CN106788099A - A kind of method for controlling torque of composite rotors double winding bearing-free switch reluctance motor - Google Patents
A kind of method for controlling torque of composite rotors double winding bearing-free switch reluctance motor Download PDFInfo
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Abstract
The present invention proposes a kind of method for controlling torque of composite rotors double winding bearing-free switch reluctance motor.Control object of the method for controlling torque of the motor using output torque as direct torque link, control mode is turned on using three-phase in turn, and the angle that is often conducted is for 15 °；The relation on electric current and rotor position angle according to torque, obtains output torque, with given torque ratio compared with obtaining the reference value of main winding current；According to suspending power, the relation on electric current and rotor position angle, obtains the reference value of levitating current, then allows the actual value of each winding current to track its reference value, realizes the direct control to suspending power and output torque.Methods described does not need the Mathematical Modeling of torque and suspending power, it is contemplated that the saturated characteristic of motor；Realize that permanent torque is exported, and torque pulsation is small.
Description
Technical field
The present invention relates to a kind of method for controlling torque of composite rotors double winding bearing-free switch reluctance motor, belong to magnetcisuspension
The control technology field of floation switch reluctance motor.
Background technology
Bearing-free switch reluctance motor is a kind of novel magnetically levitated motor that the nineties in 20th century grows up.Bearing-free is opened
Reluctance motor is closed because integrating rotation with two functions, the damage that bearing friction brings when not only can effectively solve high-speed cruising of suspending
Consumption and generate heat the problems such as, moreover it is possible to further play switched reluctance machines high-speed adaptability so that strengthen its Aero-Space, fly
The application foundation of the High Speed Fields such as wheel energy storage, naval vessel.
Because switched reluctance machines design feature and operation mechanism are restricted, its torque pulsation is larger, limits it in torque
The application of performance requirement occasion higher.In addition, bearing-free switch reluctance motor needs to take into account rotation simultaneously and two power that suspend
Energy index, while rotating operation is realized, in addition it is also necessary to stable suspersion；Therefore the output torque arteries and veins of bearing-free switch reluctance motor
Dynamic, difficulty bigger relative to regular tap reluctance motor and torque pulsation inhibited is bigger.
The rotor of composite rotors bearing-free switch reluctance motor includes two kinds of rotor, and one kind turns for traditional salient pole
Son, another kind is cylindrical rotor.The presence of cylindrical rotor, can be obviously improved the radial direction bearing capacity of motor, it is possessed entirely
The suspending power of rotor-position, has broken the system of traditional bearing-free switch reluctance motor torque and the effective output interval of suspending power
About.This not only can effectively lift the fan-out capability of torque, also be laid a good foundation to realize Direct Torque Control and permanent torque output.
The content of the invention
The present invention seeks in view of the shortcomings of the prior art, propose a kind of composite rotors double winding bearing-free switch magnetic-resistance electricity
The method for controlling torque of machine.Methods described is that one kind is applied to composite rotors double winding bearing-free switch reluctance motor, is contemplated that
Motor saturation, do not need torque and suspending power Mathematical Modeling and the new type of control method of Direct Torque Control can be realized.
