CN109586537B - Bearingless doubly salient motor of segmented rotor and control method thereof - Google Patents
Bearingless doubly salient motor of segmented rotor and control method thereof Download PDFInfo
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- CN109586537B CN109586537B CN201811570010.3A CN201811570010A CN109586537B CN 109586537 B CN109586537 B CN 109586537B CN 201811570010 A CN201811570010 A CN 201811570010A CN 109586537 B CN109586537 B CN 109586537B
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- 238000000034 method Methods 0.000 title abstract description 11
- 239000000725 suspension Substances 0.000 claims abstract description 190
- 238000004804 winding Methods 0.000 claims abstract description 183
- 230000005284 excitation Effects 0.000 claims abstract description 86
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 15
- 238000005339 levitation Methods 0.000 claims description 23
- 239000000203 mixture Substances 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims 1
- 238000010248 power generation Methods 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 description 22
- 238000010586 diagram Methods 0.000 description 6
- 238000010438 heat treatment Methods 0.000 description 6
- 239000004020 conductor Substances 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000004907 flux Effects 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 230000004069 differentiation Effects 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/04—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for rectification
-
- 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
- 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
- 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
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The embodiment of the invention discloses a bearingless doubly salient motor of a block rotor and a control method thereof, relates to the technical field of bearingless motors, and provides a scheme of a bearingless doubly salient motor of a block rotor, which has the advantages of high excitation efficiency, simple suspension control and reliable operation. In the invention: the motor rotor comprises a plurality of independent rotor cores and non-magnetizers, wherein each rotor core is embedded on the non-magnetizer, and no magnetic circuit is coupled between the rotor cores and the non-magnetizers. The stator iron core is of a salient pole structure and comprises a plurality of stator poles, armature coils and magnet exciting coils are wound on the stator poles alternately, and suspension coils are wound on the stator poles wound with the magnet exciting coils. The armature coils are sequentially connected in series to form an armature winding and then are respectively connected with an external rectifying circuit, the exciting coils are sequentially connected in series to form an exciting winding and then are connected with an external exciting control circuit, and the suspension coils which are opposite in the radial direction of the space are connected in series to form a suspension winding and then are connected with an external suspension control circuit. The invention is suitable for high-speed application occasions such as aerospace power generation systems and the like.
Description
Technical Field
The invention relates to the technical field of bearingless motors, in particular to a bearingless doubly salient motor with a segmented rotor and a control method thereof.
Background
The bearingless motor is a novel motor integrating the magnetic bearing function and the driving or power generating function into a whole, has the characteristics of high space utilization rate, compact structure and the like, actively controls the inter-electrode radial electromagnetic force of the motor by adjusting the suspension current, also improves the high-speed operation reliability of the motor relative to the traditional motor, and improves the power density and the efficiency. At present, schemes such as a bearingless switched reluctance motor, an electromagnetic bearingless doubly salient motor and the like are gradually developed. Wherein:
the torque and the suspension force of the bearingless switched reluctance motor are coupled nonlinearly, so that the difficulty of system implementation is increased. The further developed electromagnetic bearingless doubly salient motor can provide a bias magnetic field required by suspension due to exciting current, and does not need to provide the bias magnetic field by using armature current like a bearingless switched reluctance motor, so that the control of the suspension current in the suspension winding of the electromagnetic bearingless doubly salient motor is irrelevant to the position angle of a rotor and the magnitude of the armature current, the operation is independent of a controllable power converter and a rotor position angle sensor, the system is simple in structure, and the output voltage can be controlled only by flexibly adjusting the exciting current. And the problem of nonlinear coupling can be avoided by adopting an independent suspension winding to control the suspension force, and the suspension current and the exciting current are independently controlled to realize mutual decoupling between the output of the motor and the suspension.
However, in the electromagnetic bearingless doubly salient motor, because the arrangement of each phase of armature winding is asymmetric, the back electromotive force is asymmetric, so that the winding loss and the heating are unbalanced, the insulation performance of the motor is deteriorated, and the power devices of an external rectifying circuit connected with the armature winding of the motor are heated unevenly, so that the reliability is influenced; and the excitation magnetic circuit of the electromagnetic type bearingless doubly salient motor is longer, so that the excitation efficiency is low, and the loss is increased.
