CN108199640B - Driving method of open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor - Google Patents
Driving method of open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor Download PDFInfo
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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
- 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
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- 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
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- 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
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- 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
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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
- 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
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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
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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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
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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
- 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
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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
- 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
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Abstract
The invention provides a method for driving a phase-lacking fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor, wherein two sets of windings are embedded in a motor stator at the same time: one set is a six-phase power winding formed by coils embedded on the stator magnetic poles, and the other set is a three-phase main suspension winding embedded in the permanent magnet slots to generate main suspension force required by rotor suspension. The six-phase power winding simultaneously flows torque current and suspension current to generate torque meeting the load requirement and compensation suspension meeting the rotor suspension requirement. When the power winding is in phase failure, the given torque current in the power winding is obtained according to the principle that the magnetomotive force of the stator is not changed before and after the phase failure, and then the given suspension current and the zero sequence current are obtained according to the constraint condition among the winding currents of each phase after the phase failure and the principle that the copper consumption generated by the suspension current is minimum, so that the phase failure fault-tolerant operation of the BFSPMM is realized.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a method for driving a phase-lacking fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor.
Background
The permanent magnet is embedded into the stator of the stator permanent magnet type flux switching motor (FSPMM), and the rotor is of a salient pole type iron core structure, so that the motor has the advantages of easiness in heat dissipation of the permanent magnet, suitability for high-speed operation of the rotor and the like.
A conventional BFSPMM generally has two sets of stator windings, a three-phase power winding and a three-phase main suspension winding, where the two sets of windings generate torque and suspension force during the rotation of the motor, respectively. However, for the three-phase and three-phase dual-winding BFSPMM, when the power winding is out of phase, the motor cannot continue to maintain stable torque output. If the three-phase power winding of the traditional double-winding BFSPMM is split into six phases, the open-phase fault-tolerant operation can be realized when the power winding fails, so that the reliability of the BFSPMM is greatly improved.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a method for driving a power winding with open-phase fault-tolerant six-phase and three-phase double-winding suspension complementary bearingless flux motor. Based on the principle of minimum copper consumption generated by suspension current after phase failure, the rotor suspension force is generated by utilizing the complementation of the power winding and the suspension winding of the phase failure, thereby realizing the phase failure fault-tolerant operation of the BFSPMM.
The invention adopts the following technical scheme: a method for driving a phase-missing fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor comprises the following steps: step S1: according to the requirement of the control performance of the tangential rotation of the rotor, the given value of the dq axis current in the dq rotor synchronous rotation coordinate system is output by the tangential rotation controller of the rotorStep S2: setting the dq-axis current to a given valueRotating and transforming to alpha beta stationary coordinate system to obtain alpha beta axisComponent of currentThe following were used:
step S3: by T6Transforming the matrix to convert the six-phase power winding current iA～iFConverting the coordinate system into an alpha beta static coordinate system to obtain iα、iβ(ii) a Step S4: according to iαiβAnd rotor tangential position angle thetarCalculating the suspension force coefficient k at the momentxj、kyjJ ═ f1, f2, f3, and f4, and the calculation formula used is as follows:
wherein k isxfj、kyfjj-f 1, f2, f3 and f4 represent floating forces in the x direction and the y direction generated after the permanent magnets are matched with the shaft of f1, f2, f3 and f4 when the shaft of the shaft is electrified with 1A current; k is a radical ofxij、kyijThe i, the β, the j, the f1, the f2, the f3 and the f4 represent floating forces in the x direction and the y direction generated when the shafts f1, f2, f3 and f4 and the shafts α and β are respectively electrified by 1A current; step S5: based on the principle of minimum copper loss and according to the suspension force coefficient kxj、kyjJ-f 2, f3, f4, given suspension forces in x and y directionsSix-phase power winding resistor RtAnd three-phase main suspension winding resistance RfCalculating to obtain an auxiliary coefficient lambda1、λ2(ii) a Step S6: according to kxj、kyj，j＝f2、f3、f4，Rt，RfAnd λ1、λ2Calculating the given values of the shaft currents of f2, f3 and f4 under the principle of minimum copper lossThe calculation formula adopted is as follows:
step S7: let the shaft currents of f1, o1 and o3 setTo 0, let the o2 axis current be givenIs composed ofBy T9Inverse handle of transformation matrixTransforming the current into a natural coordinate system to obtain a six-phase power winding current given valueAnd three-phase main suspension winding current given valueStep S8: will be provided withActual six-phase power winding remaining healthy phase current iB～iFAnd the actual three-phase main levitation winding current ia～icAnd sending the current to respective current controllers to enable the actual currents to track respective set values.
