永磁姿控动作器及其动态特性分析
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摘要
永磁发电机的电磁转矩是制动转矩。本文中以永磁发电机作为动作器,利用其制动作用稳定水流中的管状仪器系统。针对该发电机特定的工作背景,本文从发电机的本体和系统的控制两个方面进行了研究。
在动作器的本体设计中,针对其特殊的工作环境,分析了系统的工作原理,给出了发电机的总体设计方案,介绍了发电机结构的设计特点。
分析了发电机中几个重要参数对反电势系数及电磁转矩的影响,并且用理论分析和有限元计算结合的方法对它们进行了优化选择。利用有限元软件ANSOFT对电机进行了分析计算,包括电机的空载磁场、相电感以及一定条件下的电磁转矩等。
分析了电机铜耗和定子铁心损耗,在此基础上利用ANSYS分析了电机定子的温升,验证了所设计的电机在稳态运行时的温升不超过允许值,绕组的绝缘等级满足温升限值。
针对管状仪器稳定系统的运行原理,建立了基于Simulink的系统控制模型,仿真分析了在给定量恒定和变化两种情况下,发电机的电磁转矩随水速的变化情况。验证了该控制系统模型可以满足实际需要。
设计了满足控制系统要求的硬件电路,并对控制系统进行了模拟实验,并采用实验的方法对发电机进行了参数和性能测试。实验表明所设计的控制系统可行,发电机满足性能要求。
The electromagnetism torque of permanent magnet DC generator was brake torque. In this paper, permanent magnet DC generator was used as the actor, using its brake action to balance the pipy device in the stream current. Against the special work background of the generator, the body design and control system were studied in this paper.
In the body design of the actuator, against its the special work background, system operating principle was analyzed, the total design program is given, and the generator design feature was also introduced.
The influence on EMF and electromagnetism torque of several important factors was analyzed, and they were chosen optimized by the associative method of theoretical analysis and finite-element method. The finite element analysis software ANSOFT was adopted to analyze and calculate the generator. The magnetic field with on-load, phase inductance, and electromagnetism torque under some conditions were analyzed.
The copper loss and stator iron loss were analyzed, and on the base, ANSYS was adopted to analyze the stator temperature rise, and it was verified that the temperature rise didn’t exceed the allowed value and the insulation rate was satisfied the temperature rise limit.
Against the operating principle of balancing pipy device system, the system control model under Simulink was made. The torque variation with water velocity at different condition was simulated. And the control system model was verified to satisfy the actual demand.
Circuit board meeting the demand of control system was designed, the model experiment of control system was operated, and parameters and performance of the generator was tested which verified the feasibility of the control system.
在动作器的本体设计中,针对其特殊的工作环境,分析了系统的工作原理,给出了发电机的总体设计方案,介绍了发电机结构的设计特点。
分析了发电机中几个重要参数对反电势系数及电磁转矩的影响,并且用理论分析和有限元计算结合的方法对它们进行了优化选择。利用有限元软件ANSOFT对电机进行了分析计算,包括电机的空载磁场、相电感以及一定条件下的电磁转矩等。
分析了电机铜耗和定子铁心损耗,在此基础上利用ANSYS分析了电机定子的温升,验证了所设计的电机在稳态运行时的温升不超过允许值,绕组的绝缘等级满足温升限值。
针对管状仪器稳定系统的运行原理,建立了基于Simulink的系统控制模型,仿真分析了在给定量恒定和变化两种情况下,发电机的电磁转矩随水速的变化情况。验证了该控制系统模型可以满足实际需要。
设计了满足控制系统要求的硬件电路,并对控制系统进行了模拟实验,并采用实验的方法对发电机进行了参数和性能测试。实验表明所设计的控制系统可行,发电机满足性能要求。
The electromagnetism torque of permanent magnet DC generator was brake torque. In this paper, permanent magnet DC generator was used as the actor, using its brake action to balance the pipy device in the stream current. Against the special work background of the generator, the body design and control system were studied in this paper.
In the body design of the actuator, against its the special work background, system operating principle was analyzed, the total design program is given, and the generator design feature was also introduced.
The influence on EMF and electromagnetism torque of several important factors was analyzed, and they were chosen optimized by the associative method of theoretical analysis and finite-element method. The finite element analysis software ANSOFT was adopted to analyze and calculate the generator. The magnetic field with on-load, phase inductance, and electromagnetism torque under some conditions were analyzed.
The copper loss and stator iron loss were analyzed, and on the base, ANSYS was adopted to analyze the stator temperature rise, and it was verified that the temperature rise didn’t exceed the allowed value and the insulation rate was satisfied the temperature rise limit.
