WO2020125248A1 - 一种交替极永磁偏置无轴承双凸极电机及其控制方法 - Google Patents

一种交替极永磁偏置无轴承双凸极电机及其控制方法 Download PDF

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Publication number
WO2020125248A1
WO2020125248A1 PCT/CN2019/115899 CN2019115899W WO2020125248A1 WO 2020125248 A1 WO2020125248 A1 WO 2020125248A1 CN 2019115899 W CN2019115899 W CN 2019115899W WO 2020125248 A1 WO2020125248 A1 WO 2020125248A1
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Prior art keywords
suspension
winding
motor
pole
permanent magnet
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Ceased
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PCT/CN2019/115899
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English (en)
French (fr)
Inventor
于立
张卓然
施于柯
孙林楠
陈旭
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Qinhuai Innovation Institute Of Nanjing University Of Aeronautics And Astronautics
Nanjing University of Aeronautics and Astronautics
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Qinhuai Innovation Institute Of Nanjing University Of Aeronautics And Astronautics
Nanjing University of Aeronautics and Astronautics
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Priority to US17/281,490 priority Critical patent/US11658523B2/en
Publication of WO2020125248A1 publication Critical patent/WO2020125248A1/zh
Anticipated expiration legal-status Critical
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/17—Stator cores with permanent magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/09—Structural association with bearings with magnetic bearings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/38—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with rotating flux distributors, and armatures and magnets both stationary
    • H02K21/44—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with rotating flux distributors, and armatures and magnets both stationary with armature windings wound upon the magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/18—Windings for salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/18—Windings for salient poles
    • H02K3/20—Windings for salient poles for auxiliary purposes, e.g. damping or commutating
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • 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
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor

Definitions

  • the invention relates to the technical field of bearingless motors, in particular to an alternating pole permanent magnet biased bearingless salient pole motor and its control method.
  • the reluctance-type bearingless motor is a new type of motor that integrates the magnetic bearing function with the drive or power generation function. It has the characteristics of high space utilization and compact structure. By adjusting the suspension current, it actively controls the radial electromagnetic force between the motor poles. The traditional motor also improves the reliability of the motor at high speed, and improves the power density and efficiency.
  • solutions such as a bearingless switch reluctance motor and an electromagnetic bearingless double salient pole motor have been gradually developed. among them:
  • the bearingless switch reluctance motor has a simple and reliable structure and is suitable for operation in harsh occasions such as high temperature and high speed.
  • the suspension control needs to detect the rotor position angle and adjust the suspension current according to the rotor angle position.
  • the system is difficult to implement, resulting in its high design and use cost .
  • the fixed rotor structure of the electromagnetic bearingless salient pole motor is sturdy and reliable, and is also suitable for high temperature and high speed operation. Because the excitation current can provide the bias magnetic field required for suspension, it is no longer necessary to use the armature current to provide the same as the bearingless switched reluctance motor. The magnetic field is biased, so the suspension control of the electromagnetic bearingless salient pole motor is basically not affected by the armature current, and it is no longer necessary to detect the rotor position angle. It uses an independent excitation winding to provide a bias magnetic field, adjust the suspension current to control the suspension force of the motor.
  • adjusting the excitation current will change the internal bias magnetic field of the motor, thereby changing the magnitude of the levitation force, causing interference and coupling to the levitation control, and increasing the difficulty of the levitation control.
  • Embodiments of the present invention provide an alternating pole permanent magnet biased bearingless salient pole motor and its control method.
  • the bias magnetic field is stable, the suspension force is stable and reliable, and the interference is small, thereby reducing the difficulty of suspension control.
  • the rotor core (2) is composed of rotor poles (2-1), and the rotor core (2) is a salient pole structure;
  • the stator of the motor is composed of a stator core (1) and a permanent magnet (3), the stator core (1) is composed of a stator pole (1-1), and the stator core (1) is a salient pole structure;
  • a permanent magnet (3) is attached to the slot of each stator pole (1-1), and the polarity of each permanent magnet (3) facing the surface of the air gap (11) is the same;
  • Each stator pole (1-1) is wound with an armature coil.
  • the armature coils are connected in series to form an armature winding (4).
  • the armature winding (4) is connected to an external main circuit;
  • Each three stators arranged in sequence are grouped with a set of suspension coils, and each set of suspension coils adopts the same winding direction and winding method.
  • a control method of alternating pole permanent magnet offset bearingless salient pole motor including suspension control and torque control;
  • the suspension control link includes:
  • the radial displacement sensor of the x-axis direction installed on the end cover of the motor detects the radial position of the rotor of the motor to obtain the actual displacement of the rotor in the x-axis direction;
  • a radial displacement sensor in the y-axis direction installed on the end cover of the motor detects the radial position of the rotor of the motor to obtain the actual displacement of the rotor in the y-axis direction, where the x-axis and the y-axis are orthogonal to each other;
  • the current detection unit detects the current feedback value of the first suspension winding (5) and the current feedback value of the second suspension winding (6) of the motor respectively;
  • the difference between the preset reference displacement of the motor in the x-axis direction and the actual displacement of the rotor in the x-axis direction is adjusted through the x-axis displacement to obtain the current reference value of the first suspension winding (5);
  • the difference between the preset reference displacement of the motor in the y-axis direction and the actual displacement of the rotor in the y-axis direction is adjusted through the y-axis displacement adjustment link to obtain the current reference value of the second suspension winding (6);
  • the difference between the current reference value of the first suspension winding (5) and the current feedback value of the first suspension winding (5) passes through the first suspension current adjustment link to obtain the duty ratio signal of the first suspension control circuit;
  • the difference between the current reference value of the second suspension winding (6) and the current feedback value of the second suspension winding (6) passes through the second suspension current adjustment link to obtain the duty ratio signal of the second suspension control circuit;
  • the current of the first suspension winding (5) and the current of the second suspension winding (6) are adjusted.
  • the torque control link includes: sine wave current control or square wave current control.
