CN112886892B - Method for controlling transverse suspension of rotor of double-side-length primary permanent magnet linear motor - Google Patents
Method for controlling transverse suspension of rotor of double-side-length primary permanent magnet linear motor Download PDFInfo
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- CN112886892B CN112886892B CN202110317365.7A CN202110317365A CN112886892B CN 112886892 B CN112886892 B CN 112886892B CN 202110317365 A CN202110317365 A CN 202110317365A CN 112886892 B CN112886892 B CN 112886892B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/048—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using AC supply for only the rotor circuit or only the stator circuit
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- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Control Of Ac Motors In General (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
Abstract
The invention discloses a method for controlling transverse suspension of a rotor of a double-side long primary permanent magnet linear motor, which comprises the steps of carrying out independent vector control on stators on two sides, establishing an air gap magnetic field model through extracted stator end voltage and current, estimating air gap offset, estimating a motor flux linkage after being output by an air gap ring PID (proportion integration differentiation) regulator, and then outputting a thrust reference value and calculating the flux linkage through a speed ring PID regulatorqAn axis current reference value based on a normal force reference value andqcalculation of shaft current reference value bilateraldAnd the shaft current reference value is regulated by a current loop PI, and then the converter is controlled by adopting a corresponding modulation algorithm, so that the transverse suspension control of the rotor of the double-side long primary permanent magnet linear motor is realized.
Description
Technical Field
The invention belongs to the field of motors, and particularly relates to a transverse suspension control method for a rotor of a bilateral long primary permanent magnet linear motor.
Background
The linear motor drive has the advantages of controllable whole process, small device volume, short ejection interval, low ejection cost and the like, and has wide application prospect in the field of electromagnetic ejection such as military national defense, rescue goods delivery, automobile collision test and the like.
Three modes are mostly adopted for the transverse suspension control of the bilateral linear motor, the first mode is to utilize an electromagnetic actuator to realize the transverse air gap adjustment of the linear motor, and the method has lower precision; the second one is to adopt the suspension winding and thrust winding to realize the orthogonal motion decoupling control, and adopt the dual vector control separately, have realized the suspension and thrust control, but adopt the suspension winding to make the motor structure and control become more complicated, the power density is small, the inefficiency; and the third method is that two groups of independent frequency converters are used for respectively controlling the stator windings on two sides to realize decoupling control of thrust and transverse suspension force of the linear motor.
In the document of Wide air-gap control for multi-module permanent magnet synchronous motors with out magnetic navigation windings, the Korean institute of Electrical engineering, Bang D-J, obtains the air gap transverse distance by using a gap sensor for a double-side permanent magnet linear motor, and adopts double-frequency converter indirect magnetic field directional suspension control. The method adopts the gap sensor, so the structure is complex, and the use under the short-stroke electromagnetic ejection condition cannot be met.
Disclosure of Invention
The invention aims to provide a lateral suspension control method for a rotor of a bilateral long primary permanent magnet linear motor, which can solve the problems of sensor dependence and complex control.
The technical solution for realizing the purpose of the invention is as follows: a method for controlling transverse suspension of a rotor of a double-side long primary permanent magnet linear motor comprises the following steps:
the method comprises the following steps: two sets of frequency converters are respectively adopted for carrying out independent vector control on the stators on the two sides of the double-side long primary dynamic permanent magnet linear motor, and the terminal voltage u of the stators on the two sides of the double-side long primary dynamic permanent magnet linear motor is respectively extracted abc1 、u abc2 And current i abc1 、i abc2 。
Step two: establishing an air gap magnetic field model through the extracted voltages u of the stator ends at two sides abc1 、u abc2 And current i abc1 、i abc2 Estimating the gap length g of the double-sided air gap 1 、g 2 According to the reference value g of the gap length of the air gap * The gap offset δ is then determined.
