CN115001183B - Magnetic suspension switch reluctance motor and suspension force control device, method and system thereof - Google Patents

Magnetic suspension switch reluctance motor and suspension force control device, method and system thereof Download PDF

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Publication number
CN115001183B
CN115001183B CN202210751380.7A CN202210751380A CN115001183B CN 115001183 B CN115001183 B CN 115001183B CN 202210751380 A CN202210751380 A CN 202210751380A CN 115001183 B CN115001183 B CN 115001183B
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phase
levitation
bridge
winding
sector
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CN115001183A (en
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刘泽远
王振
张文峰
杨艳
刘程子
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Nanjing University of Posts and Telecommunications
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Nanjing University of Posts and Telecommunications
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/18—Windings for salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/18—Windings for salient poles
    • H02K3/20—Windings for salient poles for auxiliary purposes, e.g. damping or commutating
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/09—Structural association with bearings with magnetic bearings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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

Abstract

The invention discloses a magnetic suspension switch reluctance motor and a levitation force control device, method and system thereof. The magnetic suspension switch reluctance motor integrates the functions of the switch reluctance motor and the magnetic suspension bearing, the natural decoupling of the torque winding and the suspension winding is realized structurally, the torque winding is utilized to generate output torque, the suspension winding is utilized to generate radial suspension force, in addition, each phase of torque winding and each phase of suspension winding are mutually isolated, the fault tolerance performance is good, and the core loss is small; the levitation force control device adopts a three-phase full-bridge inverter circuit to generate three-phase levitation winding current so as to control the levitation force of the magnetic levitation switch reluctance motor, and has high integration level, simple control and hardware cost saving; the suspension force control method determines the duration of each conducting state according to the radial displacement of the rotor, the real-time current signal of the suspension winding and the preset reference displacement, so that the real-time current signal tracks the upper reference current value, and the rotor is stabilized at the reference position.

Description

Magnetic suspension switch reluctance motor and suspension force control device, method and system thereof
Technical Field
The invention relates to a magnetic suspension switch reluctance motor and a levitation force control device, method and system thereof, belonging to the technical field of magnetic suspension switch reluctance motors.
Background
The switch reluctance motor has a simple structure, the stator and the rotor are of salient pole structures, the stator is wound with concentrated windings, the rotor has no windings and no permanent magnet, and pulse current is excited to the stator windings at regular time by detecting the real-time position of the rotor, so that the reluctance positive torque driving motor runs electrically. The high-speed performance of the high-speed energy-saving oil-resistant grease is good, the high-speed energy-resistant oil-resistant grease is high in environmental adaptability, and the high-speed energy-saving oil-resistant grease is widely applied to the fields of aerospace, electric automobiles, flywheel energy storage, textile petroleum mines and the like.
The magnetic suspension bearing aims at the defects of bearing friction, mechanical vibration and the like caused by the existence of a supporting bearing in the traditional motor, the position of a rotor is detected by the magnetic suspension bearing, the stator winding current is controlled based on a power amplifier, the rotor rotating at a high speed is suspended in the air, the mechanical contact of the high-speed motor is avoided, the volume and the weight of the device can be effectively reduced, the equipment performance is improved, and the magnetic suspension bearing has good application prospects in high-power occasions such as a distributed power generation system, an uninterruptible power supply, a miniature engine, a high-speed lathe spindle, an electric/hybrid power automobile, a multi-electric all-electric aircraft and the like.
If the bearingless switch reluctance motor integrates rotation and suspension functions, the problems of loss, heating and the like caused by bearing friction during high-speed operation can be effectively solved, and the high-speed adaptability of the switch reluctance motor can be further brought into play, so that the application foundation of the switch reluctance motor in the high-speed fields such as aerospace, flywheel energy storage and ships is enhanced. However, the magnetic levitation switch reluctance motors with the traditional structures, such as 12/8, 6/4 and 8/6, have strong coupling relation between torque and levitation force due to the restriction of operation mechanism, are difficult to thoroughly solve the coupling between the torque and the levitation force under control, and further cause poor high-speed levitation performance of the motors with the structures, and have complex and huge control circuits.
Accordingly, the application provides a magnetic levitation switch reluctance motor and a levitation force control device, method and system thereof.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a magnetic levitation switch reluctance motor, a levitation force control device, a method and a system thereof, which ensure that a torque winding and a levitation winding are decoupled structurally and levitation force can be controlled independently.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
In a first aspect, the invention provides a magnetic suspension switch reluctance motor, which comprises a plurality of torque coils, a plurality of suspension coils, a rotating shaft, a permanent magnet ring and two fixed rotating modules which are arranged in parallel;
Each fixed rotating module comprises a radial force stator, a torque stator, a non-magnetic conduction support frame, a stator annular magnetic conduction yoke, a rotor and a rotor annular magnetic conduction yoke;
a permanent magnet ring is arranged between the stator annular magnetic yokes of the two fixed rotation modules;
The rotor annular magnetic conduction yoke, the rotor, the radial force stator and the stator annular magnetic conduction yoke are coaxially sleeved outside the rotating shaft from inside to outside in sequence;
the torque stator comprises a base II, and two oppositely arranged convex teeth II are arranged on the inner side of the base II;
the rotor comprises an annular base III, and 16 convex teeth III are equidistantly arranged on the outer periphery of the annular base III;
The radial force stator comprises an annular base I, and 6 convex teeth I are equidistantly arranged on the inner peripheral part of the annular base I;
a non-magnetic conduction support frame is coaxially embedded between each two adjacent convex teeth I, one side of the non-magnetic conduction support frame is connected with an annular base I, and the other side of the non-magnetic conduction support frame is coaxially provided with a base II of a torque stator;
the torque coil and the suspension coil are wound in any one of the following four combinations of D1+D3, D2+D3, D1+D4 and D2+D4:
D1: the two parallel convex teeth II in the same radial parallel torque stators of the two fixed rotating modules are wound with a torque coil together, the two torque coils of each parallel torque stator are connected in series to obtain a torque coil string, and the axisymmetric torque coil strings are connected in series to form a torque winding to obtain an armature integrated three-phase torque winding;
D2: the two torque coils of each torque stator are connected in series to obtain a torque coil string, and the torque coil strings of each fixed rotating module are connected in series in a symmetrical mode to form a torque winding in pairs to obtain a three-phase torque winding of the armature split;
D3: the two parallel coils are respectively connected in series to obtain a suspension coil string, and the axisymmetric suspension coil strings are connected in series to form a suspension winding in pairs to obtain a three-phase suspension winding with two degrees of freedom;
D4: and each convex tooth I is independently wound with a suspension coil, and the suspension coils which are axially symmetrical in each fixed rotating module are connected in series to form a suspension winding, so that a three-phase suspension winding with four degrees of freedom is obtained.
Further, the permanent magnet ring is of an annular structure.
Further, the permanent magnet ring is magnetized in an axial magnetizing mode.
Further, the polar arc angle of each tooth I is 22.5 °.
Further, the non-magnetic support frame is arranged in an arc shape.
In a second aspect, the invention provides a levitation force control device of a magnetic levitation switch reluctance motor, which comprises a control unit, a clark conversion unit, a proportional-integral controller, a displacement detection sensor and a current sensor;
The displacement detection sensor detects the radial displacement of the rotor, the output end of the displacement detection sensor is connected with the proportional-integral controller, and the output end of the proportional-integral controller is connected with the control unit;
The current sensor outputs a real-time current signal for detecting the levitation winding, the output end of the current sensor is connected with the clark conversion unit, and the output end of the clark conversion unit is connected with the control unit;
the setting mode of the output end of the control unit comprises any one of the following two modes E and F:
E: the output end of the connection control unit is provided with a three-phase full-bridge inverter circuit, the three-phase full-bridge inverter circuit comprises three bridge arms, each bridge arm comprises an upper switching tube and a lower switching tube which are complementarily conducted, and each switching tube is coupled to the radial force stator;
F: the output end of the connection control unit is provided with two paths of parallel three-phase full-bridge inverter circuits, each path of three-phase full-bridge inverter circuit comprises three bridge arms, each bridge arm comprises an upper switching tube and a lower switching tube which are complementarily conducted, each switching tube in one path of three-phase full-bridge inverter circuit is coupled with a radial force stator of one fixed rotation module, and each switching tube in the other path of three-phase full-bridge inverter circuit is coupled with a radial force stator of the other fixed rotation module.