Disclosure of Invention
The embodiment of the invention provides a bearingless doubly salient motor of a block rotor and a control method thereof, and provides a scheme of a bearingless doubly salient motor of a block rotor, which has the advantages of high excitation efficiency of an excitation magnetic circuit, symmetrical opposite potentials, simple suspension control and reliable operation.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in the block rotor bearingless doubly salient motor of the embodiment of the invention, the motor rotor comprises a plurality of independent rotor cores and non-magnetizers, and each rotor core is embedded on the non-magnetizer and has no magnetic circuit coupling with each other. The stator iron core is of a salient pole structure and comprises a plurality of stator poles, armature coils and magnet exciting coils are wound on the stator poles alternately, and suspension coils are wound on the stator poles wound with the magnet exciting coils. The armature coils are sequentially connected in series to form an armature winding and then are respectively connected with an external rectifying circuit, the exciting coils are sequentially connected in series to form an exciting winding and then are connected with an external exciting control circuit, and the suspension coils which are opposite in the radial direction of the space are connected in series to form a suspension winding and then are connected with an external suspension control circuit.
By mutually isolating magnetic circuits between rotor cores of the bearingless doubly salient motor of the segmented rotor, short excitation magnetic circuit, high excitation efficiency and low excitation copper loss are realized; and each phase of armature winding of the motor is distributed in a balanced manner, so that each phase of opposite potential is symmetrical, the winding is balanced in heating, power devices of an external rectifying circuit connected with the armature winding of the motor are balanced in heating, and current stress is balanced, so that the reliability of the motor and a system thereof is high.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a motor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a full-bridge uncontrolled rectifying circuit, an excitation control circuit, a first levitation control circuit, a second levitation control circuit, and a third levitation control circuit that are used in a motor according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of magnetic force line distribution of the motor provided by the embodiment of the invention when the rotor is at 0 degree;
fig. 4 is a schematic block diagram of a levitation control of a motor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a connection end of a field coil of a motor according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a connection end of a suspension coil of a motor according to an embodiment of the present invention;
the various reference numbers in the drawings respectively represent: 1-stator core, 2-rotor core, 3-non-magnetizer, 4-armature winding, 5-excitation winding, 6-first suspension winding, 7-second suspension winding, 8-third suspension winding, 9-excitation magnetic line generated by the excitation winding when the positive direction excitation current is conducted, and 10-suspension magnetic line generated by the suspension winding when the positive direction first suspension winding current is conducted.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment of the invention provides a bearingless doubly salient motor of a block rotor, as shown in fig. 1, the motor comprises: the permanent magnet motor comprises a stator iron core (1), a rotor iron core (2), a non-magnetic conductor body (3), an armature winding (4), an excitation winding (5) and a suspension winding.
The rotor of the bearingless doubly salient motor is composed of a rotor core (2) and a non-magnetic conductor (3), and all the rotor cores (2) are embedded in the non-magnetic conductor (3).
The rotor cores (2) are separated from each other, and no magnetic circuit is coupled between one rotor core (2) and the other rotor core (2).
The rotor is in a salient pole structure, each rotor iron core (2) is used as one rotor pole, and the number of the rotor poles is the same as that of the rotor iron cores (2).
The stator iron core (1) is of a salient pole structure, armature coils and exciting coils are wound on stator poles of the stator iron core (1) alternately, wherein suspension coils are wound on the stator poles wound with the exciting coils simultaneously, the winding modes of all the exciting coils are the same, and the winding modes of all the suspension coils are the same.
The armature winding (4) is formed by sequentially connecting armature coils in series, and the armature winding (4) is connected with an external rectifying circuit.
In this embodiment, each set of excitation coils has two connection ends, which are a first connection end of an x-th excitation coil and a second connection end of the x-th excitation coil, respectively, where m is greater than or equal to x is greater than or equal to 1, x is a positive integer, and m represents the total number of the excitation coils.
According to the connection rule, all the excitation coils are sequentially connected in series along the clockwise (anticlockwise) direction to form an excitation winding (5).
