CN116345736A - Double-armature alternating-pole bearingless magnetic flux reversing motor and electromagnetic performance analysis method thereof - Google Patents
Double-armature alternating-pole bearingless magnetic flux reversing motor and electromagnetic performance analysis method thereof Download PDFInfo
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- H—ELECTRICITY
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Abstract
The invention provides a double-armature alternating pole bearingless magnetic flux reversing motor and an electromagnetic performance analysis method thereof, wherein the motor comprises a stator and a rotor, wherein a permanent magnet is positioned at the side of the stator, an armature winding is respectively positioned at the side of the stator and the side of the rotor, a suspension winding is positioned at the side of the stator, rotor teeth are embedded into a slotted rotor cylinder made of non-magnetic conductive materials, and iron cores of the stator and the rotor are all made of silicon steel sheets through lamination. The double-armature alternating pole bearingless magnetic flux reversing m motor has the characteristics of high speed, long service life, quick dynamic response and the like, and has unique advantages in the aspects of power energy conservation and energy storage. Compared with the traditional bearingless magnetic flux reversing motor, the double-armature alternating pole bearingless magnetic flux reversing motor has better fault tolerance.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a double-armature alternating-pole bearingless magnetic flux reversing motor and an electromagnetic performance analysis method thereof.
Background
Fault tolerance is a key electromagnetic performance index of a bearingless permanent magnet motor, and the traditional bearingless permanent magnet motor is increasingly widely applied to the fields of flywheel batteries of electric automobiles, new energy power generation, aviation electric power systems and the like by virtue of excellent control performance, higher power density and efficiency. In these applications, there is an increasing demand for the safety and reliability of motor drive systems, where faults must be discovered and resolved in time, and even where the system is required to be capable of fault tolerant operation.
Compared with the traditional double-salient permanent magnet motor, the double-salient permanent magnet motor has the advantages that the high-magnetic-energy permanent magnet is placed on the surface of the stator teeth, and the polarity of permanent magnet flux of the concentrated winding cross-linked stator changes (namely, the magnetic flux is reversed) along with the rotation of the rotor, so that larger magnetic flux change is generated compared with the magnetic flux pulse vibration, and larger torque can be obtained under a certain stator magnetomotive force. However, excessive noise, mechanical friction, vibration, and the like are also unavoidable in the operation of conventional flux reversing motors supported by such bearings. In order to overcome the above disadvantages to some extent, air bearings, liquid bearings and magnetic bearings have been developed. However, the magnetic suspension bearing is directly and mechanically combined with the motor, and the combined motor needs extremely large axial space for arrangement, so that the manufacturing cost is huge. At the same time, the system for controlling the combined motor is very complex and has low reliability. These drawbacks greatly limit the critical rotational speed of this type of high-speed motor and are difficult to apply in a wide range in the field of special industrial production.
At present, research on the double-armature alternating-pole bearingless magnetic flux reversing motor at home and abroad is in the preliminary theoretical analysis and prototype test stage, and related documents are few, and particularly, related theoretical support is lacking for the double-armature bearingless alternating-pole magnetic flux reversing motor.
Disclosure of Invention
In order to solve the problems, the invention discloses a double-armature alternating-pole bearingless magnetic flux reversing motor, wherein armature windings are respectively positioned on a stator side and a rotor side, and suspension windings are positioned on the stator side, so that stator space is effectively utilized. Compared with a common bearingless flux reversing motor, the motor has higher fault tolerance and saves permanent magnet materials.
The specific scheme is as follows:
a double armature alternating pole bearingless flux reversing motor, characterized by: the stator and rotor permanent magnet type motor comprises a stator and a rotor, wherein a permanent magnet is positioned at a stator side, an armature winding is respectively positioned at the stator side and the rotor side, a suspension winding is positioned at the stator side, rotor teeth are embedded into a grooved rotor cylinder made of non-magnetic conductive materials, and iron cores of the stator and the rotor are made of silicon steel sheets through lamination.
