CN107124082B - A kind of taper magnetic suspension switched reluctance motor system and its control method - Google Patents
A kind of taper magnetic suspension switched reluctance motor system and its control method Download PDFInfo
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- CN107124082B CN107124082B CN201710231300.4A CN201710231300A CN107124082B CN 107124082 B CN107124082 B CN 107124082B CN 201710231300 A CN201710231300 A CN 201710231300A CN 107124082 B CN107124082 B CN 107124082B
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
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- 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
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- 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
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- 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
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- 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
- H02P25/092—Converters specially adapted for controlling reluctance motors
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- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Combustion & Propulsion (AREA)
- Synchronous Machinery (AREA)
Abstract
The invention discloses a kind of taper magnetic suspension switched reluctance motor system and its control method, the system is made of a switched reluctance machines and two taper magnetic bearings, and two taper magnetic bearings are arranged in switched reluctance machines two sides；Biasing, radial and axial suspending windings are wound on each taper stator, all biasing windings in series constitute a set of biasing winding, are connected in series in the DC bus of the novel asymmetrical half-bridge power inverter of armature winding；The axial suspension windings in series of each magnetic bearing, constitutes two axial suspension windings, and independent control also generates certain biasing magnetic flux in addition to generating axial force；It is identical as Conventional switched reluctance motor to rotate control mode；Suspending power is only related with bias current and six levitating currents, and five are simplified in control；Bias current is always the sum of threephase armature electric current, and is not controlled, decoupling control between torque and suspending power.Integrated level of the present invention is high, and armature supply utilization rate is high, and structure is simple, and control is simple, and high-speed adaptability is strong.
Description
Technical field
The present invention relates to a kind of taper magnetic suspension switched reluctance motor system and its control methods, belong to the magnetcisuspension of electric machinery
Floation switch reluctance motor and its control technology field.
Background technique
Magnetic suspension switched reluctance motor, not only have many advantages, such as magnetic bearing without friction, it is unlubricated, also inherit switching magnetic-resistance
The features such as high-speed adaptability and satisfaction harshness working environment of motor, have in occasions such as aerospace, flywheel energy storage and military affairs
Unique advantage.
Magnetic suspension switched reluctance motor is usually made of five degree of freedom magnetic bearing and switched reluctance machines, and traditional magnetic bearing needs
Biggish thrust button is wanted, will lead to larger eddy-current loss and problem of temperature rise；And traditional cone electrical excitation magnetic bearing then have it is more
Control object, be unfavorable for the simplification and reliability of system.In addition, motor in conventional maglev switched reluctance motor system with
Independent between magnetic bearing control system, integrated level is not high.Therefore, the active set between magnetic bearing system and switched reluctance motor system
At, the integrated level of magnetic suspension system not only can be improved, additionally aid promoted energy converting between mechanical efficiency.
Summary of the invention
The present invention for overcome the deficiencies in the prior art, proposes a kind of taper magnetic suspension switched reluctance motor system and its control
Method processed.The suspension rotor system be a kind of high integrated level, suspending power and torque can decoupling control and suspension control object compared with
Few novel tapered magnetic suspension switched reluctance motor system；The control method can independent control armature winding electric current and suspend around
Group electric current, mutually decouples between rotation and suspension system, affects one another weak；In addition, biasing windings in series to the novel of armature winding
In the DC bus of asymmetrical half-bridge power inverter, and bias current is always the sum of threephase armature electric current, without appointing
Who is control；The axial suspension windings in series of each magnetic bearing constitutes two axial suspension windings, independent control, except generation axis
To outside power, certain biasing magnetic flux is also generated；It is identical as Conventional switched reluctance motor to rotate control mode；Suspending power only with biasing
Electric current and six levitating currents are related, and decouple between suspending power, can also decoupling control between torque and suspending power.Integrated level of the present invention
Height, armature supply utilization rate is high, and structure is simple, and control is simple, and high-speed adaptability is strong.
To solve the above-mentioned problems, the technical solution adopted by the present invention are as follows:
A kind of taper magnetic suspension switched reluctance motor system, including taper magnetic bearing I, switched reluctance machines and taper magnetic axis
Hold II；The taper magnetic bearing I and taper magnetic bearing II are respectively arranged in the two sides of switched reluctance machines；
The taper magnetic bearing I is outstanding by taper stator I, cone rotor I, bias coil I, radial suspension coil I and axial direction
Flotation line circle I is constituted；
The taper magnetic bearing II is by taper stator II, cone rotor II, bias coil II, radial suspension coil II and axis
It is constituted to suspended coil II；
The switched reluctance machines are made of reluctance motor stator, magnetic resistance motor rotor and reluctance motor coil；
The cone rotor I is arranged in taper stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator, taper
Rotor II is arranged in taper stator II；The cone rotor I, magnetic resistance motor rotor and II set of cone rotor are in shaft；Institute
State II arranged in series of taper stator I, reluctance motor stator and taper stator, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, reluctance motor stator and magnetic resistance motor rotor
The number of teeth have 12/8 or 6/4 or 8/6 3 kind of combining form；Wherein the number of teeth group of reluctance motor stator and magnetic resistance motor rotor is combined into
When 12/8 or 6/4, the number of phases m of switched reluctance machines is 3, and the number of teeth group of reluctance motor stator and magnetic resistance motor rotor is combined into 8/6
When, the number of phases m of switched reluctance machines is 4；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 12/8 combination, i.e., the described reluctance motor stator tooth
When number is 12, the magnetic resistance motor rotor number of teeth is 8, number of motor phases m is 3, every 4 magnetic being separated by 90 ° of reluctance motor stator tooth
Electrical-coil is hindered, using series connection or connection type that is arranged side by side or going here and there and combine, links together, constitutes 1 armature winding, altogether
Form 3 armature winding；
Or the number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 6/4 combination, i.e., the described reluctance motor stator
When the number of teeth is 6, the magnetic resistance motor rotor number of teeth is 4, number of motor phases m is 3, every 2 are separated by 180 ° of reluctance motor stator tooth
Reluctance motor coil is linked together using series connection or connection type arranged side by side, is constituted 1 armature winding, forms 3 electricity altogether
Pivot winding；
Or the number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 8/6 combination, i.e., the described reluctance motor stator
When the number of teeth is 8, the magnetic resistance motor rotor number of teeth is 6, number of motor phases m is 4, every 2 are separated by 180 ° of reluctance motor stator tooth
Reluctance motor coil is linked together using series connection or connection type arranged side by side, is constituted 1 armature winding, forms 4 electricity altogether
Pivot winding；
The taper stator I and taper stator II are taper salient-pole structure, and the number of stator teeth of the two is 4, the taper
Rotor I and cone rotor II are tapered cylinder structure；Taper stator I, taper stator II, cone rotor I and cone rotor II
Bevel angle it is equal；Taper stator I is identical with the bevel angle opening direction of cone rotor I, taper stator II and cone rotor II
