CN109962569A

CN109962569A - A kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor and control method

Info

Publication number: CN109962569A
Application number: CN201910322380.3A
Authority: CN
Inventors: 刘泽远; 蔡骏; 魏明霞
Original assignee: Nanjing Accyrate Electronic Technology Co Ltd
Current assignee: Nanjing Accyrate Electronic Technology Co Ltd
Priority date: 2019-04-22
Filing date: 2019-04-22
Publication date: 2019-07-02

Abstract

The invention discloses a kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor and control methods.The motor includes 1 electromagnetic type axial-radial magnetic bearing, 1 switched reluctance machines and 1 electromagnetic type radial direction magnetic bearing；Switched reluctance machines generate torque, realize rotating operation；Electromagnetic type axial-radial magnetic bearing generates two radial suspension forces and 1 axial suspension power, and electromagnetic type radial direction magnetic bearing generates two radial suspension forces, and then realizes five-degree magnetic suspension operation；The biasing windings of two magnetic bearings and switched reluctance machinesmPhase armature winding uses the common excitation of a set of power inverter, while generating torque and biasing magnetic flux.Motor of the present invention and control method electromagnetic conversion are high-efficient, and level of integrated system and high reliablity realize the comprehensive integration of motor, magnetic bearing and control system；Method for controlling torque is identical as Conventional switched reluctance motor, and by controlling five suspending windings electric currents, to adjust five suspending powers, control variable is few, and control is simple, and Suspension power loss is small, and suspension precision is high.

Description

A kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor and control method

Technical field

The present invention relates to a kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor and control methods, belong to electric machinery Magnetic suspension switched reluctance motor field.

Background technique

The magnetic suspension motor system that electromagnetic type magnetic bearing and switched reluctance machines are constituted, because in system without permanent magnet, to height The harsh environments such as temperature, high humidity, deep-etching are adaptable, dislike in the reliability requirements such as aerospace, naval vessel height, working environment Of inferior quality application has unique advantage.

Electromagnetic type magnetic bearing in traditional electromagnetic type magnetic suspension switched reluctance motor system and switched reluctance machines two are System individually control, needs two microprocessors to control respectively, and control variable is more, and power system is huge, at high cost, and integrated level and Reliability is not high.In addition, magnetic flux is biased needed for generating due to needing biggish bias current, therefore traditional electromagnetic type magnetic bearing Suspension power loss is larger, using being limited.

Summary of the invention

The present invention for overcome the deficiencies in the prior art, proposes a kind of five degree of freedom electromagnetic type magnetic levitation switch magnetic resistance electricity Machine.The five degree of freedom electromagnetic type magnetic suspension switched reluctance motor includes 1 electromagnetic type axial-radial magnetic bearing, 1 switch magnetic Hinder motor and 1 electromagnetic type radial direction magnetic bearing；Switched reluctance machines generate torque, realize rotating operation；Electromagnetic type axial-radial Magnetic bearing generates two radial suspension forces and 1 axial suspension power, and electromagnetic type radial direction magnetic bearing generates two radial suspension forces, into And it realizes five-degree magnetic suspension and runs；The m phase armature winding for biasing winding and switched reluctance machines of two magnetic bearings is using one The common excitation of power inverter is covered, while generating torque and biasing magnetic flux, electromagnetic conversion is high-efficient, level of integrated system and reliability Height realizes the comprehensive integration of motor, magnetic bearing and control system；The control method passes through control m phase armature winding electric current, To adjust output torque, control method is identical as Conventional switched reluctance motor；By controlling five suspending windings electric currents, to adjust Five suspending powers, control variable is few, and control is simple；In addition, since biasing magnetic flux no longer needs suspension system to generate, Suspension power Loss is lowered significantly, and suspension controller design is more convenient.

To solve the above-mentioned problems, the technical solution adopted by the present invention are as follows:

A kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor, including 1 electromagnetic type axial-radial magnetic bearing, 1 Switched reluctance machines and 1 electromagnetic type radial direction magnetic bearing；

The switched reluctance machines are disposed in series between electromagnetic type axial-radial magnetic bearing and electromagnetic type radial direction magnetic bearing；

The switched reluctance machines are made of reluctance motor stator, magnetic resistance motor rotor and armature coil；

The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and the magnetic resistance motor rotor is arranged in magnetic resistance In motor stator；The number of teeth of reluctance motor stator and magnetic resistance motor rotor has 12/8,6/4,8/6 3 kind of combining form；Wherein magnetic When the number of teeth group of resistance motor stator and magnetic resistance motor rotor is combined into 12/8 and 6/4, switched reluctance machines are three-phase duty, magnetic resistance When the number of teeth group of motor stator and magnetic resistance motor rotor is combined into 8/6, switched reluctance machines are four phase dutys；

The electromagnetic type axial-radial magnetic bearing, by radial stator I, radial rotor I, radial suspension coil I, bias coil I, stator I, axial stator I, axial rotor I, axial suspension coil I, biasing stator II, axial stator II, axial rotor are biased II and axial suspension coil II constitute；

Stator I, radial stator I and the biasing close arranged in series of stator II are biased, and radial stator I is arranged in biasing stator Between I and biasing stator II；Biasing stator I is disposed closely in axial stator I, and biasing stator II is disposed closely to axial stator In II；The radial rotor I is arranged in radial stator I, and the axial rotor I is arranged in biasing stator I, and the axial direction turns Son II is arranged in biasing stator II；

The axial rotor I, radial rotor I and the close arranged in series of axial rotor II, and radial rotor I is arranged in axial direction Between rotor I and axial rotor II；The axial rotor I, radial rotor I and II set of axial rotor are in shaft；

The radial stator I is made of 4 E type structures I, and 4 E type structures I are uniformly distributed, and spatially differs 90 °, wherein 2 E type structures I are located at horizontal direction, and remaining 2 E type structures I are located at vertical direction；The number of teeth of each E type structure I is 3, packet 1 wide tooth I and 2 narrow tooth I are included, and the wide tooth I is in the centre of 2 narrow tooth I；The wide tooth I of the E type structure I with its 2 Angle between narrow tooth I is equal, and the facewidth of wide tooth I is equal to two times of the facewidth of narrow tooth I；The radial rotor I is cylindrical structure；

The biasing stator I is salient-pole structure, the number of teeth 4；4 teeth of the biasing stator I are uniformly distributed, spatially phase Poor 90 °, wherein 2 tooth positions of biasing stator I bias 2 tooth positions of residue of stator I in vertical direction in horizontal direction；It is described Axial rotor I is cylindrical structure；

The biasing stator II is salient-pole structure, the number of teeth 4；4 teeth of the biasing stator II are uniformly distributed, spatially 90 ° of difference, wherein 2 tooth positions of biasing stator II bias 2 tooth positions of residue of stator II in vertical direction in horizontal direction； The axial rotor II is cylindrical structure；

The facewidth of wide tooth I is equal with biasing stator I, the biasing facewidth of stator II in the E type structure I；In same sky Between position E type structure I 1 wide tooth I and biasing stator I 1 tooth and biasing stator II 1 tooth be together to form 1 Composite teeth forms 4 composite teeths altogether；

The axial stator I is axial salient-pole structure, including two cylinder stator teeth, respectively outer ring tooth I and interior Annular tooth I, and the tall and big tooth in annular tooth I of tooth of outer ring tooth I is high；There is 1 through-hole I in the annular tooth I, it is described logical The center line in hole I is overlapped with the center line of shaft；The outer diameter of the annular tooth I is greater than the internal diameter of the through-hole I, the through-hole I internal diameter is greater than the outer diameter of shaft；The shaft runs through axial stator I, and is arranged in the through-hole I；

The axial stator II is axial salient-pole structure, including two cylinder stator teeth, respectively II He of outer ring tooth Annular tooth II, and the tall and big tooth in annular tooth II of tooth of outer ring tooth II is high；There is 1 through-hole in the annular tooth II II, the center line of the through-hole II is overlapped with the center line of shaft；The outer diameter of the annular tooth II is greater than the through-hole II Internal diameter, the internal diameter of the through-hole II are greater than the outer diameter of shaft；The shaft runs through axial stator II, and is arranged in the through-hole II It is interior；

The electromagnetic type radial direction magnetic bearing, including radial stator II, radial rotor II, bias coil II and radial suspension line Circle II；