As a further improvement of the invention, the radial active levitation force generation principle of the double-armature alternating-pole bearingless magnetic flux reversing motor is realized by virtue of the interaction of excitation flux linkage and flux linkage generated by a levitation winding, and the generation conditions are as follows:
wherein: p (P) a 、P s Pole pairs of the suspension magnetic field and the exciting magnetic field are respectively; omega a 、ω s The rotation angular frequency of the levitation magnetomotive force and the rotation angular frequency of the excitation magnetomotive force are respectively; because the double-armature alternating pole bearingless magnetic flux reversing motor has the characteristics of small length-diameter ratio and torque windings on stator and rotor, the double-armature alternating pole bearingless magnetic flux reversing motor realizes passive suspension of axial and torsion degrees of freedom by virtue of magnetic resistance. The action and effect are shown as follows: when the rotor moves in the axial direction or tilts, the passive restoring force or moment pulls it back to the equilibrium position.
As a further improvement of the invention, the phase number of the double-armature alternating-pole bearingless flux reversing motor is selected as follows: conventional bearingless motors are typically three-phase structures, and in addition, single-phase and other multiphase bearingless motor structures exist.
When the phase number m meets the following condition, the double-armature alternating pole bearingless flux reversing motor has better torque and levitation force generating capability:
m＝2k+1or m＝6k，k＝1，2，…(2)
however, when the number of phases satisfies the condition described by the following formula, the designed double-armature alternating-pole bearingless flux reversing motor exhibits the torque characteristic of a single-phase motor, resulting in an increase in torque and levitation force ripple, that is
m＝1or m＝2k，k＝1，2，4，5，7，…(3)
Therefore, to ensure performance of the bearingless motor, the number of phases thereof should be selected according to formula (2).
As a further improvement of the invention, the levitation force winding adopts a connection mode of a centralized winding, and is divided into six phases of I1, I2, I3, I4, I5 and I6 for generating radial levitation force; in the design method of the integrated winding, when the number of the slots of the motor is large, a great amount of time and labor are consumed for drawing the slot vector star chart, and a generalized design flow is given based on the slot vector star chart method. Each phase of the levitation force winding is formed by connecting two winding coils at opposite positions in series, each phase of the torque winding is formed by connecting four winding coils in series, and the torque winding is divided into: a, B, C, together in three phases, for generating torque. It can be seen that the connection of the ABC three phases is similar, every 120 ° electrical angle.
The electromagnetic performance analysis method of the double-armature alternating-pole bearingless flux reversing motor is characterized by comprising the following steps of:
s1: magnetic field analysis during idle operation;
s2: magnetic field analysis when only the torque winding current is introduced;
s3: magnetic field analysis when only current of the levitation force winding is introduced;
s4: and simultaneously, magnetic field analysis is carried out when the torque winding current and the levitation force winding current are fed.
As a further improvement of the invention, in the step S1, the torque winding current and the levitation force winding current are set to zero, magnetic lines of force are densely distributed around the permanent magnets, and all the stator armatures and the rotor armatures have no magnetic lines of force passing through; the permanent magnetic flux of the double-armature alternating pole bearingless flux reversing motor follows the 'minimum reluctance principle', passes through a stator armature, an air gap, a rotor armature and a stator yoke part to form a closed loop, and forms an effective turn chain in a stator and rotor armature winding; the motor does not generate torque and radial levitation force; the magnetic density of the tooth part of the stator near the d axis of the permanent magnet is slightly higher, and the magnetic density of the stator iron core and the rotor iron core are not saturated.
As a further improvement of the invention, in the step S2, on the basis of no-load operation, only 5A of sinusoidal current is introduced into the torque winding, and at this time, most of magnetic force lines still pass through the air gap, the stator armature and the rotor armature part, and finally form a closed loop with the stator yoke part; under the condition of loaded load, the magnetic field intensity is increased, and part of magnetic force lines pass through the stator armature torque winding, so that the permanent magnetic field is stronger.
