CN1713490A - Digital-control servo system and its control for permanent magnet synchronous motor without bearing - Google Patents
Digital-control servo system and its control for permanent magnet synchronous motor without bearing Download PDFInfo
- Publication number
- CN1713490A CN1713490A CN 200510040064 CN200510040064A CN1713490A CN 1713490 A CN1713490 A CN 1713490A CN 200510040064 CN200510040064 CN 200510040064 CN 200510040064 A CN200510040064 A CN 200510040064A CN 1713490 A CN1713490 A CN 1713490A
- Authority
- CN
- China
- Prior art keywords
- bearing
- permanent magnet
- control
- freedom
- synchronous motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Magnetic Bearings And Hydrostatic Bearings (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The three degree of freedom radial-axial direction mixing magnetic bearing, and two degree of freedom bearingless permanent magnet synchronous motor are used to compose 5 degree of freedom bearingless permanent magnet synchronous motor digital-control servosystem. Three independent PID linear controllers are used to make independent control. Through adjusting control parameter of PID controllers, implements steady operation of the mixing magnetic bearing. The hall sensor is used to detect the size of magnetic field of rotator, and directional control strategy based on rotator field is adopted to make dynamic decoupling control. Through adjusting parameter of two PI controller in location control ring, ensures redial direction suspension system of bearingless motor has good dynamical and static property. Through adjusting parameters of three PI controller in rotating speed control ring, ensures the rotating speed has good response property.
Description
Technical field
The present invention is bearing-free permanent magnet synchronous motor numerical control servo control system structure and control method, be applicable to numerous special electric transmission fields such as canned pump, high speed or ultrahigh speed Digit Control Machine Tool, industrial robot, Aero-Space, life science, particularly contactless, need not lubricated and do not have characteristics such as wearing and tearing, the special occasions such as transmission that are used for vacuum technique, pure clean chamber and sterile workshop and Korrosionsmedium or very pure medium belong to the technical field of Electric Drive control appliance.
Background technology
Traditional five degrees of freedom without bearing magneto (except that rotary freedom), by 2 two degrees of freedom bearing-free permanent magnet synchronous motor unit, 1 axial magnetic bearing constitutes.The electromechanics structure is quite complicated, rotor axial is very long, motor critical speed is very limited, particularly control system is huger, 2 two degrees of freedom permanent-magnetic electric machine with bearing unit need 4 three-phase inversion drive circuits, axial magnetic bearing needs 1 way switch power amplifier, and fine coordination control will be considered in 2 two degrees of freedom bearing-free motor unit, and control system is too complicated, is difficult to be applied in practice.
For from simplifying the complexity of permanent-magnet synchronous motor with five degrees of freedom without bearing mechanical structure and control in essence, realize the high speed rotating and the control of suspension rotor, need to adopt new mechanical structure and control method, development compact conformation, the simple bearing-free permanent magnet synchronous motor digital control servo system structure of control and control method.
There are not relevant patent and document both at home and abroad.
Summary of the invention
The objective of the invention is to change traditional permanent-magnet synchronous motor with five degrees of freedom without bearing structure, design a kind of permanent-magnet synchronous motor with five degrees of freedom without bearing (except that rotary freedom) model machine body that constitutes by Three Degree Of Freedom radial-axial hybrid magnetic bearing and two degrees of freedom bearing-free permanent magnet synchronous motor, adopted simultaneously based on rotor field-oriented control strategy the two degrees of freedom bearing-free permanent magnet synchronous motor is carried out two closed-loop controls, the Three Degree Of Freedom magnetic bearing adopts 3 independent position PID controllers to control.Realized that electric machine structure is simple, the effect of control system function admirable.Make this type of bearing-free permanent magnet synchronous motor at numerous special electric transmission fields such as canned pump, high speed or ultrahigh speed Digit Control Machine Tool, industrial robot, Aero-Space, life sciences, particularly contactless, need not lubricated and do not have characteristics such as wearing and tearing, the special occasions electric drive systems such as transmission that are used for vacuum technique, pure clean chamber and sterile workshop and Korrosionsmedium or very pure medium are used widely.
The solution of the present invention is: permanent-magnet synchronous motor with five degrees of freedom without bearing digital control servo system mechanical structure is to be made of 1 two degrees of freedom bearing-free permanent magnet synchronous motor and 1 Three Degree Of Freedom radial-axial hybrid magnetic bearing.Three Degree Of Freedom radial-axial hybrid magnetic bearing by axial stator, axially control coil, rotor core, radially control coil, radial stator and annular permanent magnnet constitute.Rotor core respectively and the gap between the axial stator of both sides as 2 axial air-gaps; Rotor core respectively and the gap between the radial stator magnetic pole as 4 radial air gaps.Axial magnetic circuit and radially magnetic circuit constituted complete flux circuit through corresponding stator, air gap and rotor respectively.Synthesized by permanent-magnet bias magnetic flux and control magnetic flux at axial air-gap and radial air gap place resultant flux, the variation of resultant flux can change radially or axial suspending power.
Three Degree Of Freedom radial-axial magnetic bearing control system carries out the magnet control coil by linear closed-loop controller, switch power amplifier, Three Degree Of Freedom magnetic bearing and displacement transducer constitutes, detect the radial and axial displacement of magnetic bearing and given reference quantity compares by displacement transducer, adjust position PID controller parameter respectively, produce control signal corresponding, produce Control current through switch power amplifier, difference drive magnet coil, produce electromagnetic force, realize that Three Degree Of Freedom radial-axial magnetic bearing rotor is suspended in the equilbrium position.
The two degrees of freedom permanent-magnetic electric machine with bearing is made of stator core, rotor, permanent magnet, the stainless steel collar, motor windings, radial load winding and rotating shaft etc.The radial displacement of rotor has displacement transducer to detect, and speed has Hall element to detect.
Two degrees of freedom bearing-free motor control system is made of radial position control subsystem and speed control subsystem, and two subsystems all adopt two closed loops to control.Ring is made of current closed-loop controller, 2 coordinate transforms, voltage-type three-phase inverter and current sensors in the location subsystem, by the actual current in the current sensor senses suspending power winding, adjust current PI controller parameter in the current closed-loop controller, realize current closed-loop control; Outer shroud is made of position closed loop controller, interior ring, two degrees of freedom bearing-free motor, eddy current displacement sensor etc., just can control rotor-position by the parameter of adjusting the linear closed-loop controller.The speed ring subsystem also is made of interior circular current ring and outer shroud speed ring, interior ring is made of current closed-loop controller, 2 coordinate transforms, voltage-type three-phase inverter and current sensors, by the actual current in the current sensor senses motor windings, by adjusting current PI controller realization current closed-loop control in the current closed-loop controller; Outer shroud is made of speed closed loop controller, interior ring, two degrees of freedom bearing-free permanent magnet synchronous motor, Hall element etc., by the parameter of the PI controller of regulating the speed, the speed of motor is carried out closed-loop control.By measuring the magnetic field size of rotor, adopt rotor field-oriented control strategy to carrying out dynamic Decoupling Control of Load Torque between rotor displacement and the speed.