  • stator/rotor cores of the alternating pole permanent magnet biased bearingless salient pole motor are salient pole structure air gap (11) surface air gap (11) surface; each stator pole is wound with an armature coil , The armature coils are connected in series to form an armature winding, and the armature windings are respectively connected to the external main circuit; each of the 3 stators arranged in sequence is wound with a set of suspension coils, and each suspension coil adopts the same winding method The suspending coils spaced diametrically opposite to each other form a suspending winding in series, which is connected to an external levitation control circuit.
  • the internal bias magnetic field of the motor is unstable, which changes the magnitude of the levitation force, causing interference and coupling problems for the levitation control;
  • the asymmetrical armature winding configuration of each phase makes the back EMF asymmetric, resulting in winding losses
  • the bias magnetic field is stable in the alternating-pole permanent magnet biased bearingless salient pole motor, the suspension force is stable and reliable, the interference is small, the armature winding distribution of each phase is balanced, so each opposite potential is symmetrical, the winding heating balances, the motor power
  • the power components of the external main circuit connected by the pivot winding are balanced in heat and balanced in current stress, making the motor and its system highly reliable.
  • FIG. 1 is a schematic structural diagram of an alternating-pole permanent magnet offset bearingless salient pole motor provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a first suspension control circuit and a second suspension control circuit of an alternating pole permanent magnet biased bearingless salient pole motor provided by an embodiment of the present invention
  • FIG. 3 is a schematic diagram of the distribution of magnetic lines of force when the rotor of an alternating-pole permanent magnet biased bearingless salient pole motor is provided at 5 degrees according to an embodiment of the present invention
  • FIG. 4 is a block diagram of the suspension control principle of an alternating pole permanent magnet biased bearingless salient pole motor provided by an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a connection end of a suspension coil of an alternating-pole permanent magnet biased bearingless salient pole motor provided by an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a stator pole of an alternating pole permanent magnet biased bearingless salient pole motor according to an embodiment of the present invention
  • the reference numbers in the drawings indicate: 1- stator core, 1-1 stator pole, 2- rotor core, 2-1 rotor pole, 3- permanent magnet, 4- armature winding, 5- first suspension winding, 6 -Second suspension winding, 7-permanent magnetic field line, 8-levitation magnetic field line generated by the suspension current in the second suspension winding in the positive direction, 9-first suspension control circuit, 10-second suspension control circuit, 11-gas Gap.
  • An embodiment of the present invention provides an alternating pole permanent magnet biased bearingless salient pole motor, as shown in FIG. 1, including:
  • the suspension winding includes: a first suspension winding (5) and a second suspension winding (6).
  • the rotor core (2) is composed of a rotor pole (2-1), and the rotor core (2) has a salient pole structure.
  • the stator of the motor is composed of a stator core (1) and a permanent magnet (3), the stator core (1) is composed of a stator pole (1-1), and the stator core (1) has a salient pole structure.
  • the middle part facing the surface of the air gap (11) is grooved in the counterclockwise direction to the edge part facing the surface of the air gap (11).
  • a permanent magnet (3) is attached to the slot of each stator pole (1-1), and the polarity of each permanent magnet (3) facing the surface of the air gap (11) is the same.
  • An armature coil is wound on each stator pole (1-1), and the armature coils are connected in series to form an armature winding (4), and the armature winding (4) is connected to an external main circuit.
  • Each three stators arranged in sequence are grouped with a set of suspension coils, and each set of suspension coils adopts the same winding direction and winding method.
  • the excitation current of an electromagnetic bearing-less double-salient pole motor will cause excitation loss.
  • Changing the excitation current will change the bias magnetic field, change the suspension force, and increase the difficulty of the suspension control.
  • the back-EMF Due to the asymmetrical configuration of the armature windings of each phase, the back-EMF is asymmetric, resulting in unbalanced winding loss and heat generation, worsening the insulation performance of the motor, and uneven heating of the power components of the external main circuit connected to the motor armature winding, affecting reliability Sex.
  • the excitation magnetic circuit of the electromagnetic bearingless salient pole motor is long, which results in low excitation efficiency and increased losses.
  • stator/rotor cores of the alternating pole permanent magnet biased bearingless salient pole motor are all salient pole structures, and each stator pole 1-1 faces the middle of the air gap (11) surface in a counterclockwise direction to
  • the stator pole 1-1 is slotted at the edge, and a permanent magnet is affixed to the slot, and the surface of each permanent magnet facing the air gap (11) has the same polarity.
  • Each stator pole 1-1 is wound with an armature coil, and the armature coils are connected in series to form an armature winding, and the armature windings are respectively connected to external main circuits.
  • Every three stator poles 1-1 are wound with suspension coils, and the suspension coils spaced radially opposite are connected in series to form a suspension winding, which is connected to an external suspension control circuit.
  • the invention also discloses the control method of the above-mentioned alternating pole permanent magnet offset bearingless salient pole motor.
  • the amount of permanent magnets can be reduced, the loss of heat and the operating efficiency can be improved.
  • the suspension adjustment efficiency is high, and the suspension magnetic flux does not pass through the permanent magnet, thereby avoiding the risk of permanent magnet demagnetization.
  • the alternating pole permanent magnet bias bearing-less double-salient pole motor of the invention greatly optimizes the suspension performance, the rotor structure is firm and reliable, and is particularly suitable for high-speed applications such as aerospace electric drive systems.
  • the excitation current is changed in order to adjust the voltage, which causes the change of the bias magnetic field, which causes the suspension force to change, which increases the control difficulty.
  • the bias magnetic field is provided by the permanent magnet, it will not change.
  • An armature coil is wound on each stator pole 1-1, and the armature coils are connected in series to form an armature winding 4, which is connected to an external main circuit.
  • the external main circuit is a full-bridge inverter circuit.
  • Each of the 3 stators arranged in sequence is surrounded by a set of suspension coils, and each set of suspension coils uses the same winding method.
  • the number of stator poles (1-1) is 12n
  • the number of rotor poles (2-1) is 16n
  • n is a positive integer.
  • a 12/16 pole double-salient pole structure including a stator core 1, a rotor core 2, a permanent magnet 3, an armature winding 4, a first suspension winding 5, and a second suspension
  • the winding 6 and the rotor core 2 include several rotor poles 2-1, and the rotor core has a salient pole structure.
  • the stator is composed of a stator core 1 and a permanent magnet 3.
