CN106788099B - 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 mode is connected using output torque as the control object of direct torque link, using three-phase in the method for controlling torque of the motor in turn, and the angle that is often conducted is 15 °；Relationship according to torque about electric current and rotor position angle obtains output torque and obtains the reference value of main winding current compared with given torque；Relationship according to suspending power about electric current and rotor position angle, obtains the reference value of levitating current, and the actual value of each winding current is then allowed to track its reference value, and realization directly controls suspending power and output torque.The method does not need the mathematical model of torque and suspending power, it is contemplated that the saturated characteristic of motor；Realize permanent torque output, and torque pulsation is small.
Description
Technical Field
The invention relates to a torque control method of a composite rotor double-winding bearingless switched reluctance motor, belonging to the technical field of control of magnetic suspension switched reluctance motors.
Background
A bearingless switched reluctance motor is a novel magnetic suspension motor developed in the 90 s of the 20 th century. The bearingless switched reluctance motor integrates two functions of rotation and suspension, so that the problems of loss, heating and the like caused by bearing friction during high-speed operation can be effectively solved, and the high-speed adaptability of the switched reluctance motor can be further exerted, thereby strengthening the application basis of the switched reluctance motor in the high-speed fields of aerospace, flywheel energy storage, ships and warships and the like.
Due to the structural characteristics and the restriction of an operation mechanism of the switched reluctance motor, the torque pulsation of the switched reluctance motor is large, and the application of the switched reluctance motor to occasions with high requirements on torque performance is limited. In addition, the bearingless switched reluctance motor needs to simultaneously consider two force indexes of rotation and suspension, and needs to stably suspend while realizing rotation operation; therefore, the output torque ripple of the bearingless switched reluctance motor is larger than that of the common switched reluctance motor, and the difficulty of inhibiting the torque ripple is larger.
The rotor of the composite rotor bearingless switched reluctance motor comprises two types of rotors, one type is a traditional salient pole rotor, and the other type is a cylindrical rotor. The cylindrical rotor can obviously improve the radial bearing capacity of the motor, so that the motor has the suspension capacity of the position of the whole rotor, and the restriction of the torque and the effective output interval of the suspension force of the traditional bearingless switched reluctance motor is broken. The method not only can effectively improve the output capacity of the torque, but also lays a foundation for realizing direct torque control and constant torque output.
Disclosure of Invention
The invention aims to provide a torque control method of a composite rotor double-winding bearingless switched reluctance motor aiming at the defects of the prior art. The method is a novel control method which is suitable for the composite rotor double-winding bearingless switched reluctance motor, can consider motor saturation, does not need a torque and suspension force mathematical model and can realize direct torque control.
In order to achieve the purpose, the invention adopts the following technical scheme:
a torque control method of a compound rotor double-winding bearingless switched reluctance motor comprises a stator, a salient pole rotor, a cylindrical rotor, a main winding coil, a suspension winding coil and a rotating shaft; the stator is of a salient pole structure, and the number of stator teeth of the stator is 12; the cylindrical rotor is of a cylindrical structure; the salient pole rotor is of a salient pole structure, and the number of salient pole rotor teeth is 8; the cylindrical rotor and the salient pole rotor are closely arranged in series, sleeved on the rotating shaft and arranged in the stator; each stator tooth is wound with 1 main winding coil and 1 suspension winding coil, and the number of the main winding coils and the suspension winding coils is 12; the composite rotor double-winding bearingless switched reluctance motor is a three-phase working motor, each phase of winding consists of main winding coils and suspension winding coils on four stators which are spatially separated by 90 degrees, and 1 main winding, 1X-axis direction suspension winding and 1Y-axis direction suspension winding are formed by connection; the connection mode of each phase of winding is that four main winding coils which are spaced at 90 degrees are connected in series to form 1 main winding; two suspension winding coils which are spaced at 180 degrees are reversely connected in series to form 1X-axis direction suspension winding; the other two suspension winding coils which are spaced by 180 degrees are reversely connected in series to form 1Y-axis direction suspension winding; the X-axis direction suspension winding and the Y-axis direction suspension winding of each phase are separated by 90 degrees in space;