Further, an asymmetric bridge driving circuit is arranged at the output end of the control unit and coupled with the torque stator.
Further, the output end of the control unit is provided with two paths of parallel asymmetric bridge driving circuits, wherein one path of asymmetric bridge driving circuit is coupled with the torque stator of one fixed rotation module, and the other path of asymmetric bridge driving circuit is coupled with the torque stator of the other fixed rotation module.
In a third aspect, the present invention provides a levitation force control method of a magnetic levitation switched reluctance motor, comprising the steps of:
the following steps are iterated circularly until the difference value between the radial displacement of the X axis and the Y axis of the rotor and the preset reference displacement is:
Radial displacement of the X axis and the Y axis of the rotor is obtained;
Acquiring real-time current signals of an X axis and a Y axis of the suspension winding;
Calculating a current reference value and a current error value by using the obtained radial displacement, the real-time current signal and a preset reference displacement;
Calculating sector discrimination coordinates by using the real-time current signal, the current reference value and the current error value, and mapping the sector discrimination coordinates into a preset vector sector;
Determining the conducting state and the sequence of the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit according to the position of the sector discrimination coordinate in the vector sector;
and adjusting the duration time of each conducting state according to the conducting state and the sequence of the conducting states of the switching tubes of each bridge arm in the three-phase full-bridge inverter circuit, so as to control the levitation force of the magnetic levitation switch reluctance motor and keep the rotor on the reference displacement.
Further, the calculating the current error value by using the obtained radial displacement, the real-time current signal and the preset reference displacement includes:
Calculating the difference between the radial displacement and the reference displacement to obtain a displacement signal difference;
And calculating a current reference value by using the displacement signal difference, and calculating a difference value between the real-time current signal and the current reference value by using the current reference value to obtain a current error value.
Further, the calculating the sector discrimination coordinate (Δi x',△iy') using the real-time current signal, the current reference value, and the current error value includes the following formula:
Wherein R is the resistance value of the three-phase levitation winding, L is the inductance value of the three-phase levitation winding, T s is the duration of one control period, i xref is the current reference value of the X axis of the levitation winding, i yref is the current reference value of the Y axis of the levitation winding, i x is the real-time current signal of the X axis of the levitation winding, i y is the real-time current signal of the Y axis of the levitation winding, deltai x is the current error value of the X axis of the levitation winding, deltai y is the current error value of the Y axis of the levitation winding.
Further, the vector sector comprises six sectors sequentially arranged in the first phase to the fourth phase of the xoy coordinate, and the central angle of each sector is 60 degrees;
wherein, the X axis coincides with the central line of the A phase suspension winding, and the Y axis coincides with the central line of the BC phase suspension winding.
Further, determining the conducting state and the sequence of the conducting states of the switching tubes of the bridge arms in the three-phase full-bridge inverter circuit according to the position of the sector discrimination coordinate in the vector sector comprises:
When the sector distinguishing coordinate is in the first sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: v 0→V4→V6→V7→V6→V4→V0;
when the sector distinguishing coordinate is in the second sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: v 0→V2→V6→V7→V6→V2→V0;
when the sector distinguishing coordinate is in the third sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: v 0→V2→V3→V7→V3→V2→V0;
when the sector distinguishing coordinate is in the fourth sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: v 0→V1→V3→V7→V3→V1→V0;
when the sector distinguishing coordinate is in the fifth sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: v 0→V1→V5→V7→V5→V1→V0;
when the sector distinguishing coordinate is in the sixth sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: v 0→V4→V5→V7→V5→V4→V0;
Wherein, V 0 is the switch tube conduction of the lower bridge arm of ABC phase, V 1 is the switch tube conduction of the lower bridge arm of AB phase, the switch tube conduction of the upper bridge arm of C phase, V 2 is the switch tube conduction of the lower bridge arm of AC phase, the switch tube conduction of the upper bridge arm of B phase, V 3 is the switch tube conduction of the lower bridge arm of a phase, the switch tube conduction of the upper bridge arm of BC phase, V 4 is the switch tube conduction of the upper bridge arm of a phase, the switch tube conduction of the lower bridge arm of BC phase, V 5 is the switch tube conduction of the upper bridge arm of AC phase, the switch tube conduction of the lower bridge arm of B phase, the switch tube conduction of V 6 is the switch tube conduction of the upper bridge arm of AB phase, the switch tube conduction of the lower bridge arm of C phase, and V 7 is the switch tube conduction of the upper bridge arm of ABC phase.
Further, the adjusting the duration of each conducting state according to the conducting state of the switching tube of each bridge arm and the sequence of each conducting state in the three-phase full-bridge inverter circuit includes
If the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V4→V6→V7→V6→V4→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T4-T6)/2
wherein, deltai x 'and Deltai y' are both duration parameters, U dc is the bus voltage of the levitation force control device, T is the duration of the V conduction state, and T is the duration of the V conduction state;
if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V2→V6→V7→V6→V2→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T2-T6)/2
wherein T is the duration of the V conduction state;
if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V2→V3→V7→V3→V2→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T2-T3)/2
wherein T is the duration of the V conduction state;
If the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V1→V3→V7→V3→V1→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T1-T3)/2
wherein T is the duration of the V conduction state;
If the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V1→V5→V7→V5→V1→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T1-T5)/2
wherein T is the duration of the V conduction state;
If the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V4→V5→V7→V5→V4→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T4-T5)/2。
further, the adjusting the duration of each conducting state according to the conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit and the sequence of each conducting state includes:
judging the relation between the duration of each conducting state and the duration of the control period:
wherein, when T 4+T6>Ts, T and T are updated by:
When T 2+T6>Ts, T and T are updated by:
when T 2+T3>Ts, T and T are updated by:
when T 1+T3>Ts, T and T are updated by:
when T 1+T5>Ts, T and T are updated by:
when T 4+T5>Ts, T and T are updated by:
In a fourth aspect, the present invention provides a levitation force control system of a magnetic levitation switched reluctance motor, comprising:
The radial displacement module is used for acquiring radial displacement of the X axis and the Y axis of the rotor;
the real-time current signal module is used for acquiring real-time current signals of the X axis and the Y axis of the suspension winding;
The calculation module is used for calculating a current reference value and a current error value by using the acquired radial displacement, the real-time current signal and a preset reference displacement;
The vector mapping module is used for calculating sector discrimination coordinates by using the real-time current signal, the current reference value and the current error value and mapping the sector discrimination coordinates into a preset vector sector;
The on state determining module is used for determining the on state and the on state sequence of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit according to the position of the sector discrimination coordinate in the vector sector;
The time length control module is used for sequentially adjusting the duration time length of each conducting state according to the conducting state and each conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit, and controlling the levitation force of the magnetic levitation switch reluctance motor so as to enable the rotor to be kept on the reference displacement.