Step three: by inputting the air gap reference value delta * Designing a PID regulator according to the deviation from the actual value delta, outputting a mutual inductance rated value M between the excitation winding and the d-axis stator winding, and combining the excitation current i m Jointly estimating the mutual inductance flux linkage psi of the double-sided motor m1 、ψ m2 。
Step four: by inputting a speed reference value v * Designing a PID regulator according to the deviation of the actual value v, and outputting a bilateral thrust reference value F of the linear motor x * Then, the bilateral mutual inductance flux linkage psi of the linear motor is processed m1 、ψ m2 Introducing a speed ring and a current ring, and calculating to obtain a bilateral q-axis current reference value i q1 * 、i q2 * 。
Step five: when the rotor of the double-side length primary permanent magnet linear motor keeps not to shift transversely, the normal force of the double sides needs to satisfy F y1 ＝F y2 According to the reference value F of the bilateral normal force of the permanent magnet linear motor y1 * 、F y2 * And a bilateral q-axis current reference value i q1 * 、i q2 * Calculating to obtain a bilateral d-axis current reference value i d1 * 、i d2 * 。
Step six: calculating the obtained bilateral d and q axis reference current values i d1 * 、i d2 * ，i q1 * 、i q2 * And a feedback value i d1 、i d2 ，i q1 、i q2 And summing, and controlling the converter by adopting an SVPWM modulation algorithm after PI regulation, thereby realizing the transverse suspension control of the rotor of the double-side long primary permanent magnet linear motor and effectively preventing the rotor from deviating during operation.
Compared with the prior art, the invention has the following remarkable advantages:
(1) aiming at the transverse suspension control of the bilateral linear motor, the invention utilizes two groups of independent frequency converters to respectively control the stator windings on the two sides, thereby realizing the decoupling control of the thrust and the transverse suspension force of the linear motor. Compared with an electromagnetic actuator, the method for adjusting the transverse air gap of the linear motor has the advantage of high precision; compared with a decoupling control method of a suspension winding and a thrust winding, the decoupling control method of the thrust winding has the advantages of simple control, high power density and high efficiency.
(2) The invention adopts the on-line estimation of the transverse clearance, can acquire the air gap clearance without depending on a clearance sensor to realize the air gap regulation control, thereby leading the system structure to be simpler, greatly simplifying the device volume, effectively avoiding the abrasion of the bearing, and improving the service life of the bearing and the reliability of the system.
Drawings
Fig. 1 is a schematic diagram of transverse forces of a double-side length primary permanent magnet linear motor rotor under the conditions of central position and left deviation respectively.
Fig. 2 is a block diagram of the control method of the present invention.
Fig. 3 is a flow chart of the control method of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
Referring to fig. 1, the bilateral long primary moving permanent magnet linear motor includes two stator cores 1, two sets of stator armature windings 2, a mover 3, a casing 4, a guide rail 5, and a bearing 6. When the rotor 3 is in the central position, the two sides of the rotor 3 are stressed identically F y1 ＝F y2 (ii) a When the rotor 3 transversely shifts towards the-y direction, the force on the left side of the rotor 3 is larger than the force F on the right side of the rotor 3 y1 >F y2 And the single side of the rotor 3 is stressed too much, so that four bearings 6 on the left side and the right side of the rotor 3 are stressed unevenly and damaged, and therefore, the rotor 3 needs to be controlled to transversely suspend by adopting a corresponding real-time adjustment algorithm from a control angle, so that the rotor 3 is always kept at a central position and does not deviate.
With reference to fig. 2 to 3, a lateral suspension control method for a rotor of a bilateral long primary permanent magnet linear motor specifically includes the following steps:
the method comprises the following steps: two sets of frequency converters are respectively adopted for carrying out independent vector control on the stators on the two sides of the bilateral long primary permanent magnet linear motor, the bilateral independent vector control can be subjected to decoupling control, the mutual inductance influence is reduced, fault-tolerant control is easy to realize, and the voltage u at the stator ends on the two sides of the bilateral long primary permanent magnet linear motor is respectively extracted through the independent vector control abc1 、u abc2 And current i abc1 、i abc2 And turning to the step two.
Step two: by extracted two-side stator terminal voltage u abc1 、u abc2 And current i abc1 、i abc2 Measuring the resistance value R of the stator armature winding according to the resistance meter s Combining the stator terminal voltages u on both sides abc1 、u abc2 And current i abc1 、i abc2 Calculating the back electromotive force values E of the two sides of the motor abc1 、E abc2 A calculation partyThe method comprises the following steps:
by opposing electric potentials E of the motor abc1 、E abc2 To obtain the flux density B of the air gap of the motor at two sides g1 、B g2 ：
In the formula (2), f is the working frequency of the motor, N is the number of turns of the motor winding in single-phase series connection, and K kp Is the winding coefficient and S is the flux area per pole.