The radial stator II is made of 4 E type structures II and 4 magnetic isolation plates, and 4 E type structures II and 4 magnetic isolation plates It is alternately arranged；4 E type structures II are uniformly distributed, and spatially differ 90 °, wherein 2 E type structures II are located at horizontal direction, it is remaining 2 E type structures II are located at vertical direction；The number of teeth of each E type structure II is 3, including 1 wide tooth II and 2 narrow tooth II, and institute State the centre that wide tooth II is in 2 narrow tooth II；Angle between the wide tooth II of the E type structure II and its 2 narrow teeth II is equal, and The facewidth of wide tooth II is equal to two times of narrow tooth II；Each magnetic isolation plate and adjacent two narrow II close arrangement of tooth, and constitute One combination tooth, totally 4；

The radial rotor II is cylindrical structure, and is arranged in the radial stator II, and II set of the radial rotor exists In shaft；The axial rotor I, radial rotor I, axial rotor II, magnetic resistance motor rotor and radial rotor II are successively common to be covered In shaft；

It is wound with 1 radial suspension coil I on each narrow tooth I, totally 8；In the horizontal direction at position, 2 E types 4 radial suspension coils I series connection in structure I on 4 narrow tooth I, constitutes 1 horizontal radial suspending windings I；In vertical direction position Set place, the series connection of 4 radial suspension coils I in 2 E type structures I on 4 narrow tooth I, constitute 1 vertical radial suspension around Group I；Amount to two radial suspension windings I；

1 bias coil I is wound in each composite teeth, totally 4；4 bias coils I are connected, and constitute 1 partially Set coil string I；

1 axial suspension coil I is wound on the annular tooth I of the axial stator I, totally 1；The axial stator II 1 axial suspension coil II is wound on annular tooth II, totally 1；The axial suspension coil I and axial suspension coil II are reversed Series connection, constitutes 1 axial suspension winding；

It is wound with 1 bias coil II on each combination tooth, totally 4；4 series connection of bias coil II form 1 Bias coil string II；

It is wound with 1 radial suspension coil II on each wide tooth II, totally 4, two of them radial suspension coil II In horizontal direction, remaining two radial suspension coils II are located at vertical direction；Positioned at two radial suspension coils of horizontal direction II differential concatenation constitutes 1 horizontal radial suspending windings II；Two radial suspension coils II positioned at vertical direction are reversely gone here and there Connection constitutes 1 vertical radial suspension winding II；Amount to two radial suspension windings II；

1 bias coil string I and 1 bias coil string II are connected, and 1 biasing winding is constituted；

1 armature coil is wound on each stator tooth of the switched reluctance machines, on all reluctance motor stator teeth Armature coil divides m group, is respectively connected together, and constitutes m armature winding.

When the number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 12/8 combination, i.e., the described reluctance motor is fixed When the sub- number of teeth is 12, the magnetic resistance motor rotor number of teeth is 8, number of motor phases m is 3, every 4 are separated by 90 ° of reluctance motor stator tooth Armature coil link together using series connection or side by side or connection type go here and there and combine, constitute 1 armature winding, be total to Form 3 armature winding.

When the number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 6/4 combination, i.e., the described reluctance motor is fixed When son is 6, the magnetic resistance motor rotor number of teeth is 4, number of motor phases m is 3, every 2 electricity being separated by 180 ° of reluctance motor stator tooth Pivot coil, using series connection or connection type arranged side by side, link together, constitute 1 armature winding, altogether formed 3 armatures around Group.

When the number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 8/6 combination, i.e., the described reluctance motor is fixed When son is 8, the magnetic resistance motor rotor number of teeth is 6, number of motor phases m is 4, every 2 electricity being separated by 180 ° of reluctance motor stator tooth Pivot coil, using series connection or connection type arranged side by side, link together, constitute 1 armature winding, altogether formed 4 armatures around Group.

The five degree of freedom electromagnetic type magnetic suspension switched reluctance motor is opened including 1 electromagnetic type axial-radial magnetic bearing, 1 Reluctance motor and 1 electromagnetic type radial direction magnetic bearing are closed, wherein switched reluctance machines generate rotating torques, electromagnetic type axial-radial magnetic Bearing generates two radial suspension forces and an axial suspension power, and electromagnetic type radial direction magnetic bearing generates two radial suspension forces, into And realize the suspension operation in five directions of shaft；The five degree of freedom electromagnetic type magnetic suspension switched reluctance motor includes m phase armature Winding, 1 biasing winding, 4 radial suspension windings and 1 axial suspension winding, wherein m phase armature winding is connected in series to tradition In m branch of asymmetrical half-bridge power inverter, the biasing winding is linked into asymmetric half together with four diodes In the DC bus of bridge power inverter；Utilize current chopping or Angle-domain imaging method, control switch reluctance motor m phase electricity Pivot winding current, and then reach dynamic regulation output torque, realize rotating operation；Meanwhile it biasing winding and generating a direction not The bias current of change controls suspending power；In addition the bias current is only related with the operating condition of switched reluctance machines；Pass through electricity Flow sensor acquires bias current in real time and then utilizes Current cut control method, 5 suspending windings electric currents of independent control, Realize the five-degree magnetic suspension operation of shaft；The control method packet of the five degree of freedom electromagnetic type magnetic suspension switched reluctance motor Include following steps:

Step A obtains given armature winding electric current, turn-on angle and shutdown angle；Specific step is as follows:

Step A-1 acquires the real-time revolving speed of magnetic resistance motor rotor, obtains magnetic resistance motor rotor angular velocity omega；

Step A-2, by the reference angular velocities ω of magnetic resistance motor rotor angular velocity omega and setting^*Subtract each other, obtains rotation speed difference deltan ω；

Step A-3, as ω≤ω₀When, ω₀For critical speed setting value；The rotation speed difference deltan ω, passes through proportional integration control Device processed obtains armature winding current reference value i_m ^*；Turn-on angle θ_onWith shutdown angle θ_offIt immobilizes, θ_onAnd θ_offValue is by switching Reluctance motor structure type determines；

Step A-4, as ω > ω₀When, the rotation speed difference deltan ω obtains turn-on angle θ by pi controller_onWith Turn off angle θ_off, armature winding electric current do not control；

Step B, the x-axis, y-axis and z-axis direction for obtaining electromagnetic type axial-radial magnetic bearing give suspending power；Its specific steps It is as follows:

Step B-1 obtains the x-axis of radial rotor I and the real-time displacement signal alpha in y-axis direction₁And β₁, and obtain axial turn The real-time displacement signal z in the z-axis direction of son I, wherein x-axis is horizontal direction, and y-axis is vertical direction, and z-axis and x-axis and y-axis are true Fixed x/y plane is vertical；

Step B-2, by real-time displacement signal alpha₁、β₁With z respectively with given reference displacement signal α₁ ^*、β₁ ^*And z^*Subtract each other, Respectively obtain the real-time displacement signal difference Δ α in x-axis, y-axis and z-axis direction₁、Δβ₁With Δ z, by the real-time displacement signal difference Δ α₁、Δβ₁Pass through proportional plus integral plus derivative controller with Δ z, the x-axis direction for obtaining electromagnetic type axial-radial magnetic bearing gives suspending powerY-axis direction gives suspending powerSuspending power is given with z-axis direction

Step C, the x-axis and y-axis direction for obtaining electromagnetic type radial direction magnetic bearing give suspending power；The specific steps of which are as follows:

Step C-1 obtains the x-axis of radial rotor II and the real-time displacement signal alpha in y-axis direction₂And β₂；

Step C-2, by real-time displacement signal alpha₂And β₂Respectively with given reference displacement signal α₂ ^*And β₂ ^*Subtract each other, respectively To the real-time displacement signal difference Δ α of x-axis direction and y-axis direction₂With Δ β₂, by the real-time displacement signal difference Δ α₂With Δ β₂Through Proportional plus integral plus derivative controller is crossed, the x-axis direction for obtaining electromagnetic type radial direction magnetic bearing gives suspending powerIt is given with y-axis direction Suspending power

Step D adjusts suspending power, the specific steps are as follows:

Step D-1 acquires biasing winding current i in real time_bias, according to the suspending powerWithAnd electricity Stream calculation formulaWithResolving obtains the x-axis direction horizontal radial suspending windings I of electromagnetic type axial-radial magnetic bearing Current reference valueVertical I current reference value of radial suspension winding in y-axis directionWith z-axis direction suspending windings current reference valueWherein, k_f1For radial suspension force coefficient I,k_f2For axial suspension force coefficient,μ₀For space permeability, l₁For the axial length of radial stator I, r₁For radial rotor I radius, α_s1For the polar arc angle of narrow tooth I in E type structure I, δ₁For the radial air gap length of radial stator I and radial rotor I, γ₁For the angle in E type structure I between wide tooth I and narrow tooth I, l₂For the axial length of axial rotor I and axial rotor II, δ₂For axis Axial air-gap length to the axial air-gap length between stator I and axial rotor I, while between axial stator II and axial rotor II It also is δ₂, r₂、r₃The respectively inside and outside radius of the annular tooth of axial stator I and axial stator II, and r₂< r₃≤r₁, N_b1、N_s1、 N_zRespectively the number of turns of bias coil I, radial suspension coil I and axial suspension coil I；