Principle of the present invention is to change traditional permanent-magnet synchronous motor with five degrees of freedom without bearing structure, has designed a kind of permanent-magnet synchronous motor with five degrees of freedom without bearing that is made of Three Degree Of Freedom radial-axial hybrid magnetic bearing and two degrees of freedom bearing-free permanent magnet synchronous motor (removing rotary freedom) digital control servo system model machine body.Adopt rotor field-oriented control strategy that the two degrees of freedom bearing-free permanent magnet synchronous motor has been carried out Nonlinear Dynamic decoupling zero control.Adopt three positioners to carry out independent control to Three Degree Of Freedom magnetic bearing position,, realize the three freedom degree mixed magnetic bearing steady operation by adjusting the parameter of position PID controller.To the two degrees of freedom bearing-free permanent magnet synchronous motor, position by Hall element detection rotor magnetic field, employing is carried out decoupling zero control based on the directed control strategy of rotor field, by adjusting the parameter of PI controller in the rotating speed control ring, guarantees that rotating speed has good response performance; By the parameter of PI controller parameter and PID controller in the adjustment Position Control ring, guarantee that bearing-free motor radial suspension system has good dynamic and static state performance.
Adopt the bearing-free permanent magnet synchronous motor digital control servo system of this programme development, compare with permagnetic synchronous motor and traditional permanent-magnet synchronous motor with five degrees of freedom without bearing (2 two degrees of freedom bearing-free permanent magnet synchronous motor unit constitute with 1 axial magnetic bearing) of 3 magnetic bearing supportings, have the following advantages: 1. system is made of 2 parts, compact conformation, rotor length shortens greatly, motor speed, power can be further enhanced, and can realize microminiaturization; 2. control system is simple in structure, need not to consider 2 coordination controls between the two degrees of freedom bearing-free permanent magnet synchronous motor unit, and control algolithm realizes easily.
The invention has the advantages that:
1. bearing-free permanent magnet synchronous motor digital control servo system mechanical structure is more reasonable, and is more practical.Broken away from permagnetic synchronous motor and traditional permanent-magnet synchronous motor with five degrees of freedom without bearing complex structure of 3 magnetic bearing supportings, critical whirling speed is low, the defective that control system is too complicated.
2. realized dexterously that the radial-axial three freedom degree magnetic bearing jointly controls.Than being closed of two degrees of freedom radial direction magnetic bearing and single-degree-of-freedom axial magnetic bearing, under equal-wattage or supporting force, dwindled the length of rotor axial greatly; Or making that system power can do more under the equal volume, suspending power can do more.
Three Degree Of Freedom radial-axial hybrid magnetic bearing compact conformation, adopt permanent-magnet bias, reduced the volume and the power consumption of power amplifier, reduced manufacturing cost.
4. the two degrees of freedom bearing-free permanent magnet synchronous motor is based on rotor field-oriented control strategy, and location subsystem and speed subsystem adopt rotor field-oriented control, and magnetic field detection is simple and reliable, and control method realizes easily.
5. the voltage-type three-phase inverter technology maturation of power amplifier of magnetic bearing switch and bearing-free motor, cost is low, makes the overall system cost reduce.
6. DSP digital signal processor of the digital control partial common of Three Degree Of Freedom radial-axial hybrid magnetic bearing and two degrees of freedom bearing-free permanent magnet synchronous motor, except that switch power amplifier, voltage-type three-phase inverter and transducer and interface circuit, other controlling unit all has software programming to realize, has increased the flexibility and the reliability of system.
7. the mechanical structure of the permanent-magnet synchronous motor with five degrees of freedom without bearing of the present invention design, compact conformation, this structure can be used for the bearing-free motor (as bearing-less AC asynchronous motor, no bearing reluctance motor, bearing-free switch reluctance motor) of other type.
Description of drawings
Fig. 1 is the permanent-magnet synchronous motor with five degrees of freedom without bearing mechanical construction drawing, is made of Three Degree Of Freedom radial-axial hybrid magnetic bearing and two degrees of freedom bearing-free permanent magnet synchronous motor.Specifically by auxiliary bearing (1) radially, 9 displacement sensor probes (2), rotating shaft (3), rear end cap (4), magnetic bearing rotor core (5), magnetic bearing axial stator (6), magnetic bearing axial control coil (7), magnetic bearing annular permanent magnet (8), magnetic bearing radial stator (9), magnetic bearing is control coil (10) radially, 2 displacement sensor brackets (11), 2 abutment sleeves (12), bearing-free permanent magnet synchronous motor stator (13), bearing-free permanent magnet synchronous motor rotor (14), 4 bearing-free motor rotating speeds detect Hall element (15), cover (17) in the cylinder barrel overcoat (16), cylinder barrel, front end housing (18), auxiliary bearing (19).
Fig. 2 is the structural representation of permanent-magnet synchronous motor with five degrees of freedom without bearing, comprising two degrees of freedom bearing-free permanent magnet synchronous motor (21) and Three Degree Of Freedom radial-axial hybrid magnetic bearing (22).
Fig. 3 is the structural representation of Three Degree Of Freedom radial-axial hybrid magnetic bearing radial stator (9) and axial stator (6).
Fig. 4 is the structural representation of Three Degree Of Freedom radial-axial hybrid magnetic bearing radial coil (10) and axial coil (7), axially connects respectively with two radially relative coils, as the control coil of the corresponding degree of freedom.
Fig. 5 is the magnetic circuit figure of Three Degree Of Freedom radial-axial hybrid magnetic bearing axial magnetic circuit, rotor core (5) respectively and the gap between the both sides axial stator (6) as 2 axial air-gaps, at axial air-gap place resultant flux by permanent-magnet bias magnetic flux φ
PMRespectively with control magnetic flux φ
ZEMSynthesize, the variation of resultant flux changes axial suspending power.
Fig. 6 is the radially magnetic circuit figure of magnetic circuit of Three Degree Of Freedom radial-axial hybrid magnetic bearing, rotor core (5) respectively and the gap between (9) 4 magnetic poles of radial stator as 4 radial air gaps.Radially magnetic circuit passes through radial stator (9), air gap and rotor core (5) respectively and has constituted complete flux circuit.Radial air gap place resultant flux is by permanent-magnet bias magnetic flux φ
PMRespectively with control magnetic flux (φ
XEM, φ
YEM) synthesize, the variation of air gap place resultant flux can change radially or axial suspending power.