Establishing an air gap magnetic field model and the length g of an air gap of a motor 1 、g 2 Magnetic flux density B in air gap with motor g1 、B g2 In connection with this, the equivalent gap length g is calculated e1 、g e2 ：
In the formula (3), μ r As relative permeability, omega s Is the groove width, B r Remanence of permanent magnet, h m Is the permanent magnet magnetization length.
Compared with a finite element numerical method, the method has the advantages that the calculation time can be greatly simplified by establishing the air gap magnetic field model to calculate the air gap length, the problem can be simplified, and the efficiency can be greatly improved through magnetic circuit coupling.
Motor air gap length g 1 、g 2 The calculation formula of (2) is as follows:
according to the air gap length reference value g * The gap offset δ can be found by the formula:
δ＝g * -g 1 ＝g 2 -g * (5)
the length g of the double-sided air gap can be obtained by combining the formulas (1) to (5) 1 ，g 2 And a gap offset δ.
And (5) switching to the third step.
Step three: by inputting the air gap reference value delta * And designing a PID regulator according to the actual value delta, and outputting a mutual inductance rated value M between an excitation winding and a d-axis stator winding, wherein the design method comprises the following steps:
in the formula (6), K p1 Is the air gap ring proportionality coefficient, K i1 Is the air gap ring integral coefficient, K d1 Is the air gap ring differential coefficient.
The system has stronger robustness by designing the PID regulator for the air gap ring, and compared with an air gap dynamic detection method, the method can reduce the calculated amount and improve the precision.
According to the designed mutual inductance rated value M and excitation current i between the excitation winding and the d-axis stator winding m Reference value g of gap length * Double side air gap length g 1 、g 2 Estimating mutual inductance flux linkage psi of double-sided motor m1 、ψ m2 The calculation method comprises the following steps:
the mutual inductance flux linkage psi of the bilateral motor can be obtained by combining the formulas (1) to (7) m1 、ψ m2 。
And (5) turning to the step four.
Step four: by inputting a speed reference value v * Designing a PID regulator according to the deviation of the actual value v, and outputting a bilateral thrust reference value F of the linear motor x * The design method comprises the following steps:
in the formula (8), K p2 As a ratio coefficient of velocity ring, K i2 Is a velocity loop integral coefficient, K d2 Is the velocity ring differential coefficient.
According to the output bilateral thrust reference value F of the linear motor x * Then, the bilateral mutual inductance flux linkage psi of the linear motor is processed m1 、ψ m2 Introducing a speed ring and a current ring, and calculating to obtain a bilateral q-axis current reference value i q1 * 、i q2 * The calculation method comprises the following steps:
in the formula (9), τ is the stator pole pitch.
The bilateral q-axis current reference value i can be obtained through calculation by combining the formulas (1) to (9) q1 * 、i q2 * 。
And F, turning to the step five.
Step five: according to the reference value F of the bilateral normal force of the permanent magnet linear motor y1 * 、F y2 * And a bilateral q-axis current reference value i q1 * 、i q2 * Calculating to obtain a bilateral d-axis current reference value i d1 * 、i d2 * The calculation method comprises the following steps:
in the formula (10), L s Is a motor inductor.
Combining the formulas (1) to (10) according to the reference value F of the normal force of the linear motor y1 * 、F y2 * And a bilateral q-axis current reference value i q1 * 、i q2 * And a bilateral d-axis current reference value i can be obtained through calculation d1 * ，i d2 * 。
Outputting a bilateral d-axis current reference value i through independent vector control d1 * ，i d2 * The suspension control of the transverse force can improve the fault-tolerant capability of the system, and in addition, the quick switching can be carried out when a single side fails, so that the normal work of the motor is continuously kept.
And C, turning to the step six.
Step six: calculating the obtained bilateral d and q axis reference current values i d1 * 、i d2 * ，i q1 * 、i q2 * And a feedback value i d1 、i d2 ，i q1 、i q2 And summing, and controlling the converter by adopting an SVPWM modulation algorithm after PI regulation, thereby realizing the transverse suspension control of the rotor of the double-side long primary permanent magnet linear motor and effectively preventing the rotor from deviating during operation.
