飞轮电池用五自由度单绕组磁悬浮开关磁阻电机参数设计及运行控制
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摘要
随着新能源发电、分布式电源系统、混合动力车辆、航空航天等领域的发展,储能技术己成为世界性的研究课题。众多储能技术中,飞轮电池以功率大、效率高、寿命长、储能密度大、清洁无污染等优点受到国内外的高度重视。作为一种集机械、控制、电子等技术于一体的新型储能装备,飞轮电池目前还存在诸多制约其工程化应用的技术难题,主要表现于悬浮支承系统、集成式高速/超高速电机的性能与控制等。为减小支承损耗,飞轮电池通常采用多个磁悬浮轴承支承,增加了飞轮轴向长度,降低了临界转速,同时也导致飞轮电池结构复杂、体积庞大。为此,论文提出一种以单绕组磁悬浮开关磁阻电机为核心部件的飞轮电池用五自由度磁悬浮支承与传动系统,实现了悬浮支承系统与驱动电机的统一,大大缩短了飞轮转子轴向长度,提高了临界转速、功率密度与系统集成度,进一步减小了支承损耗,在高速低损飞轮电池领域具有重大的研究与应用价值。
在国家自然科学基金(61074019,60774044)与江苏省高校“青蓝工程”科技创新团队等项目的资助下,论文以实现飞轮电池用五自由度磁悬浮电机的高速、低损耗运行为目标,围绕五自由度单绕组磁悬浮开关磁阻电机支承与传动的飞轮电池结构、低损耗永磁偏置轴向—径向混合磁悬浮轴承优化设计、单绕组磁悬浮开关磁阻电机优化设计与高速运行控制策略、五自由度磁悬浮电机的数字控制系统等关键技术开展研究。主要研究内容与成果概略如下：
(1)研究提出一种飞轮电池用五自由度磁悬浮电机支承与传动系统结构。在分析飞轮电池动、静载荷的基础上,以降低支承损耗、提高支承力可控性为目标,研究确定了飞轮电池五自由度磁悬浮支承与传动系统结构方案；分析了相同功率下单绕组磁悬浮开关磁阻电机与双绕组磁悬浮开关磁阻电机的悬浮力、转矩、效率与功率密度特性,给出了磁悬浮开关磁阻电机的选型方法。
(2)提出低损耗永磁偏置轴向—径向混合磁悬浮轴承的优化设计方法。基于旋转磁场理论,通过减小转子铁心磁场波动频率以降低转子铁心损耗,设计了低损耗的永磁偏置轴向—径向混合磁悬浮轴承结构；分析了轴向与径向气隙处的磁力线分布特性,构建了轴向与径向承载力的数学模型,获得轴向、径向位移刚度与电流刚度；利用等效磁路法,研究了磁极面积、控制线圈匝数、定转子结构等参数的设计方法；建立了转子铁心损耗计算模型,验证了混合磁轴承高速运行时的低损特性。
(3)提出基于相关向量机与粒子群优化的单绕组磁悬浮开关磁阻电机关键参数优化设计方法。建立了电机主体尺寸计算模型,以提高电机出力、减小相间耦合为目标,研究了绕组结构优化设计方法；分析飞轮电池对电机悬浮力、转矩、效率与功率密度等性能参数的要求,研究了结构参数对性能参数的敏感度,获取影响电机性能的主要结构参数；建立电机性能的多目标优化函数,研究基于基值与权重因子的统一目标函数构建方法；构建了主要参数与统一目标函数的相关向量机非参数模型,研究了基于粒子群的电机参数优化设计算法；开展了相关的仿真与试验研究,验证了设计方法的正确性。
(4)提出单绕组磁悬浮开关磁阻电机的双相导通高速解耦控制策略。分析了悬浮力与转矩的有效产生区间,研究了悬浮相与旋转相的绕组电流分配方法,提出了悬浮力与转矩分相产生的双相导通高速解耦策略；优化计算了悬浮相电流转矩分量与旋转相关断角,有效减小了转矩脉动,提高了瞬时悬浮力的响应速度；开展了相关的仿真试验研究,验证了控制策略的正确性。
(5)提出了基于自适应相关向量机的单绕组磁悬浮开关磁阻电机转子径向位移自检测策略与方法。针对电机高速运行状态下饱和程度高、数据样本频带宽的特点,以磁链、电流与转角为输入,以径向位移为输出,研究提出高斯核函数宽度自适应调节的相关向量机算法,建立了位移参量的自适应相关向量机预测模型：仿真结果表明,该策略的实时性与预测精度均较好地满足电机高速悬浮运行的需要。
(6)构建了DSP与FPGA复合结构的飞轮电池用五自由度单绕组磁悬浮开关磁阻电机高速数字控制系统。分析了五自由度磁悬浮电机对数字控制系统的性能要求,研究检测与控制算法的分配、规划以及在DSP与FPGA的实现策略与方法；设计了相关的功率变换、转子位置与位移信号检测、电流滞环控制、PWM控制等硬件模块。最后,在总结全文的基础上,提出需要进一步研究的内容和今后工作的重点。
With the rapid development in the fields of new energy generation, distributed generation, hybrid electric vehicle and aerospace, the energy storage technology has becoming a world-wide research topic. In frequently-encountered energy storage technologies, the flywheel battery has been paid high attention all over the world since it has some remarkable advantages such as high-power, high-efficiency, long-life, non-pollution, high energy density, etc. As a novel energy storage device combing the electronic technology, mechanical technology and control technology, many vital issues, such as the performance and control of bearing systems and integrated high-speed motors or ultra-high-speed motors, still exist in the flywheel battery, which limit its engineering application. In order to reduce bearing losses, the flywheel battery is usually supported by some magnetic bearings, which increases flywheel axial length, reduces critical speed and makes the system bigger and more complicated in the meantime. To resolve this problem, a novel five-degree-of-freedom (5-DOF) compound supporting system is presented based on the single-winding bearingless switched reluctance motor. In this supporting system, the radial bearing and motor in the flywheel battery are integrated, which reduces flywheel axial length and bearing losses, increases critical speed, power density and system integration. Thus, it has vital application and research value in high-speed, low-loss flywheel batteries.
Supported by the National Natural Science Foundation of China under grant61074019and60774044, and the Innovation Project of Jiangsu Province, some key theoretical and technological problems are studied to realize the high-speed, low-loss operation of5-DOF bearingless motors, such as the main structure of the proposed compound supporting system, the optimal design of the low-loss permanent magnet-biased axial radial magnetic bearing, the optimal design method and the high-speed operation control strategy of the single-winding beaingless switched reluctance motor, the digital control system design and so on. The main contents and the corresponding results are as follows:
(1) A novel5-DOF supporting and driving system in flywheel battery was presented based on a bearingless motor, which is supported by an axial permanent magnet bearing a permanent magnet-biased axial radial magnetic bearing and a single-winding bearingless switched reluctance motor. Based on the analysis of dynamic toad and static load, the structure of5-DOF bearing system was determined aiming to reduce loss and improve controllability of suspension forces. The suspension force, torque, efficiency and power density of the single-winding bearingless switched reluctance motor and the dual-winding bearingless switched reluctance motor with the same power were analyzed, and then the selection of the motor in the flywheel battery was present.
(2) The optimal design of the permanent magnet-biased axial radial magnetic bearing was put forward. Based on the rotating electro-magnetic field theory, the iron loss can be reduced by lessening flux fluctuation frequency in rotor core, and then the structure of low-loss permanent magnet biased axial radial magnetic bearing was designed. The distribution characteristics of magnetic flux lines at the axial and radial air gap were analyzed. The mathematical models of the axial and radial suspension forces were constructed, and then the position stiffness and current stiffness were obtained. The parameters, such as pole area, coil number, structural size, were design by using magnetic circuit method. The calculation model of the rotor iron loss was built and the results verify the low-loss characteristic of this proposed magnetic bearing at high speed.
(3) The optimal design of the single-winding bearingless switched reluctance motor was put forward based on the relevance vector machine and particle swarm optimization algorithm. The calculation model of main dimension was built and then the winding structure was optimized with the objective of maximum motor output and minimal coupling between different phases. According to the flywheel battery's requirements to motor performance parameters, such as suspension force, torque, efficiency and power density, the sensitivity of the structure parameters to performance parameters was simulated, and then the key parameters were obtained. The multi-objective optimization function with the motor's performance was constructed. The unified-objective function with weight factors and base values was built and then the non-parametric model for key parameters and the unified-objective function was built by relevance vector machine. The key parameters were optimized by particle swarm optimization algorithm. Finally, the simulation results verify the correctness of this proposed method.
(4) The two-phase-excitation high-speed decoupling control strategy of the single-winding bearingless switched reluctance motor was put forward, by which the suspension force and torque are produced by different phases. The effective producing areas of the suspension force and torque were analyzed. An excitation method of the suspension phase and the torque phase was presented. An optimal control method of chopped current amplitude and turn-off angle were proposed to reduce torque ripple and increase response speed of the suspension force subsystem. The proposed control strategy was verified to be effective by simulation and experiment on the test motor.
(5) The radial displacement self-sensing method of the single-winding bearingless switched reluctance motor was put forward. The relevance vector machine algorithm with adaptive Gaussian kernel function was presented by considering the high saturation and wide frequency band of the motor data at high speed. The prediction models of radial displacement were built with flux linkage, current and rotor angle as the input and with radial displacement as the output. This proposed control strategy was verified to be real-time and precise by the simulation results, which well meet the requirements of suspension operation at high speed.
