CN103427754A - Direct controller of radial displacement of bearing-less asynchronous motor rotor - Google Patents
Direct controller of radial displacement of bearing-less asynchronous motor rotor Download PDFInfo
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- CN103427754A CN103427754A CN2013103352737A CN201310335273A CN103427754A CN 103427754 A CN103427754 A CN 103427754A CN 2013103352737 A CN2013103352737 A CN 2013103352737A CN 201310335273 A CN201310335273 A CN 201310335273A CN 103427754 A CN103427754 A CN 103427754A
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Abstract
The invention discloses a direct controller of a radial displacement of a bearing-less asynchronous motor rotor. The direct controller is composed of a rotary speed controller, a radial displacement closed-loop controller and a torque winding air gap flux linkage estimation module; the rotary speed controller outputs a three-phase current to an electric motor torque winding; the radial displacement closed-loop controller is composed of a rotor eccentric displacement and eccentric angle computing module, a neuron PID controller, a levitation force winding current computing module, a three-phase power pulse-width modulation (PWM) inverter, a radial displacement sensor and a photoelectric encoder; according to the levitation force winding current computing module, five variables such as the radial levitation force amplitude, the rotor eccentric angle, the torque winding air gap flux linkage amplitude, the phase and the rotor position angle serve as inputs, three-phase levitation force winding current command values i'<2A>, i'<2B> and i'<2C> serve as outputs, and three-phase levitation force winding currents i<2A>, i<2B> and i<2C> required for stable rotor levitation are obtained through the three-phase power PWM inverter; the direct controller is simple and practical in structure, and independent control of the electromagnetic torque and the radial levitation force of a bearing-less asynchronous motor is achieved.
Description
Technical field
The present invention is a kind of directly to without the radial displacement of bearing asynchronous machine rotor, controlling and make it reach the controller scheme of stable suspersion and High Rotation Speed, be applicable to the special electric transmission field of numerous uses such as high-power, ultrahigh speed, high electromagnetic efficiency and high spatial utilance without the bearing asynchronous machine, belong to the technical field of electric drive control.
Background technology
Utilize electromagnetic bearing to support the rotor of bearing-free motor, and the rotor radial displacement is carried out accurately controlling emphasis and the difficult point that the stable suspersion of realizing rotor is bearing-free motor research always.The rotor suspending power control method now proposed mainly contains two kinds: vector control method and direct suspending power control method, basically can realize the control of rotor radial suspension force, but all there is obvious deficiency in these two kinds of control methods: vector control method needs loaded down with trivial details coordinate transform, increase the complexity of Control System Software, taken too much system clock cycle; Directly suspending power control method needs the rotor radial suspension force is carried out to on-line identification, not only increased the Hardware Design cost, and the radial suspension force identification precision also determined the whole control performance of system, and can only be applied to the motor of particular type, be difficult to be used widely.
Be a kind of novel bearing-free motor without the bearing asynchronous machine, all obviously be superior to traditional magnetic bearing motor at aspects such as electromagnetic efficiency, space availability ratio, in high-power, super high speed motor field, there is good development prospect.Yet, without existing serious coupling between bearing asynchronous machine electromagnetic torque and radial suspension force, make without the Control System Design of bearing asynchronous machine and want complicated.For stable suspersion and the High Rotation Speed of realizing this rotor, make this motor can be used widely aborning and bring into play the unique advantage that it has, need that design is a kind of can realize the radially suspension controller of stable suspersion and simple possible of rotor.
Summary of the invention
In order to realize the purpose of extensive use without the bearing asynchronous machine, simple possible, stable suspersion, the present invention proposes a kind of without bearing asynchronous machine rotor radial displacement self-operated controller, to rotor radial, displacement is directly controlled, and realized that the independent of motor torque and radial suspension force control, made the rotor can High Rotation Speed and stable suspersion.
