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 PDF

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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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rotor
phase
displacement
eccentric
computing module
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CN103427754B (en
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朱熀秋
祝苏明
潘伟
朱利东
刁小燕
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Jiangyin Intellectual Property Operation Co., Ltd
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Jiangsu University
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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

Without bearing asynchronous machine rotor radial displacement self-operated controller
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
Figure 2013103352737100002DEST_PATH_IMAGE001
,
Figure 9031DEST_PATH_IMAGE002
,
Figure 2013103352737100002DEST_PATH_IMAGE003
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
Figure 912265DEST_PATH_IMAGE004
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
Figure 2013103352737100002DEST_PATH_IMAGE005
With the rotor eccentricity angle
Figure 186251DEST_PATH_IMAGE006
, described rotor eccentric displacement
Figure 833133DEST_PATH_IMAGE005
Be input to neuron PID controller and obtain the radial suspension force amplitude that rotor stability suspends required
Figure 2013103352737100002DEST_PATH_IMAGE007
, described rotor eccentricity angle
Figure 141755DEST_PATH_IMAGE006
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
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,
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,
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And phase current
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,
Figure 387612DEST_PATH_IMAGE002
,
Figure 508014DEST_PATH_IMAGE003
For input, with torque winding air gap flux linkage amplitude
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And phase place
Figure 881227DEST_PATH_IMAGE012
For output; Described suspending power winding current computing module is with the radial suspension force amplitude
Figure 276436DEST_PATH_IMAGE007
, the rotor eccentricity angle
Figure 559650DEST_PATH_IMAGE006
, torque winding air gap flux linkage amplitude
Figure 382112DEST_PATH_IMAGE011
, phase place
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, rotor position angle
Figure 910363DEST_PATH_IMAGE004
These five variablees are for input, with three-phase suspending power winding current bid value
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,
Figure 175646DEST_PATH_IMAGE014
,
Figure DEST_PATH_IMAGE015
For output, through three phase power PWM inverter, obtain the three-phase suspending power winding current that rotor stability suspends required
Figure 637852DEST_PATH_IMAGE016
,
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,
Figure 985657DEST_PATH_IMAGE018
.
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
Figure 988248DEST_PATH_IMAGE001
,
Figure 980474DEST_PATH_IMAGE002
,
Figure 144740DEST_PATH_IMAGE003
, 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
Figure 979840DEST_PATH_IMAGE001
,
Figure 520543DEST_PATH_IMAGE002
,
Figure 367276DEST_PATH_IMAGE003
Give without bearing asynchronous machine 3 torque windings, torque winding air gap flux linkage estimation block 60 with torque winding three-phase phase voltage
Figure 561497DEST_PATH_IMAGE008
,
Figure 24840DEST_PATH_IMAGE009
,
Figure 838075DEST_PATH_IMAGE010
And the three-phase phase current
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,
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,
Figure 386234DEST_PATH_IMAGE003
For input, with torque winding air gap flux linkage amplitude
Figure 737581DEST_PATH_IMAGE011
And phase place
Figure 90065DEST_PATH_IMAGE012
For output, with
Figure 626088DEST_PATH_IMAGE011
,
Figure 64023DEST_PATH_IMAGE012
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 ,
Figure 19526DEST_PATH_IMAGE017
, .
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
Figure 527048DEST_PATH_IMAGE005
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
Figure 690679DEST_PATH_IMAGE007
.The method that neuron PID controller 52 adopts neurons to combine with PID in the conventional linear theory designs, with rotor eccentric displacement
Figure 572048DEST_PATH_IMAGE005
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
Figure 307987DEST_PATH_IMAGE006
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
Figure 942231DEST_PATH_IMAGE004
, photoelectric encoder 56 is by the rotor position angle detected
Figure 101817DEST_PATH_IMAGE004
Be input to suspending power winding current computing module 53.Like this, suspending power winding current computing module 53 just with
Figure 403485DEST_PATH_IMAGE007
,
Figure 498480DEST_PATH_IMAGE006
,
Figure 620020DEST_PATH_IMAGE011
, ,
Figure 739471DEST_PATH_IMAGE004
Five variablees are as input, with three-phase suspending power winding current bid value
Figure 5368DEST_PATH_IMAGE013
,
Figure 207679DEST_PATH_IMAGE014
,
Figure 115592DEST_PATH_IMAGE015
Be output.With three-phase suspending power winding current bid value
Figure 595115DEST_PATH_IMAGE013
,
Figure 563071DEST_PATH_IMAGE014
, 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
Figure 964282DEST_PATH_IMAGE016
,
Figure 298312DEST_PATH_IMAGE017
,
Figure 437169DEST_PATH_IMAGE018
.
