CN112332737A - Decoupling method of wound type bearingless asynchronous motor - Google Patents

Decoupling method of wound type bearingless asynchronous motor Download PDF

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CN112332737A
CN112332737A CN202011018263.7A CN202011018263A CN112332737A CN 112332737 A CN112332737 A CN 112332737A CN 202011018263 A CN202011018263 A CN 202011018263A CN 112332737 A CN112332737 A CN 112332737A
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rotor
winding
stator
torque
asynchronous motor
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CN112332737B (en
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杨泽斌
丁琪峰
孙晓东
卢承领
贾培杰
贾晶晶
孙超
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Jiangsu Daye Environment Co ltd
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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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/26—Rotor flux based control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control

Abstract

The invention discloses a decoupling method of a wound-rotor type bearingless asynchronous motor, which comprises a three-phase winding equivalent inductance parameter calculation method, a voltage equation and flux linkage equation construction method, and a motor electromagnetic torque and suspension force independent control strategy based on magnetic field orientation; firstly, establishing an inductance matrix of a wound-rotor type bearingless asynchronous motor and simplifying the inductance matrix by adopting an equivalent principle; then, a voltage equation and a flux linkage equation of the motor are deduced; and finally, decomposing the original system into two subsystems capable of independently controlling the rotating speed and flux linkage of the motor by adopting a vector control strategy of torque magnetic field orientation and air gap magnetic field orientation respectively. The invention adopts the vector control principle of coordinate transformation and magnetic field orientation to achieve the purpose of completely decoupling the rotating speed and the flux linkage on the basis of establishing the accurate mathematical model of the wound-rotor type bearingless asynchronous motor, and finally realizes the independent control of the electromagnetic torque and the suspension force of the wound-rotor type bearingless asynchronous motor.

Description

Decoupling method of wound type bearingless asynchronous motor
Technical Field
The invention belongs to the technical field of electric transmission control equipment, and particularly relates to a decoupling method of a wound-rotor type bearingless asynchronous motor.
Background
With the development of modern industry, the application of the motor is wider and wider, and the requirement is higher and higher. The bearingless motor skillfully embeds a set of suspension force winding on a common motor by utilizing the similarity of the structures of the magnetic bearing and the stator of the motor, and can simultaneously realize stable suspension and frictionless rotation by respectively controlling the currents in the suspension force winding and the torque winding. Compared with a common motor, the bearingless motor has the advantages of no mechanical friction, no abrasion, no need of lubrication and the like, and has wide application prospect in the special electrical fields of aerospace, high-speed hard disks, flywheel energy storage, biomedicine and sterile pollution-free operation.
The bearingless asynchronous motor has the advantages of both the bearingless motor and the asynchronous motor, and the control theory and the control method of the bearingless asynchronous motor are continuously developed and perfected along with the deep research. Due to the existence of two sets of windings on the stator side, the bearingless asynchronous motor is a typical strong coupling system. Therefore, how to accurately decouple the input quantity and the controlled object is the most basic problem of research and development of the bearingless asynchronous motor.
At present, various decoupling methods have been developed for bearingless asynchronous motors. Chinese patent application No. CN201210201675.3, entitled: the bearingless asynchronous motor control system based on the support vector machine inverse is characterized in that the support vector machine inverse and a composite controlled object are connected in series to form a linear pseudo-linear system, and closed-loop composite control is performed by adopting multi-internal-mode switching control. The Chinese patent application number is CN201210276033.X, and the name is: the construction method of the generalized inverse controller of the radial fuzzy neural network of the bearingless asynchronous motor is characterized in that the generalized inverse of the fuzzy neural network is connected in series in front of a composite controlled object, and the open-loop linear control of the nonlinear system of the radial position of the bearingless asynchronous motor is realized. The two decoupling methods both depend on the accurate mathematical model of the motor, and the parameters of the motor can change continuously in the actual operation, which directly influences the control accuracy of the decoupling methods. Meanwhile, the precise mathematical model of the motor should consider the problem of the induced current of the suspension force winding and the mutual inductance between the two sets of windings, and the factors are ignored in the research of most bearingless asynchronous motors. The common squirrel-cage rotor can induce any pole magnetic field due to the structure of the short-circuit ring. Therefore, the induction current of the suspension force winding magnetic field in the squirrel cage rotor can not only weaken the excitation magnetic field, but also generate interference on the electromagnetic torque of the motor.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a decoupling method for a wound-rotor type bearingless asynchronous motor with a special structure.
The technical scheme adopted by the invention is as follows:
a decoupling method for a wound-rotor type bearingless asynchronous motor comprises the following steps:
s1, establishing an a, b and c three-phase flux linkage equation of a torque winding and a suspension force winding of the wound-rotor type bearingless asynchronous motor;
s2, based on the three-phase flux linkage equation in S1, decoupling the bearingless asynchronous motor by adopting a rotor magnetic field orientation method, which comprises the following specific processes:
s2.1, decoupling a rotor flux linkage of the bearingless asynchronous motor;
s2.2, decoupling the suspension force of the bearingless asynchronous motor;
s2.3, constructing an electromagnetic torque equation of the bearingless asynchronous motor;
s3, based on the three-phase flux linkage equation in S1, decoupling the bearingless asynchronous motor by adopting an air gap magnetic field orientation method, which comprises the following specific steps:
s3.1, decoupling an air gap flux linkage of the bearingless asynchronous motor;
s3.2, decoupling the suspension force of the bearingless asynchronous motor;
s3.3, constructing an electromagnetic torque equation of the bearingless asynchronous motor;
s4, the decoupling method for carrying out rotor magnetic field orientation on the wound bearingless asynchronous motor based on the motor rotor flux linkage equation, the suspension force equation and the electromagnetic torque equation in the S2 comprises the following steps: mixing Te*、ψ1r *、Fx *、Fy *As input, i is calculated from the electromagnetic torque equation constructed in S2.31sqFor controlling the electromagnetic torque of the motor; calculating i based on the suspension force equation of the bearingless asynchronous motor in S2.21sd、i2sdAnd i2sqRespectively controlling a rotor flux linkage, an x-axis upward suspension force and a y-axis upward suspension force of the motor; te (Te)*、ψ1r *、Fx *、Fy *The given values of the electromagnetic torque of the motor, the magnetic flux linkage of the rotor, the buoyancy on the x axis and the buoyancy on the y axis are respectively set. The decoupling method for carrying out air gap magnetic field orientation on the wound bearingless asynchronous motor based on the motor air gap flux linkage equation, the suspension force equation and the electromagnetic torque equation in the S3 comprises the following steps: mixing Te*、(ψ1+ψ2)*、Fx *、Fy *As input, i is calculated according to the electromagnetic torque equation of the bearingless asynchronous motor constructed in S3.31sqFor controlling the electromagnetic torque of the motor; calculating i according to the suspension force equation of the bearingless asynchronous motor constructed in S3.22sdAnd i2sqFor controlling the x-axis and y-axis levitation forces; calculate i1sdAir gap flux linkage for controlling an electric machine (psi)1+ψ2)*The given value is the air gap flux linkage.