The technical solution used in the present invention is: of the present inventionly without bearing asynchronous machine rotor radial displacement self-operated controller, rotational speed governor, radial displacement closed loop controller and torque winding air gap flux linkage estimation block, consist of; Described rotational speed governor output three-phase current
,
,
Give without bearing asynchronous motor torque winding; Described radial displacement closed loop controller is comprised of rotor eccentric displacement and eccentric angle computing module, neuron PID controller, suspending power winding current computing module, three phase power PWM inverter, radial displacement transducer and photoelectric encoder; Described rotor eccentric displacement and eccentric angle computing module, neuron PID controller, suspending power winding current computing module, three phase power PWM inverter and be connected in series successively without the bearing asynchronous machine; Described photoelectric encoder detects the rotor position angle without the bearing asynchronous machine
Described radial displacement transducer detects its rotor actual displacement feedback value X, Y, rotor actual displacement X, Y and rotor displacement set-point X*, Y* input rotor eccentric displacement and eccentric angle computing module in the lump, and rotor eccentric displacement and eccentric angle computing module calculate rotor eccentric displacement
With the rotor eccentricity angle
, described rotor eccentric displacement
Be input to neuron PID controller and obtain the radial suspension force amplitude that rotor stability suspends required
, described rotor eccentricity angle
Directly input suspending power winding current computing module; Described torque winding air gap flux linkage estimation block consists of jointly U-I model flux observer serial connection polar coordinate transform, and torque winding air gap flux linkage estimation block is with torque winding three-phase phase voltage
,
,
And phase current
,
,
For input, with torque winding air gap flux linkage amplitude
And phase place
For output; Described suspending power winding current computing module is with the radial suspension force amplitude
, the rotor eccentricity angle
, torque winding air gap flux linkage amplitude
, phase place
, rotor position angle
These five variablees are for input, with three-phase suspending power winding current bid value
,
,
For output, through three phase power PWM inverter, obtain the three-phase suspending power winding current that rotor stability suspends required
,
,
.
The invention has the advantages that:
1. rotor actual displacement X, Y and displacement set-point X radial displacement transducer detected without bearing asynchronous machine rotor radial displacement self-operated controller of the present invention
*, Y
*Compare, directly generate and control the needed suspending power winding electric of radial displacement flow valuve by suspending power winding current computing module, rotor stability is suspended, with vector control method, compare, saved the coordinate vector conversion of middle complexity, reduced the complexity of control system and the system clock cycle that control algolithm consumes, the control system response is faster.
Of the present invention without bearing asynchronous machine rotor radial displacement self-operated controller to rotor radial displacement directly control, with direct suspending power control method, compare, do not need the rotor radial suspending power is carried out to on-line identification, while having avoided using direct suspending power control method, because identification precision affects the problem of control system performance.
3. of the present inventionly without torque winding air gap flux linkage in bearing asynchronous machine rotor radial displacement self-operated controller, adopting the U-I(voltage-to-current) the model flux observer estimated, this flux observer algorithm simple possible, be easy to the realization of suspending power winding current computing module, reduce the design complexities of the software and hardware of radial displacement closed loop controller, reduced the system clock cycle that control system takies.
4. simple in structure feasible without bearing asynchronous machine rotor radial displacement self-operated controller of the present invention, realized effectively having improved the control performance of whole system without independent control the between bearing asynchronous machine electromagnetic torque and radial suspension force.
The accompanying drawing explanation
Fig. 1 is of the present invention without bearing asynchronous machine rotor radial displacement self-operated controller structure principle chart;
Fig. 2 is the structure principle chart of Fig. 1 medium speed controller 1;
Fig. 3 is the structure principle chart of displacement closed loop controller 2 radially in Fig. 1;
Fig. 4 is the structure principle chart of torque winding air gap flux linkage module 60 in Fig. 1;
Fig. 5 is the schematic diagram of structure of U-I model flux observer in Fig. 4;
Fig. 6 is without the eccentric schematic diagram of bearing asynchronous machine rotor;
Fig. 7 is the inside schematic diagram of suspending power winding current computing module 53 in Fig. 3;
Fig. 8 of the present inventionly totally realizes schematic diagram without bearing asynchronous machine rotor radial displacement self-operated controller.
In figure: 1. rotational speed governor; 2. radial displacement closed loop controller; 3. without the bearing asynchronous machine; 51. rotor eccentric displacement and eccentric angle computing module; 52. neuron PID controller; 53. suspending power winding current computing module; 54. three phase power PWM inverter; 55. radial displacement transducer; 56. photoelectric encoder; 60. torque winding air gap flux linkage estimation block; 61.U-I model flux observer; 62,63.Clark conversion; 64. polar coordinate transform; 70. universal frequency converter.
Embodiment
As Fig. 1, the present invention is comprised of rotational speed governor 1, radial displacement closed loop controller 2 and torque winding air gap flux linkage estimation block 60 without bearing asynchronous machine rotor radial displacement self-operated controller.As Fig. 2, rotational speed governor 1 directly adopts universal frequency converter 70 to realize, universal frequency converter 70 directly generate three-phase current
,
,
, drive the torque winding without bearing asynchronous machine 3, guarantee that motor speed has good performance criteria of the response, realize the stable control of electromagnetic torque.
