CN106849565A - A kind of hybrid magnetic bearing double winding switched reluctance machines and control method - Google Patents
A kind of hybrid magnetic bearing double winding switched reluctance machines and control method Download PDFInfo
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- CN106849565A CN106849565A CN201611050450.7A CN201611050450A CN106849565A CN 106849565 A CN106849565 A CN 106849565A CN 201611050450 A CN201611050450 A CN 201611050450A CN 106849565 A CN106849565 A CN 106849565A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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Abstract
The invention discloses a kind of hybrid magnetic bearing double winding switched reluctance machines and control method, the motor is made up of a switched reluctance machines and two radial direction magnetic bearings；Magnetic bearing stator is to be wound with 1 suspending windings in 4 E type structure compositions, and each E structures only center tooth；1 biasing winding and 1 reluctance motor winding are wound with switched reluctance machines each teeth；Biasing winding is across two magnetic bearing stators and Stators for Switched Reluctance Motors, and reluctance motor winding only winding is on reluctance motor stator, and two windings in series constitute 1 torque winding string together, can form 3 phase torque windings；Direct torque is identical with Conventional switched reluctance motor control mode；The both direction suspending power of each magnetic bearing is only relevant with 3 phase torque winding currents and two levitating currents, and torque can uneoupled control with suspending power.Motor of the present invention and control method integrated level are high, and control variables is few, and the control that suspends is simple, Suspension power converter low cost, and torque and suspending power can Decoupling designs.
Description
Technical field
The present invention relates to a kind of hybrid magnetic bearing double winding switched reluctance machines and control method, belong to the magnetcisuspension of electric machinery
Floation switch reluctance motor and its control technology field.
Background technology
Magnetic suspension switched reluctance motor, not only have the advantages that magnetic bearing without friction, it is unlubricated, also inherit switching magnetic-resistance
The features such as high-speed adaptability and satisfaction harshness working environment of motor, have in occasions such as Aero-Space, flywheel energy storage and military affairs
Unique advantage.
Generally by two kinds of ways of realization, one is bearing-free motor structure to magnetic suspension switched reluctance motor, and two is magnetic bearing electricity
Machine structure.Bearing-free switch reluctance motor is to integrate the function of magnetic bearing and motor, while realizing rotation and radial direction
Suspend, this will certainly cause the torque performance of motor to be given a discount button, it is impossible to give full play to.And magnetic bearing switch reluctance motor is
A magnetic suspension system is together to form by magnetic bearing and switched reluctance machines, is suspended and is controlled and rotate control independently, integrated level
It is not high.Therefore, the effective integration between magnetic bearing system and switched reluctance motor system, can not only improve the integrated of magnetic suspension system
Degree, additionally aids lifting energy converting between mechanical efficiency.
The content of the invention
The present invention proposes a kind of hybrid magnetic bearing double winding switched reluctance machines and control to overcome the deficiencies in the prior art
Method processed.The motor is that a kind of simple control that suspends, suspension system low cost and biasing winding and reluctance motor winding are used
The four-degree-of-freedom magnetic suspension switched reluctance motor of formula is encouraged in series connection altogether；The control method can independent control torque winding current and outstanding
Floating winding current, mutually decouples between rotation and suspension system, affects one another weak；Four-degree-of-freedom suspends and controls similar magnetic suspension shaft
Hold, using permanent switch control strategy, and only need to control four direction suspending windings electric current, you can the four direction needed for producing
Suspending power, control variables is few.
