CN114640195B - Multi-region permanent magnet fault-tolerant motor and operation method thereof - Google Patents
Multi-region permanent magnet fault-tolerant motor and operation method thereof Download PDFInfo
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- CN114640195B CN114640195B CN202210415516.7A CN202210415516A CN114640195B CN 114640195 B CN114640195 B CN 114640195B CN 202210415516 A CN202210415516 A CN 202210415516A CN 114640195 B CN114640195 B CN 114640195B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/17—Stator cores with permanent magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/02—Details
- H02K21/021—Means for mechanical adjustment of the excitation flux
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Abstract
The invention discloses a multi-region high-efficiency permanent magnet fault-tolerant motor and a high-reliability operation method thereof. The outer stator adopts a fractional slot concentrated winding, and the inner stator adopts an integer slot distributed winding; the dovetail rotor head is provided with unequal auxiliary salient poles, the dovetail rotor tail is provided with unequal and offset auxiliary salient poles, the dovetail rotor is internally provided with an air magnetic barrier, and the permanent magnets are uniformly embedded into the dovetail rotor along the circumferential direction. Four modes of operation of the motor are achieved by controlling d-q axis currents in the armature winding and the field winding: mode (1), the armature winding independently drives the motor to run; mode (2), the exciting winding independently drives the motor to run; mode (3), the armature winding and the exciting winding jointly drive the motor to operate; mode (4), the armature winding drives the motor to operate, and the exciting winding regulates the permanent magnetic flux; and the motor runs in different modes in different torque and rotating speed areas, so that multi-interval high-efficiency running is realized.
Description
Technical Field
The invention relates to a multi-region permanent magnet fault-tolerant motor and a design of an operation technology thereof, and belongs to the technical field of motor manufacturing.
Background
In recent years, the automobile industry brings great convenience to the production and life of human beings, and simultaneously, two challenges of excessive dependence on petroleum resources and greenhouse gas emission are also caused. Under the dual pressures of energy crisis and environmental worsening, the automotive industry is in need of reform. With the rapid development of science and technology, new energy automobiles are continuously concerned by domestic and foreign automobile enterprises and are rapidly developed. The permanent magnet synchronous motor, in particular to a rare earth permanent magnet synchronous motor excited by NdFeB permanent magnets, has the remarkable advantages of simple structure, reliable operation, small volume, light weight, less loss, high efficiency and the like, and is widely applied to the field of new energy automobiles.
The motor is in operation and inevitably fails. When the traditional three-phase motor has non-full-phase faults and asymmetric faults, the torque of the motor can rapidly decrease, and meanwhile, severe vibration is generated, so that the normal operation of the motor is influenced, and life threat can be generated to production personnel. Therefore, the fault tolerance of the motor is also of great research value. To improve the fault tolerance of the motor, a multiphase structure, fractional slot single layer concentrated windings and fault tolerant teeth are introduced into the permanent magnet motor. The multiphase structure permanent magnet motor can keep continuous running after faults by utilizing the residual healthy phases without additional hardware. Fractional-slot single-layer concentrated windings can produce higher self inductance and lower mutual inductance, thereby limiting short-circuit current. The fault tolerant teeth have magnetic, electrical, physical and thermal isolation effects and help reduce the effects of faults on the relatively healthy phase. However, the traditional permanent magnet fault-tolerant motor has a single operation mode and can only operate in a specific area. In addition, if a fault occurs, the output torque also decreases, at which time the armature current must be increased to increase the output torque to achieve a certain operating performance, which increases motor losses and decreases motor efficiency.
In general, conventional permanent magnet fault-tolerant motors can only operate in a specific operating region and fault-tolerant efficiency is low when operating fault-tolerant.
Disclosure of Invention
The invention aims to overcome the defects that the traditional permanent magnet fault-tolerant motor can only maintain the rate in a specific operation area and the fault-tolerant efficiency is low during fault-tolerant operation, and provides a multi-interval permanent magnet fault-tolerant motor and an operation technology thereof.
