CN108199640A - Six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless hold flux electric machine driving method - Google Patents

Six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless hold flux electric machine driving method Download PDF

Info

Publication number
CN108199640A
CN108199640A CN201810093587.3A CN201810093587A CN108199640A CN 108199640 A CN108199640 A CN 108199640A CN 201810093587 A CN201810093587 A CN 201810093587A CN 108199640 A CN108199640 A CN 108199640A
Authority
CN
China
Prior art keywords
phase
current
power
winding
directions
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.)
Granted
Application number
CN201810093587.3A
Other languages
Chinese (zh)
Other versions
CN108199640B (en
Inventor
周扬忠
陈光团
钟天云
郑梦飞
林碧云
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuzhou University
Original Assignee
Fuzhou University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fuzhou University filed Critical Fuzhou University
Priority to CN201810093587.3A priority Critical patent/CN108199640B/en
Publication of CN108199640A publication Critical patent/CN108199640A/en
Application granted granted Critical
Publication of CN108199640B publication Critical patent/CN108199640B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/12—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors arranged in slots
    • H02K3/16—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors arranged in slots for auxiliary purposes, e.g. damping or commutating
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • 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
    • H02P25/022—Synchronous motors
    • H02P25/03—Synchronous motors with brushless excitation
    • 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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The present invention provides a kind of six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless holds flux electric machine driving method, and double winding is embedded in simultaneously on motor stator：A set of six phase power windings formed for the coil being nested on magnetic pole of the stator, the another set of main suspending power for generating rotor suspension to embed the main suspending windings of the three-phase in permanent magnet trough and needing.Torque current and levitating current are flowed through in six phase power windings simultaneously, generates the torque for meeting load needs and the compensation suspension of rotor suspension needs.When power winding phase shortage, the torque current in power winding is obtained according to the constant principle of stator magnetomotive force before and after phase shortage to give, levitating current is obtained further according to the principle of copper loss minimum that the constraints between phase winding electric current each after phase shortage and levitating current generate and zero-sequence current gives, and is run so as to fulfill the phase-lacking fault-tolerant of BFSPMM.