As a further improvement of the invention, in the step S3, the magnetic field when the current of the levitation force winding is 5A is similar to that when no load is applied, and the phenomenon that magnetic force lines pass through the stator armature when the load is applied does not occur; because only the levitation winding current is introduced, no torque is generated, and only the original permanent magnetic field is distorted, so that the required radial levitation force is obtained; because of the existence of a strong permanent magnetic field and the fact that a rotor armature torque winding has partial magnetic lines of force passing through, the distinction from the idle running can be judged only from the trend of a few magnetic lines of force.
As a further improvement of the present invention, in the step S4, the magnetic field in the motor is complex, and there are a magnetic field generated by the stator armature and rotor armature torque winding currents, a magnetic field generated by the stator armature levitation force winding currents, and a permanent magnetic field generated by the permanent magnets; wherein, the magnetic field generated by the stator armature and rotor armature torque winding current interacts with the permanent magnetic field generated by the permanent magnet to generate torque; the magnetic field generated by the stator armature levitation force winding current and the permanent magnetic field generated by the permanent magnet interact to generate radial levitation force; compared with the no-load state, the magnetic field is enhanced, and the torque magnetic field and the levitation magnetic field of the stator armature are enhanced.
The invention has the beneficial effects that: the double-armature alternating-pole bearingless magnetic flux reversing motor has the characteristics of high speed, long service life, quick dynamic response and the like, has unique advantages in power energy conservation and energy storage, and has better fault tolerance compared with the traditional bearingless magnetic flux reversing motor; the torque and the levitation mechanism of the motor are illustrated by four aspects of a permanent magnetic field, an armature reaction magnetic field, electromagnetic torque and levitation force, and a foundation is laid for the establishment of an accurate mathematical model of levitation force and torque.
Drawings
Fig. 1 is a diagram showing a connection mode of the levitation force winding.
Fig. 2 is a diagram showing a connection mode of the torque winding.
Fig. 3 is a structural design.
Fig. 4 is a graph of an empty magnetic field line distribution.
Fig. 5 is a magnetic field line diagram when only a torque winding current is applied.
Fig. 6 is a magnetic field line distribution diagram when only the levitation force winding current is applied.
Fig. 7 is a graph showing the distribution of magnetic lines when the torque winding current and the levitation force winding current are applied together.
Detailed Description
The present invention is further illustrated in the following drawings and detailed description, which are to be understood as being merely illustrative of the invention and not limiting the scope of the invention.
The invention provides a double-armature alternating pole bearingless magnetic flux reversing motor which comprises a stator and a rotor, wherein a permanent magnet is positioned at the side of the stator, an armature winding is respectively positioned at the side of the stator and the side of the rotor, a suspension winding is positioned at the side of the stator, rotor teeth are embedded into a grooved rotor cylinder made of non-magnetic conductive materials, and iron cores of the stator and the rotor are all made of silicon steel sheets through lamination.
The topology of the double-armature alternating-pole bearingless flux reversing motor is evolved from a 12/14-pole alternating-pole flux reversing motor, and the double-armature alternating-pole bearingless flux reversing motor is provided with an additional set of suspension windings on stator teeth on the basis of the traditional alternating-pole flux reversing motor. And the permanent magnet consumption of the double-armature alternating-pole bearingless magnetic flux reversing motor is halved compared with the traditional magnetic flux reversing motor, and all the permanent magnets have the same polarity, and a ferromagnetic pole shoe beside the permanent magnets automatically plays a role of the other pole. The permanent magnet consumption is saved, and meanwhile, the fault tolerance of the motor is further improved.