The technical scheme adopted by the invention is as follows: the multi-interval permanent magnet fault-tolerant motor comprises an outer stator, an armature winding embedded in an outer stator slot, an inner stator, an excitation winding embedded in an inner stator slot, a dovetail rotor and a radial-phase permanent magnet; unequal auxiliary salient poles are arranged on the heads of the dovetail-shaped rotors, and the pole arc coefficients of the auxiliary salient poles of the adjacent dovetail-shaped rotor heads are unequal; the tail parts of the dovetail-shaped rotors are provided with unequal and offset auxiliary salient poles, and the pole arc coefficients of the auxiliary salient poles at the tail parts of the adjacent dovetail-shaped rotors are unequal and offset by different angles in sequence; an air magnetic barrier is additionally arranged in the dovetail rotor; the four modes of operation of the motor are achieved by flexibly controlling d-q axis currents in the armature winding and the field winding: mode (1), the armature winding independently drives the motor to run; mode (2), the exciting winding independently drives the motor to run; mode (3), the armature winding and the exciting winding jointly drive the motor to operate; mode (4), the armature winding drives the motor to operate, and the exciting winding regulates the permanent magnetic flux; operating in different modes in different torque and rotating speed areas, so as to realize multi-area operation; by mode switching, a healthy winding is utilized to assist in fault winding to achieve strong fault tolerant operation.
Furthermore, the outer stator adopts fractional slot concentrated windings, only a single-layer winding is wound on each armature tooth, and a tooth-spacing winding method is adopted, so that the outer stator forms 10 armature teeth and 10 error-tolerant teeth, the armature teeth and the error-tolerant teeth are uniformly distributed at intervals in the circumferential direction, and radially opposite two-pole single-layer concentrated windings are connected in series to form a phase. The stator adopts integer slot distributed windings, and 5 stator teeth are circumferentially spaced and connected in series to form a phase.
Further, the slot pole matching of the fractional slot concentrated winding adopted on the outer stator should meet q=2p±2; the slot pole matching of the integer slot distributed winding structure adopted on the inner stator needs to ensure that q=q/(2×p×m) is an integer; wherein Q is the number of slots of the motor, P is the number of pole pairs of the motor, m is the number of phases of the motor, and Q is the number of slots per pole per phase of the motor.
Furthermore, the permanent magnets are made of neodymium-iron-boron rare earth permanent magnet materials, and the magnetizing directions of adjacent permanent magnets are opposite.
Further, the four mode torque formulas are:
wherein T represents an output torque average value, P r Is the number of pole pairs of the rotor,is the external air gap permanent magnet flux density,/->Is the internal air gap permanent magnetic flux density, k f Is the adjusting coefficient of exciting current to the external air gap permanent magnet density, i qo Is the armature winding q-axis current, i qi Is the q-axis current of the exciting winding, i di Is the d-axis current of the exciting winding.
Further, the four modes operate as;
mode (1): the q-axis current is only led into the armature winding of the outer stator to drive the motor to operate, at the moment, the outer stator and the armature winding play an active role, and the inner stator and the exciting winding play a follow-up role;
mode (2): the q-axis current is only led into the exciting winding of the inner stator to drive the motor to operate, at the moment, the inner stator and the exciting winding play an active role, and the outer stator and the armature winding play a follow-up role;
mode (3): meanwhile, q-axis currents are introduced into the armature winding of the outer stator and the exciting winding of the inner stator to jointly drive the motor to operate, and at the moment, the outer stator and the armature winding play an active role, and the inner stator and the exciting winding play an active role;
mode (4): and q-axis current is introduced into the armature winding of the outer stator to drive the motor to operate, and d-axis current is introduced into the exciting winding of the inner stator to adjust the permanent magnetic flux, so that the magnetic adjusting operation is realized.
Further, the multi-zone operation refers to: in the low speed and high torque region, the motor operates in mode (3), in the medium speed and medium torque region, the motor operates in mode (1), and in the high speed and low torque region, the motor operates in mode (2).
Further, by combining the characteristic that the motor can operate in four modes, mode switching is performed, and the healthy winding auxiliary fault kit is utilized to realize strong fault-tolerant operation;
when the motor fails in the running state of the mode (1), switching to the mode (3), converting the armature winding current into a phase to inhibit torque pulsation, and simultaneously introducing q-axis current into the exciting winding to compensate the missing torque; the mode (4) can be switched, the armature winding current is converted into phase to inhibit torque pulsation, and d-axis current is introduced into the exciting winding to regulate magnetism, so that fault-tolerant operation is realized;
when the motor fails in the running state of the mode (2), the motor is switched to the mode (4), the exciting winding current changes phase to push the permanent magnetic flux to an external air gap, and q-axis current is introduced into the armature winding to generate torque, so that fault-tolerant running is realized.