the torque control method is characterized in that each phase of main winding and two direction suspension windings are excited simultaneously, and the excitation width angle is 15 degrees; controlling the current of each winding according to the reference values of the current of the main winding and the current of the suspension windings in two directions to realize simultaneous adjustment of the torque and the suspension force; the method comprises the following steps:
step A, obtaining an opening angle thetaon；
Collecting rotor real timePosition information, namely acquiring a real-time position angle theta of the rotor; selecting one phase of the three-phase working motor, and when the rotor position angle theta of the phase is equal to thetaonWhen the phase is switched on, the power switch tube of each winding power circuit of the phase is switched on, and the phase starts to be conducted; thetaonThe motor running speed and the load working condition are determined;
step B, obtaining the given suspension force in the direction of the phase X axisAnd given levitation force in the Y-axis directionThe method comprises the following specific steps:
b-1, acquiring real-time displacement signals α and beta of a rotor in the X-axis direction and the Y-axis direction, wherein the X-axis direction is superposed with the central line of the suspension winding tooth pole in the X-axis direction, the Y-axis direction is superposed with the central line of the suspension winding tooth pole in the Y-axis direction, and the X-axis direction and the Y-axis direction have a spatial difference of 90 degrees;
step B-2, respectively connecting the real-time displacement signals α and β with a given reference displacement signal α*and beta*subtracting to obtain real-time displacement signal differences delta α and delta β in the X-axis direction and the Y-axis direction respectively, and obtaining the given value of the suspension force in the X-axis direction by passing the real-time displacement signal differences delta α and delta β through a proportional-integral-derivative controllerAnd given value of suspension force in Y-axis direction
Step C, obtaining the real-time torque T of the phasea(ii) a The method comprises the following specific steps:
step C-1, detecting in real time to obtain the actual current i of the phase main windingmaActual current i of the X-axis direction levitation windingsa1And the practice of Y-axis direction levitation windingCurrent isa2；
Step C-2, according to the actual current i of the phase main windingmaAnd the real-time rotor position angle theta is obtained to obtain the actual main winding torque Tma；
Obtaining the actual current i of the phase main winding through the finite element calculation of the electromagnetic field of the motormaThe generated magnetic field stores energy Wa(imaθ), in turn according to the formulaCalculate to obtain different imaMain winding torque T at sum thetama(ii) a Wherein, Wa(imaAnd theta) is about imaAnd a non-linear function of θ, related to the structural dimensions of the motor;
step C-3, according to the current isa1And isa2And a real-time rotor position angle θ, obtained from isa1And isa2Respectively generated actual levitation winding torque Tsa1And Tsa2；
Respectively obtaining the current i through the finite element calculation of the electromagnetic field of the motorsa1The generated magnetic field stores energy Wa(isa1θ) and the current isa2The generated magnetic field stores energy Wa(isa2θ), in turn according to the formulaAndrespectively calculate different isa1、isa2Torque at sum θ Tsa1And Tsa2(ii) a Wherein, Wa(isa1And theta) is about isa1And a non-linear function of theta, Wa(isa2And theta) is about isa2And a non-linear function of θ, related to the structural dimensions of the motor;
step C-4, according to the torque Tma、Tsa1And Tsa2Calculating the formula T from the total torquea＝Tma+Tsa1+Tsa2Calculating the real-time torque T of the phasea；
Step D, obtaining the reference value of the phase main winding currentThe method comprises the following specific steps:
step D-1, the torque TaWith a set reference torqueSubtracting to obtain a torque difference Delta Ta；
Step D-2, the torque difference DeltaTaObtaining the average current reference value of the equivalent single winding through a proportional integral controller
Step D-3, according to the reference value of the average currentCalculating to obtain the reference value of the phase main winding currentIs calculated by the formulaWhere N is the number of turns of the equivalent single winding, and N is Nm+Nb，NmIs the number of main winding turns, NbThe number of turns of the suspension winding;
step E, obtaining the reference value of the phase X-axis direction suspension winding currentAnd reference of Y-axis direction suspension winding currentValue of
According to the suspension forceAndreference value of phase main winding currentAnd real-time rotor position angle theta to obtain reference value of suspension winding current in X-axis directionAnd reference value of Y-axis direction suspension winding current