Further, the process of S2.1 decoupling the rotor flux linkage of the bearingless asynchronous motor is as follows:
s2.1.1, carrying out 3/2 transformation on the stator winding and the rotor winding to construct a two-phase flux linkage matrix:
Figure RE-GDA0002797803300000031
wherein psi1sαAnd psi1sβTorque winding stator flux linkages on the alpha and beta axes respectively; psi1rαAnd psi1rβRotor flux linkages on the alpha and beta axes, respectively; psi2sαAnd psi2sβThe stator flux linkage of the suspension force winding on the alpha axis and the beta axis respectively; l is1sαAnd L1sβAre respectively provided withIs the torque winding stator self inductance on the alpha, beta axis; l is1rαAnd L1rαRotor self-inductance, L, on the alpha, beta axes respectively2sαAnd L2sβThe self-inductance of the stator of the suspension force winding on the alpha axis and the beta axis respectively; i.e. i1sαAnd i1sβTorque winding stator currents on the alpha and beta axes, respectively; i.e. i1rαAnd i1rβTorque winding rotor currents on the alpha and beta axes, respectively; i.e. i2sαAnd i2sβStator currents of the suspension force windings on the alpha axis and the beta axis respectively; m1sα1rαAnd M1rα1sα、M1sα2sαAnd M2sα1sα、M2sα1rαAnd M1rα2sαMutual inductance of the torque winding stator and the rotor on an alpha axis, mutual inductance of the torque winding stator and the suspension winding stator on the alpha axis, and mutual inductance of the suspension winding stator and the rotor on the alpha axis respectively; m1sβ1rβAnd M1rβ1sβ、M1sβ2sβAnd M2sβ1sβ、M2sβ1rβAnd M1rβ2sβMutual inductance of the torque winding stator and the rotor on a beta axis, mutual inductance of the torque winding stator and the suspension winding stator on the beta axis, and mutual inductance of the suspension winding stator and the rotor on the beta axis respectively; according to the symmetry of the three-phase winding.
S2.1.2, constructing a flux linkage equation under an alpha beta coordinate system by using the two-phase flux linkage matrix:
Figure RE-GDA0002797803300000032
let L1sα＝L1sβ＝L1s，L1rα＝L1rβ＝L1r，L2sα＝L2sβ＝L2s，M1sα1rα＝M1sβ1rβ＝M1s1r，M1sα2sα＝M1sβ2sβ＝M1s2s， M2sα1rα＝M2sβ1rβ＝M2s1r，L1sIs the stator self-inductance equivalent value of the torque winding, L1rIs a rotor self-inductance equivalent value, L2sFor self-inductance equivalent value, M, of the stator of the levitation force winding1s1rIs the mutual inductance equivalent value of a torque winding stator and a motor rotor，M1s2sIs the mutual inductance equivalent value of the torque winding stator and the suspension force winding stator, M2s1rThe mutual inductance equivalent value of the stator of the suspension force winding and the rotor of the motor is solved to obtain the components of the rotor current on the alpha axis and the beta axis:
Figure RE-GDA0002797803300000041
s2.1.3, component i of rotor current on alpha and beta axes1rα、i1rβAnd substituting S2.1.2 into a flux linkage equation to solve a stator flux linkage equation of the torque winding and the levitation force winding:
Figure RE-GDA0002797803300000042
s2.1.4, constructing a rotor voltage equation of the bearingless asynchronous motor under an alpha and beta coordinate system:
Figure RE-GDA0002797803300000043
wherein R is1rIs the motor rotor resistance; t is a time variable; omegarIs the rotor angular frequency;
s2.1.5, further constructing a rotor voltage equation of the bearingless asynchronous motor in a dq coordinate system:
Figure RE-GDA0002797803300000044
wherein i1sd、i1sqThe components of the stator current of the torque winding on the d axis and the q axis respectively; i.e. i1rd、i1rqThe components of the rotor current on the d and q axes respectively; i.e. i2sd、i2sqThe components of the stator current of the levitation force winding on the d axis and the q axis are respectively; psi1rd、ψ1rqThe components of the torque winding rotor flux linkage on the d axis and the q axis are respectively; omega is the torque winding electrical angular frequency; and (3) constructing a rotor flux linkage equation under a dq coordinate system:
Figure RE-GDA0002797803300000045
equation of Torque Te＝p1(i1sqψ1d-i1sdψ1q) (ii) a Wherein p is1Is the number of pole pairs of the torque winding, TeIs an electromagnetic torque; solving the components of the rotor current on d and q axes according to a rotor flux linkage equation under a dq coordinate system:
Figure RE-GDA0002797803300000046
s2.1.6, using rotor magnetic field orientation vector control to make psi1rd＝ψ1r，ψ1rq＝0，ψ1rSubstituting the formula into the rotor flux linkage to obtain:
Figure RE-GDA0002797803300000051
s2.1.7, i obtained from S2.1.61rdAnd i1rqSubstituting S2.1.5 the rotor voltage equation yields:
Figure RE-GDA0002797803300000052
wherein p is a differential operator.
