新型双定子无轴承开关磁阻的设计和控制
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摘要
无轴承开关磁阻电机（BLSRM）是在传统开关磁阻电机基础上发展起来的一种新型电机。它结合了开关磁阻电机的优越性能，以及无轴承电机的无磨损、无摩擦等优点，在高速电机、航天等领域有着广泛的应用前景。无轴承开关磁阻电机在同一个定子极上设有两套绕组，分别为主绕组和径向力绕组，产生的径向力能够实现轴承的悬浮。但是，其径向力和转矩存在着耦合关系，这使径向力的控制变得很困难。
本文提出了一种新型双定子无轴承开关磁阻电机，它的内定子产生使转子悬浮的径向力，外定子产生旋转转矩。和以往的无轴承开关磁阻电机相比，双定子无轴承开关磁阻电机可以实现转矩和径向力的解耦，并且在任意的转子角度都有稳定的径向力能够产生，所以能够用更加简单的控制方法用来控制转子的悬浮。
为了验证新型结构，对双定子BLSRM的结构和运行原理进行了介绍，基于之前对无轴承开关磁阻电机的研究结果，建立了其x轴方向和y轴方向上径向力的数学模型。运用有限元分析方法，在转子偏心和不偏心位置的情况下对两套定子绕组的电感，转矩和径向力进行了分析。通过分析，可以看到新型无轴承开关磁阻电机的径向力具有线性的特性并且独立于转矩电流，因此转矩和径向力的解耦控制可以实现。推导出对径向力的控制策略，并利用Simulink仿真验证了控制策略的正确性与有效性，搭建了实验系统。实验结果表明，电机能够稳定运行，转矩绕组电流对悬浮力影响非常小，悬浮绕组电流对电机输出转矩基本没有影响，这证明了双定子无轴承开关磁阻电机及其控制策略的有效性。
Bearingless switched reluctance motor (BLSRM) is a new type of motor whichdeveloped on the basis of traditional switched reluctance motor (SRM). It not only hassuperior performance of SRM, but also has a good feature of bearingless motors, such asno abrasion and no friction. It will be widely used in high speed motor, aerospace and soon. BLSRM have two kinds of stator windings composed of motor main windings andradial force windings in the same stator in order to produce the radial force that can realizerotor shaft suspension. However, the radial force of BLSRM is coupled with the rotationaltorque, and the control of radial force is very difficult.
In this paper, a novel BLSRM with double stator is proposed. Inside stator generatesradial force to suspend the rotor. Outside stator produces rotational torque. Compared withthe previous BLSRM, decoupling control between torque and radial force can be realizedin double stator BLSRM, at the same time, a wide and almost constant radial force can beachieved at any rotor position with a given current, so a simpler control algorithm ispossible to be applied to implement suspend the rotor.
To verify the proposed structure, a novel structure and operating principle arepresented. Based on the existing work of previous researches for BLSRM, mathematicalmodels of the radial force in x-axis and y-axis direction are deduced. Through finiteelement method (FEM) analysis, the characteristics such as inductance, torque and radialforce profiles of two stator windings are analyzed with the cases of non-eccentric andeccentric rotor. From the analysis, the proposed BLSRM has linear characteristic of radialforce and independence from torque current, decoupling control between torque and radialforce can be realized. Meanwhile in order to realize steady suspension, control scheme ofdesired radial force is proposed. Some simulation results are shown to verify the validity ofcontrol strategy. The experiment system is constructed. From experiment results, it can beseen that the motor can operate steadily, the torque current has almost no effect on thesuspending force and the suspending force current also has almost no effect on the output torque, which further verifies the validity of the double stator BLSRM and its controlscheme.