The present invention to achieve the above object, is adopted the following technical scheme that：
A kind of method for controlling torque of composite rotors double winding bearing-free switch reluctance motor, the composite rotors double winding
Bearing-free switch reluctance motor includes stator, field spider, cylindrical rotor, main winding, suspending windings coil and rotating shaft；Institute
Stator is stated for salient-pole structure, its stator tooth number is 12；The cylindrical rotor is cylindrical structure；The field spider is salient pole
Structure, field spider tooth number is 8；The cylindrical rotor and field spider series connection close arrangement, are enclosed within rotating shaft, and be arranged in
In the stator；Each stator tooth is wound with 1 main winding and 1 suspending windings coil, main winding and suspend around
The number of group coil is all 12；The composite rotors double winding bearing-free switch reluctance motor is three-phase duty motor, often
Phase winding is made up of the main winding and suspending windings coil being spatially separated by 90 ° of four stators, through connecting and composing 1
Main winding, 1 X-direction suspending windings and 1 Y direction suspending windings；Connected mode per phase winding is spatially to be separated by
90 ° of four main windings series connection constitutes 1 main winding together；Two suspending windings coils for being spatially separated by 180 ° are reverse
Series connection constitutes 1 X-direction suspending windings together；Spatially it is separated by 180 ° of another two suspending windings coil differential concatenation together
1 Y direction suspending windings of composition；It is described to be separated by 90 ° in space with Y direction suspending windings per phase X-direction suspending windings；
The method for controlling torque, the excitation simultaneously per phase main winding and both direction suspending windings, and excitation width angle are
15°；According to main winding and the reference value of both direction suspending windings electric current, the electric current of each winding is controlled, realize that regulation turns simultaneously
Square and suspending power；Comprise the following steps：
Step A, obtains turn-on angle θon；
Collection rotor real-time position information, obtains the real time position angle θ of rotor；In selected three-phase duty motor one
Phase, as phase rotor position angle θ=θonWhen, the power switch pipe of mutually each winding power circuit is opened, the phase starts to lead
It is logical；θonDetermined by motor operation speed and load behavior；
Step B, obtains the given suspending power of the phase X-directionWith the given suspending power of Y directionIts is specific
Step is as follows：
Step B-1, obtains the real-time displacement signal alpha and β of rotor X-direction and Y direction, wherein, X-direction with it is described
Phase X-direction suspending windings tooth pole center line overlaps, and Y direction overlaps with the phase Y direction suspending windings tooth pole center line,
X-direction spatially differs 90 ° with Y direction；
Step B-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtain X
Real-time displacement the signal difference Δ α and Δ β of direction of principal axis and Y direction, by the real-time displacement signal difference Δ α and Δ β by ratio
Integral-derivative controller, obtains the set-point of X-direction suspending powerWith the set-point of Y direction suspending power
Step C, obtains the real-time torque T of the phasea；Comprise the following steps that：
Step C-1, real-time detection obtains the actual current i of the phase main windingma, the actual electricity of X-direction suspending windings
Stream isa1With the actual current i of Y direction suspending windingssa2；
Step C-2, according to the actual current i of the phase main windingmaWith real-time rotor position angle θ, obtain actual master around
Group torque Tma；
Calculated by the electromagnetic finite element of the motor, obtain the actual current i of the phase main windingmaThe magnetic field of generation
Energy storage Wa(ima, θ), and then according to formulaIt is calculated different imaMain winding torque T during with θma；
Wherein, Wa(ima, θ) and it is on imaWith the nonlinear function of θ, the physical dimension with the motor is relevant；
Step C-3, according to the electric current isa1And isa2, and rotor position angle θ in real time, obtain by isa1And isa2Respectively
The actual suspending windings torque T for producingsa1And Tsa2；
Calculated by the electromagnetic finite element of the motor, respectively obtain the electric current isa1The magnetic field energy W of generationa
(isa1, θ) and the electric current isa2The magnetic field energy W of generationa(isa2, θ), and then according to formulaWithDifferent i are calculated respectivelysa1、isa2Torque T during with θsa1And Tsa2；Wherein, Wa(isa1, θ) and it is to close
In isa1With the nonlinear function of θ, Wa(isa2, θ) and it is on isa2With the nonlinear function of θ, the physical dimension with the motor has
Close；
Step C-4, according to the torque Tma、Tsa1And Tsa2, by total torque computing formula Ta=Tma+Tsa1+Tsa2, calculate
To the real-time torque T of the phasea；
Step D, obtains the reference value of the phase main winding currentComprise the following steps that：
Step D-1, the torque TaWith the torque reference of settingSubtract each other, obtain torque difference Δ Ta；
Step D-2, the torque difference Δ Ta, passing ratio integral controller, the average current ginseng of the equivalent simplex winding of acquisition