(6) The high-speed digital control system of5-DOF single-winding bearingless switched reluctance motor for flywheel batteries with DSP and FPGA was designed. The flywheel battery's requirements to digital control system were analyzed. The allocation and implementation methods of control algorithms were presented. The hardware modules, such as power converters, detection circuits of rotor angle and radial displacement, control circuits of current lagging loop and PWM drive circuits and so on, were also designed. As a conclusion, the summarization of the whole contents is given. The content and emphasis of the further research is also given.
在国家自然科学基金(61074019,60774044)与江苏省高校“青蓝工程”科技创新团队等项目的资助下,论文以实现飞轮电池用五自由度磁悬浮电机的高速、低损耗运行为目标,围绕五自由度单绕组磁悬浮开关磁阻电机支承与传动的飞轮电池结构、低损耗永磁偏置轴向—径向混合磁悬浮轴承优化设计、单绕组磁悬浮开关磁阻电机优化设计与高速运行控制策略、五自由度磁悬浮电机的数字控制系统等关键技术开展研究。主要研究内容与成果概略如下：
(1)研究提出一种飞轮电池用五自由度磁悬浮电机支承与传动系统结构。在分析飞轮电池动、静载荷的基础上,以降低支承损耗、提高支承力可控性为目标,研究确定了飞轮电池五自由度磁悬浮支承与传动系统结构方案；分析了相同功率下单绕组磁悬浮开关磁阻电机与双绕组磁悬浮开关磁阻电机的悬浮力、转矩、效率与功率密度特性,给出了磁悬浮开关磁阻电机的选型方法。
(2)提出低损耗永磁偏置轴向—径向混合磁悬浮轴承的优化设计方法。基于旋转磁场理论,通过减小转子铁心磁场波动频率以降低转子铁心损耗,设计了低损耗的永磁偏置轴向—径向混合磁悬浮轴承结构；分析了轴向与径向气隙处的磁力线分布特性,构建了轴向与径向承载力的数学模型,获得轴向、径向位移刚度与电流刚度；利用等效磁路法,研究了磁极面积、控制线圈匝数、定转子结构等参数的设计方法；建立了转子铁心损耗计算模型,验证了混合磁轴承高速运行时的低损特性。
(3)提出基于相关向量机与粒子群优化的单绕组磁悬浮开关磁阻电机关键参数优化设计方法。建立了电机主体尺寸计算模型,以提高电机出力、减小相间耦合为目标,研究了绕组结构优化设计方法；分析飞轮电池对电机悬浮力、转矩、效率与功率密度等性能参数的要求,研究了结构参数对性能参数的敏感度,获取影响电机性能的主要结构参数；建立电机性能的多目标优化函数,研究基于基值与权重因子的统一目标函数构建方法；构建了主要参数与统一目标函数的相关向量机非参数模型,研究了基于粒子群的电机参数优化设计算法；开展了相关的仿真与试验研究,验证了设计方法的正确性。
(4)提出单绕组磁悬浮开关磁阻电机的双相导通高速解耦控制策略。分析了悬浮力与转矩的有效产生区间,研究了悬浮相与旋转相的绕组电流分配方法,提出了悬浮力与转矩分相产生的双相导通高速解耦策略；优化计算了悬浮相电流转矩分量与旋转相关断角,有效减小了转矩脉动,提高了瞬时悬浮力的响应速度；开展了相关的仿真试验研究,验证了控制策略的正确性。
(5)提出了基于自适应相关向量机的单绕组磁悬浮开关磁阻电机转子径向位移自检测策略与方法。针对电机高速运行状态下饱和程度高、数据样本频带宽的特点,以磁链、电流与转角为输入,以径向位移为输出,研究提出高斯核函数宽度自适应调节的相关向量机算法,建立了位移参量的自适应相关向量机预测模型：仿真结果表明,该策略的实时性与预测精度均较好地满足电机高速悬浮运行的需要。
(6)构建了DSP与FPGA复合结构的飞轮电池用五自由度单绕组磁悬浮开关磁阻电机高速数字控制系统。分析了五自由度磁悬浮电机对数字控制系统的性能要求,研究检测与控制算法的分配、规划以及在DSP与FPGA的实现策略与方法；设计了相关的功率变换、转子位置与位移信号检测、电流滞环控制、PWM控制等硬件模块。最后,在总结全文的基础上,提出需要进一步研究的内容和今后工作的重点。
With the rapid development in the fields of new energy generation, distributed generation, hybrid electric vehicle and aerospace, the energy storage technology has becoming a world-wide research topic. In frequently-encountered energy storage technologies, the flywheel battery has been paid high attention all over the world since it has some remarkable advantages such as high-power, high-efficiency, long-life, non-pollution, high energy density, etc. As a novel energy storage device combing the electronic technology, mechanical technology and control technology, many vital issues, such as the performance and control of bearing systems and integrated high-speed motors or ultra-high-speed motors, still exist in the flywheel battery, which limit its engineering application. In order to reduce bearing losses, the flywheel battery is usually supported by some magnetic bearings, which increases flywheel axial length, reduces critical speed and makes the system bigger and more complicated in the meantime. To resolve this problem, a novel five-degree-of-freedom (5-DOF) compound supporting system is presented based on the single-winding bearingless switched reluctance motor. In this supporting system, the radial bearing and motor in the flywheel battery are integrated, which reduces flywheel axial length and bearing losses, increases critical speed, power density and system integration. Thus, it has vital application and research value in high-speed, low-loss flywheel batteries.