Compared with the prior art, the invention has the following advantages: compared with the existing single-winding and double-winding bearingless flux switching motor driving method, the method of the invention has the following advantages: (1) the windings in two sets of stator slots of different types are used for respectively generating main suspension force and compensatory suspension force of the rotor, so that the maximum suspension force output of the rotor under a certain slot area is realized, and the dynamic response performance of a rotor suspension subsystem is effectively improved; (2) the motor phase-loss fault-tolerant operation under the power winding fault is realized, and the reliability of a motor driving system is greatly improved.
Drawings
Fig. 1 is a cross section of a six-phase and three-phase double-winding bearingless stator permanent magnet type flux switching motor according to the present invention.
Fig. 2 shows a driving control block diagram of a power winding with a missing-phase fault-tolerant six-phase and three-phase double-winding suspension complementary bearingless flux switching motor.
FIG. 3 is a diagram illustrating a hardware structure of a driving system according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a plane coordinate system of a fundamental wave of a six-phase power winding.
Fig. 5 is a schematic diagram of a three-phase main suspension winding fundamental wave plane coordinate system.
Detailed Description
The invention is further explained below with reference to the figures and the specific embodiments.
In order to avoid the defects of the prior art, the invention provides a method for driving a power winding with a missing-phase fault-tolerant six-phase and three-phase double-winding suspension complementary bearingless flux motor. Two sets of windings are embedded in the motor stator at the same time: one set is a six-phase power winding formed by coils embedded on the stator magnetic poles, and the other set is a three-phase main suspension winding embedded in the permanent magnet slots to generate main suspension force required by rotor suspension. The six-phase power winding simultaneously flows torque current and suspension current to generate torque meeting the load requirement and compensation suspension meeting the rotor suspension requirement. When the power winding is in phase failure, the given torque current in the power winding is obtained according to the principle that the magnetomotive force of the stator is not changed before and after the phase failure, and then the given suspension current and the zero sequence current are obtained according to the constraint condition among the winding currents of each phase after the phase failure and the principle that the copper consumption generated by the suspension current is minimum, so that the phase failure fault-tolerant operation of the BFSPMM is realized. The cross section of the corresponding six-phase and three-phase double-winding bearingless stator permanent magnet type magnetic flux switching motor is shown in figure 1.
A-F are six-phase power windings, and a-c are three-phase main suspension windings. After the windings are deducted, the cross section of the motor is similar to that of a common stator permanent magnet type magnetic flux switching motor, the stator is also composed of 12U-shaped iron core punching sheets, and a permanent magnet magnetized along the tangential direction is clamped between two adjacent U-shaped punching sheets. The motor has three spatially symmetrical pairs of windings: the winding space of the A phase and the D phase is symmetrical, the winding space of the B phase and the E phase is symmetrical, and the winding space of the C phase and the F phase is symmetrical. If no suspension current flows in the windings, air gap magnetic fields (bias magnetic fields) which are symmetrical in space below each symmetrical winding are completely the same, and Maxwell force generated by the magnetic fields on the rotor is equal to zero; however, if the suspension current flows in the windings, the air-gap magnetic fields which are symmetrical in the space below each symmetrical winding are not equal any more, one of the air-gap magnetic fields is weakened, the other air-gap magnetic field is strengthened, the weakening value of the air-gap magnetic field is equal to the increasing value, and Maxwell force in the same direction as the strengthening direction of the magnetic field is generated to the rotor. The three pairs of windings respectively generate Maxwell force in a certain direction in space, and finally generate a synthesized suspension force for the rotor. In addition, after the suspension current flows through the suspension windings a-c, suspension force with directions different from each other by 120 degrees is generated in space, and therefore the main suspension force required by rotor suspension is synthesized.
