. On the premise of not considering the change of heat dissipation conditions, the torque density of the double-stator motor can be improved by about 40% compared with that of a conventional single-stator motor; or the motor volume can be reduced by about 30% under the same power. The permanent magnet/reluctance hybrid rotor double-stator synchronous motor has the outstanding advantages of reliable structure, low cost, high efficiency, high torque density and mechanical integration level, high utilization rate of motor structural materials and the like.
The novel hybrid rotor has the advantages of the permanent magnet auxiliary reluctance type rotor, simultaneously enables the permanent magnet and the reluctance structure to be relatively independent, solves the problems of multiple design parameters and high optimization difficulty of the permanent magnet auxiliary reluctance type rotor, and has more flexible design mode; the requirements of the motor on the permanent magnet demand and the magnetic performance are greatly reduced, and the motor cost is reduced; the motor can simultaneously generate electromagnetic torque and reluctance torque, so that the torque density of the motor is improved, the two torques are mutually independent, the flexibility of a control mode is greatly enhanced, and the torque density, the efficiency, the weak magnetic speed regulation capability and the utilization rate of an inverter of the motor are improved.
The magnetic conductive layer (6-1) and the non-magnetic conductive layer (6-2) of the reluctance part on the rotor adopt U-shaped structures, which are equivalent to increasing the air gap on the motor quadrature axis, thereby improving the quadrature axis reluctance and being beneficial to improving the reluctance torque of the motor; the thickness of each magnetic barrier structure adopts a structure that the thickness of the magnetic conduction layer (6-1) is gradually reduced from the middle to the two sides, so that the modulation effect of the magnetic barrier structure on the magnetic field is improved, the sine of the air gap magnetic field between the inner stator and the rotor is improved, and the harmonic content is reduced; the permanent magnets on the rotor adopt a segmented anisotropic magnetizing mode, so that the permanent magnetic field close to an air gap is more concentrated, the magnetic flux density distribution of the air gap of the motor is more similar to sine, the harmonic content is less, the magnetic density distribution is more uniform, the salient pole effect of the rotor of the motor can be further enhanced, and the electromagnetic torque output capacity and the permanent magnet utilization rate are further improved. The outer stator is matched with the surface-mounted permanent magnet at the outer side of the rotor, so as to solve the contradiction that the motor has lower rotating speed, more pole pairs and limited slot number, the outer stator adopts a fractional slot structure, and simultaneously, the equivalent distribution effect of fractional slot windings and the weakening effect on tooth harmonic counter-potential are utilized to achieve the effects of improving potential waveforms and improving the utilization rate of windings. The inner stator is matched with the inner side magnetic resistance structure of the rotor, and the inner stator adopts a distributed winding structure in order to reduce the harmonic content of the motor, improve the magnetic resistance torque and improve the sine of counter potential.
The control mode adopts a high-response strong-robustness position-sensor-free vector control method based on the stator current space vector, and the method obtains the whole rotor position by estimating the reluctance rotor position in the hybrid rotor, so that the position-sensor-free control is realized. The vector control method without the position sensor does not need coordinate transformation, has simple structure, and solves the problems of complexity and strong dependence on motor parameters of the traditional vector control.
Drawings
FIG. 1 is a schematic diagram of a permanent magnet/reluctance hybrid rotor double-stator synchronous motor according to the present invention;
FIG. 2 is a schematic diagram of a permanent magnet/reluctance hybrid rotor according to the present invention;
FIG. 3 is a schematic illustration of a single magnetic barrier;
FIG. 4 is a schematic diagram of a segmented anisotropic magnetization arrangement of permanent magnets;
fig. 5 is a schematic block diagram of the sensorless vector control of the permanent magnet/reluctance hybrid rotor double stator synchronous motor of the present invention.
Reference numerals illustrate:
1. an outer stator; 2. an inner stator; 3. a permanent magnet/reluctance hybrid rotor; 4. an outer stator groove; 5. a magnetism isolating ring; 6. a magnetically-shielded reluctance rotor structure; 6-1, a magnetically permeable layer; 6-2, a non-magnetic conductive layer; 6-3, connecting ribs; 7. an inner stator air gap; 8. an inner stator groove; 9. an outer stator air gap; 10. a permanent magnet; 11. a position adjuster; 12. a rotation speed regulator; 13. a torque regulator; 14. a three-phase current reference value calculation module; 15. a current regulator; 16. a current-controllable PWM inverter; 17. a three-phase rectifier; 18. a rotor position estimation module; 19. a stator current space vector calculation module; 20. a torque calculation module.
