无轴承异步电机悬浮控制研究与实现
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摘要
无轴承电机是一种能够同时实现转矩控制与悬浮控制的新型电机,与传统磁悬浮电机悬浮机理不同,它利用磁轴承结构和交流电机定子结构的相似性,把电枢绕组和悬浮控制绕组共同绕制在电机的定子上,利用悬浮绕组产生的磁场来改变电机内气隙磁场的分布,从而实现转轴的悬浮工作。
由于无轴承电机从根本上改变了传统的轴承或磁轴承支撑型式,具有无磨损、无需润滑、密封性好、功率密度高、转轴刚度大以及寿命长等一系列优良品质,在能源交通、航空航天、机械工业及机器人等高科技领域具有广泛的应用前景。
本文阐述了无轴承异步电机的基本工作原理,针对无轴承异步电机数学模型,分析了无轴承异步电机采用磁场定向控制的相关特性。分析了悬浮控制耦合的原因,研究了基于 SPWM 原理的磁链跟踪逆变器,用以对悬浮绕组进行控制,解决了悬浮绕组转子感应电流对悬浮控制的影响。通过对电机气隙磁场的探测或辨识,实现了悬浮子系统的独立控制。分析了谐波磁密在悬浮控制系统中的作用,并在探测线圈测量气隙磁场算法中采用相应的方法减小其对悬浮控制的影响,提高了悬浮控制的精度。除此之外,还研究了转子偏心时所测磁密与实际磁密之间的关系,并分析了用探测线圈检测转子位移的可能性。
最后,设计并实现了基于 TMS320F2812 的数字控制硬件系统和软件系统。
The bearingless motor is a new type of motor which hybridizes the motors and the magnetic bearings. Different from the traditional suspension principle of magnetic suspension motor, the bearingless motor winds the levitation windings together with conventional motor windings to produce radial forces by taking advantages of the similarity between the structure of magnetic bearing and that of the AC motor. The rotor shaft can be successfully suspended by the electromagnetic forces.
As the bearingless motor is constructed with contact-free bearings, it works free of wear, frictionless, free of abrasion and without lubrication. With these advantages and other features, the bearingless motor demonstrates the potential applications in space technology, machine tools, high vacuum technology, ultra high-speed drives and so on.
This paper first expounds the basic principle of bearingless induction motor, then analyzes some characteristics of flux orientation control contraposing the mathematical model of bearingless induction motor. For the levitation winding, the method of air-gap flux traced PWM is proposed to eliminate coupling of levitation control caused by neglecting rotor current of the levitation winding. The independent control of levitation subsystem is realized based on magnetic flux detecting with search coils or with the method of voltage-model. The affect of harmonics and rotor eccentricity is analyzed when measuring the air-gap flux density, and the possibility of measuring the shaft displacement with search coils is also studied.
A digital control system for real-time control is designed with single DSP (TMS320F2812). Experimental results validate the performance efficiency of the proposed controller in steady state, as well as transient state.
Acknowledge the grants of National Nature Science Foundation of China (50377012), National Defense Foundational Science Research of China (K1600060603), and Delta Electric & Electronics Science & Education Development Foundation.
由于无轴承电机从根本上改变了传统的轴承或磁轴承支撑型式,具有无磨损、无需润滑、密封性好、功率密度高、转轴刚度大以及寿命长等一系列优良品质,在能源交通、航空航天、机械工业及机器人等高科技领域具有广泛的应用前景。
本文阐述了无轴承异步电机的基本工作原理,针对无轴承异步电机数学模型,分析了无轴承异步电机采用磁场定向控制的相关特性。分析了悬浮控制耦合的原因,研究了基于 SPWM 原理的磁链跟踪逆变器,用以对悬浮绕组进行控制,解决了悬浮绕组转子感应电流对悬浮控制的影响。通过对电机气隙磁场的探测或辨识,实现了悬浮子系统的独立控制。分析了谐波磁密在悬浮控制系统中的作用,并在探测线圈测量气隙磁场算法中采用相应的方法减小其对悬浮控制的影响,提高了悬浮控制的精度。除此之外,还研究了转子偏心时所测磁密与实际磁密之间的关系,并分析了用探测线圈检测转子位移的可能性。
最后,设计并实现了基于 TMS320F2812 的数字控制硬件系统和软件系统。
The bearingless motor is a new type of motor which hybridizes the motors and the magnetic bearings. Different from the traditional suspension principle of magnetic suspension motor, the bearingless motor winds the levitation windings together with conventional motor windings to produce radial forces by taking advantages of the similarity between the structure of magnetic bearing and that of the AC motor. The rotor shaft can be successfully suspended by the electromagnetic forces.