Examine value
Step D-3, according to the reference value of the average currentCalculate the reference value of the phase main winding currentComputing formula isWherein N is the number of turn of equivalent simplex winding, and N=Nm+Nb, NmIt is main umber of turn, Nb
It is the suspending windings number of turn；
Step E, obtains the reference value of the phase X-direction suspending windings electric currentWith Y direction suspending windings electric current
Reference value
According to the suspending powerWithThe reference value of phase main winding currentAnd real-time rotor position angle θ,
Obtain the reference value of X-direction suspending windings electric currentWith the reference value of Y direction suspending windings electric current
Calculated by the electromagnetic finite element of the motor, respectively obtain the electric currentWithThe magnetic field energy of generationWith the electric currentWithThe magnetic field energy of generationAnd then according to formulaWithDifference is calculated respectivelyDuring with θ
Suspending powerWithWherein,Be onThe nonlinear function of θ and α, Wa(isa2, θ) and it is to close
InThe nonlinear function of θ and β, the physical dimension with the motor is relevant；
Step F, using Current cut control method, allows the actual current i of main windingmaTrack its reference valueAllow X-axis side
To the actual current i of suspending windingssa1Track its reference valueAllow the actual current i of Y direction suspending windingssa2Track its ginseng
Examine value
Step G, terminates the phase excitation, and another phase begins to turn on excitation；
When described by behind 15 ° of conducting interval, i.e., rotor rotates to shut-off angle θoffDuring position, turn off described mutually each
The power switch pipe of winding power circuit, while opening the power switch pipe of another mutually each winding power circuit, the phase stops
Conducting, another phase begins to turn on；Wherein, θoff=θon+15°。
Beneficial effects of the present invention：The present invention proposes a kind of turning for composite rotors double winding bearing-free switch reluctance motor
Square control method.Control object of the methods described using output torque as direct torque link, control is turned on using three-phase in turn
Mode, and the angle that is often conducted is for 15 °；By searching mark sheet of the torque on electric current and rotor position angle, output torque is obtained,
With given torque ratio compared with the adjusted reference value that can obtain main winding current；According to suspending power on electric current and rotor position angle
Relation, obtain the reference value of levitating current, then allow the actual value of each winding current to track its reference value, just can realize to outstanding
The direct control of buoyancy and output torque.Method for controlling torque of the present invention considers the nonlinear characteristic of motor, it is adaptable to any
Load behavior；The Mathematical Modeling of torque and suspending power is not needed, suspension control accuracy is high；Directly torque is controlled, can be real
Existing permanent torque output, torque pulsation is small.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of composite rotors double winding bearing-free switch reluctance motor.
Fig. 2 is the A phase winding schematic diagrames of composite rotors double winding bearing-free switch reluctance motor.
Fig. 3 is the A equivalent simplex winding schematic diagrames of composite rotors double winding bearing-free switch reluctance motor.
Fig. 4 is the system block diagram of the method for controlling torque of composite rotors double winding bearing-free switch reluctance motor.
Description of reference numerals：In Fig. 1 to Fig. 4,1 is stator, and 2 is field spider, and 3 is cylindrical rotor, and 4 is main winding line
Circle, 5 is suspending windings coil, and 6 is rotating shaft, ima+、isa1+、isa2+ main winding, the inflow current of two suspending windings are respectively,
ima-、isa1-、isa2- it is respectively main winding, the outflow electric current of two suspending windings, ia1+、ia2+、ia2+、ia3+ it is respectively A equivalents
Four inflow currents of winding in simplex winding structure, ia1-、ia2-、ia2-、ia3- be respectively in A equivalent simplex winding structures
Four outflow electric currents of winding, X, Y are respectively two reference axis of rectangular coordinate system, Fα, FβFor A phase windings are produced in X, Y direction
Suspending power, Fα*, Fβ* it is the reference value of suspending power, iavIt is the average current of equivalent simplex winding, iav* it is its reference value, α, β point
Not Wei rotor in the center displacement in X, Y direction, α *, β * are respectively ginseng of the rotor in the center displacement in X, Y direction
Value is examined, N is the number of turn of equivalent simplex winding, NmIt is main umber of turn, NbIt is the suspending windings number of turn.
Specific embodiment
Below in conjunction with the accompanying drawings, to a kind of direct torque side of composite rotors double winding bearing-free switch reluctance motor of the invention
The technical scheme of method is described in detail：
As shown in figure 1, be the three dimensional structure diagram of composite rotors double winding bearing-free switch reluctance motor, wherein, 1 is
Stator, 2 is field spider, and 3 is cylindrical rotor, and 4 is main winding, and 5 is suspending windings coil, and 6 is rotating shaft.