Bevel angle opening direction it is identical；The bevel angle opening direction of taper stator I and cone rotor I and taper stator II and taper turn
The bevel angle opening direction of son II is opposite；
1 bias coil, I, 1 axial suspension coil I and 1 radial direction are wound on each stator tooth of the taper stator I
Suspended coil I, I, 4 axial suspension coil I of totally 4 bias coils and 4 radial suspension coils I；
1 bias coil, II, 1 axial suspension coil II and 1 are wound on each stator tooth of the taper stator II
Radial suspension coil II, II, 4 axial suspension coil II of totally 4 bias coils and 4 radial suspension coils II；
I connection type of radial suspension coil of the taper stator I are as follows: it is outstanding to be separated by 180 ° of 2 radial directions in the horizontal direction
Flotation line circle I is connected, and 1 horizontal direction radial suspension winding I is constituted；It is separated by 180 ° of 2 radial suspension coils I in vertical direction
Series connection, constitutes 1 vertical direction radial suspension winding I；
II connection type of radial suspension coil of the taper stator II are as follows: be separated by 180 ° of 2 radial directions in the horizontal direction
Suspended coil II is connected, and 1 horizontal direction radial suspension winding II is constituted；It is separated by 180 ° of 2 radial suspensions in vertical direction
Coil II is connected, and 1 vertical direction radial suspension winding II is constituted；
4 axial suspension coils I of the taper stator I are connected, and 1 axial suspension winding I is constituted；The taper stator
II 4 axial suspension coils II series connection, constitutes 1 axial suspension winding II；
4 bias coils I of the taper stator I are connected, and constitute 1 bias coil string I, and the 4 of the taper stator II
A bias coil II is connected, and 1 bias coil string II is constituted；1 bias coil string I and 1 bias coil string II are connected,
Constitute 1 biasing winding.
A kind of control method of taper magnetic suspension switched reluctance motor system, the taper magnetic levitation switch magnetic resistance electricity
Machine system includes a switched reluctance machines and two taper magnetic bearings, wherein switched reluctance machines generation rotating torques, and two
Taper magnetic bearing generates 4 radial suspension forces and 1 axial suspension power, to realize the suspension operation in five directions of rotor；It is described
The winding of magnetic suspension system is by m phase armature winding, 1 biasing winding, 4 radial suspension windings and 2 axial suspension winding structures
At, in the bus of the asymmetrical half-bridge power inverter of 1 biasing windings in series to m phase armature winding, wherein armature around
The energized circuit and continuous current circuit of group respectively have 1 DC voltage source, and excitation and freewheeling period armature winding and biasing winding
Current direction it is identical always；Independent control m phase armature winding electric current, to adjust torque, and generates biasing magnetic flux；Independent control
6 suspending windings electric currents realize that five-degree magnetic suspension is adjusted；Include the following steps:
Step A obtains given armature winding electric current, turn-on angle and shutdown angle；Specific step is as follows:
Step A-1 acquires the real-time revolving speed of magnetic resistance motor rotor, obtains rotor velocity ω；
Step A-2, by the reference angular velocities ω of magnetic resistance motor rotor angular velocity omega and setting*Subtract each other, obtains rotation speed difference deltan
ω；
Step A-3, as ω≤ω0When, ω0For critical speed setting value；The rotation speed difference deltan ω, passes through proportional integration control
Device processed obtains armature winding current reference value im *；Turn-on angle θonWith shutdown angle θoffIt immobilizes；
Step A-4, as ω > ω0When, the rotation speed difference deltan ω obtains turn-on angle θ by pi controlleronWith
Turn off angle θoff, armature winding electric current do not control；
Step B adjusts torque；Specific step is as follows:
Step B-1, as ω≤ω0When, using Current cut control method, with the actual current i of armature windingmTracking electricity
Pivot winding current reference value im *, and then armature winding electric current i is adjusted in real timem, and then achieve the purpose that adjust torque；
Step B-2, as ω > ω0When, using Angle-domain imaging method, adjust turn-on angle θonWith shutdown angle θoffTake
Value, to adjust torque in real time；
Step C, the x-axis and y-axis direction for obtaining taper magnetic bearing I give suspending power；The specific steps of which are as follows:
Step C-1 obtains the x-axis of cone rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein x-axis is level
Direction, y-axis are vertical direction；
Step C-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively
To the real-time displacement signal difference Δ α of x-axis direction and y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1Through
Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing I is obtainedWith y-axis direction suspending power
Step D, the x-axis and y-axis direction for obtaining taper magnetic bearing II give suspending power；The specific steps of which are as follows:
Step D-1 obtains the x-axis of cone rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step D-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively
To the real-time displacement signal difference Δ α of x-axis direction and y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2Through
Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing II is obtainedWith y-axis direction suspending power
Step E obtains z-axis direction and gives suspending power；The specific steps of which are as follows:
Step E-1 obtains the real-time displacement signal z in shaft z-axis directionz, wherein z-axis is constituted flat perpendicular to x-axis and y-axis
Face；
Step E-2, by real-time displacement signal zzWith given reference displacement signal zz *Subtract each other, obtains the real-time of z-axis direction
Displacement signal difference Δ zz, by the real-time displacement signal difference Δ zzBy proportional plus integral plus derivative controller, obtained z-axis direction is outstanding
Buoyancy
Step F adjusts suspending power, the specific steps are as follows:
Step F-1 acquires biasing winding current i in real timebiasWith biasing winding maximum current value IP,
Mode one directly acquires biasing winding current i in real time by current sensorbias, its maximum is then obtained again
Value is IP；
Or mode two, real-time m phase armature winding electric current is acquired by current sensor, then according to calculation formulaBiasing winding current i in real time is calculatedbias, then acquiring its maximum value again is IP, wherein ikFor kth
The electric current of phase armature winding；
Step F-2, according to the biasing winding maximum current value IPWith the suspending powerWith
And calculation formula:
Resolving obtains the x-axis direction radial suspension winding current reference value of taper magnetic bearing IWith y-axis direction radial suspension
Winding current reference valueThe x-axis direction radial suspension winding current reference value of taper magnetic bearing IIIt is radially outstanding with y-axis direction
Floating winding current reference valueAnd the reference value of the difference of two axial suspension winding currents
Wherein, kf1For radial suspension force coefficient, kf2For axial suspension force coefficient, expression formula is respectivelyWithμ0For space permeability, l is the axial length of taper magnetic bearing, and r is cone
The mean radius of shape rotor, αsFor the polar arc angle of taper stator, δ is the unilateral gas length of magnetic bearing part, and γ is bevel angle,
NbFor the number of turns for biasing winding, NzFor the number of turns of axial suspension winding, NsFor the number of turns of radial suspension winding；
Step F-3 calculates the current reference value of axial suspension winding IWith the current reference value of axial suspension winding II
According to the ibias、IP、And axial winding current calculation formulaWithCalculate the current reference value of axial suspension winding IAnd axial suspension winding II
Current reference value
Step F-4, using Current cut control method, with the practical electricity of the x-axis direction radial suspension winding of taper magnetic bearing I
Flow is1Track direction suspending windings current reference valueWith the actual current i of y-axis direction radial suspension windings2Track the party
To radial suspension winding current reference valueWith the actual current i of axial suspension winding Iz1Track its current reference value
With the x-axis direction radial suspension winding actual current i of taper magnetic bearing IIs3Track direction suspending windings electric current ginseng
Examine valueWith the actual current i of y-axis direction radial suspension windings4Track direction radial suspension winding current reference valueWith
The actual current i of axial suspension winding IIz2Track its current reference valueAnd then realize five-degree magnetic suspension control.
