WO2016117217A1 - 永久磁石式回転電機 - Google Patents
永久磁石式回転電機 Download PDFInfo
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- WO2016117217A1 WO2016117217A1 PCT/JP2015/082413 JP2015082413W WO2016117217A1 WO 2016117217 A1 WO2016117217 A1 WO 2016117217A1 JP 2015082413 W JP2015082413 W JP 2015082413W WO 2016117217 A1 WO2016117217 A1 WO 2016117217A1
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- permanent magnet
- rotor
- rotating electrical
- electrical machine
- magnet type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
- H02K1/2766—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM] having a flux concentration effect
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/06—Magnetic cores, or permanent magnets characterised by their skew
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/66—Controlling or determining the temperature of the rotor
- H02P29/662—Controlling or determining the temperature of the rotor the rotor having permanent magnets
Definitions
- the present invention relates to a permanent magnet type rotating electrical machine that is used in, for example, an industrial rotating electrical machine, an in-vehicle rotating electrical machine, and the like and uses a permanent magnet as a rotor.
- the structure of the stator winding of the permanent magnet type rotating electrical machine is roughly divided into a concentrated winding in which a coil is wound around one tooth and a distributed winding in which the coil is wound over a plurality of teeth.
- the concentrated winding has a shorter coil end length than the distributed winding, the axial length of the rotating electrical machine can be shortened.
- the magnetomotive force generated by the concentrated-winding stator winding includes low-order harmonic components that do not contribute to torque. Due to the effects of these harmonic components, torque ripple increases and low-order deformation occurs. There arises a problem such as generation of electromagnetic excitation force having a mode.
- the electromagnetic excitation force resonates with these components and generates noise at a specific rotational speed that matches the resonance frequency of the components of the rotating electrical machine such as the stator and the frame.
- a plurality of types of steel plates are provided which are arranged such that the center position in the circumferential direction at the tip of the teeth of the stator deviates from the center in the circumferential direction of the teeth body.
- a permanent magnet type rotating electrical machine having a stator in which steel plates are laminated in the axial direction has been proposed (see, for example, Patent Document 1).
- electromagnetic excitation having a lower-order deformation mode is caused by the influence of lower-order harmonic components included in the magnetomotive force generated by the concentrated-winding stator winding. Force is generated. Further, the electromagnetic excitation force resonates with these components and generates noise at a specific rotational speed that matches the resonance frequency of the components of the rotating electrical machine.
- Non-Patent Document 1 discloses a method for calculating an appropriate negative d-axis current when the electromagnetic excitation force is reduced by passing a negative d-axis current through the stator winding. Proposed. Patent Document 1 does not describe anything about reducing the electromagnetic excitation force.
- the negative d-axis current that minimizes the electromagnetic excitation force is less than the negative d-axis current required for voltage suppression at a specific rotational speed at which the electromagnetic excitation force matches the resonance frequency of the rotating electrical machine components. If it is small, there is a problem that the permanent magnet type rotating electrical machine cannot be driven with a negative d-axis current that minimizes the electromagnetic excitation force.
- the present invention has been made in order to solve the above-described problems.
- a permanent magnet type rotating electrical machine is a permanent magnet type rotating electrical machine comprising a rotor that forms a magnetic field using a permanent magnet, and a stator that faces the rotor via a gap,
- the stator has teeth and a core back projecting to the rotor side, and the teeth are centered on the teeth around which the windings are wound, and the tips of the teeth that are opposed to the rotor and on which the windings are not wound.
- the first intersection point between the straight line connecting the part and the rotor surface is the radius from the second intersection point between the straight line connecting the rotation axis of the rotor and the first intersection point to the inner peripheral surface of the stator and the tip of the tooth.
- the collar is formed outside the arc That.
- the permanent magnet type rotating electrical machine According to the permanent magnet type rotating electrical machine according to the present invention, the first intersection of the rotor surface and the straight line connecting the permanent magnet stator side center point and the tooth tip closest to the permanent magnet stator side center point, A collar is formed on the outer side of an arc whose radius is a distance from the second intersection point between the rotation axis of the rotor and the first intersection point to the inner peripheral surface of the stator and the tip of the teeth. Therefore, the permanent magnet type rotating electrical machine can be driven with a negative d-axis current that minimizes the electromagnetic exciting force at a specific rotational speed at which the electromagnetic exciting force matches the resonance frequency of the components of the rotating electrical machine.
- Magnetic field analysis of relationship between magnet electrical angle and negative d-axis current required for voltage suppression and negative d-axis current that minimizes electromagnetic excitation force in permanent magnet type rotating electrical machine according to Embodiment 1 of the present invention It is explanatory drawing calculated
- FIG. 1 is a block diagram showing a drive system for driving a permanent magnet type rotating electrical machine according to Embodiment 1 of the present invention.
- this drive system is for driving a permanent magnet type rotating electrical machine 1 and includes a battery 50, an inverter 60, and a control device 6.
- the inverter 60 mutually converts DC power and AC power.