Detailed Description
The utility model provides a permanent magnetism/mixed rotor double stator synchronous machine of magnetic resistance which characterized in that: the synchronous motor mainly comprises an outer stator (1), an inner stator (2) and a rotor (3); the rotor (3) is arranged between the outer stator (1) and the inner stator (2);
the rotor (3) comprises a permanent magnet, a magnetic barrier type reluctance rotor structure (6) and a magnetism isolating ring (5); the inner side of the rotor (3) is provided with a magnetic barrier type magnetic resistance rotor structure (6), the magnetic barrier type magnetic resistance rotor structure (6) is formed by alternately arranging a magnetic conduction layer (6-1) and a non-magnetic conduction layer (6-2), each magnetic barrier type magnetic resistance rotor structure (6) is connected with a magnetic isolation ring (5) through a dovetail groove, the magnetic isolation ring (5) is sleeved on the periphery of the inner stator (2), each magnetic barrier type magnetic resistance rotor structure (6) is arranged on the inner side wall of the magnetic isolation ring (5), and each magnetic barrier type magnetic resistance rotor structure (6) is positioned between the inner stator (2) and the magnetic isolation ring (5);
the permanent magnet (10) is surface-mounted on the outer surface of the magnetism isolating ring (5), and the magnetism barrier structure, the magnetism isolating ring (5) and the permanent magnet (10) form a complete rotor (3) structure together;
the inner surface of the outer stator (1) and the outer surface of the inner stator (2) are uniformly grooved, a set of three-phase symmetrical windings (the windings in all the grooves are collectively called a set of three-phase symmetrical windings in the whole, and only two sets of windings are actually added together in the whole) are respectively embedded in the grooves of the outer stator (1) and the inner stator (2), and the windings in the grooves of the inner stator and the outer stator are connected in series or in parallel to form the total stator winding of the motor.
The magnetic conductive layer (6-1) and the non-magnetic layer (6-2) in the magnetic barrier type reluctance rotor structure (6) are both U-shaped structures; (the U-shaped structure is named according to the shape of the reluctance rotor of the magnetic barrier type)
The magnetic barrier type magnetic resistance rotor structure (6) is formed by alternately forming U-shaped magnetic conduction layers (6-1) and non-magnetic conduction layers (6-1), wherein the magnetic conduction layers (6-1) are connected through connecting ribs (6-3), and a non-magnetic conduction layer (6-2) is formed between two adjacent magnetic conduction layers (6-1).
The width of the connecting rib just meets the condition of mechanical strength.
The width of each magnetically permeable layer (6-1) gradually increases from inside to outside (the effect of this structure is described in the specific embodiment with reference to fig. 3, and the effect is that the widths of the magnetically permeable layers (6-1) in the magnetic barrier are unequal, and are combined in a manner of sequentially decreasing the thicknesses from two sides to the middle, so that the magnetic flux flowing through the magnetically permeable layers (6-1) at two sides of the magnetic barrier is more and less in the middle, the magnetic flux is more reasonably distributed, the magnetic flux path is better limited, the harmonic content in the air gap field is reduced, the sine of the air gap field of the motor is improved, the torque pulsation is reduced, and the performance of the motor is improved.
Each pole permanent magnet (10) outside the rotor (3) adopts a multi-block anisotropic magnetizing mode, namely each pole permanent magnet is divided into a plurality of blocks, each block is a region, a plurality of regions can be formed, the magnetizing direction of each region gradually decreases from two sides to the middle to the radial direction of the rotor (3), the vertical arrow direction in the middle is the radial direction of the rotor (3)! (as shown in fig. 4 |).
In order to enable the inner stator and the outer stator to be matched with the novel rotor better, the outer stator (1) adopts a fractional slot winding structure, and the inner stator (2) adopts a distributed winding structure.
The sensorless control strategy of the permanent magnet/reluctance hybrid rotor double-stator synchronous motor is characterized in that:
the strategy obtains the whole rotor position by estimating the position of a magnetic barrier type reluctance rotor structure (6) in the rotor (3), so as to realize the control without a position sensor;
the method comprises the steps of firstly, obtaining a rotor position estimated value and a rotation speed estimated value by a rotor position estimating module (18) (the rotor position estimating module is realized in a controller and is not arranged in a motor), comparing the rotor position estimated value and the rotation speed estimated value with a rotor position given value and a rotation speed given value respectively to obtain a rotor position error value and a rotation speed error value, obtaining the rotation speed given value and a torque given value respectively through a position regulator (11) and a rotation speed regulator (12), obtaining the actual output torque of the motor by a stator current space vector calculating module (19) and a torque calculating module (20), inputting the calculated actual output torque of the motor into the torque regulator (13), taking an output signal of the torque regulator (13) as an input signal of a three-phase current reference value calculating module (14), obtaining a given value of a three-phase stator current, and finally obtaining a control signal of a current controllable PWM inverter (16) (the current controllable PWM inverter (16) is connected with a three-phase winding of the motor, and supplying power to the motor) to control the novel synchronous motor.