  • the stator core 1 includes a number of stator poles 1-1.
  • the stator core 1 is a salient pole structure, and each stator pole 1-1 faces the middle of the air gap (11) surface in a counterclockwise direction The direction is that the stator pole 1-1 faces the edge of the air gap (11) surface, and a slot is attached to the slot.
  • a permanent magnet 3 is attached to the slot, and each permanent magnet 3 faces the air gap surface with the same polarity, all of which are S poles.
  • each set of suspension coils has two connection ends, which are a first connection end and a second connection end, respectively.
  • the two sets of diametrically opposite suspension coils are the same group, a total of two groups, namely the first suspension winding (5) and the second suspension winding (6), of which the first suspension coil in the first suspension winding (5)
  • the first connection end is used as the first outlet (SX+) of the first suspension winding (5)
  • the second connection ends of the second set of suspension coils are connected.
  • the first connection end of the second set of suspension coils in the first suspension winding (5) serves as the second outlet end (SX-) of the first suspension winding (5).
  • the outlet end of the first suspension winding (5) and the outlet end of the second suspension winding (6) are respectively connected to the external first suspension control circuit (9) and the second suspension control circuit (10).
  • Each stator pole 1-1 is wound with an armature coil, and the armature coils are connected in series to form an armature winding 4 according to the wiring shown in FIG. 1. Every three stator poles 1-1 are wound with suspension coils, and each set of suspension coils is wound in the same way. As shown in FIG. 5, there are two connection ends, a first connection end and a second connection end, respectively. The opposite two sets of suspension coils are in the same group. The first connection end of the first set of suspension coils in the first group is used as the first outlet end of the first suspension winding SX+.
  • the floating windings of the first group of floating coils connected in series are called the first floating windings 5, and in the same way, the second floating windings 6 are formed, correspondingly forming the first and second outlet ends SY+ and SY- of the second floating windings.
  • the armature winding 4 of each phase is evenly distributed, so that each opposite potential is symmetrical, the winding heating is balanced, and the power device of the external main circuit connected to the motor armature winding 4 is balanced.
  • the current stress balance makes the motor and its system highly reliable.
  • the outlet end of the first suspension winding 5 and the outlet end of the second suspension winding 6 are respectively connected to the external first suspension control circuit and the second suspension control circuit.
  • the first suspension control circuit and the second suspension control circuit are full-bridge inverter circuits.
  • the first floating control circuit MOSFET switch Q 1 and MOSFET switch Q 2 are connected in series, MOSFET switch Q 3 and MOSFET switch Q 4 are connected in series, and MOSFET switch Q 1 and The drain of the MOSFET switch Q 3 is connected to the positive electrode of the DC voltage source U S1 , the sources of the MOSFET switch Q 2 and the MOSFET switch Q 4 are connected to the negative electrode of the DC voltage source U S1 , and both ends of the first floating winding WS1 respectively for MOSFET Q 1 'the source electrode, the source MOSFET switch Q 3 is connected.
  • Second suspension control circuit MOSFET switch Q 5 and MOSFET switch Q 6 are connected in series, MOSFET switch Q 7 and MOSFET switch Q 8 are connected in series, the drain of MOSFET switch Q 5 and MOSFET switch Q 7 are connected to the DC voltage source
  • the positive electrode of U S2 is connected, the sources of MOSFET switch Q 6 and MOSFET switch Q 8 are connected to the negative electrode of DC voltage source U S2 , and the two ends of second floating winding WS2 are respectively connected to the source of MOSFET switch Q 5 and MOSFET The source of the switch Q 7 is connected.
  • the distribution diagrams of the permanent magnetic force lines 7 and the floating magnetic force lines 8 are shown.
  • the direction of the current in the second suspension winding is shown in FIG. 3. After the second suspension winding is energized, the suspension magnetic flux generated at the upper air gap is in the same direction as the permanent magnetic flux, and the suspension magnetic flux generated at the lower air gap is opposite to the permanent magnetic flux, resulting in the air gap magnetic field in the y-axis direction not equal.
  • the air gap magnetic field on the upper side of the rotor is stronger than the air gap magnetic field on the lower side, so the rotor will receive the levitation force in the y-axis direction.
  • the second suspension current increases, the levitation force received by the rotor in the y-axis direction increases, and when the second suspension current reverses, the levitation force received by the rotor in the y-axis direction reverses.
  • the magnitude and direction of the rotor's suspension force in the x-axis direction can be controlled. It can be seen that the magnitude and direction of the suspension force generated can be controlled by controlling the magnitude and direction of the current in the suspension winding, so that the rotor is suspended in a stable manner.
  • the rotor core 2 in this embodiment may be located inside the stator core 1. Or it is located outside the stator core 1.
  • stator/rotor cores are all salient pole structures, and each stator pole 1-1 faces the middle of the air gap (11) surface and is slotted counterclockwise to the edge of the stator pole 1-1.
  • Each stator pole 1-1 is wound with an armature coil, and the armature coils are connected in series to form an armature winding 4, which is connected to an external main circuit, respectively.
  • the use of stator core 1 alternating pole permanent magnet excitation can reduce the amount of permanent magnets 3, reduce loss and heat, and improve operating efficiency.
  • the surface of the stator pole 1-1 facing the air gap (11) uses an alternating pole permanent magnet structure, the amount of permanent magnets 3 is reduced, and the surface magnetic resistance of the stator pole 1-1 facing the air gap (11) without the permanent magnet 3 is small.
  • the suspension adjustment efficiency is high, and the suspension magnetic flux does not pass through the permanent magnet 3, avoiding the risk of demagnetization of the permanent magnet 3.
  • the suspension control link does not need to detect the rotor position angle, the suspension system is more simple and reliable.
  • embodiments of the present invention also provide a control method of alternating pole permanent magnet biased bearingless salient pole motor, including:
  • the radial displacement sensor in the x-axis direction installed on the end cover of the motor detects the radial position of the rotor of the motor to obtain the actual displacement of the rotor in the x-axis direction.
  • a radial displacement sensor in the y-axis direction installed on the end cover of the motor detects the radial position of the rotor of the motor to obtain the actual displacement of the rotor in the y-axis direction, where the x-axis and the y-axis are orthogonal to each other.