Against the operating principle of balancing pipy device system, the system control model under Simulink was made. The torque variation with water velocity at different condition was simulated. And the control system model was verified to satisfy the actual demand.
Circuit board meeting the demand of control system was designed, the model experiment of control system was operated, and parameters and performance of the generator was tested which verified the feasibility of the control system.
引文
1唐任远.现代永磁电机.机械工业出版社, 1997:1~4
2吴数.高效稀土永磁电机的开发与应用.节能与环保. 2002,(11):36~38
3王凤翔. Halbach阵列及其在永磁电机设计中的应用.微特电机. 1999,(4): 22~24
4王鑫,李伟力,程树康.永磁同步电动机发展展望.微电机. 2007,40(5): 69~72
5 Tang R Y, Liu Z M. 2004 China Magnet Symposium.Xipan, China, May 17221, 2004:309~314
6李鲲鹏,胡虔生,黄允凯.计及绕组电感的永磁无刷直流电动机电路模型及其分析.中国电机工程学报. 2004,24(1):76~80
7胡淑华,郑宝财,唐任远.稀土永磁电机的发展趋势—大功率化、高功能化、微型化.电工技术杂志. 1995,(4):25~27
8邓穗湘,沈雄.永磁电机在船舶电力推进中的应用和仿真.航海技术. 2005,(4):43~44
9郭秀欣,马善振.稀土永磁无刷发电机的研制.机电产品开发与创新. 2003, (4):51~52
10 MING CHENG. Performance Analysis of Split-Winding Doubly Salient Permanent Magnet Motor for Wide Speed Operation, Electric Machine and Power System. 2000(28):277~288
11袁先达.小功率测功机国内外现状及发展趋势.电动工具. 1997,(3):9~13
12 E. R. Collins, Y. Huang. A programmable dynamometer for testing rotating machinery using a three-phase induction machine. IEEE Transactions on Energy Conversion. 1994,9(3):518~522
13 C. R. Hewson, G. M. Asher, and M. Sumner. Dynamometer Control for Emulation of Mechanical Loads. Industry Applications Conference, 1998. Thirty-Third IAS Annual Meeting. Conference Record of the 1998 IEEE. 1998, 2:1511~1518
14刘凯.基于DSP的直流测功机闭环控制系统的研究.哈尔滨工业大学硕士学位论文. 2007:2~3
15陈世坤.电机设计.第2版.机械工业出版社, 2000:44~50
16张广溢,王军,余建华.斩波式可变电阻器及其应用.电工电能新技术. 1999,(1):64~68
17 Ansoft Corporation, Getting Started M annual. 2002
18李帅.基于有限元分析的永磁电机重要参数求解.东莞理工学院学报. 2006,13(3):80~84
19李帅,彭国平,鱼振民,易萍虎. Ansoft EM在电机设计中的应用.微电机. 2004,37(4):52~54
20 Hughes, Linear T. J. R. The Finite Element Method Static and Dynamic Fin- it Element Analysis. Englewood Cliffs, N.J. Prentice Hall. 1987:124~125
21 Hughes, T. J. R. Analysis of Transient Algorithms with Particular Reference to Stability Behavior. Computation Methods for Transient Analysis. Elsevier Publication, 1983:146~149
22刘国强,赵凌志,蒋继娅. Ansoft工程电磁场有限元分析.电子工业出版社, 2005:3~6
23 Chang Seop Koh, Jin-Soo Seol. New Cogging-Torque Reduction Method for Brushless Permanent-Magnet Motors. IEEE Trans. on Magnetics. 2003,39(6): 71~80
24 Yubo Yang, Xiuhe Wang and Rong Zhang. Research of Cogging Torque Reduction by Different Slot Width Pairing in Permanent Magnet Motors. IEEE Trans. on Magnetics. 2002,24(3):14~22
25 Sang-Moon Hwang, Jae-Boo Eom and Yoong-Ho Jung. Various Design Techniques to Reduce Cogging Torque by Controlling Energy Variation in Permanent Magnet Motors. IEEE Trans. on Magnetics. 2001,37(4):109~116
26 J. Mass, T. Schulte, N. Frohleke. Model-Based Control for Ultrasonic Motors. IEEE/ASME Trans on Mechatronics. 2000,5(2):165~180
27 J. Faiz, I. T. Ardekanei, H. A. Toliyat. An evaluation of inductance of a squirrel-cage induction motor under mixed eccentric conditions. IEEE Trans on Energy Conversion. 2003,18(2):252~258
28 H. P. Nee, L. Lefevre. Determination of d and q Reactance of Permanent Magnet Synchronous Motors without Measurements of the Rotor Position. IEEE Transactions on Industry Applications. 2000,36(5):1330~1335
29林荣文,江辉.用有限元法求解稀土永磁同步电机的电磁转矩.微电机. 2004,37(5):21~23
30 Vineeta Gangla, Jaime De La Ree. Electromechanical force and torque in brushless permanent magnet machines. IEEE Trans on Energy Conversion,1991,6(3)
31李和明,李俊卿.电机中温度计算方法及其应用综述.华北电力大学学报. 2005,32(1):1~5
32 C. Kral, T. G. Habetler, R.G. Harley, etal. Rotor temperature estimation of squirrel cage induction motors by means of a combined scheme of parameter estimation and a thermal equivalent mode. IEEE International Electric Machines and Drives Conference. 2003:931~937.
