新型双绕组磁悬浮开关磁阻发电机及其控制系统研究
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摘要
磁悬浮开关磁阻电机具有磁轴承电机的优点,并且还兼有轴向利用率高、体积小和功耗低的特点。作为发电机运行时,可以将无轴承技术与开关磁阻发电机技术结合起来,克服传统机械支承方式的机械磨损和摩擦损耗,同时发电电流为直流脉动电流,在电动汽车、电力工程等领域有广阔的应用前景,尤其适用于可再生能源的动量补偿,峰值调节和负载平衡,具有重要的研究意义。然而传统磁悬浮开关磁阻电机内,悬浮绕组与主绕组之间存在复杂的非线性强耦合关系,并且传统磁悬浮开关磁阻电机的发电运行方式为周期性分时发电模式,主绕组仅在负转矩区间内向外输出电能,发电功率密度较低,这些已经成为制约其发展的瓶颈问题。因此,研究一种能克服上述问题的新型磁悬浮开关磁阻发电机,并对其驱动控制算法和高速数字系统等进行研究是非常有必要的。
本文提出一种新型的双绕组磁悬浮开关磁阻发电机,针对其工作原理、电机基本参数设计、有限元分析、径向力及绕组电压数学模型、悬浮及发电系统控制算法、转子径向位移自检测、以及高速数字控制系统设计等一系列关键理论和技术问题,在国家自然科学基金(60774044,61074019)和江苏省普通高校研究生科研创新计划(CXZZ11_0571)等项目的支持下,开展了本课题的研究。将磁悬浮开关磁阻电机技术与双绕组发电机技术相结合,由悬浮极的悬浮力绕组提供悬浮力,由发电极的激励绕组提供励磁,由发电极的发电绕组向外输出发电电压,显著减弱悬浮和发电系统之间的耦合影响,并且发电绕组在整个周期内均向外输出电能,发电功率密度较高。论文主要研究工作如下：
(1)利用Ansoft/Maxwell-2D建立了该新型双绕组磁悬浮开关磁阻电机的有限元模型,分析了其磁场特性,阐述了运行原理,并进行了基本参数优化设计。
(2)考虑磁饱和影响,建立了径向悬浮力和发电系统的数学模型,并通过对相同参数样机进行Ansoft有限元分析计算,验证了模型的正确性。
(3)研究了悬浮力绕组电流以及激励绕组电流的控制算法,为径向悬浮系统设计了鲁棒PID控制器,以克服外力扰动、系统参数摄动,以及激励、发电电流对悬浮力的干扰,增强转子悬浮的鲁棒性和稳定性。
(4)结合FPGA自身特点完成复杂的控制信号组合逻辑,与DSP主控制器单元、信号检测电路、以及外围硬件接口电路共同构成磁悬浮开关磁阻电机高速数字控制系统,并且为悬浮力绕组、激励绕组和发电绕组设计了功率变换器。
(5)基于高频注入检测方法的原理,研究了该新型双绕组磁悬浮开关磁阻电机的无位移传感器运行方法,构建了径向位移自检测系统。
可以取得的有益效果如下：
(1)电机定子凸极依次间隔设置为悬浮极和发电极,悬浮绕组单独绕制在悬浮极上,激励绕组和发电绕组同时绕制在发电极上,结构清晰,功能明确,便于维护和控制。
(2)有效减小了悬浮绕组和发电绕组之间的互感,削弱了悬浮极与发电极之间的耦合影响,解决了传统磁悬浮开关磁阻发电机内悬浮和发电系统间的强耦合问题。
(3)径向悬浮力不随转子位置角改变,克服了传统磁悬浮开关磁阻电机定转子不对齐位置处不能有效产生悬浮力的问题,增强了电机的径向负载能力,改善了电机的悬浮性能。
(4)在转子极与发电极定子部分对齐位置期间,发电绕组磁链不存在平坦区域,通过合适的控制方法,发电绕组在全工作周期均可向外以整流形式输出电能,提高了发电功率密度,且输出电压调节方便。
(5)将建模机理、有限元分析和仿真数据有机结合,建立了对线性、饱和磁路以及不同转子偏心度均适用的数学模型,可以弥补现有基于无磁饱和假设的各种建模方法不适用磁饱和工况的缺陷,并且可以为电机的运行特性分析、本体优化设计以及控制策略研究提供更准确的理论依据。
(6)采用偏心自传感技术,设计了转子位移观测器,可以克服传统的位移传感器灵敏度容易受温度、电磁噪声干扰等问题,能缩小电机尺寸和结构复杂度,降低总体成本,提高系统的可靠性。
(7)依据已建立的较精确的数学模型,设计了悬浮力绕组电流以及激励绕组电流的控制算法,并且为径向悬浮系统设计了鲁棒PID控制器,可以克服外力扰动、系统参数摄动,以及激励、发电电流对悬浮力的干扰,增强转子悬浮的鲁棒性和稳定性。
A bearingless switched reluctance motor(BSRM) not only has the merits of magnetic bearing motors, but also can work high axial utilization ratio, small capacity, and low power consumption. By synchronously utilizing bearingless technology and generation technology, it runs as a generator. Mechanical wear and friction loss can be eliminated, and it can output direct current(DC) current, which can be widely applicated in electromobile and power engineering fields, and is especially fit for momentum compensation, peak adjustment, and load balance in regenerative energy synchronizing, and has wide engineering applicaton foreground and reaserch significance. However, in traditional bearingless switched reluctance motors, there exists complex electromagnetic coupling between radial force windings and torque windings. Furthermore, traditional BSRMs usually generate in periodically time-sharing generation mode, in which the torque winding can only output electric egergy in negative-torque period and the generation power density is low. All the shortcomings mentioned above for traditional BSRMs and periodically time-sharing generation mode have formed the bottleneck restriction for their development. So, it is necessary to design a novel bearingless switched reluctance generator(BSRG) which can conquer these problems, and study its drive control methods.