Fig. 7 is a Three Degree Of Freedom radial-axial hybrid magnetic bearing control system block diagram.By Three Degree Of Freedom radial-axial hybrid magnetic bearing (22), displacement transducer (50), linear closed-loop controller (30), switch power amplifier (40) constitutes.By displacement transducer (50) rotor-position is detected, compare with given reference position signal and realize the PID Position Control by software programming in DSP inside.
Fig. 8 is the structure chart of two degrees of freedom bearing-free permanent magnet synchronous motor double closed-loop control system.Two subsystems all adopt two closed loops to control, and ring is made of current closed-loop controller (70), coordinate transform (81,82), voltage-type three-phase inverter (91), current sensor (101) in the location subsystem; Outer shroud is made of position closed loop controller (60), interior ring, two degrees of freedom bearing-free permanent magnet synchronous motor (21), eddy current displacement sensor (54,55).
The speed ring subsystem also is made of interior circular current ring and outer shroud speed ring, and current inner loop is made of current closed-loop controller (74), coordinate transform (83,84), voltage-type three-phase inverter (92), current sensor (102).Outer shroud is made of closed loop controller (64), current inner loop, two degrees of freedom bearing-free permanent magnet synchronous motor (21), Hall element (15), by the parameter of PI controller (64) of regulating the speed, can carry out closed-loop control to the speed of motor.
Fig. 9 adopts DSP to form schematic diagram as apparatus of the present invention control system of bearing-free permanent magnet synchronous motor digital control servo system structure and control method.Wherein dsp controller 110.
Figure 10 is to be the realization systems soft ware block diagram of the present invention of controller CPU with DSP.
Embodiment
Embodiments of the present invention are:
Its control method that adopts is to constitute permanent-magnet synchronous motor with five degrees of freedom without bearing digital control servo system model machine body by two degrees of freedom bearing-free permanent magnet synchronous motor (21), Three Degree Of Freedom radial-axial hybrid magnetic bearing (22) etc., adopts the position of linear closed-loop controller (30) control three freedom degree mixed magnetic bearing radial-axial; Adjust the Control Parameter of position PID controller (31,32,33), realize Three Degree Of Freedom radial-axial hybrid magnetic bearing steady operation; Utilize Hall element (15) detection rotor magnetic field size, adopt based on rotor field-oriented control strategy radially displacement and motor speed carry out dynamic Decoupling Control of Load Torque two degrees of freedom bearing-free permanent magnet synchronous motor; By the parameter of 2 PI controller parameters (71,72) and 2 PID controllers (61,62) in the adjustment Position Control ring, realize the good dynamic and static state performance of two degrees of freedom bearing-free permanent magnet synchronous motor radial suspension system; By adjusting the parameter of 3 PI controllers (64,75,76) in the rotating speed control ring, guarantee that rotating speed has good response performance.
Concrete enforcement following 9 steps of branch:
1. the bearing-free permanent magnet synchronous motor body is to be made of two degrees of freedom bearing-free permanent magnet synchronous motor (21) and Three Degree Of Freedom radial-axial hybrid magnetic bearing (22) in the cover in cylinder barrel;
The Three Degree Of Freedom of right-hand member radially-axial mixed magnetic bearing (22) is fixed in the rear end cap (4) by auxiliary bearing (1) radially; Shaft position sensor probe (2) is fixed on the rear end cap (4), be in rotating shaft (3) in the heart, detect the axial displacement of rotating shaft (3); 4 radial displacement transducer probes (2) of magnetic bearing are fixed on the sensor stand (11), and sensor stand (11) is fixed on the side near magnetic bearing; The same rotating shaft of magnetic bearing rotor core (5) (3) is fixed together, and is overrided to form by silicon steel material; The axial stator of magnetic bearing (6) is surrounded radial stator (9) and annular permanent magnet (8), and annular permanent magnet (8) is installed between the axial stator (6) of magnetic bearing radial stator (9) and magnetic bearing; Magnetic bearing radially control coil (10) respectively around radial stator (9) along on equally distributed four magnetic poles of circumference, it is a radially control coil of the degree of freedom that the coil on 2 relative magnetic poles is in series, and provides and radially controls magnetic flux; The axial control coil (7) of magnetic bearing is in magnetic bearing axial stator inboard, equally distributed magnetic bearing radial stator (9) and permanent magnet (8) both sides, 2 coils series connection;
In the two degrees of freedom bearing-free permanent magnet synchronous motor (21) of left end, the permanent magnetic material neodymium iron boron is equipped with on bearing-free permanent magnet synchronous motor rotor (14) surface, and to make number of pole-pairs be 2 permanent magnet, the permanent magnet outside is fixed with steel cylinder, and rotor (14) is contained in the rotating shaft (3); The stator of bearing-free permanent magnet synchronous motor (13) is applied mechanically the stator of standard permagnetic synchronous motor, laminates 2 cover windings in the stator slot, and the numbers of pole-pairs of two cover windings are ± 1 relation; 4 radial displacement transducer probes (2) of bearing-free permanent magnet synchronous motor are installed near on the sensor stand (11) of front end housing (18), adopt the radially binary displacement of variate, sensor stand (11) is fixed on the left end of bearing-free permanent magnet synchronous motor (21); Be provided with 4 Hall elements (15) of measuring rotating speed and be fixed on sensor stand (11); The aiding support bearing of auxiliary bearing (19) as bearing-free permanent magnet synchronous motor is housed in the front end housing.
Three Degree Of Freedom radial-axial hybrid magnetic bearing (22), two degrees of freedom bearing-free permanent magnet synchronous motor (21), 2 abutment sleeves (12), 2 sensor stands (11) all are contained in and overlap in 17 in the cylinder barrel, cylinder barrel is made of interior cover 17 and overcoat 16, be used to support the cylinder barrel double-decker of Three Degree Of Freedom radial-axial hybrid magnetic bearing stator and two degrees of freedom bearing-free permanent magnet synchronous motor stator, have the spiral raceway groove between two-layer, water flowing is cooled off the permanent-magnet synchronous motor with five degrees of freedom without bearing system.
The control system of Three Degree Of Freedom radial-axial hybrid magnetic bearing (22) is linked to each other successively by linear closed-loop controller (30), switch power amplifier (40), Three Degree Of Freedom radial-axial magnetic bearing (22), displacement transducer (50) and constitutes.
The control system of two degrees of freedom bearing-free permanent magnet synchronous motor (21) is made of radial position control subsystem and speed control subsystem, ring is by current closed-loop controller (70), coordinate transform (81,82), voltage-type three-phase inverter (91), current sensor formations such as (101) in the location subsystem; Outer shroud is made of position closed loop controller (60), interior ring, two degrees of freedom bearing-free permanent magnet synchronous motor (21), displacement transducer (54,55).The speed ring subsystem is made of current inner loop and speed outer shroud, current inner loop is by current closed-loop controller (74), coordinate transform (83,84), voltage-type three-phase inverter (92), current sensor formations such as (102), outer shroud is by speed closed loop controller (63), current inner loop, two degrees of freedom bearing-free permanent magnet synchronous motor (21), Hall element formations such as (15).