The three-phase current of rotational speed governor 1 output
,
,
Give without bearing asynchronous machine 3 torque windings, torque winding air gap flux linkage estimation block 60 with torque winding three-phase phase voltage
,
,
And the three-phase phase current
,
,
For input, with torque winding air gap flux linkage amplitude
And phase place
For output, with
,
And rotor displacement set-point (X*, Y*) as the input of radial displacement closed loop controller 2, obtain three-phase suspending power winding drive current
,
,
.
As Fig. 3, radial displacement closed loop controller 2 is by rotor eccentric displacement and eccentric angle computing module 51, neuron PID controller 52, suspending power winding current computing module 53, three phase power PWM inverter 54(CRPWM inverter 54), radial displacement transducer 55 and photoelectric encoder 56 form.Wherein, rotor eccentric displacement and eccentric angle computing module 51, neuron PID controller 52, suspending power winding current computing module 53, three phase power PWM inverter 54 and be connected in series successively without bearing asynchronous machine 3, detect its rotor actual displacement value of feedback (X, Y) without bearing asynchronous machine 3 by radial displacement transducer 55, rotor actual displacement (X, Y) is input to rotor eccentric displacement and eccentric angle computing module 51 in the lump with rotor displacement set-point (X*, Y*), calculate through rotor eccentric displacement and eccentric angle computing module 51, draw rotor eccentric displacement
And eccentric angle
.The rotor displacement set-point all is set as 0.Rotor eccentric displacement
Be input to neuron PID controller 52, obtain the radial suspension force amplitude that rotor stability suspends required
.The method that neuron PID controller 52 adopts neurons to combine with PID in the conventional linear theory designs, with rotor eccentric displacement
As neuron PID controller 52 inputs, the radial suspension force amplitude that suspends required with the rotor stability without bearing asynchronous machine 3
For output.By adjusting neuron PID controller 52 parameters, realize the direct control without the displacement of bearing asynchronous machine rotor.The radial suspension force amplitude
Be input to suspending power winding current computing module 53, the rotor eccentricity angle
Be directly inputted to suspending power winding current computing module 53.Detect its rotor position angle without bearing asynchronous machine 3 by photoelectric encoder 56
, photoelectric encoder 56 is by the rotor position angle detected
Be input to suspending power winding current computing module 53.Like this, suspending power winding current computing module 53 just with
,
,
,
,
Five variablees are as input, with three-phase suspending power winding current bid value
,
,
Be output.With three-phase suspending power winding current bid value
,
,
As the input of three phase power PWM inverter 54, through three phase power PWM inverter 54 obtain the three-phase suspending power winding current required without bearing asynchronous machine rotor stable suspersion
,
,
.
As Fig. 4, torque winding air gap flux linkage estimation block 60 is by U-I model flux observer 61(voltage-to-current model flux observer 61) serial connection polar coordinate transform 64 jointly form.U-I model flux observer 61 adopts voltage-to-current model Flux Observation Methods, its inner principle as shown in Figure 5, with three-phase torque winding phase voltage
And phase current
As input, respectively through Clark conversion 62 and Clark conversion 63 obtain component under the two-phase rest frame (
,
) and (
,
), by relational expression
Obtain torque winding air gap flux linkage component under the two-phase rest frame
,
, wherein,
For torque winding stator resistance,
For torque winding stator leakage inductance,
With
Be respectively the component of torque winding stator magnetic linkage under the two-phase rest frame,
With
Be respectively the component of magnetic linkage under the two-phase rest frame corresponding to torque winding stator leakage inductance.Torque winding air gap flux linkage component
,
Process polar coordinate transform 64:
Obtain torque winding air gap flux linkage amplitude
And phase place
.
As shown in Figure 6, it is the rotor eccentricity schematic diagram without bearing asynchronous machine 3, rotor eccentric displacement and eccentric angle computing module 51 are usingd rotor displacement set-point (X*, Y*) and rotor actual displacement value of feedback (X, Y) as input, rotor displacement set-point (X*, Y*) all is set as 0, by relational expression
Obtain rotor eccentric displacement
And eccentric angle
.