Respectively obtaining the current by finite element calculation of the electromagnetic field of the motorAndenergy storage of the generated magnetic fieldAnd the currentAndenergy storage of the generated magnetic fieldAccording to the formulaAndrespectively calculate out the differencesSuspension force at and thetaAndwherein,is abouta non-linear function of theta and α,is abouta non-linear function of θ and β, related to the structural dimensions of the motor;
step F, utilizing a current chopping control method to enable the actual current i of the main windingmaTracking its reference valueLet the actual current i of the X-axis direction levitation windingsa1Tracking its reference valueLet actual current i of Y-axis direction suspension windingsa2Tracking its reference value
G, ending the phase excitation, and starting conducting excitation of the other phase;
when the phase passes the conduction interval of 15 deg., the rotor rotates to the off angle thetaoffWhen the position is reached, the power switch tube of each winding power circuit of the phase is turned off, and the power switch tube of each winding power circuit of the other phase is turned on at the same time, so that the phase stops conducting, and the other phase starts conducting; wherein, thetaoff＝θon+15°。
The invention has the beneficial effects that: the invention provides a torque control method of a composite rotor double-winding bearingless switched reluctance motor, which takes output torque as a control object of a torque control link, adopts a three-phase alternate conduction control mode and leads the conduction angle of each phase to be 15 degrees; obtaining output torque by searching a characteristic table of the torque relative to the current and the rotor position angle, comparing the output torque with the given torque, and obtaining a reference value of the current of the main winding through regulation; by searching a characteristic table of the suspension force about the current and the rotor position angle, a reference value of the suspension current can be obtained, and then the actual value of each winding current tracks the reference value, so that the direct control of the suspension force and the output torque can be realized.
By adopting the technical scheme of the invention, the following technical effects can be achieved:
(1) the nonlinear characteristic of the motor can be considered, and the motor is suitable for any load working condition;
(2) a mathematical model of torque and suspension force is not needed, and the suspension control precision is high;
(3) the torque is directly controlled, constant torque output can be realized, and torque pulsation is small.
Drawings
Fig. 1 is a three-dimensional structure schematic diagram of a three-phase 12/8-pole composite rotor double-winding bearingless switched reluctance motor.
Fig. 2 is a schematic diagram of the a-phase winding of a three-phase 12/8-pole composite rotor double-winding bearingless switched reluctance motor.
Fig. 3 is a schematic diagram of an A-phase equivalent single winding of a three-phase 12/8-pole composite rotor double-winding bearingless switched reluctance motor.
Fig. 4 is a system block diagram of a torque control method of a three-phase 12/8-pole composite rotor double-winding bearingless switched reluctance motor.
Description of reference numerals: in fig. 1 to 4, 1 is a stator, 2 is a salient pole rotor, 3 is a cylindrical rotor, 4 is a main winding coil, 5 is a suspension winding coil, 6 is a rotating shaft, ima+、isa1+、isa2+ is the current flowing in the main and two floating windings, ima-、isa1-、isa2The currents flowing out of the main and two levitation windings, ia1+、ia2+、ia2+、ia3+ is the inflow current, i, of the four windings in the A-phase equivalent single-winding structure, respectivelya1-、ia2-、ia2-、ia3The currents flowing out of the four windings in the A-phase equivalent single-winding structure, X, Y being the two coordinate axes of a rectangular coordinate system, Fα，FβFor the levitation force generated by the A-phase winding in the direction of the X, Y axis, Fα*，FβReference value of suspension force, iavIs the average current of an equivalent single winding, iava is a reference value, a and beta are respectively the eccentric displacement of the rotor in the direction of X, Y shaft, α and beta are respectively the reference values of the eccentric displacement of the rotor in the direction of X, Y axis, N is the number of turns of the equivalent single windingmIs the number of main winding turns, NbThe number of suspension winding turns.
Detailed Description
The technical scheme of the torque control method of the composite rotor double-winding bearingless switched reluctance motor is described in detail below with reference to the attached drawings:
as shown in fig. 1, it is a schematic three-dimensional structure diagram of a three-phase 12/8-pole composite rotor double-winding bearingless switched reluctance motor, where 1 is a stator, 2 is a salient pole rotor, 3 is a cylindrical rotor, 4 is a main winding coil, 5 is a suspension winding coil, and 6 is a rotating shaft.
