无轴承永磁同步电机参数设计及抑制振动控制研究
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摘要
随着科学技术与生产力的迅猛发展,诸如精密数控机床、特种机器人、IC制造装备、低碳新能源、高速飞行器、涡轮分子泵、离心机等装备对高速或超高速电机有着迫切需求。高速电机具有一系列优点,如：(1)电机体积小,原材料少,功率密度高,效率高；(2)可取消传动机构,直接驱动负载,减小了传动损耗,噪音小；(3)转子转动惯量小,动态响应速度快。高速电机在特种传动、高速直驱领域具有广阔的应用前景,正成为国际电气工程领域的研究热点。在高速运行状态下,电机转子对机械轴承振动冲击大,使得轴承发热和磨损严重,大幅度缩短了电机与轴承的使用寿命。磁悬浮轴承能够实现转子无摩擦、无磨损运行,但是由磁悬浮轴承支承的高速电机轴向长度长、临界转速低,由磁悬浮轴承支承的高速电机难以突破转速和功率的限制,同时需采用多个磁轴承单元组成高速电机系统,造成系统结构复杂、体积庞大。而无轴承永磁同步电机结合了永磁同步电机和磁轴承的优点,在产生电磁转矩的同时,还产生使转子悬浮的径向悬浮力,可实现更大功率和更高转速运行,在高速传动领域具有重大的研究和应用价值。
在国家高技术研究发展计划(2007AA04Z213)和国家自然科学基金(60974053)等基金的资助下,为了解决无轴承永磁同步电机应用于高速直接驱动领域的技术难题,以实现无轴承永磁同步电机高速运行为目标,对无轴承永磁同步电机的数学模型、永磁转子机械强度优化设计、转子涡流损耗模型的建立与极对数优化、转子自适应抑制振动控制方法和无轴承永磁同步电机的数字控制系统等关键技术开展研究。主要研究工作及成果如下：
(1)分析了无轴承永磁同步电机中的麦克斯韦力和洛伦兹力,研究了悬浮机理,推导出产生稳定可控任意方向径向悬浮力条件,考虑转子偏心,采用解析法建立了悬浮力与转矩数学模型。
(2)提出了无轴承永磁同步电机瞬态参数化有限元分析方法。建立了无轴承永磁同步电机瞬态有限元分析模型,对定子两套绕组施加频率和相位可调的外部电流源,设定转子旋转速度,验证了无轴承永磁同步电机悬浮机理；计算了两套绕组感应电动势、转矩和径向悬浮力。
(3)提出了永磁转子机械强度优化设计方法。根据材料力学和弹性力学理论,建立了面贴式永磁转子护套过盈配合量与最高运行转速的数学模型；对深埋式永磁转子,提出了计算转子机械强度的等效环法。基于接触有限元法,仿真研究验证了永磁转子机械强度优化设计方法的正确性。
(4)提出了无轴承永磁同步电机的气隙磁场和绕组极对数优化设计方法。建立了永磁转子涡流损耗模型,对永磁体磁化模式开展研究,以降低气隙磁场谐波为目标,对气隙磁场进行优化；研究对比了具有不同定子两套绕组极对数的无轴承永磁同步电机转子涡流损耗。采用耦合电路瞬态有限元验证了优化设计方法。
(5)提出了基于多频率跟踪算法的无轴承永磁同步电机转子自适应抑制振动控制策略。为了提高振动信号频率辨识精度,在分析了转子振动产生机理的基础上,提出了基于多频率跟踪算法的无轴承永磁同步电机自适应抑制振动控制策略；建立了转子振动频率的多频率跟踪算法,并分析其稳定性。构建了基于转子振动频率在线辨识与磁场定向控制的无轴承永磁同步电机自适应抑制振动控制系统,并进行仿真实验研究。
(6)采用空间电压矢量脉宽调制技术实现无轴承永磁同步电机转子磁场定向控制策略,构建了无轴承永磁同步电机数字控制系统,研制了系统硬件电路,开发了相关软件程序,并进行实验研究,实现了无轴承永磁同步电机稳定悬浮。
最后,在总结全文的基础上,提出有需进一步研究的内容和今后工作的重点。
With the rapid development of science, technology and productivity, high-precision tools, such as precise numerically-controlled machine tools, special robot, IC manufacturing equipments, low carbon energy, high speed aircraft, turbo molecular pumps, centrifuge, are widely applied in engineering, which gives urge requirement of high-speed and super-speed motors. The high-speed motor has some remarkable advantages, such as:(1) It possesses smaller volume, less row material, higher power density, and higher efficiency;(2) It can drive the load directly without the transmission mechanism, which mean less transmission and noise;(3) The rotor of high-speed motor has less rotational inertia and thus has higher-speed dynamic response. For its promising application in special electrical transmission and high-speed direct-drive fields, the high-speed motor has becoming the international research topic in the electrical engineering field. The high-speed motor has vital vibration and shock to bearings, which makes the bearings with severe fever and attrition. This may significantly reduce the service life of bearings. The magnetic bearing can realize the friction-free and abrasion-free operation, which effectively resolves this problem. But, the motor supported by magnetic bearings has longer axial length and lower critical speed, which gives the stubborn ceiling on speed and power restrictions. Besides this, the motor supported by magnetic bearings requires more magnetic bearing units, which makes the motor system more complex and bigger. The bearingless permanent magnet synchronous motor sufficiently combines the advantages of permanent magnet synchronous motor and magnetic bearings, which can produce the radial suspension force and torque simultaneously, and thus it can realize stable operation with bigger power and higher speed. Thus, it has more significant application value in high-speed drive field.
