CN117767684A - Three-section type magnetic circuit isolation type bearingless electro-magnetic doubly salient motor and suspension control method - Google Patents
Three-section type magnetic circuit isolation type bearingless electro-magnetic doubly salient motor and suspension control method Download PDFInfo
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- 238000005339 levitation Methods 0.000 claims description 76
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Abstract
The embodiment of the invention discloses a three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor and a suspension control method, and relates to the technical field of bearingless motors. The motor stator comprises a torque module stator, a suspension module stator and a magnetism isolating sleeve, wherein the single-phase torque module stator is composed of 4 torque module stator cores, the three-phase torque module stator cores are embedded into the magnetism isolating sleeve made of magnetism isolating magnetic circuits and fixed, and a torque excitation winding and an armature winding are wound on the torque module stator cores. The suspension module stator is composed of 4 suspension module stator cores, the suspension module stator cores are embedded into the magnetism isolating sleeve to be fixed, suspension excitation windings and suspension windings are wound on the suspension module stator cores, and stable suspension of the rotor can be achieved by controlling the current of the suspension windings. The motor realizes decoupling of the torque magnetic flux path and the suspension magnetic flux path, ensures suspension stability of the motor when the torque magnetic flux path is saturated, and ensures suspension precision when the torque density of the motor is improved.
Description
Technical Field
The invention relates to the technical field of bearingless motors, in particular to a three-section magnetic circuit isolation bearingless electro-magnetic doubly salient motor and a suspension control method thereof.
Background
The multi-electric aeroengine is a novel aeroengine developed along with the multi-electric aeroplane, and a built-in starter generator and a magnetic suspension bearing for supporting an engine rotor are important characteristics. The magnetic suspension bearing technology eliminates a gear transmission mechanism and a mechanical bearing, avoids mechanical abrasion and simplifies the overall structure of the engine. However, the magnetic suspension bearing occupies a larger axial space, and unbalanced magnetic tension is seriously interfered with the magnetic suspension bearing, so that the structure makes the multi-electric aeroengine have a plurality of challenges in the aspects of integration level, rotor stability and the like.
If the levitation winding is used to integrate the magnetic levitation function into the starter generator to form a bearingless starter generator, the levitation and electric/power generation integrated operation can be realized only by controlling the current of the levitation winding. Compared with a magnetic bearing starter generator, the bearingless starter generator effectively releases the axial space of the engine, and is beneficial to the development of high rotation speed and high power of the motor; secondly, the bearingless starting generator can control the current of the suspension winding to actively control the radial electromagnetic force, thereby being beneficial to the stable suspension of the rotor.
The bearing-free electro-magnetic doubly salient motor inherits the advantages of simple and reliable structure of the electro-magnetic doubly salient motor, and is suitable for high-temperature and high-speed working environments. However, since the motor torque flux path is coupled to the levitation flux path, when the excitation current is increased to increase the motor torque density, the torque flux path is saturated, which results in the levitation flux path being saturated as well, and the levitation force exerted on the rotor is affected by the motor magnetic field saturation to exhibit nonlinear characteristics. The problem that the suspension force borne by the rotor cannot be accurately controlled under the saturation condition seriously affects the control performance of the suspension control system, and hidden danger of losing precision and even unstability of suspension of the motor is caused. The problem of suspension control under the core magnetic saturation working condition is a common problem faced when the torque density of a bearingless electro-magnetic doubly salient motor and a majority of reluctance bearingless motors is improved.
Therefore, how to improve a bearingless electro-magnetic doubly salient motor, so that a levitation flux path is not affected when the torque flux path reaches magnetic saturation, and levitation accuracy is ensured when the motor torque density is improved, is a subject to be studied.
Disclosure of Invention
The embodiment of the invention provides a three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor and a levitation control method thereof, which realize stable levitation of the motor when a torque magnetic flux path reaches magnetic saturation and ensure levitation precision when the torque density of the motor is improved.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme:
in a first aspect, a three-stage magnetic circuit isolation type bearingless electro-magnetic doubly salient motor provided by an embodiment of the present invention includes: a stator core, an armature winding (2), an exciting winding, a levitation winding, a magnetism isolating sleeve (8) and a rotor core (9);
the rotor core (9) forms a rotor of the motor, and the rotor core (9) is of a salient pole structure;
the motor rotor is composed of three sections of rotors which are axially arranged in parallel in a staggered 120-degree electric angle mode, and each section of rotor corresponds to a single-phase torque module stator, so that the torque excitation winding (3) is unchanged in self-inductance in the rotor rotation process.
The stator core comprises a torque module stator core (1) and a suspension module stator core (4), and the torque module stator core (1) and the suspension module stator core (4) are of salient pole structures;
the torque module stator core (1) and the suspension module stator core (4) are embedded into the magnetism isolating sleeve (8) for fixation, the magnetism isolating sleeve (8) is made of magnetism isolating materials, and magnetic fluxes between the torque module stator core (1) and the suspension module stator core (4) are isolated from each other.
