横向磁场永磁电机及其驱动系统研究
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摘要
横向磁场永磁电机(TFPM)是在永磁同步电机的基础上发展起来的,作为一新型逆变器供电的永磁同步电机,具有转矩密度高、低速特性好、可靠性高等特点。近几年来,随着电动车、电力直接推进装置和风力发电等技术研究的深入,人们对高转矩密度、低速直接驱动电机的要求更加迫切,横向磁场永磁电机逐渐成为研究热点。但TFPM结构复杂、制造工艺困难,这限制了TFPM在实际中的推广应用。本文在总结了国内外现有TFPM电机主要研究成果的基础上,提出了一种新型定子组合式TFPM的结构形式,并对样机的设计、分析和驱动系统设计进行了全面的研究。
第一,提出并研制了一种新型定子组合式横向磁场永磁电机的结构形式,该电机的定子由内定子铁心、外定子铁心和定子过渡铁心三部分组成。由于定子过渡铁心中具有定位功能的槽形口,内外定子磁极铁心可以积木式的直接插入公共联结铁心的槽形口中,简化了制造工艺,降低了生产成本,提高了定子部件的装配定位精度。在给出样机设计参数的基础上,根据TFPM磁场三维分布的特点,采用三维等效磁网络磁场数值计算方法,进行了不同工作情况下样机的磁场分析,计算了气隙磁密、感应电动势、电磁转矩、自定位力矩和绕组电感等TFPM电机的静态特性参数。计算结果与样机试验结果基本吻合。
第二,分析了TFPM的数学模型,并由能量守恒定理,推导了正弦电流驱动时电磁转矩表达式。根据各相绕组独立的特点,提出了一种基于标量电流(电流的幅值和相位)概念的TFPM转矩控制。无须进行矢量变换,控制各相电流的幅值和电流与该相反电势之间的夹角即可控制电机的输出转矩,并分别对电流与反电动势同相和最大转矩/电流比两种控制方式进行了分析。研究了提高TFPM功率因数的方法,并给出了其约束条件。通过MATLAB/Simulink仿真平台,建立了TFPM极其控制系统的数字仿真模型,对不同控制方式下的TFPM控制系统进行了仿真研究。
第三,分析了组成高性能TFPM驱动系统所必须的速度调节器和电流调节器。在分析了传统PI控制与模糊控制特点的基础上,设计了用于TFPM的模糊自整定PI控制器,仿真及实验结果表明该调节器具有较好的动静态性能,鲁棒性好。TFPM各相绕组相互独立,根据这一特点,本文研究了一种P+Resonant电流调节器,并应用于TFPM驱动控制系统中,直接在静止坐标系下对TFPM各相交流电流进行控制。该电流调节器的设计思想是基于通信系统中调制与解调制的原理,稳态时电枢电流能跟踪参考电流的变化,可以完全消除电流的相位和幅值误差。
第四,设计了基于TMS320LF2407的TFPM全数字控制系统,研究采用低分辨率霍尔位置信号获得连续转子位置信息的转子位置预估技术,给出了具体的实现过程并对造成实际转子位置估计误差的各种因素进行了详细分析。
第五,为了降低逆变器供电的TFPM驱动系统的电磁干扰水平,研究了SPWM扩频控制的基本原理,应用傅立叶频谱和k阶Bessel的函数分析,得出SPWM周期扩频的频谱分布情况。分析了混沌的定义和特征,利用其具有连续频谱的特点,提出了一种基于Full-logistic混沌序列的SPWM扩频控制技术。根据混沌序列伪随机性的特点,推导了混沌SPWM频谱分布的一般表达式,仿真和实验结果验证了混沌SPWM对降低逆变器供电的TFPM驱动系统电磁噪声的有效性。
In recent years,as a novel invert-fed and Permanent-magnetic machine, Transverse flux permanent-magnetic machine(TFPM) received wide attention. Particularly,they are attractive for electric vehicles,electric ships and industrial robots since they offer the distinct advantages of high torque density for electric launch and low speed operation for direct drive.Although so many fine characteristics,TFPM hasn't been commercialized up to now.The main drawbacks are the complicated configuration,the difficulty in manufacturing and higher cost of production,which restrict it development.According to what have done before, a novel TFPM geometry with assembled stator arrangement is proposed here. Based on this prototype,in-deep research works on the control system are carried out and have a good success as below.
Firstly,a novel TFPM configuration which features an assembled stator and a sandwiched PM rotor is proposed.The stator is made up of U-cores which embrace the armature winding.These U-cores are configured by the outer core,inner core and joint core,which the outer and inner core of stator-poles can be inserted into slots easily just like the building blocks.Such assembly involves simple mechanical structures and hence low manufacturing cost.As no dimension is really larger than the others,the TFPM has a complex three-dimension(3D) flux pattern where the magnetic flux passes radially,axially and circumferentially from the rotor to the stator.A 3D equivalent magnetic network(3DEMN) method suitable for 3D electromagnetic analysis is used to analyze the prototype,and some solution, such as air-gap flux distribution,no-load EMF,static torque.Experimental results agree with the design calculation.
Secondly,the mathematic model for TFPM was established.The torque expression is achieved when sinusoidal armature current is applied.According to the phase-decoupling characteristic of TFPM,a novel torque control strategy based on the scalar conception of current is put forward.The shaft torque can be obtained by controlling the amplitude and the phase angle of the armature current without resort to vector transformation.The theory of power factor in TFPM is discussed and the relationship between the power factor and torque is studied in this paper. An universal modularized digital simulation model was developed on the platform of MatLab/SimuLink software package.Based on this platform,dynamic digital simulation for the prototype and its control system were executed,the operational performances under different modes are to be analyzed.
Thirdly,the speed controller and current controller of the TFPM control system are discussed.The fuzzy-tuning PI controller is analyzed and designed for speed controller.Experiments and simulation results demonstrate that the fuzzy-tuning PI controller is superior to the traditional PI controller.A new stationary-frame(P+Resonant) ac current control strategy that can eliminate the steady-state error is proposed and applied to the control of transverse flux permanent-magnet machine(TFPM).Based on the principle of the modulation and demodulation,this ac controller can achieve the same frequency response characteristic as the equivalent dc controller.The validity of control system of TFPM using this current control strategy is confirmed by simulation results.
Fourthly,a digital control system based on TMS320LF2407 DSP is designed and implemented.Arming at the limitation of sine-wave drive technique in hall sensor position signal with low resolution,a research on the continuous rotor estimation technique and related sine-wave driving technique is conducted.The working principal of rotor estimation and its realization process are given in the paper as well as the analysis on the estimation error.
Finally,the frequency modulated pulse width modulation(PWM) is introduced.Based on the Fourier Transformation and Bessel function,the power spectral density of the SPWM voltage-source H-inverter with periodic and randomized switching frequency is presented.Since the chaotic sequence has the randomized characteristic and continuous power spectrum,a low EMI non-periodic modulation strategy based on chaotic sequence obtained from the logistic map is proposed.With the adoption of the chaos-based SPWM technique, the resulting power spectrum of the voltage-source H-inverter can be compelled to be continuous,while the harmonic peak can be reduced by 15dB.Both computer simulation and experimental results is given to verify the proposed modulation strategy.
第一,提出并研制了一种新型定子组合式横向磁场永磁电机的结构形式,该电机的定子由内定子铁心、外定子铁心和定子过渡铁心三部分组成。由于定子过渡铁心中具有定位功能的槽形口,内外定子磁极铁心可以积木式的直接插入公共联结铁心的槽形口中,简化了制造工艺,降低了生产成本,提高了定子部件的装配定位精度。在给出样机设计参数的基础上,根据TFPM磁场三维分布的特点,采用三维等效磁网络磁场数值计算方法,进行了不同工作情况下样机的磁场分析,计算了气隙磁密、感应电动势、电磁转矩、自定位力矩和绕组电感等TFPM电机的静态特性参数。计算结果与样机试验结果基本吻合。
第二,分析了TFPM的数学模型,并由能量守恒定理,推导了正弦电流驱动时电磁转矩表达式。根据各相绕组独立的特点,提出了一种基于标量电流(电流的幅值和相位)概念的TFPM转矩控制。无须进行矢量变换,控制各相电流的幅值和电流与该相反电势之间的夹角即可控制电机的输出转矩,并分别对电流与反电动势同相和最大转矩/电流比两种控制方式进行了分析。研究了提高TFPM功率因数的方法,并给出了其约束条件。通过MATLAB/Simulink仿真平台,建立了TFPM极其控制系统的数字仿真模型,对不同控制方式下的TFPM控制系统进行了仿真研究。
第三,分析了组成高性能TFPM驱动系统所必须的速度调节器和电流调节器。在分析了传统PI控制与模糊控制特点的基础上,设计了用于TFPM的模糊自整定PI控制器,仿真及实验结果表明该调节器具有较好的动静态性能,鲁棒性好。TFPM各相绕组相互独立,根据这一特点,本文研究了一种P+Resonant电流调节器,并应用于TFPM驱动控制系统中,直接在静止坐标系下对TFPM各相交流电流进行控制。该电流调节器的设计思想是基于通信系统中调制与解调制的原理,稳态时电枢电流能跟踪参考电流的变化,可以完全消除电流的相位和幅值误差。
第四,设计了基于TMS320LF2407的TFPM全数字控制系统,研究采用低分辨率霍尔位置信号获得连续转子位置信息的转子位置预估技术,给出了具体的实现过程并对造成实际转子位置估计误差的各种因素进行了详细分析。
第五,为了降低逆变器供电的TFPM驱动系统的电磁干扰水平,研究了SPWM扩频控制的基本原理,应用傅立叶频谱和k阶Bessel的函数分析,得出SPWM周期扩频的频谱分布情况。分析了混沌的定义和特征,利用其具有连续频谱的特点,提出了一种基于Full-logistic混沌序列的SPWM扩频控制技术。根据混沌序列伪随机性的特点,推导了混沌SPWM频谱分布的一般表达式,仿真和实验结果验证了混沌SPWM对降低逆变器供电的TFPM驱动系统电磁噪声的有效性。
In recent years,as a novel invert-fed and Permanent-magnetic machine, Transverse flux permanent-magnetic machine(TFPM) received wide attention. Particularly,they are attractive for electric vehicles,electric ships and industrial robots since they offer the distinct advantages of high torque density for electric launch and low speed operation for direct drive.Although so many fine characteristics,TFPM hasn't been commercialized up to now.The main drawbacks are the complicated configuration,the difficulty in manufacturing and higher cost of production,which restrict it development.According to what have done before, a novel TFPM geometry with assembled stator arrangement is proposed here. Based on this prototype,in-deep research works on the control system are carried out and have a good success as below.
Firstly,a novel TFPM configuration which features an assembled stator and a sandwiched PM rotor is proposed.The stator is made up of U-cores which embrace the armature winding.These U-cores are configured by the outer core,inner core and joint core,which the outer and inner core of stator-poles can be inserted into slots easily just like the building blocks.Such assembly involves simple mechanical structures and hence low manufacturing cost.As no dimension is really larger than the others,the TFPM has a complex three-dimension(3D) flux pattern where the magnetic flux passes radially,axially and circumferentially from the rotor to the stator.A 3D equivalent magnetic network(3DEMN) method suitable for 3D electromagnetic analysis is used to analyze the prototype,and some solution, such as air-gap flux distribution,no-load EMF,static torque.Experimental results agree with the design calculation.
Secondly,the mathematic model for TFPM was established.The torque expression is achieved when sinusoidal armature current is applied.According to the phase-decoupling characteristic of TFPM,a novel torque control strategy based on the scalar conception of current is put forward.The shaft torque can be obtained by controlling the amplitude and the phase angle of the armature current without resort to vector transformation.The theory of power factor in TFPM is discussed and the relationship between the power factor and torque is studied in this paper. An universal modularized digital simulation model was developed on the platform of MatLab/SimuLink software package.Based on this platform,dynamic digital simulation for the prototype and its control system were executed,the operational performances under different modes are to be analyzed.
Thirdly,the speed controller and current controller of the TFPM control system are discussed.The fuzzy-tuning PI controller is analyzed and designed for speed controller.Experiments and simulation results demonstrate that the fuzzy-tuning PI controller is superior to the traditional PI controller.A new stationary-frame(P+Resonant) ac current control strategy that can eliminate the steady-state error is proposed and applied to the control of transverse flux permanent-magnet machine(TFPM).Based on the principle of the modulation and demodulation,this ac controller can achieve the same frequency response characteristic as the equivalent dc controller.The validity of control system of TFPM using this current control strategy is confirmed by simulation results.
Fourthly,a digital control system based on TMS320LF2407 DSP is designed and implemented.Arming at the limitation of sine-wave drive technique in hall sensor position signal with low resolution,a research on the continuous rotor estimation technique and related sine-wave driving technique is conducted.The working principal of rotor estimation and its realization process are given in the paper as well as the analysis on the estimation error.
Finally,the frequency modulated pulse width modulation(PWM) is introduced.Based on the Fourier Transformation and Bessel function,the power spectral density of the SPWM voltage-source H-inverter with periodic and randomized switching frequency is presented.Since the chaotic sequence has the randomized characteristic and continuous power spectrum,a low EMI non-periodic modulation strategy based on chaotic sequence obtained from the logistic map is proposed.With the adoption of the chaos-based SPWM technique, the resulting power spectrum of the voltage-source H-inverter can be compelled to be continuous,while the harmonic peak can be reduced by 15dB.Both computer simulation and experimental results is given to verify the proposed modulation strategy.
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