Description

Six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless hold flux electric machine driving method
Technical field
The invention belongs to Motor Control Fields, and in particular to a kind of six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless Hold flux electric machine driving method.
Background technology
For stator permanent magnetic type flux switch motor (FSPMM) on permanent magnet insertion stator, rotor is salient pole type core construction, So this kind of motor has many advantages, such as that permanent magnet radiates easy, rotor suitable for high-speed cruising, if bearing-free technique extension extremely should On kind motor, structure bearing-free stator permanent magnetic type flux switch motor (BFSPMM) can then generate huge economic society value.
Traditional BFSPMM usually has three phase power winding and three-phase two sets of stator winding of main suspending windings, double winding Torque and the suspending power in motor rotary course are generated respectively.But for this kind of three-phase and three-phase double winding BFSPMM, when After power winding phase shortage, motor can not continue to stable torque output.If the three-phase work(of traditional double winding BFSPMM Rate winding is split as six phases, then can realize that phase-lacking fault-tolerant is run when power winding breaks down, so as to greatly improve The reliability of BFSPMM.
Invention content
The defects of to solve the prior art, the present invention propose that a kind of power winding has six phase of phase-lacking fault-tolerant type and three-phase pair Winding suspension complementary type bearing-free flux electric machine driving method.Based on the copper loss minimum principle that levitating current after phase shortage generates, profit Rotor suspension power is generated with the power winding of phase shortage and suspending windings complementation, is run so as to fulfill the phase-lacking fault-tolerant of BFSPMM.
The present invention uses following technical scheme：A kind of six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless hold magnetic flux electricity Machine driving method, includes the following steps：Step S1：Control performance needs are tangentially rotated according to rotor, are tangentially rotated by rotor Dq shaft current set-points in controller output dq rotor synchronous rotating framesStep S2：Dq shaft current set-pointsRotation transformation obtains α β shaft current components to α β rest framesIt is as follows：
Step S3：Utilize T6Transformation matrix is six phase power winding current iA~iFIt is converted into α β rest frames and obtains iα、 iβ；Step S4：According to iαiβAnd the tangential angular position theta of rotorrCalculate suspending power coefficient k at this timexj、kyj, j=f1, f2, f3, F4, the calculation formula used are as follows：
Wherein, kxfj、kyfjWhen j=f1, f2, f3, f4 represent f1, f2, f3, f4 axis and lead to 1A electric currents, coordinate with permanent magnet The x directions that generate afterwards, y directions direction suspending power；kxij、kyijI=α, β, j=f1, f2, f3, f4 represent f1, f2, f3, f4 axis and α, β axis respectively lead to 1A electric currents when generate x directions, y directions suspending power；Step S5：Based on minimum copper loss principle, according to suspending power Coefficient kxj、kyj, j=f2, f3, f4, x, y direction suspending power givesSix phase power winding resistance RtAnd three-phase master is hanged Floating winding resistance RfAuxiliary coefficient λ is calculated1、λ2；Step S6：According to kxj、kyj, j=f2, f3, f4, Rt, RfAnd λ1、λ2It calculates Go out f2, f3, f4 shaft current set-point under minimum copper loss principleThe calculation formula that it is used is as follows：
Step S7：Enable f1, o1, o3 shaft current set-pointIt is 0, enables o2 shaft current set-pointsFor Utilize T9The inverse matrix handle of transformation matrixIt is converted into natural system of coordinates Obtain six phase power winding current set-pointsAnd the main suspending windings given value of current value of three-phaseStep S8：It willThe practical remaining healthy phase current i of six phase power windingsB~iFAnd the practical main suspending windings electric current i of three-phasea~ icRespective current controller is given, actual current is made to track respective set-point.
Compared with prior art, the present invention has the following advantages：The method of the present invention compared with simplex winding and double winding without Bearing flux switch motor driving method compares, and has the following advantages that：(1) using in two sets of different type stator slots around Group generates the main suspending power of rotor and compensatory suspending power, realizes under certain groove area respectively, the output of rotor maximum suspending power, Effectively increase the dynamic response performance of rotor suspension subsystem；(2) motor phase failure realized under power winding failure is fault-tolerant Operation greatly improves the reliability of motor driven systems.
Description of the drawings
Fig. 1 six phases according to the present invention and three-phase double winding bearing-free stator permanent magnetic type flux switch motor cross section.
The power winding that Fig. 2 present invention is carried has six phase of phase-lacking fault-tolerant type and three-phase double winding suspension complementary type bearing-free Flux switch motor drive control block diagram.
Fig. 3 the embodiment of the present invention drive system hardware architecture diagrams.
Six phase power winding fundamental wave plane coordinate system schematic diagrames of Fig. 4.