Supported by the National High Technology Research and Development Program under grant2007AA04Z213and the National Natural Science Foundation of China under grant60974053, in order to solve technology difficult problems of bearingless permanent magnet synchronous motor applied to the high-speed direct-drive fields, some key theoretical and technological problems such as the mathematical model, the mechanical strength optimal design method of permanent magnet rotor, the construction of the eddy current loss model and winding pole pair number optimization, the adaptive vibration-rejection control, the digital control system design and so on have been researched aiming to realize the high-speed operation of bearingless permanent synchronous motors,. The main researches and the corresponding results are as follows:
(1) The Maxwell force and Lorenz force in bearingless permanent magnet synchronous motor was analyzed. The operating principle of bearingless permanent magnet synchronous motors was researched and the conditions of producing controllable radial suspension force in any direction were concluded. The mathematic models of torque and radial suspension force were constructed, considering the rotor eccentricity.
(2) The parametric transient finite element optimal design method was put forward. The transient finite element model of bearingless permanent magnet motor was established. The external current sources with adjustable frequency and phase were loaded to the model. The suspension mechanism was verified and EMF, torque and radial suspension force were calculated.
(3) The mechanical strength optimal design method of the permanent magnet rotor of bearingless permanent magnet synchronous motors is presented. The mathematic model between the bandage shrink range and the maximum rotating speed was established according to the mechanics of materials and elasticity mechanics theory. For the buried permanent magnet rotor, the equivalent ring method was put forward to calculation the mechanical strength. Finally, based on contact finite element method, the simulation results verify the correctness of the method presented in this paper.
(4) The air-gap field and pole-pair-number of windings optimal design strategy was presented. The rotor eddy current loss model of permanent magnet synchronous motor was built. The magnetization modes of permanent magnets were researched and air-gap field were optimized in order to reduce the harmonics. The rotor eddy current losses with different pole-pair-numbers were compared. Finally, based on the transient finite element method with coupled circuits, the simulation results verify the correctness of the method.