Compared with the prior art, the invention has the beneficial effects that:
The motor integrates the functions of a switch reluctance motor and a magnetic suspension bearing, realizes the natural decoupling of a torque winding and a suspension winding structurally, generates output torque by using the torque winding, and generates radial suspension force by using the suspension winding; the torque windings of each phase and the suspension windings of each phase are mutually isolated, so that the fault tolerance performance is good, and the core loss is small; the three-phase full-bridge inverter circuit is adopted to generate three-phase levitation winding current so as to control the levitation force of the magnetic levitation switch reluctance motor, so that the integrated level is high, the control is simple, and the control hardware cost is saved; according to the invention, the duration of each conducting state is determined according to the radial displacement of the rotor, the real-time current signal of the suspension winding and the preset reference displacement, so that the real-time current signal tracks the upper reference current value, and the rotor is stabilized at the reference position.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an armature split type four-degree-of-freedom magnetic levitation switched reluctance motor according to the present invention;
FIG. 2 is a schematic diagram of an embodiment of an armature-integrated magnetic levitation switched reluctance motor according to the present invention;
FIG. 3 is a schematic structural view of an embodiment of the present invention in which the center lines of two adjacent teeth III coincide with the center line of the torque stator;
FIG. 4 is a schematic view showing an embodiment of the present invention in which the tooth center line of the tooth III coincides with the center line of the torque stator;
FIG. 5 is a schematic diagram of a closed loop of an embodiment of the bias flux generated by the permanent magnet ring of the present invention;
FIG. 6 is a schematic diagram of a closed loop of an embodiment of the radial dipolar symmetric flux generated by the levitation winding of a stator-rotor module according to the present invention;
FIG. 7 is a schematic diagram of a closed loop of an embodiment of radial dipolar symmetric magnetic flux generated by a levitation winding of another stator-rotor module according to the present invention;
FIG. 8 is a schematic diagram of a levitation force control apparatus of a magnetic levitation switch reluctance motor according to the present invention;
Fig. 9 is a three-phase full-bridge inverter circuit diagram of the present invention;
FIG. 10 is a schematic diagram of one embodiment of a vector sector of the present invention;
FIG. 11 is a simulated waveform diagram of the real-time current signal and current reference of the present invention;
In the figure: 1. the radial force stator, 3, the torque stator, 4, the non-magnetic conduction support frame, 5, the torque coil, 6, the suspension coil, 8, the permanent magnet ring, 9, the stator annular magnetic yoke, 11, the rotor, 12, the rotor annular magnetic yoke, 13, the rotating shaft, 16 and 20 are respectively bias magnetic fluxes generated by the permanent magnet ring in two fixed rotating modules, 17 and 21 are respectively radial dipolar symmetrical magnetic fluxes generated by A-phase suspension winding currents of two fixed rotating modules, 18 and 22 are respectively radial dipolar symmetrical magnetic fluxes generated by B-phase suspension winding currents of two fixed rotating modules, 19 and 23 are respectively radial dipolar symmetrical magnetic fluxes generated by C-phase suspension winding currents of two fixed rotating modules, simulation waveforms of 27 and X-axis current reference values, simulation waveforms of X-axis real-time current signals, simulation waveforms of 29 and Y-axis current reference values, simulation waveforms of 30 and Y-axis real-time current signals, i a + is inflow current of A-phase torque windings, i a -is outflow current of A-phase torque windings, i A+、iB+、iC + is inflow current of A, B and C-phase suspension winding is outflow current of A, i A-、iB-、iC -C-phase suspension winding is suspension current of A, and X-axis suspension current value of 35 i and X-axis suspension current reference value of 35 i and 35 i is respectively 35 and X-axis current reference value of X-axis current.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1:
the embodiment provides an armature split type four-degree-of-freedom magnetic suspension switch reluctance motor.
The magnetic suspension switch reluctance motor of the embodiment comprises a plurality of torque coils 5, a plurality of suspension coils 6, a rotating shaft 13, a permanent magnet ring 8 and two fixed rotating modules which are arranged in parallel. Wherein, two surely change the module and close cover and establish in parallel on pivot 13, the person skilled in the art can set up pivot 13 length according to actual demand. In addition, each stator-rotor module comprises a radial force stator 1, a torque stator 3, a non-magnetically conductive support frame 4, a stator annular magnetic conductive yoke 9, a rotor 11 and a rotor annular magnetic conductive yoke 12.
In application, the permanent magnet ring 8 is magnetized in an axial magnetizing mode, the permanent magnet ring 8 is arranged between two fixed rotating modules, one side of the permanent magnet ring is connected with the stator annular magnetic conducting yoke 9 of one fixed rotating module, and the other side of the permanent magnet ring is connected with the stator annular magnetic conducting yoke 9 of the other fixed rotating module.
Referring to fig. 1, a rotor annular magnetic conductive yoke 12, a rotor 11, a radial force stator 1 and a stator annular magnetic conductive yoke 9 are coaxially sleeved outside a rotating shaft 13 from inside to outside in sequence, wherein the rotor annular magnetic conductive yoke 12 is rotatably connected with the rotating shaft 13.
Referring to fig. 1, the torque stator 3 includes a base ii having an arc structure, and two oppositely disposed teeth ii are disposed on the inner side of the base ii; the rotor 11 comprises an annular base III with an annular structure, the periphery of the annular base III is equidistantly provided with 16 convex teeth III, and the central angle between every two adjacent convex teeth III is 22.5 degrees; the radial force stator 1 comprises an annular base I with an annular structure, 6 convex teeth I are arranged on the inner peripheral portion of the annular base I at equal intervals, the convex teeth I and the convex teeth III are oppositely arranged, the polar arc angle of each convex tooth I is 22.5 degrees, and the central angle between every two adjacent convex teeth I is 60 degrees.
In application, non-magnetic conduction support frame 4 with arc structure is coaxially embedded between each adjacent convex tooth I, one side of the non-magnetic conduction support frame is connected with annular base I, the other side of the non-magnetic conduction support frame is coaxially provided with base II of torque stator 3, and convex teeth II of torque stator 3 are arranged opposite to convex teeth III. Namely, the center line of the torque stator 3 and the center line of the non-magnetic conduction supporting frame 4 are overlapped with the center lines of the two convex teeth II corresponding to the torque stator, and the numbers of the non-magnetic conduction supporting frame 4 and the torque stator 3 are 6.
The torque winding and the levitation winding of the magnetic levitation switch reluctance motor are mutually independent. Referring to fig. 1, each tooth ii in each torque stator 3 of two fixed rotation modules is individually wound with a torque coil 5, and two torque coils 5 of each torque stator 3 are connected in series, so as to obtain a torque coil string, and the torque coil strings symmetrically arranged in the axis of each fixed rotation module are connected in series in pairs to form a torque winding, namely, two torque coil strings with a space phase difference of 180 degrees are connected in series in pairs, so as to obtain a three-phase torque winding with an armature split. In addition, each convex tooth I is independently wound with one suspension coil 6, and the suspension coils 6 symmetrically arranged in the axis of each fixed rotating module are connected in series to form suspension windings, namely, the suspension coils with 180-degree space difference are connected in series to form three-phase suspension windings with four degrees of freedom.
The motor integrates the functions of a switch reluctance motor and a magnetic suspension bearing, realizes the natural decoupling of a torque winding and a suspension winding structurally, generates output torque by using the torque winding, and generates radial suspension force by using the suspension winding; the torque windings of each phase and the suspension windings of each phase are mutually isolated, so that the invention has good fault tolerance and small core loss.
Example 2:
The embodiment provides an armature integrated two-degree-of-freedom magnetic suspension switch reluctance motor.
The present embodiment differs from embodiment 1 in the arrangement of the torque coil and the levitation coil, specifically as follows:
referring to fig. 2, a torque coil 5 is wound on each parallel tooth ii in the torque stators parallel in the same radial direction of the two fixed rotating modules, the two torque coils 5 of each parallel torque stator 3 are connected in series to obtain a torque coil string, the torque coil strings arranged in an axisymmetric manner are connected in series to form a torque winding, namely, the torque coil strings with space phase difference of 180 degrees are connected in series to obtain an armature integrated three-phase torque winding.
In addition, each convex tooth I is independently wound with a suspension coil 6, suspension coils on the convex teeth I which are arranged in parallel in two fixed rotation modules are connected in series to obtain suspension coil strings, and the suspension coil strings which are arranged in an axisymmetric mode are connected in series in pairs to form suspension windings, namely, the suspension coil strings which are 180 degrees different in space are connected in pairs in series to obtain a three-phase suspension winding with two degrees of freedom.