The invention has the beneficial effects that:
1. the multi-region permanent magnet fault-tolerant motor comprises an outer stator, an armature winding embedded in an outer stator slot, an inner stator, an excitation winding embedded in an inner stator slot, a dovetail rotor and a permanent magnet; by flexibly controlling the d-q axis currents in the armature winding and the field winding, the motor is capable of four different modes of operation: mode (1), only the q-axis current is led into the armature winding of the outer stator to drive the motor to operate independently; mode (2), only the q-axis current is led into the exciting winding of the inner stator to drive the motor to operate independently; a mode (3) of simultaneously leading q-axis currents into the armature windings of the outer stator and the exciting windings of the inner stator to jointly drive the motor to operate; and (4) driving the motor to operate by introducing q-axis current into the armature winding of the outer stator, and simultaneously, regulating the permanent magnetic flux by introducing d-axis current into the exciting winding of the inner stator, thereby realizing the magnetic regulation operation.
2. In the low speed and high torque region, the motor operates in mode (3); in the intermediate speed and torque region, the electric machine operates in mode (1); in the high speed and low torque region, the motor operates in mode (2). Compared with a common single-mode permanent magnet fault-tolerant motor, the multi-region permanent magnet fault-tolerant motor can operate in different modes in different torque and rotating speed regions, and further multi-region operation is achieved.
3. When the motor fails in the running state of the mode (1), switching to the mode (3), converting the armature winding current into a phase to inhibit torque pulsation, and simultaneously introducing q-axis current into the exciting winding to compensate the missing torque; the mode (4) can be switched, the armature winding current is converted into phase to inhibit torque pulsation, and d-axis current is introduced into the exciting winding to regulate magnetism, so that fault-tolerant operation is realized; when the motor fails in the running state of the mode (2), the motor is switched to the mode (4), the exciting winding current changes phase to push the permanent magnetic flux to an external air gap, and q-axis current is introduced into the armature winding to generate torque, so that fault-tolerant running is realized. Compared with the traditional permanent magnet fault-tolerant motor, the multi-region permanent magnet fault-tolerant motor can realize strong fault-tolerant operation by utilizing the healthy winding to assist the fault winding.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a diagram of a rotor structure of the present invention;
FIG. 3 is a graph of the no-load back EMF results of the present invention;
FIG. 4 is a graph of output torque results for the present invention; (a) mode (1); (b) mode (2); (c) mode (3);
FIG. 5 is a plot of the rate run area of the present invention;
FIG. 6 is a graph of fault tolerant operating torque results of the present invention; (a) armature winding failure; (b) field winding failure;
FIG. 7 is a graph comparing losses and efficiencies of the new and old fault tolerant methods of the present invention in the event of armature winding failure; (a) a novel fault tolerance method; (b) conventional fault tolerance methods;
FIG. 8 is a graph comparing the loss and efficiency of the new and old fault tolerance method in the case of a fault of the exciting winding; (a) a novel fault tolerance method; (b) conventional fault tolerance methods.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in FIG. 1, the invention is a multi-zone permanent magnet fault tolerant motor. The motor comprises two stators and a dovetail rotor; the two stators are an outer stator 1 and an inner stator 5 respectively, the outer stator 1 adopts a fractional slot concentrated winding, and the inner stator 5 adopts an integer slot distributed winding; unequal auxiliary salient poles are arranged at the head of the dovetail rotor 4, and unequal and offset auxiliary salient poles are arranged at the tail of the dovetail rotor 4; an air magnetic barrier is additionally arranged in the dovetail rotor 4, and the dovetail rotor is shown in the structure of figure 2. The permanent magnets 3 are uniformly embedded along the circumferential direction of the dovetail rotor, the magnetizing directions of the adjacent permanent magnets are opposite, and the permanent magnets are made of neodymium-iron-boron rare earth permanent magnet materials.