The main suspending windings fundamental wave plane coordinate system schematic diagram of Fig. 5 three-phases.
Specific embodiment
Explanation is further explained to the present invention in the following with reference to the drawings and specific embodiments.
In order to avoid the deficiencies in the prior art, the present invention proposes that a kind of power winding has six phase of phase-lacking fault-tolerant type and three-phase Double winding suspension complementary type bearing-free flux electric machine driving method.Double winding is embedded on motor stator simultaneously：A set of is nested The six phase power windings that coil on magnetic pole of the stator is formed, it is another set of to embed the main suspending windings of three-phase in permanent magnet trough Generate the main suspending power that rotor suspension needs.Torque current and levitating current are flowed through in six phase power windings simultaneously, generates satisfaction It loads the torque needed and the compensation of rotor suspension needs suspends.When power winding phase shortage, moved according to stator magnet before and after phase shortage The torque current that the constant principle of gesture is obtained in power winding gives, further according to the constraints between phase winding electric current each after phase shortage And the principle of the copper loss minimum of levitating current generation obtains levitating current and zero-sequence current gives, so as to fulfill the phase shortage of BFSPMM Fault-tolerant operation.Corresponding six phase and three-phase double winding bearing-free stator permanent magnetic type flux switch motor cross section are as shown in Figure 1.
A~F is six phase power windings, and a~c is the main suspending windings of three-phase.Deduct winding after, motor cross section with it is common Stator permanent magnetic type flux switch motor is similar, and stator is also to be made of 12 U-shaped core stampings, adjacent two U-shaped punchings it Between clip a permanent magnet tangentially to magnetize.There are three pairs of windings of space symmetr for the motor：A phases and D phase windings space pair Title, B phases and E phase windings space symmetr, C phases and F phase windings are symmetrical.It is each symmetrical if there is no levitating current to flow through in winding The symmetrical air-gap field of winding underlying space (bias magnetic field) is identical, and the Maxwell force that magnetic field generates rotor is equal to Zero；If but after flowing through levitating current in winding, each symmetrical air-gap field of symmetric winding underlying space is no longer equal, wherein one A decrease, another enhancing, air-gap field decrease value are equal to value added, equidirectional with magnetic field-enhanced direction to rotor generation one Maxwell force.Three opposing connection groups generate the Maxwell force of a direction in space respectively, and a conjunction is finally generated to rotor Into suspending power.In addition, after a~c suspending windings flow through levitating current, the suspending power of 120 degree of direction mutual deviation is generated in space, from And synthesize the required main suspending power of rotor suspension.
The control principle block diagram of the method for the present invention is as shown in Figure 2.Control performance needs are tangentially rotated according to rotor, by rotor Dq shaft current set-points in tangential Rotation Controllers output dq rotor synchronous rotating frames Rotation transformation It is obtained to α β rest framesUtilize T6Transformation matrix is six phase power winding current iA~iFIt is converted into α β static coordinates I is obtained in systemα、iβ；According to iα、iβAnd the tangential angular position theta of rotorrCalculate suspending power coefficient k at this timexj、kyj(j=f1, f2, f3、f4)；According to x and y directions rotor radial offset and its set-point, corresponding rotor radial offset control error delta is calculated x、△y；X and y directions radial displacement controller, output x and y directions suspending power set-point are given respectively △ x, △ yBased on minimum copper loss principle, according to suspending power coefficient kxj、kyj(j=f2, f3, f4), x, y direction suspending power giveSix phase power winding resistance RtAnd the main suspending windings resistance R of three-phasefAuxiliary coefficient λ is calculated1、λ2；According to kxj、kyj(j=f2, f3, f4), Rt, RfAnd λ1、λ2Calculate f2, f3, f4 shaft current set-point under minimum copper loss principleEnable f1, o1, o3 shaft current set-pointIt is 0, enables o2 shaft current set-pointsForProfit Use T9The inverse matrix handle of transformation matrix It is converted into natural system of coordinates and obtains Six phase power winding current set-pointsAnd the main suspending windings given value of current value of three-phaseAgain by means of current controller The remaining healthy phase current i of six phase power windings after the practical phase shortage of realizationB~iFAnd the practical main suspending windings electric current i of three-phasea~ic Set-point is tracked, tangentially rotor radial suspends simultaneously for rotation so as to realize rotor under power winding phase shortage.
The present invention carries power winding with six phase of phase-lacking fault-tolerant type and three-phase double winding suspension complementary type bearing-free magnetic flux Motor drive control method is technically characterized in that it contains following steps successively：