- a battery 50 that charges and discharges DC power is connected to the DC side of the inverter 60, and a permanent magnet type that mutually converts AC power and mechanical energy through two sets of three-phase windings on the AC side.
- a rotating electrical machine 1 is connected. The detailed configuration and operation of the control device 6 will be described later.
- FIG. 2 is a hardware configuration diagram showing a drive system for driving the permanent magnet type rotating electric machine according to Embodiment 1 of the present invention.
- this drive system includes a higher-level controller 80 in addition to the battery 50, the inverter 60, and the control device 6 of FIG. 1.
- the control device 6 includes a processor 7 and a storage device 8 as hardware.
- the storage device 8 includes a volatile storage device such as a random access memory and a nonvolatile auxiliary storage device such as a flash memory.
- the storage device 8 may include a volatile storage device such as a random access memory, and an auxiliary storage device such as a hard disk instead of the nonvolatile auxiliary storage device.
- the processor 7 executes the program input from the storage device 8. Since the storage device 8 includes an auxiliary storage device and a volatile storage device, a program is input to the processor 7 from the auxiliary storage device via the volatile storage device. Further, the processor 7 may output data such as a calculation result to the volatile storage device of the storage device 8 or may store the data in the auxiliary storage device via the volatile storage device. In FIG. 2, input / output of data and the like between hardware components will be described later.
- FIG. 3 is a cross-sectional view perpendicular to the axial direction of the permanent magnet type rotating electric machine according to the first embodiment of the present invention.
- the permanent magnet type rotating electrical machine 1 shown in FIG. 3 is a 30 pole 36 slot permanent magnet type rotating electrical machine 1.
- a permanent magnet type rotating electrical machine 1 includes a rotor 4 disposed with a predetermined gap 5 inside a substantially cylindrical stator 2, and the stator 2 and the rotor 4 are illustrated. It is configured around the same rotation axis that does not.
- the stator 2 has a tooth 3 and a core back 10 protruding to the rotor 4 side.
- the coil 3 is wound around the teeth 3 through an insulator (not shown) formed of resin or the like, thereby forming a winding 14.
- One end of the winding 14 wound around the tooth 3 is connected to the inverter 60 side, and the other end is connected to a neutral wire of another winding 14 as a neutral wire (not shown).
- the rotor 4 has a rotor core 22 whose outer periphery is a substantially cylindrical surface, and is attached to the rotor core 22 so as to penetrate the axial center position thereof, and is integrated by press-fitting, shrink fitting, and fixing with a key or the like. And a substantially rectangular permanent magnet 21 disposed inside the rotor core 22.
- the permanent magnet 21 is fixed to the rotor core 22 with an adhesive or the like. Further, an inter-magnet gap 23 is provided to prevent a magnetic flux generated by the permanent magnet 21 from being short-circuited in the rotor core 22 and to relieve stress of the rotor core 22.
- the rotor core 22 is configured by laminating magnetic members in the axial direction with through bolts and pins or caulking.
- the teeth 3 and the core back 10 that form the iron core of the stator 2 are configured by laminating magnetic members in the axial direction.
- the direction of the current component that generates a magnetic flux in the same direction as the magnet magnetic field at the center of the magnetic pole of the rotor 4 is the d-axis direction, and is perpendicular to the rotor 4 between the magnetic poles of the rotor 4 perpendicular to the d-axis direction.
- the direction of the current component that generates this torque is the q-axis direction.
- the current vector is generated by combining a d-axis current I d that is a current component in the d-axis direction and a q-axis current I q that is a current component in the q-axis direction.
- a d-axis current I d that is a current component in the d-axis direction
- a q-axis current I q that is a current component in the q-axis direction.
- control device 6 includes a torque control unit 70, a current control unit 71, a speed detection unit 72, a first coordinate conversion unit 73, a second coordinate conversion unit 74, a position detector 75, a phase detection unit 76, and A magnet temperature detector 77 is provided.
- two sets of three-phase alternating currents I U1 , I V1 , I W1 and I U2 , I V2 , I W2 of the permanent magnet type rotating electrical machine 1 detected by a current detector (not shown) are second Input to the coordinate conversion unit 74.
- the position detector 75 detects and outputs the rotational position R of the rotor 4 of the permanent magnet type rotating electrical machine 1.
- the speed detector 72 detects and outputs the rotational speed ⁇ based on the rotational position R output from the position detector 75.
- the phase detector 76 detects and outputs the phase ⁇ based on the rotational position R output from the position detector 75.
- the magnet temperature detector 77 detects and outputs the magnet temperature T m of the permanent magnet 21 of the rotor 4. Incidentally, the magnet temperature detection section 77 may measure the magnet temperature T m, it may be estimated.
- the second coordinate conversion unit 74 converts two sets of three-phase alternating currents I U1 , I V1 , I W1 and I U2 , I V2 , I W2 into three-phase two-phase conversions based on the phase ⁇ , respectively, on the dq axis Currents I d and I q are output.
- the three-phase alternating current of each set is converted into the two-phase two-phase conversion, two sets of current components on the dq axis are generated, but the second coordinate conversion unit 74 has two sets of current components on the dq axis. Are averaged and output.
