CN106953459B - A kind of hybrid magnetic bearing switched reluctance machines and its control method - Google Patents
A kind of hybrid magnetic bearing switched reluctance machines and its control method Download PDFInfo
- Publication number
- CN106953459B CN106953459B CN201710231345.1A CN201710231345A CN106953459B CN 106953459 B CN106953459 B CN 106953459B CN 201710231345 A CN201710231345 A CN 201710231345A CN 106953459 B CN106953459 B CN 106953459B
- Authority
- CN
- China
- Prior art keywords
- suspending
- torque
- phase
- rotor
- stator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/09—Structural association with bearings with magnetic bearings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Electric Motors In General (AREA)
- Synchronous Machinery (AREA)
Abstract
The invention discloses a kind of hybrid magnetic bearing switched reluctance machines and its control methods, belong to magnetic suspension motor and its control field.The motor is gathered by 12/8 pole switching reluctance motor and the series connection of 4 pole magnetic bearings；4 suspending windings are wrapped on magnetic bearing stator and 4 aligned reluctance motor stators, for generating suspending power；8 armature winding are wound on remaining 8 reluctance motor stator, for generating torque.In control, suspending windings generate suspending power using permanent conducting excitation simultaneously in magnetic bearing and reluctance motor；8 torque windings are connected as two-phase, and excitation is connected in turn, and torque is generated in reluctance motor.In each positive and negative half period of the control method of motor of the present invention, suspending windings current-symmetrical, the positive torque of generation is equal with negative torque, average torque zero, therefore suspending power and average torque decouple；In addition, the positive torque further improves electric motor starting performance, the disadvantage that traditional two-phase induction motor starting can be overcome difficult；And the configuration of the present invention is simple, power system is at low cost and control is simple.
Description
Technical field
The present invention relates to a kind of hybrid magnetic bearing switched reluctance machines and its control methods, belong to magnetic levitation switch magnetic resistance electricity
Machine and its control technology field.
Background technique
Bearing-free switch reluctance motor is a kind of novel magnetically levitated motor to grow up the 1990s.Bearing-free is opened
Reluctance motor is closed because integrating rotation and two functions that suspend, bearing friction bring when high-speed cruising not only can be effectively solved and damage
Consumption and fever the problems such as, moreover it is possible to further play switched reluctance machines high-speed adaptability, thus strengthen its aerospace, fly
Take turns the application foundation of the High Speed Fields such as energy storage, naval vessel.
With the continuous deepening of research, can people gradually recognize, solve between torque and the effective output area of suspending power
Restriction, suspend with two functions of rotation whether can decoupling control and the control precision quality that suspends when high speed, to BSRM high speed
Whether can be not fully exerted and play a crucial role.
For this purpose, NASA scholar Morrison proposes a kind of hybrid magnetic bearing switched reluctance machines, which is 8 by stator
Pole salient-pole structure, and rotor then uses composite construction, is made of a cylindrical rotor and 8 pole field spiders.Four in level
Suspending power is generated with vertical winding perseverance conducting, four additional winding is connected as two-phase two-by-two, and conducting generates torque in turn.Due to
Cylindrical rotor can produce biggish suspending power, therefore the radial load ability of the motor is significantly improved, while it has complete turn
Sub- position all has the ability of suspension bearing.
However, since magnetic bearing and switched reluctance machines share a stator, two-phase armature winding and four suspending windings
Between there are stronger magnetic coupling, suspending power mathematical model is complicated；In addition, four suspending windings are equivalent to traditional 8/6 pole switch magnetic
The other two-phase of motor is hindered, and the torque direction generated limits starting performance always on the contrary, torque pulsation is big, the motor
Starting ability is similar to traditional two-phase induction motor, and there are starting dead zones；It is limited by the structure, which can not achieve torque and suspension
The decoupling control of power, the accurate control that high speed suspends are more difficult.For this purpose, improving starting performance, reducing its stiffness of coupling, realize
Decoupling control is one of focus on research direction of such motor.
Summary of the invention
A kind of structure is simple, starting performance is preferable, coupling strength is weak, the control that suspends is simple object of the present invention is to proposing and
The hybrid magnetic bearing switched reluctance machines and its control method of torque and Decoupling control of levitation force can be achieved.