The excitation winding (5) has two outlet terminals in total, the two outlet terminals of the excitation winding (5) are connected with an external excitation control circuit, and the first connecting end of the m-th excitation coil is used as the second outlet terminal of the excitation winding (5).
Wherein, the connection rule between each excitation coil includes:
the first connecting end of the first magnet exciting coil is a first wire outlet end of the magnet exciting winding (5), the second connecting end of the first magnet exciting coil is connected with the second connecting end of the second magnet exciting coil, and the second magnet exciting coil is the next magnet exciting coil of the first magnet exciting coil in the clockwise (anticlockwise) direction.
And the first connecting end of the second excitation coil is connected with the first connecting end of a third excitation coil, and the third excitation coil is the next set of excitation coils of the second excitation coil in the clockwise (anticlockwise) direction.
In a preferred scheme of the embodiment, the bearingless doubly salient motor is a 12n/8n three-phase structure, wherein the number of stator poles is 12n, the number of rotor poles is 8n, and n is a positive integer.
For example: fig. 1 shows a structure in which 12/8-pole double salient poles are used, that is, the number of stator poles is 12, the number of rotor poles is 8, each rotor core 2 is embedded in a non-magnetic conductor 3, each rotor core is separated from another rotor core without magnetic circuit coupling, each rotor core is a rotor pole, eight independent rotor cores 2 and non-magnetic conductors 3 constitute a rotor, and the rotor is a salient pole structure having eight rotor poles. The stator iron core is of a salient pole structure and comprises twelve stator poles, armature coils and exciting coils are wound on the stator poles alternately, and suspension coils are wound on the stator poles wound with the exciting coils. Armature coils are connected in series in sequence according to wiring shown in figure 1 to form an armature winding 4, each phase of armature winding in the three-phase armature winding is provided with two outlet terminals, and the total six outlet terminals of the three-phase armature winding are respectively A +, A-, B +, B-, C + and C-. Each set of excitation coil is connected in series in turn according to the wiring shown in fig. 1 to form an excitation winding 5, and the total number of the two outlet terminals is F + and F-. The suspension coils which are opposite in space are connected in series as shown in fig. 1 to respectively form a first suspension winding 6, a second suspension winding 7 and a third suspension winding 8, the first suspension winding 6 has two leading-out terminals which are S1+ and S1-, the second suspension winding 7 has two leading-out terminals which are S2+ and S2-, and the third suspension winding 8 has two leading-out terminals which are S3+ and S3-.
Furthermore, in each set of suspension coil, there are two connecting ends, namely a first connecting end of the suspension coil and a second connecting end of the suspension coil.
Two sets of suspension coils which are opposite in the radial direction of the space are a group and respectively form a first suspension winding (6), a second suspension winding (7) and a third suspension winding (8). Wherein the first levitation winding (6) is formed by two levitation coils which are connected in series according to a predetermined formation rule.
The outlet end of the first suspension winding (6) is connected with an external first suspension control circuit, the outlet end of the second suspension winding (7) is connected with an external second suspension control circuit, and the outlet end of the third suspension winding (8) is connected with an external third suspension control circuit.
Wherein the composition rule includes: in the same suspension winding, the first connecting end of one set of suspension coils is used as the first outlet end of the suspension winding. And the second connecting end of one set of the suspension coils is connected with the first connecting end of the other set of the suspension coils in the same suspension winding.
And the second connecting end of the other set of suspension coil is used as a second outlet end of the suspension winding. And according to the same mode, a second suspension winding (7) and a third suspension winding (8) are formed, and a first wire outlet end and a second wire outlet end of the second suspension winding (7) and a first wire outlet end and a second wire outlet end of the third suspension winding (8) are correspondingly formed.
Specifically, the external excitation control circuit is a single-tube chopper circuit or an asymmetric half-bridge circuit.
The external first suspension control circuit, the second suspension control circuit and the third suspension control circuit are all full-bridge inverter circuits. The external rectifying circuit is a full-bridge uncontrolled rectifying circuit or a zero-type uncontrolled rectifying circuit.