Beneficial effects of the present invention: the invention proposes a kind of taper magnetic suspension switched reluctance motor system and its controlling parties
Method can reach following technical effect using technical solution of the present invention:
(1) five-degree magnetic suspension operation can be achieved, suspending power and torque decoupler, high speed suspendability are good；
(2) having for the novel asymmetrical half-bridge power inverter of use, armature winding excitation and freewheeling period is independent
Voltage source, and excitation with affected one another during afterflow it is weaker, facilitate adjust excitation and freewheeling period voltage value；
(3) biasing winding current is equal with the sum of m phase armature winding electric current always, convenient for acquiring its real value and maximum
Value；
(4) axial winding current also contributes certain biasing magnetic flux in addition to generating axial force, is conducive to improve biasing winding
The biasing magnetic flux that electric current generates, and then improve the tracking and control precision of levitating current；
(5) magnetic bearing magnetic circuit and reluctance motor magnetic path isolation, flux coupled is weak, and error resilience performance is good.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of taper magnetic suspension switched reluctance motor system embodiment 1 of the present invention.
Fig. 2 is the power inverter schematic diagram of the embodiment of the present invention 1.
Fig. 3 is the threephase armature winding current of the embodiment of the present invention 1 and the analogous diagram of biasing winding current.
Fig. 4 is the system block diagram of the control method of taper magnetic suspension switched reluctance motor system embodiment 1 of the present invention.
Fig. 5 is each suspending windings electricity in the control method of taper magnetic suspension switched reluctance motor system embodiment 1 of the present invention
Flow calculation methodologies block diagram.
Fig. 6 is the calculation method block diagram of two axial suspension winding currents of the invention.
Description of symbols: Fig. 1 is into Fig. 5, and 1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, and 3 be reluctance motor line
Circle, 4 be taper stator, and 5 be cone rotor, and 6 be bias coil, and 7 be radial suspension coil, and 8 be axial suspension coil, and 9 be to turn
Axis, 10 be switched reluctance machines, and 11 be taper magnetic bearing I, and 12 be taper magnetic bearing II, and 13,14,15 be respectively x, y, z axis side
To the positive direction of reference axis, 16,17,18 be the emulation wave of 12/8 pole switching reluctance motor A, B, C phase armature winding electric current respectively
Shape, 19 be the simulation waveform for biasing winding current, and 20 be the simulation waveform for biasing winding maximum current.
Specific embodiment
With reference to the accompanying drawing, to the technology of a kind of taper magnetic suspension switched reluctance motor system of the present invention and its control method
Scheme is described in detail:
As shown in Figure 1, be the three dimensional structure diagram of taper magnetic suspension switched reluctance motor system embodiment 1 of the present invention,
Wherein, 1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, and 3 be reluctance motor coil, and 4 be taper stator, and 5 be cone rotor,
6 be bias coil, and 7 be radial suspension coil, and 8 be axial suspension coil, and 9 be shaft, and 10 be switched reluctance machines, and 11 be taper
Magnetic bearing I, 12 be taper magnetic bearing II, and 13,14,15 be respectively the positive direction of x, y, z axis direction reference axis.
A kind of taper magnetic suspension switched reluctance motor system, including taper magnetic bearing I, switched reluctance machines and taper magnetic axis
Hold II；The taper magnetic bearing I and taper magnetic bearing II are respectively arranged in the two sides of switched reluctance machines；
The taper magnetic bearing I is outstanding by taper stator I, cone rotor I, bias coil I, radial suspension coil I and axial direction
Flotation line circle I is constituted；
The taper magnetic bearing II is by taper stator II, cone rotor II, bias coil II, radial suspension coil II and axis
It is constituted to suspended coil II；
The switched reluctance machines are made of reluctance motor stator, magnetic resistance motor rotor and reluctance motor coil；
The cone rotor I is arranged in taper stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator, taper
Rotor II is arranged in taper stator II；The cone rotor I, magnetic resistance motor rotor and II set of cone rotor are in shaft；Institute
State II arranged in series of taper stator I, reluctance motor stator and taper stator, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, reluctance motor stator and magnetic resistance motor rotor
The number of teeth have 12/8,6/4,8/6 3 kind of combining form；Wherein the number of teeth group of reluctance motor stator and magnetic resistance motor rotor is combined into
When 12/8 and 6/4, the number of phases m of switched reluctance machines is 3, and the number of teeth group of reluctance motor stator and magnetic resistance motor rotor is combined into 8/6
When, the number of phases m of switched reluctance machines is 4；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 12/8 combination, i.e., the described reluctance motor stator tooth
When number is 12, the magnetic resistance motor rotor number of teeth is 8, number of motor phases m is 3, every 4 magnetic being separated by 90 ° of reluctance motor stator tooth
Electrical-coil is hindered, using series connection or connection type that is arranged side by side or going here and there and combine, links together, constitutes 1 armature winding, altogether
Form 3 armature winding；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 6/4 combination, i.e., the described reluctance motor stator tooth
When number is 6, the magnetic resistance motor rotor number of teeth is 4, number of motor phases m is 3, every 2 magnetic being separated by 180 ° of reluctance motor stator tooth
Electrical-coil is hindered, using series connection or connection type arranged side by side, links together, constitutes 1 armature winding, forms 3 armatures altogether
Winding；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 8/6 combination, i.e., the described reluctance motor stator tooth
When number is 8, the magnetic resistance motor rotor number of teeth is 6, number of motor phases m is 4, every 2 magnetic being separated by 180 ° of reluctance motor stator tooth
Electrical-coil is hindered, using series connection or connection type arranged side by side, links together, constitutes 1 armature winding, forms 4 armatures altogether
Winding.