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
Figure DEST_PATH_IMAGE021
As input, respectively through Clark conversion 62 and Clark conversion 63 obtain component under the two-phase rest frame (
Figure 598209DEST_PATH_IMAGE022
,
Figure DEST_PATH_IMAGE023
) and (
Figure 911379DEST_PATH_IMAGE024
,
Figure 2013103352737100002DEST_PATH_IMAGE025
), by relational expression Obtain torque winding air gap flux linkage component under the two-phase rest frame
Figure 283454DEST_PATH_IMAGE028
,
Figure DEST_PATH_IMAGE029
, wherein, For torque winding stator resistance,
Figure DEST_PATH_IMAGE031
For torque winding stator leakage inductance,
Figure 472831DEST_PATH_IMAGE032
With
Figure DEST_PATH_IMAGE033
Be respectively the component of torque winding stator magnetic linkage under the two-phase rest frame,
Figure 781453DEST_PATH_IMAGE034
With
Figure DEST_PATH_IMAGE035
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
Figure 855588DEST_PATH_IMAGE028
,
Figure 882450DEST_PATH_IMAGE029
Process polar coordinate transform 64:
Figure DEST_PATH_IMAGE037
Obtain torque winding air gap flux linkage amplitude
Figure 67444DEST_PATH_IMAGE011
And phase place
Figure 230572DEST_PATH_IMAGE012
.
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
Figure DEST_PATH_IMAGE039
Obtain rotor eccentric displacement
Figure 741188DEST_PATH_IMAGE005
And eccentric angle .
As shown in Figure 7, suspending power winding current computing module 53 with Five variablees, for input, utilize relational expression
Figure DEST_PATH_IMAGE043
Obtain the amplitude of three-phase suspending power winding current bid value
Figure 978451DEST_PATH_IMAGE044
And initial phase
Figure DEST_PATH_IMAGE045
, 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 ,
Figure 413477DEST_PATH_IMAGE017
,
Figure 612378DEST_PATH_IMAGE018
.
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
Figure 874732DEST_PATH_IMAGE011
And phase place
Figure 336937DEST_PATH_IMAGE012
, 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
Figure 91266DEST_PATH_IMAGE007
, 51 outputs of rotor eccentric displacement and eccentric angle computing module the rotor eccentricity angle
Figure 421754DEST_PATH_IMAGE006
Reach the rotor position angle that photoelectric encoder 57 obtains
Figure 945139DEST_PATH_IMAGE004
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
Figure 843825DEST_PATH_IMAGE013
,
Figure 85450DEST_PATH_IMAGE014
,
Figure 951119DEST_PATH_IMAGE015
.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
Figure 594590DEST_PATH_IMAGE001
, ,
Figure 127520DEST_PATH_IMAGE003
Give without bearing asynchronous motor torque winding.Torque winding air gap flux linkage estimation block 60 with torque winding three-phase phase voltage
Figure 799810DEST_PATH_IMAGE008
,
Figure 297787DEST_PATH_IMAGE009
,
Figure 538276DEST_PATH_IMAGE010
And phase current
Figure 82389DEST_PATH_IMAGE001
,
Figure 964895DEST_PATH_IMAGE002
,
Figure 786220DEST_PATH_IMAGE003
For input, with torque winding air gap flux linkage amplitude
Figure 728768DEST_PATH_IMAGE011
And phase place
Figure 760178DEST_PATH_IMAGE012
For output.With ,
Figure 122207DEST_PATH_IMAGE012
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
Figure 829131DEST_PATH_IMAGE016
, ,
Figure 447512DEST_PATH_IMAGE018
.
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
Figure 509009DEST_PATH_IMAGE001
, ,
Figure 799362DEST_PATH_IMAGE003
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
Figure 477785DEST_PATH_IMAGE006
.Rotor eccentric displacement
Figure 260933DEST_PATH_IMAGE005
Obtain the radial suspension force amplitude that rotor stability suspends required after being input to neuron PID controller 52
Figure 160756DEST_PATH_IMAGE007
.Suspending power winding current computing module 53 with
Figure 195708DEST_PATH_IMAGE007
,
Figure 90851DEST_PATH_IMAGE006
, ,
Figure 307386DEST_PATH_IMAGE012
, (
Figure 164188DEST_PATH_IMAGE004
Rotor position angle for photoelectric encoder 56 output) five variablees are as input, with three-phase suspending power winding current bid value ,
Figure 632396DEST_PATH_IMAGE014
,
Figure 805888DEST_PATH_IMAGE015
Be output.With ,
Figure 846842DEST_PATH_IMAGE014
, 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
Figure 123420DEST_PATH_IMAGE016
, ,
Figure 720940DEST_PATH_IMAGE018
.