  • the current detection unit Through the current detection unit, the current feedback value of the first suspension winding (5) and the current feedback value of the second suspension winding (6) of the motor are respectively detected.
  • the difference between the preset reference displacement of the motor in the x-axis direction and the actual displacement of the rotor in the x-axis direction is adjusted through the x-axis displacement to obtain the current reference value of the first suspension winding (5).
  • the difference between the preset reference displacement of the motor in the y-axis direction and the actual displacement of the rotor in the y-axis direction is adjusted through the y-axis displacement adjustment link to obtain the current reference value of the second suspension winding (6).
  • the difference between the current reference value of the first suspension winding (5) and the current feedback value of the first suspension winding (5) passes through the first suspension current adjustment link to obtain the duty ratio signal of the first suspension control circuit.
  • the difference between the current reference value of the second suspension winding (6) and the current feedback value of the second suspension winding (6) passes through the second suspension current adjustment link to obtain the duty ratio signal of the second suspension control circuit.
  • the current of the first suspension winding (5) and the current of the second suspension winding (6) are adjusted. Therefore, the current of the first suspension winding 5 tracks its reference value, and the current of the second suspension winding 6 tracks its reference value, so as to control the radial suspension force.
  • the x-axis displacement adjustment link is proportional-integral-derivative PID control is proportional-integral-derivative (PID) control.
  • the y-axis displacement adjustment link is proportional-integral-derivative PID control and proportional-integral-derivative (PID) control.
  • the first suspension current adjustment link is proportional-integral PI control.
  • the second suspension current adjustment link is proportional-integral PI control.
  • the torque control link of the control method includes: using sine wave current control, or using square wave current control.
  • the radial position of the rotor of the alternating pole permanent magnet offset bearingless salient pole motor is detected by a radial displacement sensor in the x-axis direction to obtain the actual rotor displacement ⁇ x in the x-axis direction, and the alternating is detected by a radial displacement sensor in the y-axis direction
  • the radial position of the rotor of the pole permanent magnet bias bearingless salient pole motor obtains the actual rotor displacement y in the y axis direction, where the x axis and the y axis are orthogonal to each other, and the alternating pole permanent magnet bias is detected by the current detection unit respectively