As the bearingless motor is constructed with contact-free bearings, it works free of wear, frictionless, free of abrasion and without lubrication. With these advantages and other features, the bearingless motor demonstrates the potential applications in space technology, machine tools, high vacuum technology, ultra high-speed drives and so on.
This paper first expounds the basic principle of bearingless induction motor, then analyzes some characteristics of flux orientation control contraposing the mathematical model of bearingless induction motor. For the levitation winding, the method of air-gap flux traced PWM is proposed to eliminate coupling of levitation control caused by neglecting rotor current of the levitation winding. The independent control of levitation subsystem is realized based on magnetic flux detecting with search coils or with the method of voltage-model. The affect of harmonics and rotor eccentricity is analyzed when measuring the air-gap flux density, and the possibility of measuring the shaft displacement with search coils is also studied.
A digital control system for real-time control is designed with single DSP (TMS320F2812). Experimental results validate the performance efficiency of the proposed controller in steady state, as well as transient state.
Acknowledge the grants of National Nature Science Foundation of China (50377012), National Defense Foundational Science Research of China (K1600060603), and Delta Electric & Electronics Science & Education Development Foundation.
引文
[1] P. K. Hermann. A radial active magnetic bearing. London Patnet No.1 pp: 478-868, 20 Nov. 1973.
[2] P. K. Hermann. A radial active magnetic bearing having a rotating drive. London Patent No.1 pp: 500 -809, 9 Feb. 1974.
[3] G. 施韦策,H. 布鲁勒,A. 特拉克斯勒著,虞烈,袁崇军译,主动磁轴承基础、性能及应用,北京:新时代出版社,1997。
[4] A. Chiba, R. Furuichi, Y. Aikawa, et al. Stable operation of induction-type bearingless motors under loaded conditions. IEEE Trans. Industry Application, 1997, 33(4): 919-924.
[5] R. Bosch. Development of a bearingless motor. In: Proc. Int. Conf. Electric. Machines (ICEM’88), 1988, 3: 373-375.
[6] J. Bichsel. Beitr?ge zum lagerlosen Elektromotor. Diss. ETH Zürich Nr.9303, Zürich 1990.
[7] A. O. Salazar, A. Chiba, T. Fukao. A Review of Developments in Bearingless Motors. Seventh Int. Symp. Magnetic Bearings, 2000: 335-340.
[8] W. Amrhein, S. Silber, K. Nenninger. Developments on bearingless drive technology. 8th Int. Symp. Magnetic Bearings, Japan, 2002: 229-234.
[9] J. Bichsel. The bearingless electrical machine. International Symposium on Magnetic Suspension Technology. NASA Langley Research Center, 1991, 561.
[10] M. A. Rahaman, T. Fukao, T. Ohishi. Principles and Developments of Bearingless of bearingless AC motors. IPEC, 1995, Vol.3, 1334-1339.
[11] A. Chiba, T. Deido, T. Fukao, et al. An analysis of bearingless AC motors. IEEE Trans. Energy Conversion, 1994, 9(1): 61-68.
[12] A. Chiba, D. T. Power, M. A. Rahman. Characteristics of a bearingless induction motor. IEEE Trans. Magnetics, 1991, 27(6): 5199-5201.
[13] A. Chiba, D. T. Power, M.A. Ranhman. No load characteristics of a bearingless induction motor. IEEE Industry Application Society Annual Meeting Record, 1991, 126-132.
[14] A. Chiba, T. Fukao, M. A. Rahman. Principles and no load characteristeics of induction motor type bearingless motor. In Proc. Ind. Applicat. Soc., IEE Japan, 1991, 324.
[15] R. Sch?b. Beitr?ge zur lagerlosen Asynchronmaschine. Dissertation ETH Zürich, 1993.
[16] R. Sch?b, J. Bichsel. Vector control of the bearingless motor. In: Proc.4th Int. Symp. Magnetic Bearings, Zürich, Switzerland. 1994: 327-332.
