CN114977892A - Decoupling control device and control method for magnetic suspension motor - Google Patents

Decoupling control device and control method for magnetic suspension motor Download PDF

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CN114977892A
CN114977892A CN202210895802.8A CN202210895802A CN114977892A CN 114977892 A CN114977892 A CN 114977892A CN 202210895802 A CN202210895802 A CN 202210895802A CN 114977892 A CN114977892 A CN 114977892A
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current
suspension
control
force
motor
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CN114977892B (en
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孟凡斌
袁野
孙玉坤
陈上吉
庞珺水
南钰
王新迪
樊薇
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Nanjing Institute of Technology
Jiangsu University
State Grid Henan Electric Power Co Ltd
Kaifeng Power Supply Co of State Grid Henan Electric Power Co Ltd
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Nanjing Institute of Technology
Jiangsu University
State Grid Henan Electric Power Co Ltd
Kaifeng Power Supply Co of State Grid Henan Electric Power Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids

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Abstract

The invention discloses a decoupling control device and a decoupling control method for a magnetic suspension motor. Afterflow current after motor torque control is finished
Figure 100004_DEST_PATH_IMAGE002
As initial bias current for levitation systems
Figure 100004_DEST_PATH_IMAGE004
Following the bias current
Figure 100004_DEST_PATH_IMAGE006
Decrease of (2) and increase of control current
Figure 100004_DEST_PATH_IMAGE008
. When the follow current is less than the minimum bias current of the motor
Figure 100004_DEST_PATH_IMAGE010
A fixed bias current is given.The magnetic suspension switched reluctance motor is stably suspended through variable bias current suspension control. And carrying out rotation speed and current double closed-loop control on a torque system, and carrying out line displacement and suspension force double closed-loop control on a suspension system.

Description

Decoupling control device and control method for magnetic suspension motor
Technical Field
The invention relates to a control system of a magnetic suspension motor, in particular to a decoupling control device and a control method of the magnetic suspension motor.
Background
The magnetic suspension motor system mainly comprises a bearingless motor, a magnetic bearing and a control system thereof, has the outstanding advantages of no friction, no abrasion, no need of lubrication and sealing, high speed and high precision, small noise, long service life and the like, and is widely applied to the fields of high-precision machine tools, centrifuges, compressors, flywheel energy storage, aerospace and the like.
Magnetic suspension motor systems have been adopted in the fields of high-speed and high-precision direct drive spindles, sealing motor pumps, flywheel energy storage systems, magnetic suspension flywheel systems for spacecrafts and the like in foreign developed countries. In China, key technologies such as magnetic suspension flywheel batteries of electric vehicles, direct-drive spindles of high-speed precision numerical control machines, magnetic suspension sealing pumps and the like are also deeply researched.
The magnetic suspension bearing coil current is composed of a control current and a bias current. The reasonable configuration of the bias current can effectively reduce the system power consumption. The method has great advantages in reducing power consumption, but the control flexibility is inferior to that of a pure electromagnetic bearing, and meanwhile, the processing difficulty is great, and the processing cost is high.
The pure electromagnetic bearing can adopt fixed value bias current control and variable bias current control, wherein the fixed bias current control is only suitable for the conditions of low rigidity and small vibration. The bias current is set to be zero, a nonlinear control method is mostly adopted, the control is complex, the dynamic performance is poor, and the robustness to external disturbance is poor.
Disclosure of Invention
In order to solve the problem of coupling of torque current and suspension current of a magnetic suspension motor, the invention introduces a variable bias current control mode of a suspension system of the magnetic suspension motor, which solves the electromagnetic coupling of two radial degrees of freedom of a rotor and enables the magnetic suspension motor system to have excellent dynamic and static performances.
The technical scheme of the invention is as follows:
a decoupling control device for a magnetic suspension motor comprises:
the displacement measurement module comprises a position sensor for measuring the rotation angle of the rotor and a displacement sensor for measuring the position offset of the rotor;
the expected suspension force calculation module is used for obtaining expected suspension force which is to be generated under the corresponding rotor position offset by utilizing the rotor rotation angle and the rotor position offset;
the variable bias current module is used for obtaining bias current of each phase by combining the expected suspension force;
the control current calculation module is used for obtaining the control current of each phase by combining the expected suspension force;
the actual suspension force calculation module is used for combining the bias current and the control current to obtain actual suspension force;
and the suspension force comparison module is used for comparing the actual suspension force with the expected suspension force and judging whether the motor completes suspension control.
A decoupling control method for a magnetic suspension motor comprises the following steps:
measuring the rotation angle and the position offset of the rotor;
obtaining an expected suspension force which is to be generated under the corresponding rotor position offset by combining the rotor rotation angle and the rotor position offset, wherein the expected suspension force is generated by the bias current and the control current together;
obtaining the bias current of each phase of winding;
obtaining the control current of each phase of winding;
combining the bias current and the control current to obtain actual suspension force;
and comparing the actual suspension force with the expected suspension force, and judging whether the motor completes suspension control.
