CN109831124B - Axial force single machine control method suitable for five-degree-of-freedom magnetic suspension system - Google Patents
Axial force single machine control method suitable for five-degree-of-freedom magnetic suspension system Download PDFInfo
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Abstract
The invention discloses an axial force single machine control method suitable for a five-degree-of-freedom magnetic suspension system. The torque of the torque current control system, the radial force of the radial force current control system and the axial force of the axial force current control system control the magnitude and direction of the axial force of the system, thereby realizing the closed-loop control of the rotating speed, the radial displacement and the axial displacement.
Description
Technical Field
The invention relates to an axial force single machine control method suitable for a five-degree-of-freedom magnetic suspension system, in particular to an axial force single machine control method of a five-degree-of-freedom magnetic suspension system consisting of two conical bearingless switched reluctance motors, and belongs to the technical field of switched reluctance motors.
Background
In the occasion of multi-dimensional driving, a motor only having a torque output function often cannot meet the requirement, a five-degree-of-freedom magnetic suspension system is generally formed by combining a magnetic bearing and the motor, and the use of the magnetic bearing increases the system loss on one hand and increases the axial length of the system on the other hand. In order to avoid the defects, the five-degree-of-freedom magnetic suspension system is formed by adopting a double-table conical bearingless switched reluctance motor. Due to the special structure of the conical rotor, the motor can generate axial force, so that the use of an axial magnetic bearing is reduced, the axial length of a system is reduced, the power density of the system is improved, and the critical rotating speed of the rotor is also improved. Meanwhile, the switched reluctance motor has simple and firm structure, high reliability and strong fault-tolerant capability, and the scheme of the five-degree-of-freedom magnetic suspension system is suitable for the application occasions of high-speed motors in the field of aviation.
In the published control scheme suitable for the five-degree-of-freedom magnetic suspension system, the current component of each motor not only controls the torque, but also controls the axial force, and certain coupling exists between the torque and the axial force, so that the mutual influence of the torque and the axial force control is large, and the difficulty of system control is increased. The published control algorithm with weak torque and axial force coupling has the defects of poor control real-time performance, complex calculation and the like. The method finds an algorithm which realizes the decoupling of the torque and the suspension force to a certain extent, has strong real-time performance, better control effect and simple calculation and is easy to realize, and is the target of system control.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the axial force single machine control method is suitable for a five-degree-of-freedom magnetic suspension system, torque and suspension force decoupling is achieved, five-degree-of-freedom motion of a rotor is achieved, the axial length of the system is shortened, the critical rotating speed of the rotor is improved, and the power density of the system is improved.
The invention adopts the following technical scheme for solving the technical problems:
an axial force single machine control method suitable for a five-degree-of-freedom magnetic suspension system comprises the following steps:
step 3, detecting by the eddy current sensor to obtain the actual radial displacement of each motor in two radial directions, namely the actual radial displacement α of the No. 1 motor1、β1Actual radial displacement α for motor # 22、β2Respectively subtracting the given radial displacements of No. 1 and No. 2 motors from the corresponding actual radial displacements, and obtaining the given radial force F by the difference value through a PID regulatorα1 *、Fβ1 *、Fα2 *、Fβ2 *；
Step 4, detecting by the photoelectric sensorWhen the actual rotating speed of the rotor is reached, the given rotating speed is differed from the actual rotating speed, and the given torque current i of the system is obtained through a PI regulatorT；
Step 5, detecting by an eddy current sensor to obtain the actual axial displacement of the system, subtracting the given axial displacement from the actual axial displacement, and obtaining the given axial force F of the system through a PID regulatorzrefAccording to a given torque current iTAnd axial force component F generated by radial force currents of two motorszs1、Fzs2And calculating to obtain the axial force current delta i of the systemz；
Step 6, setting the radial force Fα1 *、Fβ1 *、Fα2 *、Fβ2 *Given a torque current iTAxial force current Δ izCalculating the actual position angle of the rotor to obtain the radial force current of the conducting phase, and calculating to obtain a given value of the winding current according to the equivalent decomposition in the step 2;
and 7, according to the obtained given value of the winding current, adopting a current hysteresis control method to enable the actual current of the winding to track the given value in real time, thereby generating the torque and the suspension force required by the rotation and suspension of the system and realizing the closed-loop control of the rotation speed, the radial displacement and the axial displacement.