The torque module stator core (1) is of an E-shaped structure; the single-phase stator is formed by 4 torque module stator cores (1), each torque module stator core (1) is arranged at a mechanical angle of 90 degrees along the circumferential direction, the three-phase stators are axially arranged in parallel, and 12 torque module stator cores are fixed through an embedded magnetism isolating sleeve (8).
The single torque module stator core (1) is divided into three stator teeth, and an armature winding (2) and a torque excitation winding (3) are wound on the middle big tooth; the torque excitation winding (3) provides a bias magnetic field for torque magnetic flux, and the three-phase torque module stator shares the torque excitation winding (3); in each torque module stator core (1), four sets of A-phase armature coils are sequentially connected in series to form an A-phase armature winding, a first wire outlet end A+ and a second wire outlet end A-of the A-phase armature winding are connected with an external control circuit, and a connection mode of the B-phase armature winding and the C-phase armature winding is the same as that of the A-phase armature winding; the four sets of torque excitation coils are sequentially connected in series to form a torque excitation winding (3), and a first wire outlet end F1 < + > and a second wire outlet end F1 < - > of the torque excitation winding (3) are connected with an external control circuit.
The suspension module stator core (4) is of a C-shaped structure; the three-phase stator shares a suspension module stator core, each suspension module stator core (4) is arranged at a mechanical angle of 90 degrees along the circumferential direction, and the total of 4 suspension module stator cores (4) are fixed by being embedded into a magnetism isolating sleeve (8).
The single suspension module stator core (4) is divided into two stator teeth, one side of which is wound with a suspension winding, and the other side of which is wound with a suspension exciting winding (7); the suspension winding components are an X-axis suspension winding (5) and a Y-axis suspension winding (6), and the X-axis suspension winding (5) and the Y-axis suspension winding (6) are formed by connecting two sets of radially opposite suspension coils in series. The first wire outlet end X+ and the second wire outlet end X-of the X-axis suspension winding (5) are connected with an external control circuit, and the first wire outlet end Y+ and the second wire outlet end Y-of the Y-axis suspension winding (6) are connected with the external control circuit; the suspension excitation winding (7) is formed by connecting four sets of suspension excitation coils in series, and a first wire outlet end F < 2+ > and a second wire outlet end F < 2+ > of the suspension excitation winding (7) are connected with an external control circuit. In this embodiment, the exciting magnetic flux path, the torque magnetic flux path and the levitation magnetic flux path are all short magnetic paths, so that the core loss is small and the motor efficiency is high.
The X-axis suspension control circuit and the Y-axis suspension control circuit are full-bridge inverter circuits; in the X-axis suspension control circuit, a MOSFET (metal oxide semiconductor field effect transistor) switch tube Q1 is connected with a MOSFET switch tube Q2 in series, a MOSFET switch tube Q3 is connected with a MOSFET switch tube Q4 in series, drains of the MOSFET switch tube Q1 and the MOSFET switch tube Q3 are connected with a positive electrode of a direct-current voltage source US1, sources of the MOSFET switch tube Q2 and the MOSFET switch tube Q4 are connected with a negative electrode of the direct-current voltage source US1, and a first wire outlet end X+ and a second wire outlet end X-of an X-axis suspension winding (5) are respectively connected with a source electrode of the MOSFET switch tube Q1 and a source electrode of the MOSFET switch tube Q3; in the Y-axis suspension control circuit, a MOSFET (metal oxide semiconductor field effect transistor) switch tube Q5 is connected with a MOSFET switch tube Q6 in series, a MOSFET switch tube Q7 is connected with a MOSFET switch tube Q8 in series, drains of the MOSFET switch tube Q5 and the MOSFET switch tube Q7 are connected with a positive electrode of a direct-current voltage source US2, sources of the MOSFET switch tube Q6 and the MOSFET switch tube Q8 are connected with a negative electrode of the direct-current voltage source US2, and a first wire outlet end Y+ and a second wire outlet end Y-of a Y-axis suspension winding (6) are respectively connected with a source electrode of the MOSFET switch tube Q5 and a source electrode of the MOSFET switch tube Q7.
In a second aspect, a suspension control method provided by an embodiment of the present invention includes:
step 1, a data acquisition stage, comprising: detecting the radial position of a rotor of the motor through a radial displacement sensor in the X-axis direction arranged on a motor end cover to obtain the actual position of the rotor of the motor in the X-axis direction; detecting the radial position of the rotor of the motor through a radial displacement sensor in the Y-axis direction arranged on a motor end cover to obtain the actual position of the rotor of the motor in the Y-axis direction, wherein the X-axis and the Y-axis are mutually orthogonal;
step 2, a data processing stage, comprising: the current feedback value of an X-axis suspension winding (5) and the current feedback value of a Y-axis suspension winding (6) of the motor are respectively detected through a current detection unit; and obtaining a current reference value of an X-axis suspension winding (5) through an X-axis displacement adjustment link by using a preset difference value between the reference displacement of the motor in the X-axis direction and the actual displacement of the rotor in the X-axis direction;
step 3, a data analysis stage, which comprises the following steps: the preset difference value between the reference displacement of the motor in the Y-axis direction and the actual displacement of the rotor in the Y-axis direction is subjected to a Y-axis displacement adjustment link to obtain a current reference value of a Y-axis suspension winding (6);
and the difference value between the current reference value of the X-axis levitation winding (5) and the current feedback value of the X-axis levitation winding (5) is subjected to an X-axis levitation current adjusting link to obtain a duty ratio signal of an X-axis levitation control circuit; the difference value between the current reference value of the Y-axis levitation winding (6) and the current feedback value of the Y-axis levitation winding (6) is subjected to a Y-axis levitation current adjusting link to obtain a duty ratio signal of a Y-axis levitation control circuit;
step 4, controlling an execution stage, which comprises the following steps: and adjusting the current of the X-axis suspension winding (5) and the current of the Y-axis suspension winding (6) by adjusting the duty ratio of the switching tubes of the X-axis suspension control circuit and the Y-axis suspension control circuit.