Further, the process of decoupling the suspension force of the bearingless asynchronous motor in the S2.2 comprises the following steps:
s2.2.1, constructing a suspension force equation of the bearingless asynchronous motor:
Figure RE-GDA0002797803300000053
wherein, FmThe amplitude of the suspension force of the bearingless asynchronous motor is obtained; p is a radical of1The number of pole pairs of the torque winding is; p is a radical of2The number of pole pairs of the suspension force winding is; psi1Is a torque winding air gap flux linkage; i.e. i2sThe stator current is the suspension force winding; mu.s0Is a vacuum magnetic conductivity; l is the effective iron core length of the motor rotor; r is the rotor radius; w1And W2The effective turns of each phase of the torque winding and the suspension force winding are respectively connected in series;
s2.2.2, decomposing the suspension force of the bearingless asynchronous motor to d and q axes according to the dot multiplication and cross multiplication principle of the vector: component F of the levitation force in the x, y axesx、FyRespectively as follows:
Figure RE-GDA0002797803300000054
k is a constant number expressed as
Figure RE-GDA0002797803300000055
S2.2.3, relation of a torque winding air gap flux linkage and a rotor flux linkage of the bearingless asynchronous motor:
Figure RE-GDA0002797803300000056
wherein L is1rσRotor leakage inductance for torque windings;
s2.2.4, bringing the torque winding air gap flux linkage and the rotor flux linkage in S2.2.3 into a suspension force calculation formula of the bearingless asynchronous motor in S2.2.2, and constructing a suspension force equation of the bearingless asynchronous motor in steps:
Figure RE-GDA0002797803300000061
further, the process of constructing the electromagnetic torque equation of the bearingless asynchronous motor in S2.3 is as follows: will phi1rd＝ψ1r，ψ1rqSubstituting 0 into the torque equation of S2.1.5 yields:
Figure RE-GDA0002797803300000062
ψ1ris the rotor flux linkage.
Further, the process of decoupling the air gap flux linkage of the bearingless asynchronous motor in S3.1 is as follows:
s3.1.1, constructing an air gap flux linkage equation of a torque winding and a suspension force winding of the bearingless asynchronous motor:
Figure RE-GDA0002797803300000063
wherein psi1rd、ψ1rqThe components of the torque winding rotor flux linkage on the d axis and the q axis are respectively; phi.,)2d、ψ2qThe components of the suspension force winding on the d axis and the q axis are respectively; further obtaining:
Figure RE-GDA0002797803300000064
s3.1.2 order psi1d＝ψ1，ψ1q＝0，ψ2d＝ψ2，ψ2q＝0，ψ1Air-gap flux linkage, psi, for torque windings2For the air gap flux linkage of the levitation force winding, then:
Figure RE-GDA0002797803300000065
s3.1.3, mixing the components i1rd、i1rqSubstituting S2.1.5 for the rotor voltage equation yields:
Figure RE-GDA0002797803300000066
s3.1.4, mixing the components i1rd、i1rqSubstituting the formula to obtain:
Figure RE-GDA0002797803300000071
further, decoupling is carried out on the suspension force of the bearingless asynchronous motor in S3.2, and the specific process is as follows: will phi1d、ψ1qThe suspension force equation of the bearingless asynchronous motor substituted into S2.2.2 is obtained:
Figure RE-GDA0002797803300000072
further, in S3.3, #1d、ψ1qAnd substituting the motor electromagnetic torque equation of S2.1.5 to construct an electromagnetic torque equation of the bearingless asynchronous motor: t ise＝p1ψ1i1sq。
Further, the a, b and c three-phase flux linkage equations of the torque winding and the levitation force winding of the wound-type bearingless asynchronous motor in S1 are as follows:
Figure RE-GDA0002797803300000073
wherein the content of the first and second substances,
Figure RE-GDA0002797803300000074
is the flux linkage of the torque winding stator a, b, c phases;
Figure RE-GDA0002797803300000075
is the flux linkage of the torque winding rotor a, b, c phases;
Figure RE-GDA0002797803300000076
is the magnetic linkage of the phases a, b and c of the stator of the suspension force winding;
Figure RE-GDA0002797803300000077
Figure RE-GDA0002797803300000078
the self-inductance of the phases a, b and c of the torque winding stator, the motor rotor and the suspension force winding stator respectively;
Figure RE-GDA0002797803300000079
is the mutual inductance between any phases of the torque winding stator and the rotor;
Figure RE-GDA00027978033000000710
is mutual inductance between any phases of the torque winding stator and the suspension force winding stator;
Figure RE-GDA00027978033000000711
and
Figure RE-GDA00027978033000000712
is mutual inductance between any phases of the stator and the rotor of the suspension force winding;
Figure RE-GDA00027978033000000713
is a torque winding stator a, bC-phase current;
Figure RE-GDA00027978033000000714
is the current of the rotor a, b, c phases;
Figure RE-GDA00027978033000000715
is the current of the phases a, b and c of the stator of the suspension force winding; and is
Figure RE-GDA00027978033000000716
L1mExcitation inductance of the stator and rotor windings for torque winding, L2mExcitation inductance L for each phase winding of the stator of the levitation force winding1m＝L2m，L1sσStator leakage inductance for torque winding, L1rσRotor leakage inductance for torque winding, L2sσStator leakage inductance, theta, for levitation force windings1srFor the angle of slip, theta, between the torque winding stator and the rotor of the machine2srIs the slip angle between the stator of the levitation force winding and the rotor of the motor.
The invention has the beneficial effects that:
1. for the wound type bearingless asynchronous motor with the torque winding pole pair number of 2 and the suspension force winding pole pair number of 1, the invention realizes that the rotor can normally induce the torque winding magnetic field by adopting a special winding structure, and the induced currents of the suspension force winding in the rotor winding are mutually offset, thereby improving the suspension force of the bearingless asynchronous motor and reducing the electromagnetic torque pulsation of the motor.
2. The invention considers the influence problem of the suspension force winding flux linkage on the air gap magnetic field of the motor, establishes a complete inductance matrix model of the winding type bearingless asynchronous motor and an accurate mathematical model of the flux linkage, the electromagnetic torque and the suspension force, and further improves the control precision of the winding type bearingless asynchronous motor.
3. The invention respectively adopts the vector control methods of rotor magnetic field orientation and air gap magnetic field orientation aiming at the wound-rotor type bearingless asynchronous motor, achieves the aim of complete decoupling between the motor rotating speed and the flux linkage, and finally realizes the independent control of the electromagnetic torque and the suspension force of the wound-rotor type bearingless asynchronous motor.