本文提出了一种新型双定子无轴承开关磁阻电机，它的内定子产生使转子悬浮的径向力，外定子产生旋转转矩。和以往的无轴承开关磁阻电机相比，双定子无轴承开关磁阻电机可以实现转矩和径向力的解耦，并且在任意的转子角度都有稳定的径向力能够产生，所以能够用更加简单的控制方法用来控制转子的悬浮。
为了验证新型结构，对双定子BLSRM的结构和运行原理进行了介绍，基于之前对无轴承开关磁阻电机的研究结果，建立了其x轴方向和y轴方向上径向力的数学模型。运用有限元分析方法，在转子偏心和不偏心位置的情况下对两套定子绕组的电感，转矩和径向力进行了分析。通过分析，可以看到新型无轴承开关磁阻电机的径向力具有线性的特性并且独立于转矩电流，因此转矩和径向力的解耦控制可以实现。推导出对径向力的控制策略，并利用Simulink仿真验证了控制策略的正确性与有效性，搭建了实验系统。实验结果表明，电机能够稳定运行，转矩绕组电流对悬浮力影响非常小，悬浮绕组电流对电机输出转矩基本没有影响，这证明了双定子无轴承开关磁阻电机及其控制策略的有效性。
Bearingless switched reluctance motor (BLSRM) is a new type of motor whichdeveloped on the basis of traditional switched reluctance motor (SRM). It not only hassuperior performance of SRM, but also has a good feature of bearingless motors, such asno abrasion and no friction. It will be widely used in high speed motor, aerospace and soon. BLSRM have two kinds of stator windings composed of motor main windings andradial force windings in the same stator in order to produce the radial force that can realizerotor shaft suspension. However, the radial force of BLSRM is coupled with the rotationaltorque, and the control of radial force is very difficult.
In this paper, a novel BLSRM with double stator is proposed. Inside stator generatesradial force to suspend the rotor. Outside stator produces rotational torque. Compared withthe previous BLSRM, decoupling control between torque and radial force can be realizedin double stator BLSRM, at the same time, a wide and almost constant radial force can beachieved at any rotor position with a given current, so a simpler control algorithm ispossible to be applied to implement suspend the rotor.
To verify the proposed structure, a novel structure and operating principle arepresented. Based on the existing work of previous researches for BLSRM, mathematicalmodels of the radial force in x-axis and y-axis direction are deduced. Through finiteelement method (FEM) analysis, the characteristics such as inductance, torque and radialforce profiles of two stator windings are analyzed with the cases of non-eccentric andeccentric rotor. From the analysis, the proposed BLSRM has linear characteristic of radialforce and independence from torque current, decoupling control between torque and radialforce can be realized. Meanwhile in order to realize steady suspension, control scheme ofdesired radial force is proposed. Some simulation results are shown to verify the validity ofcontrol strategy. The experiment system is constructed. From experiment results, it can beseen that the motor can operate steadily, the torque current has almost no effect on thesuspending force and the suspending force current also has almost no effect on the output torque, which further verifies the validity of the double stator BLSRM and its controlscheme.
引文
[1] M. H. Ravichandran, V. T. Sadasivan Achari, C. C. Joseph, et al. A simplified design methodologyfor switched reluctance motor using analytical and finite element method. Power Electronics,Drives and Energy Systems,2006:1~4.
[2]吴建华.开关磁阻电机的设计与应用.北京：机械工业出版社，2000.
[3] J. Bichsel. The bearingless electrical machine. Proc. Int. Symp. Magn. Suspension. Technol,1991:561~573.
[4]常春江，杨荣.电磁轴承的发展及其应用前景.航空发动机，2003，29(1)：46~49.
[5] M. Ohsawa, S. Mori, T. Satoh. Study of the induction type bearingless motor. Proc7th Int. Symp.Magnetic Bearings,2000:389~394.
[6]林盈杰.无轴承异步电机悬浮控制研究与实现：（硕士学位论文）.南京：南京航空航天大学，2005.
[7] R. Bosch. Development of a bearingless electric motor. Proc. Int. Conf. Electric Machines(ICEM’88),1988:373~375.
[8]王养丽.磁悬浮轴承的原理.工科物理，2000，10(3)：35~42.