The present invention to achieve the above object, adopts the following technical scheme that
A kind of hybrid magnetic bearing switched reluctance machines, including reluctance motor stator, magnetic resistance motor rotor, magnetic bearing stator,
Magnetic bearing rotor, torque coil, suspended coil and shaft；
The reluctance motor stator is connected close arrangement with magnetic bearing stator, the magnetic resistance motor rotor and magnetic bearing rotor
Series connection close arrangement；The magnetic resistance motor rotor is arranged in reluctance motor stator, and the magnetic bearing rotor is arranged in magnetic bearing
In stator, the magnetic resistance motor rotor and magnetic bearing rotor cover in shaft；
The reluctance motor stator is salient-pole structure, and the number of teeth 12, all reluctance motor stator teeth are uniformly distributed, tooth and tooth
It is separated by 30 °；The magnetic resistance motor rotor is salient-pole structure, and the number of teeth 8, all magnetic resistance motor rotor teeth are uniformly distributed, tooth and tooth
It is separated by 45 °；The polar arc angle of the reluctance motor stator and the polar arc angle of magnetic resistance motor rotor are equal, and polar arc angle is 15 °；
The magnetic bearing stator is salient-pole structure, and the number of teeth 4, all magnetic bearing stator tooths are uniformly distributed, and tooth is separated by with tooth
90 °, the magnetic bearing rotor is cylindrical structure；
4 magnetic bearing stator tooths are aligned with 4 reluctance motor stator teeth, and close arrangement of connecting, and constitute 4 suspending powers altogether
Stator tooth, wherein 2 suspending power stator tooths for being separated by 180 ° are located at horizontal direction, remaining 2 are separated by 180 ° of suspending power stator
Tooth position is in vertical direction；
It is wound with 1 suspended coil on 4 suspending power stator tooths, totally 4 suspended coils, forms A phase winding；Magnetic resistance
It is wound with 1 torque coil on remaining 8 teeth of motor stator, totally 8；
4 are separated by 90 ° of torque coil series connection, constitute B phase torque winding；Remaining 4 are separated by 90 ° of torque coil string
Connection constitutes C phase torque winding；B phase torque winding spatially differs 30 ° with C phase torque winding；
4 suspended coil independent controls, wherein being wound on suspended coil of the horizontal square on suspending power stator tooth and being
Horizontal square to suspending windings, be wound on suspended coil on horizontal negative direction suspending power stator tooth be horizontal negative direction suspend around
Group, the suspended coil being wound on vertical positive direction suspending power stator tooth is vertical positive direction suspending windings, is wound on vertical negative direction
Suspended coil on suspending power stator tooth is vertical negative direction suspending windings.
A kind of control method of hybrid magnetic bearing switched reluctance machines, the 4 suspending windings perseverance conductings of A phase generate suspending power,
And positive torque is generated in half of rotor cycle, negative torque is generated in remaining half of rotor cycle；B phase and C phase torque winding are in turn
Excitation conducting, generates torque；By the size of independent control A 4 suspending windings electric currents of phase, to adjust suspending power, and suspend around
The positive and negative torque that group electric current generates in a rotor cycle is symmetry equivalent, average torque zero, therefore average torque and suspending power
Decoupling；By controlling the size of B, C two-phase torque winding current, to adjust output torque, torque winding current is only as suspension
The intermediate variable that winding current calculates, control is unrelated with suspending, and torque winding current is only related to output torque, therefore turns
Square control and the control that suspends are mutually indepedent；Include the following steps:
Step A acquires magnetic resistance motor rotor real time position angle θ, differentiates each phase excited state；
Step A-1, magnetic resistance motor rotor position when defining θ=0 are suspending power stator tooth and magnetic resistance motor rotor tooth pair
Neat position, a magnetic resistance motor rotor period angle are 45 °, the 4 suspending windings perseverance conductings of A phase, and the control of each suspending power
It is [- 22.5 °, 22.5 °] that section, which is connected, and 4 suspending windings start excitation conducting when enabling θ=0；
Step A-2, as θ=θonbWhen, the power switch of B phase torque winding power circuit is opened, B phase starts excitation conducting,
As θ=θoffbWhen, the power switch of B phase torque winding power circuit is turned off, B phase terminates excitation；Wherein, θonbAnd θoffbRespectively
The turn-on angle of B phase torque winding power circuit and shutdown angle, θonbValue range be [- 7.5 °, 0], B phase torque winding is led
Current flow angle is (θoffb-θonb), value range is [15 °, 20 °]；
Step A-3, as θ=θoncWhen, the power switch of C phase torque winding power circuit is opened, C phase starts excitation conducting,
As θ=θoffcWhen, the power switch of C phase torque winding power circuit is turned off, C phase terminates excitation；Wherein, θoncAnd θoffcRespectively
The turn-on angle of C phase torque winding power circuit and shutdown angle, θonc=θonb+ 15 °, θoffc=θoffb+15°；
Step B obtains x-axis direction and gives suspending powerSuspending power is given with y-axis directionSpecific step is as follows:
Step B-1 obtains rotor in the real-time displacement signal alpha and β in x-axis and y-axis direction, wherein x-axis and horizontal direction are outstanding
Buoyancy stator tooth center line is overlapped, and y-axis is overlapped with vertical direction suspending power stator tooth center line, and x-axis is spatially differed with y-axis
90°；
Step B-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtains x
The real-time displacement signal difference Δ α and Δ β is passed through ratio by real-time displacement the signal difference Δ α and Δ β of axis direction and y-axis direction
Integral-derivative controller obtains the x-axis direction and gives suspending powerSuspending power is given with y-axis direction
Step C adjusts torque, the specific steps are as follows:
Step C-1 acquires the real-time revolving speed of magnetic resistance motor rotor, magnetic resistance motor rotor angular velocity omega is calculated；
The reference angular velocities ω of step C-2, magnetic resistance motor rotor angular velocity omega and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step C-3, the rotation speed difference deltan ω obtain torque winding current reference value i by pi controllerm *；
Step C-4, using Current cut control method, with actual torque winding current imTrack torque winding current ginseng
Examine value im *, and then torque winding current i is adjusted in real timem, and then achieve the purpose that adjust torque；
Step D adjusts suspending power, the specific steps are as follows:
Step D-1 gives suspending power according to the x-axis directionY-axis direction gives suspending powerWith torque winding electricity
Flow reference value im *And electric current calculation formulaResolving obtains x-axis direction suspending windings current difference
Reference valueWith the reference value of y-axis direction suspending windings current difference
Wherein, kiFor the suspension force coefficient in the i-th suspension section, the 1st suspension section is θ ∈ [- 22.5 °, -15 °], and the 2nd is outstanding
It is θ ∈ [- 15 °, 0] that the 3rd suspension section is θ ∈ [0, -15 °] between floating region, the 4th suspension section is θ ∈ [15 °, 22.5 °], each
The suspension force coefficient in section is respectively as follows:
In formula, μ0For space permeability, l1For the axial length of magnetic bearing, r1For the radius of magnetic bearing rotor, αsFor magnetic axis
The polar arc angle of stator is held, unit is degree, δ1For the unilateral gas length of magnetic bearing, NsFor suspending windings the number of turns, l2For switching magnetic-resistance
The axial length of motor, r2For the radius of switch reluctance machine rotor, δ2For the unilateral gas length of switched reluctance machines, switch
Reluctance motor stator and rotor polar arc angle is 15 °；
Step D-2, according to describedWithAnd electric current calculation formula WithResolving obtains the reference value of four suspending windings electric currentsWith
Step D-3 allows the actual current i of four suspending windings using Current cut control methods1、is2、is3And is4Point
Its reference value is not trackedWithTo adjust the suspending power in each suspension section in real time, and then realize each
The suspension operation of rotor cycle.
