动力磁悬浮轴承径向位移自检测系统研究
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摘要
动力磁悬浮轴承(Power Magnetic Bearing简称P-MB),也称为无轴承电机,是近年来提出的一种新型电动机,在原理上是以普通的电机为基础,在定子上安装有两套不同极数的绕组,使其电磁铁提供的磁场不仅可产生支承转子的径向力,而且还可产生驱动转子的扭矩。由于其具有结构简单、制造方便、可靠性高、适合超高速运行等特点,目前已成为电机研究领域中的一个新热点。
目前工业领域中应用广泛的大多是传统的磁悬浮轴承,需要5~10个非接触式位移传感器来检测转子的位移,由于位移传感器的存在,使磁悬浮轴承的轴向尺寸变大、系统的动态性能及可靠性降低。又由于机械结构上的限制,使传感器不能装在磁悬浮轴承的中间,这样就造成系统的控制方程相互耦合,系统的控制器设计复杂。此外,由于位置传感器的价格较高,从而导致整个磁悬浮轴承系统的价格偏高,大大限制了它在工业上的推广应用。
本文基于动力磁悬浮轴承的基本运行原理,分析了计及转子偏心的悬浮力表达式,推导出悬浮绕组自感与转子径向偏移量之间的数学模型;基于动力磁悬浮轴承径向位移自检测运行原理,设计出采用高频信号的转子径向偏移量的检测电路;分析了转子偏心时悬浮绕组与转矩绕组的磁链关系,推导出基于U-I模型的悬浮绕组独立控制算法;采用DSP(TMS320LF2407A)作为主控芯片,设计出动力磁悬浮轴承的径向位移自检测控制系统。
Power Magnetic Bearing, also known as Bearingless Motors, has been proposed as a new type of motor in recent years. In principle, it is based on the general Motors. Two different sets of windings are installed on the stator, which enable the magnetic field provided by electromagnets not only to produce the radial force to support the rotor, but also to drive the rotor. Because of its simple structure, easy manufacturing, high reliability, suitability for ultra-high-speed operation, etc., the current research in the motor field has become a new hot spot.
At present, the traditional magnetic bearings are widely used in industries. To detect the rotor displacement, 5 to 10 non-contact displacement sensors are needed. The existence of displacement sensor will increase the axial size of magnetic bearing system, and badly affect the dynamic performance and reliability. Also as a result of structural limitations, the sensor can not be installed in the middle of magnetic bearings, which makes the equations of the system coupling, and the design of system controller becomes more complicated. In addition, the high price of the positioning sensor results in the high price of the entire system of magnetic bearing, which will greatly limit its industrial applications.
In this thesis, the expression of the levitation force considering rotor eccentricity is analyzed, and the mathematical modle between the self-inductance of levitation windings and radial offsets is derived, basing on the operating principles of the power magnetic bearing; the displacement detection circuit using high-frequency signals injectiong method is designed, basing on the radial displacement self-sensing principle of the magnetic bearing; the magnetic linkage relationship between the levitaton windings and torque windings, and the independent control algorithm of the levitaton windings based on U-I modle is given; the radial displacement self-sensing control system of the power magnetic bearing is designed, using DSP(TMS320LF2407A) as the main control chip.
目前工业领域中应用广泛的大多是传统的磁悬浮轴承,需要5~10个非接触式位移传感器来检测转子的位移,由于位移传感器的存在,使磁悬浮轴承的轴向尺寸变大、系统的动态性能及可靠性降低。又由于机械结构上的限制,使传感器不能装在磁悬浮轴承的中间,这样就造成系统的控制方程相互耦合,系统的控制器设计复杂。此外,由于位置传感器的价格较高,从而导致整个磁悬浮轴承系统的价格偏高,大大限制了它在工业上的推广应用。
本文基于动力磁悬浮轴承的基本运行原理,分析了计及转子偏心的悬浮力表达式,推导出悬浮绕组自感与转子径向偏移量之间的数学模型;基于动力磁悬浮轴承径向位移自检测运行原理,设计出采用高频信号的转子径向偏移量的检测电路;分析了转子偏心时悬浮绕组与转矩绕组的磁链关系,推导出基于U-I模型的悬浮绕组独立控制算法;采用DSP(TMS320LF2407A)作为主控芯片,设计出动力磁悬浮轴承的径向位移自检测控制系统。
Power Magnetic Bearing, also known as Bearingless Motors, has been proposed as a new type of motor in recent years. In principle, it is based on the general Motors. Two different sets of windings are installed on the stator, which enable the magnetic field provided by electromagnets not only to produce the radial force to support the rotor, but also to drive the rotor. Because of its simple structure, easy manufacturing, high reliability, suitability for ultra-high-speed operation, etc., the current research in the motor field has become a new hot spot.