Example 3:
the embodiment provides an armature split type two-degree-of-freedom magnetic suspension switch reluctance motor.
The difference between this embodiment and embodiment 1 is the arrangement of the levitation coil, which is specifically as follows:
the suspension coils of the convex teeth I which are arranged in parallel on the same radial direction of the two fixed rotating modules are respectively connected in series to obtain suspension coil strings, the suspension coil strings which are arranged in an axisymmetric mode are connected in series in pairs to form suspension windings, namely, the suspension coil strings which are 180 degrees different in space are connected in pairs in series to obtain three-phase suspension windings with two degrees of freedom.
The embodiment obtains the armature split type two-degree-of-freedom magnetic suspension switch reluctance motor.
Example 4:
the embodiment provides an armature integrated four-degree-of-freedom magnetic suspension switch reluctance motor.
The difference between this embodiment and embodiment 2 is the arrangement of the levitation coil, which is specifically as follows:
The suspension coils 6 are wound on the convex teeth I independently, the suspension coils 6 which are symmetrically arranged on the central axis of each fixed rotating module are connected in series to form suspension windings, namely, the suspension coils with the space phase difference of 180 degrees are connected in series to form three-phase suspension windings with four degrees of freedom.
The torque winding and the levitation winding of the magnetic levitation switch reluctance motor are mutually independent.
When current is applied to a phase torque winding, the embodiment generates a magnetic flux with symmetrical poles.
The magnetic flux is distributed in NS on two teeth ii of a torque stator 3, and the magnetic flux closed loop is: the magnetic flux is distributed in a short magnetic circuit in practical application.
Referring to fig. 3, the center lines of two adjacent teeth iii are aligned when they coincide with the center line of the torque stator, and the magnetic resistance of the magnetic flux closed circuit is the smallest; referring to fig. 4, the tooth center line of tooth iii coincides with the center line of the torque stator in a non-aligned position where the reluctance of the flux-closed loop is greatest.
When the magnetic flux closed loop is practically applied, a unipolar current is applied to a torque winding of one phase, at the moment, the torque winding current generates magnetic flux, and the magnetic resistance of the magnetic flux closed loop always tends to be the minimum magnetic resistance, so that the magnetic resistance electromagnetic torque is generated to enable the rotor to be turned from the 'non-aligned' position to the 'aligned' position of the stator pole and the rotor pole of the phase. Referring to fig. 4, when the a-phase torque winding and the rotor are in the "misaligned" position of the stator and rotor poles, current is applied to the a-phase torque winding to generate output torque to rotate the rotor to the "aligned" position of the stator and rotor poles, as shown in fig. 3. And then, conducting the next phase of torque winding, wherein the positions of the torque winding and the rotor are rotated from the 'non-aligned' position of the stator pole and the rotor pole to the 'aligned' position of the stator pole and the rotor pole, and A, B, C three-phase torque windings are conducted in turn to generate output torque, so that the rotary operation of the motor is realized.
In this embodiment, the permanent magnet ring is magnetized by adopting an axial magnetizing manner, and the permanent magnet ring generates bias magnetic flux.
Referring to fig. 5, the bias magnetic flux closed circuit is: firstly, from a permanent magnet ring to a stator annular magnetic guide yoke, a radial force stator, a radial air gap, a rotor and a rotor annular magnetic guide yoke of one fixed rotation module, then to a rotating shaft, then to a rotor annular magnetic guide yoke, a rotor, a radial air gap, a radial force stator and a stator annular magnetic guide yoke of the other fixed rotation module, and finally to a permanent magnet ring.
In this embodiment, a current is applied to a phase levitation winding, and the levitation winding current generates a radial dipolar symmetric magnetic flux.
In application, the horizontal positive direction is a zero-degree space angle position, the space angle is positive when the anticlockwise direction changes, the X axis is specified to be parallel to the horizontal direction, the X axis is overlapped with the central line of the A-phase suspension winding, and the Y axis is overlapped with the central line of the BC-phase suspension winding.
When a current i A with the current direction of 0-180 degrees is applied to an A-phase suspension winding of a fixed rotation module, a closed loop of radial dipolar symmetric magnetic flux is generated: the stator rotating module comprises a convex tooth I at the 0-degree position, a radial air gap, a convex tooth III at the 0-degree position, a rotor annular magnetic conducting yoke the radial air gap is formed by a convex tooth III at a position of 180 degrees, a convex tooth I at a position of 180 degrees, a stator annular magnetic conducting yoke and a convex tooth I at a position of 0 degrees. Referring to fig. 6, when a current i A is applied to the a-phase levitation winding of the fixed rotation module, the air gap magnetic flux at the 0 ° position is enhanced, the air gap magnetic flux at the 180 ° position is weakened, and a levitation force pointing to the 0 ° position angle direction is generated; when current-i A is applied to the A-phase suspension winding of the fixed rotation module, reverse suspension force pointing to the 180-degree position angle direction is generated.
When current i A with the current direction of 180-0 degrees is applied to the A-phase suspension winding of the other fixed rotation module, the closed loop of the radial dipolar symmetric magnetic flux is: the stator comprises a stator rotating module, a rotor annular magnetic yoke, a stator annular magnetic yoke and a stator annular magnetic yoke, wherein the stator rotating module comprises a convex tooth I at the 180-degree position, a radial air gap, a convex tooth III at the 180-degree position, a rotor annular magnetic yoke, a convex tooth III at the 0-degree position, a radial air gap, a convex tooth I at the 0-degree position, a stator annular magnetic yoke and a convex tooth I at the 180-degree position. Referring to fig. 7, when a current-i A is applied to the a-phase levitation winding of the fixed rotation module, the air gap magnetic flux at the 0 ° position is enhanced, the air gap magnetic flux at the 180 ° position is weakened, and a levitation force pointing to the 0 ° position angle direction is generated; when a current i A is applied to the A-phase suspension winding of the fixed rotation module, a reverse suspension force pointing to the 180-degree position angle direction is generated.
When a current i B with the current direction of 120-300 degrees is applied to a B-phase suspension winding of a fixed rotation module, a closed loop of radial dipolar symmetric magnetic flux is generated: the stator and rotor rotating module comprises a convex tooth I at a 120-degree position, a radial air gap, a convex tooth III at a 120-degree position, a rotor annular magnetic conducting yoke the radial air gap is formed by a convex tooth III at a 300-degree position, a convex tooth I at a 300-degree position, a stator annular magnetic conducting yoke and a convex tooth I at a 120-degree position. Referring to fig. 6, when a current i B is applied to the B-phase levitation winding of the fixed rotation module, the air gap magnetic flux at the 120 ° position is enhanced, the air gap magnetic flux at the 300 ° position is weakened, and a levitation force pointing to the 120 ° position angle direction is generated; when current-i B is applied to the B-phase levitation winding of the fixed rotation module, reverse levitation force pointing to the direction of the position angle of 300 degrees is generated.
When a current i B with the current direction of 300-120 DEG is applied to the B-phase suspension winding of the other fixed rotation module, the closed loop of the radial dipolar symmetric magnetic flux is: the stator and rotor rotating module comprises a convex tooth I at a 300-degree position, a radial air gap, a convex tooth III at a 300-degree position, a rotor annular magnetic conducting yoke the radial air gap is formed by a convex tooth III at a 120-degree position, a convex tooth I at a 120-degree position, a stator annular magnetic conducting yoke and a convex tooth I at a 300-degree position. Referring to fig. 7, when a current-i B is applied to the B-phase levitation winding of the fixed rotation module, the air gap magnetic flux at the 120 ° position is enhanced, the air gap magnetic flux at the 300 ° position is weakened, and a levitation force pointing to the 120 ° position angle direction is generated; when a current i B is applied to the B-phase levitation winding of the fixed rotation module, a reverse levitation force pointing to the direction of a position angle of 300 degrees is generated.
