CN112311287A - Suspension force model prediction control system of bearingless and ironless permanent magnet motor - Google Patents

Suspension force model prediction control system of bearingless and ironless permanent magnet motor Download PDF

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CN112311287A
CN112311287A CN202011168475.3A CN202011168475A CN112311287A CN 112311287 A CN112311287 A CN 112311287A CN 202011168475 A CN202011168475 A CN 202011168475A CN 112311287 A CN112311287 A CN 112311287A
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module
winding
flux linkage
suspension
suspension force
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朱熀秋
张子辰
刁小燕
潘伟
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Jiangsu University
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Jiangsu University
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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
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Abstract

The invention discloses a suspension force model prediction control system of a bearingless ironless permanent magnet motor, wherein a suspension force control part comprises two PID controllers, a polar coordinate transformation module, a suspension force calculation module, a first coordinate transformation module, an objective function optimization module, a two-level three-phase inverter, a second coordinate transformation module, a suspension winding flux linkage prediction module, a CLARK transformation module, a flux linkage observer module and a vector synthesis module which are sequentially connected in series; the rotating speed control part comprises a photoelectric encoder, an integrator, a third PID controller, an air gap magnetic field orientation control module, an anti-CLARK conversion module and a current regulation type inverter which are sequentially connected in series, the suspension force winding flux linkage corresponding to each switching state in the next sampling period is predicted by using the initially observed torque winding flux linkage, the voltage vector of the optimal switching state is selected by using a value function and is input into the next control period, and the control and optimization of the suspension force are carried out simultaneously.

Description

Suspension force model prediction control system of bearingless and ironless permanent magnet motor
Technical Field
The invention belongs to the field of bearingless motor control, and relates to a multivariable, nonlinear and strong-coupling direct control technology for suspension force of a bearingless ironless permanent magnet motor.
Background
The bearing-free coreless permanent magnet motor is a novel motor integrating the characteristics of the coreless permanent magnet motor and the magnetic bearing, has the advantages of high efficiency, strong overload capacity, no cogging torque, low rotor loss and the like, has the characteristics of no need of lubrication, no friction, no maintenance and the like of the magnetic bearing, can realize high-speed or ultrahigh-speed operation, and has application prospects in the fields of chemistry and chemical engineering, life science, energy traffic, aerospace and robots. However, the bearingless coreless permanent magnet motor is a multivariable, nonlinear and strongly coupled controlled object, so that the traditional suspension force control algorithm is difficult to meet the requirements of high-precision and high-speed occasions, and the development of the bearingless coreless permanent magnet motor is limited. For example, a single-winding bearingless motor torque and levitation force direct controller disclosed in chinese patent publication No. CN205509912U constructs a direct levitation force controller based on a double closed loop of rotor displacement and levitation force by using ideas and methods of direct torque control of a permanent magnet motor, and directly controls the stator flux linkage and levitation force of the motor by using the stator flux linkage orientation and instantaneous space theory, but because of the delay of sampling and digital calculation, the target voltage vector always lags behind by one sampling period, which causes the pulsation of the flux linkage and levitation force to become large and the control accuracy to be poor. The document of chinese patent publication No. CN110061676A discloses a permanent magnet synchronous motor controller based on a flux linkage observer, which predicts flux linkage, torque and levitation force at the next moment, reduces errors caused by system delay, but because it still uses space vector modulation to synthesize voltage vectors, it needs to perform prediction operation on numerous voltage vectors in the prediction process, and greatly increases the amount of computation.
Disclosure of Invention
The invention aims to solve the problems of poor precision and large computation amount in the suspension force control of a bearingless coreless permanent magnet motor, and provides a novel bearingless coreless permanent magnet motor suspension force model prediction control system, which reduces the extension of control time caused by system sampling and digital computation delay and improves the suspension force control precision. And meanwhile, the optimal voltage vector is selected to drive the inverter by adopting cost function calculation and optimization, so that the system prediction calculation amount is reduced, and the practicability of the prediction control system is improved.