For example, as shown in fig. 2, in a full-bridge uncontrolled rectifier circuit: first rectifying diode D1And a fourth rectifying diode D4Series, second rectifier diode D2And a fifth rectifying diode D5Series, third rectifier diode D3And a sixth rectifying diode D6Series, first rectifying diode D1And a second rectifying diode D2A third rectifying diode D3Is connected to the cathode of the first rectifier diode, the fourth rectifier diode and the fifth rectifier diode D5And a sixth rectifying diode D6Is connected with the anode of (2). Three-phase armature windings Wa, Wb and Wc lead terminals A-, B-, C-of the motor are connected, and the lead terminals A +, B + and C + are respectively connected with a first rectifier diode D1Anode of (2), second rectifying diode D2Anode of (2), third rectifying diode D3Is connected with the anode of (2).
An excitation control circuit: one end of the excitation winding Wf and the direct-current excitation voltage source UfThe positive pole is connected, the other end is connected with the drain electrode of a MOSFET switching tube Q, and the source electrode of Q is connected with a direct-current excitation voltage source UfNegative pole connected to the freewheeling diode and negative pole connected to DC exciting voltage source UfThe anode is connected with the DC excitation voltage source UfAnd connecting the negative electrode.
The first levitation control circuit: MOSFET switch tube Q1And MOSFET switching tube Q2Series MOSFET switch tube Q3And MOSFET switching tube Q4Series MOSFET switch tube Q1And MOSFET switching tube Q3Drain electrode of and a DC voltage source US1Is connected to the positive pole of a MOSFET switching tube Q2And MOSFET switching tube Q4Source and dc voltage source US1Is connected with the negative pole of the first suspension winding WS1, and the two ends of the first suspension winding WS1 are respectively connected with the MOSFET switching tube Q1Source electrode of and MOSFET switching tube Q3Is connected to the source of (a).
The second suspension control circuit: MOSFET switch tube Q5And MOSFET switching tube Q6Series MOSFET switch tube Q7And MOSFET switching tube Q8Series MOSFET switch tube Q5And MOSFET switching tube Q7Drain electrode of and a DC voltage source US2Is connected to the positive pole of a MOSFET switching tube Q6And MOSFET switching tube Q8Source and dc voltage source US2Is connected with the cathode of the second suspension winding WS2, and the two ends of the second suspension winding WS2 are respectively connected with the MOSFET switching tube Q5Source electrode of and MOSFET switching tube Q7Is connected to the source of (a).
The third suspension control circuit: MOSFET switch tube Q9And MOSFET switching tube Q10Series MOSFET switch tube Q11And MOSFET switching tube Q12Series MOSFET switch tube Q9And MOSFET switching tube Q11Drain electrode of and a DC voltage source US3Is connected to the positive pole of a MOSFET switching tube Q10And MOSFET switching tube Q12Source and dc voltage source US3Is connected with the negative pole of the third suspension winding WS3, and the two ends of the third suspension winding WS3 are respectively connected with the MOSFET switching tube Q9Source electrode of and MOSFET switching tube Q11Is connected to the source of (a).
The embodiment of the invention also provides a control method of the bearingless doubly salient motor of the segmented rotor, which comprises the following steps:
the radial position of the rotor of the motor is detected through a radial displacement sensor arranged on a motor end cover in the x-axis direction, and the actual displacement of the rotor in the x-axis direction is obtained.
The radial position of a rotor of the motor is detected through a radial displacement sensor arranged on a motor end cover in the y-axis direction, and the actual displacement of the rotor in the y-axis direction is obtained, wherein the x axis is orthogonal to the y axis.
Detecting to obtain the actual voltage U of the armature winding (4) of the motor on the direct current side after passing through a rectification circuitdc。
And detecting and obtaining the current of a first suspension winding (6), the current of a second suspension winding (7) and the current of a third suspension winding (8) of the motor.
And transforming the current of the first suspension winding (6), the current of the second suspension winding (7) and the current of the third suspension winding (8) through a second coordinate to obtain a feedback value of the suspension winding control current in the x-axis direction and a feedback value of the suspension winding control current in the y-axis direction.