A novel double-winding bearingless switched reluctance generator is proposed in this thesis, then the study is carried out aiming at a series of key theories and technique problems such as magnetic characteristic analysis, magnetism parameter design, basic mathematic model deduction, control system design and so on. This s work is supported by the National Natural Science Foundation of China(60774044,61074019) and2011Jiangsu Regular High School Postgraduate Students'Scientific Research Innovation Program (CXZZ11_D571). In this generator, the technique of both BSRM and double-winding generation are combined together. Its hybrid stator consists of suspension poles and generation poles.The radial force windings can provide radial force to suspend the rotor. Within the generation poles, the excitation windings provide magnetic excitation, and the generation windings output electric power. The decoupling between suspension subsystem and generation subsystem can be weakened significantly. And the generation windings can output power even when the excitation windings are conducted, that is to say, during the whole period, there is electric power to be generated. And the generation power density can be increased.
The main contents of this paper are as follows:
(1) Build the Ansoft model of this novel double winding bearingless switched reluctance generator to analyze its magnetic characteristics. Then with the finite element analysis results, the running principle is described and magnetism parameter is designed and optimized.
(2) The mathematical models of radial force and generation voltage are calculated considering the nonlinear magnetizing characteristic. Then matlab and ansoft are utilized to confirm the mathematical model.
(3) The control algorithms for suspension winding current and generation winding current are studied. And robust PID controllers for radial suspension system are designed to conquer the problems of external force disturbance, parameter perturbation, and the interference of excition current for stability and robustness increment for rotor suspension.
(4) Utilize FPGA to realize complex combinational logic of control signal, then combines with DSP main control unit, signal detection circuit, and surrounding interface circuit to constitute the high-speed digital control system. And the power inverters for radial force winding, excitation winding, and generation winding are designed as well.
(5) The radial displacement sensorless technique is studied based on high-frequency injection method, and the radial displacement self-testing system is also erected.
The achievements are as follows:
(1) The salient poles of stator are set as suspension poles and generation poles in turn. The radial force windings are solely coiled in suspension poles. While the excitation windings and generation windings are synchronously coiled in generation poles. This novel double-winding bearingless generator has clear struct and explicit functions, and is easy to maintain and control.
(2) The mutual inductance between suspension winding and generation winding is effectively decreased, and the coupling between suspension poles and generation poles is correspondingly weakened. So the serious coupling between suspension system and generation system in traditional bearingless switched reluctance generators can be conquered.
(3) Radial force does not vary with rotor position angle. So when rotor is totally unaligned to rotor, the problem of insufficient radial force production in traditional BSRMs can be conquered. Radial load ability can be increased, and the radial suspension can be improved.
(4) Generation winding flux linkage changes with rotor position angle, and no smooth region exsits, that is to say, there will be rectified generation voltage to be output during the full working period. So, the generation power density can be increased, and output voltage is easy to be adjusted.
(5) Modeling by mechanism, finite element analysis, and simulation are bonded to buid the mathematical models fit for not only linear magnetic circuit but also saturated nonlinear magnetic circuit. So it can remedy the shortcomings of those existing models based on non-saturation hypothesis, which are not suitable for magnetic-saturated condition. And can also provide more reliable theoretical rules for running characteristics analysis, motor optimum design, and control strategy study.