  • the current feedback value i x of the first suspension winding and the current feedback value i y of the second suspension winding of the double-salient-pole motor of the bearing is detected by the current detection unit respectively.
  • the difference between the winding current reference value i x * and the first suspension winding current feedback value i x obtains the duty signal D 1 of the first suspension control circuit through the first suspension current PI adjustment link, and the alternating pole permanent magnet offset bearingless double
  • the difference between the current reference value i y * of the second suspension winding of the salient pole motor and the current feedback value i y of the second suspension winding obtains the duty ratio signal D 2 of the second suspension control circuit through the second suspension current PI adjustment link, by adjusting the first
  • the duty ratios of the switch tubes of the suspension control circuit and the second suspension control circuit are used to adjust the current of the first suspension winding and the current of the second suspension winding to realize the tracking of the reference value of the current of the first suspension winding and the reference value of the current of the second suspension winding.
  • Torque control uses sine wave current control or square wave current control.

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  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

一种交替极永磁偏置无轴承双凸极电机及其控制方法，涉及无轴承电机技术领域，能够缓减绕组损耗与发热不平衡的问题，提高电机的可靠性。该方案包括：定/转子的铁心（1,2）均为凸极结构，每个定子极(1-1)面向气隙(11)表面中间部位按照逆时针方向至定子极(1-1)边缘部位开槽，槽内贴有一个永磁体(3)，每个永磁体(3)面向气隙(11)表面极性相同；每个定子极(1-1)绕有电枢线圈，电枢线圈依次串联构成电枢绕组(4)，电枢绕组(4)分别与外部主电路连接；每三个定子极(1-1)绕有悬浮线圈，空间径向相对的悬浮线圈串联构成悬浮绕组，与外部悬浮控制电路相连。适用于航空航天电驱动系统等高速应用场合。

Description

一种交替极永磁偏置无轴承双凸极电机及其控制方法 技术领域
本发明涉及无轴承电机技术领域，尤其涉及一种交替极永磁偏置无轴承双凸极电机及其控制方法。
背景技术
磁阻型无轴承电机是将磁轴承功能与驱动或发电功能集成一体的新型电机，具有空间利用率高，结构紧凑等特点，通过调节悬浮电流，主动控制电机极间径向电磁力，相对于传统的电机也提高了电机高速运行可靠性，提高了功率密度及效率。目前已经逐步发展出了无轴承开关磁阻电机和电磁式无轴承双凸极电机等方案。其中：
无轴承开关磁阻电机结构简单可靠，适合在高温高速等恶劣场合运行。然而无轴承开关磁阻电机转矩和悬浮力存在非线性耦合的问题，悬浮控制需要检测转子位置角，根据转子角位置调节悬浮电流，系统实现难度大，导致了其较高的设计和使用成本。
电磁式无轴承双凸极电机定转子结构坚固可靠，同样适合高温高速运行，并且由于励磁电流可以提供悬浮所需要的偏置磁场，不再需要像无轴承开关磁阻电机一样利用电枢电流提供偏置磁场，因此电磁式无轴承双凸极电机悬浮控制基本不受电枢电流大小影响，也不再需要检测转子位置角。其采用的是独立励磁绕组提供偏置磁场，调节悬浮电流控制电机悬浮力。
然而调节励磁电流会改变了电机内部的偏置磁场，从而改变悬浮力大小，给悬浮控制带来干扰和耦合，增加悬浮控制的难度。
发明内容
本发明的实施例提供一种交替极永磁偏置无轴承双凸极电机及其控制方法，偏置磁场稳定，悬浮力稳定可靠，干扰小，从而降低悬浮控制的难度。
为达到上述目的，本发明的实施例采用如下技术方案：
一种交替极永磁偏置无轴承双凸极电机：
定子铁心(1)、转子铁心(2)、永磁体(3)、电枢绕组(4)和悬浮绕组，所述悬浮绕组包括：第一悬浮绕组(5)和第二悬浮绕组(6)；
转子铁心(2)由转子极(2-1)构成，转子铁心(2)为凸极结构；
所述电机的定子，由定子铁心(1)和永磁体(3)构成，定子铁心(1)由定子极(1-1)构成，定子铁心(1)为凸极结构；
对于每一个定子极(1-1)：
面向气隙(11)表面的中间部位，按照逆时针方向至面向所述气隙(11)表面的边缘部位开槽；
每一个定子极(1-1)的开槽内贴有一个永磁体(3)，每个永磁体(3)面向所述气隙(11)表面的极性相同；
每一个定子极(1-1)上绕有电枢线圈，电枢线圈依次串联构成电枢绕组(4)，电枢 绕组(4)与外部主电路连接；
每三个依次排列的定子极为一组并绕有一套悬浮线圈，且每套悬浮线圈都采用相同的绕向与绕制方式。
一种交替极永磁偏置无轴承双凸极电机的控制方法，包括悬浮控制环节和转矩控制环节；
其中，悬浮控制环节包括：
通过安装在电机端盖上的x轴方向的径向位移传感器，检测所述电机的转子的径向位置，得到x轴方向转子实际位移；