The technical scheme adopted by the suspension force model prediction control system of the bearingless ironless permanent magnet motor is as follows: it is composed of a suspension force control part and a rotation speed control part, wherein the suspension force control part comprises two PID controllersThe system comprises a system, a polar coordinate transformation module, a suspension force calculation module, a first coordinate transformation module, an objective function optimization module, a two-level three-phase inverter, a second coordinate transformation module, a suspension winding flux linkage prediction module, a CLARK transformation module, a flux linkage observer module and a vector synthesis module which are sequentially connected in series, wherein three-phase current i of a torque winding of the bearingless coreless permanent magnet motor is input by the CLARK transformation module1A、i1B、i1CThe output end of the vector synthesis module is connected with the input end of the suspension force calculation module, and the input end of the polar coordinate transformation module is respectively connected with two PID controllers; actual displacement x, y and given displacement signal x of bearingless coreless permanent magnet motor rotor*、y*The displacement difference values obtained by difference are respectively input into two corresponding PID controllers, and the radial suspension force components F respectively output by the two PID controllersx、FyThe two are jointly input into a polar coordinate transformation module, and the polar coordinate transformation module outputs a radial suspension force instruction value
Figure BDA00027465111300000210
Inputting the phase and the xi into a suspension force calculation module together; CLARK conversion module output torque winding current component i1sα、i1sβAnd inputting the signal into a flux linkage observer, wherein a torque winding output by the flux linkage observer synthesizes an air gap flux linkage component psi1mα、ψ1mβThe output torque winding input into the vector synthesis module synthesizes an air gap flux linkage psi1mAnd phase eta, torque winding synthetic air gap flux linkage psi1mAnd the phase eta are jointly input into the suspension force calculation module; the suspension force calculation module outputs a k-moment suspension winding flux linkage instruction value
Figure BDA0002746511130000021
And phase
Figure BDA0002746511130000022
Outputting the flux linkage instruction value component of the suspension winding at the moment k after the transformation of the coordinate transformation module
Figure BDA0002746511130000023
And
Figure BDA0002746511130000024
suspension winding three-phase voltage u of bearingless coreless permanent magnet motor2A，u2B，u2CAnd three-phase current i2A，i2B，i2CThe voltage component u of the suspension winding is output through a second coordinate transformation module2d，u2qAnd a levitation winding current component i2d，i2qWill u2d，u2q，i2d，i2qInputting the current signal into a suspension winding flux linkage prediction module, and outputting a predicted value component psi of the suspension winding flux linkage at the moment of k +1 by the suspension winding flux linkage prediction module2sα(k +1) and psi2sβ(k +1) the component of the flux linkage command value of the levitation winding at the time k
Figure BDA0002746511130000025
And
Figure BDA0002746511130000026
respectively corresponding to the predicted value psi of the magnetic flux linkage of the suspension winding2sα(k +1) and psi2sβ(k +1) is differenced to obtain the corresponding flux linkage difference value delta phi2sαAnd delta psi2sβDelta phi of flux linkage2sαAnd delta psi2sβInputting the signal into an objective function optimizing module, and outputting an inverter switch state signal S by the objective function optimizing module2a，S2b，S2c。
The rotating speed control part comprises a photoelectric encoder, an integrator, a third PID controller, an air gap magnetic field orientation control module, an anti-CLARK conversion module and a current regulation type inverter which are sequentially connected in series, and the photoelectric encoder detects the actual rotating speed omega of the rotor of the bearingless ironless permanent magnet motorrAnd inputting the actual rotating speed omega into the suspension winding flux linkage prediction modulerWith given speed signal
Figure BDA0002746511130000027
After the difference is made, the torque T is generated after the modulation of a third PID controllereTorque of TeGiven flux linkage psi with torque magnetic field*Component of current command value of torque winding generated in input air gap magnetic field directional control module
Figure BDA0002746511130000028
Sum and slip ratio omegasTorque winding current command value component