In this embodiment, the principle of generating the radial active levitation force of the double-armature alternating-pole bearingless flux reversing motor is realized by virtue of the interaction of the excitation flux linkage and the flux linkage generated by the levitation winding, and the generation conditions are as follows:
wherein: p (P) a 、P s Pole pairs of the suspension magnetic field and the exciting magnetic field are respectively; omega a 、ω s The rotation angular frequency of the levitation magnetomotive force and the rotation angular frequency of the excitation magnetomotive force are respectively; because the double-armature alternating pole bearingless magnetic flux reversing motor has the characteristics of small length-diameter ratio and torque windings on stator and rotor, the double-armature alternating pole bearingless magnetic flux reversing motor realizes passive suspension of axial and torsion degrees of freedom by virtue of magnetic resistance. The action and effect are shown as follows: when the rotor moves in the axial direction or tilts, the passive restoring force or moment pulls it back to the equilibrium position.
In this embodiment, the number of phases of the double-armature alternating-pole bearingless flux reversing motor is selected as: conventional bearingless motors are typically three-phase structures, and in addition, single-phase and other multiphase bearingless motor structures exist.
When the phase number m meets the following condition, the double-armature alternating pole bearingless flux reversing motor has better torque and levitation force generating capability:
m＝2k+1 or m＝6k，k＝1，2，…(2)
however, when the number of phases satisfies the condition described by the following formula, the designed double-armature alternating-pole bearingless flux reversing motor exhibits the torque characteristic of a single-phase motor, resulting in an increase in torque and levitation force ripple, that is
m＝1 or m＝2k，k＝1，2，4，5，7，…(3)
Therefore, to ensure performance of the bearingless motor, the number of phases thereof should be selected according to formula (2).
As shown in figure 1, the levitation force winding adopts a connection mode of a centralized winding, and is divided into six phases, I1, I2, I3, I4, I5 and I6, for generating radial levitation force; in the design method of the integrated winding, when the number of the slots of the motor is large, a great amount of time and labor are consumed for drawing the slot vector star chart, and a generalized design flow is given based on the slot vector star chart method. Each phase of the levitation force winding is formed by connecting two winding coils at opposite positions in series, and the torque winding is formed by connecting four winding coils in series in each phase as can be seen from fig. 2, wherein the torque winding is divided into: a, B, C, together in three phases, for generating torque. It can be seen that the connection of the ABC three phases is similar, every 120 ° electrical angle.
In connection with fig. 3, in order to more intuitively show the basic structural parameters of the motor and the definition thereof, the detailed definitions of the parameters are given in table 1:
table 1 basic structural parameters of the motor
The invention relates to magnetic field analysis of a double-armature alternating pole bearingless magnetic flux reversing motor, which comprises the following steps:
1. magnetic field during idle operation
Fig. 4 shows the field pattern for a double armature alternating pole bearingless flux reversing motor operating idle. At this time, the torque winding current and the levitation force winding current are set to zero, the magnetic force lines are densely distributed around the permanent magnets, but all the stator armatures and the rotor armatures do not pass through the magnetic force lines. As can be seen from the figures, the double-armature alternating pole bearingless flux reversing motor follows the "minimum reluctance principle" as a conventional flux reversing motor, and the permanent magnetic flux passes through the stator armature, the air gap, the rotor armature and the stator yoke, forming a closed loop and forming an effective chain of turns in the stator and rotor armature windings. At this time, the motor does not generate torque and radial levitation force. The magnetic density of the stator tooth part near the d axis of the permanent magnet is slightly higher, but the magnetic density of the stator iron core and the rotor iron core is not saturated.
2. Magnetic field when only torque winding current is supplied
On the basis of the no-load operation, only 5A of sine current is introduced into the torque winding, and the permanent magnetic field generated by the permanent magnet and the armature magnetic field generated by the current of the torque winding are superposed at the moment as shown in fig. 5. As can be seen from the figure, the vast majority of the magnetic field lines still pass through the air gap, the stator armature and the rotor armature portions, eventually forming a closed loop with the stator yoke. Under the condition of load, the magnetic field intensity is increased, and partial magnetic force lines pass through the stator armature torque winding, so that the stator armature torque winding has a strong permanent magnetic field.