As a preferred embodiment of the present invention, the equivalent decomposition of the conducting phase current in step 2 is specifically performed as follows, taking the conduction of the AB phase as an example:
ia1 1#＝iT+i1t1
ia2 1#＝iT-i1t1
ib1 1#＝iT+i1t2
ib2 1#＝iT-i1t2
ia1 2#＝iT+i2t1
ia2 2#＝iT-i2t1
ib1 2#＝iT+Δiz+i2t2
ib2 2#＝iT+Δiz-i2t2
wherein ia1 1#、ia2 1#Representing the A-phase two-winding current, i, of motor No. 1b1 1#、ib2 1#Representing the B-phase two-winding current, i, of motor No. 1a1 2#、ia2 2#Representing the A-phase two-winding current, i, of motor No. 2b1 2#、ib2 2#Representing the B-phase two-winding current, i, of motor No. 2TRepresents No. 1 and No. 2 motor torque current, delta izRepresenting the axial force current in the No. 2 motor suspension phase winding current, i1t1、i1t2Respectively represent the 1 st and 2 nd radial force currents i of No. 1 motor2t1、i2t2Respectively represent the 1 st and 2 nd radial force currents of the No. 2 motor.
As a preferable scheme of the invention, the axial force current Delta i of the system in the step 5zThe calculation formula is as follows:
Fzs1＝M3i1t1 2+M4i1t2 2+M5i1t1i1t2
Fzs2＝M3i2t1 2+M4i2t2 2+M5i2t1i2t2
wherein iTGiven a torque current, F, for the systemzs1、Fzs2Axial force component, F, generated by radial force currents of No. 1 and No. 2 motors respectivelyzrefGiving the system an axial force, M2、M3、M4、M5Are all axial force coefficients, i1t1、i1t2Respectively represent the 1 st and 2 nd radial force currents i of No. 1 motor2t1、i2t2Respectively represent the 1 st and 2 nd radial force currents of the No. 2 motor.
As a preferable scheme of the present invention, the on-phase radial force current in step 6 is calculated by the following formula:
wherein i1t1、i1t2Respectively represent the 1 st and 2 nd radial force currents i of No. 1 motor2t1、i2t2Respectively represents the 1 st and 2 nd radial force currents i of No. 2 motorTGiven the torque current, Δ i, for the systemzFor system axial force current, Fα1 *、Fβ1 *、Fα2 *、Fβ2 *Are all given radial forces, R1、R2、R3、R4Are all radial force coefficients, S1、S2、S3、S4All are radial force coefficients.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the invention adopts a control algorithm of controlling the axial force by a single motor, only the suspension phase winding current of the single motor contains the axial force current, the number of control variables of the axial force of the system is reduced, and the decoupling of the torque and the suspension force is realized to a certain extent.
2. The torque current of the invention is directly output by the PI regulator, the calculation of the axial force current is simpler, and compared with other control algorithms, the calculation amount of the control algorithm provided by the invention is reduced.
Drawings
Fig. 1 is an overall architecture diagram of a five-degree-of-freedom magnetic suspension system of the invention.
Fig. 2 is a schematic diagram of the winding layout of a tapered bearingless switched reluctance motor according to the present invention.
Fig. 3 is a three-phase winding inductance profile of the present invention.
FIG. 4 is a control block diagram of the axial force single machine control method applicable to the five-degree-of-freedom magnetic levitation system.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The control method of the invention takes a conical bearingless switched reluctance motor (6/4 poles) as an embodiment, the outer surface of a rotor of the motor forms a certain cone angle with an axis, and the inner surface of a stator is parallel to the outer surface of the rotor. The winding distribution is as shown in fig. 2, a set of winding is wound on each stator tooth, and the controller of the winding adopts an asymmetric half-bridge power converter. In order to realize five-degree-of-freedom motion of the rotor, the five-degree-of-freedom magnetic suspension system adopts a structure of a double-cone bearingless switched reluctance motor, as shown in figure 1, the motor rotors are coaxial, the large ends of the rotors are opposite, and the axial forces generated by the two motors are opposite in direction and point to the small ends of the respective rotors.
The control method of the five-degree-of-freedom magnetic suspension system is described as follows:
and (3) integrating the coordination control target of the system torque and the suspension force, and conducting each phase for a mechanical period of 60 degrees in a two-phase conduction mode. The winding in the inductance rising area can generate positive torque; the winding in the flat top area of the inductor does not generate torque, but the inductor is large and can provide enough levitation force. Based on the characteristics, the windings in the inductance rising area and the inductance upper flat top area are conducted, the winding current of the No. 1 motor is composed of torque current and radial force current, the winding current of the No. 2 motor rising area is composed of torque current and radial force current, and the winding current of the upper flat top area is composed of torque current, axial force current and radial force current. The torque current controls the system torque, the radial force current controls the radial force, and the axial force current controls the system axial force, so that the coordinated control of the system torque, the radial force and the axial force is realized.