33 A. L. Shenkman, M. Chertkov. Experimental method for synthesis of genera- lized thermal circuit of polyphase induction motors. IEEE Transactions on Energy Conversion. 2000,15(3):264~268
34 G. Cannistra, Labini. Thermal Analysis in an Induction Machine Using Thermal Network and Finite Element Methods. Fifth International Con- ference on Electrical Machines and Drives. 1991:300~304
35方日杰,赖烈恩,陈继平等.用热网络法计算大型水轮发电机定子温度场.大电机技术. 1989,(1):25~29
36陈世坤.电机设计.机械工业出版社, 1997(7):76~80
37 F. Iorillo, A. Novikov. An Improved Approach to Power Losses in Magnetic Laminations Under no Sinusoidal Induction Waveform. IEEE Trans, on Mag. 1990,26(5):2904~2907
38控制系统MATLAB计算及仿真.黄忠霖等.国防工业出版社, 2004:5~11
39刘金琨.先进PID控制及其MATLAB仿真.电子工业出版社, 2003:11~19
40 George Ellis. Control System Design Guide.刘君华,汤晓军译.第3版.电子工业出版社, 2006:6~11
41 Y. Amara, etal. Design and Comparison of Different Flux-Switching Synch- rous Machines for an Aircraft Oil Breather Application. European Trans Electric Power. 2005,(15)497-511.
42 ZQ Zhu, etal Analysis of Electom aguetic Performance of Flux Switching Permanent Magnet Machines by Nonlinear Plumped Parameter Magnetic Circuit Model. IEEE Trans Magnetics. 2005,41(11):4277~4287
2吴数.高效稀土永磁电机的开发与应用.节能与环保. 2002,(11):36~38
3王凤翔. Halbach阵列及其在永磁电机设计中的应用.微特电机. 1999,(4): 22~24
4王鑫,李伟力,程树康.永磁同步电动机发展展望.微电机. 2007,40(5): 69~72
5 Tang R Y, Liu Z M. 2004 China Magnet Symposium.Xipan, China, May 17221, 2004:309~314
6李鲲鹏,胡虔生,黄允凯.计及绕组电感的永磁无刷直流电动机电路模型及其分析.中国电机工程学报. 2004,24(1):76~80
7胡淑华,郑宝财,唐任远.稀土永磁电机的发展趋势—大功率化、高功能化、微型化.电工技术杂志. 1995,(4):25~27
8邓穗湘,沈雄.永磁电机在船舶电力推进中的应用和仿真.航海技术. 2005,(4):43~44
9郭秀欣,马善振.稀土永磁无刷发电机的研制.机电产品开发与创新. 2003, (4):51~52
10 MING CHENG. Performance Analysis of Split-Winding Doubly Salient Permanent Magnet Motor for Wide Speed Operation, Electric Machine and Power System. 2000(28):277~288
11袁先达.小功率测功机国内外现状及发展趋势.电动工具. 1997,(3):9~13
12 E. R. Collins, Y. Huang. A programmable dynamometer for testing rotating machinery using a three-phase induction machine. IEEE Transactions on Energy Conversion. 1994,9(3):518~522
13 C. R. Hewson, G. M. Asher, and M. Sumner. Dynamometer Control for Emulation of Mechanical Loads. Industry Applications Conference, 1998. Thirty-Third IAS Annual Meeting. Conference Record of the 1998 IEEE. 1998, 2:1511~1518
14刘凯.基于DSP的直流测功机闭环控制系统的研究.哈尔滨工业大学硕士学位论文. 2007:2~3
15陈世坤.电机设计.第2版.机械工业出版社, 2000:44~50
16张广溢,王军,余建华.斩波式可变电阻器及其应用.电工电能新技术. 1999,(1):64~68
17 Ansoft Corporation, Getting Started M annual. 2002
18李帅.基于有限元分析的永磁电机重要参数求解.东莞理工学院学报. 2006,13(3):80~84
19李帅,彭国平,鱼振民,易萍虎. Ansoft EM在电机设计中的应用.微电机. 2004,37(4):52~54
20 Hughes, Linear T. J. R. The Finite Element Method Static and Dynamic Fin- it Element Analysis. Englewood Cliffs, N.J. Prentice Hall. 1987:124~125
21 Hughes, T. J. R. Analysis of Transient Algorithms with Particular Reference to Stability Behavior. Computation Methods for Transient Analysis. Elsevier Publication, 1983:146~149