Adopt two degrees of freedom not have the bearing asynchronous machine and replace described two degrees of freedom bearing-free permanent magnet synchronous motor, constitute five degrees of freedom without bearing asynchronous machine digital control servo system; Specifically be stator and the cage rotor structure that no bearing asynchronous machine is applied mechanically the standard asynchronous motor, laminate two cover windings in stator slot, the number of pole-pairs of two cover windings is ± 1 relation, adopts photoelectric coded disk to be installed in an end of rotating shaft.
2. displacement detecting.Adopt current vortex sensor to axially detecting with 5 degree of freedom displacements radially.Axially adopt a current vortex sensor, and radially adopt 8 current vortex sensors to carry out the differential type detection respectively in x direction and y direction, to obtain position signalling accurately, and handle through interface circuit and to make it within the A/D of DSP input reference signal, by the built-in sample/hold circuit of DSP it is carried out signal acquisition process.
3. rotating speed detects.Adopt 4 Hall elements that differential detection and processing are carried out in the rotor field, obtain magnetic field corner amount and motor speed size.4 Hall elements (15) of measuring rotating speed are fixed on the sensor stand (11), near rotor, by measuring the magnetic field size of rotor, measure rotating speed of motor indirectly; Also can adopt photoelectric encoder to be installed in one of rotating shaft and bring in the measurement rotating speed of motor.
4. power amplifier of magnetic bearing switch.Adopt traditional switch power amplifier, it is fast to have response speed, characteristics such as simple in structure, efficient height.Directly as the switch power amplifier drive signal, produce Control current through amplifying by the control signal of DSP output, Control current produces the active magnetic suspending power in carrying out magnet makes rotor remain on the equilbrium position.
5. bearing-free motor voltage-type three-phase inverter.The Intelligent Power Module IPM that adopts is as main inverter circuit, and DSP output three-phase PWM signal is controlled the voltage-type three-phase inverter, and DSP detects the fault of converter signal, and carries out troubleshooting.
6. make up Three Degree Of Freedom radial-axial hybrid magnetic bearing control system.Three Degree Of Freedom magnetic bearing position control system is made of linear closed-loop controller, switch power amplifier, Three Degree Of Freedom radial-axial magnetic bearing execution electromagnet, displacement transducer, detect the radial and axial displacement of magnetic bearing and given displacement reference value compares by displacement transducer, adjust the parameter of position PID controller respectively, produce control signal corresponding, produce Control current through switch power amplifier, difference drive magnet coil, produce electromagnetic force, realize that Three Degree Of Freedom magnetic bearing rotor is suspended in the equilbrium position.
To Three Degree Of Freedom radial-axial magnetic bearing Position Control is by displacement transducer (51,52,53) detecting radial and axial displacement of magnetic bearing and given displacement reference value compares, adjust position PID controller (31 respectively, 32,33) parameter, produce control signal corresponding, produce Control current through switch power amplifier (41,42,43), drive the electromagnet coil (10 of Three Degree Of Freedom radial-axial magnetic bearing (22) respectively, 7), produce electromagnetic force, realize that Three Degree Of Freedom radial-axial magnetic bearing rotor is suspended in the equilbrium position.
7. make up two degrees of freedom bearing-free permanent magnet synchronous motor control system.Radial position control subsystem and the speed control subsystem of forming two degrees of freedom bearing-free permanent magnet synchronous motor control system all adopt two closed loops to control; By the actual current in current sensor (101) the detection suspending power winding,,, realize current closed-loop control by adjusting PI controller (71,72) parameter in the current closed-loop controller (70) through coordinate transform (81) computing and processing; By adjusting the parameter of position PID controller (61,62), realize the rotor radial position is controlled; By the actual current in current sensor (102) detection bearing-free permanent magnet synchronous motor (21) motor windings,, realize current closed-loop control by adjusting the parameter of PI controller (75,76) in the current closed-loop controller (74); By the parameter of PI controller (64) of regulating the speed, can carry out closed-loop control to the speed of motor;
Dynamic Decoupling Control of Load Torque between displacement and the speed, adopt rotor field-oriented control strategy to carry out decoupling zero, position angle γ by detection rotor magnetic field, the quantitative change that two-phase is rotated in the D-Q coordinate (the variable upper right corner is represented with " F " among Fig. 8) is changed in the static d-q coordinate of two-phase (the variable upper right corner is represented with " S " among Fig. 8), the amount that measures in suspending power and the motor windings promptly can be realized dynamic Decoupling Control of Load Torque through the static d-q coordinate of the two-phase of associating to two-phase rotation D-Q coordinate transform.To the position control subsystem, two-phase rotation D-Q coordinate system is with respect to the angle γ between the static d-q coordinate system of two-phase
B=γ+
BTo the speed control subsystem, two-phase rotation D-Q coordinate system is with respect to angle γ between the static d-q coordinate system of two-phase
M=γ+
M,
B,
MIt is respectively the electrical degree between suspending power winding A phase winding axis and motor windings A phase winding axis and the static d axle.Concrete decoupling method is in the position ring control subsystem, with detected rotor radial displacement X and Y and given bid value X
*And Y
*Relatively, produce the bid value of electric current through PID controller (61,62)
To measure suspending power winding biphase current actual value i2u (s), i2v (s)
→ calculate
The bid value of electric current in → Clark conversion → Park conversion → again and the two-phase rotation D-Q coordinate system
Comparison → process PI controller (71,72) produces voltage command value
→ contrary Clark conversion → contrary Park conversion produces the three-phase voltage bid value
With
→ produce three-phase suspending power winding driving voltage through voltage-type three-phase inverter (91)
With
→ realize that rotor stability is suspended in the equilbrium position.Rotor field position angle γ according to detecting calculates motor actual angular speed ω
m, with the angular speed bid value
Relatively, produce current command value through PI controller (64)
The control of employing field orientation
Adopt again with the position in encircle similar conversion and control method, promptly can realize the independence of rotating speed is controlled.
8. make up dsp controller (110).Adopt the CPU of the TMS320LF2407 DSP digital signal processor of TI company as dsp controller.This CPU has fast operation, and individual instructions only needs the 33ns time, carries 10 high-speed a/d converters of built-in sample/hold circuit, and the pwm signal event manager module by the expansion D/A converter, can satisfy the magnetic bearings control requirement.
To the magnetic bearings control part: dsp controller is realized collection, linear closed-loop controller calculation process to radial-axial 3DOF displacement transducer signal by software programming, the output corresponding control signal realizes the closed-loop control to Three Degree Of Freedom radial-axial hybrid magnetic bearing.
