大功率永磁无刷直流电机及其系统研究
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摘要
大功率永磁无刷直流电机驱动系统由于运行效率高、调速性能好、可靠性高等优
点,在国外已成功应用于对系统效率、可靠性有特殊要求的推进领域中。然而,国际
上关于大功率永磁无刷电机及其驱动系统的成套技术一直对我实行封锁;在国内,永
磁无刷电机的研究主要集中在中小功率方面,大功率永磁无刷直流电机及其驱动系统
的研究尚处在起步阶段,在大功率永磁无刷电机的设计和驱动系统的研制方面都存在
大量值得研究的问题。
本课题为研究大功率永磁无刷直流电机及其驱动系统而设计了一台 50kW多相永
磁无刷直流电机,该电机的设计最大限度地模拟了某大功率多相永磁无刷直流电机的
基本结构,驱动系统也基本采用了某大功率永磁无刷直流电机的主电路结构。本文以
该电机为分析和研究对象,对大功率永磁无刷直流电机及其驱动系统的工作原理、参
数选取和电机工作情况进行了分析、总结和预测,为大功率永磁无刷直流电机及其驱
动系统的研制提供了宝贵的经验。全文内容如下:
首先,介绍了一种以晶闸管为主要功率元件的大功率永磁无刷直流电机驱动系
统。该系统采用电容强迫换流技术,与普通无刷直流电机的换流原理和控制逻辑不同。
本文通过对电机各运行的状态的分类分析,总结了这种驱动系统的触发逻辑控制规
律,优化了逻辑控制程序,为永磁无刷直流电机驱动系统的仿真和实际系统的开发提
供了依据。
其次,本文通过对驱动系统换流过程的详细分析,总结了有关参数如电机电感、
换相电容等对电机换流过程的影响程度、趋势和规律。给出了驱动系统主要参数选取
的依据和选择方法,并通过样机进行了实验验证,为大功率永磁无刷直流电机驱动系
统的主电路设计提供理论支持。
为准确预测大功率永磁无刷直流电机驱动系统的运行性能,建立了永磁无刷直流
电机的电路模型和 S 函数模型,并阐述了其在 Matlab/Simulink 平台下的建模原理和实
现方法。本文提出的两种电机模型,相互补充,准确预知了永磁无刷电机驱动系统的
运行特性,大大加速驱动系统研制过程。其中,电路模型具有仿真效率高,便于研究
驱动系统主电路参数对系统性能的影响,从而对主电路参数进行优化;S 函数模型便
I
于对电机内部细节进行分析,为揭示电机内部变量的变化规律提供了有力的手段。
以样机为主要研究对象,对切向磁化结构永磁无刷直流电机的电枢反应情况进行
了实测、分析和总结。分析结果表明等效磁路法在计算永磁无刷电机的空载工作点是
准确的、可行的;但对负载情况的电枢反应计算则存在较大误差,应采用磁场分析进
行补充。结合其它两台同结构电机的比较分析,对永磁无刷直流电机的设计要点进行
了总结,指出切向磁化结构的永磁无刷直流电机的定子轭和定子齿的磁路不宜设计得
过高,否则电枢反应较严重,影响电机出力。
本文最后对由电压型逆变器驱动的无刷直流电机的运行特性进行了分析,推导了
电机机械特性的计算公式,为无刷直流电机的设计提供了计算依据,指出电压型无刷
直流电机的机械特性不能直接套用有刷直流电机的公式进行计算。
通过对这台 50kW 多相永磁无刷直流电机样机的研究,我们基本掌握了大功率永
磁无刷电机本体设计的要点和驱动系统主电路参数选取的依据,为大功率永磁无刷直
流电机驱动系统设计积累了宝贵的经验。
Due to high efficiency, excellent speed-adjustability, and high feasibility, the
high-power Permanent Magnet Brushless DC Motor(PMBDCM)drive system has applied
in the domains as ships, aircrafts and so on, where the attention is firstly paid to the running
efficiency and feasibility of drive system. The equipments for high-power PMBDCM drive
have been developed in foreign countries. However, the technique concerned is kept to
themselves. In domestic, the research work is mainly focused on the fractional power
PMBDCM at present, and the work for high-power PMBDCM drive is just kicked on, so
many problems exist in the design of high-power PMBDCM proper and the development of
PMBDCM drive system.
In order to investigate the performance of one kind of high-power PMBDCM drive
system, a 50kW multi-phase permanent magnet brushless DC sample motor is developed in
this dissertation. The sample motor is strictly referred to one high-power PMBDCM, and
the structure of drive system is also accorded to the high-power PMBDCM drive system.
By dint of the sample motor drive system, this dissertation has expounded the operation
principle, discussed the parameter choice and analyzed experimental data, and then some
valuable conclusions were drawn for the high-power PMBDCM drive system. The
dissertation is deployed as follows:
Firstly, the operation principle of the high-power PMBDCM drive is introduced. The
PMBDCM drive system presented in this dissertation adopts thyristors as the operation
power electronics, and employs capacitor for commutation, so the drive system has a
special operation manner and control scheme. By sorting out the running status, the trigger
control rules is formulated and the trigger control scheme is optimized, which lay a
foundation for the simulation of the PMBDCM drive, and so do with the development of
practical drive system.