Preferably, the desired levitation force to be generated under the corresponding rotor position offset is obtained by combining the rotor rotation angle and the rotor position offset, and the specific process is as follows:
each phase of winding generates expected suspension force in turn, and the expected suspension force generated by each phase of winding is converted into
Figure 350491DEST_PATH_IMAGE001
Direction or
Figure 64369DEST_PATH_IMAGE002
In the direction; if the position of the phase stator is equal to
Figure 109685DEST_PATH_IMAGE001
Direction or
Figure 973736DEST_PATH_IMAGE002
The directions are overlapped, so that decomposition is not needed; if the position of the phase stator is equal to
Figure 381584DEST_PATH_IMAGE001
In the positive direction or
Figure 407308DEST_PATH_IMAGE003
If the angle is deviated from the positive direction, the phase needs to be adjustedDesired suspension force
Figure 270747DEST_PATH_IMAGE004
、
Figure 938488DEST_PATH_IMAGE005
Is decomposed into
Figure 872946DEST_PATH_IMAGE001
Directions and
Figure 459786DEST_PATH_IMAGE002
direction, respectively obtained for each respective generation
Figure 417377DEST_PATH_IMAGE006
Desired levitation force in a direction and
Figure 747864DEST_PATH_IMAGE002
desired levitation force in direction;
measuring rotor in
Figure 536829DEST_PATH_IMAGE001
Positional deviation amount of direction
Figure 435515DEST_PATH_IMAGE007
And is connected with the rotor
Figure 5036DEST_PATH_IMAGE001
Comparing the central positions of the directions, inputting the difference into a PID controller, and calculating to obtain
Figure 749002DEST_PATH_IMAGE001
Desired levitation force in a direction
Figure 985948DEST_PATH_IMAGE008
(ii) a Measuring rotor in
Figure 586693DEST_PATH_IMAGE002
Positional deviation amount of direction
Figure 784457DEST_PATH_IMAGE009
With a rotor in
Figure 191167DEST_PATH_IMAGE002
Comparing the central positions of the directions, inputting the difference into a PID controller, and calculating to obtain
Figure 157986DEST_PATH_IMAGE002
Desired levitation force in a direction
Figure 523108DEST_PATH_IMAGE010
。
Preferably, the method obtains the bias current of each phase of winding, and comprises the following specific processes:
free-wheeling current generated by each phase winding after torque control is turned off
Figure 739326DEST_PATH_IMAGE011
Will be used as bias current of the levitation system
Figure 90673DEST_PATH_IMAGE012
Providing a part of suspension force for the motor; the bias current is calculated as
Figure 771053DEST_PATH_IMAGE013
Follow current in constant inductance state
Figure 182443DEST_PATH_IMAGE014
Continuously decrease as the freewheeling current
Figure 885957DEST_PATH_IMAGE015
Minimum bias current down to system float
Figure 920557DEST_PATH_IMAGE016
While providing a fixed bias current to the levitation system
Figure 596389DEST_PATH_IMAGE017
。
Preferably, the method obtains the control current of each phase winding, and comprises the following specific processes:
the control current of motor suspension can be solved by the voltage equation of magnetic suspension motor
Figure 303314DEST_PATH_IMAGE018
Figure 494124DEST_PATH_IMAGE019
Wherein the content of the first and second substances,Uthe voltage of each phase winding of the motor is obtained;Rresistance of each phase winding;
Figure 187273DEST_PATH_IMAGE020
for the flux linkage of each phase winding,Lfor the inductance of the winding of each phase,
Figure 576666DEST_PATH_IMAGE021
for the free-wheeling current generated by each phase winding after torque control is turned off,
Figure 329858DEST_PATH_IMAGE022
for the rate of change of flux linkage versus time for each phase of the winding,
Figure 335861DEST_PATH_IMAGE023
the rate of change of control current versus time for each phase.
Preferably, the actual levitation force is obtained by combining the bias current and the control current, and the specific process is as follows:
calculating formula according to actual suspension force of suspension motor
Figure 629439DEST_PATH_IMAGE024
It can be known that the current stiffness coefficient
Figure 279863DEST_PATH_IMAGE025
And coefficient of displacement stiffness
Figure 797432DEST_PATH_IMAGE026
Will switch reluctance currentActual suspension force of machine
Figure 166096DEST_PATH_IMAGE027
Producing an influence; by
Figure 997786DEST_PATH_IMAGE028
It is known that the bias current
Figure 627351DEST_PATH_IMAGE029
Will result in a current stiffness coefficient
Figure 456766DEST_PATH_IMAGE030
(ii) a change; by
Figure 109464DEST_PATH_IMAGE031
It is known that the bias current
Figure 72741DEST_PATH_IMAGE032
Will result in a displacement stiffness coefficient
Figure 166599DEST_PATH_IMAGE033
(ii) a change;
wherein
Figure 557129DEST_PATH_IMAGE034
In order to achieve a magnetic permeability in a vacuum,
Figure 431544DEST_PATH_IMAGE035
；Nthe number of turns of the winding coil;Sis the area of the magnetic pole,
Figure 73878DEST_PATH_IMAGE036
is the air gap length.