Supported by the National Natural Science Foundation of China under grant61074019and60774044, and the Innovation Project of Jiangsu Province, some key theoretical and technological problems are studied to realize the high-speed, low-loss operation of5-DOF bearingless motors, such as the main structure of the proposed compound supporting system, the optimal design of the low-loss permanent magnet-biased axial radial magnetic bearing, the optimal design method and the high-speed operation control strategy of the single-winding beaingless switched reluctance motor, the digital control system design and so on. The main contents and the corresponding results are as follows:
(1) A novel5-DOF supporting and driving system in flywheel battery was presented based on a bearingless motor, which is supported by an axial permanent magnet bearing a permanent magnet-biased axial radial magnetic bearing and a single-winding bearingless switched reluctance motor. Based on the analysis of dynamic toad and static load, the structure of5-DOF bearing system was determined aiming to reduce loss and improve controllability of suspension forces. The suspension force, torque, efficiency and power density of the single-winding bearingless switched reluctance motor and the dual-winding bearingless switched reluctance motor with the same power were analyzed, and then the selection of the motor in the flywheel battery was present.
(2) The optimal design of the permanent magnet-biased axial radial magnetic bearing was put forward. Based on the rotating electro-magnetic field theory, the iron loss can be reduced by lessening flux fluctuation frequency in rotor core, and then the structure of low-loss permanent magnet biased axial radial magnetic bearing was designed. The distribution characteristics of magnetic flux lines at the axial and radial air gap were analyzed. The mathematical models of the axial and radial suspension forces were constructed, and then the position stiffness and current stiffness were obtained. The parameters, such as pole area, coil number, structural size, were design by using magnetic circuit method. The calculation model of the rotor iron loss was built and the results verify the low-loss characteristic of this proposed magnetic bearing at high speed.
(3) The optimal design of the single-winding bearingless switched reluctance motor was put forward based on the relevance vector machine and particle swarm optimization algorithm. The calculation model of main dimension was built and then the winding structure was optimized with the objective of maximum motor output and minimal coupling between different phases. According to the flywheel battery's requirements to motor performance parameters, such as suspension force, torque, efficiency and power density, the sensitivity of the structure parameters to performance parameters was simulated, and then the key parameters were obtained. The multi-objective optimization function with the motor's performance was constructed. The unified-objective function with weight factors and base values was built and then the non-parametric model for key parameters and the unified-objective function was built by relevance vector machine. The key parameters were optimized by particle swarm optimization algorithm. Finally, the simulation results verify the correctness of this proposed method.
(4) The two-phase-excitation high-speed decoupling control strategy of the single-winding bearingless switched reluctance motor was put forward, by which the suspension force and torque are produced by different phases. The effective producing areas of the suspension force and torque were analyzed. An excitation method of the suspension phase and the torque phase was presented. An optimal control method of chopped current amplitude and turn-off angle were proposed to reduce torque ripple and increase response speed of the suspension force subsystem. The proposed control strategy was verified to be effective by simulation and experiment on the test motor.
(5) The radial displacement self-sensing method of the single-winding bearingless switched reluctance motor was put forward. The relevance vector machine algorithm with adaptive Gaussian kernel function was presented by considering the high saturation and wide frequency band of the motor data at high speed. The prediction models of radial displacement were built with flux linkage, current and rotor angle as the input and with radial displacement as the output. This proposed control strategy was verified to be real-time and precise by the simulation results, which well meet the requirements of suspension operation at high speed.
(6) The high-speed digital control system of5-DOF single-winding bearingless switched reluctance motor for flywheel batteries with DSP and FPGA was designed. The flywheel battery's requirements to digital control system were analyzed. The allocation and implementation methods of control algorithms were presented. The hardware modules, such as power converters, detection circuits of rotor angle and radial displacement, control circuits of current lagging loop and PWM drive circuits and so on, were also designed. 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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