CN109861477A - Permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor and its control system - Google Patents
Permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor and its control system Download PDFInfo
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Abstract
Permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor and its control system, the synchronous motor are mainly made of outer rotor (1), internal rotor (2) and stator (3)；Stator (3) is arranged between outer rotor (1) and internal rotor (2)；This method obtains entire rotor-position by estimation reluctance rotor position, 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 birotor low speed high torque synchronous motor and its control systems.Belong to motor
Design 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 of redundancy
Mechanism 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 a kind of permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor and its control system,
Poor, operational efficiency that there are system reliabilities its object is to solving the deceleration transmission link in conventional low big torque transmission equipment
The problems such as low, at high cost.The present invention is designed using dual-rotor structure simultaneously, and torque density can be improved, and reduces motor cost.
Technical solution: the invention adopts the following technical scheme:
Permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor, it is characterised in that: the synchronous motor is mainly by outer rotor
(1), internal rotor (2) and stator (3) are constituted；Stator (3) is arranged between outer rotor (1) and internal rotor (2)；
Internal rotor (2) includes magnetism-isolating loop (7) and magnetic barrier formula reluctance rotor structure (6), and magnetic barrier formula reluctance rotor structure (6) is
By magnetic layer (6-1) and non-magnetic layer (6-2) spaced structure constituted, each magnetic barrier formula reluctance rotor structure (6) passes through swallow
Stern notch is fixed on magnetism-isolating loop (7) lateral wall, and magnetic hinders formula reluctance rotor structure (6) and is arranged between magnetism-isolating loop (7) and stator (3)；
Permanent magnet (4) are provided on the inside of outer rotor (1)；
The inner and outer surfaces of stator (3) are uniformly slotted, and it is opposite that a set of three are respectively embedded in the inner and outer surfaces slot of stator (3)
Claiming winding, (this is that winding in all slots is integrally referred to as a set of three-phase symmetric winding, actually 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, formed the motor it is total calmly
Sub- winding.
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 hinder formula reluctance rotor structure (6) by magnetic layer (6-1) with it is non-
Magnetic layer (6-2) alternates composition, is connected between each magnetic layer (6-1) by dowel (6-3), two layers adjacent of magnetic layer
Non-magnetic layer (6-2) is formed between (6-1).
Dowel (6-3) if width be just met for the condition of mechanical strength.
Magnetic layer (6-1) is the structure gradually increased by centre to two sides width.(that is width is from inside to outside gradually
Increase, as shown in figure 3, the width of innermost layer is narrow, then innermost layer outer layer secondary internal layer width is wider than innermost layer, it is then, secondary interior
The width of internal layer again of layer periphery is wider than secondary internal layer, and successively progressive, the effect of this structure is in specific embodiment combination Fig. 3
Be 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 successively
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
Amount, preferably limits magnetic flux path, reduces the harmonic content in air-gap field, improve the sine in motor gas-gap magnetic field
Property, torque pulsation is reduced, the performance of motor is improved.)
Every pole permanent magnet (4) on the inside of outer rotor (1) 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 outer rotor
(1) radial direction angle is gradually reduced, and (intermediate vertical arrow direction is the radial direction of outer rotor as shown in Figure 4；Permanent magnet
(4) Surface Mount is on outer rotor (1) inner surface.
To cooperate inner and outer rotors preferably with stator, the outer surface of stator (3) uses score slot structure, stator (3)
Inner surface uses Distributed Winding structure.
Using cup configuration, (the mechanical structure shape of connection outer rotor commonly uses cup configuration life such as cup to outer rotor (1)
Name) it is connected with bearing, inner and outer rotors are coaxially connected.(outer rotor (1) is connect together with internal rotor with the bearing of output)
Applied to above-mentioned permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor and its position-sensor-free of control system
Control strategy, it is characterised in that:
Hindering formula reluctance rotor structure (6) position by estimation magnetic, (entire rotor here refers to outer to obtain entire rotor
Rotor (1) and internal rotor (2)) position, and then realize position Sensorless Control.First by rotor-position estimating module (15)
(rotor-position estimating module is realized in the controller, not in motor) obtains rotor-position estimated value and revolving speed estimation
Value, rotor-position estimated value and revolving speed estimated value are compared with rotor-position given value and rotary speed setting value respectively, obtained
Rotor position error value and speed error value, rotor position error value and speed error value pass through respectively position control (8) and
Speed regulator (9) obtains rotary speed setting value and torque reference value, at the same by stator current space vector computing module (16) and
Torque calculation module (17) obtains the reality output torque of motor, and the motor reality output torque being calculated is input to and is turned
Square adjuster (10) is believed the output signal of torque controller (10) as the input of three-phase current reference value computing module (11)
Number, to obtain the given value of threephase stator electric current, controlled current flow PWM inverter is obtained finally by current regulator (12)
(13) control signal controls novel synchronous motor of the invention.