- the torque control unit 70 includes a storage unit (not shown).
- the torque control unit 70 has a torque command given from a higher-level controller 80 outside the control device 6, a rotational speed ⁇ from the speed detection unit 72, and a magnet temperature detection unit 77. Based on the magnet temperature T m , current commands I d * and I q * on the dq axis are output. At this time, the current commands I d * and I q * are determined according to the magnet temperature T m of the permanent magnet 21 so that the electromagnetic excitation force is minimized.
- the first coordinate conversion unit 73 performs two-phase three-phase conversion on the voltage commands V d * and V q * from the current control unit 71 based on the phase ⁇ , and two sets of three-phase voltage command values V U1 and V V1. , V W1 and V U2 , V V2 and V W2 are output. At this time, the amplitudes of the two sets of three-phase voltage command values are the same, and the time phases are 30 ° different from each other.
- the inverter 60 is controlled by two sets of three-phase voltage command values V U1 , V V1 , V W1 and V U2 , V V2 , V W2 .
- a processor 7 that executes a program stored in the apparatus 8 or a processing circuit such as a system LSI (not shown).
- a plurality of processors 7 and a plurality of storage devices 8 may execute the function in cooperation, or a plurality of processing circuits may execute the function in cooperation.
- the above functions may be executed in cooperation with a combination of a plurality of processors 7 and a plurality of storage devices 8 and a plurality of processing circuits.
- the position detector 75 and the magnet temperature detector 77 may be processed by the hardware of the position detector 75 and the magnet temperature detector 77, respectively.
- FIGS. 4 and 5 is an enlarged view of a cross section perpendicular to the axial direction of the permanent magnet type rotating electric machine according to the first embodiment of the present invention.
- FIG. 5 is an enlarged view of the tooth tip of the permanent magnet type rotating electric machine according to the first embodiment of the present invention.
- the teeth 3 include a teeth center portion 11 around which the winding 14 is wound, a teeth tip portion 13 that faces the rotor 4 and does not have the winding 14 wound thereon, and a teeth center.
- a flange 12 is formed between the portion 11 and the tooth tip 13 and protrudes on both sides in the circumferential direction.
- the electrical angle per slot centered on the rotation axis (not shown) is W [°]
- the electrical angle of the tooth tip 13 centered on the rotation axis is T [°]
- the distance between the rotor 4 side surface of the collar 12 and the inner peripheral surface of the stator 2 defined by the rotor 4 side surface of the tooth tip portion 13 is D, and the tooth tip portion 13 and the rotor 4 that form the gap 5
- G is the distance between the center of the stator 2 side of the permanent magnet 21 and the surface of the rotor core 22
- M is the inner diameter of the stator 2
- the width between adjacent collars 12 (slot open). Is S, the minimum height of the collar 12 is H
- the minimum body width of the teeth central portion 11 is B.
- the stator 2 side center part of the permanent magnet 21 and the teeth tip part closest to the stator 2 side center part of the permanent magnet 21 For the intersection of the straight line connecting 13 and the surface of the rotor 4, let L be the distance from the intersection of a straight line connecting the rotation axis (not shown) and this intersection to the inner peripheral surface of the stator 2 to the tooth tip 13.
- the inner peripheral surface of the stator 2 indicates the entire circumference with the inner peripheral surface of the tooth tip portion 13 as a radius, and the same radial position of the gap between the inner peripheral surface of the tooth tip portion 13 and the tooth 3. Including.
- the distance L is defined by the following equation (1), and the collar 12 is formed so that D ⁇ L.
- the operation of the permanent magnet type rotating electrical machine 1 having the above configuration will be described.
- First, how to determine the d-axis current of the permanent magnet type rotating electrical machine 1 under a constant voltage will be described. Since the rotor 4 in which the permanent magnet 21 is arranged generates a constant magnetic flux regardless of the rotational speed, in the permanent magnet type rotating electrical machine 1 using the permanent magnet 21 as a field source, the permanent magnet is increased as the rotational speed is increased. A counter electromotive force is generated in the winding 14 by the magnetic flux 21.
- FIG. 6 is an explanatory diagram showing the relationship between the negative d-axis current and the maximum value of the line voltage when there is no load in the permanent magnet type rotating electric machine according to Embodiment 1 of the present invention.
- the maximum value of the line voltage gradually decreases and falls below the voltage of the DC power supply at a certain negative d-axis current.
- a negative d-axis current at which the maximum value of the line voltage at a certain rotational speed is lower than the voltage of the DC power supply is defined as I d1 .
- the counter electromotive force generated in the winding 14 that is, the maximum value of the line voltage increases as the rotational speed increases, so the d-axis current I d1 also increases as the rotational speed increases. To do.
- the electromagnetic excitation force is an electromagnetic excitation source generated by a harmonic component of the magnetic flux density generated in the gap 5, and the deformation mode and the natural frequency of a structure such as the stator 2 or a frame (not shown) are electromagnetically applied. When it matches the vibration force, the structure resonates and generates noise.