The control block diagram of the method of the invention is shown in fig. 2. According to the requirement of the control performance of the tangential rotation of the rotor, the given value of the dq axis current in the dq rotor synchronous rotation coordinate system is output by the tangential rotation controller of the rotorHandleRotation transformation to alpha beta stationary coordinate systemBy T6Transforming the matrix to convert the six-phase power winding current iA～iFConverting the coordinate system into an alpha beta static coordinate system to obtain iα、iβ(ii) a According to iα、iβAnd rotor tangential position angle thetarCalculating the suspension force coefficient k at the momentxj、kyj(j ═ f1, f2, f3, f 4); calculating corresponding rotor radial offset control errors delta x and delta y according to the rotor radial offset in the x direction and the y direction and a given value thereof; feeding Deltax and Deltay to x-and y-direction paths, respectivelyA direction displacement controller for outputting given values of suspension force in x and y directionsBased on the principle of minimum copper loss and according to the suspension force coefficient kxj、kyj(j ═ f2, f3, f4), given levitation forces in the x and y directionsSix-phase power winding resistor RtAnd three-phase main suspension winding resistance RfCalculating to obtain an auxiliary coefficient lambda1、λ2(ii) a According to kxj、kyj(j＝f2、f3、f4)，Rt，RfAnd λ1、λ2Calculating the given values of the shaft currents of f2, f3 and f4 under the principle of minimum copper lossLet the shaft currents of f1, o1 and o3 setTo 0, let the o2 axis current be givenIs composed ofBy T9Inverse handle of transformation matrix Transforming the current into a natural coordinate system to obtain a six-phase power winding current given valueAnd three-phase main suspension winding current given valueAgain by means of electric currentThe controller realizes the remaining healthy phase current i of the six-phase power winding after actual phase lossB～iFAnd the actual three-phase main levitation winding current ia～icAnd tracking a given value, thereby realizing tangential rotation of the rotor and radial suspension of the rotor under the condition of phase loss of the power winding.
The technical characteristics of the power winding provided by the invention are that the power winding has open-phase fault-tolerant six-phase and three-phase double-winding suspension complementary bearing-free magnetic motor driving control method is characterized in that the method sequentially comprises the following steps:
(1) according to the requirement of the control performance of the tangential rotation of the rotor, the given value of the dq axis current in the dq rotor synchronous rotation coordinate system is output by the tangential rotation controller of the rotor
(2) Setting the dq-axis current to a given valueRotating and transforming to alpha beta stationary coordinate system to obtain alpha beta axis current componentThe following were used:
(3) by T6Transforming the matrix to convert the six-phase power winding current iA～iFConverting the coordinate system into an alpha beta static coordinate system to obtain iα、iβThe calculation formula adopted is as follows:
(4) according to iαiβAnd rotor tangential position angle thetarCalculating the suspension force coefficient at that timekxj、kyj(j ═ f1, f2, f3, f4), which uses the following calculation formula:
wherein k isxfj、kyfjAnd (j ═ f1, f2, f3 and f4) represent x-direction and y-direction levitation forces generated by matching of the shaft f1, f2, f3 and f4 with the permanent magnet when the shaft f1, f2, f3 and f4 are electrified. k is a radical ofxij、kyij(i ═ α, β, j ═ f1, f2, f3, f4) represent x-direction and y-direction levitation forces generated when the f1, f2, f3, f4 axes and the α and β axes are energized with a current, respectively. All the above coefficients are equal to thetarIn this regard, it can be measured by finite element analysis software Ansoft simulation or experiment.
(5) Based on the principle of minimum copper loss and according to the suspension force coefficient kxj、kyj(j ═ f2, f3, f4), given levitation forces in the x and y directionsSix-phase power winding resistor RtAnd three-phase main suspension winding resistance RfCalculating to obtain an auxiliary coefficient lambda1、λ2The calculation formula adopted is as follows:
(6) according to kxj、kyj(j＝f2、f3、f4)，Rt，RfAnd λ1、λ2Calculating the given values of the shaft currents of f2, f3 and f4 under the principle of minimum copper lossThe calculation formula adopted is as follows:
(7) let the shaft currents of f1, o1 and o3 setTo 0, let the o2 axis current be givenIs composed ofBy T9Inverse handle of transformation matrixTransforming the current into a natural coordinate system to obtain a six-phase power winding current given valueAnd three-phase main suspension winding current given valueThe calculation formula adopted is as follows:
(8) handleActual six-phase power winding remaining healthy phase current iB～iFAnd the actual three-phase main levitation winding current ia～icAnd sending the current to respective current controllers to enable the actual currents to track respective set values.