In order to solve the above problems, the technical solution adopted by the present invention is：
A kind of hybrid magnetic bearing double winding switched reluctance machines, the hybrid magnetic bearing double winding switched reluctance machines include
Radial direction magnetic bearing I, switched reluctance machines and radial direction magnetic bearing II；The radial direction magnetic bearing I and radial direction magnetic bearing II are respectively arranged
In the both sides of switched reluctance machines；
The radial direction magnetic bearing I is made up of magnetic bearing stator I, magnetic bearing rotor I, biasing winding and suspending windings I；
The radial direction magnetic bearing II is made up of magnetic bearing stator II, magnetic bearing rotor II, biasing winding and suspending windings II；
The switched reluctance machines are by reluctance motor stator, magnetic resistance motor rotor, biasing winding and reluctance motor winding structure
Into；
The magnetic bearing rotor I is arranged in magnetic bearing stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator,
Magnetic bearing rotor II is arranged in magnetic bearing stator II；II set of the magnetic bearing rotor I, magnetic resistance motor rotor and magnetic bearing rotor
In rotating shaft；The magnetic bearing stator I, reluctance motor stator and the arranged in series of magnetic bearing stator II, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, the number of teeth 12 of reluctance motor stator, magnetic resistance
The number of teeth of rotor is 8, and the switched reluctance machines are three-phase duty；
The magnetic bearing stator I is made up of 4 E types structures I, and 4 E types structures I are uniformly distributed, between each E types structure I
90 ° of difference；The number of teeth of each E types structure I is 3, and 30 ° are differed between tooth and tooth；Each tooth of E types structure I and magnetic resistance electricity
Machine stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor I is cylindrical structure；
The magnetic bearing stator II is made up of 4 E types structures II, and 4 E types structures II are uniformly distributed, each E types structure II
Between differ 90 °；The number of teeth of each E types structure II is 3, and 30 ° are differed between tooth and tooth；Each tooth of E types structure II with it is described
Reluctance motor stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor II is cylindrical structure；
1 biasing winding and 1 reluctance motor winding are wound with each tooth of the reluctance motor stator；
Be wound with each stator tooth of the magnetic bearing stator I 1 biasing winding, and each E types structure I intermediate stator
1 suspending windings I is also wound with tooth；
1 biasing winding is wound with each stator tooth of the magnetic bearing stator II, and the centre of each E types structure II is determined
1 suspending windings II is also wound with sub- tooth；
It is described biasing winding canoe be：Each biasing winding is determined across the magnetic bearing on same circumferential position
1 stator tooth of 1 stator tooth, 1 reluctance motor stator tooth and magnetic bearing stator II of son I, and be wrapped on three, altogether
12；
Each biasing winding and the reluctance motor windings in series on the reluctance motor stator tooth on same circumferential position,
Constitute 1 torque winding string, totally 12；The every four torque winding string series connection for being separated by 90 °, constitute a phase torque winding, you can
Form three-phase torque winding；
The connected mode of suspending windings I of the magnetic bearing stator I is：2 suspending windings I of E types structure I in the horizontal direction
Series connection, constitutes 1 horizontal direction suspending windings I；Connected in 2 suspending windings I of vertical direction E types structure I, constitute 1 and erect
Nogata is to suspending windings I；
The connected mode of suspending windings II of the magnetic bearing stator II is：In the horizontal direction 2 of E types structure II suspend around
Group II is connected, and constitutes 1 horizontal direction suspending windings II；Connected in 2 suspending windings II of vertical direction E types structure II, structure
Into 1 vertical direction suspending windings II；
The hybrid magnetic bearing double winding switched reluctance machines include a switching magnetic-resistance reluctance motor and two radial direction magnetic
Bearing, wherein switched reluctance machines produce rotating torques, and two radial direction magnetic bearings produce 4 radial suspension forces, to realize rotor
The suspension operation of four direction；The machine winding is made up of 3 phase torque windings and 4 suspending windings, wherein the phase of independent control 3
Torque winding current, to adjust torque, and produces biasing magnetic flux；4 suspending windings electric currents of independent control, realize that four-degree-of-freedom hangs
Floating regulation；The control method of the hybrid magnetic bearing double winding switched reluctance machines, it is comprised the following steps that：
Step A, obtains given torque winding current, turn-on angle and shut-off angle；Comprise the following steps that：
Step A-1, gathers the real-time rotating speed of rotor, obtains rotor velocity ω；
Step A-2, by the rotor velocity ω and reference angular velocities ω for setting*Subtract each other, obtain rotation speed difference deltan ω；
Step A-3, as ω≤ω0When, ω0It is critical speed setting value, it is determined by motor actual condition；The rotating speed
Difference Δ ω, passing ratio integral controller obtains torque winding current reference value im *；Turn-on angle θonWith shut-off angle θoffKeep not
Become, θonAnd θoffInitial value all determined by electric machine structure form；
Step A-4, works as ω>ω0When, the rotation speed difference deltan ω, passing ratio integral controller obtains turn-on angle θonAnd pass
Angle of rupture θoff, torque winding current do not control；
Step B, obtains the given suspending power of x-axis and y-axis direction of radial direction magnetic bearing I；It is comprised the following steps that：
Step B-1, obtains the x-axis of radial rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein, x-axis is level
Direction, y-axis is vertical direction；
Step B-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively
To x-axis direction and the real-time displacement signal difference Δ α in y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1Through
Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of radial direction magnetic bearing I is obtainedWith y-axis direction suspending power
Step C, obtains the given suspending power of x-axis and y-axis direction of radial direction magnetic bearing II；It is comprised the following steps that：