At present, the traditional magnetic bearings are widely used in industries. To detect the rotor displacement, 5 to 10 non-contact displacement sensors are needed. The existence of displacement sensor will increase the axial size of magnetic bearing system, and badly affect the dynamic performance and reliability. Also as a result of structural limitations, the sensor can not be installed in the middle of magnetic bearings, which makes the equations of the system coupling, and the design of system controller becomes more complicated. In addition, the high price of the positioning sensor results in the high price of the entire system of magnetic bearing, which will greatly limit its industrial applications.
In this thesis, the expression of the levitation force considering rotor eccentricity is analyzed, and the mathematical modle between the self-inductance of levitation windings and radial offsets is derived, basing on the operating principles of the power magnetic bearing; the displacement detection circuit using high-frequency signals injectiong method is designed, basing on the radial displacement self-sensing principle of the magnetic bearing; the magnetic linkage relationship between the levitaton windings and torque windings, and the independent control algorithm of the levitaton windings based on U-I modle is given; the radial displacement self-sensing control system of the power magnetic bearing is designed, using DSP(TMS320LF2407A) as the main control chip.
引文
[1]曹建荣,磁悬浮电动机研究,博士学位论文,西安交通大学,2004.7
[2]曹昌平,无轴承感应电机的无径向位移传感器运行研究,硕士学位论文,西北工业大学,2007.3
[3]曾励,陈飞,宋爱平.动力磁悬浮轴承的研究现状及关键技术[J].中国机械工程,2001,12(11):1320-1322
[4]朱幌秋,邓志泉,严仰光,无轴承电机的原理及研究现状,微电机,2000,33(6):29-31
[5]陈保进,朱幌秋,王德明,无轴承永磁同步电机基本原理及研究现状,排灌机械,2003,21(1):42-45
[6]刘贤兴,孙宇新,朱幌秋.无轴承永磁同步电动机的发展、应用和前景,中国机械工程,2004,15(17):1594-1597
[7]朱幌秋,张伟霞,费德成等,磁悬浮无轴承电动机发展、应用和前景,微特电机,2006,(3):39-41
[8]曹建荣,虞烈,谢友柏.主动磁悬浮轴承的解耦控制.西安交通大学学报,1999,33(12):44-48
[9]曹建荣,虞烈,谢友柏.感应电动机的解耦控制与矢量控制的解耦性质.西安交通大学学报,2000,,34(6):71-75
[10] Cao Jianrong,Yu Lie,Youbai.Study on Magnetic Levitation Flywheel Energy Storage Device.Seventh International Symposium of Magnetic Bearings,Zurich,Switzerland.Aug.2000:69-73
[11]方晓厅,磁悬浮无轴承无刷直流电机及其在计算机硬盘中的应用研究,硕士学位论文,西北工业大学,2006
[12]昌红武,磁悬浮轴承控制系统研究,武汉理工大学,2007.7
[13]董瑞,主动磁力轴承转子位置自检测及功率放大器的研究,武汉理工大学,2006.5
[14]刘林伟,硬盘磁力轴承控制系统及其控制算法的研究,硕士学位论文,武汉理工大学,2005