- the low-order deformation mode / time order has a peak value of electromagnetic excitation force.
- the deformation mode / time order of the electromagnetic excitation force generated in the permanent magnet type rotating electrical machine 1 will be described.
- the electromagnetic excitation force is generated in a specific deformation mode / time order by a combination of harmonic components of the magnetic flux density of the air gap 5 generated according to the number of slots of the stator 2 and the number of poles of the rotor 4.
- the number of poles is 30 and the number of slots is 36.
- the harmonic component B rt of the magnetic flux density generated by the rotor 4 is generated by a combination of the magnetomotive force f mg generated by the permanent magnet 21 and the magnetoresistance fluctuation p st caused by the number of slots of the stator 2, and It is expressed as equation (2).
- x indicates a spatial order
- y indicates a time order
- the signs are not in any order.
- the magnetomotive force (x fmg , y fmg ) of the permanent magnet 21 is (15, 1), (30, 2), (45, 3), etc. Ingredients are generated. Further, in the stator 2 having 36 slots, (0, 0), (36, 0), (72, 0), etc. are generated as fluctuation components (x pst , y pst ) of the magnetic resistance. At this time, harmonic components (x Brt , y Brt ) of the magnetic flux density generated by the rotor 4 are generated by a combination represented by the following equation (3).
- the harmonic component B st of the magnetic flux density generated by the stator 2 is generated by the combination of the magnetomotive force f st generated by the winding 14 of the stator 2 and the magnetic resistance fluctuation p rt caused by the rotor 4. Then, it is expressed as the following equation (4). In the formula (4), the signs are in no particular order.
- the magnetomotive force (x fst , y fst ) generated by the winding 14 of the permanent magnet type rotating electrical machine 1 according to the first embodiment of the present invention (15, 1), (21, ⁇ 1) Etc. are generated. Further, in the rotor 4, (0, 0) or the like is generated as a fluctuation component (x prt , y prt ) of the magnetic resistance. At this time, the harmonic component (x Bst , y Bst ) of the magnetic flux density generated by the stator 2 is generated by a combination represented by the following equation (5).
- the electromagnetic excitation force f emf is proportional to the square of the magnetic flux density generated in the air gap 5 according to the Maxwell stress relational expression expressed by the following equation (6).
- the deformation mode 6 ⁇ time ⁇ second order is caused by the magnetic flux density components (15, 1), (21, ⁇ 1) generated in the gap 5. Components ((21, -1)-(15, 1)) are generated.
- FIG. 7 is an explanatory diagram showing the relationship between the time order and the electromagnetic excitation force in the deformation mode 6 generated in the permanent magnet type rotating electric machine according to Embodiment 1 of the present invention, by magnetic field analysis. From FIG. 7, it can be seen that the deformation mode 6 has a peak value of the electromagnetic excitation force in the time-second order.
- FIG. 8 is an explanatory diagram obtained by magnetic field analysis of the relationship between the negative d-axis current and the deformation mode 6 / time-second order electromagnetic excitation force in the permanent magnet type rotating electric machine according to the first embodiment of the present invention. is there.
- the deformation mode 6 ⁇ time ⁇ second-order electromagnetic excitation force generated in the permanent magnet type rotating electrical machine 1 according to the first embodiment of the present invention is the magnetic flux density components (15, 1), (21,
- the component (15, 1) is a component that contributes to torque.
- the magnetic flux density components (21, ⁇ 1) generated in the gap 5 are the magnetic flux density components (21, ⁇ 1) generated by the rotor 4 and the magnetic flux density components (21, ⁇ 1) generated by the stator 2. Occurs.
- the phases of the magnetic flux density components of these two are just reversed, they can be canceled each other, and in a current vector relationship, only a negative d-axis current is energized.
- the negative d-axis current I d2 in which the electromagnetic excitation force is almost zero is represented by the magnetic flux density component (21, ⁇ 1) generated by the rotor 4 and the magnetic flux density generated by the stator 2.
- the components (21, -1) are in a state of just canceling each other.
- Non-Patent Document 1 discloses a method for calculating the negative d-axis current I d2 that minimizes the electromagnetic excitation force. Further, the electromagnetic excitation force has a problem that noise is generated due to resonance with the structure at a specific rotational speed that matches the deformation mode and natural frequency of the structure such as the stator 2 and a frame (not shown). Become.
- the negative d-axis current I d1 necessary for voltage suppression at this specific rotational speed is larger than the negative d-axis current I d2 at which the electromagnetic excitation force is minimized, it is necessary for voltage suppression. Since the permanent magnet type rotating electrical machine 1 is driven by the negative d-axis current I d1 , the problem that the permanent magnet type rotating electrical machine 1 cannot be driven by the negative d-axis current I d2 that minimizes the electromagnetic excitation force. Occurs.
- FIG. 9 is an enlarged view of an enlarged cross section perpendicular to the axial direction of a general permanent magnet type rotating electrical machine.