A kind of composite rotors double winding bearing-free switch reluctance motor includes stator, field spider, cylindrical rotor, main winding
Coil, suspending windings coil and rotating shaft；The stator is salient-pole structure, and its stator tooth number is 12；The cylindrical rotor is circle
Columnar structures；The field spider is salient-pole structure, and its rotor tooth number is 8；The cylindrical rotor and field spider series connection are tight
Gather and put, be enclosed within rotating shaft, and be arranged in the stator；Each stator tooth be wound with 1 main winding and 1 suspend around
Group coil, is respectively 12.
Fig. 2 is the A phase winding schematic diagrames of composite rotors double winding bearing-free switch reluctance motor.A phase main windings are by space
On be separated by 90 ° of four main windings and be in series, magnetic flux is distributed in NSNS；X-direction suspending windings are by two in X-direction
Individual suspending windings coil differential concatenation is formed, and magnetic flux is distributed in NS；Y-direction suspending windings by two in Y direction suspend around
Group coil differential concatenation is formed, and magnetic flux is distributed in NS.The main winding and both direction suspending windings and A phase winding structures of B, C phase
It is identical, only differ 30 ° and -30 ° with A phases in position.
Fig. 3 is the A equivalent simplex winding schematic diagrames of composite rotors double winding bearing-free switch reluctance motor.A phase windings by
Four windings for being spatially separated by 90 ° are constituted.Four windings are individually for a set of winding, while excitation, and be independently controlled.A
The symmetrical magnetic flux of quadrupole that four winding currents of phase are produced, is distributed in NSNS.The winding of B, C phase is identical with A phase winding structures, only exists
On position 30 ° and -30 ° are differed with A phases.
Based on the magnetic circuit principle of equal effects, for ease of control torque, every phase main winding can be equivalent to two suspending windings
Four independent windings.Relation between simplex winding and double winding is：
Wherein, N is the equivalent simplex winding number of turn, NmIt is the number of turn of main winding, NbIt is the number of turn of suspending windings, ia1、ia2、ia3、
ia4Respectively four electric currents of equivalent simplex winding of A phases, imaIt is main winding current, isa1、isa2Respectively X, Y-direction suspending windings
Electric current.
According to formula (1), the average current i of four equivalent simplex winding of A phases can be calculatedavFor
Therefore, can be according to formula (2), by the average current reference value i of equivalent simplex winding in controlav* it is calculated and is led
The reference value i of winding currentma*, i.e.,：
Fig. 4 is the system block diagram of the method for controlling torque of composite rotors double winding bearing-free switch reluctance motor.Using list
Be conducted control strategy, by control per phase main winding and two suspending windings electric currents, while torque and suspending power are adjusted, per phase
The excitation cycle angle be 15 °.Control process is：Detection motor rotor position information, calculates the turn-on angle θ of every phase windingon,
Every phase main winding and two suspending windings begin to turn on excitation；According to the angular position theta of real-time detection, and by current sensor reality
When detection obtain main winding current ima, X-direction suspending windings electric current isa1With Y-direction suspending windings electric current isa2, master is looked into respectively
Winding torque property list and suspending windings torque characteristics table, obtain main winding current imaThe torque T of generationma, X-direction suspend around
Group electric current isa1The torque T of generationsa1With Y-direction suspending windings electric current isa2The torque T of generationsa2, calculate phase total torque
Actual value Ta；Again with given torque Ta* compare, torque error signal is carried out into PI regulations, obtain the average electricity of equivalent simplex winding
Stream reference value iav*；Through Current calculation link, main winding current reference value i is obtainedma*；Displacement error signal is carried out into PID regulations
Obtain per mutually given suspending power Fα*, Fβ*, in conjunction with main winding current reference value ima*, after looking into suspending power property list, X side is obtained
To the reference value i of suspending windings electric currentsa1* with the reference value i of Y-direction suspending windings electric currentsa2*；Reality is allowed with Current cut control
Border current tracking ima*、isa1And i *sa2*, with the suspending power needed for producing and torque, while realizing the suspension and rotation of motor.