Step C-1, obtains the x-axis of radial rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step C-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively
To x-axis direction and the real-time displacement signal difference Δ α in y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2Through
Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of radial direction magnetic bearing II is obtainedWith y-axis direction suspending power
Step D, adjusts suspending power, comprises the following steps that：
Step D-1, the phase of collection 3 winding current of torque in real time, according to the suspending powerWithAnd computing formulaWith
Resolving obtains the x directions suspending windings current reference value of radial direction magnetic bearing IWith y-axis direction suspending windings current reference value
Wherein, kf1、kf2It is suspension force coefficient,μ0It is space permeability, l is for radially
The axial length of magnetic bearing, r is the radius of magnetic bearing rotor, αsIt is the polar arc angle of radial direction magnetic bearing E type structure stators, δ is footpath
To the unilateral gas length of magnetic bearing, Nb、NsThe number of turn of winding and radial suspension winding, i are biased respectively1、i2And i3Respectively three
Phase torque winding current；
Step D-2, according to the suspending powerWithAnd computing formula
WithResolving obtains the x directions suspending windings of radial direction magnetic bearing II
Current reference valueWith y-axis direction suspending windings current reference value
Step D-3, using Current cut control method, with the x-axis direction suspending windings actual current i of radial direction magnetic bearing Is1
The outstanding winding current reference value of the tracking directionWith the actual current i of y-axis direction suspending windingss2Tracking direction suspending windings
Current reference value
With the x-axis direction suspending windings actual current i of radial direction magnetic bearing IIs3The outstanding winding current reference value of the tracking directionWith the actual current i of y-axis direction suspending windingss4Tracking direction suspending windings current reference value
Step E, adjusts torque；Comprise the following steps that：
Step E-1, as ω≤ω0When, using Current cut control method, with the actual current i of torque windingmTracking turns
Square winding current reference value im *, and then real-time regulation torque winding current im, and then reach the purpose of regulation torque；
Step E-2, works as ω>ω0When, using Angle-domain imaging method, regulation turn-on angle θonWith shut-off angle θoffTake
Value, so that real-time regulation torque.
Beneficial effects of the present invention：The present invention proposes a kind of hybrid magnetic bearing double winding switched reluctance machines and its control
Method, using technical scheme, can reach following technique effect：
(1) four-degree-of-freedom suspension operation, suspending power and torque decoupler are capable of achieving, high speed suspendability is good；
(2) by the way of torque winding and the biasing common excitation of windings in series, current utilization rate is high；
(3) magnetic flux that three-phase torque winding is produced only need to control four suspending windings electric currents as biasing magnetic flux, it is not necessary to
Torque winding current is controlled for suspension operation, suspending power needed for four direction just can be produced, control variables is few, suspend control letter
Single, suspension system power inverter cost is small；
(4) direct torque is identical with switched reluctance machines, and control is simple, can abundant excitation, torque-output characteristics are good,
And high-speed adaptability is strong；
(5) each phase suspension magnetic circuit is separated, and axially and radially suspend magnetic path isolation, and torque magnetic circuit and suspension magnetic circuit also every
From flux coupled is weak；
(6) facility that the double-winding structure of switched reluctance machines is provided for biasing winding and reluctance motor Winding Design, can
Realize the decoupling optimization design of the two.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of hybrid magnetic bearing double winding switched reluctance machines of the present invention.
Fig. 2 is the magnetic flux distribution schematic diagram that A phase torque windings are produced in reluctance motor part in the embodiment of the present invention 1.
Fig. 3 is the flux distribution of radial direction magnetic bearing I in the embodiment of the present invention 1.
Fig. 4 is the system block diagram of the control method of hybrid magnetic bearing double winding switched reluctance machines of the present invention.
Fig. 5 be hybrid magnetic bearing double winding switched reluctance machines of the present invention control method in suspending windings Current calculation side
Method block diagram.
Description of reference numerals：In Fig. 1 to Fig. 5,1 is reluctance motor stator, and 2 is magnetic resistance motor rotor, 3 be reluctance motor around
Group, 4 is magnetic bearing stator, and 5 is magnetic bearing rotor, and 6 is suspending windings, and 7 is biasing winding, and 8 is rotating shaft, and 9 is 12/8 pole switch
Reluctance motor, 10 is radial direction magnetic bearing I, and 11 is radial direction magnetic bearing II, and 12,13,14 are being respectively x, y, z direction of principal axis reference axis just
Direction, 15 is the magnetic flux that switched reluctance machines A phase windings are produced, and 16 is that air gap 1,17 is that air gap 2,18 is that air gap 3,19 is air gap
4,20 is the biasing magnetic fluxs that three-phase torque winding is produced in the radial direction magnetic bearing I, and 21 is suspending windings I in radial direction magnetic bearing I
The magnetic flux of generation.
Specific embodiment
Below in conjunction with the accompanying drawings, to a kind of hybrid magnetic bearing double winding switched reluctance machines of the invention and the technology of control method
Scheme is described in detail：
As shown in figure 1, be the three dimensional structure diagram of hybrid magnetic bearing double winding switched reluctance machines of the present invention, wherein, 1
It is reluctance motor stator, 2 is magnetic resistance motor rotor, and 3 is reluctance motor winding, and 4 is magnetic bearing stator, and 5 is magnetic bearing rotor, 6
It is suspending windings, 7 is biasing winding, and 8 is rotating shaft, and 9 is 12/8 pole switching reluctance motor, and 10 is radial direction magnetic bearing I, and 11 is radially
Magnetic bearing II, 12,13,14 is respectively the positive direction of x, y, z direction of principal axis reference axis.