- FIG. 10 shows the electrical angle of the tooth tip with respect to the electrical angle per slot in the permanent magnet type rotating electric machine according to Embodiment 1 of the present invention, and the negative d-axis current and electromagnetic excitation force necessary for voltage suppression. It is explanatory drawing which calculated
- FIG. 10 shows the T / W normalized by the electrical angle W per slot when the electrical angle T of the tooth tip 13 shown in FIG. 9 is changed, and the voltage at a certain rotational speed.
- FIG. 10 is an explanatory diagram obtained by magnetic field analysis the relationship between the negative d-axis current I d2 negative d-axis current I d1 and deformation modes 6-hour-to-secondary electromagnetic exciting force is minimum required for suppression.
- magnetic flux density components (21, ⁇ 1) generated by the rotor 4 are magnetomotive force components (15, 1) of the permanent magnet 21 and magnetic resistance fluctuation components (36, 0), when the magnetomotive force of the permanent magnet 21 is constant, when the angle T of the tooth tip 13 is reduced, the magnetoresistive fluctuation component (36, This is because the magnetic flux density component (21, ⁇ 1) generated in the gap 5 increases as a result.
- the magnetic flux density component (21, ⁇ 1) generated in the gap 5 increases, so the negative d-axis current necessary for canceling this component increases, so the angle T of the tooth tip 13 is reduced.
- the negative d-axis current I d2 at which deformation mode 6 ⁇ time ⁇ second-order electromagnetic excitation force is minimized increases.
- FIG. 10 shows that the negative d-axis current I d1 necessary for voltage suppression at a certain number of rotations increases similarly as the angle T of the tooth tip 13 decreases. This is because when the angle T of the tooth tip 13 is reduced, the amount of magnetic flux generated by the rotor 4 leaking to the adjacent teeth 3 of the stator 2 is reduced, so that the magnetic flux linked to the winding 14 is increased. This is because the negative d-axis current I d1 necessary for voltage suppression increases.
- the negative d-axis current I d2 at which the deformation force 6 ⁇ time ⁇ second order electromagnetic excitation force is minimized increases as the angle T of the tooth tip 13 decreases. Therefore, the shape of the tooth tip 13 is not changed so that the negative d-axis current I d2 at which the second-order electromagnetic excitation force is minimized does not change, and the leakage of magnetic flux generated by the permanent magnet 21 is not changed. Therefore, by forming the collar 12, the magnitude of the d-axis current I d1 can be reduced without changing the d-axis current I d2 .
- the permanent magnet type rotating electrical machine 1 can be driven by the negative d-axis current I d2 that becomes
- FIG. 11 is an explanatory diagram showing the relationship between the ratio D / L between the distance D and the distance L and the electromagnetic excitation force in the permanent magnet type rotating electric machine according to the first embodiment of the present invention, by magnetic field analysis.
- FIG. 11 shows a value D / L when the distance D, which is an index of the height of the collar 12, is normalized by the distance L, and deformation mode 6 ⁇ time ⁇ second order electromagnetic excitation. The result of the relationship with force obtained by magnetic field analysis is shown.
- D / L 0, as shown in FIG. 12, this is equivalent to a conventional collar shape.
- the magnetic flux generated by the permanent magnet 21 is directly linked from the tooth tip 13 to the winding 14 without passing through the collar 12 and is equivalent to the case where the collar 12 is provided.
- the proper teeth width matches the width of the tooth tip portion 13. That is, the magnetic flux generated from the permanent magnet 21 can be considered in relation to the position of the permanent magnet 21 and the distance of the gap 5 to the surface of the stator 2 on the rotor 4 side.
- FIG. 14 shows the relationship between the negative d-axis current and the deformation mode 6 ⁇ time ⁇ second-order electromagnetic excitation force in the permanent magnet type rotating electric machine according to Embodiment 1 of the present invention, by magnetic field analysis for each magnet temperature. It is the calculated explanatory drawing. Specifically, FIG. 14 shows magnetic field analysis results of electromagnetic excitation force when the negative d-axis current is changed when the magnet temperature T m is 20 ° C., 100 ° C., and 150 ° C. Show. As can be seen from FIG. 14, when the magnet temperature T m changes, the magnetic flux density of the permanent magnet 21 also changes, so the negative d-axis current I d2 that minimizes the electromagnetic excitation force also changes.
- the torque control unit 70 has a storage unit, and according to the magnet temperature T m at a specific rotational speed at which the stator 2 and a frame (not shown) resonate due to electromagnetic excitation force.
- a negative d-axis current I d * that minimizes the electromagnetic excitation force is generated as a command value.
- the relationship of the negative d-axis current I d that minimizes the electromagnetic excitation force with respect to the magnet temperature T m is calculated by magnetic field analysis or actual measurement.
- the negative d-axis current I d1 necessary for voltage suppression decreases, and the negative d-axis that minimizes the deformation mode 6 ⁇ time ⁇ second-order electromagnetic excitation force. It can be seen that the current I d2 can be made lower.
- the permanent magnet type rotating electrical machine 1 can be driven by a negative d-axis current I d2 which is equal to or greater than the magnitude of the shaft current I d1 and has a minimum deformation mode 6 and time-second order electromagnetic excitation force.