Beneficial effects of the present invention: the invention proposes a kind of hybrid magnetic bearing switched reluctance machines and its control method,
Using technical solution of the present invention, following technical effect can be reached:
(1) decoupling control of average torque and suspending power can be achieved；
(2) control is simple, and starting performance is preferable；
(3) structure is simple, and power system is at low cost.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of hybrid magnetic bearing switched reluctance machines.
Fig. 2 is B the and C phase winding schematic diagram of switched reluctance machines in the present invention.
Fig. 3 is 4 suspending windings schematic diagrames of A phase of magnetic bearing in the present invention.
Fig. 4 is the inductance and current waveform schematic diagram of suspending windings and torque winding.
Fig. 5 is the system block diagram of hybrid magnetic bearing switched reluctance machines.
Fig. 6 is each suspending windings current calculation method block diagram in control method of the present invention.
Description of symbols: Fig. 1 is into Fig. 6, and 1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, and 3 be that magnetic bearing is fixed
Son, 4 be magnetic bearing rotor, and 5 be torque coil, and 6 be suspended coil, and 7 be shaft, 8,9,10 difference x, y, z axis direction reference axis
Positive direction, 11 be B phase torque winding inflow electric current ib+, 12 be the outflow electric current i of B phase torque windingb, 13 be the torque of C phase
The inflow electric current i of windingc+, 14 be the outflow electric current i of C phase torque windingc, 15 be the inflow electric current of positive direction of the x-axis suspending windings
is1+, 16 be the outflow electric current i of positive direction of the x-axis suspending windingss1, 17 be the inflow electric current i of positive direction of the y-axis suspending windingss2+, 18
For the outflow electric current i of positive direction of the y-axis suspending windingss2, 19 be the inflow electric current i of negative direction of the x-axis suspending windingss3+, 20 be x-axis
The outflow electric current i of negative direction suspending windingss3, 21 be the inflow electric current i of negative direction of the y-axis suspending windingss4+, 22 be negative direction of the y-axis
The outflow electric current i of suspending windingss4, 23,24,25,26 be respectively that air gap 1, air gap 2, air gap 3 and air gap 4,27,28,29 are distinguished
It is respectively suspending windings, B phase torque for suspending windings, the inductance curve of B phase torque winding and C phase torque winding, 30,31,32
The current curve of winding and C phase torque winding, Fα*, FβIt * is the reference value of suspending power, α, β are respectively rotor on x, y-axis direction
Center displacement, α *, β * are respectively the reference value of rotor center displacement on x, y-axis direction, θon、θoffIt respectively opens and closes
The angle of rupture, θonb、θoffbB phase torque winding is to turn on and off angle respectively, θonc、θoffcRespectively C phase torque winding be open and
Turn off angle.
Specific embodiment
With reference to the accompanying drawing, to the technical solution of a kind of hybrid magnetic bearing switched reluctance machines of the present invention and its control method
It is described in detail:
As shown in Figure 1, being the three dimensional structure diagram of hybrid magnetic bearing switched reluctance machines, wherein 1 is that reluctance motor is fixed
Son, 2 be magnetic resistance motor rotor, and 3 be magnetic bearing stator, and 4 be magnetic bearing rotor, and 5 be torque coil, and 6 be suspended coil, and 7 be to turn
Axis.