Drawings
FIG. 1 is a decoupling algorithm for directional control of a rotor magnetic field of a wound-rotor bearingless asynchronous motor;
FIG. 2 is an air gap field directional control decoupling algorithm of a wound rotor type bearingless asynchronous motor;
FIG. 3 is a structural diagram of a stator and a rotor of a wound-rotor type bearingless asynchronous motor;
fig. 4 is a mode of operation 1 of the rotor of the wound bearingless asynchronous motor;
figure 5 is the operation 2 mode of the rotor of the wound rotor bearingless asynchronous motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The decoupling method of the wound-rotor type bearingless asynchronous motor designed by the invention aims at the wound-rotor type bearingless asynchronous motor shown in figure 3, and the wound-rotor type bearingless asynchronous motor sequentially comprises a motor rotating shaft 33, a rotor iron core 32, a torque winding 30, a suspension force winding 31 and a stator iron core 29 from inside to outside along the radial direction. The stator core 29 is formed by laminating silicon steel sheets with the model number DW465-50, and 36 stator slots are uniformly formed in the stator core 29. A torque winding 30 and a suspension winding 31 are arranged between the rotor core 32 and the stator core 2, the torque winding 30 and the suspension winding 31 both adopt centralized windings, and the motor is formed by winding an electromagnetic coil with good electric conductivity and then dipping paint and drying. The rotor core 32 is sleeved on the motor rotating shaft 33, the rotor core 32 is formed by laminating silicon steel sheets with the model number DW465-50, 28 rotor slots are uniformly formed in the rotor core 32, and the 28 rotor slots are respectively represented by 1-28 for convenience of description.
Dividing 4 rotor slots of the 28 rotor slots, which are spaced from each other by 90 degrees, into a group along the clockwise direction; for example: the four rotor slots numbered 1, 8, 15 and 22 in the figure 3 are divided into one group, and the like, and 28 rotors are obtainedThe slots are divided into 7 groups. 1 set of copper coils is provided in 4 rotor slots of each set. The connection of the copper coils in the 4 rotor slots of each group is shown in FIGS. 4, 5 and 3, and the rotor slots in the I-th group are Iai、Ibi、Ici、Idi1, 2, …, 7; wherein, IaiAnd IciRelative arrangement of IbiAnd IdiThe relative arrangement is carried out; in each group, rotor slots IaiAnd IciThe lower parts of the inner winding wires are directly connected, and the upper parts of the winding wires are respectively connected with the two ends of the first switch controller 34; rotor slot IbiAnd IdiThe lower parts of the inner winding wires are directly connected and the upper parts of the winding wires are respectively connected with the two ends of the second switch controller 35; rotor slot IaiAnd IbiThe upper part of the inner winding is respectively connected with a third switch controller 36, IciAnd IdiThe upper parts of the inner winding wires are respectively connected with a fourth switch controller 37; rotor slot IaiAnd IdiThe lower part of the inner winding is respectively connected with a fifth switch controller 38 and a rotor slot IbiAnd IciThe lower parts of the inner winding wires are respectively connected with a sixth switch controller 39; the first switch controller 34 and the second switch controller 35 are connected with the normally open contacts of the relay, and the third switch controller 36, the fourth switch controller 37, the fifth switch controller 38 and the sixth switch controller 39 are connected with the normally closed contacts of the relay. Taking rotor slots 1, 8, 15, 22 as examples: the lower parts of the windings in the rotor slot 1 and the rotor slot 15 are directly connected, and the upper parts are connected to two ends of a first switch controller 34; the lower parts of the windings in the rotor slot 8 and the rotor slot 22 are directly connected, and the upper parts are connected to two ends of a second switch controller 35; the upper parts of the windings in the rotor slots 1 and 8, the rotor slots 15 and 22 are respectively connected with the two ends of a third switch controller 36 and a fourth switch controller 37; the lower parts of the windings in the rotor slot 1 and the rotor slot 22, the rotor slot 8 and the rotor slot 15 are respectively connected to the two ends of a fifth switch controller 38 and a sixth switch controller 39; the first switch controller 34 and the second switch controller 35 in the center are connected with the normally open contacts of the relay, and the switch controllers 36, 37, 38 and 39 distributed around are connected with the normally closed contacts of the relay. The control power supplies of all relays are connected to the output port of the singlechipThe relay and the single chip microcomputer are fixed above the rotor iron core and form a complete rotor module together with the iron core and the coil. When the number of pole pairs of the torque winding 30 is 1 and the number of pole pairs of the levitation force winding 31 is 2, the relay is electrified, the rotating speed of the motor is 60 × f, f is the frequency of the motor, and the unit of the rotating speed of the motor is as follows: r/min; when the number of pole pairs of the torque winding 30 is 2 and the number of pole pairs of the suspension force winding 31 is 1 or 3, the relay is powered off, and the rotating speed of the motor is 30 f; when the number of pole pairs of the torque winding 30 is 3 and the number of pole pairs of the levitation force winding 31 is 2, the relay is electrified, and the rotating speed of the motor is 20 f.
The invention provides a decoupling method of a wound-rotor type bearingless asynchronous motor aiming at the wound-rotor type bearingless asynchronous motor, which comprises the following steps:
s1, based on the wound-rotor type bearingless asynchronous motor, establishing an a, b and c three-phase flux linkage equation of a torque winding and a suspension force winding of the wound-rotor type bearingless asynchronous motor as follows:
Figure RE-GDA0002797803300000091
wherein the content of the first and second substances,
Figure RE-GDA0002797803300000092
is the flux linkage of the torque winding stator a, b, c phases;
Figure RE-GDA0002797803300000093
is the flux linkage of the torque winding rotor a, b, c phases;
Figure RE-GDA0002797803300000101
is the magnetic linkage of the phases a, b and c of the stator of the suspension force winding;
Figure RE-GDA0002797803300000102
the self-inductance of the phases a, b and c of the torque winding stator, the motor rotor and the suspension force winding stator respectively;
Figure RE-GDA0002797803300000103
is any of torque winding stator and rotorMutual inductance between phases;
Figure RE-GDA0002797803300000104
is mutual inductance between any phases of the torque winding stator and the suspension force winding stator;
Figure RE-GDA0002797803300000105
and
Figure RE-GDA0002797803300000106
is mutual inductance between any phases of the stator and the rotor of the suspension force winding;
Figure RE-GDA0002797803300000107
is the current of the torque winding stator a, b, c phase;
Figure RE-GDA0002797803300000108
is the current of the rotor a, b, c phases;
Figure RE-GDA0002797803300000109
is the current of the phases a, b and c of the levitation force winding stator.