A kind of method for controlling torque of composite rotors double winding bearing-free switch reluctance motor, comprises the following steps：
Step A, obtains turn-on angle θon；
Collection rotor real-time position information, obtains the real time position angle θ of rotor；In selected three-phase duty motor one
Phase, as phase rotor position angle θ=θonWhen, the power switch pipe of mutually each winding power circuit is opened, the phase starts to lead
It is logical；θonDetermined by motor operation speed and load behavior；
Step B, obtains the given suspending power of the phase X-directionWith the given suspending power of Y directionIts is specific
Step is as follows：
Step B-1, obtains the real-time displacement signal alpha and β of rotor X-direction and Y direction, wherein, X-direction with it is described
Phase X-direction suspending windings tooth pole center line overlaps, and Y direction overlaps with the phase Y direction suspending windings tooth pole center line,
X-direction spatially differs 90 ° with Y direction；
Step B-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtain X
Real-time displacement the signal difference Δ α and Δ β of direction of principal axis and Y direction, by the real-time displacement signal difference Δ α and Δ β by ratio
Integral-derivative controller, obtains the set-point of X-direction suspending powerWith the set-point of Y direction suspending power
Step C, obtains the real-time torque T of the phasea；Comprise the following steps that：
Step C-1, real-time detection obtains the actual current i of the phase main windingma, the actual electricity of X-direction suspending windings
Stream isa1With the actual current i of Y direction suspending windingssa2；
Step C-2, according to the actual current i of the phase main windingmaWith real-time rotor position angle θ, obtain actual master around
Group torque Tma；
Calculated by the electromagnetic finite element of the motor, obtain the actual current i of the phase main windingmaThe magnetic field of generation
Energy storage Wa(ima, θ), and then according to formulaIt is calculated different imaMain winding torque T during with θma；
Wherein, Wa(ima, θ) and it is on imaWith the nonlinear function of θ, the physical dimension with the motor is relevant；
Step C-3, according to the electric current isa1And isa2, and rotor position angle θ in real time, obtain by isa1And isa2Respectively
The actual suspending windings torque T for producingsa1And Tsa2；
Calculated by the electromagnetic finite element of the motor, respectively obtain the electric current isa1The magnetic field energy W of generationa
(isa1, θ) and the electric current isa2The magnetic field energy W of generationa(isa2, θ), and then according to formulaWithDifferent i are calculated respectivelysa1、isa2Torque T during with θsa1And Tsa2；Wherein, Wa(isa1, θ) and it is to close
In isa1With the nonlinear function of θ, Wa(isa2, θ) and it is on isa2With the nonlinear function of θ, the physical dimension with the motor has
Close；
Step C-4, according to the torque Tma、Tsa1And Tsa2, by total torque computing formula Ta=Tma+Tsa1+Tsa2, calculate
To the real-time torque T of the phasea；
Step D, obtains the reference value of the phase main winding currentComprise the following steps that：
Step D-1, the torque TaWith the torque reference of settingSubtract each other, obtain torque difference Δ Ta；
Step D-2, the torque difference Δ Ta, passing ratio integral controller, the average current ginseng of the equivalent simplex winding of acquisition
Examine value
Step D-3, according to the reference value of the average currentCalculate the reference value of the phase main winding currentComputing formula isWherein N is the number of turn of equivalent simplex winding, and N=Nm+Nb, NmIt is main umber of turn, Nb
It is the suspending windings number of turn；
Step E, obtains the reference value of the phase X-direction suspending windings electric currentWith Y direction suspending windings electric current
Reference value
According to the suspending powerWithThe reference value of phase main winding currentAnd real-time rotor position angle θ,
Obtain the reference value of X-direction suspending windings electric currentWith the reference value of Y direction suspending windings electric current
Calculated by the electromagnetic finite element of the motor, respectively obtain the electric currentWithThe magnetic field energy of generationWith the electric currentWithThe magnetic field energy of generationAnd then according to formulaWithDifference is calculated respectivelyDuring with θ
Suspending powerWithWherein,Be onThe nonlinear function of θ and α, Wa(isa2, θ) and it is to close
InThe nonlinear function of θ and β, the physical dimension with the motor is relevant；
Step F, using Current cut control method, allows the actual current i of main windingmaTrack its reference valueAllow X-axis side
To the actual current i of suspending windingssa1Track its reference valueAllow the actual current i of Y direction suspending windingssa2Track its ginseng