(1) control performance needs are tangentially rotated according to rotor, rotation is synchronized by the tangential Rotation Controllers output dq rotors of rotor Turn dq shaft currents set-point in coordinate system
(2) dq shaft current set-pointsRotation transformation obtains α β shaft current components to α β rest framesSuch as Under：
(3) T is utilized6Transformation matrix is six phase power winding current iA~iFIt is converted into α β rest frames and obtains iα、iβ, The calculation formula of use is as follows：
(4) according to iαiβAnd the tangential angular position theta of rotorrCalculate suspending power coefficient k at this timexj、kyj(j=f1, f2, f3, F4), the calculation formula used is as follows：
Wherein, kxfj、kyfjWhen (j=f1, f2, f3, f4) represents f1, f2, f3, f4 axis and lead to 1A electric currents, match with permanent magnet The x directions that are generated after conjunction, y directions direction suspending power.kxij、kyij(i=α, β, j=f1, f2, f3, f4) represents f1, f2, f3, f4 X directions that axis and α, β axis generate when leading to 1A electric currents respectively, y directions direction suspending power.More than coefficient is and θrIt is related, Ke Yitong It crosses finite element analysis software Ansoft emulation or experiment measures.
(5) based on minimum copper loss principle, according to suspending power coefficient kxj、kyj(j=f2, f3, f4), x, y direction suspending power are given It is fixedSix phase power winding resistance RtAnd the main suspending windings resistance R of three-phasefAuxiliary coefficient λ is calculated1、λ2, adopt Calculation formula is as follows：
(6) according to kxj、kyj(j=f2, f3, f4), Rt, RfAnd λ1、λ2Calculate f2, f3, f4 axis under minimum copper loss principle Given value of current valueThe calculation formula that it is used is as follows：
(7) f1, o1, o3 shaft current set-point are enabledIt is 0, enables o2 shaft current set-pointsForIt utilizes T9The inverse matrix handle of transformation matrixIt is converted into natural system of coordinates and obtains Six phase power winding current set-pointsAnd the main suspending windings given value of current value of three-phaseThe calculation formula that it is used is such as Under：
(8)The practical remaining healthy phase current i of six phase power windingsB~iFAnd practical three-phase master is hanged Floating winding current ia~icRespective current controller is given, actual current is made to track respective set-point.
Wherein, x, y direction suspending power in step (5) giveCome from x and y directions radial displacement controller, It is as follows that it calculates step：
(5.1) radial displacement dx and dy of the rotor radial displacement sensor detection rotor along x and y directions are utilized；
(5.2) according to x and y directions rotor radial offset dx and dy and its set-point x*、y*, calculate corresponding rotor diameter Error delta x, △ y is controlled to offset, the calculation formula used is as follows：
△ x=x*-dx (11)
△ y=y*-dy (12)
(5.3) x and y directions radial displacement controller, output x and y directions suspending power set-point are given respectively △ x, △ yIf controller uses PI forms,Calculation formula is as follows：
Wherein, kp、kiRespectively ratio and integral coefficient.
The embodiment of the present invention drive system hardware configuration is as shown in Figure 3.Including：Rectification circuit, filter capacitor, six contraries Become device, three-phase inverter, bearing-free flux switch motor, six phase winding current collection circuits, three-phase windings current collection circuit, Isolation drive, central controller, man-machine interface, rotor-position angle detection circuit, xy directions rotor radial displacement acquisition circuit.It is inverse Become power tube in device and DSP or microcontroller are used using IGBT or MOFET, central controller.Winding current Acquisition Circuit is using suddenly Your current sensor is combined mode with operational amplifier and forms, and can also be put using calculus of differences is followed by around string formation power resistor Big device is combined mode and forms.Control loop and the electrical isolation of major loop can effectively be realized using Hall scheme, using around String formation power resistor scheme can reduce drive system cost.Rotor-position angle detection circuit can be followed by electricity by rotary encoder Flat conversion circuit is formed, and can also be followed by decoding circuit by rotary transformer and be formed.Xy directions rotor radial displacement acquisition channel It is made of radial displacement transducer and level shifting circuit, current vortex sensor may be used in radial displacement transducer, and level turns It changes circuit and operational amplifier composition may be used.Winding current Acquisition Circuit, rotor-position angle detection circuit, xy directions rotor diameter Central controller A/D modular converters are sent to the weak voltage signal of displacement acquisition circuit output.According to the signal and the present invention of acquirement Driving method calculate the control signal that should be sent out, via isolation drive go control six phase inverters and three-phase inverter in The switch motion of power switch pipe.The final tangential rotating operation for realizing rotor radial suspended state.