Claims (5)
1. A transverse suspension control method for a rotor of a double-side long primary permanent magnet linear motor is characterized by comprising the following specific steps:
the method comprises the following steps: two sets of frequency converters are respectively adopted for carrying out independent vector control on the stators on the two sides of the bilateral long primary permanent magnet linear motor, and the terminal voltage u of the stators on the two sides of the bilateral long primary permanent magnet linear motor is respectively extracted abc1 、u abc2 And current i abc1 、i abc2 Turning to the step two;
step two: establishing an air gap magnetic field model through extracted stator terminal voltage u at two sides abc1 、u abc2 And current i abc1 、i abc2 Estimating the length g of the double-sided air gap 1 、g 2 According to the reference value g of the gap length of the air gap * Then the actual value delta of the gap deviation is obtained, and the step three is carried out;
step three: by inputting the air gap reference value delta * Designing a PID regulator according to the deviation from the actual value delta, outputting a mutual inductance rated value M between the excitation winding and the d-axis stator winding, and combining the excitation current i m Jointly estimating the mutual inductance flux linkage psi of the double-sided motor m1 、ψ m2 Go to stepStep four;
step four: by inputting a speed reference value v * Designing a PID regulator according to the deviation of the actual value v, and outputting a bilateral thrust reference value F of the linear motor x * Then, the bilateral mutual inductance flux linkage psi of the linear motor is processed m1 、ψ m2 Introducing a speed ring and a current ring, and calculating to obtain a bilateral q-axis current reference value i q1 * 、i q2 * Turning to the step five;
step five: when the rotor of the double-side primary permanent magnet linear motor keeps not to shift transversely, the double-side normal force needs to satisfy F y1 ＝F y2 According to the reference value F of the bilateral normal force of the permanent magnet linear motor y1 * 、F y2 * And a bilateral q-axis current reference value i q1 * 、i q2 * Calculating to obtain a bilateral d-axis current reference value i d1 * 、i d2 * Turning to the step six;
step six: calculating the obtained bilateral d and q axis current reference value i d1 * 、i d2 * ，i q1 * 、i q2 * And a feedback value i d1 、i d2 ，i q1 、i q2 And summing, and controlling the frequency converter by adopting an SVPWM (space vector pulse width modulation) algorithm after PI (proportional integral) regulation, thereby realizing the transverse suspension control of the rotor of the double-side long primary permanent magnet linear motor and effectively preventing the rotor from deviating during operation.
2. The lateral levitation control method for the rotor of the double-sided long primary permanent magnet linear motor according to claim 1, characterized in that: in the second step, an air gap magnetic field model is established, and the voltage u of the stator ends at two sides is extracted abc1 、u abc2 And current i abc1 、i abc2 Estimating the gap length g of the double-sided air gap 1 、g 2 According to the gap length reference value g * Further, the actual value δ of the gap deviation is obtained as follows:
measuring the resistance value R of the stator armature winding according to the resistance meter s Combining the stator terminal voltages u on both sides abc1 、u abc2 And current i abc1 、i abc2 Calculating the back electromotive force values E of the two sides of the motor abc1 、E abc2 ：
By opposing electric potentials E of the motor abc1 、E abc2 To obtain the flux density B of the air gap of the motor at two sides g1 、B g2 ：
In the formula (2), f is the working frequency of the motor, N is the number of turns of the motor winding in single-phase series connection, and K kp Is the winding coefficient, S is the area under each pole;
motor air gap length g 1 、g 2 Magnetic flux density B in air gap with motor g1 、B g2 In connection with the above, the equivalent air gap length g is calculated by establishing an air gap magnetic field model e1 、g e2 ：
In the formula (3), μ r As relative permeability, omega s Is the groove width, B r Remanence of permanent magnet, h m Is the permanent magnet magnetization length;
motor air gap length g 1 、g 2 The calculation formula of (2) is as follows:
according to the air gap length reference value g * And calculating the actual value delta of the gap deviation, wherein the calculation formula is as follows:
δ＝g * -g 1 ＝g 2 -g * (5)。
3. the lateral levitation control method for the rotor of the double-sided long primary permanent magnet linear motor according to claim 1, characterized in that: in the third step, the gap reference value delta is input through the air gap * Designing a PID regulator according to the actual value delta, outputting a mutual inductance rated value M between the excitation winding and the d-axis stator winding, and combining the excitation current i m Jointly estimating the mutual inductance flux linkage psi of the motor m1 、ψ m2 The method comprises the following steps:
according to the reference value delta of the air gap * And designing a PID regulator according to the actual value delta, and outputting a mutual inductance rated value M between an excitation winding and a d-axis stator winding:
according to the designed mutual inductance rated value M and excitation current i between the excitation winding and the d-axis stator winding m Reference value g of gap length * Double-sided air gap length g 1 、g 2 Estimating mutual inductance flux linkage psi of double-sided motor m1 、ψ m2 ：
In the formula (6), K p1 Is the air gap ring proportionality coefficient, K i1 Is the air gap ring integral coefficient, K d1 Is the air gap ring differential coefficient; and t is the running time of the motor.
