无轴承开关磁阻电机及其控制研究
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摘要
无轴承开关磁阻电机(BSRM)集无轴承技术与开关磁阻调速技术于一体,既保留了传统开关磁阻电机的优点,又避免了机械轴承的缺点,尤其适合于高速应用场合。目前,无轴承开关磁阻电机是国内外学者研究的前沿热点课题,本课题开展对其控制策略的研究,可以为该项技术的发展和完善做一些基础性工作。同时,也可以为从事相关课题研究的学者和本课题组正在进行的无轴承开关磁阻电机相关理论研究提供一定的参考。
本课题为国家自然科学基金青年基金项目(编号：50907003),本文首先对无轴承开关磁阻电机的发展现状进行了介绍,之后在给出无轴承SRM结构的基础上,较为详细地阐述了其径向悬浮原理,并结合前人研究成果给出了数学模型,为其后的有限元分析和控制系统设计提供了理论指导。然后,利用Ansoft仿真软件建立了无轴承SRM的有限元模型,基于得出的大量仿真数据,对电机径向力和电磁转矩受相关参数的影响情况进行了深入的分析。同时,本文还探讨了电机磁路饱和和转子偏心时,径向力和电磁转矩的静态特性。随后,根据课题需要完成了无轴承SRM样机的改造工作,设计了控制平台,并完成了其各个模块电路的制作和调试工作。其中,硬件部分主要包括主绕组功率电路及其驱动和电源电路、副绕组功率电路及其驱动电路、DSP最小系统电路、转子位置检测及其逻辑处理电路、转子径向位移及其信号调理电路、电流检测及其信号调理电路、母线电压检测及其调理电路和各种保护电路等；软件部分主要包括旋转部分基本控制程序的设计和悬浮部分方波控制策略的研究。最后,利用设计的控制平台对电机进行了初步的试验,主要包括初步的旋转试验及对其间转子径向振动情况的观察、电机悬浮系统的静态试验,并结合理论尝试对得到的试验数据进行了分析。
经过试验,首先验证了本系统样机的改造是成功的,同时本控制系统的设计方案与思路,和试验对电机径向力与电磁转矩特性规律的探究工作,也为无轴承开关磁阻电机更深一步的研究工作奠定了基础。
Bearingless switched reluctance motor (BSRM) gathers bearingless technology and switched reluctance speed control technology in integral whole, which not only retains the advantages of traditional SRM, but also avoids the shortcomings of the mechanical bearing. So BSRM is particularly suitable for high-speed applications. At present, BSRM is the forefront of hot topics for the domestic and foreign scholars. This subject which developing the control strategy research to it, may get some basic work for the development and perfection of the technology. Meanwhile, it may provide certain reference value for the study of scholars engaged in related research and our group ongoing BSRM theory research.
The topic is come from Natural Science Foundation youth funding project (number:50907003). Firstly, the paper introduces the development status of BSRM. After giving the BSRM structure, the paper describes its radial suspension principle, and gives its mathematical model combined with results of previous, which provides the theory instruction for the finite subsequent element analysis and control system design thereafter. Then, the BSRM finite element model is established by Ansoft simulation software. Based on massive simulated data, the thorough analysis is carried out, which is on the influences of the related parameters to the motor radial force and torque. In addition, this paper also explores the static characteristic of radial force and torque under magnetic saturation and rotor eccentricity. Subsequently, the motor transformation is completed according to topic requirements, while the design, fabrication and debugging work of control platform each modular circuit is completed. The hardware part is mainly including main wingding power circuit, driving circuit and power supply circuit, auxiliary wingding power circuit, driving circuit and power supply circuit, DSP smallest system circuit, rotor position detection and logical processing circuit, rotor radial displacement detection and signal processing circuit, current detection and signal processing circuit, bus voltage detection and signal processing circuit, various protection circuits and so on. At last, the preliminary experiment to the motor is carried on using the control platform designed above, which mainly includes preliminary rotation test, observation of the vibration condition during the test and the motor suspension system static test. Last binding the theory, the test data is analyzed tentatively.
The tests firstly verify that the transformation of the system prototype is successful. Simultaneously, this control system design scheme and thinking, and the exploration work of the BSRM radial force and electromagnetism torque characteristic law laid the foundation for the BSRM further study.
本课题为国家自然科学基金青年基金项目(编号：50907003),本文首先对无轴承开关磁阻电机的发展现状进行了介绍,之后在给出无轴承SRM结构的基础上,较为详细地阐述了其径向悬浮原理,并结合前人研究成果给出了数学模型,为其后的有限元分析和控制系统设计提供了理论指导。然后,利用Ansoft仿真软件建立了无轴承SRM的有限元模型,基于得出的大量仿真数据,对电机径向力和电磁转矩受相关参数的影响情况进行了深入的分析。同时,本文还探讨了电机磁路饱和和转子偏心时,径向力和电磁转矩的静态特性。随后,根据课题需要完成了无轴承SRM样机的改造工作,设计了控制平台,并完成了其各个模块电路的制作和调试工作。其中,硬件部分主要包括主绕组功率电路及其驱动和电源电路、副绕组功率电路及其驱动电路、DSP最小系统电路、转子位置检测及其逻辑处理电路、转子径向位移及其信号调理电路、电流检测及其信号调理电路、母线电压检测及其调理电路和各种保护电路等；软件部分主要包括旋转部分基本控制程序的设计和悬浮部分方波控制策略的研究。最后,利用设计的控制平台对电机进行了初步的试验,主要包括初步的旋转试验及对其间转子径向振动情况的观察、电机悬浮系统的静态试验,并结合理论尝试对得到的试验数据进行了分析。
经过试验,首先验证了本系统样机的改造是成功的,同时本控制系统的设计方案与思路,和试验对电机径向力与电磁转矩特性规律的探究工作,也为无轴承开关磁阻电机更深一步的研究工作奠定了基础。
Bearingless switched reluctance motor (BSRM) gathers bearingless technology and switched reluctance speed control technology in integral whole, which not only retains the advantages of traditional SRM, but also avoids the shortcomings of the mechanical bearing. So BSRM is particularly suitable for high-speed applications. At present, BSRM is the forefront of hot topics for the domestic and foreign scholars. This subject which developing the control strategy research to it, may get some basic work for the development and perfection of the technology. Meanwhile, it may provide certain reference value for the study of scholars engaged in related research and our group ongoing BSRM theory research.