The above inductance parameters can be equivalently calculated according to the following formula:
Figure RE-GDA00027978033000001010
wherein L is1mExcitation inductance of the stator and rotor windings for torque winding, L2mExcitation inductance L for each phase winding of the stator of the levitation force winding1m＝L2m，L1sσStator leakage inductance for torque winding, L1rσRotor leakage inductance for torque winding, L2sσStator leakage inductance, theta, for levitation force windings1srFor the angle of slip, theta, between the torque winding stator and the rotor of the machine2srIs the slip angle between the stator of the levitation force winding and the rotor of the motor.
S2, decoupling the bearingless asynchronous motor by adopting a rotor magnetic field orientation method based on the three-phase flux linkage equation of the formula (1), wherein the specific process is as follows:
s2.1, decoupling a rotor flux linkage of the bearingless asynchronous motor, which comprises the following specific processes:
s2.1.1, carrying out 3/2 transformation on the stator winding and the rotor winding to construct a two-phase flux linkage matrix:
Figure RE-GDA00027978033000001011
wherein psi1sαAnd psi1sβTorque winding stator flux linkages on the alpha and beta axes respectively; psi1rαAnd psi1rβRotor flux linkages on the alpha and beta axes, respectively; psi2sαAnd psi2sβThe stator flux linkage of the suspension force winding on the alpha axis and the beta axis respectively; l is1sαAnd L1sβTorque winding stator self-inductance on the alpha and beta axes respectively; l is1rαAnd L1rαRotor self-inductance, L, on the alpha, beta axes respectively2sαAnd L2sβThe self-inductance of the stator of the suspension force winding on the alpha axis and the beta axis respectively; i.e. i1sαAnd i1sβTorque winding stator currents on the alpha and beta axes, respectively; i.e. i1rαAnd i1rβTorque winding rotor currents on the alpha and beta axes, respectively; i.e. i2sαAnd i2sβStator currents of the suspension force windings on the alpha axis and the beta axis respectively; m1sα1rαAnd M1rα1sα、M1sα2sαAnd M2sα1sα、M2sα1rαAnd M1rα2sαMutual inductance of the torque winding stator and the rotor on an alpha axis, mutual inductance of the torque winding stator and the suspension winding stator on the alpha axis, and mutual inductance of the suspension winding stator and the rotor on the alpha axis respectively; m1sβ1rβAnd M1rβ1sβ、M1sβ2sβAnd M2sβ1sβ、M2sβ1rβAnd M1rβ2sβMutual inductance of the torque winding stator and the rotor on a beta axis, mutual inductance of the torque winding stator and the suspension winding stator on the beta axis, and mutual inductance of the suspension winding stator and the rotor on the beta axis respectively;
s2.1.2, let L be based on the symmetry of the three-phase winding1sα＝L1sβ＝L1s，L1rα＝L1rβ＝L1r，L2sα＝L2sβ＝L2s， M1sα1rα＝M1sβ1rβ＝M1s1r，M1sα2sα＝M1sβ2sβ＝M1s2s，M2sα1rα＝M2sβ1rβ＝M2s1r，L1sIs the stator self-inductance equivalent value of the torque winding, L1rIs a rotor self-inductance equivalent value, L2sFor self-inductance equivalent value, M, of the stator of the levitation force winding1s1rIs the mutual inductance equivalent value of the torque winding stator and the motor rotor, M1s2sIs the mutual inductance equivalent value of the torque winding stator and the suspension force winding stator, M2s1rFor the mutual inductance equivalent value of the suspension force winding stator and the motor rotor, a flux linkage equation under an alpha beta coordinate system is constructed by the formula (3):
Figure RE-GDA0002797803300000111
solving the rotor flux linkage equation in the formula (4) to obtain the components of the rotor current on the alpha and beta axes:
Figure RE-GDA0002797803300000112
s2.1.3, substituting the formula (5) into the formula (4) to solve the stator flux linkage equation of the torque winding and the suspension force winding:
Figure RE-GDA0002797803300000113
s2.1.4, constructing a rotor voltage equation of the bearingless asynchronous motor under an alpha and beta coordinate system:
Figure RE-GDA0002797803300000121
wherein R is1rIs the motor rotor resistance; t is a time variable; omegarIs the rotor angular frequency.
S2.1.5, further constructing a rotor voltage equation of the bearingless asynchronous motor in a dq coordinate system:
Figure RE-GDA0002797803300000122
wherein i1sd、i1sqThe components of the stator current of the torque winding on the d axis and the q axis respectively; i.e. i1rd、i1rqThe components of the rotor current on the d and q axes respectively; i.e. i2sd、i2sqThe components of the stator current of the levitation force winding on the d axis and the q axis are respectively; psi1rd、ψ1rqThe components of the torque winding rotor flux linkage on the d axis and the q axis are respectively; omega is the torque winding electrical angular frequency;
and (3) constructing a rotor flux linkage equation under a dq coordinate system:
Figure RE-GDA0002797803300000123
electromagnetic torque equation:
Te＝p1(i1sqψ1d-i1sdψ1q) (10)
wherein p is1Is the number of pole pairs of the torque winding, TeIs an electromagnetic torque.
Solving the components of the rotor current on the d and q axes according to the formula (9):
Figure RE-GDA0002797803300000124
s2.1.6, using rotor magnetic field orientation vector control to make psi1rd＝ψ1r，ψ1rq0, wherein1rIs a rotor flux linkage, and is obtained by substituting an equation (11):
Figure RE-GDA0002797803300000125
s2.1.7, substituting formula (12) for formula (8):
Figure RE-GDA0002797803300000131
wherein p is a differential operator.
S2.2, decoupling the suspension force of the bearingless asynchronous motor, which comprises the following specific processes:
s2.2.1, constructing a suspension force equation of the bearingless asynchronous motor:
Figure RE-GDA0002797803300000132
wherein, FmThe amplitude of the suspension force of the bearingless asynchronous motor is obtained; p is a radical of1The number of pole pairs of the torque winding is; p is a radical of2The number of pole pairs of the suspension force winding is; psi1Is a torque winding air gap flux linkage; i.e. i2sThe stator current is the suspension force winding; mu.s0Is a vacuum magnetic conductivity; l is the effective iron core length of the motor rotor; r is the rotor radius; w1And W2The effective turns of each phase of the torque winding and the suspension force winding are respectively connected in series.