(1) Fig. 3 is a schematic diagram of inductance distribution of three-phase windings of a tapered bearingless switched reluctance motor, wherein the abscissa is a rotor rotation angle position theta, taking a phase a as an example, in an interval theta ∈ [ -37.5 °, -7.5 ° ], an inductance curve of the phase a is in a rising region, a part of an inductance curve of the phase B is in an upper flat top region, the phase a is selected to be conducted to provide torque and levitation force, and the phase B is selected to be conducted to provide levitation force.
(2) Taking AB phase conduction as an example, conducting phase current of the double-platform tapered bearingless switched reluctance motor is equivalently decomposed, and the torque of a five-degree-of-freedom tapered bearingless switched reluctance motor system can pass through torque current iTCan be adjusted, and the axial force can be adjusted through the axial force current delta i of the No. 2 conical bearingless switched reluctance motorzCan be adjusted, the radial suspension force can be adjusted by a radial force current i1t1、i1t2、i2t1、i2t2To adjust. With only one motor having a phase current of Δ iz。
ia1 1#＝iT+i1t1
ia2 1#＝iT-i1t1
ib1 1#＝iT+i1t2
ib2 1#＝iT-i1t2
ia1 2#＝iT+i2t1
ia2 2#＝iT-i2t1
ib1 2#＝iT+Δiz+i2t2
ib2 2#＝iT+Δiz-i2t2
(3) FIG. 4 is a control block diagram of a coordinated control method of torque and axial force of a five-degree-of-freedom magnetic suspension system composed of a double-stage tapered bearingless switched reluctance motor, wherein α1*、β1And α1、β1Representing the given and actual radial displacements, α, respectively, of a # 1 tapered bearingless switched reluctance machine2*、β2And α2、β2Respectively representing the given and actual radial displacements of the No. 2 conical bearingless switched reluctance motor, the given displacement is differenced with the actual radial displacement of the rotor detected by the eddy current sensor, and the difference value is obtained by a PID regulator to obtain the given radial force Fα1 *、Fβ1 *、Fα2*、Fβ2 *。
(4) System torque T ═ T1+T2When the loads of radial force and axial force are both small, the method comprises
T≈2(N1+N2)iT 2
Wherein, T1、T2Torque of 1# and 2# motors, N1、N2The given rotation speed n of the system is different from the actual rotation speed n of the rotor detected by the photoelectric sensor, and the difference is output to obtain the given torque current i of the system through a PI regulatorT。
(5) In fig. 4, the difference between the given axial displacement z of the system and the actual axial displacement z detected by the eddy current sensor is obtained, and then the given axial force F of the system is obtained through the PID regulatorzref. System axial force F is defined according to the direction of the axial force shown in FIG. 1zref＝|F1z|-|F2z|＝F2z-F1zThe substitution of the winding current is calculated by
Fzref＝M2Δiz 2+2M2iTΔiz+Fzs2-Fzs1
Wherein, F1zGenerating an axial force for Motor No. 1, F2zGenerating axial force for Motor # 2, M2Is the coefficient of axial suspension force, Fzs1Axial force component, F, generated for radial force current of the electric machine 1#zs2The axial force component generated for the radial force current of motor # 2.
The axial force current component of the No. 2 motor can be calculated by the above formula,
(6) given value F by radial forceα1 *、Fβ1 *、Fα2 *、Fβ2 *Torque current iTAxial force current Δ izCalculating the current value of the radial force of the conducting phase according to the actual position angle theta of the rotor, and calculating the given value i of the winding current according to the current equivalent rule in the step (2)a1 1#、ia2 1#、ib1 1#、ib2 1#、ia1 2#、ia2 2#、ib1 2#、ib2 2#。
Wherein R, S is the radial force coefficient.
(7) And finally, obtaining given values of currents of two motor windings in the five-degree-of-freedom magnetic suspension system according to the current equivalent rule in the step (2), and enabling the actual currents of the windings to track the given values in real time by adopting a current hysteresis control method, so that torque and suspension force required by rotation and suspension of the system are generated, and finally closed-loop control of the rotation speed, the radial displacement and the axial displacement is realized.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.