To two degrees of freedom bearing-free permanent magnet synchronous motor part: dsp controller is realized the signals collecting of radially two degrees of freedom displacement, suspending power and motor windings electric current, motor speed by software programming, to location subsystem, through position PID controller (61,62) computing, coordinate transform (81) computing, current closed-loop controller (71,72) computing, coordinate transform (82) computing and processing, output pwm signal is to suspending power winding electric die mould three-phase inverter (91).To the rotating speed subsystem, through speed PI controller (64) computing, coordinate transform (83) computing, current closed-loop controller (75,76) computing, coordinate transform (84) computing and processing, output pwm signal is to suspending power winding electric die mould three-phase inverter (92).
9. Control Parameter adjustment.
1) magnetic bearing current PI controller adopts pi controller PI, POLE PLACEMENT USING or the most excellent method of quadratic performance in the linear theory to design.Adjust 2 current PI controller parameters, circular current closed-loop control in realizing.Magnetic bearing position PID controller adopts proportional plus integral plus derivative controller PID, POLE PLACEMENT USING or the most excellent method of quadratic performance in the linear theory to design, and adjusts 3 position PID controller parameters, realizes that magnetic bearing suspends.
2) the proportional integral PI in the PI controller employing linear theory in the two degrees of freedom bearing-free permanent magnet synchronous motor control system, POLE PLACEMENT USING or the most excellent method of quadratic performance design.After adjusting the location subsystem stable suspersion, the interior circular current PI controller parameter of speed governing degree subsystem, speed of reset outer shroud PI controller parameter is realized two degrees of freedom bearing-free permanent magnet synchronous motor stable suspersion and rotation.
The above only is used to illustrate the present invention, and is not used in restriction.
Claims (9)
1, bearing-free permanent magnet synchronous motor digital control servo system is characterized in that the bearing-free permanent magnet synchronous motor body is to be made of two degrees of freedom bearing-free permanent magnet synchronous motor (21) and Three Degree Of Freedom radial-axial hybrid magnetic bearing (22) in the cover in cylinder barrel;
The Three Degree Of Freedom radial-axial hybrid magnetic bearing (22) of right-hand member is fixed in the rear end cap (4) by auxiliary bearing (1) radially; Shaft position sensor probe (2) is fixed on the rear end cap (4), be in rotating shaft (3) in the heart, detect the axial displacement of rotating shaft (3); 4 radial displacement transducer probes (2) of magnetic bearing are fixed on the sensor stand (11), and sensor stand (11) is fixed on the side near magnetic bearing; The same rotating shaft of magnetic bearing rotor core (5) (3) is fixed together, and is overrided to form by silicon steel material; The axial stator of magnetic bearing (6) is surrounded radial stator (9) and annular permanent magnet (8), and annular permanent magnet (8) is installed between the axial stator (6) of magnetic bearing radial stator (9) and magnetic bearing; Magnetic bearing radially control coil (10) respectively around radial stator (9) along on equally distributed four magnetic poles of circumference, it is a radially control coil of the degree of freedom that the coil on 2 relative magnetic poles is in series, and provides and radially controls magnetic flux; The axial control coil (7) of magnetic bearing is in magnetic bearing axial stator inboard, equally distributed magnetic bearing radial stator (9) and permanent magnet (8) both sides, 2 coils series connection;
In the two degrees of freedom bearing-free permanent magnet synchronous motor (21) of left end, the permanent magnetic material neodymium iron boron is equipped with on bearing-free permanent magnet synchronous motor rotor (14) surface, and to make number of pole-pairs be 2 permanent magnet, the permanent magnet outside is fixed with steel cylinder, and rotor (14) is contained in the rotating shaft (3); The stator of bearing-free permanent magnet synchronous motor (13) is applied mechanically the stator of standard permagnetic synchronous motor, laminates 2 cover windings in the stator slot, and the numbers of pole-pairs of two cover windings are ± 1 relation; 4 radial displacement transducer probes (2) of bearing-free permanent magnet synchronous motor are installed near on the sensor stand (11) of front end housing (18), adopt the radially binary displacement of variate, sensor stand (11) is fixed on the left end of bearing-free permanent magnet synchronous motor (21); Be provided with 4 Hall elements (15) of measuring rotating speed and be fixed on sensor stand (11); The aiding support bearing of auxiliary bearing (19) as bearing-free permanent magnet synchronous motor is housed in the front end housing.
2, bearing-free permanent magnet synchronous motor digital control servo system according to claim 1 is characterized in that the control system of Three Degree Of Freedom radial-axial hybrid magnetic bearing (22) constitutes by linear closed-loop controller (30), switch power amplifier (40), Three Degree Of Freedom radial-axial magnetic bearing (22), displacement transducer (50) are continuous successively.
3, according to the described bearing-free permanent magnet synchronous motor digital control servo system of claim 1, the control system that it is characterized in that two degrees of freedom bearing-free permanent magnet synchronous motor (21) is made of radial position control subsystem and speed control subsystem, ring is by current closed-loop controller (70), coordinate transform (81,82), voltage-type three-phase inverter (91), current sensor formations such as (101) in the location subsystem; Outer shroud is made of position closed loop controller (60), interior ring, two degrees of freedom bearing-free permanent magnet synchronous motor (21), displacement transducer (54,55).The speed ring subsystem is made of current inner loop and speed outer shroud, current inner loop is by current closed-loop controller (74), coordinate transform (83,84), voltage-type three-phase inverter (92), current sensor formations such as (102), outer shroud is by speed closed loop controller (63), current inner loop, two degrees of freedom bearing-free permanent magnet synchronous motor (21), Hall element formations such as (15).
4, bearing-free permanent magnet synchronous motor digital control servo system according to claim 1, it is characterized in that 4 Hall elements (15) of measuring rotating speed are fixed on the sensor stand (11), near rotor,, measure rotating speed of motor indirectly by measuring the magnetic field size of rotor; Also can adopt photoelectric encoder to be installed in one of rotating shaft and bring in the measurement rotating speed of motor.
5, bearing-free permanent magnet synchronous motor digital control servo system according to claim 1 is characterized in that cylinder barrel is made of interior cover (17) and overcoat (16), has the spiral raceway groove to electric system water flowing cooling between two-layer.
6, bearing-free permanent magnet synchronous motor digital control servo system according to claim 1, it is characterized in that adopting two degrees of freedom not have the bearing asynchronous machine and replace described two degrees of freedom bearing-free permanent magnet synchronous motor, constitute five degrees of freedom without bearing asynchronous machine digital control servo system; Specifically be stator and the cage rotor structure that no bearing asynchronous machine is applied mechanically the standard asynchronous motor, laminate two cover windings in stator slot, the number of pole-pairs of two cover windings is ± 1 relation, adopts photoelectric coded disk to be installed in an end of rotating shaft.