S2.2.2, decomposing the suspension force of the bearingless asynchronous motor to d and q axes according to the dot multiplication and cross multiplication principle of the vector:
Figure RE-GDA0002797803300000133
wherein, Fx、FyThe components of the levitation force on the x and y axes, K is a constant expressed as
Figure RE-GDA0002797803300000134
S2.2.3, relation of a torque winding air gap flux linkage and a rotor flux linkage of the bearingless asynchronous motor:
Figure RE-GDA0002797803300000135
wherein L is1rσFor turning of torque windingsSub leakage inductance.
S2.2.4, bringing the formula (16) into the formula (15), and further constructing a suspension force equation of the bearingless asynchronous motor:
Figure RE-GDA0002797803300000136
s2.3, constructing an electromagnetic torque equation of the bearingless asynchronous motor:
will phi1rd＝ψ1r，ψ1rqSubstituting 0 for motor electromagnetic torque equation (10):
Figure RE-GDA0002797803300000141
wherein psi1rIs the rotor flux linkage.
S3, based on the three-phase flux linkage equation of the formula (1), decoupling the bearingless asynchronous motor by adopting an air gap magnetic field orientation method, which comprises the following specific steps:
s3.1, decoupling an air gap flux linkage of the bearingless asynchronous motor, which comprises the following specific processes:
s3.1.1, constructing an air gap flux linkage equation of a torque winding and a suspension force winding of the bearingless asynchronous motor:
Figure RE-GDA0002797803300000142
wherein psi2d、ψ2qThe components of the levitation force winding on the d and q axes, respectively. Further derived from formula (19):
Figure RE-GDA0002797803300000143
s3.1.2 order psi1d＝ψ1，ψ1q＝0，ψ2d＝ψ2，ψ2q0, wherein1Air-gap flux linkage, psi, for torque windings2For the air gap flux linkage of the levitation force winding, then:
Figure RE-GDA0002797803300000144
s3.1.3, mixing the components i1rd、i1rqSubstituting the formula (8) to obtain:
Figure RE-GDA0002797803300000145
s3.1.4, substituting the formula (21) for the formula (22) to obtain:
Figure RE-GDA0002797803300000146
s3.2, decoupling the suspension force of the bearingless asynchronous motor, which comprises the following specific processes:
s3.2.1, will psi1d、ψ1qSubstituting into the suspension force equation (15) of the bearingless asynchronous motor:
Figure RE-GDA0002797803300000151
s3.3, will psi1d、ψ1qSubstituting the motor electromagnetic torque equation (10) to construct a bearingless asynchronous motor electromagnetic torque equation:
Te＝p1ψ1i1sq (25)
s4, as shown in the figure 1, the decoupling method for the rotor magnetic field orientation of the wound bearingless asynchronous motor based on the motor rotor flux linkage equation, the suspension force equation and the electromagnetic torque equation in the S2 comprises the following steps: mixing Te*、ψ1r *、Fx *、Fy *As input, i is calculated from equation (18)1sqFor controlling the electromagnetic torque of the motor. The joint type (13) and (17) calculate i1sd、i2sdAnd i2sqAnd respectively controlling the rotor flux linkage, the x-axis upward suspension force and the y-axis upward suspension force of the motor. Wherein Te*、ψ1r *、Fx *、Fy *The given values of the electromagnetic torque of the motor, the magnetic flux linkage of the rotor, the buoyancy on the x axis and the buoyancy on the y axis are respectively set.
As shown in fig. 2, the decoupling method for performing air gap magnetic field orientation on the wound bearingless asynchronous motor based on the motor air gap flux linkage equation, the suspension force equation and the electromagnetic torque equation in S3 includes: mixing Te*、(ψ1+ψ2)*、Fx *、Fy *As input, i is calculated from equation (25)1sqFor controlling the electromagnetic torque of the motor. I is calculated from equation (24)2sdAnd i2sqFor controlling the x-axis levitation force and the y-axis levitation force. I is calculated from equation (23)1sdFor controlling the air-gap flux linkage of the electrical machine. (psi)1+ψ2)*The given value is the air gap flux linkage.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.

Claims (8)

1. A decoupling method of a wound-rotor type bearingless asynchronous motor is characterized by comprising the following steps:
s1, establishing an a, b and c three-phase flux linkage equation of a torque winding and a suspension force winding of the wound-rotor type bearingless asynchronous motor;
s2, based on the three-phase flux linkage equation in S1, decoupling the bearingless asynchronous motor by adopting a rotor magnetic field orientation method, which comprises the following specific processes:
s2.1, decoupling a rotor flux linkage of the bearingless asynchronous motor;
s2.2, decoupling the suspension force of the bearingless asynchronous motor;
s2.3, constructing an electromagnetic torque equation of the bearingless asynchronous motor;
s3, based on the three-phase flux linkage equation in S1, decoupling the bearingless asynchronous motor by adopting an air gap magnetic field orientation method, which comprises the following specific steps:
s3.1, decoupling an air gap flux linkage of the bearingless asynchronous motor;
s3.2, decoupling the suspension force of the bearingless asynchronous motor;
s3.3, constructing an electromagnetic torque equation of the bearingless asynchronous motor;
s4, the decoupling method for carrying out rotor magnetic field orientation on the wound bearingless asynchronous motor based on the motor rotor flux linkage equation, the suspension force equation and the electromagnetic torque equation in the S2 comprises the following steps: mixing Te*、ψ1r *、Fx *、Fy *As input, i is calculated from the electromagnetic torque equation constructed in S2.31sqFor controlling the electromagnetic torque of the motor; calculating i based on the suspension force equation of the bearingless asynchronous motor in S2.21sd、i2sdAnd i2sqRespectively controlling a rotor flux linkage, an x-axis upward suspension force and a y-axis upward suspension force of the motor; te (Te)*、ψ1r *、Fx *、Fy *The given values of the electromagnetic torque of the motor, the magnetic flux linkage of the rotor, the buoyancy on the x axis and the buoyancy on the y axis are respectively set.