The hybrid magnetic bearing double winding switched reluctance machines, including radial direction magnetic bearing I, switched reluctance machines and radial direction magnetic
Bearing II；The radial direction magnetic bearing I and radial direction magnetic bearing II are arranged in the both sides of switched reluctance machines；
The radial direction magnetic bearing I is made up of magnetic bearing stator I, magnetic bearing rotor I, biasing winding and suspending windings I；
The radial direction magnetic bearing II is made up of magnetic bearing stator II, magnetic bearing rotor II, biasing winding and suspending windings II；
The switched reluctance machines are by reluctance motor stator, magnetic resistance motor rotor, biasing winding and reluctance motor winding structure
Into；
The magnetic bearing rotor I is arranged in magnetic bearing stator I, and magnetic resistance motor rotor is arranged in reluctance motor stator,
Magnetic bearing rotor II is arranged in magnetic bearing stator II；II set of the magnetic bearing rotor I, magnetic resistance motor rotor and magnetic bearing rotor
In rotating shaft；The magnetic bearing stator I, reluctance motor stator and the arranged in series of magnetic bearing stator II, and between there is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, the number of teeth 12 of reluctance motor stator, magnetic resistance
The number of teeth of rotor is 8, and the switched reluctance machines are three-phase duty；
The magnetic bearing stator I is made up of 4 E types structures I, and 4 E types structures I are uniformly distributed, between each E types structure I
90 ° of difference；The number of teeth of each E types structure I is 3, and 30 ° are differed between tooth and tooth；Each tooth of E types structure I and magnetic resistance electricity
Machine stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor I is cylindrical structure；
The magnetic bearing stator II is made up of 4 E types structures II, and 4 E types structures II are uniformly distributed, each E types structure II
Between differ 90 °；The number of teeth of each E types structure II is 3, and 30 ° are differed between tooth and tooth；Each tooth of E types structure II with it is described
Reluctance motor stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor II is cylindrical structure；
1 biasing winding and 1 reluctance motor winding are wound with each tooth of the reluctance motor stator；
Be wound with each stator tooth of the magnetic bearing stator I 1 biasing winding, and each E types structure I intermediate stator
1 suspending windings I is also wound with tooth；
1 biasing winding is wound with each stator tooth of the magnetic bearing stator II, and the centre of each E types structure II is determined
1 suspending windings II is also wound with sub- tooth；
It is described biasing winding canoe be：Each biasing winding is determined across the magnetic bearing on same circumferential position
1 stator tooth of 1 stator tooth, 1 reluctance motor stator tooth and magnetic bearing stator II of son I, and be wrapped on three, altogether
12；
Each biasing winding and the reluctance motor windings in series on the reluctance motor stator tooth on same circumferential position,
Constitute 1 torque winding string, totally 12；The every four torque winding string series connection for being separated by 90 °, constitute a phase torque winding, you can
Form three-phase torque winding；
The connected mode of suspending windings I of the magnetic bearing stator I is：2 suspending windings I of E types structure I in the horizontal direction
Series connection, constitutes 1 horizontal direction suspending windings I；Connected in 2 suspending windings I of vertical direction E types structure I, constitute 1 and erect
Nogata is to suspending windings I；
The connected mode of suspending windings II of the magnetic bearing stator II is：In the horizontal direction 2 of E types structure II suspend around
Group II is connected, and constitutes 1 horizontal direction suspending windings II；Connected in 2 suspending windings II of vertical direction E types structure II, structure
Into 1 vertical direction suspending windings II；
The resultant flux that the three-phase torque winding current is produced, as two biasing magnetic fluxs of radial direction magnetic bearing；3 phases turn
The control method of square winding current is identical with Conventional switched reluctance motor；Four suspending windings electric currents in control x and y directions it is big
Small and direction, and then four controllable radial direction magnetic pulls of size and Orientation needed for radial suspension can be produced, and then realize turning
The radial direction four-degree-of-freedom suspension operation of son.
Fig. 2 is the magnetic flux distribution schematic diagram that A phases torque winding of the present invention is produced in 12/8 pole switching reluctance motor part.Often
Reluctance motor winding and biasing windings in series on individual stator tooth constitute 1 torque winding string together；Spatially it is separated by the 4 of 90 °
Individual torque winding string, then connect together, constitute 1 phase torque winding.