Advantageous effect:
It is that magnetic layer is led with non-on the outside of novel permanent magnetic of the present invention/magnetic resistance birotor low speed high torque synchronous motor internal rotor
The alternate U-shaped magnetoresistive structures of magnetosphere, the outer rotor inside incorgruous permanent magnet to magnetize of Surface Mount piecemeal.Motor uses single stator structure,
Stator inner and outer surfaces are uniformly slotted, and respectively have a set of three-phase windings in inside and outside stator slot, and double winding uses serial or parallel connection side
Formula is coupled, and forms total stator winding of this kind of motor.Stator outer surface use score slot structure, stator inner surface using distribution around
Group structure.Outer rotor is connected using cup configuration with bearing, and inner and outer rotors are coaxially connected.
Novel permanent magnetic of the present invention/magnetic resistance birotor low speed high torque synchronous motor uses vector control without position sensor side
Method is obtained entire rotor-position by estimation reluctance rotor position, and then realizes position Sensorless Control.By rotor-position
Estimating module obtains 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 respectively with speed error value and speed regulator obtains rotary speed setting value and torque reference value, while by fixed
Electron current space vector computing module and torque calculation module obtain the reality output torque of motor, by the motor being calculated reality
Border output torque is input to torque controller, using the output signal of torque controller as three-phase current reference value computing module
Input signal obtains controlled current flow PWM inverter finally by current regulator to obtain the given value of threephase stator electric current
Control signal control novel synchronous motor of the invention.
This kind of motor uses double rotor single stator structure, makes full use of the biggish inner cavity of low-speed high-torque direct driving synchronous motor
Space, substantially increases the torque density and stock utilization of motor, and can significantly reduce motor under Same Efficieney
Volume and weight.Under the premise of not considering radiating condition variation, the torque density and routine Dan Ding of double rotor single stator motor
Rotor electric machine, which is compared, can be improved 40% or so；In other words under equal-wattage, motor volume can reduce 30% or so.The present invention is new
Not only structure is reliable, at low cost, high-efficient for type permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor, but also has torque
Outstanding advantages of density and mechanical integrity are high, electric machine structure stock utilization is high.
Novel dual-rotor motor of the invention makes while having traditional permanent magnetism auxiliary reluctance type rotor motor advantage
Permanent magnetism it is relatively independent with magnetoresistive structures, solve permanent magnetism auxiliary reluctance type rotor design of electrical motor parameter it is more, optimize difficulty greatly
Problem, design method are more flexible；Motor is greatly reduced to permanent magnet demand and magnetic property requirements, 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 only
It is vertical, the flexibility of control mode is greatly strengthened, torque density, efficiency, weak-magnetic speed-regulating ability and the inverter of motor are improved
Utilization rate.
Magnetic layer and non-magnetic layer on reluctance rotor of the present invention use U-shaped structure, equivalent to increase in motor quadrature axis
Air gap be conducive to the reluctance torque for improving motor to improve quadrature-axis reluctance；Each magnetic barrier structure is pressed using the thickness of magnetic layer
According to the structure being gradually reduced by centre to two sides, magnetic barrier structure is improved to the modulating action in magnetic field, inner stator is improved and turns
The sine of air-gap field, reduces harmonic content between son；Permanent magnet on outer rotor uses the incorgruous mode that magnetizes of piecemeal, no
Permanent magnetic field at the air gap can only more concentrated, motor gas-gap magnetic flux distribution more levels off to sine, harmonic wave
Content is few, and flux density distribution is more uniform, can also further enhance rotor saliency, and then improves output electromagnetic torque
Ability and permanent magnet utilization rate.Match on the outside of stator with outer rotor durface mounted permanent magnet body, it is lower, extremely right to solve motor speed
Number is more and the limited contradiction of slot number, stator outside use score slot structure, while utilizing the Equivalent Distributed of fractional-slot winding
Effect and to the weakening effect of slot ripples back-emf, to achieve the effect that improve potential waveform and improve winding utilization.Stator
Inside matches with internal rotor magnetoresistive structures, and in order to reduce motor harmonic content, improve reluctance torque, it is sinusoidal to improve back-emf
Property, stator inside 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 estimation reluctance rotor position, and then realizes position Sensorless Control.It is mentioned
Non-position sensor vector control method out is not necessarily to coordinate transform, and structure is simple, overcomes the complexity of conventional vector control
With 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 birotor low speed high torque synchronous motor structure schematic diagram；
Fig. 2 is permanent magnetism of the present invention/magnetic resistance birotor low speed high torque synchronous motor inner rotor core schematic diagram；
Fig. 3 is that single magnetic hinders schematic diagram；6. magnetic hinders formula reluctance rotor structure；6-1. magnetic layer；The non-magnetic layer of 6-2.；6-3.