And obtaining a suspension winding control current reference value of the motor in the x-axis direction through an x-axis displacement adjusting link according to a difference value between a given reference displacement value of the motor in the x-axis direction and a detected actual displacement value of a rotor of the motor in the x-axis direction.
And obtaining a suspension winding control current reference value of the motor in the y-axis direction through a y-axis displacement adjusting link according to a difference value between a given reference displacement value of the motor in the y-axis direction and a detected actual displacement value of a rotor of the motor in the y-axis direction.
And obtaining a suspension winding control voltage reference value in the x-axis direction through the x-axis suspension current regulation link according to the difference between the suspension winding control current reference value of the motor in the x-axis direction and the feedback value of the suspension winding control current in the x-axis direction.
And obtaining a suspension winding control voltage reference value in the y-axis direction through a y-axis suspension current regulation link according to the difference between the suspension winding control current reference value of the motor in the y-axis direction and the feedback value of the suspension winding control current in the y-axis direction.
And carrying out first coordinate transformation on the suspension winding control voltage reference value in the x-axis direction and the suspension winding control voltage reference value in the y-axis direction to obtain a suspension winding control voltage reference value in an alpha-axis direction, a suspension winding control voltage reference value in a beta-axis direction and a suspension winding control voltage reference value in a gamma-axis direction.
And the duty ratio of a switching tube in the first suspension control circuit is adjusted through the suspension winding control voltage reference value in the alpha axis direction, the duty ratio of a switching tube in the second suspension control circuit is adjusted through the suspension winding control voltage reference value in the beta axis direction, and the duty ratio of a switching tube in the third suspension control circuit is adjusted through the suspension winding control voltage reference value in the gamma axis direction. Therefore, the current of the first suspension winding (6), the current of the second suspension winding (7) and the current of the third suspension winding (8) are adjusted, the current of the first suspension winding (6) tracks the reference value of the first suspension winding, the current of the second suspension winding (7) tracks the reference value of the second suspension winding, and the current of the third suspension winding (8) tracks the reference value of the third suspension winding, so that the purpose of controlling the radial suspension force is achieved.
According to the DC side reference of the given armature winding (4) after passing through the rectifying circuitVoltage Udc *And the direct current side actual voltage U after passing through a rectification circuit with the armature winding (4)dcAnd obtaining the reference value of the exciting current through an excitation adjusting link.
And adjusting the duty ratio of a switching tube in the excitation control circuit according to the excitation current reference value. And adjusting the actual exciting current in the exciting winding (5), so that the actual exciting current in the exciting winding (5) tracks the reference value of the exciting current, and the purpose of controlling the output voltage is achieved.
For example: as shown in fig. 3, the distribution of the field lines 9 and the levitation lines 10 at 0 degree of the rotor of the motor is schematically illustrated, wherein the directions of the currents in the field winding and the first levitation winding are as shown in fig. 3. After the first suspension winding is electrified, the direction of the suspension magnetic flux generated at the upper air gap is the same as that of the excitation magnetic flux, and the direction of the suspension magnetic flux generated at the lower air gap is opposite to that of the excitation magnetic flux, so that the air-gap magnetic fields are not equal in the alpha axis direction. From the distribution of the air-gap magnetic field at this time, the air-gap magnetic field on the upper side of the rotor is stronger than the air-gap magnetic field on the lower side, and therefore the rotor receives a levitation force in the axial direction.
When the first levitation current is increased, the levitation force applied to the rotor in the α -axis direction is increased, and when the first levitation current is reversed, the levitation force applied to the rotor in the α -axis direction is reversed. Similarly, the magnitude and direction of the levitation force of the rotor in the beta axis direction can be controlled by controlling the magnitude and direction of the second levitation current, and the magnitude and direction of the levitation force of the rotor in the gamma axis direction can be controlled by controlling the magnitude and direction of the third levitation current. Therefore, the magnitude and direction of the generated levitation force can be controlled by controlling the magnitude and direction of the current in the levitation winding, so that the rotor can be stably levitated.
Specifically, the excitation adjusting link, the x-axis displacement adjusting link, the y-axis displacement adjusting link, the x-axis suspension current adjusting link and the y-axis suspension current adjusting link are controlled by proportional-integral-derivative PID.