(6) A kind of practical radial displacement self-test method is put forward in this paper. With this method, no special radial displacement sensor is required anymore, and the temperature and electronic sensity of traditional displacement sensors can be conquered. Even the geometry size, cost, and complexity can be reduced, and the reliability of whole system can also be improved.
(7) The control algorithms for suspension winding current and generation winding current are studied. And robust PID controllers for radial suspension system are designed to conquer the problems of external force disturbance, parameter perturbation, and the interference of excition current for stability and robustness increment for rotor suspension.
本文提出一种新型的双绕组磁悬浮开关磁阻发电机,针对其工作原理、电机基本参数设计、有限元分析、径向力及绕组电压数学模型、悬浮及发电系统控制算法、转子径向位移自检测、以及高速数字控制系统设计等一系列关键理论和技术问题,在国家自然科学基金(60774044,61074019)和江苏省普通高校研究生科研创新计划(CXZZ11_0571)等项目的支持下,开展了本课题的研究。将磁悬浮开关磁阻电机技术与双绕组发电机技术相结合,由悬浮极的悬浮力绕组提供悬浮力,由发电极的激励绕组提供励磁,由发电极的发电绕组向外输出发电电压,显著减弱悬浮和发电系统之间的耦合影响,并且发电绕组在整个周期内均向外输出电能,发电功率密度较高。论文主要研究工作如下：
(1)利用Ansoft/Maxwell-2D建立了该新型双绕组磁悬浮开关磁阻电机的有限元模型,分析了其磁场特性,阐述了运行原理,并进行了基本参数优化设计。
(2)考虑磁饱和影响,建立了径向悬浮力和发电系统的数学模型,并通过对相同参数样机进行Ansoft有限元分析计算,验证了模型的正确性。
(3)研究了悬浮力绕组电流以及激励绕组电流的控制算法,为径向悬浮系统设计了鲁棒PID控制器,以克服外力扰动、系统参数摄动,以及激励、发电电流对悬浮力的干扰,增强转子悬浮的鲁棒性和稳定性。
(4)结合FPGA自身特点完成复杂的控制信号组合逻辑,与DSP主控制器单元、信号检测电路、以及外围硬件接口电路共同构成磁悬浮开关磁阻电机高速数字控制系统,并且为悬浮力绕组、激励绕组和发电绕组设计了功率变换器。
(5)基于高频注入检测方法的原理,研究了该新型双绕组磁悬浮开关磁阻电机的无位移传感器运行方法,构建了径向位移自检测系统。
可以取得的有益效果如下：
(1)电机定子凸极依次间隔设置为悬浮极和发电极,悬浮绕组单独绕制在悬浮极上,激励绕组和发电绕组同时绕制在发电极上,结构清晰,功能明确,便于维护和控制。
(2)有效减小了悬浮绕组和发电绕组之间的互感,削弱了悬浮极与发电极之间的耦合影响,解决了传统磁悬浮开关磁阻发电机内悬浮和发电系统间的强耦合问题。
(3)径向悬浮力不随转子位置角改变,克服了传统磁悬浮开关磁阻电机定转子不对齐位置处不能有效产生悬浮力的问题,增强了电机的径向负载能力,改善了电机的悬浮性能。
(4)在转子极与发电极定子部分对齐位置期间,发电绕组磁链不存在平坦区域,通过合适的控制方法,发电绕组在全工作周期均可向外以整流形式输出电能,提高了发电功率密度,且输出电压调节方便。
(5)将建模机理、有限元分析和仿真数据有机结合,建立了对线性、饱和磁路以及不同转子偏心度均适用的数学模型,可以弥补现有基于无磁饱和假设的各种建模方法不适用磁饱和工况的缺陷,并且可以为电机的运行特性分析、本体优化设计以及控制策略研究提供更准确的理论依据。
(6)采用偏心自传感技术,设计了转子位移观测器,可以克服传统的位移传感器灵敏度容易受温度、电磁噪声干扰等问题,能缩小电机尺寸和结构复杂度,降低总体成本,提高系统的可靠性。
(7)依据已建立的较精确的数学模型,设计了悬浮力绕组电流以及激励绕组电流的控制算法,并且为径向悬浮系统设计了鲁棒PID控制器,可以克服外力扰动、系统参数摄动,以及激励、发电电流对悬浮力的干扰,增强转子悬浮的鲁棒性和稳定性。
A bearingless switched reluctance motor(BSRM) not only has the merits of magnetic bearing motors, but also can work high axial utilization ratio, small capacity, and low power consumption. By synchronously utilizing bearingless technology and generation technology, it runs as a generator. Mechanical wear and friction loss can be eliminated, and it can output direct current(DC) current, which can be widely applicated in electromobile and power engineering fields, and is especially fit for momentum compensation, peak adjustment, and load balance in regenerative energy synchronizing, and has wide engineering applicaton foreground and reaserch significance. However, in traditional bearingless switched reluctance motors, there exists complex electromagnetic coupling between radial force windings and torque windings. Furthermore, traditional BSRMs usually generate in periodically time-sharing generation mode, in which the torque winding can only output electric egergy in negative-torque period and the generation power density is low. All the shortcomings mentioned above for traditional BSRMs and periodically time-sharing generation mode have formed the bottleneck restriction for their development. So, it is necessary to design a novel bearingless switched reluctance generator(BSRG) which can conquer these problems, and study its drive control methods.