The taper stator I and taper stator II are taper salient-pole structure, and the number of stator teeth of the two is 4, the taper
Rotor I and cone rotor II are tapered cylinder structure；Taper stator I, taper stator II, cone rotor I and cone rotor II
Bevel angle it is equal；Taper stator I is identical with the bevel angle opening direction of cone rotor I, taper stator II and cone rotor II
Bevel angle opening direction it is identical；The bevel angle opening direction of taper stator I and cone rotor I and taper stator II and taper turn
The bevel angle opening direction of son II is opposite；
It is characterized in that, being wound with 1 bias coil, I, 1 axial suspension line on each stator tooth of the taper stator I
I and 1 radial suspension coil I are enclosed, I, 4 axial suspension coil I of totally 4 bias coils and 4 radial suspension coils I；
1 bias coil, II, 1 axial suspension coil II and 1 are wound on each stator tooth of the taper stator II
Radial suspension coil II, II, 4 axial suspension coil II of totally 4 bias coils and 4 radial suspension coils II；
I connection type of radial suspension coil of the taper stator I are as follows: it is outstanding to be separated by 180 ° of 2 radial directions in the horizontal direction
Flotation line circle I is connected, and 1 horizontal direction radial suspension winding I is constituted；It is separated by 180 ° of 2 radial suspension coils I in vertical direction
Series connection, constitutes 1 vertical direction radial suspension winding I；
II connection type of radial suspension coil of the taper stator II are as follows: be separated by 180 ° of 2 radial directions in the horizontal direction
Suspended coil II is connected, and 1 horizontal direction radial suspension winding II is constituted；It is separated by 180 ° of 2 radial suspensions in vertical direction
Coil II is connected, and 1 vertical direction radial suspension winding II is constituted；
4 axial suspension coils I of the taper stator I are connected, and 1 axial suspension winding I is constituted；The taper stator
II 4 axial suspension coils II series connection, constitutes 1 axial direction and hangs winding II；
4 bias coils I of the taper stator I are connected, and constitute 1 bias coil string I, and the 4 of the taper stator II
A bias coil II is connected, and 1 bias coil string II is constituted；1 bias coil string I and 1 bias coil string II are connected,
Constitute 1 biasing winding.
Every phase armature winding is spatially separated by 90 ° of reluctance motor coil by 4 each other, using series connection or it is in parallel or
The mode of two and two strings is formed by connecting；The symmetrical magnetic flux of quadrupole that every phase armature winding electric current generates is distributed in NSNS.When phase electricity
When pivot winding is connected, the magnetic field generated in reluctance motor, for generating torque；A, B, C threephase armature winding are in magnetic bearing
The resultant magnetic field of generation is used for the bias magnetic field controlled that suspends.B, the armature winding of C phase is identical as A phase armature winding structure, only
30 ° and -30 ° are differed with A phase in position.
For magnetic bearing I, horizontal square to air gap at radial suspension winding and biasing winding generate flow direction
Equally, magnetic flux increases；And at the air gap of horizontal negative direction, contrary, magnetic flux weakens, and then generates the outstanding of an x positive direction
The suspending power of buoyancy and a z positive direction.Radial suspension winding and armature winding generate magnetic flux at the air gap of vertical positive direction
Direction is the same, and magnetic flux increases, and at the air gap of vertical negative direction, magnetic flux weakens, and then generates the suspending power of a y positive direction
With the suspending power of a z positive direction.Similarly, when suspending windings electric current is reversed, the suspending power of opposite direction will be generated, but axial outstanding
The direction of buoyancy is still positive.
For magnetic bearing II, horizontal square to air gap at radial suspension winding and biasing winding generate flow direction
Equally, magnetic flux increases；And at the air gap of horizontal negative direction, contrary, magnetic flux weakens, and then generates the outstanding of an x positive direction
The suspending power of buoyancy and a z negative direction.Radial suspension winding and armature winding generate magnetic flux at the air gap of vertical positive direction
Direction is the same, and magnetic flux increases, and at the air gap of vertical negative direction, magnetic flux weakens, and then generates the suspending power of a y positive direction
With the suspending power of a z negative direction.Similarly, when suspending windings electric current is reversed, the suspending power of opposite direction will be generated, but axial outstanding
The direction of buoyancy is still negative.
For the axial suspension winding of two magnetic bearings, the axial suspension winding current direction of two taper magnetic bearings with
It is identical to bias winding current direction, air-gap flux enhancing；At this time, it is only necessary to control the size of two axial suspension winding currents not
Together, that is, an axial force is generated.
Therefore, when one timing of motor operation operating condition, threephase armature winding current is certain, at this moment in its DC bus
The electric current for biasing winding is also definite value, rationally controls the size and Orientation of x, y-axis suspending windings electric current thus, outstanding with two z-axis
The size of floating winding current, the i.e. controllable suspending power of generation size and Orientation.
PWM control, pulse control and Angle Position control etc. can be used in threephase armature winding current, with Conventional switched reluctance electricity
The control method of machine is identical, and levitating current uses chop control.Biasing winding current can be obtained by current sensor real-time detection
It arrives, rotor radial displacement is obtained by current vortex sensor real-time detection, adjusts to obtain the given value of both direction suspending power through PI.
Since suspending power and biasing winding current are related with four radial suspension winding currents and two axial suspension winding currents, pass through
A constraint equation is introduced, can resolve to obtain six levitating currents, as the given value of current control in power inverter, most
The five-degree magnetic suspension operation of motor is realized eventually.