[17] T. Suzuki, A. Chiba, M. A. Rahman. An Airgap Flux Oriented Vector Controller for Stable Magnetic Suspension during High Torque Acceleration in Bearingless Induction Motors. IEEE 1999: 1543-1550.
[18] T. Suzuki, A. Chiba, M. A. Rahman, et al. An air-gap flux oriented vector controller for stable operation of bearingless induction motors. IEEE Trans. Industry Application, 2000, 36(4): 1069-1076.
[19] Z. Q Deng, Y. G Yan. The Nonlinear Decoupling Control of the Bearingless Induction Motors Based on the Airgap Motor Flux Orientation. Chinese journal of aeronautics, 2002, 15(1): 38-43.
[20] 邓智泉,王晓琳,李冰等,无轴承异步电机悬浮子系统独立控制的研究,中国电机工程学报,2003,23(9):107-111。
[21] A. Chiba, D. T. Power, M. A. Rahman. Analysis of no-load characteristics of a bearingless induction motor. IEEE Trans. Industry Application, 1995, 31(1): 77-83.
[22] S. Nomura, A. Chiba, F. Nakamura, et al. A radial position control of induction type bearingless motor considering phase delay caused by the rotor squirrel cage. IEEE, 1993, 438-443.
[23] A. Chiba. Transfer Characteristics of Radial Force of Induction-type Bearingless Motors with Four-pole Rotor Circuits. 5th Int. Symp. Magnetic Bearings, 1996: 319-325.
[24] Y. Okada, S. Shimura, A. Chiba. Optimal Design of Rotor Circuit in Induction type Bearingless Motors. IEEE Trans. on Magnetics. 1998, 34(4): 2108-2110.
[25] M. Ohsawa, S. Mori, T. Satoh. Study of the Induction Type Bearingless Motor. 7th Int. Symp. Magnetic Bearings, 2000: 389-394.
[26] 胡崇岳,现代交流调速技术,北京:机械工业出版社,1998.9。
[27] 陈伯时,电力拖动自动控制系统,北京:机械工业出版社,1992。
[28] R. W. De Doncker, D. W. Novotny. The Universal Field Oriented (UFO) controller. IEEE Trans. Industry Applications. 1994, 30(1): 92-100.
[29] R. W. De Doncker, F. Profumo, M. Pastorelli, et al. Comparison of universal field oriented (UFO) controllers in different reference frames. IEEE Trans. Power Electron. 1995, 10(2): 205 -213.
[30] 李永冬,交流电机数字控制系统,北京:机械工业出版社,2002.4。
[31] 刘迪吉,航空电机学,北京:航空工业出版社,1992。
[32] 李发海,陈汤铭,郑逢时等,电机学,北京:科学出版社,1991。
[33] 李发海,王岩,机与拖动基础,北京:清华大学出版社,1994。
[34] 汤蕴璆,电机内的电磁场,北京:科学出版社,1998。
[35] 陈炳和,计算机控制系统基础,北京:北京航空航天大学出版社,2001。
[36] 邓智泉,严仰光,无轴承交流电机的基本理论和研究现状,电工技术学报,2000,15(2): 29-35。
[37] 邓智泉,张宏荃,王晓琳等,基于气隙磁场定向的无轴承异步电机非线性解耦控制,电工技术学报,2002,17(6):19-24。
[38] 邓智泉,王晓琳,张宏荃等,无轴承异步电机的转子磁场定向控制,国电机工程学报, 2003,23(3):89-92。
[39] 吴守箴,臧英杰等,电气传动的脉宽调制控制技术,北京:机械工业出版社,2002。
[40] George John. Stator Flux Estimation From Inverter Switching States for the Field Oriented Control of Induction Generators. IEEE Industry Applications Conference, 1995, 182-188.
[41] M. Shin, D. Hyun, S. Cho, et al. An Improved Stator Flux Estimation for Speed Sensorless Stator Flux Orientation Control of Induction Motors. IEEE Transactions on Power Electronics, VOL. 15, NO. 2, 1998, 312-318.
[42] N. R. N Idris, A. H. M Yatim. An Improved Stator Flux Estimation in Steady State Operation for Direct Torque Control of Induction Machines. IEEE Transactions on Power Electronics, VOL. 38, NO. 2, 2002, 110-116.
