WO2017063244A1 - 一种永磁电机 - Google Patents
一种永磁电机 Download PDFInfo
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- WO2017063244A1 WO2017063244A1 PCT/CN2015/094318 CN2015094318W WO2017063244A1 WO 2017063244 A1 WO2017063244 A1 WO 2017063244A1 CN 2015094318 W CN2015094318 W CN 2015094318W WO 2017063244 A1 WO2017063244 A1 WO 2017063244A1
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- rotor
- motor
- magnetic induction
- circuit
- magnetic field
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
Definitions
- the invention belongs to the technical field of motor control, and more particularly to a permanent magnet motor.
- the existing measurement method relies on decoupling multiple degrees of freedom motion by an external mechanism and measuring them separately with a single-axis encoder.
- the mechanical decoupling mechanism itself limits the movement of the motor and increases the weight and friction of the entire system, thus seriously affecting the dynamic performance and stability of the motor and the motion system, and the position caused by mechanical wear after a period of use. Declining accuracy is a serious problem.
- Contact sensors (such as tilt sensor, gyroscope or magnetic field sensor) will be affected by the inertia of the system because they are fixed in the moving part of the motor.
- the power supply and signal transmission cause the mover to have a wire or bridge circuit, which affects the motor dynamics. Performance, and feedback accuracy is not high.
- non-contact measurement methods including optical, visual, magnetic field-based and indirect sensorless detection techniques are ideal measurement methods that do not affect the dynamic characteristics of the motor and the overall system.
- optical and visual sensor technologies rely on higher light requirements in the environment, while sensorless detection technology provides a more accurate rotor position at medium and high speeds, but as the speed decreases, the detection results of this method Poor reliability.
- the present invention provides a permanent magnet motor in which a magnetic field sensor is embedded in a stator coil of a permanent magnet motor, thereby realizing measurement and control of the rotor position of the motor.
- a permanent magnet motor including a stator coil and a rotor, further includes an arithmetic module, the arithmetic module including a magnetic field sensor, a first operational circuit, and a second operational circuit connected in sequence;
- the magnetic field sensor is disposed in the stator coil for detecting the total magnetic induction intensity B 0 and inputting the total magnetic induction intensity B 0 to the first operational circuit;
- the first operational circuit is configured to pass the total magnetic induction intensity B 0 obtaining the rotor magnetic induction B PM, the magnetic induction B PM and the input of said rotor to said magnetic field sensor generates a second operation circuit; for the second arithmetic circuit via B PM, obtained by The position of the rotor.
- the permanent magnet motor according to claim 1, wherein the stator coils are M, the magnetic field sensors are N, M>N ⁇ 2, and both M and N are positive integers;
- the N magnetic field sensors are respectively disposed in the N stator coils, and the N stator coils are respectively disposed at different positions in a motion period of the rotor, and the rotor pair obtained by the first operation circuit is
- the magnetic induction intensities B PM generated by the N magnetic field sensors are B PM-1 , B PM-2 to B PM-N , respectively .
- the permanent magnet motor further includes a third operational circuit; the third operational circuit is coupled to the second operational circuit for obtaining a state signal of the rotor by a position of the rotor.
- the permanent magnet motor further includes a controller and a coil driving module; the controller is coupled to the third computing circuit for inputting a status signal of the rotor to the controller; The controller is configured to give a driving signal according to the state signal of the rotor, and input the driving signal to the coil driving module; the coil driving module is configured to convert the driving signal into a target current, and the A target current is input to the stator coil to achieve control of the motor.
- the controller is configured to adjust a current driving force signal F w of the motor according to a state signal of the rotor, obtain a target driving force signal of the motor, and generate the target driving force signal Input to the coil driving module; the coil driving module is configured to convert the target driving force signal into a target current, and input the target current into the stator coil, thereby implementing control of the motor.
- the permanent magnet motor further includes a fourth operational circuit for obtaining a current driving force F w of the motor through a magnetic induction B PM of the rotor.
- stator coil for the above permanent magnet motor, wherein the stator coil is internally provided with an arithmetic module, and the arithmetic module includes a magnetic field sensor for detecting a total magnetic induction intensity B 0 .