As shown in Figure 7, suspending power winding current computing module 53 with
Five variablees, for input, utilize relational expression
Obtain the amplitude of three-phase suspending power winding current bid value
And initial phase
, wherein C is constant, under the three phase static coordinate system, without bearing asynchronous machine rotor stable suspersion, required three-phase suspending power winding current bid value can be expressed as
In formula
.According to the output of suspending power winding current computing module 53, i.e. three-phase suspending power winding current bid value, output pwm control signal to three phase power PWM inverter 54 obtain three-phase suspending power winding drive current
,
,
.
The size by measuring the rotor radial displacement without bearing asynchronous machine rotor displacement self-operated controller that the present invention proposes is directly controlled the size of suspending power radially, and its implementation is the actual radial displacement feedback value X of rotor, Y and the displacement set-point X that radial displacement transducer 55 is detected
*, Y
*Compare, by regulating neuron PID controller 52 parameters, realize the stable suspersion without the bearing asynchronous machine rotor.For radial displacement closed loop controller 2, at first adopt by U-I model flux observer 61 and polar coordinate transform 64 and form the amplitude that torque winding air gap flux linkage estimation block 60 is obtained torque winding air gap flux linkage
And phase place
, then by the radial suspension force amplitude of 52 outputs of neuron PID controller in obtained torque winding air gap flux linkage information and radial displacement closed loop controller 2
, 51 outputs of rotor eccentric displacement and eccentric angle computing module the rotor eccentricity angle
Reach the rotor position angle that photoelectric encoder 57 obtains
Be applied in the lump suspending power winding current computing module 53, by its generate the three-phase suspending power winding current bid value required without bearing asynchronous machine rotor stable suspersion
,
,
.Rotational speed governor 1, radial displacement closed loop controller 2 and torque winding air gap flux linkage estimation block 60 form jointly without bearing asynchronous machine rotor displacement self-operated controller, and the application of torque winding air gap flux linkage estimation block 60 has realized controlling without bearing asynchronous machine electromagnetic torque and the independent of radial suspension force part.The realization of this controller is the rotor actual displacement value of feedback (X, Y) and displacement set-point (X that radial displacement transducer 55 is detected
*, Y
*) compare, the displacement set-point all is set as 0, by adjusting the parameter of neuron PID controller 52, realizes having good dynamic and static state performance index without bearing asynchronous machine 3 radial displacement closed loop controllers 2.Concrete enforcement divides following 7 steps:
The 1st step, structure is without bearing asynchronous machine rotor displacement self-operated controller.As shown in Figure 1, without bearing asynchronous machine rotor displacement self-operated controller, by rotational speed governor 1, torque winding air gap flux linkage estimation block 60 and radial displacement closed loop controller 2, formed.Rotational speed governor 1 output three-phase current
,
,
Give without bearing asynchronous motor torque winding.Torque winding air gap flux linkage estimation block 60 with torque winding three-phase phase voltage
,
,
And phase current
,
,
For input, with torque winding air gap flux linkage amplitude
And phase place
For output.With
,
And rotor displacement set-point (X*, Y*) as the input of radial displacement closed loop controller 2, obtain three-phase suspending power winding drive current
,
,
.
The 2nd step, the structure of rotational speed governor 1.As shown in Figure 2, without the rotational speed governor 1 of bearing asynchronous machine, adopt universal frequency converter 70 to realize, universal frequency converter 70 directly export three-phase current
,
,
Give without bearing asynchronous motor torque winding, guarantee that motor speed has good performance criteria of the response, realize the stable control of electromagnetic torque.
The 3rd step, radial displacement closed loop controller structure.The radial displacement closed loop controller forms (as shown in Figure 3) by rotor eccentric displacement and eccentric angle computing module 51, neuron PID controller 52, suspending power winding current computing module 53, three phase power PWM inverter 54, radial displacement transducer 55 and photoelectric encoder 56.Radial displacement transducer 55 output rotor actual displacements (X, Y), be input to rotor eccentric displacement and eccentric angle computing module 51 in the lump with rotor displacement set-point (X*, Y*), draws as calculated rotor eccentric displacement
And eccentric angle
.Rotor eccentric displacement
Obtain the radial suspension force amplitude that rotor stability suspends required after being input to neuron PID controller 52
.Suspending power winding current computing module 53 with
,
,
,
,
(
Rotor position angle for photoelectric encoder 56 output) five variablees are as input, with three-phase suspending power winding current bid value
,
,
Be output.With
,
,
As the input of three phase power PWM inverter 54, obtain the three-phase suspending power winding current required without bearing asynchronous machine rotor stable suspersion
,
,
.