The symmetrical magnetic flux of the quadrupole (line is marked as 15) that A phase torques winding current is produced, is distributed in NSNS.When the torque of A phases around
During group conducting, the magnetic field produced in reluctance motor, for producing torque；A, B, C three-phase torque winding are produced in magnetic bearing
Resultant magnetic field be used for suspend control bias magnetic field.The torque winding of B, C phase is identical with A phase torque winding constructions, only in place
Put and differ 30 ° and -30 ° with A phases.
Fig. 3 is the flux distribution of radial direction magnetic bearing of the present invention I.In the magnetic flux such as Fig. 3 of the generation of A, B, C three-phase torque winding
(line is marked as 20) shown in solid, the magnetic flux that suspending windings are produced is as shown in figure dot-dashed line (line is marked as 21).Biasing winding
The magnetic flux of generation is distributed in the center tooth of each E type structure in NSNS.Suspending windings and torque winding produce magnetic at air gap 1
Logical direction is the same, and magnetic flux increases；And at air gap 3, in the opposite direction, magnetic flux weakens, and then produce a suspension for x positive directions
Power.As torque winding generation flow direction, magnetic flux increases suspending windings, and at air gap 4, magnetic flux weakens at air gap 2,
And then produce a suspending power for y positive directions.Similarly, when suspending windings electric current is reverse, the suspending power of opposite direction will be produced.Cause
This, in given A, B, C three-phase torque winding current, rationally controls x, the size and Orientation of y-axis suspending windings electric current, you can produce
The controllable suspending power of raw size and Orientation.
Torque winding current can be using PWM controls, Pulse Width Control and Angle Position control etc., with Conventional switched reluctance motor
Control method is identical, and levitating current uses chop control.A, B, C three-phase torque winding current can in real time be examined by current sensor
Measure, rotor radial displacement is obtained by current vortex sensor real-time detection, through PI regulation obtain both direction suspending power to
Definite value.Because suspending power is current related with A, B, C three-phase torque winding current and both direction suspending windings, and then can resolve
To the levitating current of both direction, as the set-point of current control in power inverter, the two-freedom of motor is finally realized
Suspension operation.
As shown in figure 4, being system block diagram of the invention.Direct torque can be using PWM controls, Pulse Width Control and Angle Position control
The control method of the Conventional switched reluctance motors such as system, and suspend control then by the way of Current cut control.
Direct torque is：Detection motor rotor position information, is computed respectively obtaining actual speed ω and open-minded per phase
Angle θonWith shut-off angle θoff, speed error signal is carried out into PI regulations, obtain torque winding current reference valueRecycle electric current
Chop control is tracked by actual torque winding currentAnd using turn-on angle θonWith shut-off angle θoffControl torque winding power electricity
The conducting state on road, so as to realize that motor rotates.
Suspension is controlled to：Displacement error signal is carried out into PID regulations and obtains given suspending power
In conjunction with actual measurement three-phase torque winding current i1、i2And i3, you can calculated by suspending windings current controller：Radial direction magnetic axis
Hold I x directions suspending windings current reference valueWith y-axis direction suspending windings current reference valueThe x side of radial direction magnetic bearing II
To suspending windings current reference valueWith y-axis direction suspending windings current reference value
Using Current cut control method, the x-axis direction suspending windings actual current i of radial direction magnetic bearing I is alloweds1The tracking party
To outstanding winding current reference valueAllow the actual current i of y-axis direction suspending windingss2Tracking direction suspending windings current reference
Value
Allow the x-axis direction suspending windings actual current i of radial direction magnetic bearing IIs3The outstanding winding current reference value of the tracking directionAllow the actual current i of y-axis direction suspending windingss4Tracking direction suspending windings current reference valueSo as to real-time regulation is hanged
Buoyancy, realizes that the four-degree-of-freedom of motor suspends.
As shown in figure 5, being suspending windings current calculation method block diagram of the invention.In figure, kf1、kf2It is suspension force coefficient,
Its expression formula is：
In formula, μ0It is space permeability, l is the axial length of radial direction magnetic bearing, and r is the radius of magnetic bearing rotor, αsIt is footpath
To the polar arc angle of magnetic bearing E type structure stators, δ is the unilateral gas length of magnetic bearing part.
The x and y-axis direction suspending power of radial direction magnetic bearing IWithExpression formula be：
In formula, i1、i2、i3The respectively electric current of A, B, C three-phase torque winding,The respectively x of radial direction magnetic bearing I,
Y-axis direction suspending windings electric current, Nb、NsThe number of turn of winding and radial suspension winding is biased respectively.
The x and y-axis direction suspending power of radial direction magnetic bearing IIWithExpression formula be：
In formula,The respectively x of radial direction magnetic bearing II, y-axis direction suspending windings electric current.
From expression formula (3)~(6), the radially, axially suspending power of hybrid magnetic bearing switched reluctance machines of the present invention with
Rotor position angle θ is unrelated, only current related with electric machine structure parameter, three-phase torque winding current and five suspending windings.Wherein,
Four radial suspension forces are only relevant with direction radial suspension electric current and three-phase torque winding current；Again because four suspending powers are equal
It is unrelated with rotor position angle, therefore can uneoupled control between torque and suspending power.