The X-axis displacement adjustment link is proportional-integral-derivative (PID) control; the Y-axis displacement adjustment link is proportional-integral-derivative (PID) control; the X-axis suspension current adjusting link is proportional-integral (PI) control; the Y-axis suspension current regulation link is proportional-integral (PI) control.
The motor stator comprises a torque module stator, a suspension module stator and a magnetism isolating sleeve, wherein the single-phase torque module stator consists of 4 torque module stator cores, the three-phase torque module stator cores are embedded into the magnetism isolating sleeve made of magnetism isolating magnetic circuits and fixed, and a torque excitation winding and an armature winding are wound on the torque module stator cores. The suspension module stator is composed of 4 suspension module stator cores, the suspension module stator cores are embedded into the magnetism isolating sleeve and fixed, suspension excitation windings and suspension windings are wound on the suspension module stator cores, the suspension windings comprise X-axis suspension windings and Y-axis suspension windings, and stable suspension of the rotor can be achieved by controlling the current of the suspension windings. The motor rotor is composed of three sections of rotors which are placed at 120-degree electric angles and respectively correspond to the three-phase torque module stators. The motor realizes decoupling of the torque magnetic flux path and the suspension magnetic flux path, ensures suspension stability of the motor when the torque magnetic flux path is saturated, and ensures suspension precision when the torque density of the motor is improved. In general, the embodiment is based on the traditional bearingless electro-magnetic doubly salient motor, and the motor stator is modularized, so that a motor levitation flux path and a torque flux path are decoupled, stable levitation of the motor when the torque flux path reaches magnetic saturation is realized, and levitation precision is ensured when motor torque density is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic 3D structure diagram of a three-stage magnetic circuit isolation type bearingless electro-magnetic doubly salient motor according to an embodiment of the present invention;
fig. 2a and fig. 2b are 3D structural cross-sectional views of a three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor provided by an embodiment of the present invention, wherein fig. 2a shows a motor rotor, and fig. 2b hides the motor rotor;
fig. 3a and fig. 3b are schematic diagrams of a 3D structure of an electro-magnetic part rotor of a bearingless hybrid excitation synchronous motor according to an embodiment of the present invention;
fig. 4a and fig. 4b are schematic 3D structural diagrams of an electro-magnetic part rotor core 1 and an electro-magnetic part rotor core 2 of a bearingless hybrid excitation synchronous motor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an X-axis suspension control circuit and a Y-axis suspension control circuit of a bearingless hybrid excitation synchronous motor provided by an embodiment of the invention;
FIG. 6 is a schematic block diagram of suspension control of a bearingless hybrid excitation synchronous motor according to an embodiment of the present invention;
the respective reference numerals in the drawings denote: 1-torque module stator core, 2-armature winding, 3-torque excitation winding, 4-suspension module stator core, 5-X axis suspension winding, 6-Y axis suspension winding, 7-suspension excitation winding, 8-magnetism isolating sleeve and 9-rotor core.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and detailed description for the purpose of better understanding of the technical solution of the present invention to those skilled in the art. Embodiments of the present invention will hereinafter be described in detail, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment of the invention provides a three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor and a suspension control method thereof, wherein the structure of the three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor is shown in fig. 1-2, and in order to better show the winding structure of the motor, a motor rotor is hidden in fig. 2 b.
The motor comprises a stator core, an armature winding (2), an exciting winding, an X-axis suspension winding (5), a Y-axis suspension winding (6), a magnetism isolating sleeve (8) and a rotor core (9). The stator core comprises a torque module stator core (1) and a suspension module stator core (4); the exciting winding comprises a torque exciting winding (3) and a levitation exciting winding (7).
The rotor of the motor is composed of three sections of parallel rotors, the three sections of parallel rotors correspond to the three-phase torque module stator respectively, each section of rotor is staggered by 120 degrees in electrical angle, and the self-inductance of the torque excitation winding (3) is ensured to be unchanged when the rotor rotates. Each section of rotor is composed of a rotor core (9), and the rotor core (9) is of a salient pole structure.
