CN105591567A

CN105591567A - Taper magnetic bearing switched reluctance motor and control method thereof

Info

Publication number: CN105591567A
Application number: CN201510859921.8A
Authority: CN
Inventors: 刘泽远; 杨艳; 曹鑫; 邓智泉; 王世山
Original assignee: Nanjing Post and Telecommunication University
Current assignee: Nanjing Post and Telecommunication University
Priority date: 2015-11-30
Filing date: 2015-11-30
Publication date: 2016-05-18
Anticipated expiration: 2035-11-30
Also published as: CN105591567B

Abstract

The invention discloses a tapered magnetic bearing switched reluctance motor and a control method. The motor is composed of a switched reluctance motor and two tapered magnetic bearings; the bias winding of the two tapered magnetic bearings and the switched reluctance The windings of the motor are connected in series to form the <i>m</i> phase torque winding; the two radial levitation windings of each tapered magnetic bearing control the levitation of two degrees of freedom, a total of four radial degrees of freedom, And it can be decoupled and controlled; the axial levitation windings of the two tapered magnetic bearings are connected in series to form an axial levitation winding to control the axial levitation; the motor can independently control the torque winding current and the on-off of the power circuit Control the speed and torque in real time; control the current of the five suspension windings, adjust the suspension force in five directions in real time, and then realize the five-degree-of-freedom suspension. The motor and the control method of the invention have less control variables, simple suspension control, and low cost of the power converter of the suspension system.

Description

A kind of taper magnetic bearing switch reluctance motor and control method

Technical field

The present invention relates to a kind of taper magnetic bearing switch reluctance motor and control method, belong to the magnetic levitation switch of electric machineryReluctance motor and control technology field thereof.

Background technology

Bearing-free switch reluctance motor is the novel magnetically levitated motor of one growing up the nineties in 20th century. Open without bearingClose reluctance motor because integrating rotation and two functions that suspend, the damage that not only can effectively solve high-speed cruising time, bearing friction bringsConsumption and the problem such as heating, can also further bring into play the high-speed adaptability of switched reluctance machines, thus strengthen its in Aero-Space, flyThe application foundation of the High Speed Fields such as wheel energy storage, naval vessel.

Research finds, can the rotation of bearing-free switch reluctance motor and suspension function decoupling zero, and outstanding when high-speed cruisingHow are the tracking of floating electric current and copped wave control accuracy, and can the high speed performance of bearing-free switch reluctance motor be given full play to and be playedVital effect. Therefore, for solving above-mentioned two aspect problems, the scholar of Nanjing Aero-Space University and Nanjing Univ. of Posts and TelecommunicationsSome novel electric machine structures and control method thereof have been proposed. 12/8 utmost point composite rotors simplex winding bearing-free switch magnetic-resistance electricity proposingMachine, is misplaced and is produced respectively suspending power and torque by timesharing, can realize and suspending and the decoupling zero control of spinfunction, but because of needs rightEach winding is independently controlled, and power variator cost is higher. A kind of 12/8 utmost point composite construction with axial magnetic flux has been proposed againDouble winding bearing-free switch reluctance motor and a kind of axially block form 12/8 utmost point composite construction double winding bearing-free switch magnetic-resistance electricityMachine, when the symmetrical excitation of every phase torque winding of above-mentioned two motors produces torque, also for this phase suspending windings provides bias magneticLogical, torque and suspending power independently are produced by magnetic resistance motor rotor and cylindrical rotor respectively, have therefore also realized suspension and have rotatedDecoupling zero; But suspension system is three-phase duty also, power circuit cost is also higher. In addition, above-mentioned motor, controls institute because suspendingNeed, must, to torque winding current copped wave control between floating zone, cause fully excitation of motor, torque fan-out capability is subject toLimit, is unfavorable for the application of this motor in high speed situation.

Bearing-free switch reluctance motor is controlled requirement because suspending, and need to carry out copped wave control to suspension electric current. To simplex windingBearing-free switch reluctance motor, each winding needs independent control, and power tube quantity is many, and variator cost is high; In addition, bySuspend when controlling in such motor, also need to export torque, limit because of suspension excitation width and amplitude, cause motor to fillDivide excitation, thereby affect the output of torque. For double winding bearing-free switch reluctance motor, a set of is torque winding, forProvide and suspend biasing magnetic flux and produce torque; Another set of is suspending windings, for generation of suspending power. Often adopt conducting control in turnMethod, the suspending windings number of phases is identical with the torque winding number of phases, cause Suspension power circuit complexity, and cost is higher. In addition, due toIn the suspension excitation stage, torque winding current need to carry out copped wave control, for suspending windings provides required biasing magnetic flux, sameFully excitation, causes exporting torque limited.

In addition, typical bearing-free motor only can be controlled the radially suspension of two frees degree, but realizes the stable of rotorSuspension need to impose restriction in five frees degree, therefore it must with axial magnetic bearing be used in conjunction with could form one completeThe magnetic suspension motor that five degree of freedom suspends. Suspension of five-freedom degree magnetic motor has following several composition form conventionally: 1) 1 without bearingMotor+1 axial-radial magnetic bearing, 2) 1 radial direction magnetic bearing+1, bearing-free motor+1 axial magnetic bearing, 3) 2 shaftlessBearing motor+1 axial magnetic bearing. From above-mentioned 3 kinds of composition forms, bearing-free motor at least needs and an axial magnetic bearingCoordinate and could form a suspension of five-freedom degree magnetic system, this is also the technical bottleneck of bearing-free motor. Therefore, if will be axiallyMagnetic bearing function is integrated in bearing-free motor, by the integrated level of further Hoisting System, critical speed and power density.

Summary of the invention

The present invention, in order to overcome the deficiencies in the prior art, proposes a kind of taper magnetic bearing switch reluctance motor and controlling partyMethod. Described motor is that a kind of suspending power separates with decoupling zero in torque configurations, torque magnetic circuit and suspending power magnetic circuit, high-speed adaptabilityLarge, the lower-cost novel suspension of five-freedom degree magnetic switched reluctance machines of power variator of bearing capacity radially by force; Described controlling partyMethod can independent controlling torque winding current and suspending windings electric current, and decoupling zero mutually between rotation and suspension system, each other a little less than impact; FiveThe free degree suspends and controls similar magnetic suspension bearing, adopts permanent switch control strategy, and only needs to control five direction suspending windingsElectric current, can produce five required direction suspending powers, and control variables is few, suspends and controls simply, suspension system power inverterCost is low.

In order to address the above problem, the technical solution used in the present invention is:

A kind of taper magnetic bearing switch reluctance motor, comprises taper magnetic bearing I, switched reluctance machines and taper magnetic bearingⅡ；

Described switched reluctance machines is arranged between taper magnetic bearing I and taper magnetic bearing II;

Taper magnetic bearing I by taper stator I, cone rotor I, biasing winding I, radial suspension winding I and axial suspension aroundGroup I forms, and wherein taper stator I is made up of axial force stator I, radial load stator I and non-magnetic member I;

Taper magnetic bearing II is by taper stator II, cone rotor II, biasing winding II, radial suspension winding II and axially outstandingFloating winding II forms, and wherein taper stator II is made up of axial force stator II, radial load stator II and non-magnetic member II;

Described switched reluctance machines is made up of reluctance motor stator, magnetic resistance motor rotor and reluctance motor winding;

Described cone rotor I is arranged in taper stator I, and cone rotor II is arranged in taper stator II, reluctance motorRotor arrangements is in reluctance motor stator; Described cone rotor I, magnetic resistance motor rotor and cone rotor II are enclosed within rotating shaft;

Described taper stator I and taper stator II are taper salient-pole structure, and described cone rotor I and cone rotor II are equalFor tapered cylinder structure; The bevel angle of taper stator I, taper stator II, cone rotor I and cone rotor II equates; Taper is fixedThe bevel angle opening direction of sub-I and cone rotor I is identical, the bevel angle opening direction phase of taper stator II and cone rotor IIWith; The bevel angle openings of the bevel angle opening direction of taper stator I and cone rotor I and taper stator II and cone rotor IITo on the contrary;

Described reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, reluctance motor stator and magnetic resistance motor rotorThe number of teeth have 12/8,6/4,8/6 3 kind of combining form; Wherein the number of teeth of reluctance motor stator and magnetic resistance motor rotor is combined as12/8 and 6/4 o'clock, switched reluctance machines is three-phase duty, and the number of teeth of reluctance motor stator and magnetic resistance motor rotor is combined as 8/6 o'clock, switched reluctance machines was four phase dutys;

Described radial load stator I, non-magnetic member I are arranged in axial force stator I, and wherein non-magnetic member I is arrangedBetween axial force stator I and radial load stator I; Axial force stator I and non-magnetic member I close arrangement, non-magnetic member I andRadial load stator I close arrangement;

Described axial force stator I is taper salient-pole structure, and the number of teeth is 8; Described radial load stator I is by 8 C type structure structuresBecome, the tooth of described C type structure is pyramidal structure, and the number of teeth is 16; The tooth of the facewidth of described axial force stator I and radial load stator IWide equating; Described non-magnetic member I is made up of 8 L-type structures, and the tooth of described L-type structure is pyramidal structure, and the number of teeth is 8;

On 8 tooth circumference of described axial force stator I, be uniformly distributed, the angle of adjacent teeth and between cog is 45 °, and wherein withTwo teeth that horizontal direction overlaps are called horizontal positive direction tooth I and horizontal negative direction tooth I, two of overlapping with vertical directionTooth is called vertical positive direction tooth I and vertical negative direction tooth I; Between the adjacent teeth of axial force stator I and tooth, there is air-gap, and thenForm 8 stator slots;

In described each stator slot, all place the C type structure of 1 radial load stator I and the L-type of 1 non-magnetic member I knotStructure, and each L-type structural configuration is between each C type structure and axial force stator I; Wherein, 2 L-type structures respectively and with itAdjacent horizontal positive direction tooth I close arrangement, respectively and with it adjacent horizontal negative direction tooth I close arrangement of 2 L-type structures, 2Respectively and with it adjacent vertical positive direction tooth I close arrangement of individual L-type structure, 2 L-type structures respectively and with it adjacent verticallyNegative direction tooth I close arrangement; 1 tooth in each C type structure and with it the L-type close structure cloth in same stator slotPut, between the tooth of another tooth of this C type structure and with it adjacent axial force stator I, have air-gap;

In horizontal positive direction tooth I position, form 1 tooth by horizontal positive direction tooth I, 2 L-type structures and 2 C types and tie1 wide tooth I that 2 teeth in structure combine; In horizontal negative direction tooth I position, form 1 by horizontal negative direction tooth I, 21 wide tooth I that 2 teeth in the tooth of individual L-type structure and 2 C type structures combine; Vertical positive direction tooth I position, shape1 the wide tooth I that becomes 2 teeth in 1 tooth by vertical positive direction tooth I, 2 L-type structures and 2 C type structures to combine; ?Vertically negative direction tooth I position, forms 2 in 1 tooth by vertical negative direction tooth I, 2 L-type structures and 2 C type structures1 wide tooth I that tooth combines; Thereby, form altogether 4 wide tooth I;

In 4 teeth of residue of described 4 wide tooth I, axial force stator I, radial load stator I not with the L-type of non-magnetic member I8 teeth of residue of close structure laminating, form 16 teeth of described taper stator I together;

Equal winding m wide tooth winding I in described 4 wide tooth I, the number of phases that wherein m is switched reluctance machines; At each wide toothIn I, choose 1 wide tooth winding I, be connected into 1 biasing winding I, thereby form m biasing winding I;

On 12 teeth of residue of described taper stator I, be all wound with 1 winding, 4 teeth of residue of axial force stator I all aroundThere is 1 winding, 1 axial suspension winding I in series;

On 8 teeth of residue that do not coordinate with the L-type close structure of non-magnetic member I in radial load stator I, be also all wound with 1Winding, concrete connected mode is: in horizontal positive direction tooth I position, form the residue two in 2 C type structures of same wide tooth IWindings in series on individual tooth together, forms 1 horizontal positive direction winding string I; In horizontal negative direction tooth I position, form sameWindings in series on two teeth of residue in 2 C type structures of one wide tooth I together, forms 1 horizontal negative direction winding string I;Described 1 horizontal positive direction winding string I and 1 horizontal negative direction winding string I series connection, form 1 horizontal radial suspending windings I;In vertical positive direction tooth I position, form windings in series on two teeth of residue in 2 C type structures of same wide tooth I oneRise, form 1 vertical positive direction winding string I; In vertical negative direction tooth I position, form in 2 C type structures of same wide tooth ITwo teeth of residue on windings in series together, form 1 vertical negative direction winding string I; Described 1 vertical positive direction windingString I and 1 vertical negative direction winding string I series connection, form 1 vertical radial suspension winding I;

Described radial load stator II, non-magnetic member II are arranged in axial force stator II, wherein non-magnetic member IIBe arranged between axial force stator II and radial load stator II; Axial force stator II and non-magnetic member II close arrangement, non-leadingMagnetic member II and radial load stator II close arrangement;

Described axial force stator II is taper salient-pole structure, and the number of teeth is 8; Described radial load stator II is by 8 C type structure structuresBecome, the tooth of described C type structure is pyramidal structure, and the number of teeth is 16; The facewidth of described axial force stator II and radial load stator IIThe facewidth equates; Described non-magnetic member II is made up of 8 L-type structures, and the tooth of described L-type structure is pyramidal structure, and the number of teeth is 8;

On 8 tooth circumference of described axial force stator II, be uniformly distributed, the angle of tooth and between cog is 45 °, and wherein with waterSquare be called the negative tooth II in the other direction of horizontal positive direction tooth II and level to two teeth that overlap, overlap with vertical direction twoIndividual tooth is called vertical positive direction tooth II and vertical negative direction tooth II; Between 8 teeth of axial force stator II and tooth, there is air-gap,And then 8 stator slots of formation;

In described each stator slot, all place the C type structure of 1 radial load stator II and the L-type of 1 non-magnetic member IIStructure, and each L-type structural configuration is between each C type structure and axial force stator II; Wherein, 2 L-type structures respectively and withAdjacent horizontal positive direction tooth II close arrangement, the respectively and with it adjacent tight cloth of horizontal negative direction tooth II of 2 L-type structuresPut, respectively and with it adjacent vertical positive direction tooth II close arrangement of 2 L-type structures, 2 L-type structures are respectively and adjacent with itVertical negative direction tooth II close arrangement; Respectively and the with it each L in same stator slot of 1 tooth in 8 C type structuresType close structure layout, and remain 8 teeth in 8 C type structures, remain between 4 teeth and exist respectively and in axial force stator IIAir-gap;

In horizontal positive direction tooth II position, form 1 tooth by horizontal positive direction tooth II, 2 L-type structures and 2 C types1 wide tooth II that 2 teeth in structure combine; In horizontal negative direction tooth II position, form 1 by horizontal negative direction tooth1 wide tooth II that 2 teeth in the tooth of II, 2 L-type structures and 2 C type structures combine; In vertical positive direction tooth II positionPut place, form 1 that 2 teeth in 1 tooth by vertical positive direction tooth II, 2 L-type structures and 2 C type structures combineWide tooth II; In vertical negative direction tooth II position, form 1 tooth by vertical negative direction tooth II, 2 L-type structures and 2 C types1 wide tooth II that 2 teeth in structure combine; Thereby, form altogether 4 wide tooth II;

In 4 teeth of residue of described 4 wide tooth II, axial force stator II, radial load stator II not with non-magnetic member II8 teeth of residue of coordinating of L-type close structure, form together 16 teeth of described taper stator II;

Equal winding m wide tooth winding II in described 4 wide tooth II, the number of phases that wherein m is switched reluctance machines; Each wideIn tooth II, choose 1 wide tooth winding II, be connected into 1 biasing winding II, thereby form m biasing winding II;

On 12 teeth of residue of described taper stator II, be all wound with 1 winding, 4 teeth of residue of axial force stator II are equalBe wound with 1 winding, 1 axial suspension winding II in series;

On 8 teeth of residue that do not coordinate with the L-type close structure of non-magnetic member II in radial load stator II, be also all wound with 1Individual winding, concrete connected mode is: in horizontal positive direction tooth II position, form surplus in 2 C type structures of same wide tooth IIThe windings in series of Yuing on two teeth together, forms 1 horizontal positive direction winding string II; In horizontal negative direction tooth II position,Form windings in series on two teeth of residue in 2 C type structures of same wide tooth II together, form 1 horizontal negative directionWinding string II; Described 1 horizontal positive direction winding string II and 1 horizontal negative direction winding string II series connection, form 1 horizontal radialSuspending windings II; In vertical positive direction tooth II position, form on two teeth of residue in 2 C type structures of same wide tooth IIWindings in series together, form 1 vertical positive direction winding string II; In vertical negative direction tooth II position, form same wideWindings in series on two teeth of residue in 2 C type structures of tooth II together, forms 1 vertical negative direction winding string II; InstituteState 1 vertical positive direction winding string II and 1 vertical negative direction winding string II series connection, form 1 vertical radial suspension winding II;

Described 1 axial suspension winding I and 1 axial suspension winding II series connection, form an axial suspension winding;

On each stator tooth of described switched reluctance machines, be wound with 1 winding, the winding on all reluctance motor stator tooths,Divide m group, be connected to together, form m reluctance motor winding;

1 reluctance motor winding is connected with 1 biasing winding I and 1 biasing winding II, forms 1 torque winding, altogether mIndividual.

The number of teeth of described reluctance motor stator and magnetic resistance motor rotor adopts 12/8 combination, i.e. described reluctance motor stator toothNumber is 12, the magnetic resistance motor rotor number of teeth is 8, number of motor phases m is 3 o'clock, on every 4 reluctance motor stator tooths of 90 ° of being separated by aroundGroup, adopts series connection or connected mode arranged side by side or string combination, links together, and forms 1 reluctance motor winding, forms altogether3 reluctance motor windings; Described 3 reluctance motor windings enter with described 3 biasing winding I and 3 biasing winding II respectively againRow series connection, and then form 3 torque windings, be three-phase torque winding.

The number of teeth of described reluctance motor stator and magnetic resistance motor rotor adopts 6/4 combination, and described reluctance motor stator is6, the magnetic resistance motor rotor number of teeth is 4, number of motor phases m is 3 o'clock, and the winding on every 2 reluctance motor stator tooths of 180 ° of being separated by, adoptsBy series connection or connected mode arranged side by side, link together, form 1 reluctance motor winding, form altogether 3 reluctance motor windings;Described 3 reluctance motor windings are connected with described 3 biasing winding I and 3 biasing winding II respectively again, and then form 3Individual torque winding, is three-phase torque winding.

The number of teeth of described reluctance motor stator and magnetic resistance motor rotor adopts 8/6 combination, and described reluctance motor stator is8, the magnetic resistance motor rotor number of teeth is 6, number of motor phases m is 4 o'clock, and the winding on every 2 reluctance motor stator tooths of 180 ° of being separated by, adoptsBy series connection or connected mode arranged side by side, link together, form 1 reluctance motor winding, form altogether 4 reluctance motor windings,Described 4 reluctance motor windings are connected with described 4 biasing winding I and 4 biasing winding II respectively again, and then form 4Individual torque winding, is four phase torque windings.

Described taper magnetic bearing switch reluctance motor comprises 1 switching magnetic-resistance reluctance motor and 2 taper magnetic bearings, whereinSwitched reluctance machines produces rotating torques, 2 taper magnetic bearings produce five direction suspending powers, to realize five directions of rotorSuspension operation; Described motor comprises m phase torque winding, 4 radial suspension windings and 1 axial suspension winding, wherein, independent controlM phase torque winding current processed, to regulate torque, and produces biasing magnetic flux; 5 suspending windings electric currents of independent control, realize five certainlySuspend and regulate by degree; Comprise the steps:

Steps A, obtains given torque winding current, turn-on angle and the pass angle of rupture; Concrete steps are as follows:

Steps A-1, gathers rotor real-time rotate speed, obtains rotor velocity ω;

Steps A-2, by the reference angular velocities ω of rotor velocity ω and setting^*Subtract each other, obtain rotation speed difference deltan ω;

Steps A-3, as ω≤ω₀Time, ω₀For critical speed setting value, it is determined by motor actual condition; Described rotating speedPoor Δ ω, passing ratio integral controller, obtains torque winding current reference value i_m ^*; Turn-on angle θ_onWith pass angle of rupture θ_offFix notBecome θ_onAnd θ_offValue is determined by electric machine structure form;

Steps A-4, as ω > ω₀Time, described rotation speed difference deltan ω, passing ratio integral controller, obtains turn-on angle θ_onWithClose angle of rupture θ_off, torque winding current is not controlled;

Step B, obtains x axle and the given suspending power of y direction of principal axis of taper magnetic bearing I; Its concrete steps are as follows:

Step B-1, obtains x axle and the axial real-time displacement signal alpha of y of cone rotor I₁And β₁, wherein, x axle is levelDirection, y axle is vertical direction;

Step B-2, by real-time displacement signal alpha₁And β₁Respectively with given reference bit shifting signal α₁ ^*And β₁ ^*Subtract each other, respectivelyTo x direction of principal axis and the axial real-time displacement signal difference of y Δ α₁With Δ β₁, by described real-time displacement signal difference Δ α₁With Δ β₁WarpCross proportional plus integral plus derivative controller, obtain the x direction of principal axis suspending power of taper magnetic bearing IWith y direction of principal axis suspending power

Step C, obtains x axle and the given suspending power of y direction of principal axis of taper magnetic bearing II; Its concrete steps are as follows:

Step C-1, obtains x axle and the axial real-time displacement signal alpha of y of cone rotor II₂And β₂；

Step C-2, by real-time displacement signal alpha₂And β₂Respectively with given reference bit shifting signal α₂ ^*And β₂ ^*Subtract each other, respectivelyTo x direction of principal axis and the axial real-time displacement signal difference of y Δ α₂With Δ β₂, by described real-time displacement signal difference Δ α₂With Δ β₂WarpCross proportional plus integral plus derivative controller, obtain the x direction of principal axis suspending power of taper magnetic bearing IIWith y direction of principal axis suspending power

Step D, obtains the given suspending power of z direction of principal axis; Its concrete steps are as follows:

Step D-1, obtains the axial real-time displacement signal of rotor z z, and wherein z axle is vertical with y direction of principal axis with x axle;

Step D-2, by real-time displacement signal z and given reference bit shifting signal z^*Subtract each other, obtain the axial real-time position of zThe poor Δ z of shifting signal, by described real-time displacement signal difference Δ z process proportional plus integral plus derivative controller, the z direction of principal axis suspending power obtaining

Step e, regulates suspending power, and concrete steps are as follows:

Step e-1, gathers the mutually real-time torque winding current of m, according to described suspending powerWithAnd Current calculationFormula

i_{s 1}^{*} = F_{α 1}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k}

With

i_{s 2}^{*} = F_{β 1}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k},

Resolve that to obtain the x direction of taper magnetic bearing I outstandingFloating winding current reference valueWith y direction of principal axis suspending windings current reference valueWherein, k_f1For suspending power coefficient,μ₀For space permeability, l is the axial length of magnetic bearing part, and r is magnetic bearing rotorMean radius, α_sFor the mean pole arc angle of magnetic bearing stator, δ is the monolateral gas length of magnetic bearing part, N_b、N_sRespectively partiallyPut the number of turn of winding and radial suspension winding, i_kIt is k phase torque winding current;

Step e-2, according to described suspending powerWithAnd Current calculation formula

i_{s 3}^{*} = F_{α 2}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k}

With

i_{s 4}^{*} = F_{β 2}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k},

Resolve the x direction suspending windings current reference value that obtains taper magnetic bearing IIWith y axle sideTo suspending windings current reference value

Step e-3, gather mutually real-time torque winding current and four the radial suspension winding currents of m, according to described suspensionPowerAnd Current calculation formula

i_{z}^{*} = [F_{z}^{*} - k_{f 2} N_{s}^{2} (i_{s 1}^{* 2} + i_{s 2}^{* 2} - i_{s 3}^{* 2} - i_{s 4}^{* 2})] / k_{f 2} N_{b} N_{z} Σ_{k = 1}^{m} i_{k},

Resolve and obtain z axle sideTo suspending windings current reference valueWherein, k_f2For suspending power coefficient,γ₃For axial force stator magnetUtmost point angle, ε is bevel angle, N_zFor the number of turn of axial suspension winding;

Step e-4, utilize current chopping control method, with the x direction of principal axis suspending windings actual current i of taper magnetic bearing I_s1Follow the tracks of the outstanding winding current reference value of this directionWith the actual current i of y direction of principal axis suspending windings_s2Follow the tracks of this direction suspending windingsCurrent reference value

With the x direction of principal axis suspending windings actual current i of taper magnetic bearing II_s3Follow the tracks of the outstanding winding current reference value of this directionWith the actual current i of y direction of principal axis suspending windings_s4Follow the tracks of this direction suspending windings current reference value

With z direction of principal axis suspending windings actual current i_zFollow the tracks of the outstanding winding current reference value of this directionThereby regulate in real time outstandingBuoyancy;

Step F, regulates torque; Concrete steps are as follows:

Step F-1, as ω≤ω₀Time, utilize current chopping control method, with the actual current i of torque winding_mTracking turnsSquare winding current reference value i_m ^*, and then regulate in real time torque winding current i_m, and then reach the object that regulates torque;

Step F-2, as ω > ω₀Time, utilize angle position control method, regulate turn-on angle θ_onWith pass angle of rupture θ_offGetValue, thus torque regulated in real time.

Beneficial effect of the present invention: the present invention proposes a kind of taper magnetic bearing switch reluctance motor and control method thereof,Adopt technical scheme of the present invention, can reach following technique effect:

(1) can realize five degree of freedom suspension operation, suspending power and torque decoupler, high speed suspendability is good;

(2) mode of employing torque winding and the common excitation of biasing windings in series, current utilization rate is high;

(3) magnetic flux that m phase torque winding sum produces, as biasing magnetic flux, only needs to control five suspending windings electric currents, noNeed to be suspension operation controlling torque winding current, just can produce five required suspending powers of direction, between four radial suspension forcesDecoupling zero mutually, control variables is few, suspends and controls simply, and suspension system power inverter cost is little;

(4) eliminated the impact on the control of winding current chopping of Based Motional Electromotive Force, electric current is controlled effective in real time;

(5) torque control is identical with switched reluctance machines, control simply, and fully excitation, torque-output characteristics is good,And high-speed adaptability is strong;

(6) magnetic circuit that respectively suspends mutually separates, axially and the biasing magnetic path isolation of radial suspension, and torque magnetic circuit and suspension magnetic circuitAlso isolation, a little less than magnetic circuit coupling;

(7) motor expansion is good, unrestricted to switched reluctance machines structure, as long as switching magnetic-resistance more than two-phase dutyMotor is all suitable for.

Brief description of the drawings

Fig. 1 is the three-dimensional structure schematic diagram of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention.

Fig. 2 is the magnetic flux distribution schematic diagram that in the embodiment of the present invention 1, A phase torque winding produces in reluctance motor part.

Fig. 3 is the flux distribution of taper magnetic bearing I in the embodiment of the present invention 1.

Fig. 4 is the flux distribution of taper magnetic bearing II in the embodiment of the present invention 1.

Fig. 5 is the three-dimensional structure schematic diagram of taper magnetic bearing switch reluctance motor embodiment 2 of the present invention.

Fig. 6 is the three-dimensional structure schematic diagram of taper magnetic bearing switch reluctance motor embodiment 3 of the present invention.

Fig. 7 is the system block diagram of the control method of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention.

Fig. 8 is suspending windings Current calculation in the control method of taper magnetic bearing switch reluctance motor embodiment 1 of the present inventionMethod block diagram.

In description of reference numerals: Fig. 1 to Fig. 7, the 1st, reluctance motor stator, the 2nd, magnetic resistance motor rotor, the 3rd, reluctance motor aroundGroup, the 4th, taper stator, the 5th, axial force stator, the 6th, radial load stator, the 7th, C type structure, the 8th, cone rotor, the 9th, biasing aroundGroup, the 10th, radial suspension winding, the 11st, axial suspension winding, the 12nd, non-conducting magnetic component, the 13rd, rotating shaft, the 14th, switching magnetic-resistance electricityMachine, the 15th, taper magnetic bearing I, the 16th, taper magnetic bearing II, 17,18,19 are respectively the positive direction of x, y, z direction of principal axis reference axis,The 20th, the magnetic flux that switched reluctance machines winding produces, the 21 biasing magnetic fluxs that produce in taper magnetic bearing I for three-phase torque winding,The 22nd, the taper magnetic bearing I magnetic flux that radially winding produces, the 23rd, the magnetic flux that axial winding produces in taper magnetic bearing I, the 24th,Air gap 1,25th, air gap 2,26th, air gap 3,27th, it is inclined to one side that air gap 4,28 produces in taper magnetic bearing II for three-phase torque windingPut magnetic flux, the 29th, the taper magnetic bearing II magnetic flux that radially winding produces, the 30th, axial winding produces in taper magnetic bearing IIMagnetic flux.

Detailed description of the invention

Below in conjunction with accompanying drawing, the technical scheme of the present invention's a kind of taper magnetic bearing switch reluctance motor and control method is enteredRow describes in detail:

As shown in Figure 1, be the three-dimensional structure schematic diagram of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention, wherein,The 1st, reluctance motor stator, the 2nd, magnetic resistance motor rotor, the 3rd, reluctance motor winding, the 4th, taper stator, the 5th, axial force stator, the 6th,Radial load stator, the 7th, C type structure, the 8th, cone rotor, the 9th, biasing winding, the 10th, radial suspension winding, the 11st, axial suspension aroundGroup, the 12nd, non-conducting magnetic component, the 13rd, rotating shaft, 14 is 12/8 pole switching reluctance motors, the 15th, taper magnetic bearing I, the 16th, taper magneticBearing II.

Described taper magnetic bearing switch reluctance motor, comprises taper magnetic bearing I, switched reluctance machines and taper magnetic bearingⅡ；

Described reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, the described reluctance motor stator number of teeth is 12,The magnetic resistance motor rotor number of teeth is 8, number of motor phases is 3;

Equal 3 wide tooth winding II of winding in described 4 wide tooth II; In each wide tooth II, choose 1 wide tooth winding II, stringBe unified into 1 biasing winding II, thereby form 3 biasing winding II;

Winding on every 4 reluctance motor stator tooths of 90 ° of being separated by, adopts series connection or side by side or the connection of string combinationMode, links together, and forms 1 reluctance motor winding, forms altogether 3 reluctance motor windings;

Described 3 reluctance motor windings are connected with described 3 biasing winding I and 3 biasing winding II respectively again, enterAnd form 3 torque windings, be three-phase torque winding.

The resultant flux that described three-phase torque winding current sum produces, the biasing magnetic flux suspending as two cone rotors; 3The control method of phase torque winding current is identical with traditional switch reluctance motor; Control four suspending windings electric currents of x and y directionSize and Orientation, and then can produce all controlled four magnetic pulls radially of the required size and Orientation of radial suspension, Jin ErshiThe radially four-degree-of-freedom suspension operation of existing rotor; Control the size and Orientation of z direction suspending windings electric current, and in conjunction with four footpathsTo suspending windings electric current and 3 phase torque winding currents, and then produce the required axial magnetic pull of axial suspension, thereby realize rotorAxial suspension, finally realize rotor five degree of freedom suspend.

Fig. 2 is the magnetic flux distribution that in the embodiment of the present invention 1, A phase torque winding produces in 12/8 pole switching reluctance motor partSchematic diagram. A phase torque winding, by 4 coils of 90 ° of being spatially separated by each other, adopts series connection or in parallel or two and two stringsMode is formed by connecting; The four extremely symmetrical magnetic fluxs (line label is 20) that A phase torque winding current produces, are NSNS and distribute. When A turns mutuallyWhen the conducting of square winding, the magnetic field producing in reluctance motor, for generation of torque; A, B, C three-phase torque winding are in magnetic bearingThe bias magnetic field of the resultant magnetic field producing for suspending and controlling. The torque winding of B, C phase is identical with A phase torque winding construction, onlyDiffer 30 ° and-30 ° with A in position.

Fig. 3 is the flux distribution of taper magnetic bearing I in the embodiment of the present invention 1. The magnetic that A, B, C three-phase torque winding produceLogical as shown in solid line in Fig. 3 (line label is 21), as shown in pecked line in figure, (line label is the magnetic flux that radial suspension winding produces22) magnetic flux (line label is 23) as shown in long dotted line in figure that, axial suspension winding produces. The magnetic flux that biasing winding produces is 8On individual axial force stator tooth, be NSNS and distribute, the magnetic flux that now axial suspension winding produces is identical with biasing winding flow direction.Produce flow direction at air gap 1 place's suspending windings and torque winding the same, magnetic flux increases; And at air gap 3 places, opposite direction, magneticLogical weakening, and then produce the suspending power of an x positive direction. Produce flow direction one in air gap 2 place's suspending windings and torque windingSample, magnetic flux increases, and at air gap 4 places, magnetic flux weakens, and then produce the suspending power of a y positive direction. In like manner, work as suspending windingsWhen electric current is reverse, will produce reciprocal suspending power. Therefore, in the time of given A, B, C three-phase torque winding current, rationally control x,The size and Orientation of the floating winding current of y axle suspension, can produce all controlled suspending powers of size and Orientation.

Torque winding current can adopt that PWM controls, pulse control and angle Position Control etc., with traditional switch reluctance motorControl method is identical, and suspension electric current adopts copped wave control. A, B, C three-phase torque winding current can be examined in real time by current sensorRecord, rotor radial displacement detects acquisition in real time by current vortex sensor, through PI regulate obtain both direction suspending power toDefinite value. Due to suspending power and A, B, C three-phase torque winding current and both direction suspending windings current related, and then can resolveTo the suspension electric current of both direction, as the set-point of Current Control in power inverter, finally realize the two-freedom of motorSuspension operation.

Fig. 4 is the flux distribution of taper magnetic bearing II in the embodiment of the present invention 1. The magnetic that now axial suspension winding producesLogical contrary with biasing winding flow direction. Because the flow direction of axial suspension winding in two taper magnetic bearings is contrary, because ofThis will produce all controllable axial suspension power of a size and Orientation, thereby realize the axial suspension of rotor.

Fig. 5 is the three-dimensional structure schematic diagram of taper magnetic bearing switch reluctance motor embodiment 2 of the present invention, wherein, and as Fig. 1 instituteShowing, is the three-dimensional structure schematic diagram of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention, wherein, the 1st, reluctance motor is fixedSon, the 2nd, magnetic resistance motor rotor, the 3rd, reluctance motor winding, the 4th, taper stator, the 5th, axial force stator, the 6th, radial load stator, 7C type structure, the 8th, cone rotor, the 9th, biasing winding, the 10th, radial suspension winding, the 11st, axial suspension winding, the 12nd, non-leadingMagnetic member, the 13rd, rotating shaft, 14 is 6/4 pole switching reluctance motors, the 15th, taper magnetic bearing I, the 16th, taper magnetic bearing II.

Described reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and the described reluctance motor stator number of teeth is 6, magneticResistance number of teeth of motor rotor is 4, number of motor phases is 3;

Winding on every 2 reluctance motor stator tooths of 180 ° of being separated by, adopts series connection or connected mode arranged side by side, connectsTogether, form 1 reluctance motor winding, form altogether 3 reluctance motor windings;

Fig. 6 is the three-dimensional structure schematic diagram of taper magnetic bearing switch reluctance motor embodiment 3 of the present invention, wherein, and as Fig. 1 instituteShowing, is the three-dimensional structure schematic diagram of taper magnetic bearing switch reluctance motor embodiment 1 of the present invention, wherein, the 1st, reluctance motor is fixedSon, the 2nd, magnetic resistance motor rotor, the 3rd, reluctance motor winding, the 4th, taper stator, the 5th, axial force stator, the 6th, radial load stator, 7C type structure, the 8th, cone rotor, the 9th, biasing winding, the 10th, radial suspension winding, the 11st, axial suspension winding, the 12nd, non-leadingMagnetic member, the 13rd, rotating shaft, 14 is 8/6 pole switching reluctance motors, the 15th, taper magnetic bearing I, the 16th, taper magnetic bearing II.

Described reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, and the described reluctance motor stator number of teeth is 8, magneticResistance number of teeth of motor rotor is 6, number of motor phases is 4;

Equal 4 wide tooth winding II of winding in described 4 wide tooth II; In each wide tooth II, choose 1 wide tooth winding II, stringBe unified into 1 biasing winding II, thereby form 4 biasing winding II;

Winding on every 2 reluctance motor stator tooths of 180 ° of being separated by, adopts series connection or connected mode arranged side by side, connectsTogether, form 1 reluctance motor winding, form altogether 4 reluctance motor windings;

Described 4 reluctance motor windings are connected with described 4 biasing winding I and 4 biasing winding II respectively again, enterAnd form 4 torque windings, be four phase torque windings.

The resultant flux that described four phase torque winding current sums produce, the biasing magnetic flux suspending as two cone rotors; 3The control method of phase torque winding current is identical with traditional switch reluctance motor; Control four suspending windings electric currents of x and y directionSize and Orientation, and then can produce all controlled four magnetic pulls radially of the required size and Orientation of radial suspension, Jin ErshiThe radially four-degree-of-freedom suspension operation of existing rotor; Control the size and Orientation of z direction suspending windings electric current, and in conjunction with four footpathsTo suspending windings electric current and 3 phase torque winding currents, and then produce the required axial magnetic pull of axial suspension, thereby realize rotorAxial suspension, finally realize rotor five degree of freedom suspend.

As shown in Figure 7, be the system block diagram of the embodiment of the present invention 1. Torque control can adopt PWM control, pulse control andThe control method of the traditional switch reluctance motors such as angle Position Control, suspends and controls the mode that adopts current chopping control.

Torque control is: detect motor rotor position information, obtain respectively as calculated the open-minded of actual speed ω and every phaseAngle θ_onWith pass angle of rupture θ_off, speed error signal is carried out to PI adjusting, obtain torque winding current reference valueRecycling electric currentCopped wave control allows actual torque winding current follow the tracks ofAnd utilize turn-on angle θ_onWith pass angle of rupture θ_offControlling torque winding power electricityThe conducting state on road, thus realize motor rotation.

Suspend to control and be: displacement error signal is carried out to PID and regulate the given suspending power of acquisition Again in conjunction with actual measurement three-phase torque winding current sum (i₁+i₂+i₃), can pass through suspending windings current controller meterCalculate: the x direction suspending windings current reference value of taper magnetic bearing IWith y direction of principal axis suspending windings current reference valueTaperThe x direction suspending windings current reference value of magnetic bearing IIWith y direction of principal axis suspending windings current reference valueZ direction of principal axis suspendsWinding current reference value

Utilize current chopping control method, allow the x direction of principal axis suspending windings actual current i of taper magnetic bearing I_s1Follow the tracks of the partyTo outstanding winding current reference valueAllow the actual current i of y direction of principal axis suspending windings_s2Follow the tracks of this direction suspending windings current referenceValue

Allow the x direction of principal axis suspending windings actual current i of taper magnetic bearing II_s3Follow the tracks of the outstanding winding current reference value of this directionAllow the actual current i of y direction of principal axis suspending windings_s4Follow the tracks of this direction suspending windings current reference value

Allow z direction of principal axis suspending windings actual current i_zFollow the tracks of the outstanding winding current reference value of this directionThereby regulate in real time outstandingBuoyancy, the five degree of freedom of realizing motor suspends.

As shown in Figure 8, be the suspending windings Current calculation method block diagram of the embodiment of the present invention 1. In figure, k_f1、k_f2For suspendingForce coefficient, its expression formula is:

k_{f 1} = \frac{μ_{0} {lrα}_{s}}{δ^{2}} ({cosγ}_{1} + {cosγ}_{2}) - - - (1)

k_{f 2} = \frac{4 μ_{0} {lrα}_{s}}{δ^{2}} t a n ϵ - - - (2)

In formula, μ₀For space permeability, l is the axial length of magnetic bearing part, and r is the mean radius of magnetic bearing rotor, α_sFor the mean pole arc angle of stator, δ is the monolateral gas length of magnetic bearing part, γ₁、γ₂Be respectively C type structure two stators and magneticThe angle of utmost point center line, γ₃For axial force magnetic pole of the stator angle, ε is bevel angle.

The x of taper magnetic bearing I and y direction of principal axis suspending powerWithExpression formula be:

F_{α 1}^{*} = k_{f 1} N_{b} N_{s} (i_{1} + i_{2} + i_{3}) i_{s 1}^{*} - - - (3)

F_{β 1}^{*} = k_{f 1} N_{b} N_{s} (i_{1} + i_{2} + i_{3}) i_{s 2}^{*} - - - (4)

In formula, i₁、i₂、i₃Be respectively the electric current of A, B, C three-phase torque winding,Be respectively taper magnetic bearing I x,Y direction of principal axis suspending windings electric current, N_b、N_sSetover the respectively number of turn of winding and radial suspension winding.

The x of taper magnetic bearing II and y direction of principal axis suspending powerWithExpression formula be:

F_{α 2}^{*} = k_{f 1} N_{b} N_{s} (i_{1} + i_{2} + i_{3}) i_{s 3}^{*} - - - (5)

F_{β 2}^{*} = k_{f 1} N_{b} N_{s} (i_{1} + i_{2} + i_{3}) i_{s 4}^{*} - - - (6)

In formula,Be respectively x, the y direction of principal axis suspending windings electric current of taper magnetic bearing II.

Z direction of principal axis suspending powerExpression formula be:

F_{z}^{*} = k_{f 2} N_{s}^{2} (i_{s 1}^{* 2} + i_{s 2}^{* 2} - i_{s 3}^{* 2} - i_{s 4}^{* 2}) + k_{f 2} N_{b} N_{z} (i_{1} + i_{2} + i_{3}) i_{z}^{*} - - - (7)

In formula, N_zFor the number of turn of axial suspension winding, i_zFor the electric current of axial suspension winding.

From expression formula (1)～(7), taper magnetic bearing switch reluctance motor radially, axial suspension power and rotor positionAngle setting θ is irrelevant, only current related with electric machine structure parameter, three-phase torque winding current and four suspending windings. Wherein, four footpathsOnly relevant with three-phase torque winding current to radial load electric current with the party to suspending power, therefore between four radial suspension forces, mutually separateCoupling; All irrelevant with rotor position angle because of five suspending powers again, therefore can decoupling zero control between torque and suspending power.

It is pointed out that because the positive and negative positive and negative variation with suspending windings electric current of suspending power changes, therefore suspend aroundThe group sense of current can change in the time controlling, and needs to adopt the power inverter of adjustable current direction.

The control method of the embodiment of the present invention 1, described taper magnetic bearing switch reluctance motor comprises 1 switching magnetic-resistance magnetic resistanceMotor and 2 taper magnetic bearings, wherein switched reluctance machines produces rotating torques, and 2 taper magnetic bearings produce five directions and hangBuoyancy, to realize the suspension operation of five directions of rotor; Described motor comprises 3 phase torque windings, 4 radial suspension windings and 1Individual axial suspension winding, wherein, the independent 3 phase torque winding currents of controlling, to regulate torque, and produce biasing magnetic flux; Independent controlMake 5 suspending windings electric currents, realize five degree of freedom suspension and regulate; Comprise the steps:

Steps A-1, gathers rotor real-time rotate speed, obtains rotor velocity ω;

Step e, regulates suspending power, and concrete steps are as follows:

i_{s 1}^{*} = F_{α 1}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k}

With

i_{s 2}^{*} = F_{β 1}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k},

Resolve that to obtain the x direction of taper magnetic bearing I outstandingFloating winding current reference valueWith y direction of principal axis suspending windings current reference valueWherein, k_f1For suspending power coefficient,μ₀For space permeability, l is the axial length of magnetic bearing part, and r is magnetic bearing rotorMean radius, α_sFor the mean pole arc angle of magnetic bearing stator, δ is the monolateral gas length of magnetic bearing part, N_b、N_sRespectively partiallyPut the number of turn of winding and radial suspension winding, i_kBe k phase torque winding current, number of phases m is 3;

i_{s 3}^{*} = F_{α 2}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k}

With

i_{s 4}^{*} = F_{β 2}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k},

i_{z}^{*} = [F_{z}^{*} - k_{f 2} N_{s}^{2} (i_{s 1}^{* 2} + i_{s 2}^{* 2} - i_{s 3}^{* 2} - i_{s 4}^{* 2})] / k_{f 2} N_{b} N_{z} Σ_{k = 1}^{m} i_{k},

Step F, regulates torque; Concrete steps are as follows:

The control method of the embodiment of the present invention 2, embodiment 3 and implementation, all identical with embodiment 1, difference existsIn, because of stator and rotor tooth difference, turn-on angle θ_onWith pass angle of rupture θ_offValue difference; And because of number of phases difference, the required reality of flow sensorTime the torque winding number of phases difference that gathers, and then torque winding current sum is also different.

In sum, the present invention has structurally realized the decoupling zero of torque and suspending power; The inductance of suspending windings is constant,Based Motional Electromotive Force is zero, has eliminated the impact on the control of winding current chopping of Based Motional Electromotive Force, has improved electric current and has controlled in real timeEffect; Only need to control five direction suspending windings electric currents, can produce the required suspending power of five directions, control variables is few, outstandingFloating control simply, suspension system power inverter cost is little; Torque control is identical with traditional switch reluctance motor, is beneficial to torque defeatedGo out, high-speed adaptability is further strengthened.

For those skilled in the art, can be easy to other excellent of association according to above implementation typePoint and distortion. Therefore, the present invention is not limited to above-mentioned instantiation, and it enters a kind of form of the present invention as just exampleThe explanation that row is detailed, exemplary. Not deviating from the scope of aim of the present invention, those of ordinary skill in the art are according to above-mentioned concreteExample is equal to by various the technical scheme that replacement obtains, all should be included in claim scope of the present invention and etc. homotypeWithin enclosing.

Claims

1. a taper magnetic bearing switch reluctance motor, comprises taper magnetic bearing I, switched reluctance machines and taper magnetic bearing II;

Taper magnetic bearing I is by taper stator I, cone rotor I, biasing winding I, radial suspension winding I and axial suspension winding I structureBecome, wherein taper stator I is made up of axial force stator I, radial load stator I and non-magnetic member I;

Taper magnetic bearing II by taper stator II, cone rotor II, biasing winding II, radial suspension winding II and axial suspension aroundGroup II forms, and wherein taper stator II is made up of axial force stator II, radial load stator II and non-magnetic member II;

Described cone rotor I is arranged in taper stator I, and cone rotor II is arranged in taper stator II, magnetic resistance motor rotorBe arranged in reluctance motor stator; Described cone rotor I, magnetic resistance motor rotor and cone rotor II are enclosed within rotating shaft;

Described taper stator I and taper stator II are taper salient-pole structure, and described cone rotor I and cone rotor II are coneShape column structure; The bevel angle of taper stator I, taper stator II, cone rotor I and cone rotor II equates; Taper stator I andThe bevel angle opening direction of cone rotor I is identical, and the bevel angle opening direction of taper stator II and cone rotor II is identical; TaperThe bevel angle opening direction of stator I and cone rotor I is contrary with the bevel angle opening direction of taper stator II and cone rotor II;

Described reluctance motor stator and magnetic resistance motor rotor are salient-pole structure, the tooth of reluctance motor stator and magnetic resistance motor rotorNumber has 12/8,6/4,8/6 3 kind of combining form; Wherein the number of teeth of reluctance motor stator and magnetic resistance motor rotor is combined as 12/8 He6/4 o'clock, switched reluctance machines was three-phase duty, and the number of teeth of reluctance motor stator and magnetic resistance motor rotor is combined as at 8/6 o'clock, opensClosing reluctance motor is four phase dutys;

It is characterized in that, described radial load stator I, non-magnetic member I are arranged in axial force stator I, wherein non-magnetic structurePart I is arranged between axial force stator I and radial load stator I; Axial force stator I and non-magnetic member I close arrangement, non-magneticMember I and radial load stator I close arrangement;

Described axial force stator I is taper salient-pole structure, and the number of teeth is 8; Described radial load stator I is made up of 8 C type structures, instituteThe tooth of stating C type structure is pyramidal structure, and the number of teeth is 16; The facewidth phase of the facewidth of described axial force stator I and radial load stator IDeng; Described non-magnetic member I is made up of 8 L-type structures, and the tooth of described L-type structure is pyramidal structure, and the number of teeth is 8;

On 8 tooth circumference of described axial force stator I, be uniformly distributed, the angle of adjacent teeth and between cog is 45 °, and wherein with levelTwo teeth that direction overlaps are called horizontal positive direction tooth I and horizontal negative direction tooth I, and two teeth that overlap with vertical direction claimFor vertically positive direction tooth I and vertically negative direction tooth I; Between the adjacent teeth of axial force stator I and tooth, there is air-gap, and then form8 stator slots;

In described each stator slot, all place the C type structure of 1 radial load stator I and the L-type structure of 1 non-magnetic member I, andEach L-type structural configuration is between each C type structure and axial force stator I; Wherein, 2 L-type structures respectively and adjacent with itHorizontal positive direction tooth I close arrangement, respectively and with it adjacent horizontal negative direction tooth I close arrangement of 2 L-type structures, 2 L-typesRespectively and with it adjacent vertical positive direction tooth I close arrangement of structure, respectively and with it adjacent vertical losing side of 2 L-type structuresTo tooth I close arrangement; 1 tooth in each C type structure and with it the L-type close structure in same stator slot are arranged, this CBetween the tooth of another tooth of type structure and with it adjacent axial force stator I, there is air-gap;

In horizontal positive direction tooth I position, form in 1 tooth by horizontal positive direction tooth I, 2 L-type structures and 2 C type structures1 wide tooth I combining of 2 teeth; In horizontal negative direction tooth I position, form 1 by horizontal negative direction tooth I, 2 L-types1 wide tooth I that 2 teeth in the tooth of structure and 2 C type structures combine; In vertical positive direction tooth I position, form 11 the wide tooth I being combined by 2 teeth in tooth and 2 C type structures of vertical positive direction tooth I, 2 L-type structures; VerticallyNegative direction tooth I position, forms 2 tooth groups in 1 tooth by vertical negative direction tooth I, 2 L-type structures and 2 C type structuresClose 1 the wide tooth I forming; Thereby, form altogether 4 wide tooth I;

In 4 teeth of residue of described 4 wide tooth I, axial force stator I, radial load stator I not with the L-type structure of non-magnetic member I8 teeth of residue that fit tightly, form 16 teeth of described taper stator I together;

Equal winding m wide tooth winding I in described 4 wide tooth I, the number of phases that wherein m is switched reluctance machines; In each wide tooth IChoose 1 wide tooth winding I, be connected into 1 biasing winding I, thereby form m biasing winding I;

On 12 teeth of residue of described taper stator I, be all wound with 1 winding, 4 teeth of residue of axial force stator I are all wound with 1Individual winding, 1 axial suspension winding I in series;

On 8 teeth of residue that do not coordinate with the L-type close structure of non-magnetic member I in radial load stator I, be also all wound with 1 aroundGroup, concrete connected mode is: in horizontal positive direction tooth I position, form two of residues in 2 C type structures of same wide tooth IWindings in series on tooth together, forms 1 horizontal positive direction winding string I; In horizontal negative direction tooth I position, form sameWindings in series on two teeth of residue in 2 C type structures of wide tooth I together, forms 1 horizontal negative direction winding string I; InstituteState 1 horizontal positive direction winding string I and 1 horizontal negative direction winding string I series connection, form 1 horizontal radial suspending windings I; ?Vertically positive direction tooth I position, forms windings in series on two teeth of residue in 2 C type structures of same wide tooth I oneRise, form 1 vertical positive direction winding string I; In vertical negative direction tooth I position, form in 2 C type structures of same wide tooth ITwo teeth of residue on windings in series together, form 1 vertical negative direction winding string I; Described 1 vertical positive direction windingString I and 1 vertical negative direction winding string I series connection, form 1 vertical radial suspension winding I;

Described radial load stator II, non-magnetic member II are arranged in axial force stator II, and wherein non-magnetic member II is arrangedBetween axial force stator II and radial load stator II; Axial force stator II and non-magnetic member II close arrangement, non-magnetic structurePart II and radial load stator II close arrangement;

Described axial force stator II is taper salient-pole structure, and the number of teeth is 8; Described radial load stator II is made up of 8 C type structures,The tooth of described C type structure is pyramidal structure, and the number of teeth is 16; The facewidth of the facewidth of described axial force stator II and radial load stator IIEquate; Described non-magnetic member II is made up of 8 L-type structures, and the tooth of described L-type structure is pyramidal structure, and the number of teeth is 8;

On 8 tooth circumference of described axial force stator II, be uniformly distributed, the angle of tooth and between cog is 45 °, and wherein with level sideBe called horizontal positive direction tooth II and the negative tooth II in the other direction of level, two teeth that overlap with vertical direction to two teeth that overlapBe called vertical positive direction tooth II and vertical negative direction tooth II; Between 8 teeth of axial force stator II and tooth, there is air-gap, and thenForm 8 stator slots;

In described each stator slot, all place the C type structure of 1 radial load stator II and the L-type structure of 1 non-magnetic member II,And each L-type structural configuration is between each C type structure and axial force stator II; Wherein, respectively and with it phase of 2 L-type structuresAdjacent horizontal positive direction tooth II close arrangement, respectively and with it adjacent horizontal negative direction tooth II close arrangement of 2 L-type structures, 2Respectively and with it adjacent vertical positive direction tooth II close arrangement of individual L-type structure, 2 L-type structures are respectively and with it adjacent perpendicularStraight negative direction tooth II close arrangement; 1 tooth in 8 C type structures is the each L-type knot in same stator slot respectively and with itStructure close arrangement, and remain 8 teeth in 8 C type structures, remain between 4 teeth and have air respectively and in axial force stator IIGap;

In horizontal positive direction tooth II position, form 1 tooth by horizontal positive direction tooth II, 2 L-type structures and 2 C type structuresIn 1 wide tooth II combining of 2 teeth; In horizontal negative direction tooth II position, form 1 by horizontal negative direction tooth II, 21 wide tooth II that 2 teeth in the tooth of individual L-type structure and 2 C type structures combine; In vertical positive direction tooth II position,Form 1 wide tooth that 2 teeth in 1 tooth by vertical positive direction tooth II, 2 L-type structures and 2 C type structures combineII; In vertical negative direction tooth II position, form 1 tooth by vertical negative direction tooth II, 2 L-type structures and 2 C type structuresIn 1 wide tooth II combining of 2 teeth; Thereby, form altogether 4 wide tooth II;

In 4 teeth of residue of described 4 wide tooth II, axial force stator II, radial load stator II not with the L-type of non-magnetic member II8 teeth of residue that close structure coordinates, form 16 teeth of described taper stator II together;

Equal winding m wide tooth winding II in described 4 wide tooth II, the number of phases that wherein m is switched reluctance machines; In each wide tooth IIOn choose 1 wide tooth winding II, be connected into 1 biasing winding II, thereby form m the winding II of setovering;

On 12 teeth of residue of described taper stator II, be all wound with 1 winding, 4 teeth of residue of axial force stator II are all wound with1 winding, 1 axial suspension winding II in series;

On 8 teeth of residue that do not coordinate with the L-type close structure of non-magnetic member II in radial load stator II, be also all wound with 1 aroundGroup, concrete connected mode is: in horizontal positive direction tooth II position, form the residue two in 2 C type structures of same wide tooth IIWindings in series on individual tooth together, forms 1 horizontal positive direction winding string II; In horizontal negative direction tooth II position, formWindings in series on two teeth of residue in 2 C type structures of same wide tooth II together, forms 1 horizontal negative direction windingString II; Described 1 horizontal positive direction winding string II and 1 horizontal negative direction winding string II series connection, form 1 horizontal radial and suspendWinding II; In vertical positive direction tooth II position, form on two teeth of residue in 2 C type structures of same wide tooth II aroundGroup is cascaded, and forms 1 vertical positive direction winding string II; In vertical negative direction tooth II position, form same wide tooth II2 C type structures in two teeth of residue on windings in series together, form 1 vertical negative direction winding string II; Described 1Individual vertical positive direction winding string II and 1 vertical negative direction winding string II series connection, form 1 vertical radial suspension winding II;

On each stator tooth of described switched reluctance machines, be wound with 1 winding, the winding on all reluctance motor stator tooths, point mGroup, is connected to together, forms m reluctance motor winding;

1 reluctance motor winding is connected with 1 biasing winding I and 1 biasing winding II, forms 1 torque winding, m altogether.

2. a kind of taper magnetic bearing switch reluctance motor according to claim 1, is characterized in that, described reluctance motor is fixedSon and the number of teeth of magnetic resistance motor rotor adopt 12/8 to combine, the described reluctance motor stator number of teeth be 12, magnetic resistance motor rotor toothNumber is 8, number of motor phases m is 3 o'clock, the winding on every 4 reluctance motor stator tooths of 90 ° of being separated by, adopt series connection or side by side orThe connected mode of string combination, links together, and forms 1 reluctance motor winding, forms altogether 3 reluctance motor windings; Described 3Individual reluctance motor winding is connected with described 3 biasing winding I and 3 biasing winding II respectively again, and then forms 3 torquesWinding, is three-phase torque winding.

3. a kind of taper magnetic bearing switch reluctance motor according to claim 1, is characterized in that, described reluctance motor is fixedSon and the number of teeth of magnetic resistance motor rotor adopt 6/4 to combine, described reluctance motor stator is 6, the magnetic resistance motor rotor number of teeth is 4,Number of motor phases m is 3 o'clock, and the winding on every 2 reluctance motor stator tooths of 180 ° of being separated by, adopts series connection or connection side arranged side by sideFormula, links together, and forms 1 reluctance motor winding, forms altogether 3 reluctance motor windings; Described 3 reluctance motor windings againConnect with described 3 biasing winding I and 3 biasing winding II respectively, and then form 3 torque windings, be three-phase and turnSquare winding.

4. a kind of taper magnetic bearing switch reluctance motor according to claim 1, is characterized in that, described reluctance motor is fixedSon and the number of teeth of magnetic resistance motor rotor adopt 8/6 to combine, described reluctance motor stator is 8, the magnetic resistance motor rotor number of teeth is 6,Number of motor phases m is 4 o'clock, and the winding on every 2 reluctance motor stator tooths of 180 ° of being separated by, adopts series connection or connection side arranged side by sideFormula, links together, and forms 1 reluctance motor winding, forms altogether 4 reluctance motor windings, and described 4 reluctance motor windings againConnect with described 4 biasing winding I and 4 biasing winding II respectively, and then form 4 torque windings, be four and turn mutuallySquare winding.

5. according to the control method of a kind of taper magnetic bearing switch reluctance motor described in claim 1,2,3 or 4, its feature existsIn, described taper magnetic bearing switch reluctance motor comprises 1 switching magnetic-resistance reluctance motor and 2 taper magnetic bearings, wherein switchesReluctance motor produces rotating torques, and 2 taper magnetic bearings produce five direction suspending powers, to realize the suspension of five directions of rotorOperation; Described motor comprises m phase torque winding, 4 radial suspension windings and 1 axial suspension winding, wherein, the independent m that controlsPhase torque winding current, to regulate torque, and produces biasing magnetic flux; 5 suspending windings electric currents of independent control, realize five degree of freedomSuspend and regulate; Comprise the steps:

Steps A-1, gathers rotor real-time rotate speed, obtains rotor velocity ω;

Steps A-3, as ω≤ω₀Time, ω₀For critical speed setting value, it is determined by motor actual condition; Described rotation speed difference deltanω, passing ratio integral controller, obtains torque winding current reference value i_m ^*; Turn-on angle θ_onWith pass angle of rupture θ_offImmobilize,θ_onAnd θ_offValue is determined by electric machine structure form;

Steps A-4, work as ω > ω₀Time, described rotation speed difference deltan ω, passing ratio integral controller, obtains turn-on angle θ_onWith the pass angle of ruptureθ_off, torque winding current is not controlled;

Step B-1, obtains x axle and the axial real-time displacement signal alpha of y of cone rotor I₁And β₁, wherein, x axle is level sideTo, y axle is vertical direction;

Step B-2, by real-time displacement signal alpha₁And β₁Respectively with given reference bit shifting signal α₁ ^*And β₁ ^*Subtract each other, obtain respectively xThe axial real-time displacement signal difference of direction of principal axis and y Δ α₁With Δ β₁, by described real-time displacement signal difference Δ α₁With Δ β₁Through thanExample integral-derivative controller, obtains the x direction of principal axis suspending power of taper magnetic bearing IWith y direction of principal axis suspending power

Step C-2, by real-time displacement signal alpha₂And β₂Respectively with given reference bit shifting signal α₂ ^*And β₂ ^*Subtract each other, obtain respectively xThe axial real-time displacement signal difference of direction of principal axis and y Δ α₂With Δ β₂, by described real-time displacement signal difference Δ α₂With Δ β₂Through thanExample integral-derivative controller, obtains the x direction of principal axis suspending power of taper magnetic bearing IIWith y direction of principal axis suspending power

Step D-2, by real-time displacement signal z and given reference bit shifting signal z^*Subtract each other, obtain the axial real-time displacement letter of zNumber poor Δ z, by described real-time displacement signal difference Δ z through proportional plus integral plus derivative controller, the z direction of principal axis suspending power obtaining

Step e, regulates suspending power, and concrete steps are as follows:

Step e-1, gathers the mutually real-time torque winding current of m, according to described suspending powerWithAnd Current calculation formula

i_{s 1}^{*} = F_{α 1}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k}

With

i_{s 2}^{*} = F_{β 1}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k},

Resolve obtain taper magnetic bearing I x direction suspend aroundGroup current reference valueWith y direction of principal axis suspending windings current reference valueWherein, k_f1For suspending power coefficient,μ₀For space permeability, l is the axial length of magnetic bearing part, and r is magnetic bearing rotorMean radius, α_sFor the mean pole arc angle of magnetic bearing stator, δ is the monolateral gas length of magnetic bearing part, N_b、N_sRespectively partiallyPut the number of turn of winding and radial suspension winding, i_kIt is k phase torque winding current;

i_{s 3}^{*} = F_{α 2}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k}

With

i_{s 4}^{*} = F_{β 2}^{*} / k_{f 1} N_{b} N_{s} Σ_{k = 1}^{m} i_{k},

Step e-3, gather mutually real-time torque winding current and four the radial suspension winding currents of m, according to described suspending powerAnd Current calculation formula

i_{z}^{*} = [F_{z}^{*} - k_{f 2} N_{s}^{2} (i_{s 1}^{* 2} + i_{s 2}^{* 2} - i_{s 3}^{* 2} - i_{s 4}^{* 2})] / k_{f 2} N_{b} N_{z} Σ_{k = 1}^{m} i_{k},

Resolve that to obtain z direction of principal axis outstandingFloating winding current reference valueWherein, k_f2For suspending power coefficient,γ₃For axial force magnetic pole of the stator folderAngle, ε is bevel angle, N_zFor the number of turn of axial suspension winding;

Step e-4, utilize current chopping control method, with the x direction of principal axis suspending windings actual current i of taper magnetic bearing I_s1Follow the tracks ofThis direction is hanged winding current reference valueWith the actual current i of y direction of principal axis suspending windings_s2Follow the tracks of this direction suspending windings electric currentReference value

With the x direction of principal axis suspending windings actual current i of taper magnetic bearing II_s3Follow the tracks of the outstanding winding current reference value of this directionUse yThe actual current i of direction of principal axis suspending windings_s4Follow the tracks of this direction suspending windings current reference value

With z direction of principal axis suspending windings actual current i_zFollow the tracks of the outstanding winding current reference value of this directionThereby regulate and suspend in real timePower;

Step F, regulates torque; Concrete steps are as follows:

Step F-1, as ω≤ω₀Time, utilize current chopping control method, with the actual current i of torque winding_mFollow the tracks of torque aroundGroup current reference value i_m ^*, and then regulate in real time torque winding current i_m, and then reach the object that regulates torque;

Step F-2, work as ω > ω₀Time, utilize angle position control method, regulate turn-on angle θ_onWith pass angle of rupture θ_offValue, fromAnd regulate in real time torque.