A novel double-winding bearingless switched reluctance generator is proposed in this thesis, then the study is carried out aiming at a series of key theories and technique problems such as magnetic characteristic analysis, magnetism parameter design, basic mathematic model deduction, control system design and so on. This s work is supported by the National Natural Science Foundation of China(60774044,61074019) and2011Jiangsu Regular High School Postgraduate Students'Scientific Research Innovation Program (CXZZ11_D571). In this generator, the technique of both BSRM and double-winding generation are combined together. Its hybrid stator consists of suspension poles and generation poles.The radial force windings can provide radial force to suspend the rotor. Within the generation poles, the excitation windings provide magnetic excitation, and the generation windings output electric power. The decoupling between suspension subsystem and generation subsystem can be weakened significantly. And the generation windings can output power even when the excitation windings are conducted, that is to say, during the whole period, there is electric power to be generated. And the generation power density can be increased.
The main contents of this paper are as follows:
(1) Build the Ansoft model of this novel double winding bearingless switched reluctance generator to analyze its magnetic characteristics. Then with the finite element analysis results, the running principle is described and magnetism parameter is designed and optimized.
(2) The mathematical models of radial force and generation voltage are calculated considering the nonlinear magnetizing characteristic. Then matlab and ansoft are utilized to confirm the mathematical model.
(3) The control algorithms for suspension winding current and generation winding current are studied. And robust PID controllers for radial suspension system are designed to conquer the problems of external force disturbance, parameter perturbation, and the interference of excition current for stability and robustness increment for rotor suspension.
(4) Utilize FPGA to realize complex combinational logic of control signal, then combines with DSP main control unit, signal detection circuit, and surrounding interface circuit to constitute the high-speed digital control system. And the power inverters for radial force winding, excitation winding, and generation winding are designed as well.
(5) The radial displacement sensorless technique is studied based on high-frequency injection method, and the radial displacement self-testing system is also erected.
The achievements are as follows:
(1) The salient poles of stator are set as suspension poles and generation poles in turn. The radial force windings are solely coiled in suspension poles. While the excitation windings and generation windings are synchronously coiled in generation poles. This novel double-winding bearingless generator has clear struct and explicit functions, and is easy to maintain and control.
(2) The mutual inductance between suspension winding and generation winding is effectively decreased, and the coupling between suspension poles and generation poles is correspondingly weakened. So the serious coupling between suspension system and generation system in traditional bearingless switched reluctance generators can be conquered.
(3) Radial force does not vary with rotor position angle. So when rotor is totally unaligned to rotor, the problem of insufficient radial force production in traditional BSRMs can be conquered. Radial load ability can be increased, and the radial suspension can be improved.
(4) Generation winding flux linkage changes with rotor position angle, and no smooth region exsits, that is to say, there will be rectified generation voltage to be output during the full working period. So, the generation power density can be increased, and output voltage is easy to be adjusted.
(5) Modeling by mechanism, finite element analysis, and simulation are bonded to buid the mathematical models fit for not only linear magnetic circuit but also saturated nonlinear magnetic circuit. So it can remedy the shortcomings of those existing models based on non-saturation hypothesis, which are not suitable for magnetic-saturated condition. And can also provide more reliable theoretical rules for running characteristics analysis, motor optimum design, and control strategy study.
(6) A kind of practical radial displacement self-test method is put forward in this paper. With this method, no special radial displacement sensor is required anymore, and the temperature and electronic sensity of traditional displacement sensors can be conquered. Even the geometry size, cost, and complexity can be reduced, and the reliability of whole system can also be improved.
(7) The control algorithms for suspension winding current and generation winding current are studied. And robust PID controllers for radial suspension system are designed to conquer the problems of external force disturbance, parameter perturbation, and the interference of excition current for stability and robustness increment for rotor suspension.
引文
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