The stator of the motor is composed of a stator core and a magnetism isolating sleeve (8), wherein the stator core comprises a torque module stator core (1) and a suspension module stator core (4). The torque module stator iron cores (1) are of E-shaped structures, the single-phase stator is composed of 4 torque module stator iron cores (1), each torque module stator iron core (1) is arranged in a staggered mode by 90 degrees in the circumferential direction, A, B, C three-phase stator iron cores correspond to three sections of rotors, and 12 torque module stator iron cores (1) are embedded into the magnetism isolating sleeve (8) to be fixed.
Taking the a-phase torque module stator core as an example, fig. 3a shows a winding manner of the a-phase torque module stator core.
In the embodiment, each torque module stator core (1) is divided into three stator teeth, the middle tooth is a big tooth, the teeth on two sides are small teeth, the pole arc length of the big tooth is twice of that of the small tooth, and an armature coil and an excitation coil are wound on the middle big tooth. The armature coils are connected in sequence in the winding manner shown in fig. 3a to form an a-phase armature winding. The A-phase armature winding is composed of four sets of A-phase armature coils, each set of armature coils is provided with two wiring terminals, namely a first wiring terminal and a second wiring terminal. The first wiring end of the first set of A-phase armature coil is used as a first wiring end A+ of the A-phase armature winding, the second wiring end of the first set of A-phase armature coil is connected with the first wiring end of the second set of A-phase armature coil, the second wiring end of the second set of A-phase armature coil is connected with the first wiring end of the third set of A-phase armature coil, the second wiring end of the third set of A-phase armature coil is connected with the first wiring end of the fourth set of A-phase armature coil, and the second wiring end of the fourth set of A-phase armature coil is used as a second wiring end A-of the A-phase armature winding. The first outlet terminal A+ and the second outlet terminal A-of the A-phase armature winding are connected with an external control circuit. The wiring mode of the B-phase armature winding and the C-phase armature winding is consistent with that of the A-phase armature winding, and the outlet ends of the B-phase armature winding are respectively a first outlet end B+ of the B-phase armature winding and a second outlet end B-of the B-phase armature winding; the outlet ends of the C-phase armature windings are respectively a first outlet end C+ of the C-phase armature windings and a second outlet end C-of the C-phase armature windings. The first wire outlet end B+ and the second wire outlet end B-of the B-phase armature winding are connected with an external control circuit; the first outlet terminal C+ and the second outlet terminal C-of the C-phase armature winding are connected with an external control circuit.
The middle big tooth is also wound with a torque excitation winding (3) for providing a bias magnetic field for the torque magnetic flux, the three-phase torque module stator shares the torque excitation winding (3), and the torque excitation windings are sequentially connected to form the torque excitation winding (3) according to the winding mode shown in fig. 3 a. The torque excitation winding (3) is composed of four sets of torque excitation coils, and each set of torque excitation coil is provided with two terminals, namely a first terminal and a second terminal. The first wiring end of the first set of torque excitation coil is used as a first wire outlet end F1 < + > of the torque excitation winding (3), the second wiring end of the first set of torque excitation coil is connected with the first wiring end of the second set of torque excitation coil, the second wiring end of the second set of torque excitation coil is connected with the first wiring end of the third set of torque excitation coil, the second wiring end of the third set of torque excitation coil is connected with the first wiring end of the fourth set of torque excitation coil, and the second wiring end of the fourth set of torque excitation coil is used as a second wire outlet end F1 < - > of the torque excitation winding (3). The first wire outlet end F1 < + > and the second wire outlet end F1 < - > of the torque excitation winding (3) are connected with an external control circuit, and the bias magnetic field of the torque magnetic flux path can be adjusted by adjusting the current of the torque excitation winding (3).
When the torque excitation winding (3) is supplied with positive current, as shown in fig. 4a, the torque excitation magnetic flux flows only through the single torque module stator core (1) and the corresponding rotor core (9), and the excitation magnetic flux paths between the different torque module stator cores (1) are mutually independent. Meanwhile, compared with a traditional bearingless electric excitation doubly salient motor, the motor torque excitation magnetic flux path is shorter, the core loss is smaller, and the excitation efficiency is higher.
The suspension module stator iron cores (4) are of C-shaped structures, the three-phase stators share the suspension module stator iron cores (4), the total 4 suspension module stator iron cores (4) are embedded into the magnetism isolating sleeve (8) to be fixed, and each suspension module stator iron core (4) is arranged in a staggered mode by a mechanical angle of 90 degrees. The winding pattern of the levitation module stator core (4) is shown in fig. 3 b.
In the embodiment, each suspension module stator core (4) is divided into two stator teeth, the pole arc lengths of the two side teeth are the same, a suspension coil is wound on one side tooth, and a suspension excitation coil is wound on the other side tooth. The X-axis suspension coils are sequentially connected to form an X-axis suspension winding (5) according to the winding mode shown in fig. 3 b. The X-axis suspension winding (5) is composed of two sets of X-axis suspension coils, the two sets of X-axis suspension coils are opposite in radial direction, and each set of X-axis suspension coil is provided with two wiring terminals, namely a first wiring terminal and a second wiring terminal. The first wiring end of the first set of X-axis suspension coil is used as a first wire outlet end X+ of the X-axis suspension winding (5), the second wiring end of the first set of X-axis suspension coil is connected with the first wiring end of the second set of X-axis suspension coil, and the second wiring end of the second set of X-axis suspension coil is used as a second wire outlet end X-of the X-axis suspension winding (5). The first wire outlet end X+ and the second wire outlet end X-of the X-axis suspension winding (5) are connected with an external control circuit.