22刘国强,赵凌志,蒋继娅. Ansoft工程电磁场有限元分析.电子工业出版社, 2005:3~6
23 Chang Seop Koh, Jin-Soo Seol. New Cogging-Torque Reduction Method for Brushless Permanent-Magnet Motors. IEEE Trans. on Magnetics. 2003,39(6): 71~80
24 Yubo Yang, Xiuhe Wang and Rong Zhang. Research of Cogging Torque Reduction by Different Slot Width Pairing in Permanent Magnet Motors. IEEE Trans. on Magnetics. 2002,24(3):14~22
25 Sang-Moon Hwang, Jae-Boo Eom and Yoong-Ho Jung. Various Design Techniques to Reduce Cogging Torque by Controlling Energy Variation in Permanent Magnet Motors. IEEE Trans. on Magnetics. 2001,37(4):109~116
26 J. Mass, T. Schulte, N. Frohleke. Model-Based Control for Ultrasonic Motors. IEEE/ASME Trans on Mechatronics. 2000,5(2):165~180
27 J. Faiz, I. T. Ardekanei, H. A. Toliyat. An evaluation of inductance of a squirrel-cage induction motor under mixed eccentric conditions. IEEE Trans on Energy Conversion. 2003,18(2):252~258
28 H. P. Nee, L. Lefevre. Determination of d and q Reactance of Permanent Magnet Synchronous Motors without Measurements of the Rotor Position. IEEE Transactions on Industry Applications. 2000,36(5):1330~1335
29林荣文,江辉.用有限元法求解稀土永磁同步电机的电磁转矩.微电机. 2004,37(5):21~23
30 Vineeta Gangla, Jaime De La Ree. Electromechanical force and torque in brushless permanent magnet machines. IEEE Trans on Energy Conversion,1991,6(3)
31李和明,李俊卿.电机中温度计算方法及其应用综述.华北电力大学学报. 2005,32(1):1~5
32 C. Kral, T. G. Habetler, R.G. Harley, etal. Rotor temperature estimation of squirrel cage induction motors by means of a combined scheme of parameter estimation and a thermal equivalent mode. IEEE International Electric Machines and Drives Conference. 2003:931~937.
33 A. L. Shenkman, M. Chertkov. Experimental method for synthesis of genera- lized thermal circuit of polyphase induction motors. IEEE Transactions on Energy Conversion. 2000,15(3):264~268
34 G. Cannistra, Labini. Thermal Analysis in an Induction Machine Using Thermal Network and Finite Element Methods. Fifth International Con- ference on Electrical Machines and Drives. 1991:300~304
35方日杰,赖烈恩,陈继平等.用热网络法计算大型水轮发电机定子温度场.大电机技术. 1989,(1):25~29
36陈世坤.电机设计.机械工业出版社, 1997(7):76~80
37 F. Iorillo, A. Novikov. An Improved Approach to Power Losses in Magnetic Laminations Under no Sinusoidal Induction Waveform. IEEE Trans, on Mag. 1990,26(5):2904~2907
38控制系统MATLAB计算及仿真.黄忠霖等.国防工业出版社, 2004:5~11
39刘金琨.先进PID控制及其MATLAB仿真.电子工业出版社, 2003:11~19
40 George Ellis. Control System Design Guide.刘君华,汤晓军译.第3版.电子工业出版社, 2006:6~11
41 Y. Amara, etal. Design and Comparison of Different Flux-Switching Synch- rous Machines for an Aircraft Oil Breather Application. European Trans Electric Power. 2005,(15)497-511.
42 ZQ Zhu, etal Analysis of Electom aguetic Performance of Flux Switching Permanent Magnet Machines by Nonlinear Plumped Parameter Magnetic Circuit Model. IEEE Trans Magnetics. 2005,41(11):4277~4287