It is pointed out that change with the positive and negative change of suspending windings electric current because suspending power is positive and negative, therefore five outstanding
Floating winding current direction can change in control, need to be using the power inverter in adjustable current direction.
The control method of magnetic suspension motor of the present invention, the hybrid magnetic bearing double winding switched reluctance machines are opened including one
Magnetic resistance reluctance motor and two radial direction magnetic bearings are closed, wherein switched reluctance machines produce rotating torques, two radial direction magnetic bearings to produce
Raw 4 radial suspension forces, to realize the suspension operation of rotor four direction；The machine winding is by 3 phase torque windings and 4 footpaths
Constituted to suspending windings, wherein the phase torque winding current of independent control 3, to adjust torque, and produce biasing magnetic flux；Independent control
4 suspending windings electric currents, realize that four-degree-of-freedom suspends and adjust；Comprise the following steps：
Step A, obtains given torque winding current, turn-on angle and shut-off angle；Comprise the following steps that：
Step A-1, gathers the real-time rotating speed of rotor, obtains rotor velocity ω；
Step A-2, by the rotor velocity ω and reference angular velocities ω for setting*Subtract each other, obtain rotation speed difference deltan ω；
Step A-3, as ω≤ω0When, ω0It is critical speed setting value, it is determined by motor actual condition；The rotating speed
Difference Δ ω, passing ratio integral controller obtains torque winding current reference value im *；Turn-on angle θonWith shut-off angle θoffKeep permanent
It is fixed, θonAnd θoffValue is determined by electric machine structure form；
Step A-4, works as ω>ω0When, the rotation speed difference deltan ω, passing ratio integral controller obtains turn-on angle θonAnd pass
Angle of rupture θoff, torque winding current do not control；
Step B, obtains the given suspending power of x-axis and y-axis direction of radial direction magnetic bearing I；It is comprised the following steps that：
Step B-1, obtains the x-axis of radial rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein, x-axis is level
Direction, y-axis is vertical direction；
Step B-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively
To x-axis direction and the real-time displacement signal difference Δ α in y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1Through
Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of radial direction magnetic bearing I is obtainedWith y-axis direction suspending power
Step C, obtains the given suspending power of x-axis and y-axis direction of radial direction magnetic bearing II；It is comprised the following steps that：
Step C-1, obtains the x-axis of radial rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step C-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively
To x-axis direction and the real-time displacement signal difference Δ α in y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2Through
Proportional plus integral plus derivative controller is crossed, the x-axis direction suspending power of radial direction magnetic bearing II is obtainedWith y-axis direction suspending power
Step D, adjusts suspending power, comprises the following steps that：
Step D-1, the phase of collection 3 winding current of torque in real time, according to the suspending powerWithAnd computing formulaWith
Resolving obtains the x directions suspending windings current reference value of radial direction magnetic bearing IWith y-axis direction suspending windings current reference value
Wherein, kf1、kf2It is suspension force coefficient,μ0It is space permeability, l is for radially
The axial length of magnetic bearing, r is the radius of magnetic bearing rotor, αsIt is the polar arc angle of radial direction magnetic bearing E type structure stators, δ is footpath
To the unilateral gas length of magnetic bearing, Nb、NsThe number of turn of winding and radial suspension winding, i are biased respectively1、i2And i3Respectively three
Phase torque winding current；
Step D-2, according to the suspending powerWithAnd computing formula
WithThe x directions that resolving obtains radial direction magnetic bearing II hang
Floating winding current reference valueWith y-axis direction suspending windings current reference value
Step D-3, using Current cut control method, with the x-axis direction suspending windings actual current i of radial direction magnetic bearing Is1
The outstanding winding current reference value of the tracking directionWith the actual current i of y-axis direction suspending windingss2Tracking direction suspending windings
Current reference value
With the x-axis direction suspending windings actual current i of radial direction magnetic bearing IIs3The outstanding winding current reference value of the tracking directionWith the actual current i of y-axis direction suspending windingss4Tracking direction suspending windings current reference value
Step E, adjusts torque；Comprise the following steps that：
Step E-1, as ω≤ω0When, using Current cut control method, with the actual current i of torque windingmTracking turns
Square winding current reference value im *, and then real-time regulation torque winding current im, and then reach the purpose of regulation torque；
Step E-2, works as ω>ω0When, using Angle-domain imaging method, regulation turn-on angle θonWith shut-off angle θoffTake
Value, so that real-time regulation torque.