The Y-axis suspension coils are sequentially connected to form a Y-axis suspension winding (6) according to the winding mode shown in fig. 3 b. The Y-axis suspension winding (6) is composed of two sets of Y-axis suspension coils, the two sets of Y-axis suspension coils are opposite in radial direction, and each set of Y-axis suspension coil is provided with two wiring terminals, namely a first wiring terminal and a second wiring terminal. The first wiring end of the first set of Y-axis suspension coil is used as a first wire outlet end Y+ of the Y-axis suspension winding (6), the second wiring end of the first set of Y-axis suspension coil is connected with the first wiring end of the second set of Y-axis suspension coil, and the second wiring end of the second set of Y-axis suspension coil is used as a second wire outlet end Y-of the Y-axis suspension winding (6). The first wire outlet end Y+ and the second wire outlet end Y-of the Y-axis suspension winding (6) are connected with an external control circuit.
The structure of the X-axis levitation control circuit is shown in fig. 5. The X-axis suspension control circuit is a full-bridge inverter circuit, specifically, a MOSFET switch tube Q1 and a MOSFET switch tube Q2 in the X-axis suspension control circuit are connected in series, a MOSFET switch tube Q3 and a MOSFET switch tube Q4 are connected in series, drains of the MOSFET switch tube Q1 and the MOSFET switch tube Q3 are connected with a positive electrode of a direct-current voltage source US1, sources of the MOSFET switch tube Q2 and the MOSFET switch tube Q4 are connected with a negative electrode of the direct-current voltage source US1, and a first wire outlet end X+ and a second wire outlet end X-of an X-axis suspension winding (5) are respectively connected with the source of the MOSFET switch tube Q1 and the source of the MOSFET switch tube Q3.
The structure of the Y-axis levitation control circuit is shown in fig. 5. The Y-axis suspension control circuit is a full-bridge inverter circuit, specifically, a MOSFET (metal oxide semiconductor field effect transistor) switch tube Q5 and a MOSFET switch tube Q6 in the Y-axis suspension control circuit are connected in series, a MOSFET switch tube Q7 and a MOSFET switch tube Q8 are connected in series, drains of the MOSFET switch tube Q5 and the MOSFET switch tube Q7 are connected with a positive electrode of a direct-current voltage source US2, sources of the MOSFET switch tube Q6 and the MOSFET switch tube Q8 are connected with a negative electrode of the direct-current voltage source US2, and a first wire outlet end Y+ and a second wire outlet end Y-of a Y-axis suspension winding (6) are respectively connected with the source of the MOSFET switch tube Q5 and the source of the MOSFET switch tube Q7.
The suspension excitation coils wound on the stator teeth on the other side are sequentially connected to form a suspension excitation winding (7) according to the winding mode shown in fig. 3 b. The suspension exciting winding (7) is composed of four sets of suspension exciting coils, and each set of suspension exciting coil is provided with two wiring terminals, namely a first wiring terminal and a second wiring terminal. The first wiring end of the first set of suspension exciting coil is used as a first wire outlet end F2+ of the suspension exciting winding (7), the second wiring end of the first set of suspension exciting coil is connected with the first wiring end of the second set of suspension exciting coil, the second wiring end of the second set of suspension exciting coil is connected with the first wiring end of the third set of suspension exciting coil, the second wiring end of the third set of suspension exciting coil is connected with the first wiring end of the fourth set of suspension exciting coil, and the second wiring end of the fourth set of suspension exciting coil is used as a second wire outlet end F2-of the suspension exciting winding (7). The first wire outlet end F < 2+ > and the second wire outlet end F < 2 > -of the levitation excitation winding (7) are connected with external control current, and the bias magnetic field of the levitation magnetic flux path can be adjusted by adjusting the current of the levitation excitation winding (7).
When the levitation excitation winding (7) is supplied with positive current, the levitation excitation magnetic flux flows to the single levitation module stator core (4) and the corresponding rotor core (9) as shown in fig. 4b, and the excitation magnetic flux paths between the different levitation module stator cores (4) are independent. Meanwhile, compared with a traditional bearingless electro-magnetic doubly salient motor, the motor has the advantages of short levitation excitation magnetic flux path, small core loss and high excitation efficiency.