(5) The adaptive vibration-rejection control method of rotor is presented based on multi-frequency tracking algorithm. The vibration producing principle was analyzed, based on which, the adaptive vibration-rejection control strategy is presented based on the multi-frequency tracking algorithm for bearingless permanent magnet synchronous motors. The multi-frequency tracking algorithm had been deduced and the stability was analyzed. Combing the online identification of rotor vibration frequency and magnetic field orientation, the adaptive vibration-rejection control strategy is presented. The simulation results have shown that the presented method efficiently eliminates the rotor vibration and thus improves the rotating precision.
(6) The digital control system of bearingless permanent magnet synchronous motors is designed based on the space voltage vector pulse width modulation to realize the rotor magnetic field-orientated control strategy. The corresponding hardware systems and software systems are designed and the related experiments are conducted. The experiment results have shown that the platform can realize the stable suspension operation.
As a conclusion, the summarization of the whole contents is given. The content and emphasis of the further research is also given.
在国家高技术研究发展计划(2007AA04Z213)和国家自然科学基金(60974053)等基金的资助下,为了解决无轴承永磁同步电机应用于高速直接驱动领域的技术难题,以实现无轴承永磁同步电机高速运行为目标,对无轴承永磁同步电机的数学模型、永磁转子机械强度优化设计、转子涡流损耗模型的建立与极对数优化、转子自适应抑制振动控制方法和无轴承永磁同步电机的数字控制系统等关键技术开展研究。主要研究工作及成果如下：
(1)分析了无轴承永磁同步电机中的麦克斯韦力和洛伦兹力,研究了悬浮机理,推导出产生稳定可控任意方向径向悬浮力条件,考虑转子偏心,采用解析法建立了悬浮力与转矩数学模型。
(2)提出了无轴承永磁同步电机瞬态参数化有限元分析方法。建立了无轴承永磁同步电机瞬态有限元分析模型,对定子两套绕组施加频率和相位可调的外部电流源,设定转子旋转速度,验证了无轴承永磁同步电机悬浮机理；计算了两套绕组感应电动势、转矩和径向悬浮力。
(3)提出了永磁转子机械强度优化设计方法。根据材料力学和弹性力学理论,建立了面贴式永磁转子护套过盈配合量与最高运行转速的数学模型；对深埋式永磁转子,提出了计算转子机械强度的等效环法。基于接触有限元法,仿真研究验证了永磁转子机械强度优化设计方法的正确性。
(4)提出了无轴承永磁同步电机的气隙磁场和绕组极对数优化设计方法。建立了永磁转子涡流损耗模型,对永磁体磁化模式开展研究,以降低气隙磁场谐波为目标,对气隙磁场进行优化；研究对比了具有不同定子两套绕组极对数的无轴承永磁同步电机转子涡流损耗。采用耦合电路瞬态有限元验证了优化设计方法。
(5)提出了基于多频率跟踪算法的无轴承永磁同步电机转子自适应抑制振动控制策略。为了提高振动信号频率辨识精度,在分析了转子振动产生机理的基础上,提出了基于多频率跟踪算法的无轴承永磁同步电机自适应抑制振动控制策略；建立了转子振动频率的多频率跟踪算法,并分析其稳定性。构建了基于转子振动频率在线辨识与磁场定向控制的无轴承永磁同步电机自适应抑制振动控制系统,并进行仿真实验研究。
(6)采用空间电压矢量脉宽调制技术实现无轴承永磁同步电机转子磁场定向控制策略,构建了无轴承永磁同步电机数字控制系统,研制了系统硬件电路,开发了相关软件程序,并进行实验研究,实现了无轴承永磁同步电机稳定悬浮。
最后,在总结全文的基础上,提出有需进一步研究的内容和今后工作的重点。
With the rapid development of science, technology and productivity, high-precision tools, such as precise numerically-controlled machine tools, special robot, IC manufacturing equipments, low carbon energy, high speed aircraft, turbo molecular pumps, centrifuge, are widely applied in engineering, which gives urge requirement of high-speed and super-speed motors. The high-speed motor has some remarkable advantages, such as:(1) It possesses smaller volume, less row material, higher power density, and higher efficiency;(2) It can drive the load directly without the transmission mechanism, which mean less transmission and noise;(3) The rotor of high-speed motor has less rotational inertia and thus has higher-speed dynamic response. For its promising application in special electrical transmission and high-speed direct-drive fields, the high-speed motor has becoming the international research topic in the electrical engineering field. The high-speed motor has vital vibration and shock to bearings, which makes the bearings with severe fever and attrition. This may significantly reduce the service life of bearings. The magnetic bearing can realize the friction-free and abrasion-free operation, which effectively resolves this problem. But, the motor supported by magnetic bearings has longer axial length and lower critical speed, which gives the stubborn ceiling on speed and power restrictions. Besides this, the motor supported by magnetic bearings requires more magnetic bearing units, which makes the motor system more complex and bigger. The bearingless permanent magnet synchronous motor sufficiently combines the advantages of permanent magnet synchronous motor and magnetic bearings, which can produce the radial suspension force and torque simultaneously, and thus it can realize stable operation with bigger power and higher speed. Thus, it has more significant application value in high-speed drive field.