A kind of hybrid magnetic bearing switched reluctance machines, including reluctance motor stator, magnetic resistance motor rotor, magnetic bearing stator,
Magnetic bearing rotor, torque coil, suspended coil and shaft；
The reluctance motor stator is connected close arrangement with magnetic bearing stator, the magnetic resistance motor rotor and magnetic bearing rotor
Series connection close arrangement；The magnetic resistance motor rotor is arranged in reluctance motor stator, and the magnetic bearing rotor is arranged in magnetic bearing
In stator, the magnetic resistance motor rotor and magnetic bearing rotor cover in shaft；
The reluctance motor stator is salient-pole structure, and the number of teeth 12, all reluctance motor stator teeth are uniformly distributed, tooth and tooth
It is separated by 30 °；The magnetic resistance motor rotor is salient-pole structure, and the number of teeth 8, all magnetic resistance motor rotor teeth are uniformly distributed, tooth and tooth
It is separated by 45 °；The polar arc angle of the reluctance motor stator and the polar arc angle of magnetic resistance motor rotor are equal, are 15 °；
The magnetic bearing stator is salient-pole structure, and the number of teeth 4, all magnetic bearing stator tooths are uniformly distributed, and tooth is separated by with tooth
90 °, the magnetic bearing rotor is cylindrical structure；
4 magnetic bearing stator tooths are aligned with 4 reluctance motor stator teeth, and close arrangement of connecting, and constitute 4 suspending powers altogether
Stator tooth, wherein 2 suspending power stator tooths for being separated by 180 ° are located at horizontal direction, remaining 2 are separated by 180 ° of suspending power stator
Tooth position is in vertical direction；
It is wound with 1 suspended coil on 4 suspending power stator tooths, totally 4, constitutes A phase winding；Reluctance motor stator
It is wound with 1 torque coil on remaining 8 teeth, totally 8；
4 are separated by 90 ° of torque coil series connection, constitute B phase torque winding, and remaining 4 are separated by 90 ° of torque coil string
Connection, constitutes C phase torque winding, and B phase torque winding spatially differs 30 ° with C phase torque winding；
4 suspended coil independent controls, wherein being wound on suspending windings of the horizontal square on suspending power stator tooth and being
Horizontal square to suspending windings, be wound on suspending windings on horizontal negative direction suspending power stator tooth be horizontal negative direction suspend around
Group, the suspending windings being wound on vertical positive direction suspending power stator tooth are vertical positive direction suspending windings, are wound on vertical negative direction
Suspending windings on suspending power stator tooth are vertical negative direction suspending windings.
As shown in Fig. 2, being B the and C phase winding schematic diagram of switched reluctance machines in the present invention.B phase and C phase torque winding are equal
It is formed by four windings in series for being spatially separated by 90 °, the two differs 30 ° and -30 ° with suspending windings in position.B phase and C
Four magnetic poles of phase are in NSNS distribution.
As shown in figure 3, being 4 suspending windings schematic diagrames of A phase of magnetic bearing in the present invention.Each suspending windings are across one
Magnetic bearing stator and aligned reluctance motor stator, that is, be wound on suspending power stator, and four suspending windings are individually for a set of
Winding, independent control, and asymmetric excitation is carried out, suspending power is only generated in magnetic bearing, is not only produced in switched reluctance machines
Raw suspending power, also generation torque.The polarity of the magnetic field that four suspending windings generate is distributed in NSNS.
As positive direction of the x-axis suspending windings electric current is1Greater than negative direction of the x-axis suspending windings electric current is3When, air gap 1 (label 23)
The air gap flux density at place is greater than the air gap flux density at air gap 3 (label 25), will generate the suspending power of a positive direction of the x-axis；Conversely, is1
<is3When, the suspending power of a negative direction of the x-axis will be generated.
As positive direction of the y-axis suspending windings electric current is2Greater than negative direction of the y-axis suspending windings electric current is4When, air gap 2 (label 24)
The air gap flux density at place is greater than the air gap flux density at air gap 4 (label 26), will generate the suspending power of a positive direction of the y-axis；Conversely, is2
<is4When, the suspending power of a negative direction of the y-axis will be generated.
Therefore, the size for rationally controlling four suspending windings electric currents, that is, can produce required suspending power, to realize rotor
The suspension of two-freedom.
As shown in figure 4, being the inductance and current waveform schematic diagram of suspending windings and torque winding.In figure, label 27,28,
29 be respectively suspending windings, B phase torque winding and C phase torque winding inductance curve, label 30,31,32 be respectively suspend around
The current curve of group, B phase torque winding and C phase torque winding.Since suspending windings are using permanent conducting control mode, suspending windings
Electric current is one continuously and in periodically variable curve, and period angle is 45 °, in aligned position (θ=0), suspending windings electric current
Minimum is being misaligned position (θ=22.5 ° or -22.5 °), and suspending windings electric current is maximum.Due to be misaligned near position [-
22.5 °, -15 °] and [15 °, 22.5 °], the magnetic resistance substantially constant of switched reluctance machines, the suspending power in this section is also substantially permanent
It is fixed, it is unrelated with rotor position angle, therefore suspending windings electric current is also essentially constant.
Two-phase torque winding current is cyclically-varying rule, period angle is also 45 °, and two by control bit square
The switching angle of person differs 15 °.
In addition, generating positive torque in [- 22.5 °, 0] interior suspending windings electric current, produced in [0,22.5 °] interior suspending windings electric current
Raw negative torque since the levitating current in [- 22.5 °, 0] and [0,22.5 °] two sections is symmetry equivalent, therefore generates in two sections
Positive and negative torque it is just equal, average torque zero, and then can realize the decoupling control of average torque and suspending power.
As shown in figure 5, being the system block diagram of magnetic bearing switch reluctance motor.Control process are as follows: by displacement error signal into
Row PID is adjusted, and obtains given suspending power Fα*, Fβ*, pass through levitating current controller later, obtain the ginseng of each suspending windings electric current
Value is examined, using Current cut control method, each suspending windings actual current is allowed to track respective reference value, to generate required hang
Buoyancy.
Motor rotor position information is detected, actual speed ω is calculated, obtains the turn-on angle θ of every phase torque windingon
With shutdown angle θoff, speed error signal is subjected to PI adjusting, the reference value of B phase and C phase torque winding current is obtained, utilizes electricity
Stream chop control tracks the reference value of every phase winding electric current by two-phase actual current, and dynamic regulation output torque.