Wherein the suspension force in the x and y directions in the step (5) is givenFrom the x and y direction radial displacement controller, the calculation steps are as follows:
(5.1) detecting the radial displacement amount dx and dy of the rotor along the x and y directions by using a rotor radial displacement sensor;
(5.2) rotor radial offsets dx and dy according to x and y directions and given value x thereof*、y*And calculating corresponding rotor radial deviation control errors delta x and delta y by adopting the following calculation formula:
△x＝x*-dx (11)
△y＝y*-dy (12)
(5.3) respectively sending the delta x and the delta y to an x-direction radial displacement controller and a y-direction radial displacement controller, and outputting given values of the suspension forces in the x direction and the y directionIf the controller is in PI form, thenThe calculation formula is as follows:
wherein k isp、kiProportional and integral coefficients, respectively.
The hardware structure of the driving system of the embodiment of the invention is shown in fig. 3. The method comprises the following steps: the device comprises a rectifying circuit, a filter capacitor, a six-phase inverter, a three-phase inverter, a bearingless flux switching motor, a six-phase winding current acquisition circuit, a three-phase winding current acquisition circuit, an isolation drive, a central controller, a man-machine interface, a rotor position angle detection circuit and an xy-direction rotor radial displacement acquisition circuit. The power tube in the inverter adopts IGBT or MOFET, and the central controller adopts DSP or singlechip. The winding current acquisition circuit is formed by combining a Hall current sensor and an operational amplifier, and can also be formed by combining a winding series power resistor and a differential operational amplifier. The Hall scheme can effectively realize the electrical isolation of the control loop and the main loop, and the winding series power resistance scheme can reduce the cost of the driving system. The rotor position angle detection circuit can be formed by connecting a rotary encoder with a level conversion circuit, or can be formed by connecting a rotary transformer with a decoding circuit. The xy-direction rotor radial displacement acquisition channel is composed of a radial displacement sensor and a level conversion circuit, the radial displacement sensor can adopt an eddy current sensor, and the level conversion circuit can adopt an operational amplifier. And weak voltage signals output by the winding current acquisition circuit, the rotor position angle detection circuit and the xy-direction rotor radial displacement acquisition circuit are transmitted to the A/D conversion module of the central controller. The control signal to be sent is calculated based on the acquired signal and the driving method of the present invention, and the switching operation of the power switching tubes in the six-phase inverter and the three-phase inverter is controlled via the isolated drive. Finally, the tangential rotation operation of the rotor in the radial suspension state is realized.
The structure of six-phase and three-phase dual-winding BFSPMM studied by the invention is shown in figure 1. The rotor has 10 poles in total, and the rotor has no winding and permanent magnet. 12 permanent magnets magnetized along the tangential direction are embedded on the stator, and the magnetizing directions of two adjacent permanent magnets are opposite. In addition, A, B, C, D, E, F six-phase power windings and a, b and c three-phase main suspension windings are arranged on the stator. Each six-phase power winding consists of two coils, and each three-phase winding consists of four coils. The six-phase winding and the three-phase winding are respectively connected into a star connection method, and the neutral points of the two sets of windings are isolated and are not led out.
The plane coordinate definitions of the fundamental wave of the BFSPMM six-phase winding and the three-phase winding are respectively shown in figures 4 and 5. In the figure, α β and f3f4 are stationary coordinate systems, and dq is a rotor synchronous rotation coordinate system. In FIG. 4, θr、ωrThe tangential position angle and the angular velocity of the rotor of the BFSPMM, respectively, when the BFSPMM is in the position of FIG. 1(rotor tooth center line and A1 coil axis coincide) of thetarIs 0. PsifAnd the rotor flux linkage vector is the plane of the fundamental wave of the six-phase winding and is positioned on the d axis. Since six-phase power windings share 6 degrees of freedom, there are 4 degrees of freedom in addition to 2 degrees of freedom in the fundamental plane, which is defined herein as the f1f2o1o2 axis. The three-phase main suspension winding has 3 degrees of freedom, and has 1 degree of freedom besides 2 degrees of freedom of the f3f4 plane, and an axis o3 axis of the degree of freedom is defined herein.