When a current i C with the current direction of 60-240 degrees is applied to a C-phase suspension winding of a fixed rotation module, a closed loop of radial dipolar symmetric magnetic flux is generated: the stator rotating module comprises a stator rotating module body, a rotor annular magnetic conducting yoke, a stator annular magnetic conducting yoke and a stator rotating module body, wherein the stator rotating module body comprises a stator annular magnetic conducting yoke, a stator annular magnetic conducting yoke and a stator annular magnetic conducting yoke, and the stator annular magnetic conducting yoke is arranged on the stator rotating module body, the stator rotating module body comprises a stator, a stator annular magnetic conducting yoke and a rotor annular magnetic conducting yoke, and the stator annular magnetic conducting yoke is arranged on the stator annular magnetic conducting yoke, and the stator annular magnetic conducting yoke is arranged on the stator rotating module body. Referring to fig. 6, when a current i C is applied to the C-phase levitation winding of the fixed rotation module, the air gap magnetic flux at the 60 ° position is enhanced, the air gap magnetic flux at the 240 ° position is weakened, and a levitation force pointing to the 60 ° position angle direction is generated; when a current i C is applied to the C-phase levitation winding of the fixed rotation module, a reverse levitation force pointing to the direction of the position angle of 240 degrees is generated.
When current i C with the current direction of 240-60 degrees is applied to the C-phase suspension winding of the other fixed rotation module, the closed loop of the radial dipolar symmetric magnetic flux is: the stator comprises a stator rotating module, a rotor annular magnetic conducting yoke, a stator annular magnetic conducting yoke and a stator annular magnetic conducting yoke, wherein the stator rotating module comprises a convex tooth I at the 240-degree position, a radial air gap, a convex tooth III at the 240-degree position, a convex tooth III at the 60-degree position, a radial air gap, a convex tooth I at the 60-degree position, and a convex tooth I at the 240-degree position. Referring to fig. 7, when a current-i C is applied to the C-phase levitation winding of the fixed rotation module, the air gap flux at the 60 ° position is enhanced, the air gap flux at the 240 ° position is weakened, and a levitation force pointing to the 60 ° position angle direction is generated; when a current i C is applied to the C-phase levitation winding of the fixed rotation module, a reverse levitation force pointing to the direction of the position angle of 240 degrees is generated.
Example 5:
The embodiment provides a levitation force control device of a magnetic levitation switch reluctance motor.
The levitation force control device of the magnetic levitation switch reluctance motor of the embodiment comprises a control unit, a clark conversion unit, a proportional-integral controller, a displacement detection sensor and a current sensor.
Referring to fig. 8, the displacement detection sensor is used for detecting radial displacement of the rotor in the X-axis and the Y-axis, and an output end of the displacement detection sensor is connected with the proportional-integral controller, and an output end of the proportional-integral controller is connected with the control unit.
The current sensor is used for detecting real-time current signals of the X axis and the Y axis of the levitation winding, the output end of the current sensor is connected with the clark conversion unit, and the output end of the clark conversion unit is connected with the control unit.
In addition, the output end of the control unit is provided with a three-phase full-bridge inverter circuit, the three-phase full-bridge inverter circuit comprises three bridge arms, each bridge arm comprises an upper switching tube and a lower switching tube which are conducted in a complementary mode, and each switching tube is coupled to the suspension winding of the radial force stator.
In application, A, B, C three-phase suspension windings are coupled to the three-phase full-bridge inverter circuit by adopting a star connection method, namely, one-phase suspension windings are coupled between an upper switching tube and a lower switching tube of each bridge arm.
The magnitude and the direction of the current of each phase of suspension winding can be reasonably controlled, so that the magnitude and the direction of three suspension forces can be controlled, three suspension forces with any directions and magnitudes can be generated, and further, the stable suspension operation of one radial two degrees of freedom of the rotor is realized.
Example 6:
The embodiment provides a levitation force control device of a magnetic levitation switch reluctance motor.
This embodiment differs from embodiment 5 in that: the output end of the control unit is provided with two paths of parallel three-phase full-bridge inverter circuits, each three-phase full-bridge inverter circuit comprises three bridge arms, each bridge arm comprises an upper switching tube and a lower switching tube which are complementarily conducted, each switching tube in one path of three-phase full-bridge inverter circuit is coupled with a suspension winding of a radial force stator of one fixed rotation module, and each switching tube in the other path of three-phase full-bridge inverter circuit is coupled with a suspension winding of a radial force stator of the other fixed rotation module.
In application, A, B, C three-phase suspension windings are coupled to the three-phase full-bridge inverter circuit by adopting a star connection method, namely, one-phase suspension windings are coupled between an upper switching tube and a lower switching tube of each bridge arm.
The magnitude and the direction of the current of each phase of suspension winding can be reasonably controlled, so that the magnitude and the direction of three suspension forces can be controlled, three suspension forces with any directions and magnitudes can be generated, and further, the stable suspension operation of the rotor with one radial four degrees of freedom can be realized.
Example 7:
on the basis of embodiment 5 or 6, this embodiment provides a torque control device of a magnetic levitation switched reluctance motor.
The output end of the control unit of the embodiment is provided with an asymmetric bridge driving circuit, and the asymmetric bridge driving circuit is coupled to the torque stator 3.
Example 8:
on the basis of embodiment 5 or 6, this embodiment provides a torque control device of a magnetic levitation switched reluctance motor.
This embodiment differs from embodiment 8 in that: the output end of the control unit is provided with two paths of parallel asymmetric bridge driving circuits, wherein one path of asymmetric bridge driving circuit is coupled with the torque stator 3 of one fixed rotation module, and the other path of asymmetric bridge driving circuit is coupled with the torque stator 3 of the other fixed rotation module.
Example 9:
on the basis of embodiment 5 or 6, this embodiment provides a levitation force control method of a magnetic levitation switched reluctance motor.
The levitation force control method of the magnetic levitation switch reluctance motor of the embodiment comprises the following steps:
The following steps are iterated circularly until the difference value between the radial displacement of the X axis and the Y axis of the rotor and the preset reference displacement is 0:
S1, acquiring radial displacement of an X axis and a Y axis of a rotor;
s2, acquiring real-time current signals of an X axis and a Y axis of the suspension winding;
s3, calculating a current reference value and a current error value by using the acquired radial displacement, the real-time current signal and a preset reference displacement;
S4, calculating sector discrimination coordinates by using the real-time current signal, the current reference value and the current error value, and mapping the sector discrimination coordinates into a preset vector sector;
S5, determining the conducting state and the conducting state sequence of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit according to the position of the sector discrimination coordinate in the vector sector;
S6, adjusting duration time of each conducting state according to conducting states of switching tubes of each bridge arm and sequence of the conducting states in the three-phase full-bridge inverter circuit, and controlling levitation force of the magnetic levitation switch reluctance motor to enable the rotor to be kept on reference displacement.
According to the invention, the duration of each conducting state is determined according to the radial displacement of the rotor, the real-time current signal of the suspension winding and the preset reference displacement, so that the real-time current signal tracks the upper reference current value, and the rotor is stabilized at the reference position.
Example 10:
The present embodiment describes a levitation force control method for a radial two-degree-of-freedom magnetic levitation switched reluctance motor, and on the basis of embodiment 9, the present embodiment describes in detail a current error value calculation method, a sector discrimination coordinate calculation method, a method for determining the on state and the order of the on states of the switching tubes of each bridge arm, and a method for determining the duration of each on state.
Current error value (one)
Calculating a current error value by using the obtained radial displacement, the real-time current signal and a preset reference displacement comprises the following steps:
Calculating the difference between the radial displacement and the reference displacement to obtain a displacement signal difference;
And calculating a current reference value by using the displacement signal difference, and calculating a difference value between the real-time current signal and the current reference value by using the current reference value to obtain a current error value.
Fig. 11 is a simulation waveform diagram of the real-time current signal and the current reference value of the present embodiment. The waveform of the current reference value of the X axis is preset as sine quantity of sin (80 pi X), and abrupt change occurs after 0.03 seconds; the waveform of the Y-axis current reference value is preset as sine quantity of sin (80 pi x+pi/2), and abrupt change occurs after 0.02 seconds.