[43] 陈坚,交流电机数学模型及调速系统,北京:国防工业出版社,1989。
[44] 张桂香,王辉,计算机控制技术,成都:电子科技大学出版社,1999。
[45] 沈春林,吕厚宜等编译,数字控制系统,北京:航空工业出版社,1993。
[46] 郭锁凤,计算机控制系统设计与实现,北京:航空工业出版社,1987。
[47] 胡寿松,自动控制原理,北京:国防工业出版社,2000。
[48] David M. Alter. Using PWM Output as a Digital-to-Analog Converter on a TMS320C240 DSP. TI Application Report: spra490.pdf. 1998.11.
[49] 刘和平等,TMS320LF240x DSP 结构、原理及应用,北京:北京航空航天大学出版社, 2002。
[50] 张雄伟,曹铁勇,DSP 芯片的原理与开发应用,北京:电子工业出版社,2000.9。
[51] 梅咏华,计算方法,南京航空航天大学,1994。
[2] P. K. Hermann. A radial active magnetic bearing having a rotating drive. London Patent No.1 pp: 500 -809, 9 Feb. 1974.
[3] G. 施韦策,H. 布鲁勒,A. 特拉克斯勒著,虞烈,袁崇军译,主动磁轴承基础、性能及应用,北京:新时代出版社,1997。
[4] A. Chiba, R. Furuichi, Y. Aikawa, et al. Stable operation of induction-type bearingless motors under loaded conditions. IEEE Trans. Industry Application, 1997, 33(4): 919-924.
[5] R. Bosch. Development of a bearingless motor. In: Proc. Int. Conf. Electric. Machines (ICEM’88), 1988, 3: 373-375.
[6] J. Bichsel. Beitr?ge zum lagerlosen Elektromotor. Diss. ETH Zürich Nr.9303, Zürich 1990.
[7] A. O. Salazar, A. Chiba, T. Fukao. A Review of Developments in Bearingless Motors. Seventh Int. Symp. Magnetic Bearings, 2000: 335-340.
[8] W. Amrhein, S. Silber, K. Nenninger. Developments on bearingless drive technology. 8th Int. Symp. Magnetic Bearings, Japan, 2002: 229-234.
[9] J. Bichsel. The bearingless electrical machine. International Symposium on Magnetic Suspension Technology. NASA Langley Research Center, 1991, 561.
[10] M. A. Rahaman, T. Fukao, T. Ohishi. Principles and Developments of Bearingless of bearingless AC motors. IPEC, 1995, Vol.3, 1334-1339.
[11] A. Chiba, T. Deido, T. Fukao, et al. An analysis of bearingless AC motors. IEEE Trans. Energy Conversion, 1994, 9(1): 61-68.
[12] A. Chiba, D. T. Power, M. A. Rahman. Characteristics of a bearingless induction motor. IEEE Trans. Magnetics, 1991, 27(6): 5199-5201.
[13] A. Chiba, D. T. Power, M.A. Ranhman. No load characteristics of a bearingless induction motor. IEEE Industry Application Society Annual Meeting Record, 1991, 126-132.
[14] A. Chiba, T. Fukao, M. A. Rahman. Principles and no load characteristeics of induction motor type bearingless motor. In Proc. Ind. Applicat. Soc., IEE Japan, 1991, 324.
[15] R. Sch?b. Beitr?ge zur lagerlosen Asynchronmaschine. Dissertation ETH Zürich, 1993.
[16] R. Sch?b, J. Bichsel. Vector control of the bearingless motor. In: Proc.4th Int. Symp. Magnetic Bearings, Zürich, Switzerland. 1994: 327-332.
[17] T. Suzuki, A. Chiba, M. A. Rahman. An Airgap Flux Oriented Vector Controller for Stable Magnetic Suspension during High Torque Acceleration in Bearingless Induction Motors. IEEE 1999: 1543-1550.
[18] T. Suzuki, A. Chiba, M. A. Rahman, et al. An air-gap flux oriented vector controller for stable operation of bearingless induction motors. IEEE Trans. Industry Application, 2000, 36(4): 1069-1076.
[19] Z. Q Deng, Y. G Yan. The Nonlinear Decoupling Control of the Bearingless Induction Motors Based on the Airgap Motor Flux Orientation. Chinese journal of aeronautics, 2002, 15(1): 38-43.
[20] 邓智泉,王晓琳,李冰等,无轴承异步电机悬浮子系统独立控制的研究,中国电机工程学报,2003,23(9):107-111。
[21] A. Chiba, D. T. Power, M. A. Rahman. Analysis of no-load characteristics of a bearingless induction motor. IEEE Trans. Industry Application, 1995, 31(1): 77-83.