[9] A. Chiba, D. T. Power, M. A. Rahman. Characteristics of a bearingless induction motor. IEEE Trans.Magnetics,1991,27(6):5199~5201.
[10] A. Chiba, D. T. Power, M. A. Rahman. Analysis of no-load characteristics of a bearinglessinduction motor. IEEE Trans. Industry Application,1995,31(1):77~83.
[11]朱焕秋，邓志泉，严仰光等.无轴承电机的原理及研究现状.微电机，2000，33(6)：29~31.
[12]王宝国，王凤翔.磁悬浮无轴承电机悬浮力绕组励磁及控制方式分析.中国电机工程学报,2002，2(5)：105-108.
[13] W. Amrhein, S. Silber, K. Nenninger. Developments on bearingless drive technology.8thInternational Symposium Magnetic Bearings, Japan,2002:229~234.
[14]王秋蓉.无轴承开关磁阻电机的分析与设计：（硕士学位论文）.北京：北京交通大学，2007.
[15]叶霜.无轴承开关磁阻电机的基础研究：（硕士学位论文）.南京：南京航空航天大学，2003.
[16]曹鑫.无轴承开关磁阻发电系统的基础研究：（硕士学位论文）.南京，南京航空航天大学，2006.
[17]范冬.无轴承开关磁阻电机设计与控制系统研究：（硕士学位论文）.南京，南京航空航天大学，2007.
[18] L. Chen, W. Hofman. Performance characteristics of one novel switched reluctance bearinglessmotor drive. Power Conversion Conference,2007:608~613.
[19] H. J. Wang, D. H. Lee, J. W. Ahn. Novel bearingless switched reluctance motor with hybrid statorpoles: concept, analysis, design and experimental verification. The Eleventh InternationalConference on Electrical Machines and Systems,2008:3358~3363.
[20] H. J. Wang. Design and control of a novel bearingless switched reluctance motor. Korea:Kyungsung University,2009.
[21]李倬，葛宝明.一种改进的无轴承开关磁阻电机数学模型.电机与控制学报，2009，13(6)：850~856.
[22]曹鑫，邓智泉，杨钢等.无轴承开关磁阻电机麦克斯韦应力法数学模型.中国电机工程学报，2009，29(3)：78~83.
[23]王世山，刘泽远，邓智泉.增强能量增量法求解无轴承开关磁阻电机电感.南京航空航天大学学报，2009，41(1)：85~90.
[24]孙玉坤，吴建兵，项倩雯.基于有限元法的磁悬浮开关磁阻电机数学模型.中国电机工程学报，2007，27(12)：33~40.
[25]杨钢.无轴承开关磁阻电机实验平台的开发与研制：（硕士学位论文）.南京：南京航空航天大学，2003.
[26]张媛.无轴承开关磁阻电机控制策略研究与实现：（硕士学位论文）.南京：南京航空航天大学，2005.
[27] K. Shimada, M. Takemoto, A. Chiba, et al. Radial forces in switched reluctance type bearinglessmotors. Proceeding9th Symposium Electromagnetics and Dynamics,1997:547~552.
[28] M. Takemoto, A. Chiba, T. Fukao. A new method of determining the advanced angle ofsquare-wave currents in a bearingless switched reluctance motor. IEEE Trans. On IndustryAPPlication,2001,37(6):1702~1709.
[29] M. Takemoto, K. Shimada, A. Chiba, et al. A design and characteristics of switched reluctancetype bearingless motors. Proc.4thInt. Symp. Magnetic Suspension Technology,1998:49~63.
[30] M. Takemoto, H. Suzuki, A. Chiba, T. Fukao, et al. Improved analysis of a bearingless switchedreluctance motor. IEEE Trans. On Industry APPlication,2001,37(1):26~34.
[31] C. Michioka, T. Sakamoto, O. Ichikawa, et al. A decoupling control method of reluctance typebearingless motors considering magnetic saturation. IEEE Trans. Industry Application,1996,32(5):1204~1210.