In order to control the motor more conveniently, the current and the magnetic chain of the BFSPMM are transformed into an alpha beta f1f2o1o2f3f4o3 nine-phase static coordinate system, and a nine-order constant power transformation matrix is used as follows:
wherein, T6、T3The constant power transformation matrixes are six-order and three-order constant power transformation matrixes respectively, and the expressions are as follows:
the current expression in the stationary coordinate system is:
for more convenient control of the motor, the following rotation transformation matrix is selected to transform the quantities in the α β stationary frame into the dq rotor synchronous rotation frame:
the current in the α β stationary frame can be transformed into:
neglecting salient pole effect, the torque expression of the BFSPMM is the same as that of the common six-phase non-salient pole permanent magnet synchronous motor, and the expression is as follows:
wherein psifThe peak value of the permanent magnetic flux linkage coupled in the six-phase power winding.
For the BFSPMM, neglecting the effect of magnetic saturation, the flux densities generated by the permanent magnet, the α -axis current, the β -axis current, the f 1-axis current, the f 2-axis current, the f 3-axis current, and the f 4-axis current at one point in the air gap are respectively Bf、Bα、Bβ、Bf1、Bf2、Bf3、Bf4The air gap flux density generated at another point of the motor air gap with space symmetry is Bf、Bα、Bβ、-Bf1、-Bf2、-Bf3、-Bf4Then, the resultant σ of the maxwell forces received by the unit area at the two spatially symmetric points is:
wherein, mu0Is air permeability.
From equation (8), the levitation force of the BFSPMM is generated by the mutual cooperation of the magnetic densities generated by the permanent magnet, the α -axis current, and the β -axis current, and the magnetic densities generated by the f 1-axis current, the f 2-axis current, the f 3-axis current, and the f 4-axis current. After magnetic saturation is neglected, under the condition that the magnetic densities generated by the permanent magnet, the alpha-axis current and the beta-axis current are not changed, the magnitude of the levitation force is in direct proportion to the magnetic densities generated by the f 1-axis current, the f 2-axis current, the f 3-axis current and the f 4-axis current, and the magnitude of the levitation force is in direct proportion to the f 1-axis current, the f 2-axis current, the f 3-axis current and the f 4-axis current because the magnitude of the magnetic densities is in direct proportion to the currents. The suspension force expression of the BFSPMM in the x and y directions can be written as:
wherein k isxfj、kyfjAnd (j ═ f1, f2, f3 and f4) represent x-direction and y-direction levitation forces generated by matching of the shaft f1, f2, f3 and f4 with the permanent magnet when the shaft f1, f2, f3 and f4 are electrified. k is a radical ofxij、kyij(i ═ α, β, j ═ f1, f2, f3, f4) represent x-direction and y-direction levitation forces generated when the f1, f2, f3, f4 axes and the α and β axes are energized with a current, respectively. All the above coefficients are equal to thetarIn this regard, it can be measured by finite element analysis software Ansoft simulation or experiment. k is a radical ofxj、kyj(j ═ f1, f2, f3 and f4) represent x-direction and y-direction levitation forces generated when 1A current is applied to the shafts f1, f2, f3 and f4, and the x-direction and y-direction levitation forces are related to the specific working state of the motor, namely, are related to thetarThe α -axis current and the β -axis current.
According to the equation (7), when the power winding lacks one phase, the d-axis and q-axis current setting, and thus the alpha-axis and beta-axis current setting, can still be obtained by the traditional motor control method such as vector controlFor the BFSPMM studied by the present invention, besides controlling the tangential torque, it is also necessary to control the levitation current component in the six-phase power winding and the levitation current in the three-phase main levitation winding to achieve complementary levitation control. Because the neutral points of the six-phase power winding and the three-phase main suspension winding are not led out, the currents of the o1 and the o3 axes are constantly 0.
If the power winding default phase is a, equation (4) can be obtained by combining the condition of the default phase of the a phase:
according to formula (10) there are:
for lowering motorsCopper losses and decoupling of the levitation control and torque control can give the f1 axis a given current of 0. The o2 axis gives a currentIs composed of
In order to reduce the copper consumption of the motor, the current on the shafts f2, f3 and f4 is controlled based on the principle of minimum copper consumption. The specific control block diagram is shown in fig. 2. In order to realize the complementary suspension of the motor under the minimum copper consumption, the following constraint conditions are adopted:
wherein, F* xAnd F* yThe radial levitation force given, which represents the x and y directions respectively, can be obtained by PID closed loop of radial eccentric displacement. i.e. if2 *、if3 *、if4 *Current settings representing the f2, f3, f4 axes, respectively.