In sum, the present invention realizes torque and the decoupling of suspending power in structure；Switched reluctance machines armature winding
With magnetic bearing biasing windings in series while the mode of excitation, improves the energy converting between mechanical efficiency of system, and improve electricity
The utilization rate of stream；Only need to control four direction suspending windings electric current, you can produce the required suspending power of four direction, control variables
Few, the control that suspends is simple, and suspension system power inverter cost is small；Direct torque is identical with Conventional switched reluctance motor, is beneficial to
Torque is exported, and high-speed adaptability is further strengthened.
For those skilled in the art, association's others can be easy to according to above implementation type excellent
Point and deformation.Therefore, the invention is not limited in above-mentioned instantiation, it enters as just example to a kind of form of the invention
Detailed, the exemplary explanation of row.In the range of without departing substantially from present inventive concept, those of ordinary skill in the art are according to above-mentioned specific
Example should be included in scope of the presently claimed invention and its wait homotype by the technical scheme obtained by various equivalents
Within enclosing.
Claims (2)
1. a kind of hybrid magnetic bearing double winding switched reluctance machines, the hybrid magnetic bearing double winding switched reluctance machines include footpath
To magnetic bearing I, switched reluctance machines and radial direction magnetic bearing II；The radial direction magnetic bearing I and radial direction magnetic bearing II are arranged in
The both sides of switched reluctance machines；
The radial direction magnetic bearing I is made up of magnetic bearing stator I, magnetic bearing rotor I, biasing winding and suspending windings I；
The radial direction magnetic bearing II is made up of magnetic bearing stator II, magnetic bearing rotor II, biasing winding and suspending windings II；
The switched reluctance machines are made up of reluctance motor stator, magnetic resistance motor rotor, biasing winding and reluctance motor winding；
Characterized in that, the magnetic bearing rotor I is arranged in magnetic bearing stator I, magnetic resistance motor rotor is arranged in reluctance motor
In stator, magnetic bearing rotor II is arranged in magnetic bearing stator II；The magnetic bearing rotor I, magnetic resistance motor rotor and magnetic bearing
Rotor II is enclosed within rotating shaft；The magnetic bearing stator I, reluctance motor stator and the arranged in series of magnetic bearing stator II, and between
There is gap；
The reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, the number of teeth 12 of reluctance motor stator, reluctance motor
The number of teeth of rotor is 8, and the switched reluctance machines are three-phase duty；
The magnetic bearing stator I is made up of 4 E types structures I, and 4 E types structures I are uniformly distributed, and is differed between each E types structure I
90°；The number of teeth of each E types structure I is 3, and 30 ° are differed between tooth and tooth；Each tooth of E types structure I is fixed with the reluctance motor
Sub- tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor I is cylindrical structure；
The magnetic bearing stator II is made up of 4 E types structures II, and 4 E types structures II are uniformly distributed, between each E types structure II
90 ° of difference；The number of teeth of each E types structure II is 3, and 30 ° are differed between tooth and tooth；Each tooth of E types structure II and the magnetic resistance
Motor stator tooth is in aligned position, and the facewidth of the two is equal；The magnetic bearing rotor II is cylindrical structure；
1 biasing winding and 1 reluctance motor winding are wound with each tooth of the reluctance motor stator；
It is wound with each stator tooth of the magnetic bearing stator I on 1 biasing winding, and the intermediate stator tooth of each E types structure I
Also it is wound with 1 suspending windings I；
Be wound with each stator tooth of the magnetic bearing stator II 1 biasing winding, and each E types structure II intermediate stator tooth
On be also wound with 1 suspending windings II；
It is described biasing winding canoe be：Each biasing winding is across the magnetic bearing stator I on same circumferential position
1 stator tooth, 1 reluctance motor stator tooth and magnetic bearing stator II 1 stator tooth, and be wrapped on three, totally 12
It is individual；
Each biasing winding and the reluctance motor windings in series on the reluctance motor stator tooth on same circumferential position, are constituted
1 torque winding string, totally 12；The every four torque winding string series connection for being separated by 90 °, constitute a phase torque winding, form three-phase
Torque winding；
The connected mode of suspending windings I of the magnetic bearing stator I is：2 suspending windings I of E types structure I are gone here and there in the horizontal direction
Connection, constitutes 1 horizontal direction suspending windings I；Connected in 2 suspending windings I of vertical direction E types structure I, constitute 1 vertically
Direction suspending windings I；
The connected mode of suspending windings II of the magnetic bearing stator II is：2 suspending windings II of E types structure II in the horizontal direction
Series connection, constitutes 1 horizontal direction suspending windings II；Connected in 2 suspending windings II of vertical direction E types structure II, constitute 1
Vertical direction suspending windings II.