For example, as shown in fig. 4, the radial position of the rotor of the block rotor bearingless doubly salient motor is detected by a radial displacement sensor in the x-axis direction to obtain the rotor in the x-axis directionActual displacement, namely detecting the radial position of the rotor of the block rotor bearingless doubly salient motor through a radial displacement sensor in the y-axis direction to obtain the actual displacement of the rotor in the y-axis direction, wherein the x axis is orthogonal to the y axis, and detecting the actual voltage U at the direct current side of the armature winding of the block rotor bearingless doubly salient motor after the armature winding passes through a rectifying circuitdcDetecting the first suspension winding current i of the block rotor bearingless doubly salient motorαA second suspension winding current iβAnd a third levitation winding current iγThe detected current i of the first suspension windingαA second suspension winding current iβAnd a third levitation winding current iγObtaining a feedback value ix of the suspension winding control current in the x-axis direction and a feedback value i of the suspension winding control current in the y-axis direction through second coordinate transformationy。
The method comprises the steps of giving a block rotor bearingless doubly salient motor reference displacement x in the x-axis direction*Obtaining a reference value i of the control current of the suspension winding in the x-axis direction of the block rotor bearingless doubly salient motor through an x-axis displacement PID (proportion integration differentiation) regulation link according to the difference between the reference value and the detected actual displacement delta x in the x-axis directionx *The given block rotor bearingless doubly salient motor is subjected to y-axis direction reference displacement y*Obtaining a reference value i of the control current of the block rotor bearingless doubly salient motor y-axis direction suspension winding through a y-axis displacement PID (proportion integration differentiation) regulation link according to the difference between the reference value and the detected y-axis direction actual displacement delta yy *Controlling a current reference value i by using a block rotor bearingless doubly salient motor X-axis direction suspension windingx *Feedback value i of suspension winding control current in x-axis directionxThe difference is subjected to an x-axis suspension current PI regulation link to obtain a reference value u of the control voltage of the x-axis direction suspension windingx *Controlling a current reference value i by using a y-axis direction suspension winding of a block rotor bearingless doubly salient motory *Feedback value i of suspension winding control current in y-axis directionyThe difference is subjected to a y-axis suspension current PI regulation link to obtain a y-axis direction suspension winding control voltage reference value uy *Controlling the x-axis direction suspension winding to be a voltage reference value ux *And a y-axis direction suspension winding control voltage reference value uy *Obtaining a reference value u of the control voltage of the suspension winding in the alpha axis direction through first coordinate transformationα *Beta axis direction suspension winding control voltage reference value uβ *Control voltage reference value u of gamma axis direction suspension windingγ *And the duty ratios of the switching tubes in the first suspension control circuit, the second suspension control circuit and the third suspension control circuit are adjusted, so that the current of the first suspension winding, the current of the second suspension winding and the current of the third suspension winding are adjusted, the current of the first suspension winding tracks the reference value of the first suspension winding, the current of the second suspension winding tracks the reference value of the second suspension winding, and the current of the third suspension winding tracks the reference value of the third suspension winding, and the purpose of controlling the radial suspension force is achieved.
A direct-current side reference voltage U is obtained after a given block rotor bearingless doubly salient motor armature winding passes through a rectifying circuitdc *And the difference between the actual voltage Udc of the direct current side of the armature winding of the block rotor bearingless doubly salient motor after passing through the rectifying circuit is subjected to an excitation regulation link to obtain an excitation current reference value.
The duty ratio of a switching tube in the excitation control circuit is adjusted, the actual excitation current in the excitation winding is tracked by the reference value, the actual excitation current in the excitation winding is adjusted, and the purpose of controlling the output voltage is achieved.
In the existing scheme, the problem of nonlinear coupling is avoided by adopting an independent suspension winding to control the suspension force, and the suspension current and the exciting current are independently controlled to realize mutual decoupling between the motor output and the suspension. However, in the electromagnetic bearingless doubly salient motor, because the arrangement of each phase of armature winding is asymmetric, the back electromotive force is asymmetric, so that the winding loss and the heating are unbalanced, the insulation performance of the motor is deteriorated, and meanwhile, the power devices of an external rectifying circuit connected with the armature winding of the motor are heated unevenly, so that the reliability is influenced; the electromagnetic type bearingless doubly salient motor has a longer excitation magnetic circuit, so that the excitation efficiency is low and the loss is increased.