The 4th step, the design of torque winding air gap flux linkage estimation block 60.Torque winding air gap flux linkage estimation block 60 forms (as shown in Figure 4) by U-I model flux observer 61 and polar coordinate transform 64.U-I model flux observer 61 adopts voltage-to-current model Flux Observation Method (its inner principle as shown in Figure 5), with three-phase torque winding phase voltage
And phase current
As input, respectively through Clark conversion 62 and Clark conversion 63 obtain component under the two-phase rest frame (
,
) and (
,
), by relational expression
(
For torque winding stator resistance,
For torque winding stator leakage inductance) obtain the torque winding air gap flux linkage component under the two-phase rest frame
, wherein,
With
Be respectively the component of torque winding stator magnetic linkage under the two-phase rest frame,
With
Be respectively the component of magnetic linkage under the two-phase rest frame corresponding to torque winding stator leakage inductance.Torque winding air gap flux linkage component
,
Process polar coordinate transform 64:
Obtain torque winding air gap flux linkage amplitude
And phase place
.
The 5th step, the design of rotor eccentric displacement and eccentric angle computing module 51.Fig. 6 is without the eccentric schematic diagram of bearing asynchronous machine rotor, rotor eccentric displacement and eccentric angle computing module 51 are usingd rotor displacement set-point (X*, Y*) and rotor actual displacement value of feedback (X, Y) as input, rotor displacement set-point (X*, Y*) all is set as 0, by relational expression
Obtain rotor eccentric displacement
And eccentric angle
.
The 6th step, the neuron PID controller parameter adjustment.The method that this neuron PID controller 52 adopts neurons to combine with PID in the conventional linear theory designs, with rotor eccentric displacement
As neuron PID controller 52 inputs, with the radial suspension force amplitude required without bearing asynchronous machine rotor stable suspersion
For output.By adjusting neuron PID controller 52 parameters, realize the direct control without the displacement of bearing asynchronous machine rotor.
The 7th step, the suspending power winding current calculates.As shown in Figure 7, suspending power winding current computing module 53 with
Five variablees, for input, utilize relational expression
Obtain the amplitude of three-phase suspending power winding current bid value
And initial phase
, wherein C is constant, under the three phase static coordinate system, without bearing asynchronous machine rotor stable suspersion, required three-phase suspending power winding current bid value can be expressed as
, in formula
.According to the output of suspending power winding current computing module 53, i.e. three-phase suspending power winding current bid value, output pwm control signal to three phase power PWM inverter 54 obtain three-phase suspending power winding drive current
,
,
.
Fig. 8 has provided without bearing asynchronous machine rotor displacement self-operated controller and has totally realized schematic diagram, by step 2, can realize rotational speed governor 1 part, by step 4 to modules design in step 7 couple figure, can realize radial displacement closed loop controller 2 parts.
Claims (3)
1. one kind without bearing asynchronous machine rotor radial displacement self-operated controller, it is characterized in that: rotational speed governor (1), radial displacement closed loop controller (2) and torque winding air gap flux linkage estimation block (60), consist of; Described rotational speed governor (1) output three-phase current
,
,
Give the motor torque winding; Described radial displacement closed loop controller (2) is comprised of rotor eccentric displacement and eccentric angle computing module (51), neuron PID controller (52), suspending power winding current computing module (53), three phase power PWM inverter (54), radial displacement transducer (55) and photoelectric encoder (56); Described rotor eccentric displacement and eccentric angle computing module (51), neuron PID controller (52), suspending power winding current computing module (53), three phase power PWM inverter (54) are connected in series successively; Described photoelectric encoder (56) detects the rotor position angle without the bearing asynchronous machine
Described radial displacement transducer (55) detection rotor actual displacement feedback value X, Y, rotor actual displacement X, Y and rotor displacement set-point X*, Y* input rotor eccentric displacement and eccentric angle computing module (51) in the lump, and rotor eccentric displacement and eccentric angle computing module (51) calculate rotor eccentric displacement
With the rotor eccentricity angle
, rotor eccentric displacement
Be input to neuron PID controller (52) and obtain the radial suspension force amplitude that rotor stability suspends required
, described rotor eccentricity angle
Directly input suspending power winding current computing module (53); Described torque winding air gap flux linkage estimation block (60) consists of jointly U-I model flux observer (61) serial connection polar coordinate transform (64), and torque winding air gap flux linkage estimation block (60) is with torque winding three-phase phase voltage
And phase current
For input, with torque winding air gap flux linkage amplitude
And phase place
For output; Described suspending power winding current computing module (53) is with the radial suspension force amplitude
, the rotor eccentricity angle
, torque winding air gap flux linkage amplitude
, phase place
, rotor position angle
Five variablees are for input, with three-phase suspending power winding current bid value
,
,
For output, through three phase power PWM inverter (54), obtain the three-phase suspending power winding current that rotor stability suspends required
,
,
.