Preferably, the invention is based on the use of a bias current
Figure 680965DEST_PATH_IMAGE037
Generated main magnetic flux
Figure 852183DEST_PATH_IMAGE038
And control the current
Figure 541790DEST_PATH_IMAGE039
The generated levitation magnetic flux
Figure 518974DEST_PATH_IMAGE040
Or
Figure 853003DEST_PATH_IMAGE041
The superposition generates the actual suspension force
Figure 319756DEST_PATH_IMAGE042
(ii) a Will be provided with
Figure 372026DEST_PATH_IMAGE001
Desired levitation force per phase in direction
Figure 215217DEST_PATH_IMAGE043
And with
Figure 466070DEST_PATH_IMAGE001
Actual levitation force in the direction
Figure 979091DEST_PATH_IMAGE044
Obtaining a suspension control signal G through hysteresis control 3 (ii) a Will be provided with
Figure 643290DEST_PATH_IMAGE002
Desired levitation force per phase in direction
Figure 165539DEST_PATH_IMAGE045
And
Figure 598794DEST_PATH_IMAGE002
actual levitation force in the direction
Figure 548295DEST_PATH_IMAGE046
Obtaining a suspension control signal G through hysteresis control 4 。
Preferably, after the torque control system of the levitation motor is turned off, the torque current does not decrease to 0, and the torque current has an influence on levitation control; the variable bias suspension control method takes torque follow current as bias current of suspension control, and realizes suspension control of the motor by matching with the control current, thereby solving the coupling problem between torque and suspension control.
The invention has the advantages that:
1. the invention provides the suspension force by utilizing the torque-controlled follow current, and optimizes the suspension current decoupling performance of the magnetic suspension motor on the basis of the motor decoupling structure.
2. The variable bias current control can better adapt to the suspension force control under different suspension requirements, and reduces the suspension power consumption.
3. The invention builds the decoupling control of the suspension system of the magnetic suspension motor, is suitable for the balance control of the high-speed rotor of the magnetic suspension system with the self-decoupling characteristic, provides conditions for the support of the high-speed rotor, and can be applied to the field of high-speed and ultrahigh-speed electric transmission.
Drawings
FIG. 1 is a block diagram of the variable bias levitation force control logic of the present invention;
FIG. 2 is a flow chart of the variable bias levitation control of the present invention;
FIG. 3 is a block diagram of the torque and levitation control of the maglev motor of the present invention;
fig. 4 is a current chopping waveform diagram of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
as shown in fig. 1, a logic block diagram of variable bias levitation force control, a decoupling control device for a magnetic levitation motor, includes:
the displacement measurement module comprises a position sensor for measuring the rotation angle of the rotor and a displacement sensor for measuring the position offset of the rotor;
the expected suspension force calculation module is used for obtaining expected suspension force which is to be generated under the corresponding rotor position offset by utilizing the rotor rotation angle and the rotor position offset;
the variable bias current module is used for obtaining bias current of each phase by combining the expected suspension force;
the control current calculation module is used for obtaining the control current of each phase by combining the expected levitation force;
the actual suspension force calculation module is used for combining the bias current and the control current to obtain actual suspension force;
and the suspension force comparison module is used for comparing the actual suspension force with the expected suspension force and judging whether the motor completes suspension control.
As shown in fig. 2, a variable bias suspension force control flowchart is a magnetic levitation motor decoupling control method, which includes the following steps:
measuring the rotation angle and the position offset of the rotor;
obtaining an expected suspension force which is to be generated under the corresponding rotor position offset by combining the rotor rotation angle and the rotor position offset, wherein the expected suspension force is generated by the bias current and the control current together; the specific process is as follows:
measuring rotor in
Figure 106316DEST_PATH_IMAGE001
Positional deviation amount of direction
Figure 556889DEST_PATH_IMAGE047
And is connected with the rotor
Figure 454437DEST_PATH_IMAGE001
Comparing the central positions of the directions, inputting the difference into a PID controller, and calculating to obtain the expected suspension force
Figure 699474DEST_PATH_IMAGE048
(ii) a Measuring rotor in
Figure 10370DEST_PATH_IMAGE002
Positional deviation amount of direction
Figure 874420DEST_PATH_IMAGE049
With a rotor in
Figure 13759DEST_PATH_IMAGE002
Comparing the central positions of the directions, inputting the difference into a PID controller, and calculating to obtain the expected suspensionForce of
Figure 305063DEST_PATH_IMAGE050
；
Each phase of winding sequentially generates expected suspension force, and the expected suspension force generated by each phase of winding is converted to
Figure 165572DEST_PATH_IMAGE001
Direction or
Figure 630051DEST_PATH_IMAGE002
In the direction; if the position of the phase stator is equal to
Figure 502192DEST_PATH_IMAGE001
Direction or
Figure 89031DEST_PATH_IMAGE002
The directions are overlapped, so that decomposition is not needed; if the position of the phase stator is equal to
Figure 312202DEST_PATH_IMAGE001
In the positive direction or
Figure 314793DEST_PATH_IMAGE002
If the angle is deviated from the positive direction, the expected suspension force of the phase needs to be adjusted
Figure 431654DEST_PATH_IMAGE051
、
Figure 64761DEST_PATH_IMAGE052
Is decomposed into
Figure 634282DEST_PATH_IMAGE001
Direction and
Figure 643826DEST_PATH_IMAGE002
direction, respectively obtained for each respective generation
Figure 552877DEST_PATH_IMAGE053
Levitation force in the direction and
Figure 481518DEST_PATH_IMAGE002
suspension force in the direction.