Figure BDA0002746511130000029
Input into an inverse CLARK conversion module, and the slip ratio omegasAnd the actual rotational speed omegarAfter summing, the sum is input into an integrator, the integrator outputs a rotor position angle theta, the rotor position angle theta is respectively input into an anti-CLARK conversion module and the suspension winding flux linkage prediction module, and the anti-CLARK conversion module outputs a torque winding current instruction value component
Figure BDA0002746511130000031
Three-phase current i of output torque winding of current regulation type inverter1A，i1B，i1C。
The invention has the advantages that after the technical scheme is adopted:
1. the suspension force model prediction control system of the bearingless coreless permanent magnet motor adopts the idea of a discrete mathematical model, predicts the suspension force winding flux linkage corresponding to each switch state in the next sampling period by utilizing the initially observed torque winding flux linkage, selects the voltage vector of the optimal switch state by utilizing a value function, and inputs the voltage vector into the next control period to complete the direct control of the suspension force, and the control and optimization of the suspension force are carried out simultaneously, so that the problems of the suspension force pulsation, flux linkage ripple and the like caused by time delay are avoided, and the problems of complicated parameter setting and insufficient dynamic performance in the control process existing in the traditional suspension force vector control of the bearingless motor are solved.
2. On the basis of calculating the suspension force of the bearingless motor, the invention keeps the load torque of the motor unchanged, the size and the phase of a synthetic air gap flux linkage of a torque winding and the included angle between the torque winding flux linkage and a rotor flux linkage unchanged, and can directly control the radial suspension force by controlling the size and the phase of the suspension winding flux linkage, thereby solving the problems of insufficient precision, insufficient real-time property, great influence of motor parameters and the like caused by the indirect control of the traditional suspension force.
Drawings
FIG. 1 is a block diagram of a suspension force model predictive control system for a bearingless ironless permanent magnet machine according to the present invention;
FIG. 2 is a direct suspension control vector diagram of the present invention;
in the figure: 1. a first PID controller; 2. a second PID controller; 3. a polar coordinate transformation module; 4. a suspension force calculation module; 5. a first coordinate transformation module; 6. a vector composition module; 7. a flux linkage observer module; a CLARK transformation module; 9. an objective function optimizing module; 10. a two-level three-phase inverter; 11. a suspension winding flux linkage prediction module; 12. a bearingless ironless permanent magnet machine; 13. a photoelectric encoder; a Y-direction displacement sensor; an X-direction displacement sensor; 16. a third PID controller; 17. air gap magnetic field orientation control; 18. carrying out reverse CLARK transformation; 19. a current regulated inverter; 20. an integrator; 21. a second coordinate transformation module.
Detailed Description
As shown in fig. 1, the present invention is composed of a levitation force control section and a rotational speed control section.
A levitation force control section: the system comprises two PID controllers 1 and 2, a polar coordinate transformation module 3, a levitation force calculation module 4, a first coordinate transformation module 5, an objective function optimization module 9, a two-level three-phase inverter 10, a second coordinate transformation module 21 and a levitation winding flux linkage prediction module 11 which are sequentially connected in series, and further comprises a CLARK transformation module 8, a flux linkage observer module 7 and a vector synthesis module 6 which are sequentially connected in series. Wherein, the CLARK conversion module 8 inputs three-phase current i of a torque winding of a bearingless ironless permanent magnet motor 121A、i1B、i1CThe output end of the vector synthesis module 6 is connected with the input end of the suspension force calculation module 4. The input end of the polar coordinate transformation module 3 is respectively connected with a first PID controller 1 and a second PID controller 2, and the two-level three-phase inverter 10 receives the inverter switch shape output by the objective function optimizing module 9State signal S2a，S2b，S2cAnd the suspension force control of the bearingless coreless permanent magnet motor 12 is completed.