Step D-2, according to the biasing winding current i_bias, the suspending powerWithAnd electric current calculation formulaWithResolving obtains the x of electromagnetic type radial direction magnetic bearing II current reference value of axis direction horizontal radial suspending windingsWith vertical II current reference value of radial suspension winding in y-axis direction Wherein, k_f3For radial suspension force coefficient II,l₃For the axial length of radial stator II, r₄ For the radius of radial rotor II, α_s2For the polar arc angle of narrow tooth II in E type structure II, δ₃For radial stator II and radial rotor II Radial air gap length, γ₂For the angle in E type structure II between wide tooth II and narrow tooth II, N_b2、N_s2Respectively bias coil II and diameter To the number of turns of suspended coil II；

Step D-3, using Current cut control method, with the x-axis direction suspending windings of electromagnetic type axial-radial magnetic bearing Actual current i_x1It tracks the direction and hangs winding current reference valueWith the actual current i of y-axis direction suspending windings_y1Track the party To suspending windings current reference valueWith the actual current i of z-axis direction suspending windings_zTrack direction suspending windings current reference Value

With the x-axis direction suspending windings actual current i of electromagnetic type radial direction magnetic bearing_x2It tracks the direction and hangs winding current reference ValueWith the actual current i of y-axis direction suspending windings_y2Track direction suspending windings current reference valueTo adjust in real time 5 suspending powers are saved, and then realize five-degree magnetic suspension operation；

Step E adjusts torque；Specific step is as follows:

Step E-1, as ω≤ω₀When, using Current cut control method, with the actual current i of armature winding_mTracking electricity Pivot winding current reference value i_m ^*, and then armature winding electric current i is adjusted in real time_m, and then achieve the purpose that adjust torque；

Step E-2, as ω > ω₀When, using Angle-domain imaging method, adjust turn-on angle θ_onWith shutdown angle θ_offTake Value, to adjust torque in real time.

Beneficial effects of the present invention: the invention proposes a kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor and controls Method processed can reach following technical effect using technical solution of the present invention:

(1) five suspending power decouples naturally in structure, and torque is also decoupled with suspending power, and suspendability is good, system without Permanent magnet, environmental suitability is strong, and high reliablity, self-stiffness is big, and critical speed is high；

(2) the biasing winding of the m phase armature winding of switched reluctance machines and two magnetic bearings shares a set of power inverter Common excitation, integrated level is high, and cost advantage is obvious, and suspension system power loss is small；

(3) in the certain situation of switched reluctance machines operating condition, bias current is constant, and the control that suspends is simple and convenient to carry out； Five suspending windings electric currents of control are only needed, suspending power needed for can generating five directions, control variable is few, and suspension precision is high；

(4) without permanent magnet in system, environment is adapted to by force, and biasing magnetic flux is easy to adjust, and self-stiffness is big, and critical speed is high, Suspension bearing capacity is strong, is suitble to high-power super-high-speed application.

Detailed description of the invention

Fig. 1 is the three dimensional structure diagram of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor embodiment 1 of the present invention.

Fig. 2 is the three dimensional structure diagram of the embodiment of the present invention 2.

Fig. 3 is the three dimensional structure diagram of the embodiment of the present invention 3.

Fig. 4 is the radial flux distribution figure of electromagnetic type axial-radial magnetic bearing.

Fig. 5 is the axial magnetic flux distribution map of electromagnetic type axial-radial magnetic bearing.

Fig. 6 is distribution map of the axial magnetic flux of electromagnetic type axial-radial magnetic bearing in biasing stator and axial rotor.

Fig. 7 is the flux distribution of electromagnetic type radial direction magnetic bearing.

Fig. 8 is the power inverter schematic diagram of 1 threephase armature winding of the embodiment of the present invention and biasing winding.

Fig. 9 is the simulation curve figure of 1 threephase armature winding of the embodiment of the present invention and biasing winding current.

Figure 10 is the system block diagram of the control method of the embodiment of the present invention 1.

Figure 11 is five suspending windings current calculation method block diagrams in the control method of the embodiment of the present invention 1.

Description of symbols: Fig. 1 is into Figure 11, and 1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, and 3 be armature coil, 4 be radial stator I, and 5 be radial rotor I, and 6 be radial suspension coil I, and 7 be bias coil I, and 8 be biasing stator I, and 9 be axial Stator I, 10 be axial rotor I, and 11 be axial suspension coil I, and 12 be biasing stator II, and 13 be axial stator II, and 14 be axial Rotor II, 15 be axial suspension coil II, and 16 be radial stator II, and 17 be non-magnetic partition, and 18 be radial rotor II, and 19 be inclined Coil II is set, 20 be radial suspension coil II, and 21 be shaft, and 22 be switched reluctance machines, and 23 be electromagnetic type axial-radial magnetic axis It holds, 24 be electromagnetic type radial direction magnetic bearing, and 25,26,27 be respectively the positive direction of x, y, z axis direction reference axis, and 28 be biasing winding The radial offset magnetic flux that electric current generates in electromagnetic type axial-radial magnetic bearing, 29 be the suspension that x-axis radial suspension winding I generates Magnetic flux, 30 be the suspension magnetic flux that y-axis radial suspension winding I generates, and 31 be bias coil I in biasing stator I, I and of axial stator The axialy offset magnetic flux generated in axial rotor I, 32 be axial suspension winding in biasing stator I, axial stator I and axial rotor The suspension magnetic flux generated in I, 33 be the axial air-gap between axial stator I and axial rotor I, and 34 be that bias coil II is fixed in biasing The axialy offset magnetic flux generated in son II, axial stator II and axial rotor II, 35 be axial suspension winding biasing stator II, The suspension magnetic flux generated in axial stator II and axial rotor II, 36 be the axial gas between axial stator II and axial rotor II Gap, 37 be the radial offset magnetic flux that bias coil II generates in electromagnetic type radial direction magnetic bearing, and 38 be x-axis radial suspension winding II The suspension magnetic flux of generation, 39 be the suspension magnetic flux that y-axis radial suspension winding II generates, and 40 be A phase armature winding, and 41 be B phase electricity Pivot winding, 42 be C phase armature winding, and 43 be biasing winding, and 44 be A phase armature winding electric current, and 45 be B phase armature winding electric current, 46 be C phase armature winding electric current, and 47 be biasing winding current.

Specific embodiment

With reference to the accompanying drawing, to a kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor of the present invention and control method Technical solution is described in detail:

As shown in Figure 1, being that the three-dimensional structure of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor embodiment 1 of the present invention is shown It is intended to, wherein 1 is reluctance motor stator, and 2 be magnetic resistance motor rotor, and 3 be armature coil, and 4 be radial stator I, and 5 be radial turn Son I, 6 be radial suspension coil I, and 7 be bias coil I, and 8 be biasing stator I, and 9 be axial stator I, and 10 be axial rotor I, 11 It is axial suspension coil I, 12 be biasing stator II, and 13 be axial stator II, and 14 be axial rotor II, and 15 be axial suspension coil II, 16 be radial stator II, and 17 be non-magnetic partition, and 18 be radial rotor II, and 19 be bias coil II, and 20 be radial suspension line Circle II, 21 be shaft, and 22 be switched reluctance machines, and 23 be electromagnetic type axial-radial magnetic bearing, and 24 be electromagnetic type radial direction magnetic bearing, 25,26,27 be respectively x, y, z axis direction reference axis positive direction.