通过安装在电机端盖上的y轴方向的径向位移传感器，检测所述电机的转子的径向位置，得到y轴方向转子实际位移，其中，x轴与y轴相互正交；
通过电流检测单元，分别检测所述电机的第一悬浮绕组(5)电流反馈值和第二悬浮绕组(6)电流反馈值；
将预设的所述电机在x轴方向参考位移与所述x轴方向转子实际位移的差值，经过x轴位移调节环节，得到第一悬浮绕组(5)的电流参考值；
将预设的所述电机在y轴方向参考位移与所述y轴方向转子实际位移的差值，经过y轴位移调节环节，得到第二悬浮绕组(6)的电流参考值；
将第一悬浮绕组(5)电流参考值与第一悬浮绕组(5)电流反馈值的差值，经过第一悬浮电流调节环节，得到第一悬浮控制电路的占空比信号；
将第二悬浮绕组(6)电流参考值与第二悬浮绕组(6)电流反馈值的差值，经过第二悬浮电流调节环节，得到第二悬浮控制电路的占空比信号；
通过调节所述第一悬浮控制电路和所述第二悬浮控制电路的开关管占空比，调节第一悬浮绕组(5)电流和第二悬浮绕组(6)电流。
转矩控制环节,包括：采用正弦波电流控制，或者采用方波电流控制。
本实施例中的交替极永磁偏置无轴承双凸极电机的定/转子的铁心均为凸极结构气隙(11)表面气隙(11)表面；每个定子极绕有电枢线圈，电枢线圈依次串联构成电枢绕组，电枢绕组分别与外部主电路连接；每个3依次排列的定子极为一组并绕有一套悬浮线圈，且每套悬浮线圈都采用相同的绕制方式空间径向相对的悬浮线圈串联构成悬浮绕组，与外部悬浮控制电路相连。
相对于现有技术中电机内部的偏置磁场不稳定，从而改变悬浮力大小，给悬浮控制带来干扰和耦合的问题；每相电枢绕组配置不对称，使得反电势不对称，导致绕组损耗与发热不平衡，恶化电机绝缘性能的问题；以及使与电机电枢绕组连接的外部主电路的功率器件发热不均，影响可靠性的问题。本发明通过在交替极永磁偏置无轴承双凸极电机中偏置磁场稳定，悬浮力稳定可靠，干扰小，每相电枢绕组分布均衡，因此每相反电势对称，绕组发热平衡，电机电枢绕组连接的外部主电路的功率器件发热平衡，电流应力平衡，使得电机及其系统的可靠性高。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领 域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本发明实施例提供的交替极永磁偏置无轴承双凸极电机结构示意图；
图2为本发明实施例提供的交替极永磁偏置无轴承双凸极电机第一悬浮控制电路和第二悬浮控制电路示意图；
图3为本发明实施例提供的交替极永磁偏置无轴承双凸极电机转子5度时的磁力线分布示意图；
图4为本发明实施例提供的交替极永磁偏置无轴承双凸极电机悬浮控制原理框图；
图5为本发明实施例提供的交替极永磁偏置无轴承双凸极电机悬浮线圈连接端示意图；
图6为本发明实施例提供的交替极永磁偏置无轴承双凸极电机定子极的结构示意图；
附图中的各个标号分别表示：1-定子铁心、1-1定子极、2-转子铁心、2-1转子极、3-永磁体、4-电枢绕组、5-第一悬浮绕组、6-第二悬浮绕组、7-永磁磁力线、8-通正方向的第二悬浮绕组中由悬浮电流产生的悬浮磁力线、9-第一悬浮控制电路、10-第二悬浮控制电路、11-气隙。
具体实施方式
为使本领域技术人员更好地理解本发明的技术方案，下面结合附图和具体实施方式对本发明作进一步详细描述。下文中将详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能解释为对本发明的限制。本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。应该进一步理解的是，本发明的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组。应该理解，当我们称元件被“连接”或“耦接”到另一元件时，它可以直接连接或耦接到其他元件，或者也可以存在中间元件。此外，这里使用的“连接”或“耦接”可以包括无线连接或耦接。这里使用的措辞“和/或”包括一个或更多个相关联的列出项的任一单元和全部组合。本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语包括技术术语和科学术语具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。
本发明实施例提供一种交替极永磁偏置无轴承双凸极电机，如图1所示，包括：
定子铁心(1)、转子铁心(2)、永磁体(3)、电枢绕组(4)和悬浮绕组，所述悬浮绕组包括：第一悬浮绕组(5)和第二悬浮绕组(6)。
转子铁心(2)由转子极(2-1)构成，转子铁心(2)为凸极结构。
所述电机的定子，由定子铁心(1)和永磁体(3)构成，定子铁心(1)由定子极(1-1) 构成，定子铁心(1)为凸极结构。
对于每一个定子极(1-1)：
具体如图6中所示的，面向气隙(11)表面的中间部位，按照逆时针方向至面向所述气隙(11)表面的边缘部位开槽。
每一个定子极(1-1)的开槽内贴有一个永磁体(3)，每个永磁体(3)面向所述气隙(11)表面的极性相同。
每一个定子极(1-1)上绕有电枢线圈，电枢线圈依次串联构成电枢绕组(4)，电枢绕组(4)与外部主电路连接。
每三个依次排列的定子极为一组并绕有一套悬浮线圈，且每套悬浮线圈都采用相同的绕向与绕制方式。
现有技术中，电磁式无轴承双凸极电机的励磁电流会导致励磁损耗。改变励磁电流则会改变偏置磁场，改变悬浮力大小，给悬浮控制增加难度。由于每相电枢绕组配置不对称，使得反电势不对称，导致绕组损耗与发热不平衡，恶化电机绝缘性能，同时使与电机电枢绕组连接的外部主电路的功率器件发热不均，影响可靠性。电磁式无轴承双凸极电机励磁磁路较长，导致励磁效率低，增加了损耗。
本实施例中的交替极永磁偏置无轴承双凸极电机的定/转子的铁心均为凸极结构，每个定子极1-1面向气隙(11)表面中间部位按照逆时针方向至定子极1-1边缘部位开槽，槽内贴有一个永磁体，每个永磁体面向气隙(11)表面极性相同。每个定子极1-1绕有电枢线圈，电枢线圈依次串联构成电枢绕组，电枢绕组分别与外部主电路连接。每三个定子极1-1绕有悬浮线圈，空间径向相对的悬浮线圈串联构成悬浮绕组，与外部悬浮控制电路相连。本发明还公开了上述交替极永磁偏置无轴承双凸极电机的控制方法。通过采用定子铁心交替极永磁励磁，能够减少永磁体用量，降低损耗发热并提高运行效率。由于悬浮磁通路径磁阻小，悬浮调节效率高，且悬浮磁通不会穿过永磁体，避免了永磁体退磁风险。本发明交替极永磁偏置无轴承双凸极电机极大优化了悬浮性能，转子结构坚固可靠，特别适合于航空航天电驱动系统等高速应用场合。
对于现有方案中为了调压改变励磁电流，从而引发偏置磁场的改变，导致悬浮力变化，增加了控制难度的问题。本发明中由于偏置磁场由永磁体提供，不会改变。
每一个定子极1-1上绕有电枢线圈，电枢线圈依次串联构成电枢绕组4，电枢绕组4与外部主电路连接。所述外部主电路为全桥逆变电路。其中，“电枢线圈依次串联”，可以理解为一个定子极(1-1)的电枢线圈与另一个定子极(1-1)的电枢线圈串联。