Six phases and the structure of three-phase double winding BFSPMM that the present invention is studied are as shown in Figure 1.Its rotor shares 10 poles, turns Without winding and permanent magnet on son.Embedded with 12 permanent magnets tangentially to magnetize, adjacent two permanent magnet magnetizing directions on stator On the contrary.In addition, there are six phase power winding of A, B, C, D, E, F and the main suspending windings of a, b, c three-phase on stator.Wherein, Mei Yixiang Six phase power windings are made of two coils, and each phase three-phase windings are made of four coils.Six phase windings and three-phase windings Wye connection is respectively connected into, double winding neutral point is isolated and neutral point is all not brought up.
The fundamental wave plane coordinates of six phase windings of BFSPMM and three-phase windings definition difference is as shown in Figure 4,5.In figure, α β and F3f4 is rest frame, and dq is rotor synchronous rotating frame.In Fig. 4, θr、ωrThe respectively tangential position angle of BFSPMM rotors With angular speed, the θ when BFSPMM is in Fig. 1 positions (rotor tooth center line and A1 coil axis overlap)rIt is 0.ψfFor six phase windings The rotor flux linkage vector of fundamental wave plane, the vector are located on d axis.Since six phase power windings share 6 degree of freedom, except fundamental wave is put down Outside 2 degree of freedom in face, also 4 degree of freedom, axis where defining the degree of freedom herein is f1f2o1o2 axis.Three-phase it is main suspend around Group shares 3 degree of freedom, and in addition to 2 degree of freedom of f3f4 planes, also 1 degree of freedom defines axis where the degree of freedom herein O3 axis.
In order to more easily control the motor, electric current and the magnetic linkage of the BFSPMM are transformed to α β f1f2o1o2f3f4o3 nine In phase rest frame, used nine ranks invariable power transformation matrix is：
Wherein, T6、T3Respectively six ranks, three rank invariable power transformation matrixs, expression formula are as follows：
Then the current expression under rest frame is：
In order to more easily control motor, select following rotational transformation matrix that the quantitative change in α β rest frames is shifted to dq In rotor synchronous rotating frame：
Then the current-variable in α β rest frames is changed to：
Ignore saliency, then the torque expression formula of the BFSPMM is identical with common six phases non-salient pole permanent magnet synchronous motor, Its expression formula is：
Wherein, ψfFor the permanent magnet flux linkage peak value coupled in six phase power windings.
For the BFSPMM, ignore magnetically saturated influence, if permanent magnet, α shaft currents, β shaft currents, f1 shaft currents, f2 The flux density a little generated of shaft current, f3 shaft currents, f4 shaft currents in air gap is respectively Bf、Bα、Bβ、Bf1、Bf2、Bf3、Bf4, then The air gap flux density that the symmetrical another point in space generates in motor gas-gap is respectively Bf、Bα、Bβ、-Bf1、-Bf2、-Bf3、-Bf4, then should The resultant force σ of Maxwell force that unit area at 2 point of space symmetr is subject to is：
Wherein, μ0For air permeability.
It can be obtained by formula (8), the suspending power of BFSPMM is by permanent magnet, α shaft currents, the flux density and f1 axis of the generation of β shaft currents The flux density that electric current, f2 shaft currents, f3 shaft currents, f4 shaft currents generate cooperates what is generated.After ignoring magnetic saturation, in permanent magnetism In the case that body, α shaft currents, the flux density of β shaft currents generation are constant, size and f1 shaft currents, f2 shaft currents, the f3 axis of suspending power The flux density that electric current, f4 shaft currents generate is directly proportional, since the size of flux density is directly proportional to electric current, therefore the size of suspending power and f1 axis Electric current, f2 shaft currents, f3 shaft currents, f4 shaft currents are directly proportional.Then the suspending power expression formula in x, y direction of the BFSPMM can be write For：
Wherein, kxfj、kyfjWhen (j=f1, f2, f3, f4) represents f1, f2, f3, f4 axis and lead to 1A electric currents, match with permanent magnet The x directions that are generated after conjunction, y directions suspending power.kxij、kyij(i=α, β, j=f1, f2, f3, f4) represent f1, f2, f3, f4 axis and α, β axis respectively lead to 1A electric currents when generate x directions, y directions direction suspending power.More than coefficient is and θrIt is related, it can be by having Finite element analysis software Ansoft is emulated or experiment measures.kxj、kyj(j=f1, f2, f3, f4) represents f1, f2, f3, f4 axis and leads to 1A And θ during electric current, the x directions of generation, y directions suspending power are related with the specific works state of motor, i.e.,r, α shaft currents, β axis It is current related.
According to formula (7) it is found that when power winding lacks a phase, it can still be obtained by traditional motor control method such as vector controlled It gives to d, q shaft current, is given so as to obtain α, β shaft currentFor the BFSPMM that the present invention is studied, in addition to It controls outside tangential torque, it is also necessary to control the levitating current component in six phase power windings and hanging in the main suspending windings of three-phase Floating electric current, to realize the complementary control that suspends.Since six phase power windings and the neutral point of the main suspending windings of three-phase are not drawn, o1 It is 0 with o3 shaft currents perseverance.
If power winding missing is mutually A, formula (4) can be obtained with reference to the condition of A phase phase shortages：
Had according to formula (10)：
For reduce copper wastage and make suspending power control and direct torque decoupling, can enable f1 axis to constant current be 0.Then o2 axis To constant currentFor