It is wound with 1 radial suspension coil I on each narrow tooth I, totally 8；In the horizontal direction at position, 2 E types 4 radial suspension coils I series connection in structure I on 4 narrow tooth I, constitutes 1 horizontal radial suspending windings I；In vertical direction position Set place, the series connection of 4 radial suspension coils I in 2 E type structures I on 4 narrow tooth I, constitute 1 vertical radial suspension around Group I；Amount to two radial suspension windings I；And the equal turn numbers of two radial suspension windings I；

It is wound with 1 radial suspension coil II on each wide tooth II, totally 4, two of them radial suspension coil II In horizontal direction, remaining two radial suspension coils II are located at vertical direction；Positioned at two radial suspension coils of horizontal direction II differential concatenation constitutes 1 horizontal radial suspending windings II；Two radial suspension coils II positioned at vertical direction are reversely gone here and there Connection constitutes 1 vertical radial suspension winding II；Amount to two radial suspension windings II；And the circle of two radial suspension windings II Number is equal；

1 bias coil string I and 11 bias coil string II series connection, constitute 1 biasing winding；

The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is using 12/8 combination, i.e., the described reluctance motor stator tooth When number is 12, the magnetic resistance motor rotor number of teeth is 8, number of motor phases m is 3, every 4 electricity being separated by 90 ° of reluctance motor stator tooth Pivot coil is linked together using series connection or connection type that is arranged side by side or going here and there and combine, constitutes 1 armature winding, formed altogether 3 armature winding.

As shown in Fig. 2, being the three dimensional structure diagram of the embodiment of the present invention 2, wherein 1 is reluctance motor stator, and 2 be magnetic Rotor is hindered, 3 be armature coil, and 4 be radial stator I, and 5 be radial rotor I, and 6 be radial suspension coil I, and 7 be bias coil I, 8 be biasing stator I, and 9 be axial stator I, and 10 be axial rotor I, and 11 be axial suspension coil I, and 12 be to bias stator II, 13 It is axial stator II, 14 be axial rotor II, and 15 be axial suspension coil II, and 16 be radial stator II, and 17 be non-magnetic partition, 18 be radial rotor II, and 19 be bias coil II, and 20 be radial suspension coil II, and 21 be shaft, and 22 be switched reluctance machines, 23 It is electromagnetic type axial-radial magnetic bearing, 24 be electromagnetic type radial direction magnetic bearing, and 25,26,27 be respectively x, y, z axis direction reference axis Positive direction.

The radial stator I is made of 4 E type structures I, and 4 E type structures I are uniformly distributed, and spatially differs 90 °, wherein 2 E type structures I are located at horizontal direction, and remaining 2 E type structures I are located at vertical direction；The number of teeth of each E type structure I is 3, packet 1 wide tooth I and 2 narrow tooth I are included, and the wide tooth I is in the centre of 2 narrow tooth I；The wide tooth I of the E type structure I with its 2 Angle between narrow tooth I is equal, and the facewidth of wide tooth I is equal to two times of narrow tooth I；The radial rotor I is cylindrical structure；

The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is combined using 6/4, i.e., the described reluctance motor stator is 6, when the magnetic resistance motor rotor number of teeth is 4, number of motor phases m is 3, every 2 armature lines being separated by 180 ° of reluctance motor stator tooth Circle is linked together using series connection or connection type arranged side by side, is constituted 1 armature winding, forms 3 armature winding altogether.

As shown in figure 3, being the three dimensional structure diagram of the embodiment of the present invention 3, wherein 1 is reluctance motor stator, and 2 be magnetic Rotor is hindered, 3 be armature coil, and 4 be radial stator I, and 5 be radial rotor I, and 6 be radial suspension coil I, and 7 be bias coil I, 8 be biasing stator I, and 9 be axial stator I, and 10 be axial rotor I, and 11 be axial suspension coil I, and 12 be to bias stator II, 13 It is axial stator II, 14 be axial rotor II, and 15 be axial suspension coil II, and 16 be radial stator II, and 17 be non-magnetic partition, 18 be radial rotor II, and 19 be bias coil II, and 20 be radial suspension coil II, and 21 be shaft, and 22 be switched reluctance machines, 23 It is electromagnetic type axial-radial magnetic bearing, 24 be electromagnetic type radial direction magnetic bearing, and 25,26,27 be respectively x, y, z axis direction reference axis Positive direction.

The number of teeth of the reluctance motor stator and magnetic resistance motor rotor is combined using 8/6, i.e., the described reluctance motor stator is 8, when the magnetic resistance motor rotor number of teeth is 6, number of motor phases m is 4, every 2 armature lines being separated by 180 ° of reluctance motor stator tooth Circle is linked together using series connection or connection type arranged side by side, is constituted 1 armature winding, forms 4 armature winding altogether.

As shown in figure 4, being the radial flux distribution figure of electromagnetic type axial-radial magnetic bearing.Wherein, line label 28 is biasing The radial offset magnetic flux that winding current generates in electromagnetic type axial-radial magnetic bearing, line label 29 are that x-axis horizontal radial suspends The suspension magnetic flux that winding I generates, line label 30 are the suspension magnetic fluxs that the vertical radial suspension winding I of y-axis generates.

Due to mutually isolated between four E type structures I of radial stator, magnetic circuit is also mutually isolated, biases winding in each E The radial offset magnetic flux generated in type structure I through under wide tooth, two narrow teeth, two narrow teeth air gap, radial rotor, under wide tooth Air gap and wide tooth closure；And the suspension magnetic flux that each radial suspension coil I generates is through the air gap under narrow tooth, wide tooth, wide tooth, radial direction Rotor, the air gap under narrow tooth and narrow tooth closure.

The radial suspension force mechanism of production of axial-radial hybrid magnetic bearing are as follows: in positive direction of the x-axis, x-axis radial suspension winding I The flow direction of generation is identical as radial offset flow direction, and air gap resultant flux increases；In negative direction of the x-axis, x-axis radial suspension The flow direction and radial offset flow direction that winding I generates are on the contrary, the reduction of air gap resultant flux, leads to the gas of positive direction of the x-axis Gap magnetic flux is greater than negative direction of the x-axis, and then generates the radial suspension force of a positive direction of the x-axis；When the electricity of x-axis radial suspension winding I When stream direction is reversed, the radial suspension force of a negative direction of the x-axis will be generated.

Similarly, the size and Orientation of electric current in y-axis radial suspension winding I is controlled, a size and Orientation is also generated The y-axis radial suspension force of control.To, rationally control x, in y-axis radial suspension winding I electric current size and Orientation, as axially Radial electromagnetic type magnetic bearing generates the controllable radial suspension force of size and Orientation.

As shown in Figure 5 and Figure 6, respectively the axial magnetic flux distribution map of electromagnetic type axial-radial magnetic bearing and its axial magnetic flux Distribution map in biasing stator and axial rotor.Wherein, line label 31 is bias coil I in biasing stator I, axial stator I With the axialy offset magnetic flux generated in axial rotor I, line label 32 is axial suspension winding in biasing stator I, I and of axial stator The suspension magnetic flux generated in axial rotor I, line label 33 is the axial air-gap between axial stator I and axial rotor I, line label 34 It is the axialy offset magnetic flux that bias coil II generates in biasing stator II, axial stator II and axial rotor II, line label 35 It is the suspension magnetic flux that axial suspension winding generates in biasing stator II, axial stator II and axial rotor II, line label 36 is Axial air-gap between axial stator II and axial rotor II.

Since axial stator I, biasing stator I and axial stator II, biasing stator II are mutually isolated, biasing winding current point An axialy offset magnetic flux is not generated respectively in z-axis positive direction and z-axis negative direction, and two axialy offset magnetic fluxs are mutually isolated.It is axial Magnetic flux is biased by biasing stator, axial stator, axial air-gap, axial stator, radial air gap and biasing stator closure.

The suspension control magnetic flux that electric current in axial suspension coil I generates, through biasing stator I, axial stator I, axial gas Gap, axial rotor I, radial air gap and biasing stator I are closed.Therefore, in the biasing winding of z-axis positive direction and axial suspension coil The path of I magnetic flux generated is identical.

The suspension control magnetic flux that electric current in axial suspension coil II generates, through biasing stator II, axial stator II, axial direction Air gap, axial rotor II, radial air gap and biasing stator II are closed.Therefore, in the biasing winding and axial suspension of z-axis negative direction The path for the magnetic flux that coil II generates is also identical.

Axial suspension power production principle: the axial air-gap when biasing winding application continuous current excitation, at z-axis positive direction In, axialy offset magnetic flux is identical as axial suspension control magnetic flux direction, and magnetic flux enhancing generates a z-axis positive direction suspending power；? In axial air-gap at z-axis negative direction, axialy offset magnetic flux is contrary with axial suspension control magnetic flux, and magnetic flux weakens, together When generate a z-axis negative direction suspending power；Since the magnetic flux at z-axis positive direction in axial air-gap is greater than the magnetic at z-axis negative direction It is logical, and then so that z-axis positive direction suspending power is greater than z-axis negative direction suspending power, and then generate a z-axis positive direction suspending power；Work as axis When changing to suspending windings current direction, the buoyancy of a z-axis negative direction will be generated, therefore only need to control axial suspending windings electric current Size and Orientation to get to the z-axis direction suspending power of an arbitrary size and direction.