Then, the commutation process of the PMBDCM drive is investigated, and the effect
of relational parameters upon the commutation characteristics is sum up, thereafter the
criterion of the parameter choice for drive system is brought out. The criterion has been
verified by the sample drive system. The commutation investigation provides a theoretic
support for the design of high-power PMBDCM drive.
III
In order to predict the running characteristics of PMBDCM drive, two mathematical
model, electric circuit model and S-function model, for PMBDCM are presented in this
dissertation, the modeling principles and realization of each model under Matlab/Simulink
platform are detail stated. The circuit model has high simulation efficiency, and is good at
optimizing the main circuit of the motor drive system, whereas the S-function model brings
a feasible approach to investigate the details characteristics of the PMBDCM proper. The
two models promote the research of high-power PMBDCM drive.
The armature reaction of the sample motor is also discussed in this dissertation. The
analysis shows that the equivalent magnet circuit is a feasible method to calculate the
non-load operation status, but fail to compute the load operation status. Further research
shows the stator yoke and stator tooth have serious affected the performance of PMBDCM,
and high magnet stature is not suitable for the PMBDCM whose magnets are mounted in
tangent direction.
The dissertation has also pay attention to the mechanical characteristics of PMBDCM
fed by voltage inverter. The expressions deduced in last chapter dictate the mechanical
characteristics PMBDCM fed by voltage inverter is much softer than that calculated
directly according to the resistor of stator windings. This conclusion gives a valuable
reference to PMBDCM design.
To sum up, through the research of the multi-phase permanent magnet brushless DC
sample motor, we have accumulated the design experience for PMBDCM, and acquired the
knowledge of such drive system, which conduces to the development and realization of the
equipment for high-pow
点,在国外已成功应用于对系统效率、可靠性有特殊要求的推进领域中。然而,国际
上关于大功率永磁无刷电机及其驱动系统的成套技术一直对我实行封锁;在国内,永
磁无刷电机的研究主要集中在中小功率方面,大功率永磁无刷直流电机及其驱动系统
的研究尚处在起步阶段,在大功率永磁无刷电机的设计和驱动系统的研制方面都存在
大量值得研究的问题。
本课题为研究大功率永磁无刷直流电机及其驱动系统而设计了一台 50kW多相永
磁无刷直流电机,该电机的设计最大限度地模拟了某大功率多相永磁无刷直流电机的
基本结构,驱动系统也基本采用了某大功率永磁无刷直流电机的主电路结构。本文以
该电机为分析和研究对象,对大功率永磁无刷直流电机及其驱动系统的工作原理、参
数选取和电机工作情况进行了分析、总结和预测,为大功率永磁无刷直流电机及其驱
动系统的研制提供了宝贵的经验。全文内容如下:
首先,介绍了一种以晶闸管为主要功率元件的大功率永磁无刷直流电机驱动系
统。该系统采用电容强迫换流技术,与普通无刷直流电机的换流原理和控制逻辑不同。
本文通过对电机各运行的状态的分类分析,总结了这种驱动系统的触发逻辑控制规
律,优化了逻辑控制程序,为永磁无刷直流电机驱动系统的仿真和实际系统的开发提
供了依据。
其次,本文通过对驱动系统换流过程的详细分析,总结了有关参数如电机电感、
换相电容等对电机换流过程的影响程度、趋势和规律。给出了驱动系统主要参数选取
的依据和选择方法,并通过样机进行了实验验证,为大功率永磁无刷直流电机驱动系
统的主电路设计提供理论支持。
为准确预测大功率永磁无刷直流电机驱动系统的运行性能,建立了永磁无刷直流
电机的电路模型和 S 函数模型,并阐述了其在 Matlab/Simulink 平台下的建模原理和实
现方法。本文提出的两种电机模型,相互补充,准确预知了永磁无刷电机驱动系统的
运行特性,大大加速驱动系统研制过程。其中,电路模型具有仿真效率高,便于研究
驱动系统主电路参数对系统性能的影响,从而对主电路参数进行优化;S 函数模型便
I
于对电机内部细节进行分析,为揭示电机内部变量的变化规律提供了有力的手段。
以样机为主要研究对象,对切向磁化结构永磁无刷直流电机的电枢反应情况进行
了实测、分析和总结。分析结果表明等效磁路法在计算永磁无刷电机的空载工作点是
准确的、可行的;但对负载情况的电枢反应计算则存在较大误差,应采用磁场分析进
行补充。结合其它两台同结构电机的比较分析,对永磁无刷直流电机的设计要点进行
了总结,指出切向磁化结构的永磁无刷直流电机的定子轭和定子齿的磁路不宜设计得
过高,否则电枢反应较严重,影响电机出力。
本文最后对由电压型逆变器驱动的无刷直流电机的运行特性进行了分析,推导了
电机机械特性的计算公式,为无刷直流电机的设计提供了计算依据,指出电压型无刷
直流电机的机械特性不能直接套用有刷直流电机的公式进行计算。
通过对这台 50kW 多相永磁无刷直流电机样机的研究,我们基本掌握了大功率永
磁无刷电机本体设计的要点和驱动系统主电路参数选取的依据,为大功率永磁无刷直
流电机驱动系统设计积累了宝贵的经验。
Due to high efficiency, excellent speed-adjustability, and high feasibility, the
high-power Permanent Magnet Brushless DC Motor(PMBDCM)drive system has applied
in the domains as ships, aircrafts and so on, where the attention is firstly paid to the running
efficiency and feasibility of drive system. The equipments for high-power PMBDCM drive
have been developed in foreign countries. However, the technique concerned is kept to
themselves. In domestic, the research work is mainly focused on the fractional power
PMBDCM at present, and the work for high-power PMBDCM drive is just kicked on, so
many problems exist in the design of high-power PMBDCM proper and the development of
PMBDCM drive system.