Obtaining the bias current of each phase of winding, which comprises the following specific processes:
free-wheeling current generated by each phase winding after torque control is turned off
Figure 679282DEST_PATH_IMAGE054
Will be used as bias current of the levitation system
Figure 85992DEST_PATH_IMAGE055
Providing a part of suspension force for the motor; the bias current is calculated as
Figure 52811DEST_PATH_IMAGE056
Follow current in constant inductance state
Figure 824458DEST_PATH_IMAGE057
Continuously decrease as the freewheeling current
Figure 634151DEST_PATH_IMAGE058
Minimum bias current down to system float
Figure 719919DEST_PATH_IMAGE059
While providing a fixed bias current to the levitation system
Figure 668808DEST_PATH_IMAGE060
。
Obtaining the control current of each phase of winding, and the specific process is as follows:
the control current of motor suspension can be solved by the voltage equation of magnetic suspension motor
Figure 80197DEST_PATH_IMAGE061
Figure 783711DEST_PATH_IMAGE062
Wherein the content of the first and second substances,Uthe voltage of each phase winding of the motor is obtained;Rresistance of each phase winding;
Figure 797804DEST_PATH_IMAGE063
for the flux linkage of each phase winding,Lfor each phase of the winding inductance,
Figure 473636DEST_PATH_IMAGE064
for the free-wheeling current generated by each phase winding after torque control is turned off,
Figure 914981DEST_PATH_IMAGE065
the rate of change of flux linkage versus time for each phase of the winding,
Figure 105791DEST_PATH_IMAGE066
the rate of change of control current versus time for each phase.
The actual suspension force is obtained by combining the bias current and the control current, and the specific process is as follows:
calculating formula according to actual suspension force of suspension motor
Figure 798941DEST_PATH_IMAGE067
It can be known that the current stiffness coefficient
Figure 719492DEST_PATH_IMAGE068
And coefficient of displacement stiffness
Figure 207105DEST_PATH_IMAGE069
Suspension force to switch reluctance motor
Figure 213107DEST_PATH_IMAGE070
Producing an influence; by
Figure 241106DEST_PATH_IMAGE071
It is known that the bias current
Figure 891530DEST_PATH_IMAGE072
Will result in a current stiffness coefficient
Figure 674679DEST_PATH_IMAGE073
(ii) a change; by
Figure 43343DEST_PATH_IMAGE074
It is known that the bias current
Figure 875033DEST_PATH_IMAGE075
Will result in a displacement stiffness coefficient
Figure 504597DEST_PATH_IMAGE076
(ii) a change;
wherein
Figure 334013DEST_PATH_IMAGE077
In order to achieve a magnetic permeability in a vacuum,
Figure 314607DEST_PATH_IMAGE078
；Nthe number of turns of the winding coil;Sis the area of the magnetic pole,
Figure 684409DEST_PATH_IMAGE079
is the air gap length.
By bias current
Figure 309425DEST_PATH_IMAGE080
Generated main magnetic flux
Figure 697026DEST_PATH_IMAGE081
And control the current
Figure 509124DEST_PATH_IMAGE082
The generated levitation magnetic flux
Figure 276092DEST_PATH_IMAGE083
Or
Figure 552352DEST_PATH_IMAGE084
The superposition generates the actual suspension force
Figure 989150DEST_PATH_IMAGE085
、
Figure 413178DEST_PATH_IMAGE086
. Will be provided with
Figure 328044DEST_PATH_IMAGE001
Desired levitation force per phase in direction
Figure 724390DEST_PATH_IMAGE087
With actual levitation force
Figure 456723DEST_PATH_IMAGE088
Obtaining a suspension control signal G through hysteresis control 3 . Will be provided with
Figure 508993DEST_PATH_IMAGE002
Desired levitation force per phase in the direction
Figure 86605DEST_PATH_IMAGE089
And actual levitation force
Figure 540720DEST_PATH_IMAGE090
Obtaining a suspension control signal G through hysteresis control 4 。
After a torque control system of the levitation motor is turned off, the torque current is not reduced to 0, and the torque current has influence on levitation control; the variable bias suspension control method takes torque follow current as bias current of suspension control, and realizes suspension control of the motor together by matching with control current, so that the coupling problem between torque and suspension control is solved.