[32] M. Takemoto, A. Chiba, T. Fukao. A feed-forward compensator for vibration reductionconsidering magnetic attraction force in bearingless switched reluctance motors. SeventhInternational Sympsium on Magnetic Bearings,2000:395~400.
[33]刘国海，孙玉坤，张浩等.基于神经网络逆系统的磁悬浮开关磁阻电机的解耦控制.电工技术学报，2005，20(9)：39~43.
[34]孙玉坤，任元，黄永红.磁悬浮开关磁阻电机悬浮力与旋转力的神经网络逆解耦控制.中国电机工程学报，2005，28(9)：51~55.
[35]曹鑫，邓智泉，杨钢等.一种无轴承开关磁阻电机独立控制策略.中国电机工程学报，2008，28(24)：94~100.
[36]杨钢，邓智泉，曹鑫等.无轴承开关磁阻电机平均悬浮力控制策略.航空学报，2009，30(3)：505~511.
[37]姜寅啸，汤继强.一种电涡流位移传感器动态特性的应用分析.航空精密制造技术，2011，47(4)：29~32.
[38]罗承刚.电涡流位移传感器线圈电磁场仿真分析.传感器与微系统，2008，27(3)：24~26.
[39]李琳，杨美传.电涡流位移传感器同向差动测量方法及应用.技术大观，2009，9：27~28.
[40]王媛媛.耐高压电涡流位移传感器的研究：（硕士学位论文）.杭州：浙江大学，2006.
[2]吴建华.开关磁阻电机的设计与应用.北京：机械工业出版社，2000.
[3] J. Bichsel. The bearingless electrical machine. Proc. Int. Symp. Magn. Suspension. Technol,1991:561~573.
[4]常春江，杨荣.电磁轴承的发展及其应用前景.航空发动机，2003，29(1)：46~49.
[5] M. Ohsawa, S. Mori, T. Satoh. Study of the induction type bearingless motor. Proc7th Int. Symp.Magnetic Bearings,2000:389~394.
[6]林盈杰.无轴承异步电机悬浮控制研究与实现：（硕士学位论文）.南京：南京航空航天大学，2005.
[7] R. Bosch. Development of a bearingless electric motor. Proc. Int. Conf. Electric Machines(ICEM’88),1988:373~375.
[8]王养丽.磁悬浮轴承的原理.工科物理，2000，10(3)：35~42.
[9] A. Chiba, D. T. Power, M. A. Rahman. Characteristics of a bearingless induction motor. IEEE Trans.Magnetics,1991,27(6):5199~5201.
[10] A. Chiba, D. T. Power, M. A. Rahman. Analysis of no-load characteristics of a bearinglessinduction motor. IEEE Trans. Industry Application,1995,31(1):77~83.
[11]朱焕秋，邓志泉，严仰光等.无轴承电机的原理及研究现状.微电机，2000，33(6)：29~31.
[12]王宝国，王凤翔.磁悬浮无轴承电机悬浮力绕组励磁及控制方式分析.中国电机工程学报,2002，2(5)：105-108.
[13] W. Amrhein, S. Silber, K. Nenninger. Developments on bearingless drive technology.8thInternational Symposium Magnetic Bearings, Japan,2002:229~234.
[14]王秋蓉.无轴承开关磁阻电机的分析与设计：（硕士学位论文）.北京：北京交通大学，2007.
[15]叶霜.无轴承开关磁阻电机的基础研究：（硕士学位论文）.南京：南京航空航天大学，2003.
[16]曹鑫.无轴承开关磁阻发电系统的基础研究：（硕士学位论文）.南京，南京航空航天大学，2006.
[17]范冬.无轴承开关磁阻电机设计与控制系统研究：（硕士学位论文）.南京，南京航空航天大学，2007.
[18] L. Chen, W. Hofman. Performance characteristics of one novel switched reluctance bearinglessmotor drive. Power Conversion Conference,2007:608~613.