The technical problem solved by the embodiment of the invention is mainly that a suspension magnetic flux path of a traditional bearingless electro-magnetic doubly salient motor is coupled with a torque magnetic flux path, the suspension magnetic flux path is saturated due to the fact that the suspension magnetic flux path is also saturated due to the fact that the torque magnetic flux path is saturated, suspension control difficulty is high under the core magnetic saturation working condition, suspension precision cannot be guaranteed when the torque density of the motor is improved, and the three-section type magnetic circuit isolation bearingless electro-magnetic doubly salient motor with simple suspension control, reliable operation, stable suspension and high torque density and the suspension control method thereof are provided. Compared with the prior art, the scheme provided by the embodiment has at least the following advantages:
the three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor realizes decoupling of a levitation flux path and a torque flux path, the levitation flux path is not affected when the torque flux path reaches magnetic saturation, and levitation precision is ensured when the torque density of the motor is improved.
The three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor has the advantages that the exciting magnetic flux path, the levitation magnetic flux path and the torque magnetic flux path are all short magnetic circuits, the core loss of the motor is small, and the efficiency is high.
The three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor is provided with the torque module stator iron cores (1) which are circumferentially spaced at a mechanical angle of 90 degrees, and the torque magnetic fluxes are radially symmetrical, so that the influence of unilateral magnetic pulling force is eliminated, and the suspension stability is improved.
The three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor inherits the advantages of the traditional bearingless electro-magnetic doubly salient motor, has a simple and reliable structure, and is suitable for a high-temperature and high-speed working environment.
Based on the structure of the three-section bearingless magnetic circuit isolation type bearingless electro-magnetic doubly salient motor, the embodiment also provides a suspension control method of the motor, and a specific suspension control principle block diagram of the motor is shown in fig. 6.
In this embodiment, the radial position of the rotor of the motor is detected by a radial displacement sensor mounted on the motor end cover in the X-axis direction, so as to obtain the actual displacement Δx of the rotor in the X-axis direction. And detecting the radial position of the rotor of the motor through a radial displacement sensor in the Y-axis direction arranged on the motor end cover to obtain the actual displacement delta Y of the rotor in the Y-axis direction, wherein the X-axis and the Y-axis are mutually orthogonal.
And detecting the current feedback value iX of the X-axis levitation winding (5) and the current feedback value iY of the Y-axis levitation winding (6) of the motor respectively through a current detection unit.
And obtaining a current reference value iX of the X-axis suspension winding (5) through an X-axis displacement adjustment link by using a preset difference value between the reference displacement X of the motor in the X-axis direction and the actual displacement DeltaX of the rotor in the X-axis direction.
And carrying out a Y-axis displacement adjustment link on a preset difference value between the reference displacement Y of the motor in the Y-axis direction and the actual displacement delta Y of the rotor in the Y-axis direction to obtain a current reference value iY of the Y-axis suspension winding (6).
And (3) carrying out an X-axis levitation current adjusting link on the difference value between the current reference value iX of the X-axis levitation winding (5) and the current feedback value iX of the X-axis levitation winding (5) to obtain a duty ratio signal D1 of the X-axis levitation control circuit.
And (3) carrying out a Y-axis levitation current adjusting link on the difference value between the current reference value iY of the Y-axis levitation winding (6) and the current feedback value iY of the Y-axis levitation winding (6) to obtain a duty ratio signal D2 of the Y-axis levitation control circuit.
And adjusting the current of the X-axis suspension winding (5) and the current of the Y-axis suspension winding (6) by adjusting the duty ratio of the switching tubes of the X-axis suspension control circuit and the Y-axis suspension control circuit. Therefore, the current of the X-axis levitation winding (5) tracks the reference value, and the current of the Y-axis levitation winding (6) tracks the reference value, so that the purpose of controlling the radial levitation force is achieved.
Wherein the X-axis displacement adjustment link is proportional-integral-derivative PID control, and the proportional-integral-derivative (PID) control. The Y-axis displacement adjustment link is proportional-integral-derivative PID control and is proportional-integral-derivative (PID) control. The X-axis suspension current adjusting link is proportional-integral (PI) control. The Y-axis suspension current regulation link is proportional-integral (PI) control.