The actual displacement X and Y of the rotor of the bearingless coreless permanent magnet motor 12 are respectively detected by an X-direction displacement sensor 15 and a Y-direction displacement sensor 14, and the detected actual displacement X and Y and a given displacement signal X are respectively detected*、y*Respectively inputting the difference and the displacement difference into a first PID controller 1 and a second PID controller 2 which correspond to each other, and respectively outputting a radial suspension force component F by the first PID controller 1 and the second PID controller 2x、FyComponent of radial levitation force Fx、FyThe radial suspension force instruction values are obtained after the common input into a polar coordinate transformation module 3 and the transformation
Figure BDA0002746511130000047
With phase xi, radial suspension force command value
Figure BDA0002746511130000048
And then the suspension force and the phase xi are input into the suspension force calculation module 4 together.
Meanwhile, the three-phase current i of the torque winding of the bearingless coreless permanent magnet motor 121A、i1B、i1CInput into a CLARK conversion module 8, and is subjected to coordinate conversion to obtain a current component i of the torque winding current in an alpha-beta coordinate system1sα、i1sβComponent of current i1sα、i1sβThe flux linkage observer 7 outputs a flux linkage component psi of a torque winding synthesized air gap flux linkage under an alpha-beta coordinate system1mα、ψ1mβThe flux linkage component psi1mα、ψ1mβInputting the signal into a vector synthesis module 6, and obtaining a torque winding synthetic air gap flux linkage psi through vector synthesis1mAnd phase eta, torque winding synthetic air gap flux linkage psi1mAnd the phase eta are input into the suspension force calculation module 4 together.
The suspension force calculation module 4 is used for inputting a radial suspension force instruction value
Figure BDA0002746511130000049
Air gap flux linkage psi formed by the phase xi and the torque winding1mAnd calculating the phase eta to obtain the magnetic linkage instruction value of the suspension winding at the moment k
Figure BDA0002746511130000041
And phase
Figure BDA0002746511130000042
Magnetic linkage command value of suspension winding at time k
Figure BDA0002746511130000043
And phase
Figure BDA0002746511130000044
Inputting the magnetic flux linkage instruction value into a first coordinate transformation module 5, and obtaining the magnetic flux linkage instruction value component of the k-moment suspension winding magnetic flux linkage instruction value under an alpha-beta coordinate system after coordinate transformation
Figure BDA0002746511130000045
And
Figure BDA0002746511130000046
meanwhile, the three-phase voltage u of the suspension winding of the bearingless coreless permanent magnet motor 122A，u2B，u2CAnd three-phase current i2A，i2B，i2CInputting the voltage into a second coordinate transformation module 21, and obtaining a suspension winding voltage component u of the suspension winding voltage under a d-q coordinate system through modulation2d，u2qAnd a suspension winding current component i of the suspension winding current in a d-q coordinate system2d，i2qWill u2d，u2q，i2d，i2qThe actual rotation speed omega detected by the photoelectric encoder 13 is input into the levitation winding flux linkage prediction module 11, and the rotor position angle theta output by the integrator module 20 in the rotation speed control part is also input into the levitation winding flux linkage prediction module 11rThe predicted value of the levitation winding flux linkage at the moment of k +1 is obtained by the levitation winding flux linkage prediction module 11 under the alpha-beta coordinate systemQuantity psi2sα(k +1) and psi2sβ(k + 1). The k-time suspension winding flux linkage instruction value component output by the first coordinate transformation module 5
Figure BDA0002746511130000051
And
Figure BDA0002746511130000052
the predicted values psi of the levitation winding flux linkage outputted from the levitation winding flux linkage prediction module 11 are respectively associated with the predicted values2sα(k +1) and psi2sβ(k +1) are respectively correspondingly compared one by one to make differences to obtain corresponding flux linkage difference value delta psi2sαAnd delta psi2sβ. Difference value delta psi of magnetic linkage2sαAnd delta psi2sβInputting the voltage vector into the objective function optimizing module 9, and obtaining the optimal voltage vector S by the objective function optimizing module 92a，S2b，S2cI.e. inverter switch state signal S2a，S2b，S2cOptimum voltage vector S2a，S2b，S2cThe suspension force is directly controlled by inputting the suspension force into a two-level three-phase inverter 10 and the bearingless ironless permanent magnet motor 12.