As shown in fig. 6, being each suspending windings current calculation method block diagram in control method of the present invention.Due to rotor
The variation of angular position theta, the suspension that each suspending windings electric current generates also change therewith, and the period of another rotor position angle is
45 °, therefore need to only derive the suspending power formula in a cycle.
1, when rotor is in 1 section, i.e. θ ∈ [- 22.5 °, -15 °], x and y-axis direction suspending power FαAnd FβExpression
Formula are as follows:
Wherein, k1For suspension force coefficient, expression formula are as follows:
In formula, μ0For space permeability, l1For the axial length of magnetic bearing, r1For the radius of magnetic bearing rotor, αsFor magnetic axis
Hold the polar arc angle of stator, δ1For the unilateral gas length of magnetic bearing, NsFor suspending windings the number of turns.
2, when rotor is in 2 section, i.e. θ ∈ [- 15 °, 0], x and y-axis direction suspending power FαAnd FβExpression formula are as follows:
Wherein, k2For suspension force coefficient, expression formula are as follows:
In formula, l2For the axial length of switched reluctance machines, r2For the radius of switch reluctance machine rotor, δ2To switch magnetic
The unilateral gas length of motor is hindered, switched reluctance machines stator and rotor polar arc angle is 15 ° at this time.
3, when rotor is in 3 section, i.e. θ ∈ [0,15 °], x and y-axis direction suspending power FαAnd FβExpression formula are as follows:
Wherein, k3For suspension force coefficient, expression formula are as follows:
4, when rotor is in 4 section, i.e. θ ∈ [15 °, 22.5 °], x and y-axis direction suspending power FαAnd FβExpression formula
Are as follows:
Wherein, k4For suspension force coefficient, expression formula are as follows:
When known to two radial suspension forces, two constraint equations need to be introduced, four current variables could be solved, are enabled:
Wherein, imFor B, C phase torque winding current values, Δ is1For two suspending windings difference between currents of horizontal direction, Δ is2For
Two suspending windings difference between currents of vertical direction.
Then above-mentioned suspending power formula becomes:
Fα=kiimΔis1 (14)
Fβ=kiimΔis2 (15)
In formula, kiFor the suspension force coefficient in the i-th section.
In control, the reference value of both direction suspending power is can be obtained after PID is adjusted in two radial displacementsWithAnd
The reference value of B and C phase torque winding current can be obtained after PI is adjusted in revolving speedTherefore, formula (14) and (15) are based on, it can
To obtain the reference value of both direction suspending windings difference between currentsWithThat is:
The reference value of four suspending windings electric currents more further can be calculated according to formula (13), (16) and (17)WithThat is:
It is above-mentioned analysis shows that, torque winding current be only used as levitating current calculate an intermediate variable, specific value
It is only determined by the PI adjusting in speed closed loop, that is, is only dependent upon real-time output torque；And it is entirely calculated in suspending windings electric current
In the process, do not consider that influence of the suspending windings electric current to output torque, influence of the levitating current to output torque only pass through speed
The PI of closure is adjusted to make up.Therefore direct torque and suspending power control mutually decoupling, in addition, in a rotor cycle, suspend around
The torque that group electric current generates is zero, i.e., average torque is zero, therefore average torque is also mutually decoupled with suspending power.
It should be pointed out that since suspending power and torque are positive and negative only with suspending windings size of current and rotor position angle variation
And change, therefore the direction of four suspending windings electric currents and two torque winding currents does not change in control, therefore only
The power inverter that single electric current direction need to be used can obviously reduce the quantity of power switch tube thus, and then reduce power
The cost of converter.
A kind of control method of hybrid magnetic bearing switched reluctance machines, the 4 suspending windings perseverance conductings of A phase generate outstanding
Buoyancy, and positive torque is generated in half of rotor cycle, negative torque is generated in remaining half of rotor cycle；B phase and C phase torque winding
Excitation is connected in turn, generates torque；By the size of independent control A 4 suspending windings electric currents of phase, to adjust suspending power, and it is outstanding
The positive and negative torque that floating winding current generates in a rotor cycle is symmetry equivalent, average torque zero, therefore average torque and outstanding
Buoyancy decoupling；By the size i for controlling B, C two-phase torque winding currentb、ic, to adjust output torque, torque winding current is only
As the intermediate variable that suspending windings electric current calculates, control is unrelated with suspending, therefore direct torque and the control that suspends are mutually only
It is vertical；Include the following steps:
Step A acquires rotor real time position angle θ, differentiates each phase excited state；
Step A-1, rotor-position when defining θ=0 are the position that suspending power stator tooth is aligned with magnetic resistance motor rotor tooth,
One rotor cycle angle is 45 °, the 4 suspending windings perseverances conductings of A phase, and the conducting section of each suspending power control be [-
22.5 °, 22.5 °], 4 suspending windings start excitation conducting when enabling θ=0；
Step A-2, as θ=θonbWhen, the power switch of B phase torque winding power circuit is opened, B phase starts excitation conducting,
As θ=θoffbWhen, the power switch of B phase torque winding power circuit is turned off, B phase terminates excitation；Wherein, θonbAnd θoffbRespectively
The turn-on angle of B phase torque winding power circuit and shutdown angle, θonbValue range be [- 7.5 °, 0], B phase torque winding is led
Current flow angle is (θoffb-θonb), value range is [15 °, 20 °]；
Step A-3, as θ=θoncWhen, the power switch of C phase torque winding power circuit is opened, C phase starts excitation conducting,
As θ=θoffcWhen, the power switch of C phase torque winding power circuit is turned off, C phase terminates excitation；Wherein, θoncAnd θoffcRespectively
The turn-on angle of C phase torque winding power circuit and shutdown angle, θonc=θonb+ 15 °, θoffc=θoffb+15°；
Step B obtains x-axis direction and gives suspending powerSuspending power is given with y-axis directionSpecific step is as follows:
Step B-1 obtains rotor in the real-time displacement signal alpha and β in x-axis and y-axis direction, wherein x-axis and horizontal direction are outstanding
Buoyancy stator tooth center line is overlapped, and y-axis is overlapped with vertical direction suspending power stator tooth center line, and x-axis is spatially differed with y-axis
90°；
Step B-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtains x
The real-time displacement signal difference Δ α and Δ β is passed through ratio by real-time displacement the signal difference Δ α and Δ β of axis direction and y-axis direction
Integral-derivative controller obtains the x-axis direction and gives suspending powerSuspending power is given with y-axis direction
Step C adjusts torque, the specific steps are as follows:
Step C-1 acquires the real-time revolving speed of rotor, rotor velocity ω is calculated；
The reference angular velocities ω of step C-2, rotor velocity ω and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step C-3, the rotation speed difference deltan ω obtain torque winding current reference value i by pi controllerm *；
Step C-4, using Current cut control method, with actual torque winding current imTrack torque winding current ginseng
Examine value im *, and then torque winding current i is adjusted in real timem, and then achieve the purpose that adjust torque；
Step D adjusts suspending power, the specific steps are as follows:
Step D-1 gives suspending power according to the x-axis directionY-axis direction gives suspending powerWith torque winding electricity
Flow reference value im *And electric current calculation formulaWithResolving obtains x-axis direction suspending windings current difference
Reference valueWith the reference value of y-axis direction suspending windings current difference
Wherein, kiFor the suspension force coefficient in the i-th suspension section, the 1st suspension section is θ ∈ [- 22.5 °, -15 °], and the 2nd is outstanding
It is θ ∈ [- 15 °, 0] that the 3rd suspension section is θ ∈ [0, -15 °] between floating region, the 4th suspension section is θ ∈ [15 °, 22.5 °], each
The suspension force coefficient in section is respectively as follows:
In formula, μ0For space permeability, l1For the axial length of magnetic bearing, r1For the radius of magnetic bearing rotor, αsFor magnetic axis
The polar arc angle of stator is held, unit is degree, δ1For the unilateral gas length of magnetic bearing, NsFor suspending windings the number of turns, l2For switching magnetic-resistance
The axial length of motor, r2For the radius of switch reluctance machine rotor, δ2For the unilateral gas length of switched reluctance machines, switch
Reluctance motor stator and rotor polar arc angle is 15 °；
Step D-2, according to describedWithAnd electric current calculation formula WithResolving obtains the reference value of four suspending windings electric currentsWith
Step D-3 allows the actual current i of four suspending windings using Current cut control methods1、is2、is3And is4Point
Its reference value is not trackedWithTo adjust the suspending power in each suspension section in real time, and then realize each
The suspension operation of rotor cycle.
In conclusion the configuration of the present invention is simple, suspending, control is easy to implement, and power system is at low cost, and can realize average
The decoupling control and torque of torque and suspending power and the independent control of suspending power.
For those skilled in the art, it is excellent that association's others can be easy to according to the above implementation type
Point and deformation.Therefore, the invention is not limited to above-mentioned specific example, as just example to a kind of form of the invention into
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 homotypes by the obtained technical solution of various equivalent replacements
Within enclosing.
Claims (2)
1. a kind of hybrid magnetic bearing switched reluctance machines, which is characterized in that including reluctance motor stator, magnetic resistance motor rotor, magnetic
Bearing stator, magnetic bearing rotor, torque coil, suspended coil and shaft；
The reluctance motor stator is connected close arrangement with magnetic bearing stator, and the magnetic resistance motor rotor is connected with magnetic bearing rotor
Close arrangement；The magnetic resistance motor rotor is arranged in reluctance motor stator, and the magnetic bearing rotor is arranged in magnetic bearing stator
Interior, the magnetic resistance motor rotor and magnetic bearing rotor cover in shaft；
The reluctance motor stator is salient-pole structure, and the number of teeth 12, all reluctance motor stator teeth are uniformly distributed, and tooth is separated by with tooth
30°；The magnetic resistance motor rotor is salient-pole structure, and the number of teeth 8, all magnetic resistance motor rotor teeth are uniformly distributed, and tooth is separated by with tooth
45°；The polar arc angle of the reluctance motor stator and the polar arc angle of magnetic resistance motor rotor are equal, and polar arc angle is 15 °；
The magnetic bearing stator is salient-pole structure, and the number of teeth 4, all magnetic bearing stator tooths are uniformly distributed, and tooth and tooth are separated by 90 °,
The magnetic bearing rotor is cylindrical structure；
4 magnetic bearing stator tooths are aligned with 4 reluctance motor stator teeth, and close arrangement of connecting, and constitute 4 suspending power stators altogether
Tooth, wherein 2 suspending power stator tooths for being separated by 180 ° are located at horizontal direction, remaining 2 are separated by 180 ° of suspending power stator tooth position
In vertical direction；
It is wound with 1 suspended coil on 4 suspending power stator tooths, totally 4 suspended coils, forms A phase winding；Reluctance motor
It is wound with 1 torque coil on remaining 8 teeth of stator, totally 8；
4 are separated by 90 ° of torque coil series connection, constitute B phase torque winding；Remaining 4 are separated by 90 ° of torque coil series connection, structure
At C phase torque winding；B phase torque winding spatially differs 30 ° with C phase torque winding；
4 suspended coil independent controls, wherein being wound on suspended coil of the horizontal square on suspending power stator tooth as level
Positive direction suspending windings, the suspended coil being wound on horizontal negative direction suspending power stator tooth are horizontal negative direction suspending windings, around
Suspended coil on vertical positive direction suspending power stator tooth is vertical positive direction suspending windings, is wound on vertical negative direction suspending power
Suspended coil on stator tooth is vertical negative direction suspending windings.