Claims (4)
1. An axial force single machine control method suitable for a five-degree-of-freedom magnetic suspension system is characterized by comprising the following steps of:
step 1, a five-degree-of-freedom magnetic suspension system comprises two conical bearingless switched reluctance motors, a two-phase three-state conduction mode is adopted for the motors, a conduction phase is selected according to an inductance curve of each phase of the motor, a phase winding of which the inductance curve is located in a rising area is selected to be conducted, torque and suspension force are provided, and a phase winding of which the inductance curve is located in an upper flat top area is selected to be conducted, so that suspension force is provided;
step 2, conducting equivalent decomposition is conducted on conducting phase currents, winding currents of an inductance curve in an upper flat top area in a conducting section of one motor are decomposed into torque currents, axial force currents and radial force currents, and the remaining phase winding currents are decomposed into torque currents and radial force currents;
step 3, detecting by the eddy current sensor to obtain the actual radial displacement of each motor in two radial directions, namely the actual radial displacement α of the No. 1 motor1、β1Actual radial displacement α for motor # 22、β2Respectively subtracting the given radial displacements of No. 1 and No. 2 motors from the corresponding actual radial displacements, and obtaining the given radial force F by the difference value through a PID regulatorα1 *、Fβ1 *、Fα2 *、Fβ2 *；
Step 4, detecting by a photoelectric sensor to obtain the actual rotating speed of the rotor, subtracting the given rotating speed from the actual rotating speed, and obtaining the given torque current i of the system through a PI regulatorT；
Step 5, detecting by an eddy current sensor to obtain the actual axial displacement of the system, subtracting the given axial displacement from the actual axial displacement, and obtaining the given axial force F of the system through a PID regulatorzrefAccording to a given torque current iTAnd axial force component F generated by radial force currents of two motorszs1、Fzs2And calculating to obtain the axial force current delta i of the systemz；
Step 6, setting the radial force Fα1 *、Fβ1 *、Fα2 *、Fβ2 *Given a torque current iTAxial force current Δ izCalculating the actual position angle of the rotor to obtain the radial force current of the conducting phase, and calculating to obtain a given value of the winding current according to the equivalent decomposition in the step 2;
and 7, according to the obtained given value of the winding current, adopting a current hysteresis control method to enable the actual current of the winding to track the given value in real time, thereby generating the torque and the suspension force required by the rotation and suspension of the system and realizing the closed-loop control of the rotation speed, the radial displacement and the axial displacement.
2. The axial force single machine control method suitable for the five-degree-of-freedom magnetic levitation system as claimed in claim 1, wherein the equivalent decomposition of the conducting phase current in step 2 is performed, taking the conducting phase AB as an example, and specifically as follows:
ia1 1#＝iT+i1t1
ia2 1#＝iT-i1t1
ib1 1#＝iT+i1t2
ib2 1#＝iT-i1t2
ia1 2#＝iT+i2t1
ia2 2#＝iT-i2t1
ib1 2#＝iT+Δiz+i2t2
ib2 2#＝iT+Δiz-i2t2
wherein ia1 1#、ia2 1#Representing the A-phase two-winding current, i, of motor No. 1b1 1#、ib2 1#Representing the B-phase two-winding current, i, of motor No. 1a1 2#、ia2 2#Showing the two winding currents of phase a of motor No. 2,ib1 2#、ib2 2#representing the B-phase two-winding current, i, of motor No. 2TRepresents No. 1 and No. 2 motor torque current, delta izRepresenting the axial force current in the No. 2 motor suspension phase winding current, i1t1、i1t2Respectively represent the 1 st and 2 nd radial force currents i of No. 1 motor2t1、i2t2Respectively represent the 1 st and 2 nd radial force currents of the No. 2 motor.
3. The method for controlling the axial force single machine applicable to the five-degree-of-freedom magnetic levitation system as claimed in claim 1, wherein the axial force current Δ i of the system in step 5 iszThe calculation formula is as follows:
Fzs1＝M3i1t1 2+M4i1t2 2+M5i1t1i1t2
Fzs2＝M3i2t1 2+M4i2t2 2+M5i2t1i2t2
wherein iTGiven a torque current, F, for the systemzs1、Fzs2Axial force component, F, generated by radial force currents of No. 1 and No. 2 motors respectivelyzrefGiving the system an axial force, M2、M3、M4、M5Are all axial force coefficients, i1t1、i1t2Respectively represent the 1 st and 2 nd radial force currents i of No. 1 motor2t1、i2t2Respectively represent the 1 st and 2 nd radial force currents of the No. 2 motor.
4. The axial force single machine control method suitable for the five-degree-of-freedom magnetic levitation system as claimed in claim 1, wherein the conducting phase radial force current in step 6 is calculated by the following formula:
wherein i1t1、i1t2Respectively represent the 1 st and 2 nd radial force currents i of No. 1 motor2t1、i2t2Respectively represents the 1 st and 2 nd radial force currents i of No. 2 motorTGiven the torque current, Δ i, for the systemzFor system axial force current, Fα1 *、Fβ1 *、Fα2 *、Fβ2 *Are all given radial forces, R1、R2、R3、R4Are all radial force coefficients, S1、S2、S3、S4All are radial force coefficients.
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