- the operation module further includes a first operation circuit; the magnetic field sensor is connected to the first operation circuit, and the total magnetic induction intensity B 0 is input to the first operation circuit; the first operation circuit For obtaining the magnetic induction B PM of the rotor in the electric machine by the total magnetic induction B 0 .
- the operation module further includes an A/D converter and the filter, and the A/D converter and the filter are sequentially connected between the magnetic field sensor and the first operation circuit, the A/D A converter is used to convert the analog signal of the magnetic induction into a digital signal, the filter being used to filter out the noise signal.
- the module further comprises a second arithmetic operation circuit, said second arithmetic circuit connected to the first arithmetic circuit, and the magnetic induction B PM by the rotor, the position of the motor rotor, the The position of the rotor is the relative position vector R of the rotor and the magnetic field sensor, or the absolute position vector P of the rotor.
- an arithmetic module for the above permanent magnet motor comprising a magnetic field sensor connected in sequence and a first arithmetic circuit; the magnetic field sensor is arranged in a stator coil of the motor to detect a total magnetic induction intensity B 0 , and inputting the total magnetic induction intensity B 0 to the first operation circuit; the first operation circuit is configured to obtain a magnetic induction intensity B PM of the rotor in the motor by the total magnetic induction intensity B 0 .
- the operation module further includes a second operation circuit, and the second operation circuit is connected to the first operation circuit for obtaining the position of the rotor by the magnetic induction intensity B PM of the rotor.
- the magnetic field sensor detects the total magnetic field B 0 of the position where the stator coil is located, B 0 minus the magnetic induction intensity B EM generated by the stator coil, and obtains the magnetic induction intensity B PM generated by the rotor;
- J is the stator coil current density vector (ie, the current current i of the stator coil divided by the cross-sectional area S of the coil), ⁇ 0 is the permeability of the vacuum, D is the relative position of the magnetic field sensor and the stator coil, and v is the stator The volume of the coil;
- M is the rotor polarization
- n is the rotor surface unit normal vector
- v is the rotor volume
- s is the rotor surface area
- R can be calculated by B PM , and then the absolute position vector P of the rotor in the motor can be calculated according to R; or the fitting function of P and B PM can be established directly according to the conversion relationship between R and P, directly by B PM Calculate P.
- step (3) further comprising the step (4): obtaining a driving signal of the motor according to the state signal of the rotor, converting the driving signal into a target current, and then inputting the target current
- step (4) obtaining a driving signal of the motor according to the state signal of the rotor, converting the driving signal into a target current, and then inputting the target current
- the stator coils thereby achieve control of the motor.
- the step (3) further comprises obtaining, by the B PM and the current current, a current driving force signal F w of the motor.
- the step (4) is: adjusting a current driving force signal F w of the motor according to a state signal of the rotor to obtain a target driving force signal of the motor, and driving the target The force signal is converted into a target current signal and input to the stator coil to achieve control of the motor.
- a magnetic field sensor is embedded in the stator coil instead of the prior art method of embedding a sensor in the rotor to measure the rotor position, thereby reducing the mass of the rotor of the motor, thereby reducing the inertial force of the rotor and the required driving force. , improve the dynamic performance of the motor;
- the current driving force of the motor can be directly calculated by the magnetic induction intensity generated by the rotor of the motor, so that the driving signal can be adjusted to achieve efficient control of the motor.
- FIG. 1 is a schematic view showing the relative position and force of a single pair of permanent magnets and coils (PM-EM) units in a permanent magnet motor according to the present invention
- FIG. 2 is a schematic view showing a partial structure of a permanent magnet motor according to the present invention.
- FIG. 3 is a schematic view showing the internal connection of a permanent magnet motor according to the present invention.
- FIG. 4 is a schematic structural view of a stator coil of the present invention.
- FIG. 5 is a schematic structural diagram of a model of a two-degree-of-freedom planar motor system of Embodiment 1;
- FIG. 6 is a schematic view showing the distribution of the electromagnetic force distribution of the first embodiment and the electromagnetic force distribution when the current is 1 A;
- 1 - a stator coil provided with an arithmetic module, a 1a-stator coil, a 1b-operation module, a 2-rotor permanent magnet, 3-motor stator.
