CN-119765725-B - Bearingless electro-magnetic doubly salient motor with improved integrated winding structure

CN119765725BCN 119765725 BCN119765725 BCN 119765725BCN-119765725-B

Abstract

The embodiment of the invention discloses a bearingless electro-magnetic doubly salient motor with an improved integrated winding structure, and relates to the technical field of bearingless motors. Realizes the integration of the suspension winding and the excitation winding of the traditional bearingless electro-magnetic doubly-salient motor into an integrated suspension excitation winding, and provides a control method capable of realizing the power generation operation and stable suspension of the integrated winding configuration bearingless electro-magnetic doubly-salient motor, the control method comprises a displacement control module, a suspension current calculation module and a suspension current control module, and the stable suspension of the rotor can be realized by controlling the current of the suspension winding. The scheme optimizes winding arrangement, realizes mutual scheduling of generating capacity and suspending capacity through equivalent control, and compared with a traditional bearingless doubly salient motor, the integrated winding configuration bearingless electro-magnetic doubly salient motor designed by the invention improves the utilization rate of slot space, widens the working range of the bearingless doubly salient motor, and has more flexible overall working state.

Inventors

YU LI
ZHOU PENGCHENG
CHEN WEI
CHEN YUXIN
Luo zhongshan
Zou Haonan

Assignees

南京航空航天大学

Dates

Publication Date: 20260505
Application Date: 20241203

Claims (7)