3. Magnetic field when only current of levitation force winding is introduced
As a result of the application of only 5A to the levitation force winding, the field is similar to that of the no-load application and no flux passes through the stator armature when the load is applied, as shown in fig. 6. The main reason is that only the levitation winding current is introduced, and no torque current is introduced, so that no torque is generated, and only the original permanent magnetic field is distorted, thereby obtaining the required radial levitation force. As can also be seen from fig. 6, due to the presence of the strong permanent magnetic field and the fact that the rotor armature torque winding has a portion of magnetic lines passing through, it is difficult to intuitively determine the distortion of the magnetic field, and only the difference from the idle running can be determined from the trend of a few magnetic lines.
4. Magnetic field when torque winding current and levitation force winding current are simultaneously electrified
Fig. 7 shows a magnetic field line distribution diagram when the torque winding current and the levitation force winding current are simultaneously supplied with 5A current. At this time, the magnetic field in the motor is complex, and mainly includes the magnetic field generated by the torque winding currents of the stator armature and the rotor armature, the magnetic field generated by the levitation force winding current of the stator armature, and the permanent magnetic field generated by the permanent magnet. Wherein, the magnetic field generated by the stator armature and rotor armature torque winding current interacts with the permanent magnetic field generated by the permanent magnet to generate torque; the magnetic field generated by the stator armature levitation force winding current and the permanent magnetic field generated by the permanent magnet interact to generate radial levitation force. The magnetic field is enhanced in both the torque field and the levitating field of the stator armature compared to the no-load condition, and at the same time, it can be seen that the torque field generated by the rotor armature torque winding is enhanced.
The rationality and feasibility of the motor are verified by analyzing the basic electromagnetic performance under four different running conditions in detail, such as a magnetic field when the motor runs in an idle state, a magnetic field when only the torque winding current is introduced, a magnetic field when only the levitation force winding current is introduced, and a magnetic field when the torque winding current and the levitation force winding current are simultaneously electrified. The analysis of the four magnetic field performances lays a foundation for the establishment of a subsequent double-armature alternating pole bearingless magnetic flux reversing motor levitation force and torque mathematical model, and also provides convenience for the subsequent motor operation control.
The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (9)
1. A double armature alternating pole bearingless flux reversing motor, characterized by: the stator and rotor permanent magnet type motor comprises a stator and a rotor, wherein a permanent magnet is positioned at a stator side, an armature winding is respectively positioned at the stator side and the rotor side, a suspension winding is positioned at the stator side, rotor teeth are embedded into a grooved rotor cylinder made of non-magnetic conductive materials, and iron cores of the stator and the rotor are made of silicon steel sheets through lamination.
2. The double-armature alternating-pole bearingless flux reversing motor of claim 1, wherein the principle of radial active levitation force generation of the double-armature alternating-pole bearingless flux reversing motor is realized by virtue of magnetic linkage interaction generated by an excitation magnetic linkage and a levitation winding, and the generation conditions are as follows:
wherein: p (P) a 、P s Pole pairs of the suspension magnetic field and the exciting magnetic field are respectively; omega a 、ω s Respectively the rotation angular frequency of the magnetomotive forceThe angular frequency of rotation of the excitation magnetomotive force; because the double-armature alternating pole bearingless magnetic flux reversing motor has the characteristics of small length-diameter ratio and torque windings on stator and rotor, the double-armature alternating pole bearingless magnetic flux reversing motor realizes passive suspension of axial and torsion degrees of freedom by virtue of magnetic resistance.
3. The double-armature alternating-pole bearingless flux reversing motor of claim 1, wherein the number of phases of the double-armature alternating-pole bearingless flux reversing motor is selected from the group consisting of:
when the phase number m meets the following condition, the double-armature alternating pole bearingless flux reversing motor has better torque and levitation force generating capability:
m＝2k+1or m＝6k，k＝1，2，…(2)。
4. a double armature alternating pole bearingless flux reversing motor as set forth in claim 1 wherein: the suspension force winding adopts a connection mode of a centralized winding and is used for generating radial suspension force; each phase of the levitation force winding is formed by connecting two winding coils at opposite positions in series, and each phase of the torque winding is formed by connecting four winding coils in series and is used for generating torque.