Examine value
Step G, terminates the phase excitation, and another phase begins to turn on excitation；
When described by behind 15 ° of conducting interval, i.e., rotor rotates to shut-off angle θoffDuring position, turn off described mutually each
The power switch pipe of winding power circuit, while opening the power switch pipe of another mutually each winding power circuit, the phase stops
Conducting, another phase begins to turn on；Wherein, θoff=θon+15°。
In sum, the single-phase switch control strategy that the present invention is used, every phase main winding and both direction suspending windings are same
When excitation, and excitation width angle be 15 °；Only need to obtain main winding and both direction by searching torque and suspending power property list
The reference value of suspending windings electric current, then through the current control of each winding, realizes adjusting torque and suspending power simultaneously.Torque and outstanding
Buoyant characteristics form considers the saturated characteristic of the motor, and workload-adaptability is strong；And joined as control using torque in controlling
Number, realizes the Direct Torque Control of the motor, and can realize that permanent torque is exported, and torque pulsation is small；In addition, no longer as shaftless
The traditional control method of bearing switch reluctance motor is, it is necessary to set up the Mathematical Modeling of its torque and suspending power, and the mathematics built
Model is difficult to react the non-linear of motor, therefore this control method also has compared with high control precision.
For those skilled in the art, association's others can be easy to according to above implementation type excellent
Point and deformation.Therefore, the invention is not limited in above-mentioned instantiation, it enters as just example to a kind of form of the invention
Detailed, the exemplary explanation of row.In the range of without departing substantially from present inventive concept, those of ordinary skill in the art are according to above-mentioned specific
Example should be included in scope of the presently claimed invention and its wait homotype by the technical scheme obtained by various equivalents
Within enclosing.
Claims (1)
1. a kind of method for controlling torque of composite rotors double winding bearing-free switch reluctance motor, the composite rotors double winding without
Bearing switched reluctance machines include stator, field spider, cylindrical rotor, main winding, suspending windings coil and rotating shaft；It is described
Stator is salient-pole structure, and its stator tooth number is 12；The cylindrical rotor is cylindrical structure；The field spider is salient pole knot
Structure, field spider tooth number is 8；The cylindrical rotor and field spider series connection close arrangement, are enclosed within rotating shaft, and be arranged in institute
State in stator；Each stator tooth is wound with 1 main winding and 1 suspending windings coil, main winding and suspending windings
The number of coil is all 12；The composite rotors double winding bearing-free switch reluctance motor is three-phase duty motor, per phase
Winding is made up of the main winding and suspending windings coil being spatially separated by 90 ° of four stators, through connecting and composing 1 master
Winding, 1 X-direction suspending windings and 1 Y direction suspending windings；Connected mode per phase winding is spatially to be separated by
90 ° of four main windings series connection constitutes 1 main winding together；Two suspending windings coils for being spatially separated by 180 ° are reverse
Series connection constitutes 1 X-direction suspending windings together；Spatially it is separated by 180 ° of another two suspending windings coil differential concatenation together
1 Y direction suspending windings of composition；It is described to be separated by 90 ° in space with Y direction suspending windings per phase X-direction suspending windings；
The method for controlling torque, it is characterised in that the excitation simultaneously per phase main winding and both direction suspending windings, and excitation is wide
Degree angle is 15 °；According to main winding and the reference value of both direction suspending windings electric current, the electric current of each winding is controlled, realized simultaneously
Regulation torque and suspending power；Comprise the following steps：
Step A, obtains turn-on angle θon；
Collection rotor real-time position information, obtains the real time position angle θ of rotor；A phase in selected three-phase duty motor, when
Phase rotor position angle θ=θonWhen, the power switch pipe of mutually each winding power circuit is opened, the phase begins to turn on；θon
Determined by motor operation speed and load behavior；
Step B, obtains the given suspending power of the phase X-directionWith the given suspending power of Y directionIts specific steps
It is as follows：