Dowel；
Fig. 4 is the incorgruous permanent magnet schematic diagram of arranging that magnetizes of piecemeal；
Fig. 5 is that permanent magnetism of the present invention/magnetic resistance birotor low speed high torque synchronous motor vector control without position sensor is former
Manage block diagram.
Description of symbols:
1. outer rotor；2. internal rotor；3. stator；4. permanent magnet；5. stator slot；6. magnetic hinders formula reluctance rotor structure；6-1.
Magnetic layer；The non-magnetic layer of 6-2.；6-3. dowel；7. magnetism-isolating loop；8. position control；9. speed regulator；10. torque tune
Save device；11. three-phase current reference value computing module；12. current regulator；13. controlled current flow PWM inverter；14. three phase rectifier
Device；15. rotor-position estimating module；16. stator current space vector computing module；17. torque calculation module.
Specific embodiment
Permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor, it is characterised in that: the synchronous motor is mainly by outer rotor
(1), internal rotor (2) and stator (3) are constituted；Stator (3) is arranged between outer rotor (1) and internal rotor (2)；
Internal rotor (2) includes magnetism-isolating loop (7) (2-1) and magnetic barrier formula reluctance rotor structure (6), and magnetic hinders formula reluctance rotor structure
(6) for by magnetic layer (6-1) and non-magnetic layer (6-2) alternate structure constituted, each magnetic barrier formula reluctance rotor structure (6) passes through
Dovetail groove is fixed on magnetism-isolating loop (7) lateral wall, magnetic hinder formula reluctance rotor structure (6) setting magnetism-isolating loop (7) and stator (3) it
Between；
Permanent magnet (4) are provided on the inside of outer rotor (1)；
The inner and outer surfaces of stator (3) are uniformly slotted, and it is opposite that a set of three are respectively embedded in the inner and outer surfaces slot of stator (3)
Claim winding, the winding in inside and outside stator slot is coupled using serial or parallel connection mode, forms 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；Magnetic barrier
Formula reluctance rotor structure (6) is alternateed with non-magnetic layer (6-2) by magnetic layer (6-1) and is formed, and is led between each magnetic layer (6-1)
It crosses dowel (6-3) to be connected, forms non-magnetic layer (6-2) between adjacent two layers of magnetic layer (6-1).
Dowel (6-3) if width be just met for the condition of mechanical strength.
Magnetic layer (6-1) is the structure gradually increased by centre to two sides width.
Permanent magnet (4) on the inside of outer rotor (1) is the incorgruous permanent magnet to magnetize of piecemeal, i.e., is divided into every piece of permanent magnet multiple
Region, and the magnetizing direction in each region is gradually reduced from both sides to centre and vertical direction angle, it is (perpendicular among as shown in Figure 4
It is the radial direction of outer rotor to arrow direction；Permanent magnet (4) Surface Mount is on outer rotor (1) inner surface.
To cooperate inner and outer rotors preferably with stator, the outer surface of stator (3) uses score slot structure, stator (3)
Inner surface uses Distributed Winding structure.
Outer rotor (1) is connected using cup configuration with bearing, and inner and outer rotors are coaxially connected.
The invention proposes a kind of permanent magnetism/magnetic resistance birotor low speed high torque synchronous motors, as shown in Figure 1, its feature exists
In: the motor is made of outer rotor 1, internal rotor 2, stator 3.3 inner and outer surfaces of stator are uniformly slotted, 3 inner and outer surfaces slot of stator
On respectively embed a set of three-phase windings, and double winding is coupled using serial or parallel connection mode, forms total stator winding of the motor.