7, the control method of bearing-free permanent magnet synchronous motor digital control servo system, it is characterized in that constituting permanent-magnet synchronous motor with five degrees of freedom without bearing digital control servo system model machine body, adopt the position of linear closed-loop controller (30) control three freedom degree mixed magnetic bearing radial-axial by two degrees of freedom bearing-free permanent magnet synchronous motor (21), Three Degree Of Freedom radial-axial hybrid magnetic bearing (22) etc.; Adjust the Control Parameter of position PID controller (31,32,33), realize Three Degree Of Freedom radial-axial hybrid magnetic bearing steady operation; Utilize Hall element (15) detection rotor magnetic field size, adopt based on rotor field-oriented control strategy radially displacement and motor speed carry out dynamic Decoupling Control of Load Torque two degrees of freedom bearing-free permanent magnet synchronous motor; By the parameter of 2 PI controller parameters (71,72) and 2 PID controllers (61,62) in the adjustment Position Control ring, realize the good dynamic and static state performance of two degrees of freedom bearing-free permanent magnet synchronous motor radial suspension system; By adjusting the parameter of 3 PI controllers (64,75,76) in the rotating speed control ring, guarantee that rotating speed has good response performance.
8, the control method of bearing-free permanent magnet synchronous motor digital control servo system according to claim 7, it is characterized in that to Three Degree Of Freedom radial-axial magnetic bearing Position Control be by displacement transducer (51,52,53) detecting radial and axial displacement of magnetic bearing and given displacement reference value compares, adjust position PID controller (31 respectively, 32,33) parameter, produce control signal corresponding, through switch power amplifier (41,42,43) produce Control current, drive the electromagnet coil (10,7) of Three Degree Of Freedom radial-axial magnetic bearing (22) respectively, produce electromagnetic force, realize that Three Degree Of Freedom radial-axial magnetic bearing rotor is suspended in the equilbrium position.
9, the control method of bearing-free permanent magnet synchronous motor digital control servo system according to claim 7 is characterized in that radial position control subsystem and the speed control subsystem of forming two degrees of freedom bearing-free permanent magnet synchronous motor control system all adopt two closed loops to control; By the actual current in current sensor (101) the detection suspending power winding,,, realize current closed-loop control by adjusting PI controller (71,72) parameter in the current closed-loop controller (70) through coordinate transform (81) computing and processing; By adjusting the parameter of position PID controller (61,62), realize the rotor radial position is controlled; By the actual current in current sensor (102) detection bearing-free permanent magnet synchronous motor (21) motor windings,, realize current closed-loop control by adjusting the parameter of PI controller (75,76) in the current closed-loop controller (74); By the parameter of PI controller (64) of regulating the speed, can carry out closed-loop control to the speed of motor;
Dynamic Decoupling Control of Load Torque between displacement and the speed, the rotor field position angle γ according to Hall element (15) detects adopts rotor field-oriented control strategy, through repeatedly coordinate transform realization decoupling zero; To the position control subsystem, the angle γ between two-phase rotation D-Q coordinate system and the static d-q coordinate system of two-phase
B=γ+
BTo the speed control subsystem, the angle γ between two-phase rotation D-Q coordinate system and the static d-q coordinate system of two-phase
M=γ+
M,
B,
MIt is respectively the electrical degree between suspending power winding A phase winding axis and motor windings A phase winding axis and the static d axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100400645A CN100536287C (en) | 2005-05-18 | 2005-05-18 | Digital-control servo system and its control for permanent magnet synchronous motor without bearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100400645A CN100536287C (en) | 2005-05-18 | 2005-05-18 | Digital-control servo system and its control for permanent magnet synchronous motor without bearing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1713490A true CN1713490A (en) | 2005-12-28 |
| CN100536287C CN100536287C (en) | 2009-09-02 |
Family
ID=35718977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100400645A Expired - Fee Related CN100536287C (en) | 2005-05-18 | 2005-05-18 | Digital-control servo system and its control for permanent magnet synchronous motor without bearing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100536287C (en) |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100401621C (en) * | 2006-04-30 | 2008-07-09 | 南京航空航天大学 | High-speed motor system having multiple redundance functions |
| CN100409545C (en) * | 2006-04-30 | 2008-08-06 | 南京航空航天大学 | Super-high-speed high-power magnetic-suspension main-shaft motor |
| CN101355281B (en) * | 2008-03-10 | 2010-12-08 | 江苏大学 | Method for analyzing magnetic field equivalent air gap virtual winding current of non-bearings electric machine |
| CN101958685A (en) * | 2010-03-04 | 2011-01-26 | 江苏大学 | Nonlinear inverse decoupling controller for bearingless synchronous reluctance motor and construction method thereof |
| CN102027659A (en) * | 2008-05-15 | 2011-04-20 | Sn泰科有限公司 | Motor with magnetic sensors |
| CN102075136A (en) * | 2011-01-10 | 2011-05-25 | 江苏大学 | Soft measurement method for magnetic flux linkage of bearingless permanent magnet synchronous motor |
| CN101490927B (en) * | 2006-07-12 | 2011-10-12 | 西门子公司 | Synchronous machine having magnetic bearing excited by the rotor |
| CN102780243A (en) * | 2012-06-14 | 2012-11-14 | 范承 | Electromechanical device for battery charging and discharging balancing and braking energy recovery |
| CN101877524B (en) * | 2009-04-30 | 2013-03-20 | 浙江中科德润科技有限公司 | Integrated hub motor |
| RU2518053C1 (en) * | 2012-10-04 | 2014-06-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Уфимский государственный авиационный технический университет" | Method and device for control of rotor position at magnetic bearings |