- the invention discloses a method for measuring the position of a rotor in a permanent magnet motor, comprising the following steps:
- Step 1 According to the formula Establish a fitting relationship between the magnetic induction B PM generated by the rotor and the relative position vector R of the magnetic field sensor and the rotor; wherein ⁇ 0 is the permeability of the vacuum, taking 4 ⁇ 10 -7 H/m, and M is the rotor polarization , n is the unit surface normal vector of the rotor surface, v is the rotor volume, and s is the rotor surface area;
- R can be decomposed into components x, y, z, and the objective function is created by function (2) (3)
- Bx, By, and Bz are the components of B PM in the x, y, and z directions, respectively, and then the value of (x, y, z) of the minimum value of g is the relative position vector R of the rotor and the magnetic field sensor of the motor. Together with the absolute position of the magnetic field sensor, the absolute position vector P of the motor rotor can be obtained; or P can be directly substituted into the function (2) to establish a fitting function between P and B PM .
- the electromagnetic driving force expression between a single pair of permanent magnets (PM)-coils (EM) in a motor system is as follows:
- the electromagnetic driving force F is composed of a normal component and a tangential component, wherein only the tangential component F t along the direction of the stator motion trajectory is an effective force, as shown in FIG.
- ⁇ , ⁇ , ⁇ can be set as a variable related to R, and f( ⁇ , ⁇ , ⁇ ) is set, so that
- the variables associated with R may be two or three.
- the motor drive force can be expressed as the sum of multiple pairs of effective forces, namely:
- N P is the number of permanent magnets
- N E is the number of coils
- R j is a transformation of the relative position vector R between the pairs of stator coils and the rotor permanent magnet to the world coordinate system ( That is, the transformation matrix of the absolute position P) of the rotor of the motor.
- a closed function [K] associated with B PM can be found to fit
- the fitting method of the closing function differs depending on the degree of freedom of the motor.
- Single-degree-of-freedom motors can be fitted using one-dimensional functions, such as polynomial fitting, Gaussian fitting, and Fourier fitting; multi-degree of freedom can be used to establish functional relationships using interpolation or neural networks.
- Step 2 When the motor is running, measure the position of the rotor of the motor according to the function relationship established above.
- the specific method is as follows:
- the magnetic field sensor detects the total magnetic induction intensity B 0 , and the first arithmetic circuit subtracts the magnetic induction intensity B EM generated by the stator coil by B 0 to obtain the magnetic induction intensity B PM generated by the rotor;
- J is the stator coil current density vector (ie, current i t1 divided by the cross-sectional area of the coil S c )
- ⁇ 0 is the permeability of the vacuum
- D is the relative position of the magnetic field sensor and the stator coil
- v is the stator coil volume.
- B EM is the sum of the magnetic inductions generated by all the stator coils. However, in the actual measurement process, only a few adjacent stators that have the greatest influence on the magnetic field sensor detection magnetic field are selected according to the system accuracy requirements. The coil is calculated;
- the second operational circuit calculates the absolute position P of the rotor of the motor through the function (3);
- the current driving force F w of the motor can be calculated by the absolute position vector R of the motor mover and the current of the coil; or the current driving force of the motor can be obtained directly from the B PM and the coil current by a fitting function such as neural network fitting. w .
- the characteristics of these two calculation methods are: if the current driving force F w of the motor is calculated by B PM , a fitting function such as a neural network is needed to simulate; but in actual operation, F w is calculated directly by B PM , and the operation is performed. The speed will be faster.
- the simulation process of the above fitting function is not required by the position P, but it needs to be calculated after the motor mover position P is obtained, and further analysis processing is performed, and the operation speed is delayed.
- the driving signal such as the current driving force F w of the motor is adjusted to realize the control of the motor, and the working signal is different according to the motor control method.
- the function (7) gives the forward model of the driving force of the motor. Under the given driving force, the optimal solution of the motor coil current is created, also called the inverse model of the driving force, as shown in function (8):
- the adjustment of the current driving force signal F w of the motor can be utilized to directly adjust the operating current of the stator coil.