The following is a detailed explanation with reference to the accompanying drawings:
the invention provides a permanent magnet/reluctance hybrid rotor double-stator synchronous motor, which is composed of an outer stator 1, an inner stator 2 and a permanent magnet/reluctance hybrid rotor 3 as shown in figure 1. The inner surface of the outer stator 1 and the outer surface of the inner stator 2 are uniformly grooved, a set of three-phase windings are respectively embedded in the grooves of the inner stator and the outer stator, and the two sets of windings are connected in series or in parallel to form the total stator winding of the motor. The outer stator 1 is matched with the surface-mounted permanent magnet 10 on the outer side of the rotor, in order to solve the contradiction that the motor has lower rotating speed, more pole pairs and limited slot number, the outer stator 1 adopts a fractional slot structure, and simultaneously, the equivalent distribution effect of fractional slot windings and the weakening effect on tooth harmonic counter potential are utilized to achieve the effects of improving potential waveforms and improving the utilization rate of windings. The inner stator 2 is matched with a reluctance structure at the inner side of the rotor, and the inner stator 2 adopts a distributed winding structure in order to reduce the harmonic content of the motor, improve the reluctance torque and the sine of the back electromotive force.
Fig. 2 is a schematic diagram of a permanent magnet/reluctance hybrid rotor structure of the invention, wherein a motor rotor adopts a hybrid structure of combining permanent magnets and reluctance, the inner side of the rotor is a U-shaped magnetic barrier structure with magnetic conductive layers 6-1 and non-magnetic conductive layers 6-2 being alternately arranged, and each independent magnetic barrier is connected with a magnetism isolating ring 5 through a dovetail groove. The outer side of the rotor is provided with a permanent magnet 10, and the surface of the permanent magnet is attached to the outer surface of the magnetism isolating ring 5.
The magnetism isolating ring 5 combines the magnetic resistance and the permanent magnet together to form a complete rotor structure, and the magnetism isolating ring 5 also enables the inner magnetic circuit and the outer magnetic circuit of the rotor to be mutually independent. The combination mode of the magnetic resistance structure and the permanent magnet ensures that the permanent magnet is relatively independent from the magnetic resistance structure while the rotor has the advantages of the permanent magnet auxiliary magnetic resistance rotor, solves the problems of multiple design parameters and high optimization difficulty of the permanent magnet auxiliary magnetic resistance rotor, and has more flexible design mode; the requirements of the motor on the permanent magnet demand and the magnetic performance are greatly reduced, and the motor cost is reduced; the motor can simultaneously generate electromagnetic torque and reluctance torque, so that the torque density of the motor is improved, the two torques are mutually independent, the flexibility of a control mode is greatly enhanced, and the torque density, the efficiency, the weak magnetic speed regulation capability and the utilization rate of an inverter of the motor are improved.
FIG. 3 is a schematic diagram of a single magnetic barrier structure. The magnetic barrier structure is formed by alternately forming U-shaped magnetic conductive layers 6-1 and non-magnetic conductive layers 6-2, and the magnetic conductive layers 6-1 are connected through connecting ribs to form a unified whole. Under the condition of meeting the mechanical strength, the narrower the connecting ribs are, the better the flow of magnetic flux along a specified path is limited, and therefore the energy conversion efficiency of the motor is improved. In addition, the widths of the magnetic guide layers 6-1 in the magnetic barrier are unequal and are combined in a mode that the thicknesses of the two sides are sequentially reduced, so that the magnetic flux flowing through the magnetic guide layers 6-1 at the two sides of the magnetic barrier is more, less in the middle, more reasonable distribution of the magnetic flux is realized, better limitation of the magnetic flux path is realized, the harmonic content in the air gap field is reduced, the sine of the air gap field of the motor is improved, the torque pulsation is reduced, and the performance of the motor is improved.
Fig. 4 is a schematic diagram of a partitioned anisotropic magnetizing arrangement permanent magnet. The same permanent magnet is divided into different areas, and the magnetizing modes of the areas are different, namely, the magnetizing direction of each area adopts a mode that the included angle between the two sides and the vertical direction is gradually reduced. Therefore, the permanent magnetic field close to the air gap is more concentrated, the magnetic flux density distribution of the air gap of the motor is more similar to sine, the harmonic content is less, the magnetic density distribution is more uniform, the salient pole effect of the rotor of the motor can be further enhanced, and the electromagnetic torque output capability and the permanent magnet utilization rate are further improved. In addition, the cogging torque can be effectively reduced, and torque ripple can be suppressed.