2. a kind of control method of hybrid magnetic bearing switched reluctance machines according to claim 1, which is characterized in that A phase 4
A suspending windings perseverance conducting generates suspending power, and generates positive torque in half of rotor cycle, generates in remaining half of rotor cycle
Negative torque；Excitation is connected in turn for B phase and C phase torque winding, generates torque；Pass through 4 suspending windings electric currents of independent control A phase
Size, to adjust suspending power, and the positive and negative torque that suspending windings electric current generates in a rotor cycle is symmetry equivalent, average to turn
Square is zero, therefore average torque and suspending power decouple；By controlling the size of B, C two-phase torque winding current, turned with adjusting output
Square, the intermediate variable that torque winding current is only used as suspending windings electric current to calculate, control is unrelated with suspending, therefore direct torque
It is mutually indepedent with the control that suspends；Include the following steps:
Step A acquires magnetic resistance motor rotor real time position angle θ, differentiates each phase excited state；
Step A-1, magnetic resistance motor rotor position when defining θ=0 are what suspending power stator tooth was aligned with magnetic resistance motor rotor tooth
Position, a magnetic resistance motor rotor period angle are 45 °, the 4 suspending windings perseverance conductings of A phase, and the conducting of each suspending power control
Section is [- 22.5 °, 22.5 °], and 4 suspending windings start excitation conducting when enabling θ=0；
Step A-2, as θ=θonbWhen, the power switch of B phase torque winding power circuit is opened, B phase starts excitation conducting, works as θ
=θoffbWhen, the power switch of B phase torque winding power circuit is turned off, B phase terminates excitation；Wherein, θonbAnd θoffbRespectively B phase
The turn-on angle of torque winding power circuit and shutdown angle, θonbValue range be [- 7.5 °, 0], the angle of flow of B phase torque winding
For (θoffb-θonb), value range is [15 °, 20 °]；
Step A-3, as θ=θoncWhen, the power switch of C phase torque winding power circuit is opened, C phase starts excitation conducting, works as θ
=θoffcWhen, the power switch of C phase torque winding power circuit is turned off, C phase terminates excitation；Wherein, θoncAnd θoffcRespectively C phase
The turn-on angle of torque winding power circuit and shutdown angle, θonc=θonb+ 15 °, θoffc=θoffb+15°；
Step B obtains x-axis direction and gives suspending powerSuspending power is given with y-axis directionSpecific step is as follows:
Step B-1 obtains rotor in the real-time displacement signal alpha and β in x-axis and y-axis direction, wherein x-axis and horizontal direction suspending power
Stator tooth center line is overlapped, and y-axis is overlapped with vertical direction suspending power stator tooth center line, and x-axis spatially differs 90 ° with y-axis；
Step B-2, by real-time displacement signal alpha and β respectively with given reference displacement signal α*And β*Subtract each other, respectively obtains x-axis side
To real-time displacement the signal difference Δ α and Δ β with y-axis direction, the real-time displacement signal difference Δ α and Δ β is passed through into proportional integration
Derivative controller obtains the x-axis direction and gives suspending powerSuspending power is given with y-axis direction
Step C adjusts torque, the specific steps are as follows:
Step C-1 acquires the real-time revolving speed of magnetic resistance motor rotor, magnetic resistance motor rotor angular velocity omega is calculated；
The reference angular velocities ω of step C-2, magnetic resistance motor rotor angular velocity omega and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step C-3, the rotation speed difference deltan ω obtain torque winding current reference value i by pi controllerm *；
Step C-4, using Current cut control method, with actual torque winding current imTrack torque winding current reference value
im *, and then torque winding current i is adjusted in real timem, and then achieve the purpose that adjust torque；
Step D adjusts suspending power, the specific steps are as follows:
Step D-1 gives suspending power according to the x-axis directionY-axis direction gives suspending powerIt is referred to torque winding current
Value im *And electric current calculation formulaWithResolving obtains the reference of x-axis direction suspending windings current difference
ValueWith the reference value of y-axis direction suspending windings current difference
Wherein, kiFor the suspension force coefficient in the i-th suspension section, the 1st suspension section is θ ∈ [- 22.5 °, -15 °], the 2nd suspension section
For θ ∈ [- 15 °, 0], the 3rd suspension section is θ ∈ [0, -15 °], and the 4th suspension section is θ ∈ [15 °, 22.5 °], each section
Suspension force coefficient is respectively as follows:
In formula, μ0For space permeability, l1For the axial length of magnetic bearing, r1For the radius of magnetic bearing rotor, αsIt is fixed for magnetic bearing
The polar arc angle of son, unit are degree, δ1For the unilateral gas length of magnetic bearing, NsFor suspending windings the number of turns, l2For switched reluctance machines
Axial length, r2For the radius of switch reluctance machine rotor, δ2For the unilateral gas length of switched reluctance machines, switching magnetic-resistance
Motor stator and rotor polar arc angle is 15 °；
Step D-2, according to describedWithAnd electric current calculation formula WithResolving obtains the reference value of four suspending windings electric currentsWith