Outer rotor 1 matches with durface mounted permanent magnet body 4 on the outside of stator.To solve, motor speed is lower, number of pole-pairs is more and slot number has
The contradiction of limit, stator outer surface use score slot structure, while using the effect of the Equivalent Distributed of fractional-slot winding and to slot ripples
The weakening effect of back-emf, to achieve the effect that improve potential waveform and improve winding utilization.Magnetic on the inside of internal rotor 2 and stator
Resistance structure matches, and in order to reduce motor harmonic content, improve reluctance torque, improves back-emf sine, stator inner surface is adopted
With Distributed Winding structure.
Fig. 2 is permanent magnetism of the present invention/magnetic resistance birotor low speed high torque synchronous motor inner rotor core schematic diagram, internal rotor
Hinder structure for U-shaped magnetic magnetic layer 6-1 alternate with non-magnetic layer 6-2, each independent magnetic barrier is fixed by dovetail groove.Birotor electricity
Machine outer rotor uses permanent-magnet structure, and internal rotor uses magnetoresistive structures, so that motor is having permanent magnetism auxiliary reluctance type rotor motor
While advantage, and make permanent magnetism relatively independent with magnetoresistive structures, solves permanent magnetism auxiliary reluctance type rotor design of electrical motor 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 6-3, forms unified entirety.In the condition for meeting mechanical strength
Under, the narrower dowel 6-3 the better, this will preferably limit magnetic flux and circulate along defined path, to improve the energy of motor
Transfer efficiency.In addition to this, each magnetic layer width in magnetic barrier differs, in the way of being sequentially reduced by two sides to interior thickness
Combination is more reasonably assigned with magnetic flux, preferably limits so that the magnetic flux that magnetic barrier two sides magnetic layer flows through is more and intermediate few
Magnetic flux path reduces the harmonic content in air-gap field, improves the sine in motor gas-gap magnetic field, reduces torque arteries and veins
It is dynamic, 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 position-sensor-free vector controls of permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor
Method processed as shown in figure 5, hindering formula reluctance rotor structure (6) position by estimation magnetic to obtain entire rotor-position, and then is realized
Position Sensorless Control.Non-position sensor vector control method of the invention 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.
The output torque of novel synchronous motor of the invention is inner and outer rotors to be superimposed with stator 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 reluctance rotor
Position obtains entire rotor-position, and then realizes position Sensorless Control.The stator three-phase electricity flow valuve input that will test
To rotor-position estimating module 15, rotor-position estimated value and revolving speed estimated value are obtained, rotor is subtracted by rotor-position given value
Position estimation value obtains rotor position error value, and rotor position error value is input to position control 8, obtains rotational speed setup
Value, subtracts revolving speed estimated value by rotary speed setting value, obtains speed error value, speed error value is input to speed regulator 9, is obtained
To torque reference value, while the stator three-phase electricity flow valuve that will test is input to stator current space vector computing module 16 and obtains
The amplitude and space electrical angle of stator current space vector are turned by the reality output that motor is calculated in torque calculation module 17
Square, subtracts reality output torque by torque reference value, obtains motor torque error amount, and motor torque error amount is input to torque
Adjuster 10 obtains stator current space vector given value, by stator current space vector given value and three-phase current initial phase
Position is input to three-phase current given value computing module 11, so that the given value of threephase stator electric current is obtained, finally by threephase stator
Given value of current value subtracts stator three-phase current detection value, obtains threephase stator current error value, by threephase stator current error value
It is input to current regulator 12 and obtains the control signal of controlled current flow PWM inverter 13 to control novel synchronous electricity of the invention
Machine.Non-position sensor vector control method of the invention is not necessarily to coordinate transform, and structure is simple, overcomes conventional vector control
Complexity and the problem strong to parameter of electric machine dependence.