The embodiment of the invention designs a three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor and a suspension control method thereof, relates to the technical field of bearingless motors, and provides a three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor scheme which can realize decoupling of a suspension magnetic flux path and a torque magnetic flux path, is simple in suspension control, stable in rotor suspension and small in core loss. The motor stator comprises a torque module stator, a suspension module stator and a magnetism isolating sleeve, wherein the single-phase torque module stator is composed of 4 torque module stator cores, the three-phase torque module stator cores are embedded into the magnetism isolating sleeve made of magnetism isolating magnetic circuits and fixed, and a torque excitation winding and an armature winding are wound on the torque module stator cores. The suspension module stator is composed of 4 suspension module stator cores, the suspension module stator cores are embedded into the magnetism isolating sleeve and fixed, suspension excitation windings and suspension windings are wound on the suspension module stator cores, the suspension windings comprise X-axis suspension windings and Y-axis suspension windings, and stable suspension of the rotor can be achieved by controlling the current of the suspension windings. The motor rotor is composed of three sections of rotors which are placed at 120-degree electric angles and respectively correspond to the three-phase torque module stators. The motor realizes decoupling of the torque magnetic flux path and the levitation magnetic flux path, ensures levitation stability of the motor when the torque magnetic flux path reaches saturation, ensures levitation precision when the torque density of the motor is improved, and simultaneously, the motor excitation magnetic flux path, the torque magnetic flux path and the levitation magnetic flux path are all short magnetic circuits, so that the motor core loss is effectively reduced, and the motor efficiency is improved.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a syllogic magnetic circuit isolation type bearingless electro-magnetic doubly salient motor which characterized in that includes: a stator core, an armature winding (2), an exciting winding, a levitation winding, a magnetism isolating sleeve (8) and a rotor core (9);
the stator core comprises a torque module stator core (1) and a suspension module stator core (4), and the torque module stator core (1) and the suspension module stator core (4) are of salient pole structures;
the torque module stator core (1) and the suspension module stator core (4) are embedded into the magnetism isolating sleeve (8) for fixation, the magnetism isolating sleeve (8) is made of magnetism isolating materials, and magnetic fluxes between the torque module stator core (1) and the suspension module stator core (4) are isolated from each other;
the single torque module stator core (1) is divided into three stator teeth, and an armature winding (2) and a torque excitation winding (3) are wound on the middle big tooth;
the torque excitation winding (3) provides a bias magnetic field for torque magnetic flux, and the three-phase torque module stator shares the torque excitation winding (3);
the exciting winding comprises a torque exciting winding (3) and a levitation exciting winding (7);
the suspension winding comprises an X-axis suspension winding (5) and a Y-axis suspension winding (6);
the rotor core (9) forms a rotor of the motor and the rotor core (9) has a salient pole structure.
2. The segmented magnetic circuit isolation type bearingless electro-magnetic doubly salient motor according to claim 1, wherein the torque module stator core (1) is of an E-shaped structure;
the single-phase stator is formed by 4 torque module stator cores (1), each torque module stator core (1) is arranged at a mechanical angle of 90 degrees along the circumferential direction, the three-phase stators are axially arranged in parallel, and 12 torque module stator cores are fixed through an embedded magnetism isolating sleeve (8).
3. The segmented magnetic circuit isolation type bearingless electro-magnetic doubly salient motor according to claim 1, wherein the levitation module stator core (4) is of a C-shaped structure;
the three-phase stator shares a suspension module stator core, each suspension module stator core (4) is arranged at a mechanical angle of 90 degrees along the circumferential direction, and the total of 4 suspension module stator cores (4) are fixed by being embedded into a magnetism isolating sleeve (8).
4. The segmented magnetic circuit isolated type bearingless electro-magnetic doubly salient motor as claimed in claim 1, wherein the motor rotor is composed of three sections of rotors which are axially juxtaposed at 120-degree electric angles in a staggered manner, and each section of rotor corresponds to a single-phase torque module stator, so that the torque exciting winding (3) is free from self inductance change in the rotor rotation process.
5. The segmented magnetic circuit isolation type bearingless electro-magnetic doubly salient motor according to claim 1, wherein a single torque module stator core (1) is divided into three stator teeth, an armature winding (2) and a torque excitation winding (3) are wound on the middle big tooth, four sets of A-phase armature coils are sequentially connected in series to form an A-phase armature winding, a first wire outlet end A+ and a second wire outlet end A-of the A-phase armature winding are connected with an external control circuit, and a connection mode of the B-phase armature winding and the C-phase armature winding is the same as that of the A-phase armature winding;
the four sets of torque excitation coils are sequentially connected in series to form a torque excitation winding (3), and a first wire outlet end F1 < + > and a second wire outlet end F1 < - > of the torque excitation winding (3) are connected with an external control circuit.
6. A segment magnetic circuit isolation type bearingless electro-magnetic doubly salient motor as claimed in claim 3, wherein the single levitation module stator core (4) is divided into two stator teeth, one side of which is wound with a levitation winding, and the other side of which is wound with a levitation exciting winding (7);
the suspension winding components are an X-axis suspension winding (5) and a Y-axis suspension winding (6), and the X-axis suspension winding (5) and the Y-axis suspension winding (6) are formed by connecting two sets of radially opposite suspension coils in series.
7. The segmented magnetic circuit isolated type bearingless electro-magnetic doubly salient motor according to claim 6, wherein the first wire outlet end X+ and the second wire outlet end X-of the X-axis suspension winding (5) are connected with an external control circuit, and the first wire outlet end Y+ and the second wire outlet end Y-of the Y-axis suspension winding (6) are connected with the external control circuit;
the suspension excitation winding (7) is formed by connecting four sets of suspension excitation coils in series, and a first wire outlet end F < 2+ > and a second wire outlet end F < 2+ > of the suspension excitation winding (7) are connected with an external control circuit.