| CN103956877A (en) * | 2014-05-21 | 2014-07-30 | 北京明正维元电机技术有限公司 | Permanent magnet synchronous servo motor and rotor block |
| CN104343820A (en) * | 2014-11-17 | 2015-02-11 | 南京磁谷科技有限公司 | Installation structure and installation method of radial magnetic bearing and radial sensor |
| CN105003438A (en) * | 2015-06-30 | 2015-10-28 | 深圳市沃森空调技术有限公司 | Rotating-shaft magnetic-suspension variable-frequency air-condition compressor |
| CN105720732A (en) * | 2016-03-31 | 2016-06-29 | 苏州工业园区职业技术学院 | Magnetic levitation motor suitable for multiple turnover movements |
| CN105922264A (en) * | 2016-06-12 | 2016-09-07 | 江苏若博机器人科技有限公司 | Wireless transmission four-core and eight-axis crawler belt type rapid natural gas pipeline robot control system |
| CN105922270A (en) * | 2016-06-13 | 2016-09-07 | 江苏若博机器人科技有限公司 | Wireless transmission trinuclear rapid joint robot control system for teaching |
| CN105945960A (en) * | 2016-06-14 | 2016-09-21 | 江苏若博机器人科技有限公司 | Overloaded five-core high-speed joint robot control system |
| CN105945959A (en) * | 2016-06-14 | 2016-09-21 | 江苏若博机器人科技有限公司 | Overloaded five-core quick joint robot control system |
| CN105945951A (en) * | 2016-06-13 | 2016-09-21 | 江苏若博机器人科技有限公司 | Tri-core eight-shaft crawler-type fast control system for natural gas pipeline robot |
| CN105945958A (en) * | 2016-06-14 | 2016-09-21 | 江苏若博机器人科技有限公司 | Heavy-load wireless-transmission quad-core constant-speed joint robot control system |
| CN105945957A (en) * | 2016-06-14 | 2016-09-21 | 江苏若博机器人科技有限公司 | Light-load wireless-transmission control system for quad-core fast joint robot |
| CN106214192A (en) * | 2016-08-30 | 2016-12-14 | 姜文晓 | A kind of motion Medical joint videoendoscopic surgery equipment |
| CN106655643A (en) * | 2016-10-18 | 2017-05-10 | 常州工学院 | Stabilizing device for aiming at active magnetic bearing quick-response intelligent PID controller |
| CN107769504A (en) * | 2017-11-06 | 2018-03-06 | 江苏大学 | A kind of bearing-free permanent magnet synchronous motor of asynchronous starting |
| CN109842245A (en) * | 2019-01-22 | 2019-06-04 | 上海拓为汽车技术有限公司 | A kind of permanent magnet machine rotor position-measurement device and method |
| CN111181307A (en) * | 2020-02-05 | 2020-05-19 | 上海英威腾工业技术有限公司 | High-speed motor for air spinning |
| CN111762654A (en) * | 2020-08-11 | 2020-10-13 | 江苏安全技术职业学院 | Elevator detection device with remote control function |
| CN112198344A (en) * | 2020-10-19 | 2021-01-08 | 华中科技大学 | Full-freedom-degree bearing-free motor test platform |
| CN113865473A (en) * | 2021-10-25 | 2021-12-31 | 珠海格力电器股份有限公司 | Magnetic suspension motor system and rotor displacement detection device and method thereof |
| CN114050702A (en) * | 2021-04-27 | 2022-02-15 | 四川大学华西医院 | Lower limb exoskeleton support self-balancing system based on permanent magnet bearingless motor |
| CN114123902A (en) * | 2021-11-25 | 2022-03-01 | 南京航空航天大学 | Hall sensor-based bearingless permanent magnet sheet motor rotor displacement-free method |
| CN114454701A (en) * | 2022-02-28 | 2022-05-10 | 奇瑞汽车股份有限公司 | New energy automobile power assembly |
| CN115566967A (en) * | 2022-11-11 | 2023-01-03 | 天津飞旋科技股份有限公司 | Bearing-free magnetic suspension motor power-on self-checking device and method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515406A (en) * | 2016-11-18 | 2017-03-22 | 精进电动科技股份有限公司 | Coaxial multi-motor driving system and vehicle comprising same |
-
2005
- 2005-05-18 CN CNB2005100400645A patent/CN100536287C/en not_active Expired - Fee Related
Cited By (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100409545C (en) * | 2006-04-30 | 2008-08-06 | 南京航空航天大学 | Super-high-speed high-power magnetic-suspension main-shaft motor |
| CN100401621C (en) * | 2006-04-30 | 2008-07-09 | 南京航空航天大学 | High-speed motor system having multiple redundance functions |
| CN101490927B (en) * | 2006-07-12 | 2011-10-12 | 西门子公司 | Synchronous machine having magnetic bearing excited by the rotor |
| CN101355281B (en) * | 2008-03-10 | 2010-12-08 | 江苏大学 | Method for analyzing magnetic field equivalent air gap virtual winding current of non-bearings electric machine |
| CN102027659A (en) * | 2008-05-15 | 2011-04-20 | Sn泰科有限公司 | Motor with magnetic sensors |
| CN102027659B (en) * | 2008-05-15 | 2013-03-20 | Sn泰科有限公司 | Motor with magnetic sensors and method for operating motor |
| CN101877524B (en) * | 2009-04-30 | 2013-03-20 | 浙江中科德润科技有限公司 | Integrated hub motor |
| CN101958685A (en) * | 2010-03-04 | 2011-01-26 | 江苏大学 | Nonlinear inverse decoupling controller for bearingless synchronous reluctance motor and construction method thereof |
| CN101958685B (en) * | 2010-03-04 | 2012-12-19 | 江苏大学 | Nonlinear inverse decoupling controller for bearingless synchronous reluctance motor and construction method thereof |
| CN102075136A (en) * | 2011-01-10 | 2011-05-25 | 江苏大学 | Soft measurement method for magnetic flux linkage of bearingless permanent magnet synchronous motor |
| CN102075136B (en) * | 2011-01-10 | 2013-04-17 | 江苏大学 | Soft measurement method for magnetic flux linkage of bearingless permanent magnet synchronous motor |
| CN102780243A (en) * | 2012-06-14 | 2012-11-14 | 范承 | Electromechanical device for battery charging and discharging balancing and braking energy recovery |
| CN102780243B (en) * | 2012-06-14 | 2014-12-10 | 范承 | Electromechanical device for battery charging and discharging balancing and braking energy recovery |
| RU2518053C1 (en) * | 2012-10-04 | 2014-06-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Уфимский государственный авиационный технический университет" | Method and device for control of rotor position at magnetic bearings |
| CN103956877A (en) * | 2014-05-21 | 2014-07-30 | 北京明正维元电机技术有限公司 | Permanent magnet synchronous servo motor and rotor block |
| CN104343820A (en) * | 2014-11-17 | 2015-02-11 | 南京磁谷科技有限公司 | Installation structure and installation method of radial magnetic bearing and radial sensor |
| CN105003438A (en) * | 2015-06-30 | 2015-10-28 | 深圳市沃森空调技术有限公司 | Rotating-shaft magnetic-suspension variable-frequency air-condition compressor |
| CN105720732A (en) * | 2016-03-31 | 2016-06-29 | 苏州工业园区职业技术学院 | Magnetic levitation motor suitable for multiple turnover movements |
| CN105720732B (en) * | 2016-03-31 | 2018-05-04 | 苏州工业园区职业技术学院 | A kind of magnetic suspension motor suitable for a variety of flip-flop movements |
| CN105922264A (en) * | 2016-06-12 | 2016-09-07 | 江苏若博机器人科技有限公司 | Wireless transmission four-core and eight-axis crawler belt type rapid natural gas pipeline robot control system |