A composite rotor double-winding bearingless switched reluctance motor comprises a stator, a salient pole rotor, a cylindrical rotor, a main winding coil, a suspension winding coil and a rotating shaft; the stator is of a salient pole structure, and the number of stator teeth of the stator is 12; the cylindrical rotor is of a cylindrical structure; the salient pole rotor is of a salient pole structure, and the number of rotor teeth of the salient pole rotor is 8; the cylindrical rotor and the salient pole rotor are closely arranged in series, sleeved on the rotating shaft and arranged in the stator; each stator tooth is wound with 1 main winding coil and 1 suspension winding coil, and the number of the main winding coils and the suspension winding coils is 12.
Fig. 2 is a schematic diagram of the a-phase winding of a three-phase 12/8-pole composite rotor double-winding bearingless switched reluctance motor. The A-phase main winding is formed by connecting four main winding coils which are spaced at 90 degrees in series, and magnetic flux is distributed in an NSNS manner; the X-direction suspension winding is formed by connecting two suspension winding coils in the X-axis direction in series in an opposite direction, and magnetic flux is distributed in an NS manner; the Y-direction suspension winding is formed by connecting two suspension winding coils in the Y-axis direction in series in an opposite direction, and magnetic flux is distributed in an NS manner. B. The main winding and the two-direction suspension winding of the C phase have the same structure as the A phase winding and are different from the A phase by 30 degrees and-30 degrees only in position.
Fig. 3 is a schematic diagram of an A-phase equivalent single winding of a three-phase 12/8-pole composite rotor double-winding bearingless switched reluctance motor. The a-phase winding consists of four windings spaced 90 apart. The four windings are separately set as a set of windings, are excited simultaneously and are controlled independently. Four-pole symmetrical magnetic flux generated by the A-phase four-winding current is distributed in an NSNS manner. B. The winding of phase C is identical in structure to the winding of phase A and is different from phase A only in position by 30 DEG and-30 deg.
Based on the magnetic circuit equivalence principle, each phase of main winding and two suspension windings can be equivalent to four independent windings for controlling the torque conveniently. The relationship between the single winding and the double winding is:
wherein N is the equivalent single winding turn number, NmNumber of turns of main winding, NbNumber of turns of levitation winding, ia1、ia2、ia3、ia4Currents of four equivalent single windings of phase A, imaIs the main winding current isa1、isa2X, Y directional levitation winding currents, respectively.
According to the formula (1), the average current i of the four equivalent single windings of the A phase can be calculatedavIs composed of
For this purpose, the control can be carried out according to equation (2) from the average current reference i of the equivalent single windingavCalculating to obtain a reference value i of the current of the main windingmaNamely:
fig. 4 is a system block diagram of a torque control method of a three-phase 12/8-pole composite rotor double-winding bearingless switched reluctance motor. And a single-phase conduction control strategy is adopted, the torque and the levitation force are simultaneously adjusted by controlling the current of each phase of main winding and the current of the two levitation windings, and the excitation period angle of each phase is 15 degrees. The control process is as follows: detecting the position information of the motor rotor, and obtaining the opening angle theta of each phase of winding through calculationonEach phase of main winding and two suspension windings start to be conducted and excited; according to the position angle theta detected in real time and the main winding current i obtained by the real-time detection of the current sensormaX direction suspension winding current isa1And Y-direction levitation winding current isa2Respectively looking up the torque characteristic table of the main winding and the torque characteristic table of the levitation winding to obtain the current i of the main windingmaGenerated torque TmaX-ray squareTo the floating winding current isa1Generated torque Tsa1And Y-direction levitation winding current isa2Generated torque Tsa2The actual value T of the phase total torque is obtained through calculationa(ii) a Then with a given torque TaComparing, performing PI regulation on the torque error signal to obtain an average current reference value i of the equivalent single windingavA first step of; obtaining a main winding current reference value i through a current calculation linkmaA first step of; carrying out PID adjustment on the displacement error signal to obtain each phase of given suspension force Fα*，FβCombining with the reference value i of the current of the main windingmaObtaining a reference value i of the current of the suspension winding in the X direction after looking up the suspension force characteristic tablesa1Reference value i of floating winding current in X and Y directionssa2A first step of; tracking the actual current i by current chopping controlma*、isa1A and isa2To generate the required levitation force and torque while achieving levitation and rotation of the motor.