A decoupling control method for a magnetic suspension motor comprises the following steps:
a magnetic suspension motor is selected, and a torque system and a suspension system of the magnetic suspension motor have the self-decoupling characteristic. Carrying out rotating speed and current double closed-loop control on a torque system to set the rotating speed
Figure 116058DEST_PATH_IMAGE091
And the actual rotational speed
Figure 514678DEST_PATH_IMAGE092
The difference value of the voltage difference is obtained by a PID controller to obtain the control current of the motor
Figure 36926DEST_PATH_IMAGE093
Controlling the current
Figure 470181DEST_PATH_IMAGE094
And three-phase actual current
Figure 216421DEST_PATH_IMAGE095
Current chopping control is carried out on the motor to obtain a control signal G 1 . Rotor rotation angle measured by displacement measuring module
Figure 977703DEST_PATH_IMAGE096
Obtaining a torque conducting signal G of each phase winding of the motor through logic judgment of a switching signal 2 . Chopping current control signal G 1 And torque conducting signal G 2 Combining to obtain total control signal
Figure 162697DEST_PATH_IMAGE097
And driving the power converter to control the torque of the magnetic suspension motor.
The magnetic suspension motor has self-decoupling characteristic. And the phase A performs torque control in an inductance rising area, after the torque conduction is finished, the inductance is positioned in an upper flat top area, the phase A performs suspension control at any time, and meanwhile, the phase B starts to rise to perform torque control on the phase B.
The suspension system performs displacement and suspension force double closed-loop control. Measuring rotor in
Figure 325825DEST_PATH_IMAGE001
Displacement in direction
Figure 242965DEST_PATH_IMAGE098
Comparing with the central position x, calculating to obtain the expected suspension force through a PID controller
Figure 884687DEST_PATH_IMAGE099
(ii) a MeasuringThe rotor is at
Figure 748738DEST_PATH_IMAGE002
Displacement in direction
Figure 625427DEST_PATH_IMAGE100
Comparing with the central position y, calculating to obtain the expected suspension force through a PID controller
Figure 182310DEST_PATH_IMAGE101
. In the radial suspension control process of the rotor, the suspension force is decomposed into
Figure 714922DEST_PATH_IMAGE001
、
Figure 241719DEST_PATH_IMAGE002
Directional equivalent radial force.
Figure 113860DEST_PATH_IMAGE001
Suspension force in direction
Figure 966278DEST_PATH_IMAGE102
Decomposing the magnetic field to each phase, calculating to obtain the corresponding generated suspension force on each phase winding of the motor according to the motor structure, and calculating the expected suspension force and the actual suspension force of each phase winding
Figure 189449DEST_PATH_IMAGE103
Obtaining a signal G through hysteresis control 3 ；
Figure 519936DEST_PATH_IMAGE002
Suspension force in direction
Figure 512163DEST_PATH_IMAGE104
Decomposing the magnetic field into each phase, calculating to obtain the corresponding suspension force on each phase winding, and comparing the expected suspension force with the actual suspension force
Figure 942007DEST_PATH_IMAGE105
Obtaining a signal G through hysteresis control 4 。G 3 And G 4 Synthesized total control signal
Figure 777108DEST_PATH_IMAGE106
And carrying out suspension control on the motor.
Current follow current generated by each phase winding after torque control is turned off
Figure 786653DEST_PATH_IMAGE011
Will be used as bias current of the levitation system
Figure 492440DEST_PATH_IMAGE107
And provides a part of levitation force for the motor. The follow current is continuously attenuated to the minimum bias current
Figure 562028DEST_PATH_IMAGE108
Then, a constant bias current is given to the system
Figure 290949DEST_PATH_IMAGE109
. By bias current
Figure 228818DEST_PATH_IMAGE110
Generated main magnetic flux
Figure 930058DEST_PATH_IMAGE111
And control the current
Figure 26671DEST_PATH_IMAGE112
The generated levitation magnetic flux
Figure 711731DEST_PATH_IMAGE113
Or
Figure 859815DEST_PATH_IMAGE114
The suspension force is generated by superposition.
Performing double closed loop control of rotation speed and current on a torque system, such as the torque and suspension control block diagram of a magnetic suspension motor shown in FIG. 3, and setting the rotation speed
Figure 805774DEST_PATH_IMAGE115
And the actual rotational speed
Figure 686006DEST_PATH_IMAGE116
The difference value of the voltage difference is obtained by a PID controller to obtain the control current of the motor
Figure 717416DEST_PATH_IMAGE117
Controlling the current
Figure 669191DEST_PATH_IMAGE118
Phase current of actual phase
Figure 345023DEST_PATH_IMAGE119
Current chopping is carried out on the motor to obtain a control signal G 1 . By rotation angle of rotor
Figure 51948DEST_PATH_IMAGE120
Controlling the conduction of each phase winding in different rotor position angle intervals to obtain a torque conduction signal G 2 . Control signal G 1 And torque conducting signal G 2 Combining to obtain total control signal
Figure 180441DEST_PATH_IMAGE121
And driving the power converter to control the torque of the magnetic suspension motor.
During current chopping control, the relationship between each phase current and the rotor angle is shown in a current chopping waveform diagram in fig. 4.