- FIG. 16 is an explanatory diagram showing the relationship between the electrical angle of the tooth tip and torque / copper loss in the permanent magnet type rotating electric machine according to Embodiment 1 of the present invention.
- the torque increases as the width (electrical angle) of the tooth tip portion 13 increases.
- winding 14 becomes small, a copper loss becomes large.
- the width (electrical angle) of the tooth tip 13 is determined so that the torque / copper loss is maximized, and the electrical angle T of the tooth tip 13 is normalized with the maximum value of torque / copper loss.
- the electrical angle T ⁇ 122 ° of the tooth tip portion 13 is set to 51 ° so that 80% or more. Thereby, torque / copper loss can be maximized.
- FIG. 16 is calculated on the assumption that it is proportional to the slot area of the insertion portion of the winding 14. Thereby, since it can be set to 80% or more when standardized by the maximum value of torque / copper loss, the efficiency of the permanent magnet type rotating electrical machine 1 can be improved.
- FIG. 17 is an explanatory view of the relationship between the electrical angle of the tooth tip and the cogging torque in the permanent magnet type rotating electric machine according to Embodiment 1 of the present invention, obtained by magnetic field analysis. From FIG. 17, it is considered that the electrical angle T of the tooth tip 13 is determined so that the cogging torque is minimized.
- FIG. 18 shows the relationship between the electrical angle of the permanent magnet type rotating electric machine according to Embodiment 1 of the present invention, the negative d-axis current necessary for voltage suppression, and the negative d-axis current that minimizes the electromagnetic excitation force. It is explanatory drawing which calculated
- the circumferential width (electrical angle) of the permanent magnet 21 As shown in FIG. 18, as the circumferential width (electrical angle) of the permanent magnet 21 is reduced, the magnitude of the negative d-axis current I d2 that minimizes the electromagnetic excitation force increases. It is desirable to determine the electrical angle of the permanent magnet 21 so as to coincide with the d-axis current I d1 required for.
- the magnitude of the negative d-axis current I d2 that minimizes the electromagnetic excitation force may be equal to or greater than the d-axis current I d1 necessary for voltage suppression.
- the negative d-axis current I d1 can be further suppressed, so that the magnitude of the negative d-axis current I d1 necessary for voltage suppression is larger than that of the deformation mode 6 ⁇ time ⁇ second order electromagnetic excitation.
- the permanent magnet type rotating electrical machine 1 can be driven by the negative d-axis current I d2 that minimizes the force.
- the negative d-axis current I d1 required for voltage suppression increases. Therefore, at a rotational speed of 10,000 r / min or less, the width (slot) between adjacent collars 12 is increased. It is desirable that the electrical angle of the open S is 0 to 0.3 times the electrical angle of the width of the tooth tip 13.
- the reluctance torque is utilized by supplying a negative d-axis current I d2 that minimizes the electromagnetic excitation force.
- the electromagnetic excitation force can be minimized. That is, in the embedded magnet type rotating electrical machine, since the permanent magnet 21 is embedded in the rotor 4, a member for holding the permanent magnet 21 is unnecessary, and the reluctance torque can be utilized, so that the torque is improved. Can be made.
- the permanent magnet type rotating electrical machine 1 having 30 poles and 36 slots has been described.
- the present invention is not limited to this, and the relationship between the pole number and the slot number is 6 ⁇ 1: 6. It can be applied to the case of ordinary three-phase windings. Also, other deformation modes and time orders may be targeted. In particular, in the 5-pole 6-slot series, the cogging torque can be reduced.
- the currents I d and I q on the dq axis used for rotating electrical machine control are calculated as an average of two sets of d-axis current and q-axis current. It is not limited and may be controlled individually.
- the collar 12 is formed so that D / L ⁇ 1, and the surface of the rotor 4 on the rotor 4 side is formed so as to be parallel to the rotor core 22.
- the present invention is not limited to this, and the collar 12 may be formed outside the circular arc having the radius L defined by the above formula (1). That is, the collar 12 as shown in FIG. 19 showing another enlarged view in which the cross section perpendicular to the axial direction of the permanent magnet type rotating electric machine according to the first embodiment of the present invention is enlarged may be formed.
- the inner rotor type permanent magnet type rotating electrical machine 1 in which the stator 2 is disposed on the outer side and the rotor 4 is disposed on the inner side is described as an example.
- the present invention is not limited thereto.
- An outer rotor type permanent magnet type rotating electrical machine in which the positions of the stator 2 and the rotor 4 are interchanged may be used.
- the permanent magnet 21 is comprised using rare earth magnets, such as a neodymium magnet, you may use other magnets, such as sintered magnets and bond magnets, such as a samarium cobalt magnet and a ferrite magnet.
- the collar is the first of the rotor surface and the straight line connecting the permanent magnet stator side center point and the tooth tip closest to the permanent magnet stator side center point.