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 6/4 combination, i.e., the described reluctance motor stator tooth
When number is 6, the magnetic resistance motor rotor number of teeth is 4, number of motor phases m is 3, every 2 magnetic being separated by 180 ° of reluctance motor stator tooth
Electrical-coil is hindered, using series connection or connection type arranged side by side, links together, constitutes 1 armature winding, forms 3 armatures altogether
Winding；The embodiment 2 of magnetic suspension motor system of the present invention is constituted at this time.
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 8/6 combination, i.e., the described reluctance motor stator tooth
When number is 8, the magnetic resistance motor rotor number of teeth is 6, number of motor phases m is 4, every 2 magnetic being separated by 180 ° of reluctance motor stator tooth
Electrical-coil is hindered, using series connection or connection type arranged side by side, links together, constitutes 1 armature winding, forms 4 armatures altogether
Winding；The embodiment 3 of magnetic suspension motor system of the present invention is constituted at this time.
Fig. 2 is the power inverter schematic diagram of the embodiment of the present invention 1.Not with conventional three-phase asymmetrical half-bridge power inverter
Together, there are two independent voltage sources, respectively U for the power inverter tool that this method usess1And Us2, and excitation stage and afterflow
There are two current loops for stage tool.By taking A phase as an example, in the excitation stage, switching tube S1And S2Conducting, electric current diametral voltage source Us1, two
Pole pipe D7, biasing winding Bias, diode D8, switching tube S1, A phase armature winding, switching tube S2Closure；In freewheeling period, switch
Pipe S1And S2Shutdown, electric current is through A phase armature winding, diode D1, diode D10, biasing winding Bias, diode D9, voltage source
Us2, diode D2Closure；Two stages bias winding current direction and size is identical as A phase armature winding electric current always.Similarly, B,
C phase armature also has similar excitation and afterflow process.Therefore, the sum of winding current and threephase armature winding current phase are biased
Deng.As number of phases m > 3, only power circuit shown in Fig. 2 is needed to increase corresponding branch, and biases the power circuit of windings section
Without variation.
As shown in figure 3, for the threephase armature winding current of the embodiment of the present invention 1 and the analogous diagram of biasing winding current.It is imitative
Very the results show that being based on power conversion circuit shown in Fig. 2, the waveform of threephase armature electric current and the electricity of Conventional switched reluctance motor
It is identical to flow waveform, illustrates that power circuit shown in Fig. 2 has the function of traditional asymmetry half-bridge circuit.In addition, any time, partially
It sets that winding current is equal with the sum of threephase armature winding current always, is conducive to the acquisition for biasing winding current and its maximum value.
As shown in figure 4, being the system block diagram of the embodiment of the present invention 1.Direct torque can be used PWM control, pulse control and
The control method of the Conventional switched reluctances motors such as Angle Position control, and suspend and control then by the way of Current cut control.
Direct torque are as follows: detection motor rotor position information is computed and respectively obtains the open-minded of actual speed ω and every phase
Angle θonWith shutdown angle θoff, speed error signal is subjected to PI adjusting, obtains armature winding current reference valueRecycle electric current
Chop control allows practical armature winding current trackingAnd utilize turn-on angle θonWith shutdown angle θoffControl armature winding power electricity
The on state on road, to realize that motor rotates.
Suspend control are as follows: displacement error signal is carried out PID and adjusts the given suspending power of acquisition Winding current i is biased in conjunction with actual measurementbiasAnd its maximum value IP, i.e., calculated by suspending windings current controller
Out: the x-axis direction suspending windings current reference value of taper magnetic bearing IWith y-axis direction suspending windings current reference valueTaper
The x-axis direction suspending windings current reference value of magnetic bearing IIWith y-axis direction suspending windings current reference valueZ-axis direction two
The reference value of suspending windings difference between currentsThen, taper magnetic bearing I is calculated further according to axial winding current calculation formula
Axial positive direction suspending windings electric current reference valueAnd the axial negative direction suspending windings electric current of taper magnetic bearing II
Reference value
Using Current cut control method, with the x-axis direction radial suspension winding actual current i of taper magnetic bearing Is1Tracking
The direction hangs winding current reference valueWith the actual current i of y-axis direction radial suspension windings2Track direction radial suspension
Winding current reference valueWith the actual current i of z-axis positive direction suspending windingsz1Track direction axial suspension winding current ginseng
Examine value
With the x-axis direction radial suspension winding actual current i of taper magnetic bearing IIs3It tracks the direction and hangs winding current reference
ValueWith the actual current i of y-axis direction radial suspension windings4Track direction radial suspension winding current reference valueUse z
The actual current i of axis negative direction suspending windingsz2Track direction axial suspension winding current reference valueAnd then realize that five is free
Degree, which suspends, to be controlled.
It is five-degree magnetic suspension winding current calculation method block diagram of the invention if Fig. 5 is shown.In figure, kf1For radial direction
Suspension force coefficient, kf2For axial suspension force coefficient, expression formula are as follows:
In formula, μ0For space permeability, l is the axial length of taper magnetic bearing, and r is the mean radius of cone rotor, αsFor
The polar arc angle of taper stator, δ are the unilateral gas length of magnetic bearing part, and γ is bevel angle.
The x and y-axis direction suspending power of taper magnetic bearing IWithExpression formula are as follows:
In formula, ibiasFor bias winding electric current,The x, y, z axis direction of respectively taper magnetic bearing I is outstanding
Floating winding current, NbFor the number of turns for biasing winding, NzFor the number of turns of axial suspension winding, NsFor the number of turns of radial suspension winding.
Bias winding current ibiasWith the relationship between m phase armature winding electric current are as follows:
Wherein, ikFor the electric current of kth phase armature winding.
The x and y-axis direction suspending power of taper magnetic bearing IIWithExpression formula are as follows:
In formula,The respectively x, y, z axis direction suspending windings electric current of taper magnetic bearing II.
The axial synthesis suspending power of two taper magnetic bearings are as follows:
For convenience of control, enable:
In formula,For two axial suspension difference between currents, IPFor bias current peak value, i.e., each rotor cycle interior biasing around
The maximum value of group electric current.Biasing winding current is obtained by current sensor real-time monitoring, therefore the peak point current in each of which period
Also it collects in real time；It obtains in addition, bias current also obtains the summation of threephase armature winding current by real-time monitoring, compares later
This electric current and obtain bias current peaks value.