As can be seen from fig. 11, the X-axis real-time current signal and the Y-axis real-time current signal of the present embodiment have high tracking accuracy, small current ripple, and good tracking effect.
(Two) sector Distinguishing coordinates
Calculating sector discrimination coordinates (Δi x',△iy') using the real-time current signal, the current reference value, and the current error value includes the following formula:
Wherein R is the resistance value of the three-phase levitation winding, L is the inductance value of the three-phase levitation winding, T s is the duration of one control period, i xref is the current reference value of the X axis of the levitation winding, i yref is the current reference value of the Y axis of the levitation winding, i x is the real-time current signal of the X axis of the levitation winding, i y is the real-time current signal of the Y axis of the levitation winding, deltai x is the current error value of the X axis of the levitation winding, deltai y is the current error value of the Y axis of the levitation winding.
(III) the conduction state of the switching tube of each bridge arm and the conduction state sequence
First, a vector sector including six sectors sequentially arranged in the first to fourth phases of the xoy coordinates is constructed, and the central angle of each sector is 60 °, referring to fig. 10. Wherein, the X axis coincides with the central line of the A phase suspension winding, and the Y axis coincides with the central line of the BC phase suspension winding.
Next, according to the position of the sector discrimination coordinate in the vector sector, determining the conducting state and the conducting state sequence of the switching tubes of each bridge arm in the three-phase full-bridge inverter circuit, wherein the method specifically comprises the following steps:
3.1 when the sector distinguishing coordinate is in the first sector of the vector sector, the conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit and the sequence of the conducting states are as follows: v 0→V4→V6→V7→V6→V4→V0;
3.2 when the sector distinguishing coordinate is in the second sector of the vector sector, the conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit and the sequence of the conducting states are as follows: v 0→V2→V6→V7→V6→V2→V0;
3.3 when the sector distinguishing coordinate is in the third sector of the vector sector, the conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit and the sequence of the conducting states are as follows: v 0→V2→V3→V7→V3→V2→V0;
3.4 when the sector distinguishing coordinate is in the fourth sector of the vector sector, the conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit and the sequence of the conducting states are as follows: v 0→V1→V3→V7→V3→V1→V0;
3.5 when the sector distinguishing coordinate is in the fifth sector of the vector sector, the conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit and the conducting state sequence are as follows: v 0→V1→V5→V7→V5→V1→V0;
3.6 when the sector distinguishing coordinate is in the sixth sector of the vector sector, the conducting state of the switching tubes of each bridge arm in the three-phase full-bridge inverter circuit and the conducting state sequence are as follows: v 0→V4→V5→V7→V5→V4→V0;
Wherein, V 0 is the switch tube conduction of the lower bridge arm of ABC phase, V 1 is the switch tube conduction of the lower bridge arm of AB phase, the switch tube conduction of the upper bridge arm of C phase, V 2 is the switch tube conduction of the lower bridge arm of AC phase, the switch tube conduction of the upper bridge arm of B phase, V 3 is the switch tube conduction of the lower bridge arm of a phase, the switch tube conduction of the upper bridge arm of BC phase, V 4 is the switch tube conduction of the upper bridge arm of a phase, the switch tube conduction of the lower bridge arm of BC phase, V 5 is the switch tube conduction of the upper bridge arm of AC phase, the switch tube conduction of the lower bridge arm of B phase, the switch tube conduction of V 6 is the switch tube conduction of the upper bridge arm of AB phase, the switch tube conduction of the lower bridge arm of C phase, and V 7 is the switch tube conduction of the upper bridge arm of ABC phase.
(IV) duration of each on-state
The duration of each conducting state is adjusted according to the conducting state of the switching tube of each bridge arm and the sequence of each conducting state in the three-phase full-bridge inverter circuit, and the method is as follows:
4.1, if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V4→V6→V7→V6→V4→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T4-T6)/2
Wherein Δi x 'and Δi y' are both duration parameters, U dc is a bus voltage of the levitation force control device, T 0 is a duration of the V 0 on state, T 4 is a duration of the V 4 on state, T 6 is a duration of the V 6 on state, and T 7 is a duration of the V 7 on state.
In the application, judging the relation between the duration of each conducting state and the duration of the control period: when T 4+T6>Ts, T 4 and T 6 are updated by:
4.2, if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V2→V6→V7→V6→V2→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T2-T6)/2
Where T 2 is the duration of the V 2 on state.
In the application, judging the relation between the duration of each conducting state and the duration of the control period: when T 2+T6>Ts, T 2 and T 6 are updated by:
4.3, if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V2→V3→V7→V3→V2→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T2-T3)/2
Where T 3 is the duration of the V 3 on state.
In the application, judging the relation between the duration of each conducting state and the duration of the control period: when T 2+T3>Ts, T 2 and T 3 are updated by:
4.4, if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V1→V3→V7→V3→V1→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T1-T3)/2
Where T 1 is the duration of the V 1 on state.
In the application, judging the relation between the duration of each conducting state and the duration of the control period: when T 1+T3>Ts, T 1 and T 3 are updated by:
4.5, if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V1→V5→V7→V5→V1→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T1-T5)/2
Where T 5 is the duration of the V 5 on state.
In the application, judging the relation between the duration of each conducting state and the duration of the control period: when T 1+T5>Ts, T 1 and T 5 are updated by:
4.6, if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: v 0→V4→V5→V7→V5→V4→V0, the duration of each on state is adjusted according to the following equation:
T0＝T7＝(Ts-T4-T5)/2。
In the application, judging the relation between the duration of each conducting state and the duration of the control period: when T 4+T5>Ts, T 4 and T 5 are updated by:
In practical application, a phase of suspension winding is coupled between the upper and lower switching tubes of each bridge arm in the three-phase full-bridge inverter circuit. Referring to fig. 9, vd 1～VD6 are switching tubes; l A、LB、LC is the inductance value of the A, B, C three-phase levitation winding, and L A＝LB＝LC＝L;RA、RB、RC is the resistance value of the A, B, C three-phase levitation winding, and R A＝RB＝RC =r.
Example 11:
On the basis of embodiment 10, this embodiment describes in detail the current variation values of each time period of one control cycle.
Step 1: calculating theoretical change value of A-phase suspension winding current in one control period
Step 11: the a-phase levitation winding current is calculated by:
In the formula, i (t) is real-time current of the A-phase suspension winding, U is voltage at two ends of the A-phase suspension winding, and in application, the voltages at two ends of the A-phase are different under different conducting states of the switching tube.
Step 12: table 1 shows the conducting state and the sequence of the conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit when the sector discrimination coordinate (Δi x',△iy') is located in the first sector, wherein 1 indicates that the upper switching tube of the bridge arm is conducted, and 0 indicates that the lower switching tube of the bridge arm is conducted; table 2 shows voltages across the levitation windings of the phases corresponding to the respective on states in the present embodiment, and u=0 when the on state of the switching tube is 000 in time t 0～t1, so the a-phase levitation winding current change at time t 0～t1 is calculated by the following formula:
Where i (t 1) is the a-phase levitation winding current at time t 1, i (t 0) is the a-phase levitation winding current at time t 0, and Δ 1 is the a-phase levitation winding current change at time t 0～t1.