1. The bearingless electro-magnetic doubly salient motor with the improved integrated winding structure is characterized by comprising a rotor core, a stator core, an armature winding and a suspension winding; The armature coils wound on the stator poles are connected according to the principle that the change rule of the turn chain magnetic flux is the same, and form an armature winding ; The armature coils with the same phase are sequentially connected in series to form armature windings with the same phase, and each phase of armature winding is provided with two wiring ends and is connected with an external control circuit through the two wiring ends; A set of radial suspension windings are embedded and wound on each three stator poles, the current of each set of suspension windings is independently controlled, each set of suspension windings is connected with an independent control circuit, and the suspension windings are not interfered with each other; Wherein, 4 sets of control circuit that suspend excitation winding each connect altogether includes: The control circuit of the first set of suspension winding comprises a first MOS switch tube Q1 and a second MOS tube Q2 which are connected in series, a third MOS tube Q3 and a fourth MOS tube Q4 which are connected in series, the drain electrode of the first MOS switch tube Q1 and the drain electrode of the third MOS switch tube Q3 are connected with the positive electrode of a direct current voltage source Us, the source electrode of the second MOS switch tube Q2 and the source electrode of the fourth MOS switch tube Q4 are connected with the negative electrode of the direct current voltage source Us, the two ends of an Lsf1 and a resistor R1 which are equivalent to the suspension winding W sf1 are connected with the source electrode of the first MOS switch tube Q1 and the source electrode of the third MOS tube Q3, and an electrolytic capacitor C1 is connected at the two ends of the voltage source Us in parallel; The control circuit of the second set of suspension winding comprises a fifth MOS switch tube Q5 and a sixth MOS tube Q6 which are connected in series, a seventh MOS tube Q7 and an eighth MOS tube Q8 which are connected in series, the drain electrode of the fifth MOS switch tube Q5 and the drain electrode of the seventh MOS switch tube Q7 are connected with the positive electrode of a direct current voltage source Us, the source electrode of the sixth MOS switch tube Q6 and the source electrode of the eighth MOS switch tube Q8 are connected with the negative electrode of the direct current voltage source Us, two ends of an Lsf2 and a resistor R2 which are equivalent to the suspension winding W sf2 are connected with the source electrode of the fifth MOS switch tube Q5 and the source electrode of the seventh MOS tube Q7, and an electrolytic capacitor C2 is connected at two ends of the voltage source Us in parallel; The control circuit of the third set of suspension winding comprises a ninth MOS switch tube Q9 and a tenth MOS tube Q10 which are connected in series, an eleventh MOS tube Q11 and a twelfth MOS tube Q12 which are connected in series, the drain electrode of the ninth MOS switch tube Q9 and the drain electrode of the eleventh MOS switch tube Q11 are connected with the positive electrode of a direct current voltage source Us, the source electrode of the tenth MOS switch tube Q10 and the source electrode of the twelfth MOS switch tube Q12 are connected with the negative electrode of the direct current voltage source Us, the two ends of an Lsf3 and a resistor R3 which are equivalent to the suspension winding W sf3 are connected with the source electrode of the ninth MOS switch tube Q9 and the source electrode of the eleventh MOS tube Q11, and an electrolytic capacitor C3 is connected at the two ends of the voltage source Us in parallel; the control circuit of the fourth set of suspension winding comprises a thirteenth MOS switch tube Q13 and a fourteenth MOS tube Q14 which are connected in series, a fifteenth MOS tube Q15 and a sixteenth MOS tube Q16 which are connected in series, the drain electrode of the thirteenth MOS switch tube Q13 and the drain electrode of the fifteenth MOS switch tube Q3 are connected with the positive electrode of a direct current voltage source Us, the source electrode of the fourteenth MOS switch tube Q14 and the source electrode of the sixteenth MOS switch tube Q16 are connected with the negative electrode of the direct current voltage source Us, two ends of a suspension winding W sf4 equivalent to Lsf4 and a resistor R4 are respectively connected with the source electrode of the thirteenth MOS switch tube Q13 and the source electrode of the fifteenth MOS tube Q15, and an electrolytic capacitor C4 is connected at two ends of the voltage source Us in parallel; acquiring a suspension current reference value in the X direction and the Y direction in the displacement control module; the method comprises the steps that in the suspension current calculation module, a given value of suspension current in respective suspension windings in the X direction and the Y direction is obtained according to suspension current reference values in the X direction and the Y direction, wherein two opposite groups of suspension windings correspond to the same direction; The actual current value of each suspension winding and the given value of the suspension current of each suspension winding obtained in the suspension current calculation step are input into the PI step corresponding to each suspension winding after being subjected to difference; the four PWM signals output by the suspension current control module are respectively input into a corresponding suspension winding control circuit; the displacement control module comprises: The current position of the rotor core is obtained by utilizing an eddy current sensor Then with the rotor position reference value The difference is input into an X-direction displacement PID control module, and the X-direction displacement PID control module outputs a suspension force given value F x required by the X-axis direction * F x * , carrying out coordinate transformation on the sampled rotor position angle, the sampled armature current and the sampled suspension current to obtain a suspension current reference value i sx * ; The current position Y of the rotor core is obtained by utilizing an eddy current sensor and then is differed from a rotor position reference value Y * , the obtained difference is input into a Y-direction displacement PID control module, the Y-direction displacement PID control module outputs a suspension force given value F y * required by the Y-axis direction, F y * , carrying out coordinate transformation on the sampled rotor position angle, the sampled armature current and the sampled suspension current to obtain a suspension current reference value i sy * ; wherein the rotor is subjected to a levitation force vector The component magnitudes F x and F y in the X-axis direction and the Y-axis direction are: f A1-3 represents And (3) with The magnitude of the resultant force, F A2-4 , represents And (3) with The magnitude of the resultant force, F B1-3 , represents And (3) with The magnitude of the resultant force, F B2-4 , represents And (3) with The magnitude of the resultant force.
2. The bearingless electro-magnetic doubly salient motor of claim 1 wherein said bearingless electro-magnetic doubly salient motor employs a 12/8 pole doubly salient structure; The rotor core is of a salient pole structure and is composed of tooth-slot type core laminations, and the total number of the rotor poles is 8; The stator core is also of a salient pole structure, and is provided with 12 stator poles in total, and gaps between adjacent stator poles form stator grooves; There are 4 groups of suspension windings.
3. The bearingless electro-magnetic doubly salient motor of claim 2 wherein each stator pole is wound with an axial armature coil And three adjacent stator poles are combined into one group, and 4 groups of armature coils are totally arranged Wherein three armature coils in each group Armature coils of the same phase in each group respectively belonging to A phase, B phase and C phase Armature winding for forming the phase 。
4. The bearingless electro-magnetic doubly salient motor of claim 1 wherein the external rectifying circuit rectifies alternating current generated on the three-phase armature winding using a full-bridge uncontrolled rectifying circuit comprising: the first rectifying diode D1 is connected in series with the second rectifying diode D2, the third rectifying diode D3 is connected in series with the fourth rectifying diode D4, and the fifth rectifying diode D5 is connected in series with the sixth rectifying diode D6; the cathodes of the first rectifying diode D1, the third rectifying diode D3 and the fifth rectifying diode D5 are connected, and the anodes of the second rectifying diode D2, the fourth rectifying diode D4 and the sixth rectifying diode D6 are connected; the input ends of the L mA 、L mB 、L mC three-phase armature windings are connected with each other; The output ends of the L mA 、L mB 、L mC three-phase winding are respectively connected with the anode of the first rectifying diode D1, the anode of the second rectifying diode D2 and the anode of the third rectifying diode D3, and the two ends of the capacitor C and the resistor R are respectively connected with the common cathode and the common anode of the diodes after being connected in parallel.
5. The bearingless electro-magnetic doubly salient motor according to claim 1, wherein the cantilever current calculating section includes: reference value of the levitation current required in Y-axis direction And the reference value of the exciting current required under the corresponding working condition The given current in the suspension winding W sf1 is obtained after addition operation, and is used as a given value i sf1 * of the suspension current of the 1# suspension winding; Reference value of levitation current required for X-axis direction And the reference value of the exciting current required under the corresponding working condition The given current in the suspended excitation winding W sf2 is obtained after the addition operation, and is used as a given value i sf2 * of the suspended excitation current of the 2# suspended excitation winding; reference value of the levitation current required in Y-axis direction And the reference value of the exciting current required under the corresponding working condition Obtaining a given current in the suspension winding W sf3 after the difference is made, and taking the given current as a given value i sf3 * of the suspension current of the 3# suspension winding; Reference value of levitation current required for X-axis direction And the reference value of the exciting current required under the corresponding working condition The difference gives the given current in the suspension winding W sf4 and serves as the setpoint i sf4 * for the 4# suspension winding.
6. The bearingless electro-magnetic doubly salient motor of claim 1, wherein the cantilever current control module comprises: Inputting a value obtained by making a difference between a current i sf1 actually passing through the 1# suspension winding W sf1 and a given value i sf1 * of the corresponding suspension current into a PI link corresponding to the 1# suspension winding; The current i sf2 actually passing through the 2# suspension winding W sf2 and the given value i sf2 * of the corresponding suspension current are input into the PI link corresponding to the 2# suspension winding; the current i sf3 actually passing through the 3# suspension winding W sf3 and the given value i sf3 * of the corresponding suspension current are input into the PI link corresponding to the 3# suspension winding; The current i sf4 actually passing through the 4# suspension winding W sf4 is input into the PI link corresponding to the 4# suspension winding by a value which is different from the given value i sf4 * of the corresponding suspension current.
7. The bearingless electro-magnetic doubly salient motor of claim 1, wherein the cantilever current control module comprises: in the displacement control module, four sets of eddy current sensors are adopted, and rotor position signals are obtained through measuring the distance between a probe and a rotating shaft reference ring; In the suspension current control module, currents flowing through four sets of suspension windings are respectively measured through four sets of current Hall sensors.