At the positive and negative direction of z-axis, two biasing stators in radial air gaps in resultant flux be simultaneously increase or simultaneously Reduce, therefore axial suspension winding does not generate radial suspension force, only generates axial suspension power.

Therefore, when biasing winding applies continuous current excitation, two diameters of electromagnetic type axial-radial magnetic bearing only need to rationally be controlled Three electric currents into suspending windings and an axial suspension winding just obtain three controllable suspending powers of size and Orientation.

As shown in fig. 7, being the flux distribution of electromagnetic type radial direction magnetic bearing.Wherein, line label 37 is that bias coil II exists The radial offset magnetic flux generated in electromagnetic type radial direction magnetic bearing, line label 38 are the suspension magnetic that x-axis radial suspension winding II generates Logical, line label 39 is the suspension magnetic flux that y-axis radial suspension winding II generates.

At this point, the biasing magnetic flux that bias coil II generates is distributed in NNNN or SSSS, i.e., four bias coils generate magnetic field Polarity is identical, it is therefore desirable to which wide tooth cooperation forms it into closed circuit.The biasing magnetic that bias coil on each combination tooth generates Logical tool there are two mutually isolated magnetic circuit, the path of each magnetic circuit include: narrow tooth, stator yoke, wide tooth, air gap, rotor, air gap and Narrow tooth.

X-axis direction horizontal radial suspending windings II, respectively in positive direction of the x-axis and negative direction of the x-axis, generation two is mutually isolated And opposite polarity suspension control magnetic flux, wherein two suspension control magnetic fluxs are through wide tooth, two stator yokes, two narrow teeth, two A air gap forms closed circuit.

When horizontal direction radial suspension winding II applies electric current shown in Fig. 7, in positive direction of the x-axis, radial suspension control Magnetic flux is identical as biasing flow direction, the magnetic flux enhancing in air gap；In negative direction of the x-axis, radial suspension control magnetic flux and biasing magnetic Lead to contrary, so that the magnetic flux of x-axis direction is greater than the magnetic flux of negative direction of the x-axis, and then the radial direction for generating a positive direction of the x-axis is outstanding Buoyancy.When horizontal direction radial suspension winding applies the electric current of opposite direction, the radial suspension of a negative direction of the x-axis will be generated Power.Therefore, the size and Orientation of controlled level direction radial suspension winding current, i.e., adjusting x-axis direction suspending power size and Direction.

Similarly, the size and Orientation of electric current in the vertical radial suspension winding II in y-axis direction is controlled, i.e. adjusting y-axis direction is outstanding The size and Orientation of buoyancy.Therefore, the size and Orientation of electric current in two radial suspension windings II is rationally controlled, that is, generates one The controllable radial suspension force of size and Orientation, to realize the radial suspension of rotor.

Therefore, five direction levitating currents of two magnetic bearings are rationally controlled, it is controllable just to obtain size and Orientation Five suspending powers, and then realize the stable suspersion of shaft.In addition, according to radial and axial requirement for bearing capacity, dynamic regulation biasing The size of magnetic flux rationally controls the electric current of five suspending windings again later, not only can effectively promote energy conversion efficiency, also advantageous In reduction suspension power consumption and improve suspension precision.

As shown in figure 8, being the power inverter schematic diagram of 1 threephase armature winding of the embodiment of the present invention and biasing winding.Its In, line label 40 is A phase armature winding, and line label 41 is B phase armature winding, and line label 42 is C phase armature winding, line label 43 It is biasing winding.

The power inverter is by 1 power module, 1 asymmetrical three-phase half-bridge circuit and 1 diode rectifier circuit It constitutes；The power module includes the first power supply (U_s1) and the first electrolytic capacitor (C₁)；The asymmetrical three-phase half-bridge circuit, packet Include six power switch tubes i.e. the first power switch tube (S₁) to the 6th power switch tube (S₆), six freewheeling diodes i.e. first Freewheeling diode (D₁) to the 6th freewheeling diode (D₆)；The diode rectifier circuit, including the first power diode (D₇)、 Second power diode (D₈), the 7th freewheeling diode (D₉) and the 8th freewheeling diode (D₁₀)；

The connection type of the power inverter are as follows: the first power supply (U_s1) anode, connect the first power diode respectively (D₇) anode and the 7th freewheeling diode (D₉) cathode；First power diode (D₇) cathode connect the 8th freewheeling diode (D₁₀) cathode, the 7th freewheeling diode (D₉) anode meet the second power diode (D₈) anode；Second power diode (D₈) cathode meet the 8th freewheeling diode (D₁₀) anode after, meet the first electrolytic capacitor (C respectively₁) input terminal, the first function Rate switching tube (S₁) drain electrode, the first freewheeling diode (D₁) cathode, third power switch tube (S₃) drain electrode, third afterflow Diode (D₃) cathode, the 5th power switch tube (S₅) drain electrode and the 5th freewheeling diode (D₅) cathode；

First power supply (U_s1) cathode connect the output end of the first electrolytic capacitor (C1), the second freewheeling diode (D respectively₂) Anode, the second power switch tube (S₂) source electrode, the 4th freewheeling diode (D₄) anode, the 4th power switch tube (S₄) source Pole, the 6th freewheeling diode (D₆) anode and the 6th power switch tube (S₆) source electrode；

First power switch tube (S₁) source electrode meet the second freewheeling diode (D₂) cathode, the second power switch tube (S₂) Drain electrode meet the first freewheeling diode (D₁) anode；Third power switch tube (S₃) source electrode meet the 4th freewheeling diode (D₄) Cathode, the 4th power switch tube (S₄) drain electrode meet third freewheeling diode (D₃) anode；5th power switch tube (S₅) Source electrode meets the 6th freewheeling diode (D₆) cathode, the 6th power switch tube (S₆) drain electrode meet the 5th freewheeling diode (D₅) Anode；

First power diode (D₇) cathode and meet the second power diode (D₈) anode between concatenate the magnetic bearing Bias winding；First power switch tube (S₁) source electrode and the second power switch tube (S₂) drain electrode between concatenate the switching magnetic-resistance The A phase armature winding of motor；Third power switch tube (S₃) source electrode and the 4th power switch tube (S₄) drain electrode between concatenation described in The B phase armature winding of switched reluctance machines；5th power switch tube (S₅) source electrode and the 6th power switch tube (S₆) drain electrode between Concatenate the C phase armature winding of the switched reluctance machines；

When excitation is connected in threephase armature winding, diode D₇And D₈The current branch of positive direction is provided for biasing winding；And Diode D₉And D₁₀Continuous current circuit then is provided for threephase armature winding current, and the direction for biasing winding current is made to be positive always. Due to electrolytic capacitor C₁Pressure stabilizing and charge and discharge electro ultrafiltration, on the one hand make the voltage at armature winding both ends equal with supply voltage, On the other hand, also make biasing winding current constant, to simplify the control difficulty that suspends, promote suspension precision.

It as switched reluctance machines number of phases m > 3, only needs to increase corresponding branch in the power inverter, and biases winding Partial circuit is without variation.

As shown in figure 9, for the simulation curve figure of 1 threephase armature winding of the embodiment of the present invention and biasing winding current.Wherein, Line label 44 is A phase armature winding electric current, and line label 45 is B phase armature winding electric current, and line label 46 is C phase armature winding electricity Stream, line label 47 are biasing winding currents.

Simulation result is shown, is based on power conversion circuit shown in Fig. 8, the waveform and traditional switch magnetic of threephase armature electric current The current waveform for hindering motor is identical, illustrates that power circuit shown in Fig. 7 has the function of traditional asymmetry half-bridge circuit.In addition, It is identical as armature supply to bias winding current direction, illustrates that four diode pair biasing windings have rectified action；Again because of biasing Electric current is constant, illustrates the charge and discharge electro ultrafiltration of electrolytic capacitor, is reconstructed the energy transmission path of armature winding, is played steady inclined The effect of winding current is set, and then copped wave and the tracking effect of suspending windings electric current can be obviously improved.

It as shown in Figure 10, is the system block diagram of the control method of the embodiment of the present invention 1.Direct torque is using PWM control, arteries and veins The control method of the Conventional switched reluctances motor such as punching control and Angle Position control, and the control that suspends is then using Current cut control Mode.