Table 1 conduction states of switching tubes of each bridge arm and respective conduction state sequences
TABLE 2 voltage across levitation windings for phases with corresponding on states
Step 13: the a-phase levitation winding current variation at time t 1～t2 is calculated by:
Where i (t 2) is the a-phase levitation winding current at time t 2 and Δ 2 is the a-phase levitation winding current change at time t 1～t2. Step 14: the a-phase levitation winding current variation at time t 2～t3 is calculated by:
where i (t 3) is the a-phase levitation winding current at time t 3 and Δ 3 is the a-phase levitation winding current change at time t 2～t3. Step 15: the a-phase levitation winding current variation at time t 3～t4 is calculated by:
where i (t 4) is the a-phase levitation winding current at time t 4 and Δ 4 is the a-phase levitation winding current change at time t 3～t4. Step 16: the a-phase levitation winding current variation at time t 4～t5 is calculated by:
Where i (t 5) is the a-phase levitation winding current at time t 5 and Δ 5 is the a-phase levitation winding current change at time t 4～t5. Step 17: the a-phase levitation winding current variation at time t 5～t6 is calculated by:
Where i (t 6) is the a-phase levitation winding current at time t 6 and Δ 6 is the a-phase levitation winding current change at time t 5～t6. Step 18: the a-phase levitation winding current variation at time t 6～t7 is calculated by:
Where i (t 7) is the a-phase levitation winding current at time t 7 and Δ 7 is the a-phase levitation winding current change at time t 6～t7.
Step 19: the a-phase levitation winding current variation for one control period is calculated by:
where Delta A is the A-phase levitation winding current variation for one control period.
In application, the time constant of the current inner loop is far smaller than that of the displacement outer loop, i (t 0),i(t1),i(t2),i(t3),i(t4),i(t5),i(t6) is approximately equal to the average value of the current in one switching period, namely:
I Aref(t0),iA(t0) are the reference value and the actual value of the phase a current at the start of the control period, respectively.
In practical application, the current change of the A-phase suspension winding of one control period is updated by the following formula:
Step 2: the theoretical variation of the B-phase levitation winding current in a control period is calculated by:
Wherein i Bref(t0),iB(t0) is a reference value and an actual value of the B-phase current at the start time of the control period, and delta B is a B-phase levitation winding current variation of one control period.
Step 3: the theoretical change in C-phase levitation winding current over a control period is calculated by:
Wherein i Cref(t0),iC(t0) is a reference value and an actual value of the C-phase current at the beginning time of the control period, and delta C is a C-phase levitation winding current variation of one control period.
Step 4: the three-phase current is normalized to two-phase current through clark transformation, so that theoretical change values of the x-axis current and the y-axis current in the control period are obtained, and the theoretical change values are specifically as follows:
Clark conversion formula:
Where Δ x is the change in x-axis current over a control period, and Δ y is the change in y-axis current over a control period.
In application, the calculated theoretical current change values delta x,△y of the x and y axes are respectively assigned with the current error value delta i x(t0),△iy(t0 at the beginning time of the control period, namely ：△x＝ixref(t0)-ix(t0)＝△ix(t0),△y＝iyref(t0)-iy(t0)＝△iy(t0).
In practical application ,ix(t0)＝ix,iy(t0)＝iy,ixref(t0)＝ixref,iyref(t0)＝iyref,△ix(t0)＝△ix,△iy(t0)＝△iy.
Example 12:
The embodiment provides a levitation force control system of a magnetic levitation switch reluctance motor, which comprises:
The radial displacement module is used for acquiring radial displacement of the X axis and the Y axis of the rotor;
the real-time current signal module is used for acquiring real-time current signals of the X axis and the Y axis of the suspension winding;
The calculation module is used for calculating a current reference value and a current error value by using the acquired radial displacement, the real-time current signal and a preset reference displacement;
The vector mapping module is used for calculating sector discrimination coordinates by using the real-time current signal, the current reference value and the current error value and mapping the sector discrimination coordinates into a preset vector sector;
The on state determining module is used for determining the on state and the on state sequence of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit according to the position of the sector discrimination coordinate in the vector sector;
The time length control module is used for sequentially adjusting the duration time length of each conducting state according to the conducting state and each conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit, and controlling the levitation force of the magnetic levitation switch reluctance motor so as to enable the rotor to be kept on the reference displacement.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are all within the protection of the present invention.

Claims (16)

1. The magnetic suspension switch reluctance motor is characterized by comprising a plurality of torque coils (5), a plurality of suspension coils (6), a rotating shaft (13), a permanent magnet ring (8) and two fixed rotating modules which are arranged in parallel;
Each stator-rotor module comprises a radial force stator (1), a torque stator (3), a non-magnetic conduction support frame (4), a stator annular magnetic conduction yoke (9), a rotor (11) and a rotor annular magnetic conduction yoke (12);
A permanent magnet ring (8) is arranged between the stator annular magnetic yokes of the two fixed rotation modules;
The rotor annular magnetic conducting yoke (12), the rotor (11), the radial force stator (1) and the stator annular magnetic conducting yoke (9) are coaxially sleeved outside the rotating shaft (13) from inside to outside in sequence;
the torque stator (3) comprises a base II, and two oppositely arranged convex teeth II are arranged on the inner side of the base II;
The rotor (11) comprises an annular base III, and 16 convex teeth III are equidistantly arranged on the periphery of the annular base III;
The radial force stator (1) comprises an annular base I, and 6 convex teeth I are equidistantly arranged on the inner periphery of the annular base I;
A non-magnetic conduction support frame (4) is coaxially embedded between each two adjacent convex teeth I, one side of the non-magnetic conduction support frame is connected with an annular base I, and the other side of the non-magnetic conduction support frame is coaxially provided with a base II;
The torque coil (5) and the levitation coil (6) are wound in any one of the following four combinations of d1+d3, d2+d3, d1+d4 and d2+d4:
D1: a torque coil (5) is wound on each parallel convex tooth II in each of the two torque stators (3) which are arranged in parallel in the same radial direction of the two fixed rotating modules, the two torque coils (5) of each parallel torque stator (3) are connected in series to obtain a torque coil string, and the axisymmetric torque coil strings are connected in series to form a torque winding in pairs to obtain an armature integrated three-phase torque winding;
D2: each convex tooth II is independently wound with a torque coil (5), two torque coils (5) of each torque stator (3) are connected in series to obtain a torque coil string, and the torque coil strings of each fixed rotating module which are symmetrical in axis are connected in series to form a torque winding in pairs to obtain a three-phase torque winding of an armature split body;
d3: the suspension coils (6) are independently wound on the convex teeth I, the suspension coils on the convex teeth I which are arranged in parallel on the same radial direction of the two fixed rotating modules are respectively connected in series to obtain suspension coil strings, and the axisymmetric suspension coil strings are connected in series to form suspension windings in pairs to obtain a three-phase suspension winding with two degrees of freedom;
d4: and each convex tooth I is independently wound with a suspension coil (6), and the suspension coils (6) which are symmetrical in the axis of each fixed rotating module are connected in series to form suspension windings in pairs, so that a three-phase suspension winding with four degrees of freedom is obtained.
2. A magnetic levitation switched reluctance motor according to claim 1, characterized in that the permanent magnet ring (8) is of annular structure.
3. A magnetic levitation switched reluctance motor according to claim 2, characterized in that the permanent magnet ring (8) is magnetized by axial magnetization.
4. A magnetic levitation switched reluctance motor according to claim 1, wherein the polar arc angle of each tooth i is 22.5 °.
5. A magnetic levitation switched reluctance motor according to claim 1, characterized in that the non-magnetically conductive support frame (4) is arranged in an arc shape.
6. A levitation force control apparatus of a magnetic levitation switched reluctance motor according to any of claims 1-5, comprising a control unit, clark transform unit, proportional-integral controller, displacement detection sensor and current sensor;
The displacement detection sensor detects the radial displacement of the rotor, the output end of the displacement detection sensor is connected with the proportional-integral controller, and the output end of the proportional-integral controller is connected with the control unit;
The current sensor outputs a real-time current signal for detecting the levitation winding, the output end of the current sensor is connected with the clark conversion unit, and the output end of the clark conversion unit is connected with the control unit;
the setting mode of the output end of the control unit comprises any one of the following two modes E and F:
E: the output end of the connection control unit is provided with a three-phase full-bridge inverter circuit, the three-phase full-bridge inverter circuit comprises three bridge arms, each bridge arm comprises an upper switching tube and a lower switching tube which are complementarily conducted, and each switching tube is coupled to the radial force stator (1);
f: the output end of the connection control unit is provided with two paths of parallel three-phase full-bridge inverter circuits, each path of three-phase full-bridge inverter circuit comprises three bridge arms, each bridge arm comprises an upper switching tube and a lower switching tube which are complementarily conducted, each switching tube in one path of three-phase full-bridge inverter circuit is coupled with a radial force stator (1) of one fixed rotation module, and each switching tube in the other path of three-phase full-bridge inverter circuit is coupled with a radial force stator (1) of the other fixed rotation module.