每个3依次排列的定子极为一组并绕有一套悬浮线圈，且每套悬浮线圈都采用相同的绕制方式。
具体的，定子极(1-1)的数目为12n，转子极(2-1)数目为16n，n为正整数。
具体举例来说：如图1所示的，采用12/16极的双凸极结构，包括定子铁心1、转子铁心2、永磁体3、电枢绕组4、第一悬浮绕组5，第二悬浮绕组6，转子铁心2包括若干个转子极2-1，转子铁心为凸极结构。定子由定子铁心1和永磁体3构成，定子铁心1包括若干个定子极1-1，定子铁心1为凸极结构，每个定子极1-1面向气隙(11)表面中间部位按照逆时针方向至定子极1-1面向气隙(11)表面边缘部位开槽，槽内贴有一个永磁体3，每个永磁体3面向气隙表面极性相同，均为S极。
在本实施例中，具体如图5所示的，每套悬浮线圈共有两个连接端，分别为第一连接端和第二连接端。
空间径向相对的两套悬浮线圈为同一组，共两组，分别为第一悬浮绕组(5)和第二悬浮绕组(6)，其中第一悬浮绕组(5)内的第一套悬浮线圈的第一连接端作为第一悬浮绕组(5)的第一出线端(SX+)，所述第一悬浮绕组(5)内的第一套悬浮线圈第二连接端与第一悬浮绕组(5)内的第二套悬浮线圈的第二连接端相连。所述第一悬浮绕组(5)内的第二套悬浮线圈的第一连接端作为第一悬浮绕组(5)的第二出线端(SX-)。
按照与第一悬浮绕组(5)同样的构成方式，构成第二悬浮绕组(6)和第二悬浮绕组(6)的第一出线端(SY+)和第二出线端(SY-)。
第一悬浮绕组(5)的出线端和第二悬浮绕组(6)的出线端分别与外部的第一悬浮控制电路(9)和第二悬浮控制电路(10)连接。
具体的：
每个定子极1-1绕有电枢线圈，电枢线圈按照图1所示的接线依次串联构成电枢绕组4。每三个定子极1-1绕有悬浮线圈，每套悬浮线圈绕制方式相同，如图5所示的，共有两个连接端，分别为第一连接端和第二连接端，空间径向相对的两套悬浮线圈为同一组，第一组的第一套悬浮线圈的第一连接端作为第一悬浮绕组第一出线端SX+，其中一组悬浮线圈内的第一套悬浮线圈第二连接端与其中另一组悬浮线圈内的第二套悬浮线圈的第二连接端相连，其中另一组悬浮线圈内的第二套悬浮线圈第一连接端作为第一悬浮绕组第二出线端SX-，第一组的悬浮线圈串联构成的悬浮绕组称为第一悬浮绕组5，按照同样方式，构成第二悬浮绕组6，相应构成第二悬浮绕组第一出线端SY+和第二出线端SY-。通过在交替极永磁偏置无轴承双凸极电机中每相电枢绕组4分布均衡，因此每相反电势对称，绕组发热平衡，电机电枢绕组4连接的外部主电路的功率器件发热平衡，电流应力平衡，使得电机及其系统的可靠性高。
第一悬浮绕组5的出线端和第二悬浮绕组6的出线端分别与外部的第一悬浮控制电路和第二悬浮控制电路连接。
本实施例中，所述第一悬浮控制电路和所述第二悬浮控制电路为全桥逆变电路。具体举例来说：如图2所示的，第一悬浮控制电路：MOSFET开关管Q 1和MOSFET开关管Q 2串联，MOSFET开关管Q 3和MOSFET开关管Q 4串联，MOSFET开关管Q 1和MOSFET开关管Q 3的漏极与直流电压源U S1的正极连接，MOSFET开关管Q 2和MOSFET开关管Q 4的源极与直流电压源U S1的负极连接，第一悬浮绕组WS1的两端分别与MOSFET开关管Q 1的源极、MOSFET开关管Q 3的源极连接。
第二悬浮控制电路：MOSFET开关管Q 5和MOSFET开关管Q 6串联，MOSFET开关管Q 7和MOSFET开关管Q 8串联，MOSFET开关管Q 5和MOSFET开关管Q 7的漏极与直流电压源U S2的正极连接，MOSFET开关管Q 6和MOSFET开关管Q 8的源极与直流电压源U S2的负极连接，第二悬浮绕组WS2的两端分别与MOSFET开关管Q 5的源极、MOSFET开关管Q 7的源极连接。
以图3所示的电机转子5度时为例，永磁磁力线7和悬浮磁力线8的分布示意图，其中第二悬浮绕组中的电流方向如图3所示。第二悬浮绕组通电后在上部气隙处产生的悬浮磁通与永磁磁通方向相同，在下部气隙处产生的悬浮磁通与永磁磁通方向相反，造成气隙磁场在y轴方向不相等。根据该时刻的气隙磁场分布情况可知，转子上侧的气隙磁场比下侧的气隙磁场强，因此转子将受到y轴方向的悬浮力。当第二悬浮电流增加时，转子在y轴方向 受到的悬浮力增加，当第二悬浮电流反向，转子在y轴方向受到的悬浮力反向。同理，通过控制第一悬浮电流大小和方向，可以控制转子在x轴方向的悬浮力的大小和方向。可见，通过控制悬浮绕组中电流的大小和方向可以控制所产生的悬浮力的大小与方向，从而使转子稳定悬浮。
可选的，本实施例中的转子铁心2可以位于定子铁心1的内部。或者位于定子铁心1外部。
本实施例中，定/转子的铁心均为凸极结构，每个定子极1-1面向气隙(11)表面中间部位按照逆时针方向至定子极1-1边缘部位开槽，槽内贴有一个永磁体3，每个永磁体3面向气隙(11)表面极性相同。每个定子极1-1绕有电枢线圈，电枢线圈依次串联构成电枢绕组4，电枢绕组4分别与外部主电路连接。采用定子铁心1交替极永磁励磁，能够减少永磁体3用量，降低损耗发热并提高运行效率。
由此可知本实施例的有益效果：由于交替极永磁偏置无轴承双凸极电机采用永磁励磁，同时作为偏置磁场，不再依靠电励磁绕组励磁，提高了效率，降低了损耗与发热。
由于定子极1-1面向气隙(11)表面采用交替极永磁结构，减少了永磁体3用量，定子极1-1面向气隙(11)表面未安装永磁体3的表面磁阻小，作为悬浮磁通路径，使得悬浮调节效率高，且悬浮磁通不会穿过永磁体3，避免了永磁体3退磁风险。
又由于悬浮控制环节不需要进行转子位置角的检测，使得悬浮系统更加简单可靠。
基于上述交替极永磁偏置无轴承双凸极电机，本发明实施例还提供一种交替极永磁偏置无轴承双凸极电机的控制方法，包括：
通过安装在电机的端盖上的x轴方向的径向位移传感器，检测所述电机的转子的径向位置，得到x轴方向转子实际位移。
通过安装在电机端盖上的y轴方向的径向位移传感器，检测所述电机的转子的径向位置，得到y轴方向转子实际位移，其中，x轴与y轴相互正交。
通过电流检测单元，分别检测所述电机的第一悬浮绕组(5)电流反馈值和第二悬浮绕组(6)电流反馈值。
将预设的所述电机在x轴方向参考位移与所述x轴方向转子实际位移的差值，经过x轴位移调节环节，得到第一悬浮绕组(5)的电流参考值。
将预设的所述电机在y轴方向参考位移与所述y轴方向转子实际位移的差值，经过y轴位移调节环节，得到第二悬浮绕组(6)的电流参考值。
将第一悬浮绕组(5)电流参考值与第一悬浮绕组(5)电流反馈值的差值，经过第一悬浮电流调节环节，得到第一悬浮控制电路的占空比信号。
将第二悬浮绕组(6)电流参考值与第二悬浮绕组(6)电流反馈值的差值，经过第二悬浮电流调节环节，得到第二悬浮控制电路的占空比信号。
通过调节所述第一悬浮控制电路和所述第二悬浮控制电路的开关管占空比，调节第一悬浮绕组(5)电流和第二悬浮绕组(6)电流。从而实现第一悬浮绕组5电流跟踪其参考值，实现第二悬浮绕组6电流跟踪其参考值，达到控制径向悬浮力的目的。