- the intersection is formed outside an arc whose radius is the distance from the second intersection of the straight line connecting the rotation axis of the rotor and the first intersection to the inner peripheral surface of the stator and the tip of the teeth. Therefore, the permanent magnet type rotating electrical machine can be driven with a negative d-axis current that minimizes the electromagnetic exciting force at a specific rotational speed at which the electromagnetic exciting force matches the resonance frequency of the components of the rotating electrical machine.
- the collar is formed so as not to affect the electromagnetic excitation force, and the electromagnetic excitation force is minimized at a specific rotation speed that matches the deformation mode and natural frequency of the structure such as the stator and the frame.
- the width of the tip of the teeth and the width between the adjacent collars are determined so that the negative d-axis current is within the operable current condition.
- the negative d-axis current that minimizes the electromagnetic excitation force is not affected, and the leakage flux is promoted while the voltage is increased.
- the d-axis current required for suppression can be reduced.
- the minimum height H of the brim becomes more than half of the body width B of the center portion 11 of the teeth, the main magnetic flux generated by the permanent magnet 21 passes between the brims, but the minimum height of the brim is less than half the width of the tip of the teeth. Is smaller, the main magnetic flux generated by the permanent magnet 21 links the teeth central portion 11, so that torque reduction is suppressed.
- FIG. FIG. 20 is a cross-sectional view perpendicular to the axial direction of the permanent magnet type rotating electric machine according to the second embodiment of the present invention.
- the permanent magnet type rotating electrical machine 1 shown in FIG. 20 is a 30 pole 36 slot permanent magnet type rotating electrical machine 1.
- the teeth 3 have a tapered shape, and the slots around which the windings 14 are wound are parallel to each other.
- a substantially rectangular permanent magnet 21 is disposed on the surface of the rotor core 22 of the rotor 4.
- the permanent magnet 21 is applied by applying an adhesive to the rotor core 22 and the rotor 4 is inserted into a cylindrical protective tube such as a SUS tube, thereby preventing the permanent magnet 21 from scattering. ing.
- FIG. 21 is an enlarged view of a section perpendicular to the axial direction of the permanent magnet type rotating electric machine according to the second embodiment of the present invention. 21, in the permanent magnet type rotating electrical machine 1 having the surface magnet structure shown in FIG. 20, the rotor core 22 is not formed outside the permanent magnet 21.
- the collar 12 is formed so that D / L ⁇ 1.
- the tooth 3 has a taper shape
- the cross-sectional area of the iron core of the tooth 3 can be widened and the magnetic saturation can be reduced. Can be improved.
- the permanent magnet 21 is provided on the surface of the rotor 4, the short-circuit magnetic flux at the magnet end can be suppressed, so that the magnetic flux interlinked with the stator 2 can be effectively utilized and the torque is improved. Can be made.
- FIG. 22 is a cross-sectional view perpendicular to the axial direction of the permanent magnet type rotating electric machine according to the third embodiment of the present invention.
- the permanent magnet type rotating electrical machine 1 shown in FIG. 22 is a 24 pole 36 slot permanent magnet type rotating electrical machine 1.
- the peak value of the electromagnetic excitation force may be present in the low-order deformation mode / time order.
- the deformation mode / time order of the electromagnetic excitation force generated in the permanent magnet type rotating electrical machine 1 will be described.
- the electromagnetic excitation force is generated in a specific deformation mode / time order by a combination of harmonic components of the magnetic flux density of the air gap 5 generated according to the number of slots of the stator 2 and the number of poles of the rotor 4.
- the harmonic component B rt of the magnetic flux density generated by the rotor 4 is generated by a combination of the magnetomotive force f mg generated by the permanent magnet 21 and the magnetic resistance fluctuation p st caused by the number of slots of the stator 2. It is expressed as equation (2).
- the magnetomotive force (x fmg , y fmg ) of the permanent magnet 21 is (12, 1), (24, 2), (36, 3), etc. Ingredients are generated. Further, in the stator 2 having 36 slots, (0, 0), (36, 0), (72, 0), etc. are generated as fluctuation components (x pst , y pst ) of the magnetic resistance. At this time, harmonic components (x Brt , y Brt ) of the magnetic flux density generated by the rotor 4 are generated by a combination represented by the following equation (7).
- the harmonic component B st of the magnetic flux density generated by the stator 2 is generated by the combination of the magnetomotive force f st generated by the winding 14 of the stator 2 and the magnetic resistance fluctuation p rt caused by the rotor 4. Then, it is expressed as the above formula (4).
- the magnetomotive force (x fst , y fst ) generated by the winding 14 of the permanent magnet type rotating electrical machine 1 according to the third embodiment of the present invention (12, 1), (24, ⁇ 1) Etc. are generated. Further, in the rotor 4, (0, 0) or the like is generated as a fluctuation component (x prt , y prt ) of the magnetic resistance. At this time, the harmonic components (x Bst , y Bst ) of the magnetic flux density generated by the stator 2 are generated by a combination represented by the following equation (8).
- the electromagnetic excitation force f emf is proportional to the square of the magnetic flux density generated in the air gap 5 according to the Maxwell stress relational expression expressed by the above formula (6).