5. The electromagnetic performance analysis method of the double-armature alternating-pole bearingless flux reversing motor is characterized by comprising the following steps of:
s1: magnetic field analysis during idle operation;
s2: magnetic field analysis when only the torque winding current is introduced;
s3: magnetic field analysis when only current of the levitation force winding is introduced;
s4: and simultaneously, magnetic field analysis is carried out when the torque winding current and the levitation force winding current are fed.
6. The method for analyzing electromagnetic performance of a double-armature alternating-pole bearingless flux reversing motor according to claim 5, wherein in the step S1, the torque winding current and the levitation force winding current are set to be zero, magnetic lines of force are densely distributed around the permanent magnet, and all the stator armatures and the rotor armatures have no magnetic lines of force passing through; the permanent magnetic flux of the double-armature alternating pole bearingless flux reversing motor follows the 'minimum reluctance principle', passes through a stator armature, an air gap, a rotor armature and a stator yoke part to form a closed loop, and forms an effective turn chain in a stator and rotor armature winding; the motor does not generate torque and radial levitation force; the magnetic density of the tooth part of the stator near the d axis of the permanent magnet is slightly higher, and the magnetic density of the stator iron core and the rotor iron core are not saturated.
7. The method for analyzing electromagnetic performance of a double-armature alternating-pole bearingless flux reversing motor according to claim 5, wherein in S2, on the basis of no-load operation, only 5A of sinusoidal current is introduced into the torque winding, and at this time, most of magnetic force lines still pass through the air gap, the stator armature and the rotor armature part, and finally form a closed loop with the stator yoke part; under the condition of loaded load, the magnetic field intensity is increased, and part of magnetic force lines pass through the stator armature torque winding, so that the permanent magnetic field is stronger.
8. The method for analyzing electromagnetic performance of a double-armature alternating-pole bearingless flux reversing motor according to claim 5, wherein in S3, the magnetic field when the current of the levitation force winding is 5A is similar to that when no load is applied, and no phenomenon that magnetic force lines pass through the stator armature occurs when load is applied; because only the levitation winding current is introduced, no torque is generated, and only the original permanent magnetic field is distorted, so that the required radial levitation force is obtained; because of the existence of a strong permanent magnetic field and the fact that a rotor armature torque winding has partial magnetic lines of force passing through, the distinction from the idle running can be judged only from the trend of a few magnetic lines of force.
9. The method for analyzing electromagnetic performance of a double-armature alternating-pole bearingless flux reversing motor according to claim 5, wherein in S4, the magnetic field in the motor is complex, and there are magnetic fields generated by stator armature and rotor armature torque winding currents, magnetic fields generated by stator armature levitation force winding currents, and permanent magnetic fields generated by permanent magnets; wherein, the magnetic field generated by the stator armature and rotor armature torque winding current interacts with the permanent magnetic field generated by the permanent magnet to generate torque; the magnetic field generated by the stator armature levitation force winding current and the permanent magnetic field generated by the permanent magnet interact to generate radial levitation force; compared with the no-load state, the magnetic field is enhanced, and the torque magnetic field and the levitation magnetic field of the stator armature are enhanced.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117172114A (en) * | 2023-09-07 | 2023-12-05 | 苏州市职业大学（苏州开放大学） | Multi-target particle swarm cooperation group method of double-armature bearingless magnetic flux reversing motor |
| CN117375470A (en) * | 2023-10-25 | 2024-01-09 | 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 |
| 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117172114A (en) * | 2023-09-07 | 2023-12-05 | 苏州市职业大学（苏州开放大学） | Multi-target particle swarm cooperation group method of double-armature bearingless magnetic flux reversing motor |
| CN117172114B (en) * | 2023-09-07 | 2024-03-19 | 苏州市职业大学（苏州开放大学） | Multi-target particle swarm cooperation group method of double-armature bearingless magnetic flux reversing motor |
| CN117375470A (en) * | 2023-10-25 | 2024-01-09 | 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 |
| 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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