Figure 998224DEST_PATH_IMAGE122
The average value of the upper and lower limits of current chopping is shown. After torque off
Figure 590880DEST_PATH_IMAGE123
To
Figure 344072DEST_PATH_IMAGE124
At a rate of change of the current in the winding of
Figure 818916DEST_PATH_IMAGE126
Wherein, the first and the second end of the pipe are connected with each other,
Figure 315756DEST_PATH_IMAGE127
is the phase voltage of the windings,
Figure 90814DEST_PATH_IMAGE128
is the angular velocity of the rotor and is,
Figure 811645DEST_PATH_IMAGE129
is the maximum value of the inductance of the winding,
Figure 180310DEST_PATH_IMAGE130
for winding current versus rotor rotation angle
Figure 74317DEST_PATH_IMAGE131
The rate of change of (c).
Taking the maximum current chopping limit as
Figure 579247DEST_PATH_IMAGE132
The minimum limit of current chopping is
Figure 801806DEST_PATH_IMAGE133
. Torque follow current
Figure 188925DEST_PATH_IMAGE134
Is expressed as
Figure 27568DEST_PATH_IMAGE136
Current follow current generated by each phase winding after torque control is turned off
Figure 777218DEST_PATH_IMAGE137
Will be used as bias current of the levitation system
Figure 777535DEST_PATH_IMAGE138
And provides a part of levitation force for the motor. The follow current is continuously attenuated to the minimum bias current
Figure 979846DEST_PATH_IMAGE139
Then, a constant bias current is given to the system
Figure 153338DEST_PATH_IMAGE140
。
The logic block diagram of the levitation control is shown in fig. 3, and a direct levitation force control mode is adopted. With a rotor
Figure 632861DEST_PATH_IMAGE001
Taking the direction as an example, the position signal sensor measures the displacement offset of the rotor
Figure 928713DEST_PATH_IMAGE141
Compared with the central position, the expected suspension force is obtained through calculation of a PID controller
Figure 493687DEST_PATH_IMAGE142
。
Figure 470870DEST_PATH_IMAGE001
Suspension force in direction
Figure 195113DEST_PATH_IMAGE143
Decomposing the solution into each phase, and calculating to obtain the corresponding suspension force generated on each phase.
Determining torque current
Figure 802812DEST_PATH_IMAGE144
With minimum floating bias current
Figure 448556DEST_PATH_IMAGE145
The magnitude relationship of (1). If torque current
Figure 432693DEST_PATH_IMAGE146
Greater than the minimum bias current of levitation
Figure 683546DEST_PATH_IMAGE147
Then find out and
Figure 586780DEST_PATH_IMAGE148
corresponding current stiffness coefficient
Figure 595187DEST_PATH_IMAGE149
And coefficient of displacement stiffness
Figure 242069DEST_PATH_IMAGE150
The following were used:
Figure 347428DEST_PATH_IMAGE152
Figure 296930DEST_PATH_IMAGE154
wherein the magnetic permeability of vacuum
Figure 281433DEST_PATH_IMAGE155
；NThe number of turns of the winding coil;Sis the area of the magnetic pole,
Figure 76214DEST_PATH_IMAGE156
is the air gap length.
Follow current with torque
Figure 629555DEST_PATH_IMAGE157
I.e. the levitating bias current is also constantly decreasing, if the torque current is
Figure 546695DEST_PATH_IMAGE158
Less than suspended minimum bias current
Figure 795274DEST_PATH_IMAGE159
Then, the calculation is performed according to the formula (3)
Figure 518379DEST_PATH_IMAGE160
Corresponding fixed current rigidity coefficient and positionAnd (4) moving the stiffness coefficient. Current stiffness coefficient
Figure 801593DEST_PATH_IMAGE161
Is composed of
Figure 889635DEST_PATH_IMAGE163
Coefficient of displacement stiffness
Figure 750144DEST_PATH_IMAGE164
Is composed of
Figure 152306DEST_PATH_IMAGE166
The control current of the motor suspension can be obtained by the voltage equation of the switched reluctance motor
Figure 414660DEST_PATH_IMAGE167
Figure 673603DEST_PATH_IMAGE169
Determining bias current
Figure 896774DEST_PATH_IMAGE170
Generated main magnetic flux
Figure 227261DEST_PATH_IMAGE171
And controlling the current
Figure 219488DEST_PATH_IMAGE172
The generated levitation magnetic flux
Figure 977229DEST_PATH_IMAGE173
Or
Figure 484433DEST_PATH_IMAGE174
In the direction of (a). By bias current
Figure 493978DEST_PATH_IMAGE175
Generated main magnetic flux
Figure 199765DEST_PATH_IMAGE176
And control the current
Figure 269353DEST_PATH_IMAGE177
The generated levitation magnetic flux
Figure 998274DEST_PATH_IMAGE178
Or
Figure 939073DEST_PATH_IMAGE179
The suspension force is generated by superposition. Desired suspending force of each phase
Figure 374733DEST_PATH_IMAGE180
With actual levitation force
Figure DEST_PATH_IMAGE181
Obtaining a suspension control signal G through hysteresis control 3 。
Offset the displacement of the rotor
Figure 5435DEST_PATH_IMAGE182
Comparing with the central point, and performing closed-loop control by a PID controller; each phase is wound at
Figure 424915DEST_PATH_IMAGE001
Total suspension force generated in direction
Figure DEST_PATH_IMAGE183
With desired levitation force
Figure 104158DEST_PATH_IMAGE184
And performing closed-loop control by a hysteresis controller.