- the deformation mode 12 ⁇ time ⁇ second order is caused by the magnetic flux density components (12, 1), (24, ⁇ 1), etc. generated in the gap 5. Components ((24, -1)-(12,1)) are generated.
- the magnetic flux density component (24, ⁇ 1) generated in the gap 5 includes the magnetic flux density component (24, ⁇ 1) generated by the rotor 4 and the magnetic flux density component (24, ⁇ 1) generated by the stator 2. Occurs.
- the phases of the magnetic flux density components of these two are just reversed, they can be canceled each other, and in a current vector relationship, only a negative d-axis current is energized. . Therefore, similarly to the first embodiment, the magnetic flux density component (24, ⁇ 1) generated by the rotor 4 and the magnetic flux density component (24, ⁇ 1) generated by the stator 2 by applying a negative d-axis current. ) Is just canceling out.
- a permanent magnet type with a negative d-axis current that minimizes the electromagnetic excitation force at a specific rotational speed at which the electromagnetic excitation force matches the resonance frequency of the components of the rotating electrical machine.
- the rotating electrical machine can be driven.
- the negative d-axis current that minimizes the electromagnetic excitation force is not affected, and the leakage flux is promoted while the voltage is increased.
- the d-axis current required for suppression can be reduced.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
そのため、電磁加振力が回転電機の部品の共振周波数と一致する特定の回転数時に、電磁加振力が最小となる負のd軸電流で永久磁石式回転電機を駆動することができる。
図1は、この発明の実施の形態1に係る永久磁石式回転電機を駆動する駆動システムを示すブロック構成図である。図1において、この駆動システムは、永久磁石式回転電機1を駆動するためのものであって、バッテリ50、インバータ60および制御装置6を備えている。
そのため、電磁加振力が回転電機の部品の共振周波数と一致する特定の回転数時に、電磁加振力が最小となる負のd軸電流で永久磁石式回転電機を駆動することができる。
図20は、この発明の実施の形態2に係る永久磁石式回転電機の軸線方向に垂直な断面図である。図20に示した永久磁石式回転電機1は、30極36スロットの永久磁石式回転電機1である。図20において、ティース3は、テーパ形状となっており、巻線14が巻回されるスロットが互いに平行となっている。
図22は、この発明の実施の形態3に係る永久磁石式回転電機の軸線方向に垂直な断面図である。図22に示した永久磁石式回転電機1は、24極36スロットの永久磁石式回転電機1である。
Claims (8)
- 永久磁石を用いて界磁を形成する回転子と、前記回転子と空隙を介して対向する固定子と、を備えた永久磁石式回転電機であって、
前記固定子は、前記回転子側に突出したティースおよびコアバックを有し、
前記ティースは、巻線が巻回されたティース中央部と、前記回転子と対向し、かつ前記巻線が巻回されていないティース先端部と、前記ティース先端部と前記ティース中央部との間に形成され、周方向両側に突出したつばと、を含み、
永久磁石固定子側中心点と、前記永久磁石固定子側中心点から最も近い前記ティース先端部とを結ぶ直線と前記回転子表面との第1交点について、前記回転子の回転軸と前記第1交点とを結ぶ直線と、前記固定子内周面との第2交点から前記ティース先端部までの距離を半径とする円弧の外側に、前記つばが形成されている
永久磁石式回転電機。 - 前記つばの最小高さは、ティース中央部最小幅の1/2よりも小さい
請求項1に記載の永久磁石式回転電機。 - 前記回転子の極数をXとし、前記固定子のスロット数をYとした場合に、X:Y=6±1:6の関係が満たされる
請求項1または請求項2に記載の永久磁石式回転電機。 - 前記ティース先端部の電気角をTとした場合に、51°<T<122°が成立する
請求項1から請求項3までの何れか1項に記載の永久磁石式回転電機。 - 前記ティース先端部の電気角Tについて、79°<T<83°または111°<T<115°が成立する
請求項4に記載の永久磁石式回転電機。 - 前記ティースには、2組以上の互いに時間位相が異なる巻線が巻回されている
請求項1から請求項5までの何れか1項に記載の永久磁石式回転電機。 - 前記永久磁石は、前記回転子に埋め込まれている
請求項1から請求項6までの何れか1項に記載の永久磁石式回転電機。 - 前記巻線に通電される3相交流電流を、磁束方向のd軸電流とトルク方向のq軸電流とに変換するとともに、前記永久磁石の磁石温度に応じて、電磁加振力が最小となる負のd軸電流を、d軸電流指令として決定する制御装置によって駆動される
請求項1から請求項7までの何れか1項に記載の永久磁石式回転電機。
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DE112015006002.2T DE112015006002T5 (de) | 2015-01-20 | 2015-11-18 | Elektrische rotationsmaschine vom permanentmagnettyp |
US15/538,065 US10447096B2 (en) | 2015-01-20 | 2015-11-18 | Permanent-magnet-type rotating electrical machine |
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JP5420006B2 (ja) * | 2012-03-22 | 2014-02-19 | 三菱電機株式会社 | 同期機制御装置 |
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