A torque control method of a composite rotor double-winding bearingless switched reluctance motor comprises the following steps:
step A, obtaining an opening angle thetaon；
Acquiring real-time position information of a rotor to obtain a real-time position angle theta of the rotor; selecting one phase of the three-phase working motor, and when the rotor position angle theta of the phase is equal to thetaonWhen the phase is switched on, the power switch tube of each winding power circuit of the phase is switched on, and the phase starts to be conducted; thetaonThe motor running speed and the load working condition are determined;
step B, obtaining the given suspension force in the direction of the phase X axisAnd given levitation force in the Y-axis directionThe method comprises the following specific steps:
b-1, acquiring real-time displacement signals α and beta of a rotor in the X-axis direction and the Y-axis direction, wherein the X-axis direction is superposed with the central line of the suspension winding tooth pole in the X-axis direction, the Y-axis direction is superposed with the central line of the suspension winding tooth pole in the Y-axis direction, and the X-axis direction and the Y-axis direction have a spatial difference of 90 degrees;
step B-2, respectively connecting the real-time displacement signals α and β with a given reference displacement signal α*and beta*subtracting to obtain real-time displacement signal differences delta α and delta β in the X-axis direction and the Y-axis direction respectively, and obtaining the given value of the suspension force in the X-axis direction by passing the real-time displacement signal differences delta α and delta β through a proportional-integral-derivative controllerAnd given value of suspension force in Y-axis direction
Step C, obtaining the real-time torque T of the phasea(ii) a The method comprises the following specific steps:
step C-1, detecting in real time to obtain the actual current i of the phase main windingmaActual current i of the X-axis direction levitation windingsa1And the actual current i of the Y-axis direction suspension windingsa2；
Step C-2, according to the actual current i of the phase main windingmaAnd the real-time rotor position angle theta is obtained to obtain the actual main winding torque Tma；
Obtaining the actual current i of the phase main winding through the finite element calculation of the electromagnetic field of the motormaThe generated magnetic field stores energy Wa(imaθ), in turn according to the formulaCalculate to obtain different imaMain winding torque T at sum thetama(ii) a Wherein, Wa(imaAnd theta) is about imaAnd a non-linear function of θ, related to the structural dimensions of the motor;
step C-3, according to the current isa1And isa2And a real-time rotor position angle θ, obtained from isa1And isa2Respectively generated actual levitation winding torque Tsa1And Tsa2；
Respectively obtaining the current i through the finite element calculation of the electromagnetic field of the motorsa1The generated magnetic field stores energy Wa(isa1θ) and the current isa2The generated magnetic field stores energy Wa(isa2θ), in turn according to the formulaAndrespectively calculate different isa1、isa2Torque at sum θ Tsa1And Tsa2(ii) a Wherein, Wa(isa1And theta) is about isa1And a non-linear function of theta, Wa(isa2And theta) is about isa2And a non-linear function of θ, related to the structural dimensions of the motor;
step C-4, according to the torque Tma、Tsa1And Tsa2Calculating the formula T from the total torquea＝Tma+Tsa1+Tsa2Calculating the real-time torque T of the phasea；
Step D, obtaining the reference value of the phase main winding currentThe method comprises the following specific steps:
step D-1, the torque TaWith a set reference torqueSubtracting to obtain a torque difference Delta Ta；
Step D-2, the torque difference DeltaTaObtaining the average current reference value of the equivalent single winding through a proportional integral controller
Step D-3, according to the reference value of the average currentCalculating to obtain the reference value of the phase main winding currentIs calculated by the formulaWhere N is the number of turns of the equivalent single winding, and N is Nm+Nb，NmIs the number of main winding turns, NbThe number of turns of the suspension winding;
step E, obtaining the reference value of the phase X-axis direction suspension winding currentAnd reference value of Y-axis direction suspension winding current
According to the suspension forceAndreference value of phase main winding currentAnd real-time rotor position angle theta to obtain reference value of suspension winding current in X-axis directionAnd reference value of Y-axis direction suspension winding current
Respectively obtaining the current by finite element calculation of the electromagnetic field of the motorAndenergy storage of the generated magnetic fieldAnd the currentAndenergy storage of the generated magnetic fieldAccording to the formulaAndrespectively calculate out the differencesSuspension force at and thetaAndwherein,is abouta non-linear function of theta and α,is abouta non-linear function of θ and β, related to the structural dimensions of the motor;
step F, utilizing a current chopping control method to enable the actual current i of the main windingmaTracking its reference valueLet the actual current i of the X-axis direction levitation windingsa1Tracking its reference valueLet actual current i of Y-axis direction suspension windingsa2Tracking its reference value