7. The levitation force control apparatus of claim 6, wherein the output end of the control unit is provided with an asymmetric bridge driving circuit, and the asymmetric bridge driving circuit is coupled to the torque stator (3).
8. The levitation force control device of claim 6, wherein the output end of the control unit is provided with two paths of parallel asymmetric bridge driving circuits, one path of asymmetric bridge driving circuit is coupled to the torque stator (3) of one fixed rotation module, and the other path of asymmetric bridge driving circuit is coupled to the torque stator (3) of the other fixed rotation module.
9. A method of controlling levitation force of a magnetic levitation switched reluctance motor according to any of claims 1-5, comprising the steps of:
The following steps are iterated circularly until the difference value between the radial displacement of the X axis and the Y axis of the rotor and the preset reference displacement is 0:
Radial displacement of the X axis and the Y axis of the rotor is obtained;
Acquiring real-time current signals of an X axis and a Y axis of the suspension winding;
Calculating a current reference value and a current error value by using the obtained radial displacement, the real-time current signal and a preset reference displacement;
Calculating sector discrimination coordinates by using the real-time current signal, the current reference value and the current error value, and mapping the sector discrimination coordinates into a preset vector sector;
Determining the conducting state and the sequence of the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit according to the position of the sector discrimination coordinate in the vector sector;
and adjusting the duration time of each conducting state according to the conducting state and the sequence of the conducting states of the switching tubes of each bridge arm in the three-phase full-bridge inverter circuit, so as to control the levitation force of the magnetic levitation switch reluctance motor and keep the rotor on the reference displacement.
10. The method of claim 9, wherein calculating the current error value using the obtained radial displacement amount, the real-time current signal, and the preset reference displacement comprises:
Calculating the difference between the radial displacement and the reference displacement to obtain a displacement signal difference;
And calculating a current reference value by using the displacement signal difference, and calculating a difference value between the real-time current signal and the current reference value by using the current reference value to obtain a current error value.
11. The method of claim 9, wherein calculating sector discrimination coordinates using the real-time current signal, the current reference value, and the current error value comprises:
， ; wherein R is the resistance value of the three-phase levitation winding, L is the inductance value of the three-phase levitation winding, the duration of one control period, the current reference value of the X axis of the levitation winding, the current reference value of the Y axis of the levitation winding, the real-time current signal of the X axis of the levitation winding, the real-time current signal of the Y axis of the levitation winding, the current error value of the X axis of the levitation winding and the current error value of the Y axis of the levitation winding.
12. The method according to claim 9, wherein the vector sector includes six sectors sequentially arranged in the first to fourth phases of the xoy coordinates, and the central angle of each sector is 60 °;
wherein, the X axis coincides with the central line of the A phase suspension winding, and the Y axis coincides with the central line of the BC phase suspension winding.
13. The method for controlling levitation force of magnetic levitation switched reluctance motor according to claim 9, wherein determining the conducting state and the sequence of conducting states of the switching tubes of each bridge arm in the three-phase full-bridge inverter circuit according to the position of the sector discrimination coordinate in the vector sector comprises:
When the sector distinguishing coordinate is in the first sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: ；
when the sector distinguishing coordinate is in the second sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: ；
When the sector distinguishing coordinate is in the third sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: ；
When the sector distinguishing coordinate is in the fourth sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: ；
when the sector distinguishing coordinate is in the fifth sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: ；
When the sector distinguishing coordinate is in the sixth sector of the vector sector, the conducting states of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit are sequentially as follows: ；
Wherein, The bridge arms of ABC phase are conducted by the lower bridge arm switch tubes,The lower bridge arm switch tubes of the bridge arms of the AB phase are conducted, the upper bridge arm switch tubes of the bridge arms of the C phase are conducted,The lower bridge arm switch tubes of the bridge arms of the AC phase are conducted, the upper bridge arm switch tubes of the bridge arms of the B phase are conducted,
The switching tube of the lower bridge arm of the A phase is conducted, the switching tube of the upper bridge arm of the BC phase is conducted,The upper bridge arm switch tube of the bridge arm of the A phase is conducted, the lower bridge arm switch tube of the bridge arm of the BC phase is conducted,The upper bridge arm switch tubes of the bridge arms of the AC phase are conducted, the lower bridge arm switch tubes of the bridge arms of the B phase are conducted,The upper bridge arm switch tubes of the bridge arms of the AB phase are conducted, the lower bridge arm switch tubes of the bridge arms of the C phase are conducted,And the bridge arms of the ABC phase are all conducted by the upper bridge arm switch tubes.
14. The method of claim 13, wherein adjusting the duration of each conducting state according to the conducting state and the sequence of the conducting states of the switching tubes of each bridge arm in the three-phase full-bridge inverter circuit comprises
If the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: and adjusting the duration of each conduction state according to the following formula:
，，，， ; in the method, in the process of the invention, AndThe method is characterized in that the method is a duration parameter, U dc is the bus voltage of the levitation force control device, T 0 is the duration of the V 0 conduction state, T 4 is the duration of the V 4 conduction state, T 6 is the duration of the V 6 conduction state, and T 7 is the duration of the V 7 conduction state;
if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: ，
the duration of each on state is adjusted according to the following equation:
，， ; wherein T 2 is the duration of the V 2 on state;
if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: ，
the duration of each on state is adjusted according to the following equation:
，， ; wherein T 3 is the duration of the V 3 on state;
if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: ，
the duration of each on state is adjusted according to the following equation:
，， ; wherein T 1 is the duration of the V 1 on state;
if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: ，
the duration of each on state is adjusted according to the following equation:
，， ; wherein T 5 is the duration of the V 5 on state;
if the conducting state of the switching tube of each bridge arm and the sequence of the conducting states are as follows: ，
the duration of each on state is adjusted according to the following equation:
，，。
15. the method for controlling levitation force of a magnetic levitation switched reluctance motor according to claim 14, wherein the sequentially adjusting the duration of each conductive state according to the conductive state and each conductive state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit comprises:
judging the relation between the duration of each conducting state and the duration of the control period:
wherein when When, T 4 and T 6 are updated by:
，；
When (when) When, T 2 and T 6 are updated by:
，；
When (when) When, T 2 and T 3 are updated by:
，；
When (when) When, T 1 and T 3 are updated by:
，；
When (when) When, T 1 and T 5 are updated by:
，；
When (when) When, T 4 and T 5 are updated by:
，。
16. A levitation force control system of a magnetic levitation switched reluctance motor as defined in any one of claims 1-5, comprising:
The radial displacement module is used for acquiring radial displacement of the X axis and the Y axis of the rotor;
the real-time current signal module is used for acquiring real-time current signals of the X axis and the Y axis of the suspension winding;
The calculation module is used for calculating a current reference value and a current error value by using the acquired radial displacement, the real-time current signal and a preset reference displacement;
The vector mapping module is used for calculating sector discrimination coordinates by using the real-time current signal, the current reference value and the current error value and mapping the sector discrimination coordinates into a preset vector sector;
The on state determining module is used for determining the on state and the on state sequence of the switching tubes of all bridge arms in the three-phase full-bridge inverter circuit according to the position of the sector discrimination coordinate in the vector sector;
The time length control module is used for sequentially adjusting the duration time length of each conducting state according to the conducting state and each conducting state of the switching tube of each bridge arm in the three-phase full-bridge inverter circuit, and controlling the levitation force of the magnetic levitation switch reluctance motor so as to enable the rotor to be kept on the reference displacement.
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