Formula (9) are obtained after bringing (3), (4), (6) and (7) into:
Known by expression formula (10)~(14), when known to the given value and bias current peak value of five direction suspending powers, is asked
Solve five levitating current variables.
As shown in fig. 6, for the calculation method block diagram of two axial suspension winding currents of the invention.According to formula (9), two are write out
A axial suspension electric current and the difference between the two relationship are as follows:
To be known by expression formula (10)~(14), five suspending power given values calculate 5 suspension control variables, in addition, due to
Suspension force coefficient is unrelated with the position angle of switched reluctance machines, therefore can realize the decoupling control of torque and suspending power.According to formula
(15), the given value of two axial suspension winding currents is calculated.
It should be pointed out that changing, four due to the positive and negative positive and negative variation with radial suspension winding current of suspending power
A radial suspension winding current direction can change in control, need to use the power inverter in adjustable current direction.
The taper magnetic suspension switched reluctance motor system includes a switched reluctance machines and two taper magnetic bearings,
Middle switched reluctance machines generate rotating torques, and two taper magnetic bearings generate 4 radial suspension forces and 1 axial suspension power, with
Realize the suspension operation in five directions of rotor；The winding of the magnetic suspension system is by m phase armature winding, 1 biasing winding, 4
Radial suspension winding and 2 axial suspension windings are constituted, and asymmetric the half of 1 biasing windings in series to m phase armature winding
In the bus of bridge power inverter, wherein the energized circuit of armature winding and continuous current circuit respectively have 1 DC voltage source, and encourage
The current direction of magnetic and freewheeling period armature winding and biasing winding is identical always；Independent control m phase armature winding electric current, to adjust
Torque is saved, and generates biasing magnetic flux；6 suspending windings electric currents of independent control realize that five-degree magnetic suspension is adjusted；Including walking as follows
It is rapid:
Step A obtains given armature winding electric current, turn-on angle and shutdown angle；Specific step is as follows:
Step A-1 acquires the real-time revolving speed of magnetic resistance motor rotor, obtains rotor velocity ω；
Step A-2, by the reference angular velocities ω of rotor velocity ω and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step A-3, as ω≤ω0When, ω0For critical speed setting value, determined by motor actual condition；The revolving speed
Poor Δ ω obtains armature winding current reference value i by pi controllerm *；Turn-on angle θonWith shutdown angle θoffIt fixes not
Become, θonAnd θoffValue is determined by electric machine structure form；
Step A-4, as ω > ω0When, the rotation speed difference deltan ω obtains turn-on angle θ by pi controlleronWith
Turn off angle θoff, armature winding electric current do not control；
Step B adjusts torque；Specific step is as follows:
Step B-1, as ω≤ω0When, using Current cut control method, with the actual current i of armature windingmTracking electricity
Pivot winding current reference value im *, and then armature winding electric current i is adjusted in real timem, and then achieve the purpose that adjust torque；
Step B-2, as ω > ω0When, using Angle-domain imaging method, adjust turn-on angle θonWith shutdown angle θoffTake
Value, to adjust torque in real time；
Step C, the x-axis and y-axis direction for obtaining taper magnetic bearing I give suspending power；The specific steps of which are as follows:
Step C-1 obtains the x-axis of cone rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein x-axis is level
Direction, y-axis are vertical direction；
Step C-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively
To the real-time displacement signal difference Δ α of x-axis direction and y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1Through
Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing I is obtainedWith y-axis direction suspending power
Step D, the x-axis and y-axis direction for obtaining taper magnetic bearing II give suspending power；The specific steps of which are as follows:
Step D-1 obtains the x-axis of cone rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step D-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively
To the real-time displacement signal difference Δ α of x-axis direction and y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2Through
Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of taper magnetic bearing II is obtainedWith y-axis direction suspending power
Step E obtains z-axis direction and gives suspending power；The specific steps of which are as follows:
Step E-1 obtains the real-time displacement signal z in shaft z-axis directionz, wherein z-axis is vertical with x-axis and y-axis direction；
Step E-2, by real-time displacement signal zzWith given reference displacement signal zz *Subtract each other, obtains the real-time of z-axis direction
Displacement signal difference Δ zz, by the real-time displacement signal difference Δ zzBy proportional plus integral plus derivative controller, obtained z-axis direction is outstanding
Buoyancy
Step F adjusts suspending power, the specific steps are as follows:
Step F-1 acquires biasing winding current i in real timebiasWith biasing winding maximum current value IP,
Mode one directly acquires biasing winding current i in real time by current sensorbias, its maximum is then obtained again
Value is IP；
Mode two acquires real-time m phase armature winding electric current by current sensor, then according to calculation formulaBiasing winding current i in real time is calculatedbias, then acquiring its maximum value again is IP, wherein ikFor kth
The electric current of phase armature winding；
Step F-2, according to the biasing winding maximum current value IPWith the suspending powerWith
And calculation formula:
Resolving obtains the x-axis direction radial suspension winding current reference value of taper magnetic bearing IWith y-axis direction radial suspension
Winding current reference valueThe x-axis direction radial suspension winding current reference value of taper magnetic bearing IIIt is radially outstanding with y-axis direction
Floating winding current reference valueAnd the reference value of the difference of two axial suspension winding currents
Wherein, kf1For radial suspension force coefficient, kf2For axial suspension force coefficient, expression formula is respectivelyWithμ0For space permeability, l is the axial length of taper magnetic bearing, and r is cone
The mean radius of shape rotor, αsFor the polar arc angle of taper stator, δ is the unilateral gas length of magnetic bearing part, and γ is bevel angle,
NbFor the number of turns for biasing winding, NzFor the number of turns of axial suspension winding, NsFor the number of turns of radial suspension winding；
Step F-3 calculates the reference value of I axial suspension winding current of taper magnetic bearingIt is axial outstanding with taper magnetic bearing II
The reference value of floating winding current
According to the ibias、IP、And axial winding current calculation formulaWithCalculate the reference value of the axial positive direction suspending windings electric current of taper magnetic bearing IAnd
The reference value of the axial negative direction suspending windings electric current of taper magnetic bearing II
Step F-4, using Current cut control method, with the practical electricity of the x-axis direction radial suspension winding of taper magnetic bearing I
Flow is1It tracks the direction and hangs winding current reference valueWith the actual current i of y-axis direction radial suspension windings2Track the direction
Radial suspension winding current reference valueWith the actual current i of z-axis positive direction suspending windingsz1Track direction axial suspension around
Group current reference value
With the x-axis direction radial suspension winding actual current i of taper magnetic bearing IIs3It tracks the direction and hangs winding current reference
ValueWith the actual current i of y-axis direction radial suspension windings4Track direction radial suspension winding current reference valueUse z
The actual current i of axis negative direction suspending windingsz2Track direction axial suspension winding current reference valueAnd then realize that five is free
Degree, which suspends, to be controlled.