Description

Bearingless electro-magnetic doubly salient motor with improved integrated winding structure Technical Field The invention relates to the technical field of bearingless electro-magnetic doubly salient motors, in particular to a bearingless electro-magnetic doubly salient motor with an improved integrated winding structure. Background The stator and the rotor of the electro-magnetic doubly salient motor are of salient structures, the exciting magnetic field of the motor is provided by direct-current exciting current, and a controllable rectifying device and an angle position sensor are not needed during power generation operation, so that the electro-magnetic doubly salient motor is simple and firm in structure, convenient to maintain and good in high-temperature environment and high-speed operation adaptability. In order to avoid the heating and abrasion of the mechanical bearing of the motor in a high-speed running state, the magnetic bearing is gradually adopted to replace the mechanical bearing, so that the motor can maintain normal running under the condition that the stator and the rotor are not contacted. However, the magnetic bearing motor needs to realize stable suspension rotation, and has the advantages of more required power devices, higher control difficulty, complex structure, high cost and low power density. The bearingless motor is a novel motor integrating the magnetic bearing function and the driving or generating function, and has the characteristics of compact structure, high space utilization rate and the like. For example, the current electromagnetic bearingless doubly salient motor and the control method thereof, the motor is characterized in that an exciting magnetic field generated by an exciting winding is overlapped with a levitation magnetic field generated by a levitation winding, so that the air gap flux densities at two sides of a stator are different, and the stable levitation of a rotor can be realized. The exciting magnetic field generated by the exciting winding and the levitation magnetic field generated by the levitation winding are superposed to cause different air gap densities at two sides of the stator, so that the stable levitation of the rotor can be realized. After the motor is in a stable running state, the gravity of the rotor can be counteracted by only introducing smaller suspension current into the suspension winding, so that the stable suspension of the rotor is maintained. At this time, the levitation winding only outputs smaller levitation force and cannot output power to the outside, so that the waste of winding resource allocation exists. In the traditional bearingless electro-magnetic doubly salient motor, an excitation winding and two sets of levitation windings are required to be controlled independently, and once the winding structure of the motor is determined, the levitation windings and the excitation winding cannot be reconfigured, so that more reasonable configuration adjustment and flexibility conversion scheduling cannot be carried out on the two, and the power generation capacity and levitation force output capacity of the motor are limited to a certain extent. In the scheme of the existing bearingless electro-magnetic doubly salient motor, two sets of windings, namely an excitation winding and a levitation winding, are required to be controlled independently, and once a winding structure of the motor is determined, flexible switching and scheduling cannot be realized by the excitation winding and the levitation winding, so that the power generation capacity and the levitation force output capacity of the motor are limited. Therefore, how to further integrate and optimize the levitation winding and the excitation winding becomes a subject to be studied. Disclosure of Invention The embodiment of the invention provides a bearingless electro-magnetic doubly salient motor with an improved integrated winding structure, which can widen the working range of the bearingless doubly salient motor. In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme: In a first aspect, the bearingless electro-magnetic doubly salient motor with an improved integrated winding structure provided by the embodiment of the invention comprises a rotor core, a stator core, an armature winding and a suspension winding, wherein the suspension winding comprises a 1# suspension winding W sf1, a 2# suspension winding W sf2, a 3# suspension winding W sf3 and a 4# suspension winding W sf4 shown in figure 1; The armature coils wound on the stator poles are connected according to the principle that the change rule of the turn chain magnetic flux is the same, and an armature winding W m is formed; The armature coils in the same phase are sequentially connected in series to form armature windings in the phase, and each phase of armature winding is provided with two wiring terminals and is connected with an external control ci