The decoupling method for carrying out air gap magnetic field orientation on the wound bearingless asynchronous motor based on the motor air gap flux linkage equation, the suspension force equation and the electromagnetic torque equation in the S3 comprises the following steps: mixing Te*、(ψ1+ψ2)*、Fx *、Fy *As input, i is calculated according to the electromagnetic torque equation of the bearingless asynchronous motor constructed in S3.31sqFor controlling the electromagnetic torque of the motor; calculating i according to the suspension force equation of the bearingless asynchronous motor constructed in S3.22sdAnd i2sqFor controlling the x-axis and y-axis levitation forces; calculate i1sdAir gap flux linkage for controlling an electric machine (psi)1+ψ2)*The given value is the air gap flux linkage.
2. The decoupling method of the wound-type bearingless asynchronous motor according to claim 1, wherein the process of decoupling the rotor flux linkage of the bearingless asynchronous motor S2.1 comprises the following steps:
s2.1.1, carrying out 3/2 transformation on the stator winding and the rotor winding to construct a two-phase flux linkage matrix:
Figure RE-FDA0002797803290000021
wherein psi1sαAnd psi1sβTorque winding stator flux linkages on the alpha and beta axes respectively; psi1rαAnd psi1rβRotor flux linkages on the alpha and beta axes, respectively; psi2sαAnd psi2sβThe stator flux linkage of the suspension force winding on the alpha axis and the beta axis respectively; l is1sαAnd L1sβTorque winding stator self-inductance on the alpha and beta axes respectively; l is1rαAnd L1rαRotor self-inductance, L, on the alpha, beta axes respectively2sαAnd L2sβThe self-inductance of the stator of the suspension force winding on the alpha axis and the beta axis respectively; i.e. i1sαAnd i1sβTorque winding stator currents on the alpha and beta axes, respectively; i.e. i1rαAnd i1rβTorque winding rotor currents on the alpha and beta axes, respectively; i.e. i2sαAnd i2sβStator currents of the suspension force windings on the alpha axis and the beta axis respectively; m1sα1rαAnd M1rα1sα、M1sα2sαAnd M2sα1sα、M2sα1rαAnd M1rα2sαMutual inductance of the torque winding stator and the rotor on an alpha axis, mutual inductance of the torque winding stator and the suspension winding stator on the alpha axis, and mutual inductance of the suspension winding stator and the rotor on the alpha axis respectively; m1sβ1rβAnd M1rβ1sβ、M1sβ2sβAnd M2sβ1sβ、M2sβ1rβAnd M1rβ2sβMutual inductance of the torque winding stator and the rotor on a beta axis, mutual inductance of the torque winding stator and the suspension winding stator on the beta axis, and mutual inductance of the suspension winding stator and the rotor on the beta axis respectively; according to the symmetry of the three-phase winding;
s2.1.2, constructing a flux linkage equation under an alpha beta coordinate system by using the two-phase flux linkage matrix:
Figure RE-FDA0002797803290000022
let L1sα＝L1sβ＝L1s，L1rα＝L1rβ＝L1r，L2sα＝L2sβ＝L2s，M1sα1rα＝M1sβ1rβ＝M1s1r，M1sα2sα＝M1sβ2sβ＝M1s2s，M2sα1rα＝M2sβ1rβ＝M2s1r，L1sIs the stator self-inductance equivalent value of the torque winding, L1rIs a rotor self-inductance equivalent value, L2sFor self-inductance equivalent value, M, of the stator of the levitation force winding1s1rIs the mutual inductance equivalent value of the torque winding stator and the motor rotor, M1s2sIs the mutual inductance equivalent value of the torque winding stator and the suspension force winding stator, M2s1rThe mutual inductance equivalent value of the stator of the suspension force winding and the rotor of the motor is solved to obtain the components of the rotor current on the alpha axis and the beta axis:
Figure RE-FDA0002797803290000023
s2.1.3, component i of rotor current on alpha and beta axes1rα、i1rβAnd substituting S2.1.2 into a flux linkage equation to solve a stator flux linkage equation of the torque winding and the levitation force winding:
Figure RE-FDA0002797803290000031
s2.1.4, constructing a rotor voltage equation of the bearingless asynchronous motor under an alpha and beta coordinate system:
Figure RE-FDA0002797803290000032
wherein R is1rIs the motor rotor resistance; t is a time variable; omegarIs the rotor angular frequency;
s2.1.5, further constructing a rotor voltage equation of the bearingless asynchronous motor in a dq coordinate system:
Figure RE-FDA0002797803290000033
wherein i1sd、i1sqThe components of the stator current of the torque winding on the d axis and the q axis respectively; i.e. i1rd、i1rqThe components of the rotor current on the d and q axes respectively; i.e. i2sd、i2sqThe components of the stator current of the levitation force winding on the d axis and the q axis are respectively; psi1rd、ψ1rqThe components of the torque winding rotor flux linkage on the d axis and the q axis are respectively; omega is the torque winding electrical angular frequency; and (3) constructing a rotor flux linkage equation under a dq coordinate system:
Figure RE-FDA0002797803290000034
equation of Torque Te＝p1(i1sqψ1d-i1sdψ1q) (ii) a Wherein p is1Is the number of pole pairs of the torque winding, TeIs an electromagnetic torque; solving the components of the rotor current on d and q axes according to a rotor flux linkage equation under a dq coordinate system:
Figure RE-FDA0002797803290000035
s2.1.6, using rotor magnetic field orientation vector control to make psi1rd＝ψ1r，ψ1rq＝0，ψ1rSubstituting the formula into the rotor flux linkage to obtain:
Figure RE-FDA0002797803290000041
s2.1.7, i obtained from S2.1.61rdAnd i1rqSubstituting S2.1.5 the rotor voltage equation yields:
Figure RE-FDA0002797803290000042
wherein p is a differential operator.