It should be pointed out that structure of the invention expansion is good, to switched reluctance machines structure without limitation, as long as two-phase works
The switched reluctance machines of system or more are applicable in.
In conclusion five-degree magnetic suspension operation, suspending power and torque decoupler can be achieved in the present invention；Using novel not right
Claim half-bridge power converter, armature winding excitation and freewheeling period have independent voltage source, and during excitation and afterflow that
This influence is weaker, facilitates the voltage value for adjusting excitation and freewheeling period；Bias winding current always with m phase armature winding electric current it
With it is equal, convenient for acquiring its real value and maximum value；Axial winding current also contributes certain biasing magnetic in addition to generating axial force
It is logical, be conducive to improve the biasing magnetic flux that biasing winding current generates, and then improve the tracking and control precision of levitating current；Magnetic axis
Magnetic circuit and reluctance motor magnetic path isolation are held, flux coupled is weak, and error resilience performance is good.
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 taper magnetic suspension switched reluctance motor system, including taper magnetic bearing I, switched reluctance machines and taper magnetic bearing
Ⅱ；The taper magnetic bearing I and taper magnetic bearing II are respectively arranged in the two sides of switched reluctance machines；
The taper magnetic bearing I is by taper stator I, cone rotor I, bias coil I, radial suspension coil I and axial suspension line
Circle I is constituted；
The taper magnetic bearing II is outstanding by taper stator II, cone rotor II, bias coil II, radial suspension coil II and axial direction
Flotation line circle II is constituted；
The switched reluctance machines are made of reluctance motor stator, magnetic resistance motor rotor and reluctance motor coil；
The cone rotor I is arranged in taper stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator, cone rotor
II is arranged in taper stator II；The cone rotor I, magnetic resistance motor rotor and II set of cone rotor are in shaft；The cone
II arranged in series of shape stator I, reluctance motor stator and taper stator, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, the tooth of reluctance motor stator and magnetic resistance motor rotor
Number has 12/8 or 6/4 or 8/6 3 kind of combining form；Wherein the number of teeth group of reluctance motor stator and magnetic resistance motor rotor is combined into 12/8
Or when 6/4, the number of phases m of switched reluctance machines is 3, when the number of teeth group of reluctance motor stator and magnetic resistance motor rotor is combined into 8/6, is opened
The number of phases m for closing reluctance motor is 4；
The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is combined using 12/8, i.e., the described reluctance motor stator number of teeth is
12, when the magnetic resistance motor rotor number of teeth is 8, number of motor phases m is 3, the every 4 magnetic resistance electricity being separated by 90 ° of reluctance motor stator tooth
Machine coil is linked together using series connection or connection type that is arranged side by side or going here and there and combine, constitutes 1 armature winding, formed altogether
3 armature winding；
Or the number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 6/4 combination, i.e., the described reluctance motor stator number of teeth
When for 6, the magnetic resistance motor rotor number of teeth be 4, number of motor phases m is 3, every 2 magnetic resistance being separated by 180 ° of reluctance motor stator tooth
Electrical-coil, using series connection or connection type arranged side by side, link together, constitute 1 armature winding, altogether formed 3 armatures around
Group；
Or the number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 8/6 combination, i.e., the described reluctance motor stator number of teeth
When for 8, the magnetic resistance motor rotor number of teeth be 6, number of motor phases m is 4, every 2 magnetic resistance being separated by 180 ° of reluctance motor stator tooth
Electrical-coil, using series connection or connection type arranged side by side, link together, constitute 1 armature winding, altogether formed 4 armatures around
Group；
The taper stator I and taper stator II are taper salient-pole structure, and the number of stator teeth of the two is 4, the cone rotor I
It is tapered cylinder structure with cone rotor II；The taper of taper stator I, taper stator II, cone rotor I and cone rotor II
Angle is equal；Taper stator I is identical with the bevel angle opening direction of cone rotor I, the taper of taper stator II and cone rotor II
Angle opening direction is identical；The bevel angle opening direction of taper stator I and cone rotor I and taper stator II and cone rotor II
Bevel angle opening direction is opposite；
It is characterized in that, being wound with 1 bias coil, I, 1 I and of axial suspension coil on each stator tooth of the taper stator I
1 radial suspension coil I, I, 4 axial suspension coil I of totally 4 bias coils and 4 radial suspension coils I；
1 bias coil, II, 1 axial suspension coil II and 1 radial direction are wound on each stator tooth of the taper stator II
Suspended coil II, II, 4 axial suspension coil II of totally 4 bias coils and 4 radial suspension coils II；
I connection type of radial suspension coil of the taper stator I are as follows: be separated by 180 ° of 2 radial suspension lines in the horizontal direction
I series connection of circle, constitutes 1 horizontal direction radial suspension winding I；It is separated by 180 ° of 2 radial suspension coils I string in vertical direction
Connection, constitutes 1 vertical direction radial suspension winding I；
II connection type of radial suspension coil of the taper stator II are as follows: be separated by 180 ° of 2 radial suspensions in the horizontal direction
Coil II is connected, and 1 horizontal direction radial suspension winding II is constituted；It is separated by 180 ° of 2 radial suspension coils in vertical direction
II series connection, constitutes 1 vertical direction radial suspension winding II；
4 axial suspension coils I of the taper stator I are connected, and 1 axial suspension winding I is constituted；The taper stator II
4 axial suspension coils II are connected, and 1 axial suspension winding II is constituted；
4 bias coils I of the taper stator I are connected, and constitute 1 bias coil string I, 4 of the taper stator II are partially
The series connection of coil II is set, 1 bias coil string II is constituted；1 bias coil string I and 1 bias coil string II are connected, and are constituted
1 biasing winding.