To solve equation (12), the following helper functions are established:
wherein λ is1And λ2Is the auxiliary coefficient.
Obtaining i from formula (13)f2 *、if3 *、if4 *、λ1、λ2The partial derivatives of (a) can be:
from formula (14):
then the given value of current if2 *、if3 *、if4 *Can be modeled as follows with respect to λ1、λ2Expression (c):
at this time, the given values of the currents of the suspension shafting f2, f3 and f4 can be calculated by the formula (17)Then the given current values of alpha and beta axes are calculated by vector controlLet the shaft currents of f1, o1 and o3 setTo 0, let the o2 axis current be givenIs composed ofBy T9Inverse handle of transformation matrixTransforming the current into a natural coordinate system to obtain a six-phase power winding current given valueAnd three-phase main suspension winding current given valueThe calculation formula adopted is as follows:
the set value of the phase current in a natural coordinate system is obtained in the formula (18), and the actual residual healthy phase current i of the six-phase power winding is realized by using a current controllerB～iFAnd the actual three-phase main levitation winding current ia～icAnd tracking a given value, namely realizing stable suspension and rotation of the BFSPMM under the condition that the power winding lacks one phase, thereby greatly improving the reliability of the BFSPMM driving system.
The specific working process comprises the following steps:
(1) according to the requirement of the control performance of the tangential rotation of the rotor, the given value of the dq axis current in the dq rotor synchronous rotation coordinate system is output by the tangential rotation controller of the rotor
(2) Setting the dq-axis current to a given valueRotating and transforming to alpha beta stationary coordinate system to obtain alpha beta axis current componentThe following were used:
(3) by T6Transforming the matrix to convert the six-phase power winding current iA～iFConverting the coordinate system into an alpha beta static coordinate system to obtain iα、iβThe calculation formula adopted is as follows:
(4) According to iαiβAnd rotor tangential position angle thetarCalculating the suspension force coefficient k at the momentxj、kyj(j ═ f1, f2, f3, f4), which uses the following calculation formula:
wherein k isxfj、kyfjAnd (j ═ f1, f2, f3 and f4) represent x-direction and y-direction levitation forces generated by matching of the shaft f1, f2, f3 and f4 with the permanent magnet when the shaft f1, f2, f3 and f4 are electrified. k is a radical ofxij、kyij(i ═ α, β, j ═ f1, f2, f3, f4) represent x-direction and y-direction levitation forces generated when the f1, f2, f3, f4 axes and the α and β axes are energized with a current, respectively. All the above coefficients are equal to thetarIn this regard, it can be measured by finite element analysis software Ansoft simulation or experiment.
(5) Based on the principle of minimum copper loss and according to the suspension force coefficient kxj、kyj(j ═ f2, f3, f4), given levitation forces in the x and y directionsSix-phase power winding resistor RtAnd three-phase main suspension winding resistance RfCalculating to obtain an auxiliary coefficient lambda1、λ2The calculation formula adopted is as follows:
(6) according to kxj、kyj(j＝f2、f3、f4)，Rt，RfAnd λ1、λ2Calculating the given values of the shaft currents of f2, f3 and f4 under the principle of minimum copper lossThe calculation formula adopted is as follows:
(7) let the shaft currents of f1, o1 and o3 setTo 0, let the o2 axis current be givenIs composed ofBy T9Inverse handle of transformation matrixTransforming the current into a natural coordinate system to obtain a six-phase power winding current given valueAnd three-phase main suspension winding current given valueThe calculation formula adopted is as follows:
(8) handleActual six-phase power winding current iB～iFAnd the actual three-phase main levitation winding current ia～icIs sent toRespective current controllers cause the actual currents to track respective set values.