其中，所述x轴位移调节环节为比例-积分-微分PID控制为比例-积分-微分(PID)控制。所述y轴位移调节环节为比例-积分-微分PID控制为比例-积分-微分(PID)控制。所述 第一悬浮电流调节环节为比例-积分PI控制。所述第二悬浮电流调节环节为比例-积分PI控制。
本实施例中，所述控制方法的转矩控制环节,包括：采用正弦波电流控制，或者采用方波电流控制。
举例来说：如图4给出的本实施例的电机悬浮控制原理框图。通过x轴方向的径向位移传感器检测所述交替极永磁偏置无轴承双凸极电机转子径向位置得到x轴方向转子实际位移Δx，通过y轴方向的径向位移传感器检测所述交替极永磁偏置无轴承双凸极电机转子径向位置得到y轴方向转子实际位移Δy，其中x轴与y轴相互正交，通过电流检测单元分别检测得到所述交替极永磁偏置无轴承双凸极电机第一悬浮绕组电流反馈值i x和第二悬浮绕组电流反馈值i y。将给定的交替极永磁偏置无轴承双凸极电机x轴方向参考位移x *与检测得到的x轴方向转子实际位移Δx之差经过x轴位移PID调节环节得到交替极永磁偏置无轴承双凸极电机第一悬浮绕组电流参考值i x *，将给定的交替极永磁偏置无轴承双凸极电机y轴方向参考位移y *与检测得到的y轴方向转子实际位移Δy之差经过y轴位移PID调节环节得到交替极永磁偏置无轴承双凸极电机第二悬浮绕组电流参考值i y *，将交替极永磁偏置无轴承双凸极电机第一悬浮绕组电流参考值i x *与第一悬浮绕组电流反馈值i x之差经过第一悬浮电流PI调节环节得到第一悬浮控制电路占空比信号D 1，将交替极永磁偏置无轴承双凸极电机第二悬浮绕组电流参考值i y *与第二悬浮绕组电流反馈值i y之差经过第二悬浮电流PI调节环节得到第二悬浮控制电路占空比信号D 2，通过调节第一悬浮控制电路和第二悬浮控制电路的开关管占空比，调节第一悬浮绕组电流和第二悬浮绕组电流，实现第一悬浮绕组电流跟踪其参考值，实现第二悬浮绕组电流跟踪其参考值，达到控制径向悬浮力的目的。转矩控制采用正弦波电流控制或方波电流控制。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于设备实施例而言，由于其基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求的保护范围为准。

Claims (10)

  1. 一种交替极永磁偏置无轴承双凸极电机，其特征在于，包括：
    定子铁心(1)、转子铁心(2)、永磁体(3)、电枢绕组(4)和悬浮绕组，所述悬浮绕组包括：第一悬浮绕组(5)和第二悬浮绕组(6)；
    转子铁心(2)由转子极(2-1)构成，转子铁心(2)为凸极结构；
    所述电机的定子，由定子铁心(1)和永磁体(3)构成，定子铁心(1)由定子极(1-1)构成，定子铁心(1)为凸极结构；
    对于每一个定子极(1-1)：
    面向气隙表面的中间部位，按照逆时针方向至面向所述气隙表面的边缘部位开槽；
    每一个定子极(1-1)的开槽内贴有一个永磁体(3)，每个永磁体(3)面向所述气隙表面的极性相同；
    每一个定子极(1-1)上绕有电枢线圈，电枢线圈依次串联构成电枢绕组(4)，电枢绕组(4)与外部主电路连接；
    每三个依次排列的定子极为一组并绕有一套悬浮线圈，且每套悬浮线圈都采用相同的绕向与绕制方式。
  2. 根据权利要求1所述的交替极永磁偏置无轴承双凸极电机，其特征在于，每套悬浮线圈共有两个连接端，分别为第一连接端和第二连接端；
    空间径向相对的两套悬浮线圈为同一组，共两组，分别为第一悬浮绕组(5)和第二悬浮绕组(6)，其中第一悬浮绕组(5)内的第一套悬浮线圈的第一连接端作为第一悬浮绕组(5)的第一出线端(SX+)，所述第一悬浮绕组(5)内的第一套悬浮线圈第二连接端与第一悬浮绕组(5)内的第二套悬浮线圈的第二连接端相连；所述第一悬浮绕组(5)内的第二套悬浮线圈的第一连接端作为第一悬浮绕组(5)的第二出线端(SX-)；
    按照与第一悬浮绕组(5)同样的构成方式，构成第二悬浮绕组(6)和第二悬浮绕组(6)的第一出线端(SY+)和第二出线端(SY-)；
    第一悬浮绕组(5)的出线端和第二悬浮绕组(6)的出线端分别与外部的第一悬浮控制电路(9)和第二悬浮控制电路(10)连接。
  3. 根据权利要求1所述的交替极永磁偏置无轴承双凸极电机，其特征在于，定子极(1-1)的数目为12n，转子极(2-1)数目为16n，n为正整数。
  4. 根据权利要求1所述的交替极永磁偏置无轴承双凸极电机，其特征在于，转子铁心(2)位于定子铁心(1)的内部。
  5. 根据权利要求1所述的交替极永磁偏置无轴承双凸极电机，其特征在于，转子铁心(2)位于定子铁心(1)的外部。
  6. 根据权利要求1所述的交替极永磁偏置无轴承双凸极电机，其特征在于，所述第一悬浮控制电路和所述第二悬浮控制电路为全桥逆变电路。
  7. 根据权利要求1所述的交替极永磁偏置无轴承双凸极电机，其特征在于，所述外部主电路为全桥逆变电路。
  8. 一种交替极永磁偏置无轴承双凸极电机的控制方法，其特征在于，包括悬浮控制环节和转矩控制环节；
    所述控制方法的悬浮控制环节包括：
    通过安装在电机端盖上的x轴方向的径向位移传感器，检测所述电机的转子的径向位 置，得到x轴方向转子实际位移；
    通过安装在电机端盖上的y轴方向的径向位移传感器，检测所述电机的转子的径向位置，得到y轴方向转子实际位移，其中，x轴与y轴相互正交；
    通过电流检测单元，分别检测所述电机的第一悬浮绕组(5)电流反馈值和第二悬浮绕组(6)电流反馈值；
    将预设的所述电机在x轴方向参考位移与所述x轴方向转子实际位移的差值，经过x轴位移调节环节，得到第一悬浮绕组(5)的电流参考值；
    将预设的所述电机在y轴方向参考位移与所述y轴方向转子实际位移的差值，经过y轴位移调节环节，得到第二悬浮绕组(6)的电流参考值；
    将第一悬浮绕组(5)电流参考值与第一悬浮绕组(5)电流反馈值的差值，经过第一悬浮电流调节环节，得到第一悬浮控制电路的占空比信号；
    将第二悬浮绕组(6)电流参考值与第二悬浮绕组(6)电流反馈值的差值，经过第二悬浮电流调节环节，得到第二悬浮控制电路的占空比信号；
    通过调节所述第一悬浮控制电路和所述第二悬浮控制电路的开关管占空比，调节第一悬浮绕组(5)电流和第二悬浮绕组(6)电流。
  9. 根据权利要求8所述的控制方法，其特征在于：
    所述x轴位移调节环节为比例-积分-微分(PID)控制；
    所述y轴位移调节环节为比例-积分-微分(PID)控制；
    所述第一悬浮电流调节环节为比例-积分(PI)控制；
    所述第二悬浮电流调节环节为比例-积分(PI)控制。
  10. 根据权利要求8所述的控制方法，其特征在于：所述控制方法的转矩控制环节,包括：
    采用正弦波电流控制，或者采用方波电流控制。
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