Figure 50117DEST_PATH_IMAGE002
The same direction can make the motor stably suspend.
Torque follow current as suspension control by variable bias suspension control methodBias current of
Figure DEST_PATH_IMAGE185
In coordination with controlling the current
Figure 727086DEST_PATH_IMAGE186
The suspension control of the motor is realized together, the problem that the motor is coupled with the suspension control because the winding current is not 0 after the torque control is finished is solved, the torque control and the suspension control are decoupled, and the control of the suspension motor is facilitated.

Claims (8)

1. A magnetic suspension motor decoupling control device is characterized by comprising:
the displacement measurement module comprises a position sensor for measuring the rotation angle of the rotor and a displacement sensor for measuring the position offset of the rotor;
the expected suspension force calculation module is used for obtaining expected suspension force which is to be generated under the corresponding rotor position offset by utilizing the rotor rotation angle and the rotor position offset;
the variable bias current module is used for obtaining bias current of each phase by combining the expected suspension force;
the control current calculation module is used for obtaining the control current of each phase by combining the expected levitation force;
the actual suspension force calculation module is used for combining the bias current and the control current to obtain actual suspension force;
and the suspension force comparison module is used for comparing the actual suspension force with the expected suspension force and judging whether the motor completes suspension control.
2. A decoupling control method for a magnetic suspension motor is characterized by comprising the following steps:
measuring the rotation angle and the position offset of the rotor;
obtaining an expected suspension force which is to be generated under the corresponding rotor position offset by combining the rotor rotation angle and the rotor position offset, wherein the expected suspension force is generated by the bias current and the control current together;
obtaining the bias current of each phase of winding;
obtaining the control current of each phase of winding;
combining the bias current and the control current to obtain actual suspension force;
and comparing the actual suspension force with the expected suspension force, and judging whether the motor completes suspension control.
3. The magnetic levitation motor decoupling control method as claimed in claim 2, characterized in that: the expected suspension force which is to be generated under the corresponding rotor position offset is obtained by combining the rotor rotating angle and the rotor position offset, and the specific process is as follows:
each phase of winding generates expected suspension force in turn, and the expected suspension force generated by each phase of winding is converted into
Figure DEST_PATH_IMAGE002
Direction or
Figure DEST_PATH_IMAGE004
In the direction; if the position of the phase stator is equal to
Figure 319164DEST_PATH_IMAGE002
Direction or
Figure 506693DEST_PATH_IMAGE004
The directions are overlapped, so that decomposition is not needed; if the position of the phase stator is equal to
Figure 337246DEST_PATH_IMAGE002
In the positive direction or
Figure 517692DEST_PATH_IMAGE004
If the angle is deviated from the positive direction, the expected suspension force of the phase needs to be adjusted
Figure DEST_PATH_IMAGE006
、
Figure DEST_PATH_IMAGE008
Is decomposed into
Figure 569830DEST_PATH_IMAGE002
Direction and
Figure 177529DEST_PATH_IMAGE004
direction, respectively obtained for each respective generation
Figure 229799DEST_PATH_IMAGE002
Desired levitation force in a direction and
Figure 213935DEST_PATH_IMAGE004
desired levitation force in direction;
measuring rotor in
Figure 668050DEST_PATH_IMAGE002
Positional deviation amount of direction
Figure DEST_PATH_IMAGE010
And is connected with the rotor
Figure 928874DEST_PATH_IMAGE002
Comparing the central positions of the directions, inputting the difference into a PID controller, and calculating to obtain
Figure 468440DEST_PATH_IMAGE002
Desired levitation force in a direction
Figure DEST_PATH_IMAGE012
(ii) a Measuring rotor in
Figure 725109DEST_PATH_IMAGE004
Positional deviation amount of direction
Figure DEST_PATH_IMAGE014
With a rotor in
Figure 17419DEST_PATH_IMAGE004
Comparing the central positions of the directions, inputting the difference into a PID controller, and calculating to obtain
Figure 966920DEST_PATH_IMAGE004
Desired levitation force in a direction
Figure DEST_PATH_IMAGE016
。
4. The decoupling control method for the magnetic levitation motor as claimed in claim 3, wherein the bias current of each phase winding is obtained by the following specific processes:
free-wheeling current generated by each phase winding after torque control is turned off
Figure DEST_PATH_IMAGE018
Will be used as bias current of the levitation system
Figure DEST_PATH_IMAGE020
Providing a part of suspension force for the motor; the bias current is calculated as
Figure DEST_PATH_IMAGE022
Follow current in constant inductance state
Figure DEST_PATH_IMAGE024
Continuously decrease as the freewheeling current
Figure 619881DEST_PATH_IMAGE024
Minimum bias current down to system float
Figure DEST_PATH_IMAGE026
While providing a fixed bias current to the levitation system
Figure 929508DEST_PATH_IMAGE026
。
5. The decoupling control method for the magnetic levitation motor as claimed in claim 4, wherein the control current of each phase winding is obtained by the following specific processes:
solving motor suspension control current by voltage equation of magnetic suspension motor
Figure DEST_PATH_IMAGE028
Figure DEST_PATH_IMAGE030
Wherein the content of the first and second substances,Uthe voltage of each phase winding of the motor is obtained;Rresistance of each phase winding;
Figure DEST_PATH_IMAGE032
for the flux linkage of each phase winding,Lfor each phase of the winding inductance,
Figure DEST_PATH_IMAGE034
for the free-wheeling current generated by each phase winding after torque control is turned off,
Figure DEST_PATH_IMAGE036
the rate of change of flux linkage versus time for each phase of the winding,
Figure DEST_PATH_IMAGE038
the rate of change of control current versus time for each phase.