- the present invention also provides an electric motor, which utilizes the above method to realize measurement of a rotor position and control of a motor, the stator coil and the rotor, and an arithmetic module, wherein the arithmetic module includes a magnetic field sensor sequentially connected, a first operational circuit, and a second operation circuit; the magnetic field sensor is disposed in the stator coil for detecting the total magnetic induction intensity B 0 and inputting the total magnetic induction intensity B 0 to the first operation circuit; the first operation circuit is used to pass the said total magnetic induction B 0, B PM magnetic flux density is obtained of the rotor, and the magnetic induction B PM rotor inputted to the second arithmetic circuit; for the second arithmetic circuit via B PM, obtained by The position P of the rotor.
- the arithmetic module includes a magnetic field sensor sequentially connected, a first operational circuit, and a second operation circuit; the magnetic field sensor is disposed in the stator coil for detecting the total magnetic induction intensity B
- the stator coils are usually tens to hundreds, and the magnetic field sensors are at least two, which need to be placed at different positions in a motor cycle of the motor rotor to jointly determine the motor position P, as shown in FIG. Shown.
- the number of stator coils is M and the number of magnetic field sensors is N, M>N ⁇ 2, and M and N are both positive integers; the N magnetic field sensors are respectively disposed in different stator coils,
- the magnetic induction B PM of the rotor obtained by the first arithmetic circuit is B PM-1 , B PM-2 to B PM-N , respectively .
- the second arithmetic circuit obtains the rotor position P through B PM-1 , B PM-2 to B PM-N , and can calculate the relative position vector R of the N magnetic field sensors and the motor rotor separately, and then calculate the absolute of the rotor.
- the position vector P or directly establish a fitting function of B PM-1 , B PM-2 to B PM-N and P, and then obtain P by a fitting function.
- the permanent magnet motor may further include a third operation circuit, a controller, and a coil drive module; the second operation circuit and the third operation circuit are sequentially connected to the controller, and the third operation circuit is configured to pass the position of the rotor.
- the permanent magnet motor may further include a fourth operational circuit for obtaining a current driving force signal F w of the motor through a current current of the B PM and the stator coil.
- the controller may be configured to adjust the current driving force signal F w according to the state signal of the rotor to obtain a target driving force signal of the motor, and input the target driving force signal to the a coil driving module; the coil driving module is configured to convert the target driving force signal into a target current, and input the target current into the stator coil, thereby implementing control of the motor.
- the internal connection diagram of the above motor is shown in FIG. 3.
- the magnetic field sensor is disposed in different stator coils, and the first operation circuit, the second operation circuit, the third operation circuit, and the fourth operation circuit can be disposed in the stator coil. It can also be placed outside the stator coil to measure or further control the position of the rotor in the motor, as shown in Figure 4.
- the two-degree-of-freedom (x,y) planar motor system model shown in Figure 5 consists of six permanent magnets as stators and one circular coil winding as a mover.
- the magnets are separated by 5mm, and the spatial position of one of the stator coils is O.
- the plane of motion of the rotor of the motor in space is the plane coordinate system of the xoy plane.
- x, y is the spatial position of the rotor of the motor in the plane coordinate system.
- the third arithmetic circuit calculates the rotor speed, acceleration or inertial force signal of the motor through the rotor position (x, y) of the motor, and inputs the signal to the controller; the controller compares the signal with the working signal of the stator coil and the stator coil The operating current is adjusted to achieve control of the motor.