In order to investigate the performance of one kind of high-power PMBDCM drive
system, a 50kW multi-phase permanent magnet brushless DC sample motor is developed in
this dissertation. The sample motor is strictly referred to one high-power PMBDCM, and
the structure of drive system is also accorded to the high-power PMBDCM drive system.
By dint of the sample motor drive system, this dissertation has expounded the operation
principle, discussed the parameter choice and analyzed experimental data, and then some
valuable conclusions were drawn for the high-power PMBDCM drive system. The
dissertation is deployed as follows:
Firstly, the operation principle of the high-power PMBDCM drive is introduced. The
PMBDCM drive system presented in this dissertation adopts thyristors as the operation
power electronics, and employs capacitor for commutation, so the drive system has a
special operation manner and control scheme. By sorting out the running status, the trigger
control rules is formulated and the trigger control scheme is optimized, which lay a
foundation for the simulation of the PMBDCM drive, and so do with the development of
practical drive system.
Then, the commutation process of the PMBDCM drive is investigated, and the effect
of relational parameters upon the commutation characteristics is sum up, thereafter the
criterion of the parameter choice for drive system is brought out. The criterion has been
verified by the sample drive system. The commutation investigation provides a theoretic
support for the design of high-power PMBDCM drive.
III
In order to predict the running characteristics of PMBDCM drive, two mathematical
model, electric circuit model and S-function model, for PMBDCM are presented in this
dissertation, the modeling principles and realization of each model under Matlab/Simulink
platform are detail stated. The circuit model has high simulation efficiency, and is good at
optimizing the main circuit of the motor drive system, whereas the S-function model brings
a feasible approach to investigate the details characteristics of the PMBDCM proper. The
two models promote the research of high-power PMBDCM drive.
The armature reaction of the sample motor is also discussed in this dissertation. The
analysis shows that the equivalent magnet circuit is a feasible method to calculate the
non-load operation status, but fail to compute the load operation status. Further research
shows the stator yoke and stator tooth have serious affected the performance of PMBDCM,
and high magnet stature is not suitable for the PMBDCM whose magnets are mounted in
tangent direction.
The dissertation has also pay attention to the mechanical characteristics of PMBDCM
fed by voltage inverter. The expressions deduced in last chapter dictate the mechanical
characteristics PMBDCM fed by voltage inverter is much softer than that calculated
directly according to the resistor of stator windings. This conclusion gives a valuable
reference to PMBDCM design.
To sum up, through the research of the multi-phase permanent magnet brushless DC
sample motor, we have accumulated the design experience for PMBDCM, and acquired the
knowledge of such drive system, which conduces to the development and realization of the
equipment for high-pow
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34(3):3~5
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29 (1):136~142
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motor taking the saturation effects into account. IEEE Transaction on Magnetics,
1997,33 (5):4197~ 4199
70. Upadhyay P R.; Rajagopal K R.,Singh B P. Effect of armature reaction on the
performance of an axial-field permanent-magnet brushless DC motor using FE method.
IEEE Transactions on Magnetics,2004,40(4):2023~2025
71. Sitapati K,Krishnan R. Performance comparisons of radial and axial field,permanent
magnet brushless machines. IEEE Transaction on Industry Applications,2001,37 (5):
1219~1226
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motors. IEEE Transaction on Magnetics,2003,39 (5):2992~2994
73. Wang Xinghua,Li Qingfu,Wang Shuhong. Analytical calculation of air gap magnetic
field distribution and instantaneous characteristics of brushless DC motors. IEEE
Transaction on Energy Conversion,2003,18 (3):424~432
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experimental design method. IEEE Transaction on Magnetics,1998,34 (5):3648~3651
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Matlab/Simulink environment IEEE Transactions on Aerospace and Electronic
Systems,2001,37( 3):989~1009
83. Butler K L,Ehsani M,Kamath P A. Matlab-based modeling and simulation package
for electric and hybrid electric vehicle design,IEEE Transactions on Vehicular
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