The invention provides a position-sensor-free vector control method of a permanent magnet/reluctance hybrid rotor double-stator synchronous motor, as shown in fig. 5, the invention obtains the whole rotor position by estimating the position of a magnetic barrier reluctance rotor structure 6 in a rotor 3, thereby realizing position-sensor-free control; the vector control method without the position sensor does not need coordinate transformation, has simple structure, and solves the problems of complexity and strong dependence on motor parameters of the traditional vector control.
The output torque of the novel synchronous motor is superposition of interaction results of the inner stator and the outer stator and the rotor magnetic field, and the rotor position is easy to estimate because the salient poles of the reluctance rotor synchronous motor are larger, so that the invention obtains the whole rotor position by estimating the reluctance rotor position in the hybrid rotor, and further realizes the control without a position sensor. The method comprises the steps of inputting a detected stator three-phase current value into a rotor position estimation module 18 to obtain a rotor position estimation value and a rotation speed estimation value, subtracting the rotor position estimation value from a rotor position given value to obtain a rotor position error value, inputting the rotor position error value into a position regulator 11 to obtain a rotation speed given value, subtracting the rotation speed estimation value from the rotation speed given value to obtain a rotation speed error value, inputting the rotation speed error value into a rotation speed regulator 12 to obtain a torque given value, inputting the detected stator three-phase current value into a stator current space vector calculation module 19 to obtain the amplitude and space electric angle of a stator current space vector, calculating the actual output torque of the motor by a torque calculation module 20, subtracting the actual output torque from the torque given value to obtain a motor torque error value, inputting the motor torque error value into a torque regulator 13 to obtain a stator current space vector given value, inputting the stator current space vector given value and the three-phase current initial phase into a three-phase current given value calculation module 14 to obtain a three-phase stator current given value, and finally subtracting the stator three-phase current detection value from the three-phase stator current given value to obtain a three-phase stator current error value, inputting the three-phase stator current error value into a current regulator 15 to obtain a current controllable PWM (pulse width modulation) to control the novel synchronous motor 16. The vector control method without the position sensor does not need coordinate transformation, has simple structure, and solves the problems of complexity and strong dependence on motor parameters of the traditional vector control.
Claims (7)
1. The utility model provides a permanent magnetism/mixed rotor double stator synchronous machine of magnetic resistance which characterized in that: the synchronous motor mainly comprises an outer stator (1), an inner stator (2) and a rotor (3); the rotor (3) is arranged between the outer stator (1) and the inner stator (2);
the rotor (3) comprises a permanent magnet, a magnetic barrier type reluctance rotor structure (6) and a magnetism isolating ring (5); the inner side of the rotor (3) is provided with a magnetic barrier type magnetic resistance rotor structure (6), the magnetic barrier type magnetic resistance rotor structure (6) is formed by alternately arranging a magnetic conduction layer (6-1) and a non-magnetic conduction layer (6-2), each magnetic barrier type magnetic resistance rotor structure (6) is connected with a magnetic isolation ring (5) through a dovetail groove, the magnetic isolation ring (5) is sleeved on the periphery of the inner stator (2), each magnetic barrier type magnetic resistance rotor structure (6) is arranged on the inner side wall of the magnetic isolation ring (5), and each magnetic barrier type magnetic resistance rotor structure (6) is positioned between the inner stator (2) and the magnetic isolation ring (5);
the permanent magnet (10) is surface-mounted on the outer surface of the magnetism isolating ring (5), and the magnetism barrier structure, the magnetism isolating ring (5) and the permanent magnet (10) form a complete rotor (3) structure together;
the inner surface of the outer stator (1) and the outer surface of the inner stator (2) are uniformly grooved, a set of three-phase symmetrical windings are respectively embedded in the grooves of the outer stator (1) and the inner stator (2), and the windings in the grooves of the inner stator and the outer stator are connected in series or in parallel to form a total stator winding of the motor;
the control method adopted by the synchronous motor is that the position of the whole rotor is obtained by estimating the position of a magnetic barrier type reluctance rotor structure (6) in the rotor (3), so that the control without a position sensor is realized;
the detected stator three-phase current value is input into a rotor position estimation module (18) to obtain a rotor position estimation value and a rotation speed estimation value, the rotor position estimation value is subtracted from a rotor position given value to obtain a rotor position error value, the rotor position error value is input into a position regulator (11) to obtain a rotation speed given value, the rotation speed given value is subtracted from the rotation speed given value to obtain a rotation speed error value, the rotation speed error value is input into a rotation speed regulator (12) to obtain a torque given value, the detected stator three-phase current value is input into a stator current space vector calculation module (19) to obtain the amplitude and the space electric angle of a stator current space vector, the actual output torque is calculated by a torque calculation module (20), the actual output torque is subtracted from the torque given value to obtain a motor torque error value, the motor torque error value is input into a torque regulator (13) to obtain a stator current space vector given value, the stator current space vector and the three-phase current initial phase are input into a three-phase current given value calculation module (14) to obtain a three-phase stator current given value, and finally the three-phase stator current detection value is subtracted from the three-phase stator current to obtain a three-phase stator current error value, and the three-phase current error value is input into a controllable PWM (16) to obtain an inverter control signal for controlling the PWM.