G, ending the phase excitation, and starting conducting excitation of the other phase;
when the phase passes the conduction interval of 15 deg., the rotor rotates to the off angle thetaoffWhen the position is reached, the power switch tube of each winding power circuit of the phase is turned off, and the power switch tube of each winding power circuit of the other phase is turned on at the same time, so that the phase stops conducting, and the other phase starts conducting; wherein, thetaoff＝θon+15°。
In summary, according to the single-phase conduction control strategy adopted by the invention, each phase of main winding and two direction suspension windings are excited simultaneously, and the excitation width angle is 15 degrees; reference values of currents of the main winding and the suspension windings in two directions are obtained only by searching a torque and suspension force characteristic table, and then the torque and the suspension force are adjusted simultaneously through current control of the windings. The torque and levitation force characteristic table considers the saturation characteristic of the motor, and the load adaptability is high; in addition, torque is used as a control parameter in the control, so that the direct torque control of the motor is realized, constant torque output can be realized, and torque pulsation is small; in addition, a mathematical model of the torque and the suspension force of the bearingless switched reluctance motor is not required to be established like the traditional control method of the bearingless switched reluctance motor, and the established mathematical model is difficult to reflect the nonlinearity of the motor, so the control method also has higher control precision.
Other advantages and modifications will readily occur to those skilled in the art, based upon the above description. Therefore, the present invention is not limited to the above specific examples, and a detailed and exemplary description of one aspect of the present invention will be given by way of example only. Those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (1)
1. A torque control method of a compound rotor double-winding bearingless switched reluctance motor comprises a stator, a salient pole rotor, a cylindrical rotor, a main winding coil, a suspension winding coil and a rotating shaft; the stator is of a salient pole structure, and the number of stator teeth of the stator is 12; the cylindrical rotor is of a cylindrical structure; the salient pole rotor is of a salient pole structure, and the number of salient pole rotor teeth is 8; the cylindrical rotor and the salient pole rotor are closely arranged in series, sleeved on the rotating shaft and arranged in the stator; each stator tooth is wound with 1 main winding coil and 1 suspension winding coil, and the number of the main winding coils and the suspension winding coils is 12; the composite rotor double-winding bearingless switched reluctance motor is a three-phase working motor, each phase of winding consists of main winding coils and suspension winding coils on four stators which are spatially separated by 90 degrees, and 1 main winding, 1X-axis direction suspension winding and 1Y-axis direction suspension winding are formed by connection; the connection mode of each phase of winding is that four main winding coils which are spaced at 90 degrees are connected in series to form 1 main winding; two suspension winding coils which are spaced at 180 degrees are reversely connected in series to form 1X-axis direction suspension winding; the other two suspension winding coils which are spaced by 180 degrees are reversely connected in series to form 1Y-axis direction suspension winding; the X-axis direction suspension winding and the Y-axis direction suspension winding of each phase are separated by 90 degrees in space;
the torque control method is characterized in that each phase of main winding and two direction suspension windings are excited simultaneously, and the excitation width angle is 15 degrees; controlling the current of each winding according to the reference values of the current of the main winding and the current of the suspension windings in two directions to realize simultaneous adjustment of the torque and the suspension force; the method comprises the following steps:
step A, obtaining an opening angle thetaon；
Acquiring real-time position information of a rotor to obtain a real-time position angle theta of the rotor; selecting one phase of the three-phase working motor, and when the rotor position angle theta of the phase is equal to thetaonWhen the phase is switched on, the power switch tube of each winding power circuit of the phase is switched on, and the phase starts to be conducted; thetaonThe motor running speed and the load working condition are determined;
step B, obtaining the given suspension force in the direction of the phase X axisAnd given levitation force in the Y-axis directionThe method comprises the following specific steps:
b-1, acquiring real-time displacement signals α and beta of a rotor in the X-axis direction and the Y-axis direction, wherein the X-axis direction is superposed with the central line of the suspension winding tooth pole in the X-axis direction, the Y-axis direction is superposed with the central line of the suspension winding tooth pole in the Y-axis direction, and the X-axis direction and the Y-axis direction have a spatial difference of 90 degrees;