A rotational speed control section: the device comprises a photoelectric encoder 13, an integrator 20, and a third PID controller 16, an air gap magnetic field orientation control module 17, an inverse CLARK conversion module 18 and a current regulation type inverter 19 which are sequentially connected in series. The actual rotating speed omega of the rotor of the bearingless ironless permanent magnet motor 12 is detected by adopting the photoelectric encoder 13rThe actual rotational speed ωrInputting the actual rotation speed omega into the suspension winding flux linkage prediction module 11rWith given speed signal
Figure BDA0002746511130000053
Making a difference, and modulating the difference value of the two by a third PID controller 16 to generate a torque TeWill torque TeGiven flux linkage psi with torque magnetic field*Are input into the air gap magnetic field orientation control module 17 together to generate torque winding current command value component of the torque winding current command value under a d-q coordinate system
Figure BDA0002746511130000054
Sum and slip ratio omegas. Torque winding current command value component
Figure BDA0002746511130000055
Input to the inverse CLARK transformation module 18. Will slip rate omegasAnd the actual rotational speed omegarAfter summing, the summed values are input to an integrator 20, the integrator 20 performs an integral operation on the summed values, outputs a rotor position angle θ, and inputs the rotor position angle θ into the inverse CLARK transformation module 18 and the suspension winding flux linkage prediction module 11, respectively. The anti-CLARK transformation module 18 divides the torque winding current command value
Figure BDA0002746511130000056
And the rotor position angle theta is processed, and the torque winding current instruction value component of the torque winding current instruction value under the three-phase coordinate is obtained after coordinate transformation
Figure BDA0002746511130000057
Torque winding current command value component
Figure BDA0002746511130000058
Is input into a current-regulated inverter 19, and the current-regulated inverter 19 outputs a three-phase current i of a torque winding1A，i1B，i1CAnd controlling the bearingless coreless permanent magnet motor 12 to obtain a rotating speed control part of the motor.
See the direct suspension control vector diagram of fig. 2, where1mαAnd psi1mβIs psi1mThe components in the alpha-beta coordinate system are synthesized into a vector psi1m，ψ1mSynthesizing an air gap flux linkage for the torque winding, wherein the phase of the air gap flux linkage is eta;
Figure BDA0002746511130000059
is the flux linkage command value of the levitation winding at the time k and has the phase of
Figure BDA00027465111300000510
Figure BDA00027465111300000512
Is a radial levitation force command value having a phase of
Figure BDA00027465111300000511
From this, mathematical relationships for calculating the individual parameters can be derived.
Polar coordinate transformation module 3 for input suspension force component FxAnd FyThe radial suspension force instruction value is obtained through calculation
Figure BDA0002746511130000066
And phase ξ thereof:
Figure BDA0002746511130000061
the suspension force calculation module 4 is used for inputting a radial suspension force instruction value
Figure BDA0002746511130000067
And the phase xi and the air gap flux linkage amplitude psi synthesized by the torque winding1mAnd the phase eta is calculated:
Figure BDA0002746511130000062
in the formula, PMAnd PBThe number of pole pairs, mu, of the torque winding and the levitation winding, respectively0For vacuum permeability, r and l are the effective lengths of the outer diameter of the motor rotor and the iron core, respectively, NtAnd NsEffective turns, psi, of torque winding and suspension winding, respectively1mSynthesis of air gap flux linkage psi for torque winding2s *And the magnetic linkage command value of the levitation winding at the moment k.