8. The segmented magnetic circuit isolated bearingless electro-magnetic doubly salient motor of claim 1, wherein the X-axis levitation control circuit and the Y-axis levitation control circuit are full-bridge inverter circuits;
in the X-axis suspension control circuit, a MOSFET (metal oxide semiconductor field effect transistor) switch tube Q1 is connected with a MOSFET switch tube Q2 in series, a MOSFET switch tube Q3 is connected with a MOSFET switch tube Q4 in series, drains of the MOSFET switch tube Q1 and the MOSFET switch tube Q3 are connected with a positive electrode of a direct-current voltage source US1, sources of the MOSFET switch tube Q2 and the MOSFET switch tube Q4 are connected with a negative electrode of the direct-current voltage source US1, and a first wire outlet end X+ and a second wire outlet end X-of an X-axis suspension winding (5) are respectively connected with a source electrode of the MOSFET switch tube Q1 and a source electrode of the MOSFET switch tube Q3;
in the Y-axis suspension control circuit, a MOSFET (metal oxide semiconductor field effect transistor) switch tube Q5 is connected with a MOSFET switch tube Q6 in series, a MOSFET switch tube Q7 is connected with a MOSFET switch tube Q8 in series, drains of the MOSFET switch tube Q5 and the MOSFET switch tube Q7 are connected with a positive electrode of a direct-current voltage source US2, sources of the MOSFET switch tube Q6 and the MOSFET switch tube Q8 are connected with a negative electrode of the direct-current voltage source US2, and a first wire outlet end Y+ and a second wire outlet end Y-of a Y-axis suspension winding (6) are respectively connected with a source electrode of the MOSFET switch tube Q5 and a source electrode of the MOSFET switch tube Q7.
9. The suspension control method is used for a three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor, and the three-section magnetic circuit isolation type bearingless electro-magnetic doubly salient motor comprises the following steps: a stator core, an armature winding (2), an exciting winding, a levitation winding, a magnetism isolating sleeve (8) and a rotor core (9); the stator core comprises a torque module stator core (1) and a suspension module stator core (4), and the torque module stator core (1) and the suspension module stator core (4) are of salient pole structures;
the torque module stator core (1) and the suspension module stator core (4) are embedded into the magnetism isolating sleeve (8) for fixation, the magnetism isolating sleeve (8) is made of magnetism isolating materials, and magnetic fluxes between the torque module stator core (1) and the suspension module stator core (4) are isolated from each other; the single torque module stator core (1) is divided into three stator teeth, and an armature winding (2) and a torque excitation winding (3) are wound on the middle big tooth;
the torque excitation winding (3) provides a bias magnetic field for torque magnetic flux, and the three-phase torque module stator shares the torque excitation winding (3); the exciting winding comprises a torque exciting winding (3) and a levitation exciting winding (7); the suspension winding comprises an X-axis suspension winding (5) and a Y-axis suspension winding (6); the rotor iron core (9) forms a rotor of the motor, and the rotor iron core (9) is of a salient pole structure, wherein the X-axis suspension control circuit and the Y-axis suspension control circuit are all full-bridge inverter circuits;
the suspension control method comprises the following steps:
step 1, a data acquisition stage, comprising: detecting the radial position of a rotor of the motor through a radial displacement sensor in the X-axis direction arranged on a motor end cover to obtain the actual position of the rotor of the motor in the X-axis direction; detecting the radial position of the rotor of the motor through a radial displacement sensor in the Y-axis direction arranged on a motor end cover to obtain the actual position of the rotor of the motor in the Y-axis direction, wherein the X-axis and the Y-axis are mutually orthogonal;
step 2, a data processing stage, comprising: the current feedback value of an X-axis suspension winding (5) and the current feedback value of a Y-axis suspension winding (6) of the motor are respectively detected through a current detection unit; and obtaining a current reference value of an X-axis suspension winding (5) through an X-axis displacement adjustment link by using a preset difference value between the reference displacement of the motor in the X-axis direction and the actual displacement of the rotor in the X-axis direction;
step 3, a data analysis stage, which comprises the following steps: the preset difference value between the reference displacement of the motor in the Y-axis direction and the actual displacement of the rotor in the Y-axis direction is subjected to a Y-axis displacement adjustment link to obtain a current reference value of a Y-axis suspension winding (6);
and the difference value between the current reference value of the X-axis levitation winding (5) and the current feedback value of the X-axis levitation winding (5) is subjected to an X-axis levitation current adjusting link to obtain a duty ratio signal of an X-axis levitation control circuit; the difference value between the current reference value of the Y-axis levitation winding (6) and the current feedback value of the Y-axis levitation winding (6) is subjected to a Y-axis levitation current adjusting link to obtain a duty ratio signal of a Y-axis levitation control circuit;
step 4, controlling an execution stage, which comprises the following steps: and adjusting the current of the X-axis suspension winding (5) and the current of the Y-axis suspension winding (6) by adjusting the duty ratio of the switching tubes of the X-axis suspension control circuit and the Y-axis suspension control circuit.
10. The suspension control method according to claim 9, characterized in that: the X-axis displacement adjustment link is proportional-integral-derivative (PID) control;
the Y-axis displacement adjustment link is proportional-integral-derivative (PID) control;
the X-axis suspension current adjusting link is proportional-integral (PI) control;
the Y-axis suspension current regulation link is proportional-integral (PI) control.
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