六相盘式永磁同步电机的设计研究
摘要
盘式永磁同步电机属于轴向磁场电机,目前,该类电机在国外已经得到了迅速发展,作为一种现代高性能伺服电机和大力矩直接驱动电机已广泛应用于机器人等机电一体化产品中。由于该类电机具有重量轻、体积小、结构紧凑、转子无损耗、转动惯量小,机电时间常数小、转矩/重量比大、低速运行平稳、可以制成多气隙组合式结构进一步提高转矩等特点,其在数控机床、机器人、电动车、电梯、家用电器等场合具有广阔的应用前景,是一种理想的驱动装置。
本文针对盘式永磁同步电动机的设计展开研究,完成的主要工作是从提高力能密度的角度出发,提出了一种新型的六相盘式永磁同步电动机,并从此种电机的结构入手对其进行了磁路分析和电磁计算,针对盘式永磁电机的磁场分布特点,编写了盘式永磁电机电磁设计程序和算例。通过对样机设计值与实验值比较,开发了一套盘式永磁同步电机设计的CAD软件。
在此盘式永磁同步电动机的设计中,采用了针对六相电机的22极24槽结构,使得电机的主要尺寸减小,电机定子冲槽、电枢下线等工艺要求降低。并通过对永磁体的形状进行的优化,使永磁电机气隙磁密波形畸变率减小,从而降低了转矩脉动。定量分析了不同定子槽口宽度对空载反电动势波形和齿槽转矩的影响规律,并从电机的主要尺寸方程入手将盘式永磁电机和径向永磁电机的转矩密度进行了比较,得到了两种电机转矩密度的变化关系。推导了六相盘式永磁同步电动机的电枢反应电抗、漏抗等的计算公式,同时也给出了这些参数相应的有限元计算方法,两种计算结果基本一致。并且在对多极少齿结构电机的漏磁系数进行研究的基础上,总结了该类电机的漏磁系数的计算方法。
最后,在上述研究的基础上,设计制造了一台5kW的双定子单转子结构的盘式永磁同步电动机样机并做了详细的实验,实验结果与理论分析基本一致。
Disk permanent magnet synchronous motor (PMSM) is a kind of axial flux motor. At present, it is has been developed abroad soon. As a high performance servo motor and high moment driving device, disk PMSM has been widely used in the mechanical and electrical integration products. There are many characteristics of low mass, little volume, compact structure, no loss in rotor, low moment of inertia, small electromechanical time constant, high proportion of torque to mass, steady running status in low speed in this motor. And it can easily be designed to more modules to heighten torque. As a perfect driving device, it could be used in many fields, such as numerical control machine, robot, electric vehicle, home appliance and so on.
This paper studies the design of disc permanent magnet synchronous motor. The major works are in the follows. Firstly, to get better power density, a new disk permanent magnet synchronous motor is proposed. Magnetic field analysis and calculation are completed according to the research of the structure. Based on the research of the magnetic field distribution characteristics of disc permanent magnet motors, electromagnetic design process of disc permanent magnet motors with the diving ring way is compiled. By comparing with the prototype design value and measure results, electromagnetic procedures of disc permanent magnet motor has been improved and amended. A practical and reliable CAD software has been established now.
In the design of disc permanent magnet synchronous motor , with the six-phase motor with 22 poles and 24 slots presenting, the motor size is decreased and produce technology is reduced. On the basis of optimization of the shape of permanent magnet by the use of Fourier analysis and finite element method, it can make permanent magnet motor gap magnetic distortion and torque ripple reduced. The influence of the performance of the back-EMF wave and cogging torque in the different width of slot openings is quantitatively analyzed. by a comparative study of the torque density of disc and radial permanent magnet motor from sizing equation, the relationship of two motors’torque density has been analyzed. The main parameters formula of the six-phase disc permanent magnet synchronous motor is also put forward, such as armature reactance and slot leak reactance. The corresponding finite element method of these parameters also been introduced. the two results are basically the same. Based on research of the leakage coefficient of the structure with little-pole and much-tooth ,the finite element calculation of leakage coefficient is presented.
Finally, based on above studies a prototype of DPMSM with a one-rotor-two -stators configuration and rated power 5kW has been designed the tests have been finished. Experimental Measure results and theoretical analysis are basic agreement.
本文针对盘式永磁同步电动机的设计展开研究,完成的主要工作是从提高力能密度的角度出发,提出了一种新型的六相盘式永磁同步电动机,并从此种电机的结构入手对其进行了磁路分析和电磁计算,针对盘式永磁电机的磁场分布特点,编写了盘式永磁电机电磁设计程序和算例。通过对样机设计值与实验值比较,开发了一套盘式永磁同步电机设计的CAD软件。
在此盘式永磁同步电动机的设计中,采用了针对六相电机的22极24槽结构,使得电机的主要尺寸减小,电机定子冲槽、电枢下线等工艺要求降低。并通过对永磁体的形状进行的优化,使永磁电机气隙磁密波形畸变率减小,从而降低了转矩脉动。定量分析了不同定子槽口宽度对空载反电动势波形和齿槽转矩的影响规律,并从电机的主要尺寸方程入手将盘式永磁电机和径向永磁电机的转矩密度进行了比较,得到了两种电机转矩密度的变化关系。推导了六相盘式永磁同步电动机的电枢反应电抗、漏抗等的计算公式,同时也给出了这些参数相应的有限元计算方法,两种计算结果基本一致。并且在对多极少齿结构电机的漏磁系数进行研究的基础上,总结了该类电机的漏磁系数的计算方法。
最后,在上述研究的基础上,设计制造了一台5kW的双定子单转子结构的盘式永磁同步电动机样机并做了详细的实验,实验结果与理论分析基本一致。
Disk permanent magnet synchronous motor (PMSM) is a kind of axial flux motor. At present, it is has been developed abroad soon. As a high performance servo motor and high moment driving device, disk PMSM has been widely used in the mechanical and electrical integration products. There are many characteristics of low mass, little volume, compact structure, no loss in rotor, low moment of inertia, small electromechanical time constant, high proportion of torque to mass, steady running status in low speed in this motor. And it can easily be designed to more modules to heighten torque. As a perfect driving device, it could be used in many fields, such as numerical control machine, robot, electric vehicle, home appliance and so on.
This paper studies the design of disc permanent magnet synchronous motor. The major works are in the follows. Firstly, to get better power density, a new disk permanent magnet synchronous motor is proposed. Magnetic field analysis and calculation are completed according to the research of the structure. Based on the research of the magnetic field distribution characteristics of disc permanent magnet motors, electromagnetic design process of disc permanent magnet motors with the diving ring way is compiled. By comparing with the prototype design value and measure results, electromagnetic procedures of disc permanent magnet motor has been improved and amended. A practical and reliable CAD software has been established now.
In the design of disc permanent magnet synchronous motor , with the six-phase motor with 22 poles and 24 slots presenting, the motor size is decreased and produce technology is reduced. On the basis of optimization of the shape of permanent magnet by the use of Fourier analysis and finite element method, it can make permanent magnet motor gap magnetic distortion and torque ripple reduced. The influence of the performance of the back-EMF wave and cogging torque in the different width of slot openings is quantitatively analyzed. by a comparative study of the torque density of disc and radial permanent magnet motor from sizing equation, the relationship of two motors’torque density has been analyzed. The main parameters formula of the six-phase disc permanent magnet synchronous motor is also put forward, such as armature reactance and slot leak reactance. The corresponding finite element method of these parameters also been introduced. the two results are basically the same. Based on research of the leakage coefficient of the structure with little-pole and much-tooth ,the finite element calculation of leakage coefficient is presented.
Finally, based on above studies a prototype of DPMSM with a one-rotor-two -stators configuration and rated power 5kW has been designed the tests have been finished. Experimental Measure results and theoretical analysis are basic agreement.
引文
[1]唐任远等,现代永磁电机理论与设计,北京:机械工业出版社,1997
[2] F. Profuma, Z. Zhang and A. Tenconi, Axial Flux Machine Drive: New Viable Solution for Electric Cars, IEEE Transactions on Industrial Electronics,l997, 144:39-45.
[3] C. C. Jensen, F. Profumo and T. A. Lipo,A Low Loss Perma-nent Magnet Brushless DC Motor Utilizing Tape Wound Amo-rphous Iron, IEEE Transactions on Industry Applications, 1992, 28(3): 646-651.
[4] Qishan and H. Shuhong, Analytic approach to magnetic circuit for saturated axial-field induction machines, IEEE Power Applications ,1994,141(1):27-32
[5] E. P. Furlani and M. A. Knewtson , A Three-Dimensional Field Solution for Permanent-Magnet Axial-Field Motors, IEEE Transactions on Industry Applications, 1997,33(3)
[6]刘艳,基于HALBACH阵列的盘式无铁心永磁同步电动机分析与计算:[硕士学位论文],天津:天津大学,2005
[7]侯书红,亚尔.买买提,盘式电机在我国的发展及其展望,微特电机,1998,(4): 30-33
[8] Gieras. J. F and Gieras, I. A. Performance analysis of a coreless permanent magnet brushless motor, Industry Applications Conference, 2002, 4: 2477-2482.
[9]陈清泉著,黄红军译,轴向磁场电机的设计和应用, IEEE Transactions,1987,2(2):430-441
[10] R.Krishnan.A.J.Beutler, Performance and Design of an Axial Field PM Synchronous Motor Servo , IEEE IAS Annual Meeting, 1985,634-640
[11] G.henneberger etal, A New Range of D.C. and A.C. Pancake Motors, ICEM’86,916-919
[12]中源电气网站.http://www.zyec.com/
[13] http://www.lynxmotiontechnology.com/
[14] Metin Aydin、Surong Hung and Thomas A Lipo, Design and 3D Electromagnetic Field Analysis of Non-slotted and Slotted TO-RUS Type Axial Flux Surface Mounted Permanent Magnet Disc Machines, In Proceedings of IEEE Electric Machines and Driv-es Conference, IEMDC’01,645-651
[15] Panu Kurronen, Torque Vibration Model of Axial-Flux Surface Mounted Permanent Magnet Synchronous Machine, Thesis for PhD, Lappeenranta University of Technology, 2001
[16] Federico Caricchi, Fabio Crescimbini and Luca Solero, Experimental Study on Reducing Cogging Torque and No-Load Power Loss in Axial-Flux Permanent Magnet Machines With Slotted Wi-nding, IEEE Transactions on Industry Applications, 2004, 40(4):1066-1075
[17] Asko Parviainen., Design of Axial-Flux Permanent-Magne Low-Speed Machines And Performance Comparison Between Radil-Flux And Axial-Flux And Axial-Flux Machines, Lappeenranta University of Technology,2002
[18]刘晓东,赵衡兵等,钕铁硼永磁盘式同步电动机的设计研究,微特电机,1998,(3):6-7
[19]王正茂,苏少平等,盘式永磁同步电动机研究,中小型电机, 2000,27(5): 13-15
[20]陈金涛,辜承林,轴向磁场无铁心无刷永磁盘式电机的设计,微特电机.2002,(5):6-7
[21]孙建中,白凤仙等,利用二维有限元法计算盘式永磁直流电机的三维磁场分布,电工技术杂志,1998 (1):13-15.
[22] Andrea Cavagnino, Mario Lazzari and Francesco Profumo etc,Axial Flux Interior PM Synchronous Motor Parameters Identi-fication and Steady-State Performance Measurements, IEEE Transactions on Industry Applications, 2000 , 36(6):1581-1588
[23] Funda Sahin, Design and development of a high-speed axial-flux permanent magnet machine, Technische university eindhoven,226.
[24]侯立军,苏彦民等,六相异步电机的绕组结构及其仿真研究,中小型电机, 2004, 31(2):5-7
[25]陈世坤,电机设计,北京:机械工业出版社,2000.
[26] YZhao, TALipo, Space vector PWM control of dual threephase induction machine using vector space decomposition, IEEE Transactions on Industry Applications, 1995 , 31 :1177-1184.
[27]侯立军,苏彦民,陈林等,多相感应电机调速系统研究,机床与液压,2004(4):8-10.
[28]周启章,多相电机绕组设计,电机技术, 2001(1):3-5.
[29]吴新振,王祥珩等,多相异步电机谐波电流与谐波磁势的对应关系,清华大学学报(自然科学版),2005, 45(7):865-868.
[30]赖豪杰,三相交流伺服电动机的设计研究:[硕士学位论文],济南:山东大学,2005.
[31]张敬南,刘勇,六相双Y绕组同步电动机的数学模型与动态稳定仿真,应用技术, 2005.32(12):33-34
[32]王秀和,王兴华,刘玉庆等,永磁电机漏磁系数的确定,微电机,1999,32(2):48-49.
[33] Ronghai Qu,Thomas A. Lipo, Analysis and modeling of mirgap & zigzag leakage fluxes in a surface-mounted-PM machine, IEEE Transactions on Industry Applications ,2002: 634-640.
[34]袁丽卿,双Y无刷直流电动机的设计与仿真研究:[硕士学位论文],杭州:浙江工业大学,2005.
[35]杨兆华,唐孝镐,盘式异步电机的磁路、铁耗及轴向磁吸力的分环计算,设计分析,1998,21-23.
[36]黄海宏,张敬华,新颖的极槽数匹配方法,电机技术,1999(4):11-12.
[37]黄海宏,王海欣,多极永磁同步电动机的研究,电气应用,2005,24(1):89-91.
[38]杜钦君,永磁激磁直流发电机的研究与设计,农业机械学报,2004,35(1):184-186
[39]侯书红,盘式异步电动机铁耗计算,新疆工学院学报,1997,18(3):202-206
[40] Gieras, J.F., Wing, M., Permanent Magnet Motor Technology Design and Applications,New York: Marcel Dekker Inc, 1997, 444.
[41]黄国治,傅丰礼, Y2系列三相异步电动机技术手册,北京:机械工业出版社,2003
[2] F. Profuma, Z. Zhang and A. Tenconi, Axial Flux Machine Drive: New Viable Solution for Electric Cars, IEEE Transactions on Industrial Electronics,l997, 144:39-45.
[3] C. C. Jensen, F. Profumo and T. A. Lipo,A Low Loss Perma-nent Magnet Brushless DC Motor Utilizing Tape Wound Amo-rphous Iron, IEEE Transactions on Industry Applications, 1992, 28(3): 646-651.
[4] Qishan and H. Shuhong, Analytic approach to magnetic circuit for saturated axial-field induction machines, IEEE Power Applications ,1994,141(1):27-32
[5] E. P. Furlani and M. A. Knewtson , A Three-Dimensional Field Solution for Permanent-Magnet Axial-Field Motors, IEEE Transactions on Industry Applications, 1997,33(3)
[6]刘艳,基于HALBACH阵列的盘式无铁心永磁同步电动机分析与计算:[硕士学位论文],天津:天津大学,2005
[7]侯书红,亚尔.买买提,盘式电机在我国的发展及其展望,微特电机,1998,(4): 30-33
[8] Gieras. J. F and Gieras, I. A. Performance analysis of a coreless permanent magnet brushless motor, Industry Applications Conference, 2002, 4: 2477-2482.
[9]陈清泉著,黄红军译,轴向磁场电机的设计和应用, IEEE Transactions,1987,2(2):430-441
[10] R.Krishnan.A.J.Beutler, Performance and Design of an Axial Field PM Synchronous Motor Servo , IEEE IAS Annual Meeting, 1985,634-640
[11] G.henneberger etal, A New Range of D.C. and A.C. Pancake Motors, ICEM’86,916-919
[12]中源电气网站.http://www.zyec.com/
[13] http://www.lynxmotiontechnology.com/
[14] Metin Aydin、Surong Hung and Thomas A Lipo, Design and 3D Electromagnetic Field Analysis of Non-slotted and Slotted TO-RUS Type Axial Flux Surface Mounted Permanent Magnet Disc Machines, In Proceedings of IEEE Electric Machines and Driv-es Conference, IEMDC’01,645-651
[15] Panu Kurronen, Torque Vibration Model of Axial-Flux Surface Mounted Permanent Magnet Synchronous Machine, Thesis for PhD, Lappeenranta University of Technology, 2001
[16] Federico Caricchi, Fabio Crescimbini and Luca Solero, Experimental Study on Reducing Cogging Torque and No-Load Power Loss in Axial-Flux Permanent Magnet Machines With Slotted Wi-nding, IEEE Transactions on Industry Applications, 2004, 40(4):1066-1075
[17] Asko Parviainen., Design of Axial-Flux Permanent-Magne Low-Speed Machines And Performance Comparison Between Radil-Flux And Axial-Flux And Axial-Flux Machines, Lappeenranta University of Technology,2002
[18]刘晓东,赵衡兵等,钕铁硼永磁盘式同步电动机的设计研究,微特电机,1998,(3):6-7
[19]王正茂,苏少平等,盘式永磁同步电动机研究,中小型电机, 2000,27(5): 13-15
[20]陈金涛,辜承林,轴向磁场无铁心无刷永磁盘式电机的设计,微特电机.2002,(5):6-7
[21]孙建中,白凤仙等,利用二维有限元法计算盘式永磁直流电机的三维磁场分布,电工技术杂志,1998 (1):13-15.
[22] Andrea Cavagnino, Mario Lazzari and Francesco Profumo etc,Axial Flux Interior PM Synchronous Motor Parameters Identi-fication and Steady-State Performance Measurements, IEEE Transactions on Industry Applications, 2000 , 36(6):1581-1588
[23] Funda Sahin, Design and development of a high-speed axial-flux permanent magnet machine, Technische university eindhoven,226.
[24]侯立军,苏彦民等,六相异步电机的绕组结构及其仿真研究,中小型电机, 2004, 31(2):5-7
[25]陈世坤,电机设计,北京:机械工业出版社,2000.
[26] YZhao, TALipo, Space vector PWM control of dual threephase induction machine using vector space decomposition, IEEE Transactions on Industry Applications, 1995 , 31 :1177-1184.
[27]侯立军,苏彦民,陈林等,多相感应电机调速系统研究,机床与液压,2004(4):8-10.
[28]周启章,多相电机绕组设计,电机技术, 2001(1):3-5.
[29]吴新振,王祥珩等,多相异步电机谐波电流与谐波磁势的对应关系,清华大学学报(自然科学版),2005, 45(7):865-868.
[30]赖豪杰,三相交流伺服电动机的设计研究:[硕士学位论文],济南:山东大学,2005.
[31]张敬南,刘勇,六相双Y绕组同步电动机的数学模型与动态稳定仿真,应用技术, 2005.32(12):33-34
[32]王秀和,王兴华,刘玉庆等,永磁电机漏磁系数的确定,微电机,1999,32(2):48-49.
[33] Ronghai Qu,Thomas A. Lipo, Analysis and modeling of mirgap & zigzag leakage fluxes in a surface-mounted-PM machine, IEEE Transactions on Industry Applications ,2002: 634-640.
[34]袁丽卿,双Y无刷直流电动机的设计与仿真研究:[硕士学位论文],杭州:浙江工业大学,2005.
[35]杨兆华,唐孝镐,盘式异步电机的磁路、铁耗及轴向磁吸力的分环计算,设计分析,1998,21-23.
[36]黄海宏,张敬华,新颖的极槽数匹配方法,电机技术,1999(4):11-12.
[37]黄海宏,王海欣,多极永磁同步电动机的研究,电气应用,2005,24(1):89-91.
[38]杜钦君,永磁激磁直流发电机的研究与设计,农业机械学报,2004,35(1):184-186
[39]侯书红,盘式异步电动机铁耗计算,新疆工学院学报,1997,18(3):202-206
[40] Gieras, J.F., Wing, M., Permanent Magnet Motor Technology Design and Applications,New York: Marcel Dekker Inc, 1997, 444.
[41]黄国治,傅丰礼, Y2系列三相异步电动机技术手册,北京:机械工业出版社,2003