The vector synthesis module 6 synthesizes an air gap flux linkage component psi on the input torque winding1mαAnd psi1mβCalculating to obtain the composite air gap flux linkage psi of the torque winding1mAnd phase η:
Figure BDA0002746511130000063
Figure BDA0002746511130000064
the levitation winding flux linkage prediction module 11 predicts the levitation winding voltage component u inputted thereto2d，u2qCurrent component i of the levitation winding2d，i2qRotor position angle theta, actual rotational speed omegarPerforming flux linkage prediction operation, wherein the operation process is as follows:
according to the voltage equation of the levitation winding
Figure BDA0002746511130000065
By selecting the suspension winding flux linkage as a state variable, a suspension winding flux linkage prediction model psi can be obtained2s,dq(k+1)＝(I-DTs)ψ2s,dq+Tsu2,dqThen the suspension winding flux linkage predicted value | ψ is made at the time k +12s(k +1) | and phase λk+1Can be expressed as
Figure BDA0002746511130000071
Further the method can be used for obtaining the compound,
Figure BDA0002746511130000072
wherein u is2d，u2qAs components of the levitation winding voltage in d-q coordinate system, i2d，i2qIs in d-q coordinate system of suspension winding current, p is differential operator,. psi2sd、ψ2sqIs the component of the air gap flux linkage of the suspension winding at the moment k in a d-q coordinate system, L2d、L2qIs a suspended winding quadrature-direct axis inductor, R2sFor suspending the winding resistance, omegarIs the actual rotational speed of the rotor, TSIs a sampling period time, theta is the rotor position angle, I is the identity matrix,
Figure BDA0002746511130000073
the k-time suspension winding flux linkage command value component psi output by the first coordinate transformation module 5* 2sα、ψ* 2sβThe predicted value component of the suspension winding flux linkage at the k +1 moment output by the suspension winding flux linkage prediction module 11
Figure BDA0002746511130000074
And
Figure BDA0002746511130000075
respectively and correspondingly making difference delta psi2sα、Δψ2sβ：
Figure BDA0002746511130000076
Under the condition of keeping the synthetic air gap flux linkage of the torque winding unchanged, controlling the flux linkage of the suspension winding to control the suspension force, and therefore constructing an objective function optimizing module 9 as follows:
gi＝|△ψ2sα|+|△ψ2sβ|，
wherein i is 0 to 7, and has 8 function values g0～g7Corresponding to 8 switch states,. DELTA.. psi2sαAnd delta psi2sβThe flux linkage difference value of the module 9 is optimized for the input objective function.
The two-level three-phase inverter has 8 switching states corresponding to 8 voltage vectors. In a sampling period, corresponding flux linkage difference values delta psi of 8 voltage vectors2sαAnd delta psi2sβInput to the target function optimizing module 9 to generate 8 function values g0～g7Selecting the minimum value function g and generating the inverter switch state S corresponding to the minimum value function g2a，S2b，S2cAnd inputting the two-level three-phase inverter 10 to complete the suspension force control of the bearingless coreless permanent magnet motor 12.
The air gap field orientation control module 17 controls the torque T input theretoeGiven flux linkage psi with torque magnetic field*Processing to obtain torque winding current command value component
Figure BDA0002746511130000077
Sum and slip ratio omegas. The actual rotating speed omega of the rotor of the bearingless ironless permanent magnet motor 12 is detected by adopting the photoelectric encoder 13rActual rotational speed ω of the rotorrInput to a second coordinate transformation module 21 and output with a given rotation speed signal
Figure BDA0002746511130000081
Making a difference, and modulating the difference value of the two by a third PID controller 16 to generate a torque TeWill torque TeGiven flux linkage psi with torque magnetic field*Are input into the air gap field orientation control module 17 together, and the torque winding current command value components
Figure BDA0002746511130000082
Figure BDA0002746511130000083
Sum and slip ratio omegas. The air gap magnetic field orientation control module 17 has the formula:
ωs＝ωm-ωr，
Figure BDA0002746511130000084
in the formula, TeIs torque,. psi*Giving flux linkage, P, to the torque fieldMFor the torque winding pole pair number, p is the differential operator, ωmFor angular frequency, omega, of the torque windingrIs the actual rotational speed of the rotor and,
Figure BDA0002746511130000085
as rotor time coefficient, RrIs rotor resistance, LrAs an inductance of the rotor, there is a high inductance,
Figure BDA0002746511130000086
Lrlfor leakage inductance of torque-winding rotor, LmStator and rotor mutual inductance is the torque winding.