Claims (8)
1. permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor, it is characterised in that: the synchronous motor mainly by outer rotor (1),
Internal rotor (2) and stator (3) are constituted；Stator (3) is arranged between outer rotor (1) and internal rotor (2)；
Internal rotor (2) includes magnetism-isolating loop (7) and magnetic barrier formula reluctance rotor structure (6), and it is by leading that magnetic, which hinders formula reluctance rotor structure (6),
The structure of magnetosphere (6-1) and non-magnetic layer (6-2) spaced composition, each magnetic barrier formula reluctance rotor structure (6) pass through dovetail groove
It is fixed on magnetism-isolating loop (7) lateral wall, magnetic hinders formula reluctance rotor structure (6) and is arranged between magnetism-isolating loop (7) and stator (3)；
Permanent magnet (4) are provided on the inside of outer rotor (1)；
The inner and outer surfaces of stator (3) are uniformly slotted, respectively embedded in the inner and outer surfaces slot of stator (3) a set of three-phase symmetrical around
Group, the winding in inside and outside stator slot are coupled using serial or parallel connection mode, form total stator winding of the motor.
2. permanent magnetism according to claim 1/magnetic resistance birotor low speed high torque synchronous motor, it is characterised in that: magnetic hinders formula
Magnetic layer (6-1) and non-magnetic layer (6-2) in reluctance rotor structure (6) are all made of U-shaped structure；Magnetic hinders formula reluctance rotor structure
(6) it is alternateed and is formed with non-magnetic layer (6-2) by magnetic layer (6-1), pass through dowel (6-3) between each magnetic layer (6-1)
It is connected, forms non-magnetic layer (6-2) between adjacent two layers of magnetic layer (6-1).
3. permanent magnetism according to claim 2/magnetic resistance birotor low speed high torque synchronous motor, it is characterised in that: dowel
(6-3) if width be just met for the condition of mechanical strength.
4. permanent magnetism according to claim 1/magnetic resistance birotor low speed high torque synchronous motor, it is characterised in that: magnetic layer
(6-1) is the structure gradually increased by centre to two sides width.
5. permanent magnetism according to claim 1/magnetic resistance birotor low speed high torque synchronous motor, it is characterised in that: outer rotor
(1) every pole permanent magnet (4) on the inside of uses the incorgruous mode that magnetizes of muti-piece piecemeal, i.e., every pole permanent magnet is divided into muti-piece, and every piece
For a region, multiple regions can be formed, and the magnetizing direction in each region is from both sides to the radial direction of centre and outer rotor (1)
Angle is gradually reduced；Permanent magnet (4) Surface Mount is on outer rotor (1) inner surface.
6. permanent magnetism according to claim 1/magnetic resistance birotor low speed high torque synchronous motor, it is characterised in that: within making
Outer rotor preferably cooperates with stator, and the outer surface of stator (3) uses score slot structure, and the inner surface of stator (3) is using distribution
Winding construction.
7. permanent magnetism according to claim 1/magnetic resistance birotor low speed high torque synchronous motor, it is characterised in that: outer rotor
(1) it is connected using cup configuration with bearing, inner and outer rotors are coaxially connected.
8. being applied to permanent magnetism/magnetic resistance birotor low speed high torque synchronous motor position Sensorless Control described in claim 1
Strategy, it is characterised in that:
Hinder formula reluctance rotor structure (6) position by estimation magnetic to obtain entire rotor-position, and then realizes position-sensor-free
Control.Rotor-position estimated value and revolving speed estimated value are obtained by rotor-position estimating module (15) first, rotor-position is estimated
Value and revolving speed estimated value are compared with rotor-position given value and rotary speed setting value respectively, are obtained rotor position error value and are turned
Fast error amount, rotor position error value and speed error value pass through position control (8) respectively and speed regulator (9) is turned
Fast given value and torque reference value, while being obtained by stator current space vector computing module (16) and torque calculation module (17)
The motor reality output torque being calculated is input to torque controller (10), by torque tune by the reality output torque of motor
Input signal of the output signal of device (10) as three-phase current reference value computing module (11) is saved, to obtain threephase stator electricity
The given value of stream obtains the control signal of controlled current flow PWM inverter (13) finally by current regulator (12) to control this
The novel synchronous motor of invention.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811106704.1A CN109861477B (en) | 2018-09-21 | 2018-09-21 | Permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811106704.1A CN109861477B (en) | 2018-09-21 | 2018-09-21 | Permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor and control system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109861477A true CN109861477A (en) | 2019-06-07 |
| CN109861477B CN109861477B (en) | 2023-12-05 |
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| CN201811106704.1A Active CN109861477B (en) | 2018-09-21 | 2018-09-21 | Permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor and control system thereof |
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