Direct torque are as follows: the rotor position information of detection switch reluctance motor, be computed respectively obtain actual speed ω and The turn-on angle θ of every phase_onWith shutdown angle θ_off, speed error signal is subjected to PI adjusting, obtains armature winding current reference value Current cut control is recycled to allow practical armature winding current trackingAnd utilize turn-on angle θ_onWith shutdown angle θ_offControl torque The on state of winding power circuit, to realize that switched reluctance machines rotate.

Suspend control are as follows: displacement error signal is carried out PID and adjusts the given suspending power of acquisition Winding current i is biased in conjunction with actual measurement_bias, i.e., calculated by suspending windings current controller: electromagnetic type is axial The direction the x suspending windings current reference value of radial direction magnetic bearingY-axis direction suspending windings current reference valueIt is outstanding with z-axis direction Floating winding current reference valueAnd the direction the x suspending windings current reference value of electromagnetic type radial direction magnetic bearingIt is outstanding with y-axis direction Floating winding current reference value

Using Current cut control method, the x-axis direction suspending windings actual current of electromagnetic type axial-radial magnetic bearing is allowed i_x1It tracks the direction and hangs winding current reference valueAllow the actual current i of y-axis direction suspending windings_y1Track the direction suspend around Group current reference valueAllow the actual current i of z-axis direction suspending windings_z, track direction suspending windings current reference valueIt allows The x-axis direction suspending windings actual current i of electromagnetic type radial direction magnetic bearing_x2It tracks the direction and hangs winding current reference valueAllow y The actual current i of axis direction suspending windings_y2Track direction suspending windings current reference valueTo adjust suspending power in real time, The five-degree magnetic suspension of realization system.

As shown in figure 11, five suspending windings current calculation method block diagrams in the control method of the embodiment of the present invention 1.Figure In, k_f1、k_f2、k_f3Respectively radial suspension force coefficient I, axial suspension force coefficient and radial suspension force coefficient II.

In formula, μ₀For space permeability, l₁For the axial length of radial stator I, r₁For the radius of radial rotor I, α_s1For E The polar arc angle of narrow tooth I, δ in type structure I₁For the radial air gap length of radial stator I and radial rotor I, γ₁For in E type structure I Angle between wide tooth I and narrow tooth I, l₂For the axial length of axial rotor I and axial rotor II, δ₂For axial stator I and axial turn Axial air-gap length between son I, while the axial air-gap length between axial stator II and axial rotor II is also δ₂, r₂、r₃Respectively For the inside and outside radius of axial stator I and the annular tooth of axial stator II, and r₂< r₃≤r₁, l₃It is long for the axial direction of radial stator II Degree, r₄For the radius of radial rotor II, α_s2For the polar arc angle of narrow tooth II in E type structure II, δ₃For radial stator II and radial turn The radial air gap length of son II, γ₂For the angle in E type structure II between wide tooth II and narrow tooth II.

The x, y and z axes direction suspending power F of electromagnetic type axial-radial magnetic bearing_α1、F_β1And F_zExpression formula are as follows:

F_α1=k_f1N_b1N_s1i_biasi_x1 (4)

F_β1=k_f1N_b1N_s1i_biasi_y1 (5)

F_z=k_f2N_b1N_zi_biasi_z (6)

In formula, i_biasTo bias winding current, i_x1、i_y1、i_zThe respectively x, y, z axis side of electromagnetic type axial-radial magnetic bearing To suspending windings electric current, N_b1、N_s1、N_zRespectively the number of turns of bias coil I, radial suspension coil I and axial suspension coil I.

The x and y-axis direction suspending power F of electromagnetic type radial direction magnetic bearing_α2And F_β2Expression formula are as follows:

F_α2=k_f3N_b2N_s2i_biasi_x2 (7)

F_β2=k_f3N_b2N_s2i_biasi_y2 (8)

In formula, i_x2、i_y2The respectively x of electromagnetic type radial direction magnetic bearing, y-axis direction radial suspension winding current, N_b2、N_s2Point Not Wei bias coil II and radial suspension coil II the number of turns.

In control, four radial displacements and an axial displacement obtain four radial suspension forces and one after PID is adjusted The reference value of axial suspension power.Wherein, the x, y, z axis direction suspending power F of electromagnetic type axial-radial magnetic bearing_α1、F_β1、F_zReference Value is respectivelyWithThe x and y-axis direction suspending power F of electromagnetic type radial direction magnetic bearing_α2And F_β2Reference value be respectivelyWithIn addition, biasing winding current i_biasIt is obtained by real-time detection.Therefore, four radial suspension windings are conveniently obtained With the current reference value of an axial suspension winding, wherein electric current i_x1、i_y1、i_x2、i_y2、i_zReference value be respectivelyCalculation formula is as follows:

Known by expression formula (9)~(13), the radially, axially suspending power of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor It is unrelated with rotor position angle θ, it is only current related with structural parameters, biasing winding current and respective direction suspending windings.Therefore, five It is mutually decoupled between a suspending power；Again because five suspending powers are unrelated with rotor position angle, decoupled between torque and suspending power Control.

It should be pointed out that changing due to the positive and negative positive and negative variation with suspending windings electric current of suspending power, five outstanding Floating winding current direction can change in control, need to use the power inverter in adjustable current direction.

The five degree of freedom electromagnetic type magnetic suspension switched reluctance motor is opened including 1 electromagnetic type axial-radial magnetic bearing, 1 Reluctance motor and 1 electromagnetic type radial direction magnetic bearing are closed, wherein switched reluctance machines generate rotating torques, electromagnetic type axial-radial magnetic Bearing can produce two radial suspension forces and an axial suspension power, and electromagnetic type radial direction magnetic bearing generates two radial suspension forces, And then realize the suspension operation in five directions of shaft；The five degree of freedom electromagnetic type magnetic suspension switched reluctance motor includes m phase electricity Pivot winding, 1 biasing winding, 4 radial suspension windings and 1 axial suspension winding, wherein m phase armature winding is connected in series to biography It unites in m branch of asymmetrical half-bridge power inverter, the biasing winding is linked into asymmetry together with four diodes In the DC bus of half-bridge power converter；Utilize current chopping or Angle-domain imaging method, control switch reluctance motor m phase Armature winding electric current, and then reach dynamic regulation output torque, realize rotating operation；Meanwhile biasing winding will also generate one Direction is constant and has the bias current of certain amplitude, which also has preferable stationarity, in favor of suspending power Reliable control；In addition the bias current is only related with the operating condition of switched reluctance machines；It is adopted in real time by current sensor Collect bias current and then utilize Current cut control method, 5 suspending windings electric currents of independent control realize the five of shaft Freedom degree suspension operation；The control method of the five degree of freedom electromagnetic type magnetic suspension switched reluctance motor includes the following steps:

Step A-3, as ω≤ω₀When, ω₀For critical speed setting value, determined by switched reluctance machines actual condition； The rotation speed difference deltan ω obtains armature winding current reference value i by pi controller_m ^*；Turn-on angle θ_onWith shutdown angle θ_offIt immobilizes, θ_onAnd θ_offValue is determined by switched reluctance machines structure type；

Step B-1 obtains the x-axis of radial rotor I and the real-time displacement signal alpha in y-axis direction₁And β₁, and obtain axial turn The real-time displacement signal z in the z-axis direction of son I, wherein x-axis is horizontal direction, and y-axis is vertical direction, z-axis and x-axis and y-axis side To vertical；

Step D adjusts suspending power, the specific steps are as follows:

Step D-1 acquires biasing winding current i in real time_bias, according to the suspending powerWithAnd electricity Stream calculation formulaWithResolving obtains the x-axis direction suspending windings current reference value of electromagnetic type axial-radial magnetic bearingY-axis direction suspending windings current reference valueWith z-axis direction suspending windings current reference valueWherein, k_f1For radial suspension Force coefficient I,k_f2For axial suspension force coefficient, μ₀For space permeability, l₁For the axial length of radial stator I, r₁For the radius of radial rotor I, α_s1For narrow tooth I in E type structure I Polar arc angle, δ₁For the radial air gap length of radial stator I and radial rotor I, γ₁For in E type structure I between wide tooth I and narrow tooth I Angle, l₂For the axial length of axial rotor I and axial rotor II, δ₂Axial gas between axial stator I and axial rotor I Gap length, while the axial air-gap length between axial stator II and axial rotor II is also δ₂, r₂、r₃Respectively axial stator I with The inside and outside radius of the annular tooth of axial stator II, and r₂< r₃≤r₁, N_b1、N_s1、N_zRespectively bias coil I, radial suspension line The number of turns of circle I and axial suspension coil I；