2. The permanent magnet/reluctance hybrid rotor double stator synchronous motor according to claim 1, wherein: the magnetic conductive layer (6-1) and the non-magnetic layer (6-2) in the magnetic barrier type reluctance rotor structure (6) are both U-shaped structures;
the magnetic barrier type magnetic resistance rotor structure (6) is formed by alternately forming U-shaped magnetic conduction layers (6-1) and non-magnetic conduction layers (6-1), wherein the magnetic conduction layers (6-1) are connected through connecting ribs (6-3), and a non-magnetic conduction layer (6-2) is formed between two adjacent magnetic conduction layers (6-1).
3. The permanent magnet/reluctance hybrid rotor double stator synchronous motor according to claim 2, wherein: the width of the connecting rib just meets the condition of mechanical strength.
4. The permanent magnet/reluctance hybrid rotor double stator synchronous motor according to claim 2, wherein: the width of each magnetically permeable layer (6-1) gradually increases from inside to outside.
5. The permanent magnet/reluctance hybrid rotor double stator synchronous motor according to any one of claims 1 to 4, wherein: each pole of permanent magnet (10) on the outer side of the rotor (3) adopts a multi-block anisotropic magnetizing mode, namely each pole of permanent magnet is divided into a plurality of blocks, each block is a region, a plurality of regions can be formed, the magnetizing direction of each region gradually reduces from two sides to the middle and the included angle of the radial direction of the rotor (3), and the vertical arrow direction in the middle is the radial direction of the rotor (3).
6. The permanent magnet/reluctance hybrid rotor double stator synchronous motor according to claim 1, wherein: the outer stator (1) adopts a fractional slot winding structure, and the inner stator (2) adopts a distributed winding structure.
7. A sensorless control method of a permanent magnet/reluctance hybrid rotor double stator synchronous motor according to claim 1, characterized by:
the method comprises the steps of inputting a detected stator three-phase current value into a rotor position estimation module (18) to obtain a rotor position estimation value and a rotation speed estimation value, subtracting the rotor position estimation value from a rotor position given value to obtain a rotor position error value, inputting the rotor position error value into a position regulator (11) to obtain a rotation speed given value, subtracting the rotation speed estimation value from the rotation speed given value to obtain a rotation speed error value, inputting the rotation speed error value into a rotation speed regulator (12) to obtain a torque given value, inputting the detected stator three-phase current value into a stator current space vector calculation module (19) to obtain the amplitude and the space electric angle of a stator current space vector, calculating the actual output torque of a motor through a torque calculation module (20), subtracting the actual output torque from the torque given value to obtain a motor torque error value, inputting the motor torque error value into a torque regulator (13) to obtain a stator current space vector given value, inputting the stator current space vector given value and the initial phase of the three-phase current into a three-phase current given value calculation module (14) to obtain a three-phase stator current given value, and finally subtracting the stator three-phase current detection value from the three-phase current to obtain a three-phase stator current error value, and inputting the three-phase current error value into a three-phase current controller (15) to obtain a PWM (16) controllable inversion signal to obtain a synchronous signal.
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| CN112332570B (en) * | 2019-11-12 | 2023-09-12 | 沈阳工业大学 | Multipolar rotor of outer rotor low-speed synchronous reluctance motor |
| CN111614298B (en) * | 2020-04-23 | 2021-12-21 | 沈阳工业大学 | Torque decoupling vector control method for hybrid rotor double-stator synchronous motor |
| CN114900094B (en) * | 2020-12-09 | 2024-10-15 | 青岛大学 | Method for controlling absolute position of multipolar motor rotor without sensor |
| 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 |
| 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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