The technical problem to be solved by the embodiment of the invention is to overcome the defects of the existing bearingless motor and provide a bearingless doubly salient motor of a block rotor and a control method thereof, wherein the short excitation efficiency of an excitation magnetic circuit is high, the opposite potentials are symmetrical, the suspension control is simple, and the operation is reliable. In the block rotor bearingless doubly salient motor provided by the embodiment, the motor rotor comprises a plurality of independent rotor cores and non-magnetic conductive bodies, each rotor core is embedded in the non-magnetic conductive body, and no magnetic circuit is coupled with each other. The stator iron core is of a salient pole structure and comprises a plurality of stator poles, armature coils and magnet exciting coils are wound on the stator poles alternately, and suspension coils are wound on the stator poles wound with the magnet exciting coils. The armature coils are sequentially connected in series to form an armature winding and then are respectively connected with an external rectifying circuit, the exciting coils are sequentially connected in series to form an exciting winding and then are connected with an external exciting control circuit, and the suspension coils which are opposite in the radial direction of the space are connected in series to form a suspension winding and then are connected with an external suspension control circuit.
Compared with the prior art, the scheme provided by the embodiment at least has the following advantages:
magnetic circuits between rotor cores of the bearingless doubly-salient motor of the segmented rotor are mutually isolated, the excitation magnetic circuit is short, the excitation efficiency is high, and the excitation copper loss is low;
each phase of armature windings of the block rotor bearingless doubly salient motor are distributed evenly, so that each phase of opposite potential is symmetrical, the windings are balanced in heating, power devices of an external rectifying circuit connected with the armature windings of the motor are balanced in heating, and current stress is balanced, so that the motor and a system thereof are high in reliability;
the rotor of the block rotor without the bearing double salient pole motor has less iron cores, light weight and good rigidity, and is suitable for high-temperature and high-speed operation;
the excitation winding and the armature winding of the block rotor bearingless doubly salient motor are embedded and wound on different stator poles, so that the end part of the excitation winding is short, the copper consumption is low, the weight is light, and the price is low.
The bearingless doubly salient motor of the segmented rotor is the same as the electromagnetic bearingless doubly salient motor, and the stator and the rotor are firm and reliable, so the segmented rotor is suitable for high-temperature and high-speed operation;
the bearingless doubly salient motor of the block rotor is the same as the electromagnetic bearingless doubly salient motor, the power generation work does not depend on a controllable power converter and a rotor position angle sensor, the system structure is simple, and the output voltage can be controlled only by flexibly adjusting the exciting current.
Therefore, the stator and the rotor of the motor have firm structure, light weight and good rigidity, are suitable for high-speed and high-temperature operation, and solve the problems of long excitation magnetic circuit, low excitation efficiency and unbalanced phase current distribution of the bearingless motor. And the suspension performance is improved, the suspension and power generation operation control are greatly simplified, and the method is particularly suitable for high-speed application occasions such as an aerospace power generation system.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A bearingless doubly salient machine of a segmented rotor, comprising: the permanent magnet synchronous motor comprises a stator iron core (1), a rotor iron core (2), a non-magnetizer (3), an armature winding (4), an excitation winding (5) and a suspension winding;
the rotor of the bearingless doubly salient motor is composed of a rotor core (2) and a non-magnetizer (3), and all the rotor cores (2) are embedded in the non-magnetizer (3);
the rotor cores (2) are separated from each other, and no magnetic circuit is coupled between one rotor core (2) and the other rotor core (2);
the rotor is in a salient pole structure, each rotor core (2) is used as one rotor pole, and the number of the rotor poles is the same as that of the rotor cores (2);
the stator iron core (1) is of a salient pole structure, the stator poles of the stator iron core (1) are alternately wound with armature coils and exciting coils, wherein the stator poles wound with the exciting coils are simultaneously wound with suspension coils, the winding modes of all the exciting coils are the same, and the winding modes of all the suspension coils are the same;
the armature winding (4) is formed by sequentially connecting armature coils in series, and the armature winding (4) is connected with an external rectifying circuit.