| CN105945951B (en) * | 2016-06-13 | 2018-11-13 | 江苏若博机器人科技有限公司 | A kind of quick natural gas line robot control system of three core, eight axis crawler type |
| CN105945951A (en) * | 2016-06-13 | 2016-09-21 | 江苏若博机器人科技有限公司 | Tri-core eight-shaft crawler-type fast control system for natural gas pipeline robot |
| CN105922270A (en) * | 2016-06-13 | 2016-09-07 | 江苏若博机器人科技有限公司 | Wireless transmission trinuclear rapid joint robot control system for teaching |
| CN105945959A (en) * | 2016-06-14 | 2016-09-21 | 江苏若博机器人科技有限公司 | Overloaded five-core quick joint robot control system |
| CN105945958A (en) * | 2016-06-14 | 2016-09-21 | 江苏若博机器人科技有限公司 | Heavy-load wireless-transmission quad-core constant-speed joint robot control system |
| CN105945957A (en) * | 2016-06-14 | 2016-09-21 | 江苏若博机器人科技有限公司 | Light-load wireless-transmission control system for quad-core fast joint robot |
| CN105945960A (en) * | 2016-06-14 | 2016-09-21 | 江苏若博机器人科技有限公司 | Overloaded five-core high-speed joint robot control system |
| CN105945957B (en) * | 2016-06-14 | 2018-11-13 | 江苏若博机器人科技有限公司 | A kind of underloading wireless transmission quick articulated robot control system of four cores |
| CN106214192A (en) * | 2016-08-30 | 2016-12-14 | 姜文晓 | A kind of motion Medical joint videoendoscopic surgery equipment |
| CN106655643A (en) * | 2016-10-18 | 2017-05-10 | 常州工学院 | Stabilizing device for aiming at active magnetic bearing quick-response intelligent PID controller |
| CN107769504A (en) * | 2017-11-06 | 2018-03-06 | 江苏大学 | A kind of bearing-free permanent magnet synchronous motor of asynchronous starting |
| CN109842245A (en) * | 2019-01-22 | 2019-06-04 | 上海拓为汽车技术有限公司 | A kind of permanent magnet machine rotor position-measurement device and method |
| CN111181307A (en) * | 2020-02-05 | 2020-05-19 | 上海英威腾工业技术有限公司 | High-speed motor for air spinning |
| CN111762654A (en) * | 2020-08-11 | 2020-10-13 | 江苏安全技术职业学院 | Elevator detection device with remote control function |
| CN112198344A (en) * | 2020-10-19 | 2021-01-08 | 华中科技大学 | Full-freedom-degree bearing-free motor test platform |
| CN114050702A (en) * | 2021-04-27 | 2022-02-15 | 四川大学华西医院 | Lower limb exoskeleton support self-balancing system based on permanent magnet bearingless motor |
| CN113865473A (en) * | 2021-10-25 | 2021-12-31 | 珠海格力电器股份有限公司 | Magnetic suspension motor system and rotor displacement detection device and method thereof |
| CN113865473B (en) * | 2021-10-25 | 2022-10-11 | 珠海格力电器股份有限公司 | Magnetic suspension motor system and rotor displacement detection device and method thereof |
| CN114123902A (en) * | 2021-11-25 | 2022-03-01 | 南京航空航天大学 | Hall sensor-based bearingless permanent magnet sheet motor rotor displacement-free method |
| CN114123902B (en) * | 2021-11-25 | 2023-12-19 | 南京航空航天大学 | Hall sensor-based bearingless permanent magnet sheet motor rotor displacement-free method |
| CN114454701A (en) * | 2022-02-28 | 2022-05-10 | 奇瑞汽车股份有限公司 | New energy automobile power assembly |
| CN115566967A (en) * | 2022-11-11 | 2023-01-03 | 天津飞旋科技股份有限公司 | Bearing-free magnetic suspension motor power-on self-checking device and method |
| CN115566967B (en) * | 2022-11-11 | 2023-03-24 | 天津飞旋科技股份有限公司 | Bearing-free magnetic suspension motor power-on self-checking device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100536287C (en) | 2009-09-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1713490A (en) | Digital-control servo system and its control for permanent magnet synchronous motor without bearing | |
| CN100432461C (en) | AC-DC radial-axial mixed magnetic bearing having three degrees of freedom and method for controlling the same | |
| CN100573370C (en) | Based on neural network inverse control system for permanent-magnet synchronous motor with five degrees of freedom without bearing and control method | |
| Wang et al. | Design consideration and characteristic investigation of modular permanent magnet bearingless switched reluctance motor | |
| Noh et al. | Homopolar bearingless slice motor with flux-biasing halbach arrays | |
| Xu et al. | Comparative analysis of bearingless switched reluctance motors with decoupled suspending force control | |
| Gruber et al. | Wide air gap and large-scale bearingless segment motor with six stator elements | |
| CN103378711B (en) | Dual mechanical port magnetic conductance harmonic type electromagnetic gear composite permanent magnet motor | |
| CN101074700A (en) | Three phase hybrid magnetic bearing of three-freedom and two-slices | |
| CN112968642B (en) | Linear active-disturbance-rejection control method for six-phase single-winding bearingless flux switching motor | |
| US20240204638A1 (en) | Method and system for measuring flux-switching electric motor rotor angle on basis of linear hall sensors | |
| CN112532002B (en) | Double-stator excitation full-freedom-degree bearingless motor and active control method thereof | |
| CN105391214A (en) | Unified-winding bearingless motor and drive control system thereof | |
| CN109861412A (en) | Permanent magnetism top rake formula bearing-free flux switch permanent magnet motor | |
| JP3678517B2 (en) | Radial force generator, coiled rotating machine, and rotating device | |
| CN106936285A (en) | Simplex winding DC motor without bearing and brush and its torque suspension control method | |
| Zhang et al. | Electromagnetic performance analysis on the bearingless permanent magnet synchronous motor with Halbach magnetized rotor | |
| CN203140787U (en) | High-speed magnetic suspension motorized spindle for five-degree-of-freedom numerically-controlled machine tool | |
| CN110661463B (en) | Design method of fractional order PID sliding-mode observer suitable for magnetic suspension spherical motor | |
| CN201307808Y (en) | High-speed electric main shaft supported by alternating current hybrid magnetic bearing | |
| CN1885708A (en) | Constructing method for bearingless synchronous reluctance motor feedforward compensation controller | |
| Kumashiro et al. | Novel Reluctance-type Magnetic-geared Motor Integrated with High-speed Bearingless Motor | |
| CN101034863A (en) | Precise digital control rotation platform based on direct driving of serial dual synchronous torque motor | |
| Li et al. | Radial displacement detection using sensing coils weakly coupled with magnetic bearing | |
| Baumgartner et al. | Novel high-speed, Lorentz-type, slotless self-bearing motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090902 Termination date: 20140518 |