Claims (8)

1. Bearingless coreless permanent magnetThe motor suspension force model prediction control system is composed of a suspension force control part and a rotating speed control part, and is characterized in that: the suspension force control part comprises two PID controllers (1 and 2), a polar coordinate conversion module (3), a suspension force calculation module (4), a first coordinate conversion module (5), an objective function optimization module (9), a two-level three-phase inverter (10), a second coordinate conversion module (21), a suspension winding flux linkage prediction module (11), a CLARK conversion module (8), a flux linkage observer module (7) and a vector synthesis module (6) which are sequentially connected in series, wherein three-phase current i of a torque winding of the bearingless coreless permanent magnet motor is input by the CLARK conversion module (8)1A、i1B、i1CThe output end of the vector synthesis module (6) is connected with the input end of the suspension force calculation module (4), and the input end of the polar coordinate transformation module (3) is respectively connected with the two PID controllers (1, 2); actual displacement x, y and given displacement signal x of bearingless coreless permanent magnet motor rotor*、y*The displacement difference values obtained by respectively subtracting are respectively input into the two corresponding PID controllers (1, 2), and the radial suspension force components F respectively output by the two PID controllers (1, 2)x、FyThe two are jointly input into a polar coordinate transformation module (3), and the polar coordinate transformation module (3) outputs a radial suspension force instruction value
Figure FDA0002746511120000011
The phase xi and the phase are input into a suspension force calculation module (4) together; the CLARK conversion module (8) outputs a torque winding current component i1sα、i1sβAnd input into a flux linkage observer (7), and a torque winding output by the flux linkage observer (7) synthesizes an air gap flux linkage component psi1mα、ψ1mβThe output torque winding is input into a vector synthesis module (6) to synthesize an air gap flux linkage psi1mAnd phase eta, torque winding synthetic air gap flux linkage psi1mThe phase eta is input into the suspension force calculation module (4) together; the suspension force calculation module (4) outputs a k-time suspension winding flux linkage instruction value
Figure FDA0002746511120000012
And phase
Figure FDA0002746511120000013
Outputs the component of the k-time suspension winding flux linkage instruction value after being converted by a coordinate conversion module (5)
Figure FDA0002746511120000014
And
Figure FDA0002746511120000015
suspension winding three-phase voltage u of bearingless coreless permanent magnet motor2A，u2B，u2CAnd three-phase current i2A，i2B，i2CThe voltage component u of the suspension winding is output through a second coordinate transformation module (21)2d，u2qAnd a levitation winding current component i2d，i2qWill u2d，u2q，i2d，i2qThe signal is input into a suspension winding flux linkage prediction module (11), and the suspension winding flux linkage prediction module (11) outputs a predicted value component psi of the suspension winding flux linkage at the moment of k +12sα(k +1) and psi2sβ(k +1) the component of the flux linkage command value of the levitation winding at the time k
Figure FDA0002746511120000016
And
Figure FDA0002746511120000017
respectively corresponding to the predicted value psi of the magnetic flux linkage of the suspension winding2sα(k +1) and psi2sβ(k +1) is differenced to obtain the corresponding flux linkage difference value delta phi2sαAnd delta psi2sβDelta phi of flux linkage2sαAnd delta psi2sβInput into an objective function optimizing module (9), and the objective function optimizing module (9) outputs an inverter switch state signal S2a，S2b，S2c。
2. The suspension force model predictive control system of the bearingless coreless permanent magnet motor according to claim 1, wherein: the rotating speed control part comprises a photoelectric encoder (13) and an integrator(20) And a third PID controller (16), an air gap magnetic field orientation control module (17), an inverse CLARK conversion module (18) and a current regulation type inverter (19) which are sequentially connected in series, wherein the photoelectric encoder (13) detects the actual rotating speed omega of the rotor of the bearingless ironless permanent magnet motorrAnd input into the suspension winding flux linkage prediction module (11) to obtain the actual rotating speed omegarWith given speed signal