In order to reduce the copper loss of motor, based on the electric current on minimum copper loss principle control f2, f3, f4 axis.Specific control Block diagram is shown in Fig. 2.For motor is made to realize complementary suspension under minimum copper loss, then there is following constraints：
Wherein, F* xAnd F* yThe radial suspension force for representing x and y directions respectively gives, and value can pass through radial disbalance displacement PID closed loops obtain.if2 *、if3 *、if4 *The given value of current of f2, f3, f4 axis is represented respectively.
In order to solve formula (12), following auxiliary function is established：
Wherein, λ1And λ2It is auxiliary coefficient.
I is asked to formula (13)f2 *、if3 *、if4 *、λ1、λ2Local derviation, can obtain：
It can be obtained by formula (14)：
Then given value of current value if2 *、if3 *、if4 *It can turn to as follows about λ1、λ2Expression formula：
At this point, the given value of current value of suspension shafting f2, f3, f4 can be calculated by formula (17)Again by swearing Amount control calculates the given value of current value of α, β axisEnable f1, o1, o3 shaft current set-pointIt is 0, enables o2 axis electric Flow set-pointForUtilize T9The inverse matrix handle of transformation matrix It is converted into natural system of coordinates and obtains six phase power winding current set-pointsAnd the main suspending windings given value of current value of three-phaseThe calculation formula that it is used is as follows：
Formula (18) has obtained the phase current set-point under natural system of coordinates, and practical six phase power are realized using current controller The remaining healthy phase current i of windingB~iFAnd the practical main suspending windings electric current i of three-phasea~icTrack set-point, you can in power Winding is lacked under a phase, realizes stable suspersion and the rotation of BFSPMM, so as to greatly improve the reliability of BFSPMM drive systems.
Specific work process includes the following steps：
(1) control performance needs are tangentially rotated according to rotor, rotation is synchronized by the tangential Rotation Controllers output dq rotors of rotor Turn dq shaft currents set-point in coordinate system
(2) dq shaft current set-pointsRotation transformation obtains α β shaft current components to α β rest framesSuch as Under：
(3) T is utilized6Transformation matrix is six phase power winding current iA~iFIt is converted into α β rest frames and obtains iα、iβ, The calculation formula of use is as follows：
(4) according to iαiβAnd the tangential angular position theta of rotorrCalculate suspending power coefficient k at this timexj、kyj(j=f1, f2, f3, F4), the calculation formula used is as follows：
Wherein, kxfj、kyfjWhen (j=f1, f2, f3, f4) represents f1, f2, f3, f4 axis and lead to 1A electric currents, match with permanent magnet The x directions that are generated after conjunction, y directions direction suspending power.kxij、kyij(i=α, β, j=f1, f2, f3, f4) represents f1, f2, f3, f4 X directions that axis and α, β axis generate when leading to 1A electric currents respectively, y directions direction suspending power.More than coefficient is and θrIt is related, Ke Yitong It crosses finite element analysis software Ansoft emulation or experiment measures.
(5) based on minimum copper loss principle, according to suspending power coefficient kxj、kyj(j=f2, f3, f4), x, y direction suspending power are given It is fixedSix phase power winding resistance RtAnd the main suspending windings resistance R of three-phasefAuxiliary coefficient λ is calculated1、λ2, adopt Calculation formula is as follows：
(6) according to kxj、kyj(j=f2, f3, f4), Rt, RfAnd λ1、λ2Calculate f2, f3, f4 axis under minimum copper loss principle Given value of current valueThe calculation formula that it is used is as follows：
(7) f1, o1, o3 shaft current set-point are enabledIt is 0, enables o2 shaft current set-pointsForIt utilizes T9The inverse matrix handle of transformation matrixIt is converted into natural system of coordinates and obtains Six phase power winding current set-pointsAnd the main suspending windings given value of current value of three-phaseThe calculation formula that it is used is such as Under：
(8)Practical six phase power winding current iB~iFAnd the practical main suspending windings electric current of three-phase ia~icRespective current controller is given, actual current is made to track respective set-point.
Wherein, x, y direction suspending power in step (5) giveCome from x and y directions radial displacement controller, It is as follows that it calculates step：
(5.1) radial displacement dx and dy of the rotor radial displacement sensor detection rotor along x and y directions are utilized；
(5.2) according to x and y directions rotor radial offset dx and dy and its set-point x*、y*, calculate corresponding rotor diameter Error delta x, △ y is controlled to offset, the calculation formula used is as follows：
△ x=x*-dx (29)
△ y=y*-dy (30)
(5.3) x and y directions radial displacement controller, output x and y directions suspending power set-point are given respectively △ x, △ yIf controller uses PI forms,Calculation formula is as follows：
Wherein, kp、kiRespectively ratio and integral coefficient.
The above are preferred embodiments of the present invention, all any changes made according to the technical solution of the present invention, and generated function is made During with range without departing from technical solution of the present invention, all belong to the scope of protection of the present invention.