2. according to claim 1 without bearing asynchronous machine rotor radial displacement self-operated controller, it is characterized in that: described U-I model flux observer (61) is with three-phase torque winding phase voltage
And phase current
As input, respectively through two Clark conversion obtain component under the two-phase rest frame (
,
) and (
,
), by relational expression
Obtain the torque winding air gap flux linkage component under the two-phase rest frame
,
For torque winding stator resistance,
For torque winding stator leakage inductance,
With
Be respectively the component of torque winding stator magnetic linkage under the two-phase rest frame,
With
Be respectively the component of magnetic linkage under the two-phase rest frame corresponding to torque winding stator leakage inductance, torque winding air gap flux linkage component
Through described polar coordinate transform (64)
Obtain torque winding air gap flux linkage amplitude
And phase place
.
3. according to claim 1 without bearing asynchronous machine rotor radial displacement self-operated controller, it is characterized in that: rotor displacement set-point X*, Y* all are set as 0, and rotor eccentric displacement and eccentric angle computing module (51) are by relational expression
Obtain rotor eccentric displacement
And eccentric angle
.
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CN109150045A (en) * | 2018-09-26 | 2019-01-04 | 河南科技大学 | The independent Inverse Decoupling method of induction-type bearingless motor |
CN109217766A (en) * | 2018-09-26 | 2019-01-15 | 河南科技大学 | The independent reversed decoupling control system of induction-type bearingless motor |
CN109525150A (en) * | 2019-01-04 | 2019-03-26 | 哈尔滨理工大学 | A kind of bearing-free permanent magnet synchronous motor system |
CN112186976A (en) * | 2020-08-07 | 2021-01-05 | 山东大学 | Bearing-free magnetic suspension motor rotor radial position detection device and control method |
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CN101425775A (en) * | 2008-12-02 | 2009-05-06 | 江苏大学 | Controller and controlling method for non-bearing permanent magnet synchronous electric motor |
CN101958685A (en) * | 2010-03-04 | 2011-01-26 | 江苏大学 | Nonlinear inverse decoupling controller for bearingless synchronous reluctance motor and construction method thereof |
CN102082544A (en) * | 2010-11-26 | 2011-06-01 | 江苏大学 | Bearingless synchronous reluctance motor torque and suspension force direct controller and construction method thereof |
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CN101227160A (en) * | 2007-11-30 | 2008-07-23 | 江苏大学 | Neural network generalized inverse permanent magnetism synchronous machine decoupling controller structure method without bearing |
CN101425775A (en) * | 2008-12-02 | 2009-05-06 | 江苏大学 | Controller and controlling method for non-bearing permanent magnet synchronous electric motor |
CN101958685A (en) * | 2010-03-04 | 2011-01-26 | 江苏大学 | Nonlinear inverse decoupling controller for bearingless synchronous reluctance motor and construction method thereof |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109150045A (en) * | 2018-09-26 | 2019-01-04 | 河南科技大学 | The independent Inverse Decoupling method of induction-type bearingless motor |
CN109217766A (en) * | 2018-09-26 | 2019-01-15 | 河南科技大学 | The independent reversed decoupling control system of induction-type bearingless motor |
CN109150045B (en) * | 2018-09-26 | 2021-07-20 | 河南科技大学 | Independent inverse system decoupling method for bearingless asynchronous motor |
CN109217766B (en) * | 2018-09-26 | 2021-07-23 | 河南科技大学 | Independent inverse decoupling control system of bearingless asynchronous motor |
CN109525150A (en) * | 2019-01-04 | 2019-03-26 | 哈尔滨理工大学 | A kind of bearing-free permanent magnet synchronous motor system |
CN112186976A (en) * | 2020-08-07 | 2021-01-05 | 山东大学 | Bearing-free magnetic suspension motor rotor radial position detection device and control method |
CN112186976B (en) * | 2020-08-07 | 2022-01-28 | 山东大学 | Bearing-free magnetic suspension motor rotor radial position detection device and control method |
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