Wherein the suspension force in the x and y directions in the step (5) is givenFrom the x and y direction radial displacement controller, the calculation steps are as follows:
(5.1) detecting the radial displacement amount dx and dy of the rotor along the x and y directions by using a rotor radial displacement sensor;
(5.2) rotor radial offsets dx and dy according to x and y directions and given value x thereof*、y*And calculating corresponding rotor radial deviation control errors delta x and delta y by adopting the following calculation formula:
△x＝x*-dx (29)
△y＝y*-dy (30)
(5.3) respectively sending the delta x and the delta y to an x-direction radial displacement controller and a y-direction radial displacement controller, and outputting given values of the suspension forces in the x direction and the y directionIf the controller is in PI form, thenThe calculation formula is as follows:
wherein k isp、kiProportional and integral coefficients, respectively.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (7)
1. A method for driving a phase-defect fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor is characterized by comprising the following steps of: the method comprises the following steps:
step S1: according to the requirement of the control performance of the tangential rotation of the rotor, the given value of the dq axis current in the dq rotor synchronous rotation coordinate system is output by the tangential rotation controller of the rotor
Step S2: setting the dq-axis current to a given valueRotating and transforming to alpha beta stationary coordinate system to obtain alpha beta axis current componentThe following were used:
step S3: by T6Transforming the matrix to convert the six-phase power winding current iA～iFConverting the coordinate system into an alpha beta static coordinate system to obtain iα、iβ；
Step S4: according to iαiβAnd rotor tangential position angle thetarCalculating the suspension force coefficient k at the momentxj、kyjJ ═ f1, f2, f3, and f4, and the calculation formula used is as follows:
wherein k isxfj、kyfjJ-f 1, f2, f3 and f4 represent x-direction and y-direction levitation forces generated after the shaft f1, f2, f3 and f4 are matched with the permanent magnet when 1A current is applied to the shaft f4, f2, f3 and f 4; k is a radical ofxij、kyijI-alpha and beta, j-f 1, f2, f3 and f4 respectively represent an axis f1, an axis f2, an axis f3 and an axis f4, and the axes alpha and beta are respectively connected through 1Suspension force in x direction and y direction generated in A current;
step S5: based on the principle of minimum copper loss and according to the suspension force coefficient kxj、kyjJ-f 2, f3, f4, given suspension forces in x and y directionsSix-phase power winding resistor RtAnd three-phase main suspension winding resistance RfCalculating to obtain an auxiliary coefficient lambda1、λ2；
Step S6: according to kxj、kyj，j＝f2、f3、f4，Rt，RfAnd λ1、λ2Calculating the given values of the shaft currents of f2, f3 and f4 under the principle of minimum copper lossThe calculation formula adopted is as follows:
step S7: let the shaft currents of f1, o1 and o3 setTo 0, let the o2 axis current be givenIs composed ofBy T9Inverse handle of transformation matrixTransforming the current into a natural coordinate system to obtain a six-phase power winding current given valueAnd three-phase main suspensionCurrent set-point of floating winding
Step S8: will be provided withActual six-phase power winding remaining healthy phase current iB～iFAnd the actual three-phase main levitation winding current ia～icAnd sending the current to respective current controllers to enable the actual currents to track respective set values.
2. The method for driving the open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor according to claim 1, wherein: i in step S3α、iβThe calculation formula of (a) is as follows:
3. the method for driving the open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor according to claim 1, wherein: λ in step S51、λ2The calculation formula used is as follows:
4. the open-phase fault-tolerant six-phase and three-phase dual-winding suspended bearingless flux motor drive of claim 1The moving method is characterized in that: suspension force in x and y directions given in step S5From the x and y direction radial displacement controller, the calculation steps are as follows:
step S51: detecting the radial displacement amount dx and dy of the rotor along the x direction and the y direction by using a rotor radial displacement sensor;
step S52: according to the radial offsets dx and dy of the rotor in the x and y directions and the given value x thereof*、y*And calculating corresponding rotor radial deviation control errors delta x and delta y by the following calculation formula:
Δx＝x*-dx；
Δy＝y*-dy；
step S53: respectively sending the delta x and the delta y to an x-direction radial displacement controller and a y-direction radial displacement controller, and outputting given values of suspension force in the x direction and the y direction
5. The method for driving the open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor according to claim 1, wherein: if the controller of the levitation force takes the form of PI, thenThe calculation formula is as follows:
wherein k isp、kiProportional and integral coefficients, respectively.
6. The method for driving the open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor according to claim 1, wherein: step S7 includes the following specific steps:
7. the method for driving the open-phase fault-tolerant six-phase and three-phase double-winding suspension bearingless flux motor according to claim 1, wherein: the suspension force coefficients in step S4 are all equal to thetarIn this regard, it was determined by finite element analysis software Ansoft simulation or experiment.
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| CN110034719B (en) * | 2019-05-07 | 2020-11-10 | 福州大学 | Control method for phase-lack fault of six-phase 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 |
| 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 |
| 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 |
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