[15]游珍珍,无位置传感器磁力轴承的研究,武汉理工大学,2007.4
[16] J.Amemiya,A.Chiba,M.Rahman etl. Basic Characteristics of a onsequent-Pole-Type Bearingless Motor,IEEE Transactions on Magnetics, vol.41,No.1,January 2005,pp:82-89
[17]刘雪冬,刘泉,胡业发,磁悬浮轴承转子位置无传感器自动检测的研究,武汉理工大学学报,Vol.25 No.1 Jan. 2003
[18]年珩,贺益康,永磁型无轴承电机无径向位移传感器运行研究,电工电能新技术,Vol.25, No.4, Oct.2006
[19] C.施伟策,布鲁勒等,虞烈等译,主动磁轴承基础性能及应用,北京:新时代出版社,1997
[20]杨均悦,数控机床高速主轴动力磁悬浮轴承研究,大连交通大学,2006.7
[21]韩勇,基于DSP动力磁悬浮轴承悬浮控制系统研究,硕士研究生论文,大连交通大学,2008.7
[22]年珩,贺益康,感应型无轴承电机磁悬浮力解析模型及其反馈控制,中国电机工程学报, Vol.23No.11 Nov.2003
[23]刘迎澎,黄田.磁悬浮轴承研究综述.机械工程学报,200,036(11):5-9
[24]王军.无传感器磁悬浮轴承的研究.南京:南京航空航大人学,2005
[25]Alexander Schammass,Hanes Bleulero. ExPerimental Results on Self-sensing AMB Using A three-state PWM Amplifier. Proceedings of The Eighth International Symposium on Magnetic Bearings(ISMB-8),Mito Japan,2002:289-292
[26] Sivadasan K.Analysis of self-sensing Active Magnetic Bearings Working on Inductance Measurement Principle,IEEE Transactions on Magnetics,1996,32(2):329-334
[27]姚天任,孙洪.现代数字信号处理.武汉,华中科技大学出版社,1999
[28] Schob R, Bichsel J. Vector control of the bearingless motor [A].Schweitzer G. Fourth Int Symp Magnetic Bearings [C].Zurich: ETH, 1994.327-332
[29] K. Yasuda, T. Kuwajima, A. Chiba, et al. A proposed controller for bearingless induction driveswith search coils wound around stator teeth. Maglev2000, Rio de Janeiro, Brazil, pp.435~440
[30] K. Kiryu, T. Kuwajima, A. Chiba, T. Fukao,“A feedback controller with gap flux estimation in”.
[31]汪安民,DSP应用开发使用子程序北京:人民邮电出版社.2005.9:367-381
[32]宋立群,数控机床动力磁悬浮主轴系统变频调速研究,大连交通大学,2007.7
[33]周慕靖,龙利佳,陈健等. DSP(数字信号处理)在高频信号检测中的应用开发,低温物理学报,Vo.l.29, No.1,February.2007
[34]韩叶祥,朱兆优,张斌,基于MAX038的程控函数信号发生器的设计,电子元器件应用,Vol.10 No.5,May.2008
[35]余茂生,基于MAX038的数字函数信号发生器设计,福建电脑,2008年第10期
[36]包本刚,刘晓晖,罗伟民等.基于MAX038信号发生器的嵌入式设计,湖南科技学院学报,Vol.29,No.8,Aug.2008
[37] LEM电流传感器产品手册
[38] AD633AR-REEL产品手册
[39]康华光,陈大钦,电子技术基础模拟部分,高等教育出版社
[40]三菱PM25RLA120数据手册
[41] HCPL-4504安捷伦IPM专用光耦数据手册
[2]曹昌平,无轴承感应电机的无径向位移传感器运行研究,硕士学位论文,西北工业大学,2007.3
[3]曾励,陈飞,宋爱平.动力磁悬浮轴承的研究现状及关键技术[J].中国机械工程,2001,12(11):1320-1322
[4]朱幌秋,邓志泉,严仰光,无轴承电机的原理及研究现状,微电机,2000,33(6):29-31
[5]陈保进,朱幌秋,王德明,无轴承永磁同步电机基本原理及研究现状,排灌机械,2003,21(1):42-45
[6]刘贤兴,孙宇新,朱幌秋.无轴承永磁同步电动机的发展、应用和前景,中国机械工程,2004,15(17):1594-1597
[7]朱幌秋,张伟霞,费德成等,磁悬浮无轴承电动机发展、应用和前景,微特电机,2006,(3):39-41
[8]曹建荣,虞烈,谢友柏.主动磁悬浮轴承的解耦控制.西安交通大学学报,1999,33(12):44-48