step B-2, respectively connecting the real-time displacement signals α and β with a given reference displacement signal α*and beta*subtracting to obtain real-time displacement signal differences delta α and delta β in the X-axis direction and the Y-axis direction respectively, and obtaining the given value of the suspension force in the X-axis direction by passing the real-time displacement signal differences delta α and delta β through a proportional-integral-derivative controllerAnd given value of suspension force in Y-axis direction
Step C, obtaining the real-time torque T of the phasea(ii) a The method comprises the following specific steps:
step C-1, detecting in real time to obtain the actual current i of the phase main windingmaActual current i of the X-axis direction levitation windingsa1And the actual current i of the Y-axis direction suspension windingsa2；
Step C-2, according to the actual current i of the phase main windingmaAnd the real-time rotor position angle theta is obtained to obtain the actual main winding torque Tma；
Obtaining the actual current i of the phase main winding through the finite element calculation of the electromagnetic field of the motormaThe generated magnetic field stores energy Wa(imaθ), in turn according to the formulaCalculate to obtain different imaMain winding torque T at sum thetama(ii) a Wherein, Wa(imaAnd theta) is about imaAnd a non-linear function of θ, related to the structural dimensions of the motor;
step C-3, according to the current isa1And isa2And a real-time rotor position angle θ, obtained from isa1And isa2Respectively generated actual levitation winding torque Tsa1And Tsa2；
Respectively obtaining the current i through the finite element calculation of the electromagnetic field of the motorsa1The generated magnetic field stores energy Wa(isa1θ) and the current isa2The generated magnetic field stores energy Wa(isa2θ), in turn according to the formulaAndrespectively calculate different isa1、isa2Torque at sum θ Tsa1And Tsa2(ii) a Wherein, Wa(isa1And theta) is about isa1And a non-linear function of theta, Wa(isa2And theta) is about isa2And a non-linear function of θ, related to the structural dimensions of the motor;
step C-4, according to the torque Tma、Tsa1And Tsa2Calculating the formula T from the total torquea＝Tma+Tsa1+Tsa2Calculating the real-time torque T of the phasea；
Step D, obtaining the reference value of the phase main winding currentThe method comprises the following specific steps:
step D-1, the torque TaWith a set reference torqueSubtracting to obtain a torque difference Delta Ta；
Step D-2, the torque difference DeltaTaObtaining the average current reference value of the equivalent single winding through a proportional integral controller
Step D-3, according to the average powerReference value of streamCalculating to obtain the reference value of the phase main winding currentIs calculated by the formulaWhere N is the number of turns of the equivalent single winding, and N is Nm+Nb，NmIs the number of main winding turns, NbThe number of turns of the suspension winding;
step E, obtaining the reference value of the phase X-axis direction suspension winding currentAnd reference value of Y-axis direction suspension winding current
According to the suspension forceAndreference value of phase main winding currentAnd real-time rotor position angle theta to obtain reference value of suspension winding current in X-axis directionAnd reference value of Y-axis direction suspension winding current
Through the stationThe electromagnetic field finite element calculation of the motor is carried out to respectively obtain the currentAndenergy storage of the generated magnetic fieldAnd the currentAndenergy storage of the generated magnetic fieldAccording to the formulaAndrespectively calculate out the differencesSuspension force at and thetaAndwherein,is abouta non-linear function of theta and α,is abouta non-linear function of θ and β, related to the structural dimensions of the motor;
step F, utilizing a current chopping control method to enable the actual current i of the main windingmaTracking its reference valueLet the actual current i of the X-axis direction levitation windingsa1Tracking its reference valueLet actual current i of Y-axis direction suspension windingsa2Tracking its reference value
G, ending the phase excitation, and starting conducting excitation of the other phase;
when the phase passes the conduction interval of 15 deg., the rotor rotates to the off angle thetaoffWhen the position is reached, the power switch tube of each winding power circuit of the phase is turned off, and the power switch tube of each winding power circuit of the other phase is turned on at the same time, so that the phase stops conducting, and the other phase starts conducting; wherein, thetaoff＝θon+15°。
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| CN103296935A (en) * | 2013-05-28 | 2013-09-11 | 南京航空航天大学 | Composite-structure bearingless switched reluctance motor and control method thereof |
| CN104377880A (en) * | 2014-10-08 | 2015-02-25 | 南京邮电大学 | Composite structure duplex winding maglev switched reluctance motor |
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