Step D-2, according to the biasing winding current i_bias, the suspending powerWithAnd electric current calculation formulaWithResolving obtains the x of electromagnetic type radial direction magnetic bearing Axis direction suspending windings current reference valueWith y-axis direction suspending windings current reference valueWherein, k_f3For radial suspension force Coefficient II,l₃For the axial length of radial stator II, r₄For the radius of radial rotor II, α_s2For the polar arc angle of narrow tooth II in E type structure II, δ₃For the radial air gap length of radial stator II and radial rotor II, γ₂For E Angle in type structure II between wide tooth II and narrow tooth II, N_b2、N_s2The respectively circle of bias coil II and radial suspension coil II Number；

Step D-3, using Current cut control method, with the x-axis direction suspending windings of electromagnetic type axial-radial magnetic bearing Actual current i_x1It tracks the direction and hangs winding current reference valueWith the actual current i of y-axis direction suspending windings₁Track the party To suspending windings current reference valueWith the actual current i of z-axis direction suspending windings_zTrack direction suspending windings electric current ginseng Examine value

Step E adjusts torque；Specific step is as follows:

The control method and implementation of the embodiment of the present invention 2 and embodiment 3, all the same with embodiment 1, difference exists In, since stator and rotor tooth is different, turn-on angle θ_onWith shutdown angle θ_offValue is different；And because of number of phases difference, current sensor institute The armature winding number of phases that need to be acquired in real time is different.

In conclusion five suspending powers of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor of the present invention in structure from So decoupling, and torque is also decoupled with suspending power, suspendability is good, and for system without permanent magnet, environmental suitability is strong, high reliablity, Gu Have that rigidity is big, critical speed is high；The biasing winding of the m phase armature winding of switched reluctance machines and two magnetic bearings shares a set of function The common excitation of rate converter, integrated level is high, and cost advantage is obvious, and suspension system power loss is small；In switched reluctance machines operating condition In certain situation, bias current is constant, and the control that suspends is simple and convenient to carry out；In control, it is only necessary to control five suspending windings electricity Stream, suspending power needed for can generating five directions, control variable is few, and suspension precision is high；In addition, without permanent magnet, environment in system It adapts to by force, biasing magnetic flux is easy to adjust, and self-stiffness is big, and critical speed is high, and suspension bearing capacity is strong, and suitable high-power super-high-speed is answered Use occasion.

For those skilled in the art, it is excellent that association's others can be easy to according to the above implementation type Point and deformation.Therefore, the invention is not limited to above-mentioned specific example, as just example to a kind of form of the invention into Detailed, the exemplary explanation of row.In the range of without departing substantially from present inventive concept, those of ordinary skill in the art are according to above-mentioned specific Example should be included in scope of the presently claimed invention and its wait homotypes by the obtained technical solution of various equivalent replacements Within enclosing.

Claims

1. a kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor, including 1 electromagnetic type axial-radial magnetic bearing, 1 open Close reluctance motor and 1 electromagnetic type radial direction magnetic bearing；

The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and the magnetic resistance motor rotor is arranged in reluctance motor In stator；The number of teeth of reluctance motor stator and magnetic resistance motor rotor has 12/8,6/4 or 8/6 3 kind of combining form；Wherein magnetic resistance electricity When the number of teeth group of machine stator and magnetic resistance motor rotor is combined into 12/8 or 6/4, switched reluctance machines are three-phase duty, reluctance motor When the number of teeth group of stator and magnetic resistance motor rotor is combined into 8/6, switched reluctance machines are four phase dutys；

It is characterized in that, the electromagnetic type axial-radial magnetic bearing, by radial stator I, radial rotor I, radial suspension coil I, Bias coil I, biasing stator I, axial stator I, axial rotor I, axial suspension coil I, biasing stator II, axial stator II, Axial rotor II and axial suspension coil II are constituted；

Stator I, radial stator I and the biasing close arranged in series of stator II are biased, and radial stator I is arranged in biasing I He of stator It biases between stator II；Biasing stator I is disposed closely in axial stator I, and biasing stator II is disposed closely to axial stator II It is interior；The radial rotor I is arranged in radial stator I, and the axial rotor I is arranged in biasing stator I, the axial rotor II is arranged in biasing stator II；

The axial rotor I, radial rotor I and the close arranged in series of axial rotor II, and radial rotor I is arranged in axial rotor Between I and axial rotor II；The axial rotor I, radial rotor I and II set of axial rotor are in shaft；

The radial stator I is made of 4 E type structures I, and 4 E type structures I are uniformly distributed, and 90 ° is spatially differed, wherein 2 E Type structure I is located at horizontal direction, and remaining 2 E type structures I are located at vertical direction；The number of teeth of each E type structure I is 3, including 1 Wide tooth I and 2 narrow tooth I, and the wide tooth I is in the centre of 2 narrow tooth I；The wide tooth I of the E type structure I and its 2 narrow teeth I Between angle it is equal, and the facewidth of wide tooth I is equal to two times of the facewidth of narrow tooth I；The radial rotor I is cylindrical structure；

The biasing stator I is salient-pole structure, the number of teeth 4；4 teeth of the biasing stator I are uniformly distributed, and are spatially differed 90 °, wherein 2 tooth positions of biasing stator I bias 2 tooth positions of residue of stator I in vertical direction in horizontal direction；The axis It is cylindrical structure to rotor I；

The biasing stator II is salient-pole structure, the number of teeth 4；4 teeth of the biasing stator II are uniformly distributed, and are spatially differed 90 °, wherein 2 tooth positions of biasing stator II bias 2 tooth positions of residue of stator II in vertical direction in horizontal direction；It is described Axial rotor II is cylindrical structure；

The facewidth of wide tooth I is equal with biasing stator I, the biasing facewidth of stator II in the E type structure I；In the same space position The wide tooth I of 1 of the E type structure I set and bias stator I 1 tooth and biasing stator II 1 tooth be together to form 1 it is compound Tooth forms 4 composite teeths altogether；

The axial stator I is axial salient-pole structure, including two cylinder stator teeth, respectively outer ring tooth I and annular Tooth I, and the tall and big tooth in annular tooth I of tooth of outer ring tooth I is high；There are 1 through-hole I, the through-hole I in the annular tooth I Center line be overlapped with the center line of shaft；The outer diameter of the annular tooth I is greater than the internal diameter of the through-hole I, the through-hole I Internal diameter is greater than the outer diameter of shaft；The shaft runs through axial stator I, and is arranged in the through-hole I；

The axial stator II is axial salient-pole structure, including two cylinder stator teeth, respectively outer ring tooth II and inner ring Shape tooth II, and the tall and big tooth in annular tooth II of tooth of outer ring tooth II is high；There are 1 through-hole II, institute in the annular tooth II The center line for stating through-hole II is overlapped with the center line of shaft；The outer diameter of the annular tooth II is greater than the internal diameter of the through-hole II, The internal diameter of the through-hole II is greater than the outer diameter of shaft；The shaft runs through axial stator II, and is arranged in the through-hole II；

The electromagnetic type radial direction magnetic bearing, including radial stator II, radial rotor II, bias coil II and radial suspension coil Ⅱ；

The radial stator II is made of 4 E type structures II and 4 magnetic isolation plates, and 4 E type structures II and 4 magnetic isolation plate alternatings Arrangement；4 E type structures II are uniformly distributed, and 90 ° are spatially differed, wherein 2 E type structures II are located at horizontal direction, 2 E of residue Type structure II is located at vertical direction；The number of teeth of each E type structure II is 3, including 1 wide tooth II and 2 narrow tooth II, and the width Tooth II is in the centre of 2 narrow tooth II；Angle between the wide tooth II of the E type structure II and its 2 narrow teeth II is equal, and wide tooth II facewidth is equal to two times of narrow tooth II；Each magnetic isolation plate and adjacent two narrow II close arrangement of tooth, and constitute one Combination tooth, totally 4；

The radial rotor II is cylindrical structure, and is arranged in the radial stator II, and II set of the radial rotor is in shaft On；The axial rotor I, radial rotor I, axial rotor II, magnetic resistance motor rotor and radial rotor II successively cover jointly to be turned On axis；

It is wound with 1 radial suspension coil I on each narrow tooth I, totally 8；In the horizontal direction at position, 2 E type structures 4 radial suspension coils I series connection in I on 4 narrow tooth I, constitutes 1 horizontal radial suspending windings I；In vertical position Locate, 4 radial suspension coils I series connection in 2 E type structures I on 4 narrow tooth I constitutes 1 vertical radial suspension winding Ⅰ；Amount to two radial suspension windings I；And the equal turn numbers of two radial suspension windings I；

1 bias coil I is wound in each composite teeth, totally 4；4 bias coils I are connected, and 1 offset line is constituted Circle string I；

1 axial suspension coil I is wound on the annular tooth I of the axial stator I, totally 1；The inner ring of the axial stator II 1 axial suspension coil II is wound on shape tooth II, totally 1；The axial suspension coil I and axial suspension coil II are reversely gone here and there Connection, constitutes 1 axial suspension winding；

It is wound with 1 bias coil II on each combination tooth, totally 4；4 series connection of bias coil II form 1 biasing Coil string II；

It is wound with 1 radial suspension coil II on each wide tooth II, totally 4, two of them radial suspension coil II is located at water Square to remaining two radial suspension coils II are located at vertical direction；Two radial suspension coils II positioned at horizontal direction are anti- To series connection, 1 horizontal radial suspending windings II is constituted；Positioned at two II differential concatenations of radial suspension coil of vertical direction, structure At 1 vertical radial suspension winding II；Amount to two radial suspension windings II；And the number of turns phase of two radial suspension windings II Deng；

1 armature coil, the armature on all reluctance motor stator teeth are wound on each stator tooth of the switched reluctance machines Coil divides m group, is respectively connected together, and constitutes m armature winding.