2. a kind of control method of taper magnetic suspension switched reluctance motor system according to claim 1, which is characterized in that
The taper magnetic suspension switched reluctance motor system includes a switched reluctance machines and two taper magnetic bearings, wherein switching magnetic
It hinders motor and generates rotating torques, two taper magnetic bearings generate 4 radial suspension forces and 1 axial suspension power, to realize rotor
The suspension operation in five directions；The winding of the magnetic suspension system is by m phase armature winding, 1 biasing winding, 4 radial suspensions
Winding and 2 axial suspension windings are constituted, and the asymmetrical half-bridge power of 1 biasing windings in series to the m phase armature winding becomes
In the bus of parallel operation, wherein the energized circuit of armature winding and continuous current circuit respectively have 1 DC voltage source, and excitation and afterflow
The current direction of stage armature winding and biasing winding is identical always；Independent control m phase armature winding electric current, to adjust torque,
And generate biasing magnetic flux；6 suspending windings electric currents of independent control realize that five-degree magnetic suspension is adjusted；Include the following steps:
Step A obtains given armature winding electric current, turn-on angle and shutdown angle；Specific step is as follows:
Step A-1 acquires the real-time revolving speed of magnetic resistance motor rotor, obtains rotor velocity ω；
Step A-2, by the reference angular velocities ω of magnetic resistance motor rotor angular velocity omega and setting*Subtract each other, obtains rotation speed difference deltan ω；
Step A-3, as ω≤ω0When, ω0For critical speed setting value；The rotation speed difference deltan ω, by pi controller,
Obtain armature winding current reference value im *；Turn-on angle θonWith shutdown angle θoffIt immobilizes；
Step A-4, as ω > ω0When, the rotation speed difference deltan ω obtains turn-on angle θ by pi controlleronAnd shutdown
Angle θoff, armature winding electric current do not control；
Step B adjusts torque；Specific step is as follows:
Step B-1, as ω≤ω0When, using Current cut control method, with the actual current i of armature windingmTrack armature around
Group current reference value im *, and then armature winding electric current i is adjusted in real timem, and then achieve the purpose that adjust torque；
Step B-2, as ω > ω0When, using Angle-domain imaging method, adjust turn-on angle θonWith shutdown angle θoffValue, from
And torque is adjusted in real time；
Step C, the x-axis and y-axis direction for obtaining taper magnetic bearing I give suspending power；The specific steps of which are as follows:
Step C-1 obtains the x-axis of cone rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein x-axis is level side
To y-axis is vertical direction；
Step C-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively obtains x
The real-time displacement signal difference Δ α of axis direction and y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1By than
Example integral-derivative controller, obtains the x-axis direction suspending power of taper magnetic bearing IWith y-axis direction suspending power
Step D, the x-axis and y-axis direction for obtaining taper magnetic bearing II give suspending power；The specific steps of which are as follows:
Step D-1 obtains the x-axis of cone rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step D-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively obtains x
The real-time displacement signal difference Δ α of axis direction and y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2By than
Example integral-derivative controller, obtains the x-axis direction suspending power of taper magnetic bearing IIWith y-axis direction suspending power
Step E obtains z-axis direction and gives suspending power；The specific steps of which are as follows:
Step E-1 obtains the real-time displacement signal z in shaft z-axis directionz, plane that wherein z-axis is constituted perpendicular to x-axis and y-axis；
Step E-2, by real-time displacement signal zzWith given reference displacement signal zz *Subtract each other, obtains the real-time displacement in z-axis direction
Signal difference Δ zz, by the real-time displacement signal difference Δ zzBy proportional plus integral plus derivative controller, obtained z-axis direction suspending power
Step F adjusts suspending power, the specific steps are as follows:
Step F-1 acquires biasing winding current i in real timebiasWith biasing winding maximum current value IP,
Mode one directly acquires biasing winding current i in real time by current sensorbias, then obtaining its maximum value again is
IP；
Or mode two, real-time m phase armature winding electric current is acquired by current sensor, then according to calculation formulaBiasing winding current i in real time is calculatedbias, then acquiring its maximum value again is IP, wherein ikFor kth
The electric current of phase armature winding；
Step F-2, according to the biasing winding maximum current value IPWith the suspending powerWithAnd
Calculation formula:
Resolving obtains the x-axis direction radial suspension winding current reference value of taper magnetic bearing IWith y-axis direction radial suspension winding
Current reference valueThe x-axis direction radial suspension winding current reference value of taper magnetic bearing IIWith y-axis direction radial suspension around
Group current reference valueAnd the reference value of the difference of two axial suspension winding currents
Wherein, kf1For radial suspension force coefficient, kf2For axial suspension force coefficient, expression formula is respectively
Withμ0For space permeability, l is the axial length of taper magnetic bearing, and r is average the half of cone rotor
Diameter, αsFor the polar arc angle of taper stator, δ is the unilateral gas length of magnetic bearing part, and γ is bevel angle, NbFor biasing winding
The number of turns, NzFor the number of turns of axial suspension winding, NsFor the number of turns of radial suspension winding；
Step F-3 calculates the current reference value of axial suspension winding IWith the current reference value of axial suspension winding II
According to the ibias、IP、And axial winding current calculation formulaWithCalculate the current reference value of axial suspension winding IAnd the electricity of axial suspension winding II
Flow reference value
Step F-4, using Current cut control method, with the x-axis direction radial suspension winding actual current i of taper magnetic bearing Is1
Track direction suspending windings current reference valueWith the actual current i of y-axis direction radial suspension windings2Track direction diameter
To suspending windings current reference valueWith the actual current i of axial suspension winding Iz1Track its current reference value
With the x-axis direction radial suspension winding actual current i of taper magnetic bearing IIs3Track direction suspending windings current reference valueWith the actual current i of y-axis direction radial suspension windings4Track direction radial suspension winding current reference valueWith axial direction
The actual current i of suspending windings IIz2Track its current reference valueAnd then realize five-degree magnetic suspension control.
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| 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 |
| CN105024507A (en) * | 2015-07-22 | 2015-11-04 | 南京邮电大学 | Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor |
| CN105591567A (en) * | 2015-11-30 | 2016-05-18 | 南京邮电大学 | Taper magnetic bearing switched reluctance motor and control method thereof |
-
2017
- 2017-04-11 CN CN201710231300.4A patent/CN107124082B/en active Active
Patent Citations (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 |
| CN105024507A (en) * | 2015-07-22 | 2015-11-04 | 南京邮电大学 | Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor |
| CN105591567A (en) * | 2015-11-30 | 2016-05-18 | 南京邮电大学 | Taper magnetic bearing switched reluctance motor and control method thereof |
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| CN107124082A (en) | 2017-09-01 |
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