4. The lateral levitation control method for the rotor of the double-sided long primary permanent magnet linear motor according to claim 1, characterized in that: in the fourth step, the speed reference value v is input * Designing a PID regulator according to the deviation of the actual value v, and outputting a bilateral thrust reference value F of the linear motor x * Then, the bilateral mutual inductance flux linkage psi of the linear motor is processed m1 、ψ m2 Introducing a speed ring and a current ring, and calculating to obtain a bilateral q-axis current reference value i q1 * 、i q2 * The method comprises the following steps:
by inputting a speed reference value v * Designing a PID regulator according to the deviation of the actual value v, and outputting a bilateral thrust reference value F of the linear motor x * ：
In the formula (8), K p2 Is a speed loop scaling factor, K i2 Is a velocity loop integral coefficient, K d2 Is the velocity ring differential coefficient; t is the running time of the motor;
according to the output bilateral thrust reference value F of the linear motor x * Then, the bilateral mutual inductance flux linkage psi of the linear motor is processed m1 、ψ m2 Introducing a speed ring and a current ring, and calculating to obtain a bilateral q-axis current reference value i q1 * 、i q2 * ：
Wherein tau is the stator pole pitch.
5. The lateral levitation control method for the rotor of the double-sided long primary permanent magnet linear motor according to claim 1, characterized in that: in the fifth step, when the rotors of the bilateral long primary permanent magnet linear motors keep not to shift transversely, bilateral normal force needs to meet F y1 ＝F y2 According to the reference value F of the bilateral normal force of the permanent magnet linear motor y1 * 、F y2 * And a bilateral q-axis current reference value i q1 * 、i q2 * Calculating to obtain a bilateral d-axis current reference value i d1 * 、i d2 * The method comprises the following steps:
according to permanent magnetismReference value F of bilateral normal force of linear motor y1 * 、F y2 * And a bilateral q-axis current reference value i q1 * 、i q2 * Calculating to obtain a bilateral d-axis current reference value i d1 * 、i d2 * ：
Wherein L is s Is a motor inductor.
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| CN106712619A (en) * | 2017-02-10 | 2017-05-24 | 江苏大学 | Flux linkage identification-based bearingless permanent magnet slice motor axial vibration suppression system |
| CN110071677A (en) * | 2019-05-30 | 2019-07-30 | 中国科学院电工研究所 | High-speed maglev train long stator synchronous linear motor traction control method |
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| EP3367068A1 (en) * | 2017-02-27 | 2018-08-29 | KONE Corporation | Method for levitation control of a linear motor, method for determining a position of a linear motor, inductive sensing device, and elevator system |
| EP3373428B1 (en) * | 2017-03-09 | 2022-07-13 | KONE Corporation | Electric linear motor for an elevator and method for controlling thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106712619A (en) * | 2017-02-10 | 2017-05-24 | 江苏大学 | Flux linkage identification-based bearingless permanent magnet slice motor axial vibration suppression system |
| CN110071677A (en) * | 2019-05-30 | 2019-07-30 | 中国科学院电工研究所 | High-speed maglev train long stator synchronous linear motor traction control method |
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