[9]曹建荣,虞烈,谢友柏.感应电动机的解耦控制与矢量控制的解耦性质.西安交通大学学报,2000,,34(6):71-75
[10] Cao Jianrong,Yu Lie,Youbai.Study on Magnetic Levitation Flywheel Energy Storage Device.Seventh International Symposium of Magnetic Bearings,Zurich,Switzerland.Aug.2000:69-73
[11]方晓厅,磁悬浮无轴承无刷直流电机及其在计算机硬盘中的应用研究,硕士学位论文,西北工业大学,2006
[12]昌红武,磁悬浮轴承控制系统研究,武汉理工大学,2007.7
[13]董瑞,主动磁力轴承转子位置自检测及功率放大器的研究,武汉理工大学,2006.5
[14]刘林伟,硬盘磁力轴承控制系统及其控制算法的研究,硕士学位论文,武汉理工大学,2005
[15]游珍珍,无位置传感器磁力轴承的研究,武汉理工大学,2007.4
[16] J.Amemiya,A.Chiba,M.Rahman etl. Basic Characteristics of a onsequent-Pole-Type Bearingless Motor,IEEE Transactions on Magnetics, vol.41,No.1,January 2005,pp:82-89
[17]刘雪冬,刘泉,胡业发,磁悬浮轴承转子位置无传感器自动检测的研究,武汉理工大学学报,Vol.25 No.1 Jan. 2003
[18]年珩,贺益康,永磁型无轴承电机无径向位移传感器运行研究,电工电能新技术,Vol.25, No.4, Oct.2006
[19] C.施伟策,布鲁勒等,虞烈等译,主动磁轴承基础性能及应用,北京:新时代出版社,1997
[20]杨均悦,数控机床高速主轴动力磁悬浮轴承研究,大连交通大学,2006.7
[21]韩勇,基于DSP动力磁悬浮轴承悬浮控制系统研究,硕士研究生论文,大连交通大学,2008.7
[22]年珩,贺益康,感应型无轴承电机磁悬浮力解析模型及其反馈控制,中国电机工程学报, Vol.23No.11 Nov.2003
[23]刘迎澎,黄田.磁悬浮轴承研究综述.机械工程学报,200,036(11):5-9
[24]王军.无传感器磁悬浮轴承的研究.南京:南京航空航大人学,2005
[25]Alexander Schammass,Hanes Bleulero. ExPerimental Results on Self-sensing AMB Using A three-state PWM Amplifier. Proceedings of The Eighth International Symposium on Magnetic Bearings(ISMB-8),Mito Japan,2002:289-292
[26] Sivadasan K.Analysis of self-sensing Active Magnetic Bearings Working on Inductance Measurement Principle,IEEE Transactions on Magnetics,1996,32(2):329-334
[27]姚天任,孙洪.现代数字信号处理.武汉,华中科技大学出版社,1999
[28] Schob R, Bichsel J. Vector control of the bearingless motor [A].Schweitzer G. Fourth Int Symp Magnetic Bearings [C].Zurich: ETH, 1994.327-332
[29] K. Yasuda, T. Kuwajima, A. Chiba, et al. A proposed controller for bearingless induction driveswith search coils wound around stator teeth. Maglev2000, Rio de Janeiro, Brazil, pp.435~440
[30] K. Kiryu, T. Kuwajima, A. Chiba, T. Fukao,“A feedback controller with gap flux estimation in”.
[31]汪安民,DSP应用开发使用子程序北京:人民邮电出版社.2005.9:367-381
[32]宋立群,数控机床动力磁悬浮主轴系统变频调速研究,大连交通大学,2007.7
[33]周慕靖,龙利佳,陈健等. DSP(数字信号处理)在高频信号检测中的应用开发,低温物理学报,Vo.l.29, No.1,February.2007
[34]韩叶祥,朱兆优,张斌,基于MAX038的程控函数信号发生器的设计,电子元器件应用,Vol.10 No.5,May.2008
[35]余茂生,基于MAX038的数字函数信号发生器设计,福建电脑,2008年第10期
[36]包本刚,刘晓晖,罗伟民等.基于MAX038信号发生器的嵌入式设计,湖南科技学院学报,Vol.29,No.8,Aug.2008
[37] LEM电流传感器产品手册
[38] AD633AR-REEL产品手册
[39]康华光,陈大钦,电子技术基础模拟部分,高等教育出版社
[40]三菱PM25RLA120数据手册
[41] HCPL-4504安捷伦IPM专用光耦数据手册