2. a kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor according to claim 1, which is characterized in that described For the number of teeth of reluctance motor stator and magnetic resistance motor rotor using 12/8 combination, i.e., the described reluctance motor stator number of teeth is 12, magnetic resistance When number of teeth of motor rotor is 8, number of motor phases m is 3, every 4 armature coils being separated by 90 ° of reluctance motor stator tooth are used Series connection or side by side or connection type go here and there and combine, links together, constitutes 1 armature winding, altogether 3 armatures of formation around Group.

3. a kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor according to claim 1, which is characterized in that described For the number of teeth of reluctance motor stator and magnetic resistance motor rotor using 6/4 combination, i.e., the described reluctance motor stator is that 6, reluctance motor turns When the sub- number of teeth is 4, number of motor phases m is 3, every 2 armature coils being separated by 180 ° of reluctance motor stator tooth, using series connection, Or connection type arranged side by side, it links together, constitutes 1 armature winding, form 3 armature winding altogether.

4. a kind of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor according to claim 1, which is characterized in that described For the number of teeth of reluctance motor stator and magnetic resistance motor rotor using 8/6 combination, i.e., the described reluctance motor stator is that 8, reluctance motor turns When the sub- number of teeth is 6, number of motor phases m is 4, every 2 armature coils being separated by 180 ° of reluctance motor stator tooth, using series connection, Or connection type arranged side by side, it links together, constitutes 1 armature winding, form 4 armature winding altogether.

5. a kind of control of five degree of freedom electromagnetic type magnetic suspension switched reluctance motor according to claim 1 or 2 or 3 or 4 Method, which is characterized in that the five degree of freedom electromagnetic type magnetic suspension switched reluctance motor includes 1 electromagnetic type axial-radial magnetic axis It holds, 1 switched reluctance machines and 1 electromagnetic type radial direction magnetic bearing, wherein switched reluctance machines generate rotating torques, electromagnetism profile shaft Two radial suspension forces and an axial suspension power are generated to radial direction magnetic bearing, it is outstanding that electromagnetic type radial direction magnetic bearing generates two radial directions Buoyancy, and then realize the suspension operation in five directions of shaft；The five degree of freedom electromagnetic type magnetic suspension switched reluctance motor includes m Phase armature winding, 1 biasing winding, 4 radial suspension windings and 1 axial suspension winding；Utilize current chopping or angle position Control method, control switch reluctance motor m phase armature winding electric current are set, and then reaches dynamic regulation output torque, realizes rotation Operation；Meanwhile it biasing winding and generating the constant bias current control suspending power in a direction；It is acquired in real time by current sensor Bias current and then utilization Current cut control method, 5 suspending windings electric currents of independent control, i.e. the five of realization shaft are certainly By degree suspension operation；

The control method of the five degree of freedom electromagnetic type magnetic suspension switched reluctance motor includes the following steps:

Step A-3, as ω≤ω₀When, ω₀For critical speed setting value；The rotation speed difference deltan ω, by pi controller, Obtain armature winding current reference value i_m ^*；Turn-on angle θ_onWith shutdown angle θ_offIt immobilizes, θ_onAnd θ_offValue is by switching magnetic-resistance electricity Machine structure type determines；

Step A-4, as ω > ω₀When, the rotation speed difference deltan ω obtains turn-on angle θ by pi controller_onAnd shutdown Angle θ_off, armature winding electric current do not control；

Step B, the x-axis, y-axis and z-axis direction for obtaining electromagnetic type axial-radial magnetic bearing give suspending power；Its specific steps is such as Under:

Step B-1 obtains the x-axis of radial rotor I and the real-time displacement signal alpha in y-axis direction₁And β₁, and obtain axial rotor I Z-axis direction real-time displacement signal z, wherein x-axis is horizontal direction, and y-axis is that vertical direction, z-axis and x-axis and y-axis determine X/y plane is vertical；

Step B-2, by real-time displacement signal alpha₁、β₁With z respectively with given reference displacement signal α₁ ^*、β₁ ^*And z^*Subtract each other, respectively To the real-time displacement signal difference Δ α in x-axis, y-axis and z-axis direction₁、Δβ₁With Δ z, by the real-time displacement signal difference Δ α₁、Δβ₁ Pass through proportional plus integral plus derivative controller with Δ z, the x-axis direction for obtaining electromagnetic type axial-radial magnetic bearing gives suspending powery Axis direction gives suspending powerSuspending power is given with z-axis direction

Step C-2, by real-time displacement signal alpha₂And β₂Respectively with given reference displacement signal α₂ ^*And β₂ ^*Subtract each other, respectively obtains x The real-time displacement signal difference Δ α of axis direction and y-axis direction₂With Δ β₂, by the real-time displacement signal difference Δ α₂With Δ β₂By than Example integral-derivative controller, the x-axis direction for obtaining electromagnetic type radial direction magnetic bearing give suspending powerWith the given suspension in y-axis direction Power

Step D adjusts suspending power, the specific steps are as follows:

Step D-1 acquires biasing winding current i in real time_bias, according to the suspending powerWithAnd electric current calculates FormulaWithSolution Calculation obtains I current reference value of x-axis direction horizontal radial suspending windings of electromagnetic type axial-radial magnetic bearingY-axis direction is vertical I current reference value of radial suspension windingWith z-axis direction suspending windings current reference valueWherein, k_f1For radial suspension force system Number I,k_f2For axial suspension force coefficient,μ₀For Space permeability, l₁For the axial length of radial stator I, r₁For the radius of radial rotor I, α_s1For narrow tooth I in E type structure I Polar arc angle, δ₁For the radial air gap length of radial stator I and radial rotor I, γ₁For in E type structure I between wide tooth I and narrow tooth I Angle, l₂For the axial length of axial rotor I and axial rotor II, δ₂For the axial air-gap between axial stator I and axial rotor I Length, while the axial air-gap length between axial stator II and axial rotor II is also δ₂, r₂、r₃Respectively axial stator I and axis To the inside and outside radius of the annular tooth of stator II, and r₂< r₃≤r₁, N_b1、N_s1、N_zRespectively bias coil I, radial suspension coil I With the number of turns of axial suspension coil I；

Step D-3, it is practical with the x-axis direction suspending windings of electromagnetic type axial-radial magnetic bearing using Current cut control method Electric current i_x1It tracks the direction and hangs winding current reference valueWith the actual current i of y-axis direction suspending windings_y1It is outstanding to track the direction Floating winding current reference valueWith the actual current i of z-axis direction suspending windings_zTrack direction suspending windings current reference value

With the x-axis direction suspending windings actual current i of electromagnetic type radial direction magnetic bearing_x2It tracks the direction and hangs winding current reference valueWith the actual current i of y-axis direction suspending windings_y2Track direction suspending windings current reference valueTo adjust 5 in real time A suspending power, and then realize five-degree magnetic suspension operation；

Step E adjusts torque；Specific step is as follows:

Step E-1, as ω≤ω₀When, using Current cut control method, with the actual current i of armature winding_mTrack armature around Group current reference value i_m ^*, and then armature winding electric current i is adjusted in real time_m, and then achieve the purpose that adjust torque；

Step E-2, as ω > ω₀When, using Angle-domain imaging method, adjust turn-on angle θ_onWith shutdown angle θ_offValue, from And torque is adjusted in real time.