Claims (7)

1. a kind of six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless hold flux electric machine driving method, it is characterised in that：Packet Include following steps：
Step S1：Control performance needs are tangentially rotated according to rotor, rotation is synchronized by the tangential Rotation Controllers output dq rotors of rotor Turn dq shaft currents set-point in coordinate system
Step S2：Dq shaft current set-pointsRotation transformation obtains α β shaft current components to α β rest framesSuch as Under：
Step S3：Utilize T6Transformation matrix is six phase power winding current iA~iFIt is converted into α β rest frames and obtains iα、iβ；
Step S4：According to iαiβAnd the tangential angular position theta of rotorrCalculate suspending power coefficient k at this timexj、kyj, j=f1, f2, f3, F4, the calculation formula used are as follows：
Wherein, kxfj、kyfjWhen j=f1, f2, f3, f4 represent f1, f2, f3, f4 axis and lead to 1A electric currents, produced after coordinating with permanent magnet Raw x directions, y directions direction suspending power；kxij、kyijI=α, β, j=f1, f2, f3, f4 represent f1, f2, f3, f4 axis and α, β Axis respectively lead to 1A electric currents when generate x directions, y directions suspending power；
Step S5：Based on minimum copper loss principle, according to suspending power coefficient kxj、kyj, j=f2, f3, f4, x, y direction suspending power gives Six phase power winding resistance RtAnd the main suspending windings resistance R of three-phasefAuxiliary coefficient λ is calculated1、λ2；
Step S6：According to kxj、kyj, j=f2, f3, f4, Rt, RfAnd λ1、λ2Calculate f2, f3, f4 axis under minimum copper loss principle Given value of current valueThe calculation formula that it is used is as follows：
Step S7：Enable f1, o1, o3 shaft current set-pointIt is 0, enables o2 shaft current set-pointsForIt utilizes T9The inverse matrix handle of transformation matrixIt is converted into natural system of coordinates and obtains six Phase power winding current set-pointAnd the main suspending windings given value of current value of three-phase
Step S8：It willThe practical remaining healthy phase current i of six phase power windingsB~iFAnd practical three-phase master is hanged Floating winding current ia~icRespective current controller is given, actual current is made to track respective set-point.
2. six phase of phase-lacking fault-tolerant type according to claim 1 and three-phase double winding suspension shaftless hold flux electric machine driving side Method, it is characterised in that：I in step S3α、iβCalculation formula it is as follows：
3. six phase of phase-lacking fault-tolerant type according to claim 1 and three-phase double winding suspension shaftless hold flux electric machine driving side Method, it is characterised in that：λ in step S51、λ2The calculation formula of use is as follows：
4. six phase of phase-lacking fault-tolerant type according to claim 1 and three-phase double winding suspension shaftless hold flux electric machine driving side Method, it is characterised in that：X, y direction suspending power in step S5 givesCome from x and y directions radial displacement controller, It is as follows that it calculates step：
Step S51：Utilize radial displacement dx and dy of the rotor radial displacement sensor detection rotor along x and y directions；
Step S52：According to x and y directions rotor radial offset dx and dy and its set-point x*、y*, calculate corresponding rotor radial Offset control error delta x, △ y, the calculation formula used are as follows：
△ x=x*-dx；
△ y=y*-dy；
Step S53：Give △ x, △ y to x and y directions radial displacement controller, output x and y directions suspending power set-point respectively
5. six phase of phase-lacking fault-tolerant type according to claim 1 and three-phase double winding suspension shaftless hold flux electric machine driving side Method, it is characterised in that：If controller uses PI forms,Calculation formula is as follows：
Wherein, kp、kiRespectively ratio and integral coefficient.
6. six phase of phase-lacking fault-tolerant type according to claim 1 and three-phase double winding suspension shaftless hold flux electric machine driving side Method, it is characterised in that：Step S7 includes step in detail below：
7. six phase of phase-lacking fault-tolerant type according to claim 1 and three-phase double winding suspension shaftless hold flux electric machine driving side Method, it is characterised in that：Coefficient in step S4 is and θrIt is related, survey is emulated or tested by finite element analysis software Ansoft .
CN201810093587.3A 2018-01-31 2018-01-31 Driving method of open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor Active CN108199640B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810093587.3A CN108199640B (en) 2018-01-31 2018-01-31 Driving method of open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810093587.3A CN108199640B (en) 2018-01-31 2018-01-31 Driving method of open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor

Publications (2)

Publication Number Publication Date
CN108199640A true CN108199640A (en) 2018-06-22
CN108199640B CN108199640B (en) 2019-12-31

Family

ID=62591417

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810093587.3A Active CN108199640B (en) 2018-01-31 2018-01-31 Driving method of open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor

Country Status (1)

Country Link
CN (1) CN108199640B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110034719A (en) * 2019-05-07 2019-07-19 福州大学 A kind of scarce phase fault tolerant control method of six phase simplex winding bearing-free flux switch motors
CN112701984A (en) * 2020-12-09 2021-04-23 福州大学 Suspension control method for open-phase adjacent two-phase rotor of single-winding bearingless flux switching motor
CN113178845A (en) * 2021-04-25 2021-07-27 哈尔滨旋驰电气科技有限公司 Alternating current power supply phase number conversion method and device
CN113839592A (en) * 2021-09-18 2021-12-24 福州大学 Time-optimal bearingless magnetic flux switching motor torque and suspension force prediction control method

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102530600B1 (en) * 2021-07-26 2023-05-10 숭실대학교산학협력단 Three-phase coil configuration method of a bearingless slice motor

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103916056A (en) * 2014-03-17 2014-07-09 南京航空航天大学 Fault-tolerant operation control method of 12/8 single-winding bearing-free switch reluctance motor
JP2016168108A (en) * 2015-03-11 2016-09-23 パナソニック株式会社 Motor device and washing machine including motor device
CN206135760U (en) * 2016-10-21 2017-04-26 南京航空航天大学 Fault -tolerant power drive system of duplex winding permanent magnetism based on three -phase four -leg
CN106655549A (en) * 2016-11-25 2017-05-10 南京邮电大学 Decoupling method for composite rotor no-bearing switch reluctance machine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103916056A (en) * 2014-03-17 2014-07-09 南京航空航天大学 Fault-tolerant operation control method of 12/8 single-winding bearing-free switch reluctance motor
JP2016168108A (en) * 2015-03-11 2016-09-23 パナソニック株式会社 Motor device and washing machine including motor device
CN206135760U (en) * 2016-10-21 2017-04-26 南京航空航天大学 Fault -tolerant power drive system of duplex winding permanent magnetism based on three -phase four -leg
CN106655549A (en) * 2016-11-25 2017-05-10 南京邮电大学 Decoupling method for composite rotor no-bearing switch reluctance machine

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
王晓琳 等: "短路容错控制在多相无轴承永磁同步电机中的可行性分析", 《电工技术学报》 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110034719A (en) * 2019-05-07 2019-07-19 福州大学 A kind of scarce phase fault tolerant control method of six phase simplex winding bearing-free flux switch motors
CN112701984A (en) * 2020-12-09 2021-04-23 福州大学 Suspension control method for open-phase adjacent two-phase rotor of single-winding bearingless flux switching motor
CN112701984B (en) * 2020-12-09 2022-06-14 福州大学 Suspension control method for open-phase adjacent two-phase rotor of single-winding bearingless flux switching motor
CN113178845A (en) * 2021-04-25 2021-07-27 哈尔滨旋驰电气科技有限公司 Alternating current power supply phase number conversion method and device
CN113178845B (en) * 2021-04-25 2023-03-31 哈尔滨旋驰电气科技有限公司 Alternating current power supply phase number conversion method and device
CN113839592A (en) * 2021-09-18 2021-12-24 福州大学 Time-optimal bearingless magnetic flux switching motor torque and suspension force prediction control method
CN113839592B (en) * 2021-09-18 2024-02-13 福州大学 Time optimal bearingless magnetic flux switching motor torque and levitation force prediction control method

Also Published As

Publication number Publication date
CN108199640B (en) 2019-12-31

Similar Documents

Publication Publication Date Title
CN108199640A (en) Six phase of phase-lacking fault-tolerant type and three-phase double winding suspension shaftless hold flux electric machine driving method
CN108199639A (en) Six phases and three-phase double winding suspension complementary type bearing-free flux electric machine driving method
CN107222146B (en) The Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability
CN106487308B (en) Series electric motor drive system, which inputs, lacks a phase error-tolerance type Direct Torque Control
CN103916056B (en) 12/8 simplex winding bearingless switched reluctance motor error-tolerant operation control method
CN104184380A (en) One-phase-failure fault-tolerant torque control method of 60-degree offset six-phase permanent magnet synchronous motor
CN104767454B (en) A kind of control method for reducing bearing-free flux switch motor rotor suspension electric current
CN104201965B (en) Rotor suspension control method for stator permanent magnet type bearingless synchronous motor
CN106953458A (en) A kind of two-freedom double winding hybrid magnetic bearing switched reluctance machines and control method
CN105827159B (en) A kind of three-phase bearing-free flux switch motor rotor suspension control method
CN112968642B (en) Linear active-disturbance-rejection control method for six-phase single-winding bearingless flux switching motor
CN108054973B (en) Reduce the simplex winding stator permanent magnetic type flux switch motor driving method of levitating current
CN113872482B (en) Axial magnetic field flux switching permanent magnet motor single-phase fault-tolerant control method
CN110034719B (en) Control method for phase-lack fault of six-phase single-winding bearingless flux switching motor
CN104038002A (en) Permanent-magnet biased hybrid magnetic bearing switch reluctance motor
CN106953459A (en) A kind of hybrid magnetic bearing switched reluctance machines and its control method
CN104753279B (en) AC frequency conversion senses single armature synchronous motor of brushless excitation
CN107154716A (en) Bimorph transducer circumferential misalignment angle electrical excitation direct current generator and its control method
Jia et al. A novel DC-biased current dual PM Vernier machine
CN106655955A (en) Control method for composite-rotor, single-winding and bearingless switch reluctance machine
Meng et al. Multi-stage-structure-based rotor position estimation for a wound-field synchronous starter/generator in the low-speed region
CN104852658A (en) Permanent magnet synchronous motor decoupling vector control device in two-phase stationary coordinate system and method thereof
CN114337426A (en) Permanent magnet synchronous motor deviation decoupling control method under d-q axis static coordinate system
CN104009601A (en) Duplex-winding bearing-free switched reluctance motor of composite structure
CN101051784B (en) Wide speed regulating range permanent magnetic resistance synchronous motor and its speed regulating method

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