6. The decoupling control method for the magnetic suspension motor according to claim 5, wherein the actual suspension force is obtained by combining the bias current and the control current, and the specific process is as follows:
calculating formula according to actual suspension force of suspension motor
Figure DEST_PATH_IMAGE040
It can be known that the current stiffness coefficient
Figure DEST_PATH_IMAGE042
And coefficient of displacement stiffness
Figure DEST_PATH_IMAGE044
Will be to the actual levitation force of the switched reluctance machine
Figure DEST_PATH_IMAGE046
Producing an influence; by
Figure DEST_PATH_IMAGE048
It is known that the bias current
Figure DEST_PATH_IMAGE050
Will result in a current stiffness coefficient
Figure DEST_PATH_IMAGE052
(ii) a change; by
Figure DEST_PATH_IMAGE054
It is known that the bias current
Figure DEST_PATH_IMAGE056
Will result in a displacement stiffness coefficient
Figure DEST_PATH_IMAGE058
Changing;
wherein
Figure DEST_PATH_IMAGE060
In order to achieve a magnetic permeability in a vacuum,
Figure DEST_PATH_IMAGE062
；Nthe number of turns of the winding coil;Sis the area of the magnetic pole,
Figure DEST_PATH_IMAGE064
is the air gap length.
7. The decoupling control method for the magnetic suspension motor according to claim 6, characterized in that:
by bias current
Figure DEST_PATH_IMAGE066
Generated main magnetic flux
Figure DEST_PATH_IMAGE068
And control the current
Figure DEST_PATH_IMAGE070
The generated levitation magnetic flux
Figure DEST_PATH_IMAGE072
Or
Figure DEST_PATH_IMAGE074
The superposition generates the actual suspension force
Figure DEST_PATH_IMAGE076
(ii) a Will be provided with
Figure 263275DEST_PATH_IMAGE002
Desired levitation force per phase in direction
Figure DEST_PATH_IMAGE078
And
Figure 865902DEST_PATH_IMAGE002
actual levitation force in the direction
Figure DEST_PATH_IMAGE080
Obtaining a suspension control signal G through hysteresis control 3 (ii) a Will be provided with
Figure 114480DEST_PATH_IMAGE004
Desired levitation force per phase in direction
Figure DEST_PATH_IMAGE082
And
Figure 962219DEST_PATH_IMAGE004
actual levitation force in the direction
Figure DEST_PATH_IMAGE084
Obtaining a suspension control signal G through hysteresis control 4 。
8. The decoupling control method for the magnetic suspension motor according to claim 7, characterized in that:
after a torque control system of the levitation motor is turned off, the torque current is not reduced to 0, and the torque current has influence on levitation control; the variable bias suspension control method takes torque follow current as bias current of suspension control, and realizes suspension control of the motor together by matching with control current, so that the coupling problem between torque and suspension control is solved.
CN202210895802.8A 2022-07-28 2022-07-28 Decoupling control device and control method for magnetic suspension motor Active CN114977892B (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001078389A (en) * 1999-09-01 2001-03-23 Sankyo Seiki Mfg Co Ltd Magnetic levitation motor
CN105024507A (en) * 2015-07-22 2015-11-04 南京邮电大学 Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor
CN107104622A (en) * 2017-04-11 2017-08-29 南京邮电大学 A kind of control method of double winding composite construction magnetic suspension switched reluctance motor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001078389A (en) * 1999-09-01 2001-03-23 Sankyo Seiki Mfg Co Ltd Magnetic levitation motor
CN105024507A (en) * 2015-07-22 2015-11-04 南京邮电大学 Bearing-free switch reluctance motor having axial-direction parallel hybrid structure and control method of motor
CN107104622A (en) * 2017-04-11 2017-08-29 南京邮电大学 A kind of control method of double winding composite construction magnetic suspension switched reluctance motor

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