Supported by the National High Technology Research and Development Program under grant2007AA04Z213and the National Natural Science Foundation of China under grant60974053, in order to solve technology difficult problems of bearingless permanent magnet synchronous motor applied to the high-speed direct-drive fields, some key theoretical and technological problems such as the mathematical model, the mechanical strength optimal design method of permanent magnet rotor, the construction of the eddy current loss model and winding pole pair number optimization, the adaptive vibration-rejection control, the digital control system design and so on have been researched aiming to realize the high-speed operation of bearingless permanent synchronous motors,. The main researches and the corresponding results are as follows:
(1) The Maxwell force and Lorenz force in bearingless permanent magnet synchronous motor was analyzed. The operating principle of bearingless permanent magnet synchronous motors was researched and the conditions of producing controllable radial suspension force in any direction were concluded. The mathematic models of torque and radial suspension force were constructed, considering the rotor eccentricity.
(2) The parametric transient finite element optimal design method was put forward. The transient finite element model of bearingless permanent magnet motor was established. The external current sources with adjustable frequency and phase were loaded to the model. The suspension mechanism was verified and EMF, torque and radial suspension force were calculated.
(3) The mechanical strength optimal design method of the permanent magnet rotor of bearingless permanent magnet synchronous motors is presented. The mathematic model between the bandage shrink range and the maximum rotating speed was established according to the mechanics of materials and elasticity mechanics theory. For the buried permanent magnet rotor, the equivalent ring method was put forward to calculation the mechanical strength. Finally, based on contact finite element method, the simulation results verify the correctness of the method presented in this paper.
(4) The air-gap field and pole-pair-number of windings optimal design strategy was presented. The rotor eddy current loss model of permanent magnet synchronous motor was built. The magnetization modes of permanent magnets were researched and air-gap field were optimized in order to reduce the harmonics. The rotor eddy current losses with different pole-pair-numbers were compared. Finally, based on the transient finite element method with coupled circuits, the simulation results verify the correctness of the method.
(5) The adaptive vibration-rejection control method of rotor is presented based on multi-frequency tracking algorithm. The vibration producing principle was analyzed, based on which, the adaptive vibration-rejection control strategy is presented based on the multi-frequency tracking algorithm for bearingless permanent magnet synchronous motors. The multi-frequency tracking algorithm had been deduced and the stability was analyzed. Combing the online identification of rotor vibration frequency and magnetic field orientation, the adaptive vibration-rejection control strategy is presented. The simulation results have shown that the presented method efficiently eliminates the rotor vibration and thus improves the rotating precision.
(6) The digital control system of bearingless permanent magnet synchronous motors is designed based on the space voltage vector pulse width modulation to realize the rotor magnetic field-orientated control strategy. The corresponding hardware systems and software systems are designed and the related experiments are conducted. The experiment results have shown that the platform can realize the stable suspension operation.
As a conclusion, the summarization of the whole contents is given. The content and emphasis of the further research is also given.
引文
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