The topic is come from Natural Science Foundation youth funding project (number:50907003). Firstly, the paper introduces the development status of BSRM. After giving the BSRM structure, the paper describes its radial suspension principle, and gives its mathematical model combined with results of previous, which provides the theory instruction for the finite subsequent element analysis and control system design thereafter. Then, the BSRM finite element model is established by Ansoft simulation software. Based on massive simulated data, the thorough analysis is carried out, which is on the influences of the related parameters to the motor radial force and torque. In addition, this paper also explores the static characteristic of radial force and torque under magnetic saturation and rotor eccentricity. Subsequently, the motor transformation is completed according to topic requirements, while the design, fabrication and debugging work of control platform each modular circuit is completed. The hardware part is mainly including main wingding power circuit, driving circuit and power supply circuit, auxiliary wingding power circuit, driving circuit and power supply circuit, DSP smallest system circuit, rotor position detection and logical processing circuit, rotor radial displacement detection and signal processing circuit, current detection and signal processing circuit, bus voltage detection and signal processing circuit, various protection circuits and so on. At last, the preliminary experiment to the motor is carried on using the control platform designed above, which mainly includes preliminary rotation test, observation of the vibration condition during the test and the motor suspension system static test. Last binding the theory, the test data is analyzed tentatively.
The tests firstly verify that the transformation of the system prototype is successful. Simultaneously, this control system design scheme and thinking, and the exploration work of the BSRM radial force and electromagnetism torque characteristic law laid the foundation for the BSRM further study.
引文
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[2]刘吉迪,张焕春,傅丰礼等.开关磁阻调速电动机[M].北京：机械工业出版社,1994:8,16-21.
[3]王宏华,许华.开关磁阻电机调速系统的发展与现状[J].电气传动,2001,31(5):3-8.
[4]Radun A V. High Power Density Switched Reluctance Motor Drive for Aerospace Applications [C]. Proc., IEEE-IAS Annu. Meeting, 1989:568-573.
[5]孙建忠,白凤仙.特种电机及其控制[M].北京：中国电力出版社,2005:89.
[6]A.Chiba, K.Chida, T.Fukao. Principles and characteristics of a reluctance motor with windings of magnetic bearing[C]. Proc. of IPEC, Tokyo, Japan, 1990:919-926.
[7]Fukao.T, The Evolution of Motor Drive Technologies-Development of Bearingless Motors[C]. Proc. of IPEMC,2000:33-38.
[8]王凤翔,徐隆亚.一种用于人工心脏的无轴承无刷永磁直流电机的设计和特性分析[J].电机与控制学报,1997,1(4):203-207.
[9]邓智泉,严仰光.无轴承交流电机的基本理论和研究现状[J].电工技术学报,2000,15(2):29-34.
[10]贺益康,年珩.感应型无轴承电机的优化气隙磁场定向控制[J].中国电机工程学报,2004,24(6)：116-121.
[11]Bichsel J. The bearingless electrical machine [C]. Proc. Int. Symp. Magn. Suspension Technol. NASA Langley Res. Center, Hampton.1991:561-573.
[12]Chiba A. Analysis of bearingless AC motors [C]. IEEE Trans on Energy Convers ion,1994, 9(1):61-68.
[13]Chiba A. Characteristics of a bearingless induction motor [C]. IEEE Transactions on Magnetics, 1991,27(6):5199-520.
[14]Chiba A. Analysis of No-Load Characteristics of a bearingless induction motors[C]. IEEE Transactions on IA,1995,31(1):77-83.
[15]Chiba A, Furuichi R. Stable operation of induction-type bearingless motors under loaded conditions[C]. IEEE Transactions on IA,1997,33(4):919-924.
[16]邓智泉,何礼高,严仰光.无轴承交流电机的原理及应用[J].机械科学与技术,2002,21(5):730-733.
[17]Schob R, Bichsel J. Vector control of the bearingless motor. Proc. 4th Int. Symp[J]. Magnetic Bearings,1994:327-332.
[18]Santisteban J A, Stephan R M. Analysis and control of a loaded bearingless machine[C]. IEEE Transactions on Magnetics, 1999, 35 (5):3998-4000.
[19]R. Bosch. Development of a bearingless motor [C]. In: Proc. Int. Conf. Electric Machines (ICEM'88),1988,3(6):373-375.
[20]J.Bichsel. The Bearingless Electrical Machine, Proc. Int. Symp. Magn. Suspension. Technol. NASA Langley Res. Center, Hampton, 1991:561-573.
[21]Chiba, T.Fukao, O.Ichikawa, et al.. Magnetic bearings and bearingless drives. Oxford, UK: Newnes Publishers,2005:1-15.
[22]Chiba, K.Chida. T.Fukao. Principles and characteristics of a reluctance motor with windings of magnetic bearing [C]. Proc. Int. Power Electron. Conf. Tokyo.1990:919-926.
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