Step B-1, obtains the real-time displacement signal alpha and β of rotor X-direction and Y direction, wherein, X-direction and the phase X
Direction of principal axis suspending windings tooth pole center line overlaps, and Y direction overlaps with the phase Y direction suspending windings tooth pole center line, X-axis
Direction spatially differs 90 ° with Y direction；
Step B-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtain X-axis side
To real-time displacement signal difference Δ α and Δ β with Y direction, by the real-time displacement signal difference Δ α and Δ β by proportional integral
Derivative controller, obtains the set-point of X-direction suspending powerWith the set-point of Y direction suspending power
Step C, obtains the real-time torque T of the phasea；Comprise the following steps that：
Step C-1, real-time detection obtains the actual current i of the phase main windingma, the actual current i of X-direction suspending windingssa1
With the actual current i of Y direction suspending windingssa2；
Step C-2, according to the actual current i of the phase main windingmaWith real-time rotor position angle θ, obtain actual main winding and turn
Square Tma；
Calculated by the electromagnetic finite element of the motor, obtain the actual current i of the phase main windingmaThe magnetic field energy of generation
Wa(ima, θ), and then according to formulaIt is calculated different imaMain winding torque T during with θma；Its
In, Wa(ima, θ) and it is on imaWith the nonlinear function of θ, the physical dimension with the motor is relevant；
Step C-3, according to the electric current isa1And isa2, and rotor position angle θ in real time, obtain by isa1And isa2Produce respectively
Actual suspending windings torque Tsa1And Tsa2；
Calculated by the electromagnetic finite element of the motor, respectively obtain the electric current isa1The magnetic field energy W of generationa(isa1,θ)
With the electric current isa2The magnetic field energy W of generationa(isa2, θ), and then according to formulaWithDifferent i are calculated respectivelysa1、isa2Torque T during with θsa1And Tsa2；Wherein, Wa(isa1, θ) and it is to close
In isa1With the nonlinear function of θ, Wa(isa2, θ) and it is on isa2With the nonlinear function of θ, the physical dimension with the motor has
Close；
Step C-4, according to the torque Tma、Tsa1And Tsa2, by total torque computing formula Ta=Tma+Tsa1+Tsa2, it is calculated institute
State the real-time torque T of phasea；
Step D, obtains the reference value of the phase main winding currentComprise the following steps that：
Step D-1, the torque TaWith the torque reference of settingSubtract each other, obtain torque difference Δ Ta；
Step D-2, the torque difference Δ Ta, passing ratio integral controller, the average current reference value of the equivalent simplex winding of acquisition
Step D-3, according to the reference value of the average currentCalculate the reference value of the phase main winding current
Computing formula isWherein N is the number of turn of equivalent simplex winding, and N=Nm+Nb, NmIt is main umber of turn, NbIt is outstanding
Floating umber of turn；
Step E, obtains the reference value of the phase X-direction suspending windings electric currentWith the reference of Y direction suspending windings electric current
Value
According to the suspending powerWithThe reference value of phase main winding currentAnd real-time rotor position angle θ, obtain X
The reference value of direction of principal axis suspending windings electric currentWith the reference value of Y direction suspending windings electric current
Calculated by the electromagnetic finite element of the motor, respectively obtain the electric currentWithThe magnetic field energy of generationWith the electric currentWithThe magnetic field energy of generationAnd then according to formulaWithDifference is calculated respectivelyDuring with θ
Suspending powerWithWherein,Be onThe nonlinear function of θ and α, Wa(isa2, θ) be onThe nonlinear function of θ and β, the physical dimension with the motor is relevant；
Step F, using Current cut control method, allows the actual current i of main windingmaTrack its reference valueX-direction is allowed to hang
The actual current i of floating windingsa1Track its reference valueAllow the actual current i of Y direction suspending windingssa2Track its reference value
Step G, terminates the phase excitation, and another phase begins to turn on excitation；
When described by behind 15 ° of conducting interval, i.e., rotor rotates to shut-off angle θoffDuring position, mutually each winding is turned off
The power switch pipe of power circuit, while opening the power switch pipe of another mutually each winding power circuit, the phase stops conducting,
Another phase begins to turn on；Wherein, θoff=θon+15°。
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| CN113113994A (en) * | 2021-04-12 | 2021-07-13 | 南京邮电大学 | Bearingless switched reluctance motor, power converter and control method |
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