The back electromotive force waveforms of the armature winding and the exciting winding of the motor of the present invention under no-load condition are shown in fig. 3. As can be seen from fig. 3, the counter potential waveforms in the two sets of windings have the same phase and different amplitude, which means that the permanent magnet has 2 parallel magnetic circuits. External magnetic path: rotor→outer stator→rotor, inner magnetic path: rotor-inner stator-rotor. The d-q axis currents in the armature winding and the field winding are flexibly controlled, and the multi-region permanent magnet fault-tolerant motor can operate in different modes, including a mode (1), a mode (2), a mode (3) and a mode (4).
The torque waveforms in the different modes are shown in fig. 4, the average torque value in the mode (1) is 24.6Nm, and the torque pulsation is 6%; mode (2) average torque value of 8.8Nm, torque ripple of 5.03%; mode (3) has an average torque value of 33.4Nm and a torque ripple of 7.57%. It can be seen that the average torque is different for the different modes, which provides a basis for operating in the different modes for different rotational speeds and torques. In the low speed and high torque region, the motor operates in mode (3) while q-axis current is applied to the armature winding and the field winding to produce maximum torque to drive the motor operation; in the intermediate speed and intermediate torque region, the motor operates in mode (1), and q-axis current is only supplied to the armature winding to generate a larger torque to drive the motor to operate; in the high speed and low torque region, the motor operates in mode (2), and q-axis current is applied only to the field winding to produce a smaller torque to drive the motor operation. The efficiency graphs of the three modes are different, the total rate area of the motor is synthesized by more than 90% of the rate intervals of the three modes, and the rate operation area with more than 90% of the efficiency of the multi-interval permanent magnet fault-tolerant motor is shown in fig. 5.
FIG. 6 illustrates torque waveforms for the multi-zone permanent magnet fault tolerant motor in fault and fault tolerant conditions, as can be seen, in fault conditions, the torque average is lower with a greater torque ripple; when fault-tolerant operation is performed, the torque average value is improved, and torque pulsation is effectively restrained; the new fault tolerant method achieves less torque ripple than the traditional fault tolerant method. Fig. 7 shows the losses and efficiency of the new and old fault tolerant method in the event of armature winding failure. It can be seen that the iron loss increases very slowly and occupies a small proportion of the total loss in both methods, while the copper loss increases exponentially and occupies a larger proportion of the total loss; the novel fault-tolerant method avoids larger fault-tolerant current, reduces copper consumption, and improves fault-tolerant efficiency. Fig. 8 shows the losses and efficiency of the new and old fault-tolerant method in case of a fault of the field winding, it is possible to obtain that the new fault-tolerant method has a large iron loss and occupies a certain proportion of the total loss, since the outer stator and the armature winding are used to achieve fault-tolerant operation; the conventional fault tolerance method has slow increase of iron loss and small ratio in total loss, but copper loss is relatively large, which results in low fault tolerance efficiency.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. The multi-region permanent magnet fault-tolerant motor is characterized by comprising an outer stator, an armature winding embedded in an outer stator slot, an inner stator, an excitation winding embedded in an inner stator slot, a dovetail rotor and a permanent magnet; the dovetail-shaped rotor head faces the outer stator, unequal auxiliary salient poles are arranged, and the pole arc coefficients of the auxiliary salient poles of the adjacent dovetail-shaped rotor heads are unequal; the tail parts of the dovetail-shaped rotors face the inner stator, and auxiliary salient poles which are unequal and offset are arranged, so that the pole arc coefficients of the auxiliary salient poles of the tail parts of the adjacent dovetail-shaped rotors are unequal and are offset by different angles in sequence; an air magnetic barrier is additionally arranged in the dovetail rotor; the permanent magnets are uniformly embedded along the circumferential direction of the dovetail rotor, and the magnetizing directions of the adjacent permanent magnets are opposite;
the outer stator adopts fractional slot concentrated windings, only a single-layer winding is wound on each armature tooth, and a tooth-spacing winding method is adopted, so that the outer stator forms 10 armature teeth and 10 error-tolerant teeth, the armature teeth and the error-tolerant teeth are uniformly distributed at intervals in the circumferential direction, and radially opposite two-pole single-layer concentrated windings are connected in series to form a phase; the inner stator adopts integer slot distributed windings, and 5 stator teeth are circumferentially spaced and connected in series to form a phase;