[22] S. Nomura, A. Chiba, F. Nakamura, et al. A radial position control of induction type bearingless motor considering phase delay caused by the rotor squirrel cage. IEEE, 1993, 438-443.
[23] A. Chiba. Transfer Characteristics of Radial Force of Induction-type Bearingless Motors with Four-pole Rotor Circuits. 5th Int. Symp. Magnetic Bearings, 1996: 319-325.
[24] Y. Okada, S. Shimura, A. Chiba. Optimal Design of Rotor Circuit in Induction type Bearingless Motors. IEEE Trans. on Magnetics. 1998, 34(4): 2108-2110.
[25] M. Ohsawa, S. Mori, T. Satoh. Study of the Induction Type Bearingless Motor. 7th Int. Symp. Magnetic Bearings, 2000: 389-394.
[26] 胡崇岳,现代交流调速技术,北京:机械工业出版社,1998.9。
[27] 陈伯时,电力拖动自动控制系统,北京:机械工业出版社,1992。
[28] R. W. De Doncker, D. W. Novotny. The Universal Field Oriented (UFO) controller. IEEE Trans. Industry Applications. 1994, 30(1): 92-100.
[29] R. W. De Doncker, F. Profumo, M. Pastorelli, et al. Comparison of universal field oriented (UFO) controllers in different reference frames. IEEE Trans. Power Electron. 1995, 10(2): 205 -213.
[30] 李永冬,交流电机数字控制系统,北京:机械工业出版社,2002.4。
[31] 刘迪吉,航空电机学,北京:航空工业出版社,1992。
[32] 李发海,陈汤铭,郑逢时等,电机学,北京:科学出版社,1991。
[33] 李发海,王岩,机与拖动基础,北京:清华大学出版社,1994。
[34] 汤蕴璆,电机内的电磁场,北京:科学出版社,1998。
[35] 陈炳和,计算机控制系统基础,北京:北京航空航天大学出版社,2001。
[36] 邓智泉,严仰光,无轴承交流电机的基本理论和研究现状,电工技术学报,2000,15(2): 29-35。
[37] 邓智泉,张宏荃,王晓琳等,基于气隙磁场定向的无轴承异步电机非线性解耦控制,电工技术学报,2002,17(6):19-24。
[38] 邓智泉,王晓琳,张宏荃等,无轴承异步电机的转子磁场定向控制,国电机工程学报, 2003,23(3):89-92。
[39] 吴守箴,臧英杰等,电气传动的脉宽调制控制技术,北京:机械工业出版社,2002。
[40] George John. Stator Flux Estimation From Inverter Switching States for the Field Oriented Control of Induction Generators. IEEE Industry Applications Conference, 1995, 182-188.
[41] M. Shin, D. Hyun, S. Cho, et al. An Improved Stator Flux Estimation for Speed Sensorless Stator Flux Orientation Control of Induction Motors. IEEE Transactions on Power Electronics, VOL. 15, NO. 2, 1998, 312-318.
[42] N. R. N Idris, A. H. M Yatim. An Improved Stator Flux Estimation in Steady State Operation for Direct Torque Control of Induction Machines. IEEE Transactions on Power Electronics, VOL. 38, NO. 2, 2002, 110-116.
[43] 陈坚,交流电机数学模型及调速系统,北京:国防工业出版社,1989。
[44] 张桂香,王辉,计算机控制技术,成都:电子科技大学出版社,1999。
[45] 沈春林,吕厚宜等编译,数字控制系统,北京:航空工业出版社,1993。
[46] 郭锁凤,计算机控制系统设计与实现,北京:航空工业出版社,1987。
[47] 胡寿松,自动控制原理,北京:国防工业出版社,2000。
[48] David M. Alter. Using PWM Output as a Digital-to-Analog Converter on a TMS320C240 DSP. TI Application Report: spra490.pdf. 1998.11.
[49] 刘和平等,TMS320LF240x DSP 结构、原理及应用,北京:北京航空航天大学出版社, 2002。
[50] 张雄伟,曹铁勇,DSP 芯片的原理与开发应用,北京:电子工业出版社,2000.9。
[51] 梅咏华,计算方法,南京航空航天大学,1994。