Figure FDA0002746511120000021
After the difference is made, the torque T is generated after the modulation of a third PID controller (16)eTorque of TeGiven flux linkage psi with torque magnetic field*Generating torque winding current command value component in input air gap field orientation control module (17)
Figure FDA0002746511120000022
Sum and slip ratio omegasTorque winding current command value component
Figure FDA0002746511120000023
Input into an inverse CLARK conversion module (18) with a slip ratio omegasAnd the actual rotational speed omegarAfter summing, the sum is input into an integrator (20), the integrator (20) outputs a rotor position angle theta, the rotor position angle theta is respectively input into an anti-CLARK conversion module (18) and the suspension winding flux linkage prediction module (11), and the anti-CLARK conversion module (18) outputs a torque winding current instruction value component
Figure FDA0002746511120000024
The current regulation type inverter (19) outputs a three-phase current i of a torque winding1A，i1B，i1C。
3. The suspension force model predictive control system of the bearingless coreless permanent magnet motor according to claim 1, wherein: the polar coordinate transformation module (3) is of warp type
Figure FDA0002746511120000025
Is calculated toTo radial levitation force command value
Figure FDA0002746511120000026
And its phase ξ.
4. The suspension force model predictive control system of the bearingless coreless permanent magnet motor according to claim 1, wherein: the suspension force calculation module (4) is of warp type
Figure FDA0002746511120000027
Calculating the magnetic linkage instruction value of the suspension winding at the time k
Figure FDA0002746511120000028
And phase
Figure FDA0002746511120000029
PMAnd PBThe number of pole pairs, mu, of the torque winding and the levitation winding, respectively0For vacuum permeability, r and l are the effective lengths of the outer diameter of the motor rotor and the iron core, respectively, NtAnd NsEffective turns, psi, of torque winding and suspension winding, respectively1mAn air gap flux linkage is synthesized for the torque winding.
5. The suspension force model predictive control system of the bearingless coreless permanent magnet motor according to claim 1, wherein: the vector synthesis module (6) is of the formula
Figure FDA00027465111200000210
Calculating the resultant air gap flux linkage psi of the torque winding1mAnd a phase η.
6. The suspension force model predictive control system of the bearingless coreless permanent magnet motor according to claim 1, wherein: the suspension winding flux linkage prediction module (11) is of a warp type
Figure FDA0002746511120000031
Calculating predicted value component psi of suspension winding flux linkage at the moment of k +12sα(k +1) and psi2sβ(k +1) wherein,
Figure FDA0002746511120000032
theta is the rotor position angle theta, omegarIs the actual rotor speed, p is the differential operator,. phi2sd、ψ2sqIs the component of the air gap flux linkage of the suspension winding at the moment k in a d-q coordinate system, L2d、L2qIs a suspended winding quadrature-direct axis inductor, R2sIs a floating winding resistor.
7. The suspension force model predictive control system of the bearingless coreless permanent magnet motor according to claim 1, wherein: the function value of the target function optimizing module (9) is gi＝|△ψ2sα|+|△ψ2sβI is 0 to 7, corresponding to 8 switch states g0～g7Selecting the minimum value of the cost function and generating the inverter switch state S corresponding to the minimum value of the cost function2a，S2b，S2c。
8. The suspension force model predictive control system of the bearingless coreless permanent magnet motor according to claim 2, wherein: the air gap magnetic field orientation control module (17) is represented by formula omegas＝ωm-ωrAnd
Figure FDA0002746511120000033
calculating a torque winding current command value component
Figure FDA0002746511120000034
Sum and slip ratio omegas。
CN202011168475.3A 2020-10-28 2020-10-28 Suspension force model prediction control system of bearingless and ironless permanent magnet motor Pending CN112311287A (en)

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