the slot pole matching of the fractional slot concentrated winding adopted on the outer stator should meet Q=2P+/-2; the slot pole matching of the integer slot distributed winding structure adopted on the inner stator needs to ensure that q=q/(2×p×m) is an integer; wherein Q is the number of slots of the motor, P is the number of pole pairs of the motor, m is the number of phases of the motor, and Q is the number of slots per pole and phase of the motor;
four modes of operation of the motor are achieved by controlling d-q axis currents in the armature winding and the field winding: mode (1), the armature winding independently drives the motor to run; mode (2), the exciting winding independently drives the motor to run; mode (3), the armature winding and the exciting winding jointly drive the motor to operate; mode (4), the armature winding drives the motor to operate, and the exciting winding regulates the permanent magnetic flux; operating in different modes in different torque and rotating speed areas, so as to realize multi-area operation; through mode switching, the healthy winding is utilized to assist the fault winding to realize strong fault-tolerant operation;
multi-interval operation refers to: in the low speed and high torque region, the motor operates in mode (3), in the medium speed and medium torque region, the motor operates in mode (1), and in the high speed and low torque region, the motor operates in mode (2).
2. The multi-region permanent magnet fault tolerant motor of claim 1 wherein said permanent magnets are neodymium-iron-boron rare earth permanent magnet materials and adjacent permanent magnets are oppositely magnetized.
3. The multi-region permanent magnet fault tolerant electric machine of claim 1 wherein said four mode torque formulas are:
wherein T represents an output torque average value, P r Is the number of pole pairs of the rotor,is the external air gap permanent magnet flux density,/->Is the internal air gap permanent magnetic flux density, k f Is the adjusting coefficient of exciting current to the external air gap permanent magnet density, i qo Is the armature winding q-axis current, i qi Is the q-axis current of the exciting winding, i di Is the d-axis current of the exciting winding.
4. The multi-compartment permanent magnet fault tolerant electric machine of claim 1 wherein said four modes of operation;
mode (1): the q-axis current is only led into the armature winding of the outer stator to drive the motor to operate, at the moment, the outer stator and the armature winding play an active role, and the inner stator and the exciting winding play a follow-up role;
mode (2): the q-axis current is only led into the exciting winding of the inner stator to drive the motor to operate, at the moment, the inner stator and the exciting winding play an active role, and the outer stator and the armature winding play a follow-up role;
mode (3): meanwhile, q-axis currents are introduced into the armature winding of the outer stator and the exciting winding of the inner stator to jointly drive the motor to operate, and at the moment, the outer stator and the armature winding play an active role, and the inner stator and the exciting winding play an active role;
mode (4): and q-axis current is introduced into the armature winding of the outer stator to drive the motor to operate, and d-axis current is introduced into the exciting winding of the inner stator to adjust the permanent magnetic flux, so that the magnetic adjusting operation is realized.
5. The method for operating a multi-zone permanent magnet fault tolerant motor according to claim 1, wherein the method combines the feature that the motor can operate in four modes to perform mode switching, and utilizes a healthy winding auxiliary fault kit to achieve strong fault tolerant operation;
when the motor fails in the running state of the mode (1), switching to the mode (3), converting the armature winding current into a phase to inhibit torque pulsation, and simultaneously introducing q-axis current into the exciting winding to compensate the missing torque; or switching to a mode (4), wherein the armature winding current transformation phase inhibits torque pulsation, and simultaneously, d-axis current is introduced into the exciting winding for magnetic regulation, so that fault-tolerant operation is realized;
when the motor fails in the running state of the mode (2), the motor is switched to the mode (4), the exciting winding current changes phase to push the permanent magnetic flux to an external air gap, and q-axis current is introduced into the armature winding to generate torque, so that fault-tolerant running is realized.
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| CN113067446A (en) * | 2021-05-20 | 2021-07-02 | 河北工业大学 | Double-modularization hybrid excitation flux switching motor |
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| CN104319917A (en) * | 2014-10-30 | 2015-01-28 | 东南大学 | Redundant half-tooth-winding magnetic flux switching motor |
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