2. a kind of control method of the hybrid magnetic bearing double winding switched reluctance machines according to right 1, it is characterised in that institute
Stating hybrid magnetic bearing double winding switched reluctance machines includes a switching magnetic-resistance reluctance motor and two radial direction magnetic bearings, wherein opening
Closing reluctance motor produces rotating torques, two radial direction magnetic bearings to produce 4 radial suspension forces, to realize the outstanding of rotor four direction
Transportation by driving row；The machine winding is made up of 3 phase torque windings and 4 suspending windings, wherein the phase torque winding of independent control 3 electricity
Stream, to adjust torque, and produces biasing magnetic flux；4 suspending windings electric currents of independent control, realize that four-degree-of-freedom suspends and adjust；Bag
Include following steps：
Step A, obtains given torque winding current, turn-on angle and shut-off angle；Comprise the following steps that：
Step A-1, gathers the real-time rotating speed of rotor, obtains rotor velocity ω；
Step A-2, by the rotor velocity ω and reference angular velocities ω for setting*Subtract each other, obtain rotation speed difference deltan ω；
Step A-3, as ω≤ω0When, ω0It is critical speed setting value, it is determined by motor actual condition；The rotation speed difference deltan
ω, passing ratio integral controller obtains torque winding current reference value im *；Turn-on angle θonWith shut-off angle θoffKeep constant,
θonAnd θoffInitial value all determined by electric machine structure form
Step A-4, works as ω>ω0When, the rotation speed difference deltan ω, passing ratio integral controller obtains turn-on angle θonWith shut-off angle
θoff, torque winding current do not control；
Step B, obtains the given suspending power of x-axis and y-axis direction of radial direction magnetic bearing I；It is comprised the following steps that：
Step B-1, obtains the x-axis of radial rotor I and the real-time displacement signal alpha in y-axis direction1And β1, wherein, x-axis is level side
To y-axis is vertical direction；
Step B-2, by real-time displacement signal alpha1And β1Respectively with given reference displacement signal α1 *And β1 *Subtract each other, respectively obtain x
Direction of principal axis and the real-time displacement signal difference Δ α in y-axis direction1With Δ β1, by the real-time displacement signal difference Δ α1With Δ β1By than
Example integral-derivative controller, obtains the x-axis direction suspending power of radial direction magnetic bearing IWith y-axis direction suspending power
Step C, obtains the given suspending power of x-axis and y-axis direction of radial direction magnetic bearing II；It is comprised the following steps that：
Step C-1, obtains the x-axis of radial rotor II and the real-time displacement signal alpha in y-axis direction2And β2；
Step C-2, by real-time displacement signal alpha2And β2Respectively with given reference displacement signal α2 *And β2 *Subtract each other, respectively obtain x
Direction of principal axis and the real-time displacement signal difference Δ α in y-axis direction2With Δ β2, by the real-time displacement signal difference Δ α2With Δ β2By than
Example integral-derivative controller, obtains the x-axis direction suspending power of radial direction magnetic bearing IIWith y-axis direction suspending power
Step D, adjusts suspending power, comprises the following steps that：
Step D-1, gathers the real-time torque winding current of three-phase, according to the suspending powerWithAnd equation：
Obtain the x directions suspending windings current reference value of radial direction magnetic bearing IWith y-axis direction suspending windings current reference value
Wherein, kf1、kf2It is suspension force coefficient,μ0It is space permeability, l is
The axial length of radial direction magnetic bearing, r is the radius of magnetic bearing rotor, αsIt is the polar arc angle of radial direction magnetic bearing E type structure stators, δ
It is the unilateral gas length of radial direction magnetic bearing, Nb、NsThe number of turn of winding and radial suspension winding, i are biased respectively1、i2And i3Respectively
It is three-phase torque winding current；
Step D-2, according to the suspending powerWithAnd equation：
Obtain the x directions suspending windings current reference value of radial direction magnetic bearing IIWith y-axis direction suspending windings current reference value
Step D-3, using Current cut control method, with the x-axis direction suspending windings actual current i of radial direction magnetic bearing Is1Tracking
The outstanding winding current reference value of the directionWith the actual current i of y-axis direction suspending windingss2Tracking direction suspending windings electric current
Reference value
With the x-axis direction suspending windings actual current i of radial direction magnetic bearing IIs3The outstanding winding current reference value of the tracking directionUse y
The actual current i of direction of principal axis suspending windingss4Tracking direction suspending windings current reference value
Step E, adjusts torque；Comprise the following steps that：
Step E-1, as ω≤ω0When, using Current cut control method, with the actual current i of torque windingmTracking torque around
Group current reference value im *, and then real-time regulation torque winding current im, and then reach the purpose of regulation torque；
Step E-2, works as ω>ω0When, using Angle-domain imaging method, regulation turn-on angle θonWith shut-off angle θoffValue, from
And real-time regulation torque.
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| CN114337457A (en) * | 2021-12-31 | 2022-04-12 | 西比里电机技术(苏州)有限公司 | Asymmetric half-bridge topology circuit of two-phase motor |
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