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Description
Claims (10)
- 一种永磁电机,包括定子线圈和转子,其特征在于,还包括运算模块,所述运算模块包括依次相连的磁场传感器、第一运算电路以及第二运算电路;所述磁场传感器设置于定子线圈中,用于检测总磁感应强度B0,并将总磁感应强度B0输入至所述第一运算电路;所述第一运算电路用于通过所述总磁感应强度B0,获得所述转子的磁感应强度BPM,并将所述转子的磁感应强度BPM输入至所述第二运算电路;所述第二运算电路用于通过BPM,获得所述转子的位置。
- 如权利要求1所述的永磁电机,其特征在于,所述定子线圈为M个,所述磁场传感器为N个,M>N≥2,且M和N都为正整数;所述N个磁场传感器分别设置于N个所述定子线圈中,所述第一运算电路获得的所述转子的磁感应强度BPM分别为BPM-1、BPM-2至BPM-N。
- 如权利要求1所述的永磁电机,其特征在于,还包括第三运算电路;所述第三运算电路与第二运算电路相连,用于通过所述转子的位置,获得所述转子的状态信号。
- 如权利要求3所述的永磁电机,其特征在于,还包括控制器以及线圈驱动模块;所述控制器与所述第三运算电路相连,用于将所述转子的状态信号输入至所述控制器;所述控制器用于根据所述转子的状态信号给出驱动信号,并将所述驱动信号输入至所述线圈驱动模块;所述线圈驱动模块用于将所述驱动信号转换为目标电流,并将所述目标电流输入所述定子线圈,从而实现对电机的控制。
- 如权利要求1所述的永磁电机,其特征在于,还包括第四运算电路,所述第四运算电路用于通过所述转子的磁感应强度BPM,获得所述电机的当前驱动力Fw。
- 一种用于如权利要求1-5中任意一项所述永磁电机的定子线圈,其 特征在于,所述定子线圈内部设置有运算模块,所述运算模块包括磁场传感器,所述磁场传感器用于检测总磁感应强度B0。
- 如权利要求6所述的定子线圈,其特征在于,所述运算模块还包括第一运算电路;所述磁场传感器与所述第一运算电路相连,将所述总磁感应强度B0输入至所述第一运算电路;所述第一运算电路用于通过所述总磁感应强度B0,获得所述电机中转子的磁感应强度BPM。
- 如权利要求7所述的定子线圈,其特征在于,所述运算模块还包括第二运算电路,所述第二运算电路与第一运算电路相连,并通过所述转子的磁感应强度BPM,获得所述电机中转子的位置。
- 一种用于如权利要求1所述永磁电机的运算模块,其特征在于,包括依次相连的磁场传感器以及第一运算电路;所述磁场传感器用于设置在电机的定子线圈中,检测总磁感应强度B0,并将所述总磁感应强度B0输入至所述第一运算电路;所述第一运算电路用于通过所述总磁感应强度B0,获得所述电机中转子的磁感应强度BPM。
- 如权利要求9所述的运算模块,其特征在于,还包括第二运算电路,所述第二运算电路与第一运算电路相连,用于通过所述转子的磁感应强度BPM,获得所述转子的位置。
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US20050248306A1 (en) * | 2004-05-05 | 2005-11-10 | Aisin Seiki Kabushiki Kaisha | Permanent magnet synchronous motor and controller therefor |
CN101378217A (zh) * | 2007-08-30 | 2009-03-04 | 阿尔卡特朗讯 | 无刷电机和电动泵 |
CN201656728U (zh) * | 2009-08-11 | 2010-11-24 | 西安磁林电气有限公司 | 一种多相绕组永磁无刷直流电动机及其控制电路 |
CN101997377A (zh) * | 2009-08-11 | 2011-03-30 | 西安磁林电气有限公司 | 一种多相绕组永磁无刷直流电动机及其控制方法和控制电路 |
CN102315742A (zh) * | 2010-06-29 | 2012-01-11 | 西安磁林电气有限公司 | 一种永磁无槽无刷直流电动机 |
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JP4803115B2 (ja) * | 2007-05-30 | 2011-10-26 | パナソニック電工株式会社 | 単相dcブラシレスモータの駆動装置 |
CN101436810B (zh) * | 2008-12-01 | 2011-04-20 | 卢义生 | 一种永磁交流电动机 |
DE102011086368A1 (de) * | 2011-11-15 | 2013-05-16 | Robert Bosch Gmbh | Positionserkennung für einen Läufer eines Antriebsmotors |
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US20050248306A1 (en) * | 2004-05-05 | 2005-11-10 | Aisin Seiki Kabushiki Kaisha | Permanent magnet synchronous motor and controller therefor |
CN101378217A (zh) * | 2007-08-30 | 2009-03-04 | 阿尔卡特朗讯 | 无刷电机和电动泵 |
CN201656728U (zh) * | 2009-08-11 | 2010-11-24 | 西安磁林电气有限公司 | 一种多相绕组永磁无刷直流电动机及其控制电路 |
CN101997377A (zh) * | 2009-08-11 | 2011-03-30 | 西安磁林电气有限公司 | 一种多相绕组永磁无刷直流电动机及其控制方法和控制电路 |
CN102315742A (zh) * | 2010-06-29 | 2012-01-11 | 西安磁林电气有限公司 | 一种永磁无槽无刷直流电动机 |
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