3. The decoupling method of the wound-rotor type bearingless asynchronous motor according to claim 2, wherein the decoupling process of the levitation force of the bearingless asynchronous motor in S2.2 comprises the following steps:
s2.2.1, constructing a suspension force equation of the bearingless asynchronous motor:
Figure RE-FDA0002797803290000043
wherein, FmThe amplitude of the suspension force of the bearingless asynchronous motor is obtained; p is a radical of1The number of pole pairs of the torque winding is; p is a radical of2The number of pole pairs of the suspension force winding is; psi1Is a torque winding air gap flux linkage; i.e. i2sThe stator current is the suspension force winding; mu.s0Is a vacuum magnetic conductivity; l is the effective iron core length of the motor rotor; r is the rotor radius; w1And W2The effective turns of each phase of the torque winding and the suspension force winding are respectively connected in series;
s2.2.2, decomposing the suspension force of the bearingless asynchronous motor to d and q axes according to the dot multiplication and cross multiplication principle of the vector: component F of the levitation force in the x, y axesx、FyRespectively as follows:
Figure RE-FDA0002797803290000044
k is a constant number expressed as
Figure RE-FDA0002797803290000045
S2.2.3, relation of a torque winding air gap flux linkage and a rotor flux linkage of the bearingless asynchronous motor:
Figure RE-FDA0002797803290000046
wherein L is1rσRotor leakage inductance for torque windings;
s2.2.4, bringing the torque winding air gap flux linkage and the rotor flux linkage in S2.2.3 into a suspension force calculation formula of the bearingless asynchronous motor in S2.2.2, and constructing a suspension force equation of the bearingless asynchronous motor in steps:
Figure RE-FDA0002797803290000051
4. the decoupling method of the wound-rotor type bearingless asynchronous motor according to claim 3, wherein the process of constructing the electromagnetic torque equation of the bearingless asynchronous motor in S2.3 is as follows: will phi1rd＝ψ1r，ψ1rqSubstituting 0 into the torque equation of S2.1.5 yields:
Figure RE-FDA0002797803290000052
ψ1ris the rotor flux linkage.
5. The decoupling method of the wound-rotor type bearingless asynchronous motor according to claim 4, wherein the decoupling process of the air gap flux linkage of the bearingless asynchronous motor in S3.1 comprises the following steps:
s3.1.1, constructing an air gap flux linkage equation of a torque winding and a suspension force winding of the bearingless asynchronous motor:
Figure RE-FDA0002797803290000053
wherein psi1rd、ψ1rqThe components of the torque winding rotor flux linkage on the d axis and the q axis are respectively; phi.,)2d、ψ2qThe components of the suspension force winding on the d axis and the q axis are respectively; further obtaining:
Figure RE-FDA0002797803290000054
s3.1.2 order psi1d＝ψ1，ψ1q＝0，ψ2d＝ψ2，ψ2q＝0，ψ1Is the air-gap flux linkage of the torque winding,ψ2for the air gap flux linkage of the levitation force winding, then:
Figure RE-FDA0002797803290000055
s3.1.3, mixing the components i1rd、i1rqSubstituting S2.1.5 for the rotor voltage equation yields:
Figure RE-FDA0002797803290000056
s3.1.4, mixing the components i1rd、i1rqSubstituting the formula to obtain:
Figure RE-FDA0002797803290000061
6. the decoupling method of the wound rotor type bearingless asynchronous motor according to claim 5, wherein the decoupling of the levitation force of the bearingless asynchronous motor in S3.2 comprises the following specific processes: will phi1d、ψ1qThe suspension force equation of the bearingless asynchronous motor substituted into S2.2.2 is obtained:
Figure RE-FDA0002797803290000062
7. the method for decoupling a wound rotor bearingless asynchronous motor according to claim 6, wherein ψ is given in S3.31d、ψ1qAnd substituting the motor electromagnetic torque equation of S2.1.5 to construct an electromagnetic torque equation of the bearingless asynchronous motor: t ise＝p1ψ1i1sq。
8. The decoupling method for the wound type bearingless asynchronous motor according to any one of the claims 1 to 7, wherein the a, b and c three-phase flux linkage equations of the torque winding and the levitation force winding of the wound type bearingless asynchronous motor in S1 are as follows:
Figure RE-FDA0002797803290000063
wherein the content of the first and second substances,
Figure RE-FDA0002797803290000064
is the flux linkage of the torque winding stator a, b, c phases;
Figure RE-FDA0002797803290000065
is the flux linkage of the torque winding rotor a, b, c phases;
Figure RE-FDA0002797803290000066
is the magnetic linkage of the phases a, b and c of the stator of the suspension force winding;
Figure RE-FDA0002797803290000067
the self-inductance of the phases a, b and c of the torque winding stator, the motor rotor and the suspension force winding stator respectively;
Figure RE-FDA0002797803290000068
Figure RE-FDA0002797803290000069
is the mutual inductance between any phases of the torque winding stator and the rotor;
Figure RE-FDA00027978032900000610
is mutual inductance between any phases of the torque winding stator and the suspension force winding stator;
Figure RE-FDA00027978032900000611
and
Figure RE-FDA00027978032900000612
is mutual inductance between any phases of the stator and the rotor of the suspension force winding;
Figure RE-FDA00027978032900000613
is the current of the torque winding stator a, b, c phase;
Figure RE-FDA00027978032900000614
is the current of the rotor a, b, c phases;
Figure RE-FDA00027978032900000615
is the current of the phases a, b and c of the stator of the suspension force winding; and is
Figure RE-FDA00027978032900000616
L1mExcitation inductance of the stator and rotor windings for torque winding, L2mExcitation inductance L for each phase winding of the stator of the levitation force winding1m＝L2m，L1sσStator leakage inductance for torque winding, L1rσRotor leakage inductance for torque winding, L2sσStator leakage inductance, theta, for levitation force windings1srFor the angle of slip, theta, between the torque winding stator and the rotor of the machine2srIs the slip angle between the stator of the levitation force winding and the rotor of the motor.
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CN117473818A (en) * 2023-10-25 2024-01-30 苏州市职业大学（苏州开放大学） Stator coordinate system lower mathematical model of doubly-fed alternating pole bearingless flux reversing motor
CN117375470B (en) * 2023-10-25 2024-04-05 苏州市职业大学（苏州开放大学） Mathematical model under rotor coordinate system of doubly-fed alternating-pole bearingless flux reversing motor
CN117473818B (en) * 2023-10-25 2024-04-26 苏州市职业大学（苏州开放大学） Stator coordinate system lower mathematical model of doubly-fed alternating pole bearingless flux reversing motor

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