Step D-3 allows the actual current i of four suspending windings using Current cut control methods1、is2、is3And is4Respectively with
Its reference value of trackWithTo adjust the suspending power in each suspension section in real time, and then realize each rotor
The suspension operation in period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710231345.1A CN106953459B (en) | 2017-04-11 | 2017-04-11 | A kind of hybrid magnetic bearing switched reluctance machines and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710231345.1A CN106953459B (en) | 2017-04-11 | 2017-04-11 | A kind of hybrid magnetic bearing switched reluctance machines and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106953459A CN106953459A (en) | 2017-07-14 |
| CN106953459B true CN106953459B (en) | 2019-02-26 |
Family
ID=59475473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710231345.1A Active CN106953459B (en) | 2017-04-11 | 2017-04-11 | A kind of hybrid magnetic bearing switched reluctance machines and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106953459B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102069579B1 (en) * | 2018-02-12 | 2020-01-23 | 엘지전자 주식회사 | Motor drive apparatus for reducing weight load of rotation axis |
| CN108599505A (en) * | 2018-06-30 | 2018-09-28 | 淮阴工学院 | A kind of five degrees of freedom without bearing switched reluctance machines |
| CN109494952B (en) * | 2018-11-12 | 2020-08-28 | 江苏大学 | High-integration magnetic suspension switched reluctance motor |
| CN109687798A (en) * | 2019-01-08 | 2019-04-26 | 江苏大学 | Mix stator magnetic suspension switched reluctance motor suspension system high_order sliding mode control method |
| CN113162315B (en) * | 2021-04-06 | 2022-09-02 | 南京邮电大学 | Four-degree-of-freedom magnetic suspension switched reluctance motor and co-excitation driving method |
| CN113113994B (en) * | 2021-04-12 | 2022-04-15 | 南京邮电大学 | Bearingless switched reluctance motor, power converter and control method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6727618B1 (en) * | 2002-06-10 | 2004-04-27 | The United States Of America, As Represented By The Administrator Of National Aeronautics And Space Administration | Bearingless switched reluctance motor |
| CN104038002B (en) * | 2014-06-03 | 2016-08-17 | 南京邮电大学 | A kind of permanent-magnet bias hybrid magnetic bearing switched reluctance machines |
| CN105024507B (en) * | 2015-07-22 | 2017-07-07 | 南京邮电大学 | A kind of axial block form mixed structure bearing-free switch reluctance motor and control method |
-
2017
- 2017-04-11 CN CN201710231345.1A patent/CN106953459B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106953459A (en) | 2017-07-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106953459B (en) | A kind of hybrid magnetic bearing switched reluctance machines and its control method | |
| CN106953458B (en) | A kind of two-freedom double winding hybrid magnetic bearing switched reluctance machines and control method | |
| CN105024507B (en) | A kind of axial block form mixed structure bearing-free switch reluctance motor and control method | |
| CN107104622B (en) | A kind of control method of double winding composite construction magnetic suspension switched reluctance motor | |
| CN106100497B (en) | A kind of control method of composite rotors bearing-free switch reluctance motor | |
| CN105591567B (en) | A kind of taper magnetic bearing switch reluctance motor and control method | |
| CN103296847B (en) | A kind of bearing-free switch reluctance motor and control method thereof | |
| CN106953457B (en) | A kind of suspension of five-freedom degree magnetic switched reluctance motor system and its control method | |
| CN107529681B (en) | A kind of five degree of freedom encourages formula magnetic suspension switched reluctance motor system and control method altogether | |
| CN106655955B (en) | A kind of control method of composite rotors simplex winding bearing-free switch reluctance motor | |
| CN106655666B (en) | A kind of taper magnetic suspension two channel switch reluctance motor and control method | |
| CN103916056B (en) | 12/8 simplex winding bearingless switched reluctance motor error-tolerant operation control method | |
| CN104377880A (en) | Composite structure duplex winding maglev switched reluctance motor | |
| CN103296935A (en) | Composite-structure bearingless switched reluctance motor and control method thereof | |
| CN104038002A (en) | Permanent-magnet biased hybrid magnetic bearing switch reluctance motor | |
| CN106849566B (en) | A kind of taper magnetic suspension switched reluctance motor and control method | |
| CN107124082B (en) | A kind of taper magnetic suspension switched reluctance motor system and its control method | |
| CN106655665B (en) | A kind of hybrid radial taper magnetic bearing switch reluctance motor and control method | |
| CN106655549B (en) | A kind of decoupling control method of composite rotors bearing-free switch reluctance motor | |
| CN107612255A (en) | A kind of five degree of freedom taper magnetic suspension switched reluctance motor and control method | |
| CN104377914A (en) | Magnetic levitation switch reluctance motor of composite structure | |
| CN104009601B (en) | A kind of composite construction double winding bearing-free switch reluctance motor | |
| CN105897064B (en) | A kind of integrated winding is from suspension permanent magnet motor and control system and control method | |
| CN106936338B (en) | A kind of four-degree-of-freedom composite construction bearing-free switch reluctance motor and control method | |
| CN108494198B (en) | Control method of single-winding bearingless switched reluctance motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |