基于锥形无轴承异步电机的五自由度转子系统研究
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摘要
无轴承电机除具有普通磁悬浮轴承无摩擦、无磨损以及无需润滑的优点外，还具有电动机的旋转驱动功能，因此与传统的“磁轴承+电动机”结构相比，其结构简单，轴向尺寸短，更易于实现高速和大功率运行。
为控制转子的五个自由度，现有的无轴承电机，一般需要配置磁轴承，磁轴承的存在，增加了系统无功损耗和转子轴向长度，制约了转子的临界转速及轴功率输出。
针对上述配置磁轴承转子系统的固有缺陷，并进一步发挥无轴承电机的优势，本文提出一种新型的五自由度转子系统，由两台锥形无轴承异步电机构成，可实现转子五个自由度的主动控制和旋转驱动，系统中无需磁轴承，具有转子长度短、效率高、结构简洁、可靠性高等诸多优点。
针对所设计的五自由度转子系统，本文从悬浮力分析入手，对其机电结构和控制系统进行了全面深入的研究，主要包括如下几点：
在分析悬浮力产生原理的基础上，建立了基于气隙磁密的悬浮力解析模型，以及基于气隙磁链和电感的径向悬浮力解析模型；分析了悬浮绕组转子电流对悬浮力的影响，得出了悬浮绕组定子电流与励磁电流之比随频率的变化规律，并研究了给定悬浮力与实际悬浮力偏差的补偿方法。
提出一种转矩绕组气隙磁密幅值（或气隙磁链幅值）的差动控制方法，对轴向悬浮力进行了线性化；设计了转子径向位移控制子系统、转子轴向位移控制子系统以及转速控制子系统之间的解耦控制策略，并给出了控制系统的总体结构图，最后通过仿真验证了所提出控制策略的有效性。
结合异步电机、锥形异步电机以及传统无轴承异步电机的设计方法，提出了所设计五自由度转子系统的机电结构设计流程，给出了机电结构设计的主要限制条件和设计方法，并以额定功率、额定转速、最大径向及轴向悬浮力为优化目标，设计出实验样机。
建立了描述转子运动状态的广义坐标系，分析了转子的受力情况和耦合特性，推导出计及刚性转子倾斜的五自由度动力学模型，设计了集中控制系统和分散控制系统，并进行了仿真研究，给出了转子在高速运转时，采用交叉反馈控制补偿陀螺力矩的控制系统结构。
为了取消转子位移传感器，进一步简化系统机械结构、缩短转子轴向长度，基于两相绕组等效模型，分析了在高频信号激励下，转子位移对转矩绕组及悬浮绕组的自感及其互感的影响，提出一种五自由度转子位移自检测方法，该方法适用于本文提出的“基于锥形无轴承异步电机的五自由度转子系统”，最后通过仿真验证了该方法的可行性。
设计了控制系统硬件电路，并基于双DSP（数字信号处理器）编制了解耦控制程序，给出了实验样机的机械结构与绕组分布方式，测定了样机在水平放置时两套绕组轴线与水平轴之间的夹角，搭建了“基于锥形无轴承异步电机的五自由度转子系统”实验平台，并实现了其直接转矩控制和静态悬浮实验。
Bearingless motors can provide the driving torque without friction, abrasion and lubrication,by comparison with the conventional motors suspended with magnetic bearings, bearinglessmotors have the merits of more sample structure, shorter rotor, higher rotational speed andoutput power.
However, in order to actively control five-DOF of the rotors, the conventional bearinglessmotors would work with magnetic bearings. This approach increases power loss of entiresystem and the length of rotor, and the output power and critical rotational speed will be solimited.
In order to avoid the inherent defects of the above rotor systems equipped with magneticbearings, and further make full use of bearingless motor, in this dissertation, a novel5-DOFactively controlled rotor system that combines two bearingless induction motors with conicalair-gap (5-DOF Rotor System Based on Conical Bearingless Asynchronous Motors，5-DOFCBAM) is presented. The5-DOF CBAM has obvious advantages of short rotor, highefficiency, simple structure and high reliability, and the rotor can be fully leviated and drivedwithout any magnetic bearing.
Basing on the analysis of magnetic levitation forces of5-DOF CBAM, theelectro-mechanical structure and control system are fully and deeply researched in followingaspects.
The mathematical models of levitation forces based of air-gap flux magnetic densities andflux linkages are deduced, and the effect of rotor current generated by levitation windings onlevitation forces and the ratio of levitation windings stator current and excitation currentvarying with frequency are analyzed, and the compensation method for the error of givenevitation force and actual evitation force is so proposed.
A special differential control method of air-gap flux density amplitude (or air-gap fluxlinkage amplitude) generated by torque windings is proposed, to realize the linearization ofaxial controllable magnetic force. The interaction of radial displacement control subsystem,axial displacement control subsystem and speed control subsystem is analyzed, and thedecoupling control strategy is designed. In order to validate the models of magnetic levitationforces and control method, a simulation model is built, and the simulation results so obtainedare satisfactory.
Combining the design methods of induction motors, conical induction motors andtraditional bearingless induction motors, a design flow of electro-mechanical structure for5-DOF CBAM is proposed, and the limiting condition and design method are given.Moreover, a prototype is designed according to the design goal of rating power, rotational speed and maximum levitation forces.
The generalized coordinate system for rotor is established to describe the state of motion,with the state of inclined rotor considered. The5-DOF dynamics model of rigid rotor isdeduced by analyze the magnetic force and coupling characteristics in there dimension. Thestructures of centralized control system and distributed control system are designed andsimulated, and aiming at the situation of work at high speed, the structure of cross feedbackcontrol system using to compensate the effect of gyroscopic moment is designed.
In order to cancel the displacement sensors, simplify the mechanical structure of system,and shorten the rotor, the effect of rotor displacements on self inductance and mutualinductance of torque windings and levitation windings is analyzed, on the basis of theequivalent model of two-phase windings. A rotor displacement self-sensing method in alldirection is further proposed for5-DOF CBAM. Filially, the effectiveness of this method isvalidated by simulation results.
The circuits of the control system are designed, and the decoupling control program basedon double DSPs (Digital Singnal Processor) is compiled. The mechanical structure andwindings distribution are given, and the angles between the axes of2-pole and4-polewindings and horizontal axis are mensured when the prototype of5-DOF CBAM is placedhorizontally. The experimental platform for5-DOF CBAM is built, and the speed regulationusing DTC (Direct Torque Control) and static levitation are accomplished.
为控制转子的五个自由度，现有的无轴承电机，一般需要配置磁轴承，磁轴承的存在，增加了系统无功损耗和转子轴向长度，制约了转子的临界转速及轴功率输出。
针对上述配置磁轴承转子系统的固有缺陷，并进一步发挥无轴承电机的优势，本文提出一种新型的五自由度转子系统，由两台锥形无轴承异步电机构成，可实现转子五个自由度的主动控制和旋转驱动，系统中无需磁轴承，具有转子长度短、效率高、结构简洁、可靠性高等诸多优点。
针对所设计的五自由度转子系统，本文从悬浮力分析入手，对其机电结构和控制系统进行了全面深入的研究，主要包括如下几点：
在分析悬浮力产生原理的基础上，建立了基于气隙磁密的悬浮力解析模型，以及基于气隙磁链和电感的径向悬浮力解析模型；分析了悬浮绕组转子电流对悬浮力的影响，得出了悬浮绕组定子电流与励磁电流之比随频率的变化规律，并研究了给定悬浮力与实际悬浮力偏差的补偿方法。
提出一种转矩绕组气隙磁密幅值（或气隙磁链幅值）的差动控制方法，对轴向悬浮力进行了线性化；设计了转子径向位移控制子系统、转子轴向位移控制子系统以及转速控制子系统之间的解耦控制策略，并给出了控制系统的总体结构图，最后通过仿真验证了所提出控制策略的有效性。
结合异步电机、锥形异步电机以及传统无轴承异步电机的设计方法，提出了所设计五自由度转子系统的机电结构设计流程，给出了机电结构设计的主要限制条件和设计方法，并以额定功率、额定转速、最大径向及轴向悬浮力为优化目标，设计出实验样机。
建立了描述转子运动状态的广义坐标系，分析了转子的受力情况和耦合特性，推导出计及刚性转子倾斜的五自由度动力学模型，设计了集中控制系统和分散控制系统，并进行了仿真研究，给出了转子在高速运转时，采用交叉反馈控制补偿陀螺力矩的控制系统结构。
为了取消转子位移传感器，进一步简化系统机械结构、缩短转子轴向长度，基于两相绕组等效模型，分析了在高频信号激励下，转子位移对转矩绕组及悬浮绕组的自感及其互感的影响，提出一种五自由度转子位移自检测方法，该方法适用于本文提出的“基于锥形无轴承异步电机的五自由度转子系统”，最后通过仿真验证了该方法的可行性。
设计了控制系统硬件电路，并基于双DSP（数字信号处理器）编制了解耦控制程序，给出了实验样机的机械结构与绕组分布方式，测定了样机在水平放置时两套绕组轴线与水平轴之间的夹角，搭建了“基于锥形无轴承异步电机的五自由度转子系统”实验平台，并实现了其直接转矩控制和静态悬浮实验。
Bearingless motors can provide the driving torque without friction, abrasion and lubrication,by comparison with the conventional motors suspended with magnetic bearings, bearinglessmotors have the merits of more sample structure, shorter rotor, higher rotational speed andoutput power.
However, in order to actively control five-DOF of the rotors, the conventional bearinglessmotors would work with magnetic bearings. This approach increases power loss of entiresystem and the length of rotor, and the output power and critical rotational speed will be solimited.
In order to avoid the inherent defects of the above rotor systems equipped with magneticbearings, and further make full use of bearingless motor, in this dissertation, a novel5-DOFactively controlled rotor system that combines two bearingless induction motors with conicalair-gap (5-DOF Rotor System Based on Conical Bearingless Asynchronous Motors，5-DOFCBAM) is presented. The5-DOF CBAM has obvious advantages of short rotor, highefficiency, simple structure and high reliability, and the rotor can be fully leviated and drivedwithout any magnetic bearing.
Basing on the analysis of magnetic levitation forces of5-DOF CBAM, theelectro-mechanical structure and control system are fully and deeply researched in followingaspects.
The mathematical models of levitation forces based of air-gap flux magnetic densities andflux linkages are deduced, and the effect of rotor current generated by levitation windings onlevitation forces and the ratio of levitation windings stator current and excitation currentvarying with frequency are analyzed, and the compensation method for the error of givenevitation force and actual evitation force is so proposed.
A special differential control method of air-gap flux density amplitude (or air-gap fluxlinkage amplitude) generated by torque windings is proposed, to realize the linearization ofaxial controllable magnetic force. The interaction of radial displacement control subsystem,axial displacement control subsystem and speed control subsystem is analyzed, and thedecoupling control strategy is designed. In order to validate the models of magnetic levitationforces and control method, a simulation model is built, and the simulation results so obtainedare satisfactory.
Combining the design methods of induction motors, conical induction motors andtraditional bearingless induction motors, a design flow of electro-mechanical structure for5-DOF CBAM is proposed, and the limiting condition and design method are given.Moreover, a prototype is designed according to the design goal of rating power, rotational speed and maximum levitation forces.
The generalized coordinate system for rotor is established to describe the state of motion,with the state of inclined rotor considered. The5-DOF dynamics model of rigid rotor isdeduced by analyze the magnetic force and coupling characteristics in there dimension. Thestructures of centralized control system and distributed control system are designed andsimulated, and aiming at the situation of work at high speed, the structure of cross feedbackcontrol system using to compensate the effect of gyroscopic moment is designed.
In order to cancel the displacement sensors, simplify the mechanical structure of system,and shorten the rotor, the effect of rotor displacements on self inductance and mutualinductance of torque windings and levitation windings is analyzed, on the basis of theequivalent model of two-phase windings. A rotor displacement self-sensing method in alldirection is further proposed for5-DOF CBAM. Filially, the effectiveness of this method isvalidated by simulation results.
The circuits of the control system are designed, and the decoupling control program basedon double DSPs (Digital Singnal Processor) is compiled. The mechanical structure andwindings distribution are given, and the angles between the axes of2-pole and4-polewindings and horizontal axis are mensured when the prototype of5-DOF CBAM is placedhorizontally. The experimental platform for5-DOF CBAM is built, and the speed regulationusing DTC (Direct Torque Control) and static levitation are accomplished.
引文
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