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
Figure 773210DEST_PATH_IMAGE048
And phase current
Figure DEST_PATH_IMAGE049
As input, respectively through Clark conversion 62 and Clark conversion 63 obtain component under the two-phase rest frame (
Figure 616401DEST_PATH_IMAGE022
,
Figure 70516DEST_PATH_IMAGE023
) and (
Figure 380275DEST_PATH_IMAGE024
,
Figure 44474DEST_PATH_IMAGE025
), by relational expression
Figure DEST_PATH_IMAGE051
(
Figure 566723DEST_PATH_IMAGE030
For torque winding stator resistance,
Figure 999978DEST_PATH_IMAGE031
For torque winding stator leakage inductance) obtain the torque winding air gap flux linkage component under the two-phase rest frame
Figure 480638DEST_PATH_IMAGE052
, wherein, With
Figure 835396DEST_PATH_IMAGE054
Be respectively the component of torque winding stator magnetic linkage under the two-phase rest frame, With
Figure 855622DEST_PATH_IMAGE035
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
Figure 507183DEST_PATH_IMAGE028
,
Figure 154764DEST_PATH_IMAGE029
Process polar coordinate transform 64: Obtain torque winding air gap flux linkage amplitude
Figure 567607DEST_PATH_IMAGE011
And phase place
Figure 249124DEST_PATH_IMAGE012
.
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
Figure 516158DEST_PATH_IMAGE058
Obtain rotor eccentric displacement
Figure 183899DEST_PATH_IMAGE005
And eccentric angle
Figure 180674DEST_PATH_IMAGE006
.
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
Figure 439617DEST_PATH_IMAGE005
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
Figure 993275DEST_PATH_IMAGE060
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
Figure DEST_PATH_IMAGE063
, 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
Figure 637883DEST_PATH_IMAGE016
,
Figure 566525DEST_PATH_IMAGE017
,
Figure 295447DEST_PATH_IMAGE018
.
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
Figure 918858DEST_PATH_IMAGE001
, ,
Figure 294662DEST_PATH_IMAGE003
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
Figure 742140DEST_PATH_IMAGE005
With the rotor eccentricity angle
Figure 431748DEST_PATH_IMAGE006
, rotor eccentric displacement
Figure 877773DEST_PATH_IMAGE005
Be input to neuron PID controller (52) and obtain the radial suspension force amplitude that rotor stability suspends required
Figure 477381DEST_PATH_IMAGE007
, described rotor eccentricity angle
Figure 616238DEST_PATH_IMAGE006
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
Figure 796072DEST_PATH_IMAGE008
And phase current
Figure 45787DEST_PATH_IMAGE009
For input, with torque winding air gap flux linkage amplitude
Figure 499902DEST_PATH_IMAGE010
And phase place
Figure 403136DEST_PATH_IMAGE011
For output; Described suspending power winding current computing module (53) is with the radial suspension force amplitude , the rotor eccentricity angle
Figure 996109DEST_PATH_IMAGE006
, torque winding air gap flux linkage amplitude
Figure 835889DEST_PATH_IMAGE010
, phase place
Figure 910024DEST_PATH_IMAGE011
, rotor position angle
Figure 202465DEST_PATH_IMAGE004
Five variablees are for input, with three-phase suspending power winding current bid value ,
Figure 222691DEST_PATH_IMAGE013
,
Figure 467727DEST_PATH_IMAGE014
For output, through three phase power PWM inverter (54), obtain the three-phase suspending power winding current that rotor stability suspends required
Figure 513044DEST_PATH_IMAGE015
,
Figure 377095DEST_PATH_IMAGE016
,
Figure 925888DEST_PATH_IMAGE017
.
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
Figure 607405DEST_PATH_IMAGE008
And phase current
Figure 343279DEST_PATH_IMAGE018
As input, respectively through two Clark conversion obtain component under the two-phase rest frame ( , ) and (
Figure 797897DEST_PATH_IMAGE021
,
Figure 755489DEST_PATH_IMAGE022
), by relational expression
Figure 758080DEST_PATH_IMAGE023
Obtain the torque winding air gap flux linkage component under the two-phase rest frame ,
Figure DEST_PATH_IMAGE025
For torque winding stator resistance, For torque winding stator leakage inductance,
Figure 343148DEST_PATH_IMAGE027
With
Figure 883851DEST_PATH_IMAGE028
Be respectively the component of torque winding stator magnetic linkage under the two-phase rest frame,
Figure 730584DEST_PATH_IMAGE029
With
Figure 331330DEST_PATH_IMAGE030
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
Figure 385218DEST_PATH_IMAGE024
Through described polar coordinate transform (64)
Figure 729612DEST_PATH_IMAGE031
Obtain torque winding air gap flux linkage amplitude
Figure 696431DEST_PATH_IMAGE032
And phase place
Figure 202498DEST_PATH_IMAGE033
.
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
Figure 363538DEST_PATH_IMAGE005
And eccentric angle
Figure 716022DEST_PATH_IMAGE006
.
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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
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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
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