2. The segmented rotor bearingless doubly salient machine of claim 1,
each set of excitation coils is provided with two connecting ends which are respectively a first connecting end of an x-th excitation coil and a second connecting end of the x-th excitation coil, wherein m is more than or equal to x which is more than or equal to 1, x is a positive integer, and m represents the total number of the excitation coils;
according to the connection rule, all the excitation coils are sequentially connected in series along the clockwise direction or the anticlockwise direction to form an excitation winding (5);
the excitation winding (5) has two outlet terminals in total, the first connecting end of the first excitation coil is the first outlet terminal of the excitation winding (5), and the first connecting end of the m-th excitation coil is used as the second outlet terminal of the excitation winding (5);
two outlet ends of the excitation winding (5) are connected with an external excitation control circuit.
3. The block rotor bearingless doubly salient motor according to claim 2, wherein a connection rule between the respective field coils comprises:
the second connecting end of the first excitation coil is connected with the second connecting end of a second excitation coil, and the second excitation coil is the next set of excitation coils of the first excitation coil in the clockwise or anticlockwise direction;
the first connecting end of the second excitation coil is connected with the first connecting end of a third excitation coil, and the third excitation coil is the next set of excitation coils of the second excitation coil in the clockwise direction or the anticlockwise direction.
4. The segmented rotor bearingless doubly salient machine of claim 1,
each set of suspension coil is provided with two connecting ends which are respectively a first connecting end of the suspension coil and a second connecting end of the suspension coil;
two sets of suspension coils which are opposite in the radial direction of the space are in one group, and a first suspension winding (6), a second suspension winding (7) and a third suspension winding (8) are respectively formed by 3 sets of suspension coils which are opposite in the radial direction of the space, wherein the first suspension winding (6) is formed by connecting the two sets of suspension coils in series according to a preset forming rule;
the first suspension winding (6) is provided with two outgoing line ends, the outgoing line end of the first suspension winding (6) is connected with an external first suspension control circuit, the outgoing line end of the second suspension winding (7) is connected with an external second suspension control circuit, and the outgoing line end of the third suspension winding (8) is connected with an external third suspension control circuit.
5. The split-rotor bearingless doubly salient machine of claim 4, wherein said composition rules comprise:
in the same suspension winding, a first connecting end of one set of suspension coils is used as a first outlet end of the suspension winding;
the second connecting end of one set of the suspension coils is connected with the first connecting end of the other set of the suspension coils in the same suspension winding;
and the second connecting end of the other set of suspension coil is used as a second wire outlet end of the first suspension winding.
6. The split rotor bearingless doubly salient machine of claim 1, which is a 12n/8n three-phase structure, wherein the number of stator poles is 12n, the number of rotor poles is 8n, and n is a positive integer.
7. The split-rotor bearingless doubly salient machine of claim 1, wherein the external excitation control circuit is a single tube chopper circuit or an asymmetric half-bridge circuit.
8. The split-rotor bearingless doubly-salient machine of claim 1, wherein the external first, second and third levitation control circuits are full-bridge inverter circuits.
9. The segmented rotor bearingless doubly salient motor of claim 1, wherein said external commutation circuit is a full bridge non-controlled commutation circuit or a zero non-controlled commutation circuit.
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| CN110311522B (en) * | 2019-07-15 | 2021-11-23 | 南京航空航天大学 | Four-phase symmetric electro-magnetic doubly salient motor |
| CN110311487A (en) * | 2019-07-31 | 2019-10-08 | 上海电力大学 | Four-phase block rotor polar electric excitation doubly salient motor |
| CN111092499B (en) * | 2019-12-31 | 2021-11-05 | 南京航空航天大学 | Harmonic excitation electro-magnetic doubly salient motor and control method thereof |
| CN112436695B (en) * | 2020-11-09 | 2022-10-11 | 南京航空航天大学 | Electromagnetic type bearingless doubly salient motor based on parallel structure and control method thereof |
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