[19] H. J. Wang, D. H. Lee, J. W. Ahn. Novel bearingless switched reluctance motor with hybrid statorpoles: concept, analysis, design and experimental verification. The Eleventh InternationalConference on Electrical Machines and Systems,2008:3358~3363.
[20] H. J. Wang. Design and control of a novel bearingless switched reluctance motor. Korea:Kyungsung University,2009.
[21]李倬，葛宝明.一种改进的无轴承开关磁阻电机数学模型.电机与控制学报，2009，13(6)：850~856.
[22]曹鑫，邓智泉，杨钢等.无轴承开关磁阻电机麦克斯韦应力法数学模型.中国电机工程学报，2009，29(3)：78~83.
[23]王世山，刘泽远，邓智泉.增强能量增量法求解无轴承开关磁阻电机电感.南京航空航天大学学报，2009，41(1)：85~90.
[24]孙玉坤，吴建兵，项倩雯.基于有限元法的磁悬浮开关磁阻电机数学模型.中国电机工程学报，2007，27(12)：33~40.
[25]杨钢.无轴承开关磁阻电机实验平台的开发与研制：（硕士学位论文）.南京：南京航空航天大学，2003.
[26]张媛.无轴承开关磁阻电机控制策略研究与实现：（硕士学位论文）.南京：南京航空航天大学，2005.
[27] K. Shimada, M. Takemoto, A. Chiba, et al. Radial forces in switched reluctance type bearinglessmotors. Proceeding9th Symposium Electromagnetics and Dynamics,1997:547~552.
[28] M. Takemoto, A. Chiba, T. Fukao. A new method of determining the advanced angle ofsquare-wave currents in a bearingless switched reluctance motor. IEEE Trans. On IndustryAPPlication,2001,37(6):1702~1709.
[29] M. Takemoto, K. Shimada, A. Chiba, et al. A design and characteristics of switched reluctancetype bearingless motors. Proc.4thInt. Symp. Magnetic Suspension Technology,1998:49~63.
[30] M. Takemoto, H. Suzuki, A. Chiba, T. Fukao, et al. Improved analysis of a bearingless switchedreluctance motor. IEEE Trans. On Industry APPlication,2001,37(1):26~34.
[31] C. Michioka, T. Sakamoto, O. Ichikawa, et al. A decoupling control method of reluctance typebearingless motors considering magnetic saturation. IEEE Trans. Industry Application,1996,32(5):1204~1210.
[32] M. Takemoto, A. Chiba, T. Fukao. A feed-forward compensator for vibration reductionconsidering magnetic attraction force in bearingless switched reluctance motors. SeventhInternational Sympsium on Magnetic Bearings,2000:395~400.
[33]刘国海，孙玉坤，张浩等.基于神经网络逆系统的磁悬浮开关磁阻电机的解耦控制.电工技术学报，2005，20(9)：39~43.
[34]孙玉坤，任元，黄永红.磁悬浮开关磁阻电机悬浮力与旋转力的神经网络逆解耦控制.中国电机工程学报，2005，28(9)：51~55.
[35]曹鑫，邓智泉，杨钢等.一种无轴承开关磁阻电机独立控制策略.中国电机工程学报，2008，28(24)：94~100.
[36]杨钢，邓智泉，曹鑫等.无轴承开关磁阻电机平均悬浮力控制策略.航空学报，2009，30(3)：505~511.
[37]姜寅啸，汤继强.一种电涡流位移传感器动态特性的应用分析.航空精密制造技术，2011，47(4)：29~32.
[38]罗承刚.电涡流位移传感器线圈电磁场仿真分析.传感器与微系统，2008，27(3)：24~26.
[39]李琳，杨美传.电涡流位移传感器同向差动测量方法及应用.技术大观，2009，9：27~28.
[40]王媛媛.耐高压电涡流位移传感器的研究：（硕士学位论文）.杭州：浙江大学，2006.