高速永磁无刷直流电机电磁场理论以及无位置传感器技术的研究
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摘要
高速永磁无刷直流电机，由于高功率密度，高效率以及控制简单等特点，是目前高速电机研究领域中的热点。其广泛应用于高速电主轴驱动系统和涡轮机械系统，在航空航天、车辆、机械加工以及电子制造等领域具有很高的应用价值。高速永磁无刷直流电机在高速运行中的关键问题主要体现在离心力和温升对永磁体材料机械性能和磁性能的冲击，位置传感器无法满足高速运行的要求以及接触性轴承极限转速的限制。针对以上问题，众多学者展开了方方面面的研究。研究方向主要有转子涡流损耗分析、转子动力学分析、转子应力分析、无位置传感器技术以及轴承支撑技术。
本文针对高速永磁无刷直流电机关键问题中的电磁场理论和无位置传感器技术展开了研究，主要工作如下：
首先，本文在现有文献的基础上，在似恒电磁场理论体系下进一步完善了高速永磁无刷直流电机空载磁场数学模型，电枢电磁场数学模型以及负载电磁场数学模型（以二二导通方式为例）。其中，考虑速度效应和涡流效应，以静止坐标系为参照，基于双重傅氏级数，在复数域内采用谐性分析方法，通过求解扩散方程解析出了电机内的瞬态电磁场，为转子涡流损耗的建模与分析奠定了理论基础。该数学模型与有限元分析结果进行了对比，证实了所建立的电磁场数学模型的合理性。
其次，本文在所建立的电机电磁场数学模型和坡印亭定理的基础上建立了转子涡流损耗数学模型，并分析了电流各次谐波、材料特性、结构参数对转子涡流损耗以及转子涡流损耗分配规律的影响。提出了以减小转子涡流损耗为目标的高速永磁无刷直流电机的本体优化设计方案。该数学模型与有限元分析结果进行了对比，证实了所建立的转子涡流损耗数学模型的合理性。
最后，本文研究并分析了现有的无位置传感器技术，针对传统无位置传感器技术的不足，和高速永磁无刷直流电机对无位置传感器技术的新要求，提出了一种基于坐标变换的无位置传感器技术。该技术与三次谐波法的无位置传感技术相比，具有信噪比高、不受电机本体结构影响等特点。此外，该技术由于利用正交坐标变换的连续性，可实时估算电机的转速信息，与传统转速计算方法相比具有较高的快速性。
在以上理论分析的基础上，本文设计了一台额定转速60krpm，额定功率2.5kW的原理样机，并进行了空载和负载实验，对空载损耗、空载转矩、机械特性和工作特性进行了分析，并进行了本文所提出的无位置传感器技术的实验验证。
High speed motors become a key technology in many applications, and is the hot issue in thefield of high speed motors because of its high power density, high efficiency, simple control and so on.The high-speed BLDC motor drive system has been widely used in the spindle drive system and theturbine mechanical system, such as aerospace, automotive, mold, semiconductor processing,electronic manufacturing, turbocharger, turbo air compressor and gas turbine generator etc. The keyproblems of the high speed BLDC motor are reflected in that the centrifugal force and the temperatureraise impact the mechanical properties and magnetic properties, position sensor can’t meet therequirement of high speed running and the contact bearing limit the highest speed. In view of theabove problems, many scholars have launched the aspects of the research that are the rotor eddycurrent loss analysis, rotor dynamics analysis, rotor stress analysis, sensorless technology and bearingsupport technology.
This paper does research about the rotor eddy current loss analysis and the sensorless technology.
Firstly, this paper establishes the BLDC motor electromagnetic field mathematical modelsincludes no-load magnetic field model, the armature electromagnetic field mathematical model andthe load electromagnetic field mathematical model, on the base of the existing literature. Thereference of this electromagnetic field mathematical model is the static coordinate system. It’s aharmonic analysis method, based on double Fourier series in the complex domain and get theelectromagnetic field distribution by solve the diffusion equation derived from Maxwell equations.The proposed models are general that means they are applicable to different motor configurations.Analytically calculated field distributions from both models are compared with finite elementpredictions for a slotted motor having a radial magnetized rotor and overlapping stator windings.
Secondly, this paper establishes the rotor eddy current loss analysis model based on theelectromagnetic field mathematical model and Poynting’s theorem. According to this model, theinfluence factors of the rotor eddy current loss, such as the material electromagnetic characteristics,the width of slot opening and the copper shielding layer thickness, are researched. The research resultslaid theoretical foundation for the optimal design in order to reduce the rotor eddy current loss. Theanalytically calculated results are compared with the finite element simulation results. The comparedresults verify the correctness of the mathematical model.
At last, this paper presents a novel sensorless technology in high-speed BLDC motor control demand. Based on the characteristics of the back electromotive force (EMF), the rotor position signalswould be constructed. It is intended to construct these signals, which makes the phase differencebetween the constructed signals and the back EMFs be controllable. Then, the rotor position error canbe compensated by controlling the phase difference angle in real time, and the opening angle can becontrol according to the control demand. Furthermore, a new method was proposed in this paper forthe permanent magnet brushless dc (BLDC) motor speed estimation. Based on the orthogonalcoordinate transformation, two orthogonal sine and cosine waves can be constructed from thetrapezoidal back electromotive force (EMF). It brings the opportunity for the rotation speedestimation. The proposed speed estimation method does not need the timer to calculate the speed,which is necessary for the traditional speed calculation, and not to be based on the assumed conditionthat the rotation speed does not change significantly over a certain period of time.
Based on the theoretical analysis, this paper design the high speed BLDC motor whose ratedspeed is60krpm and rated power is2.5kW. The prototype is tested by no-load experiment and loadexperiment. The mechanical properties and working properties of this prototype is obtained based onthe test data, and the proposed sensorless technology is verified.
本文针对高速永磁无刷直流电机关键问题中的电磁场理论和无位置传感器技术展开了研究，主要工作如下：
首先，本文在现有文献的基础上，在似恒电磁场理论体系下进一步完善了高速永磁无刷直流电机空载磁场数学模型，电枢电磁场数学模型以及负载电磁场数学模型（以二二导通方式为例）。其中，考虑速度效应和涡流效应，以静止坐标系为参照，基于双重傅氏级数，在复数域内采用谐性分析方法，通过求解扩散方程解析出了电机内的瞬态电磁场，为转子涡流损耗的建模与分析奠定了理论基础。该数学模型与有限元分析结果进行了对比，证实了所建立的电磁场数学模型的合理性。
其次，本文在所建立的电机电磁场数学模型和坡印亭定理的基础上建立了转子涡流损耗数学模型，并分析了电流各次谐波、材料特性、结构参数对转子涡流损耗以及转子涡流损耗分配规律的影响。提出了以减小转子涡流损耗为目标的高速永磁无刷直流电机的本体优化设计方案。该数学模型与有限元分析结果进行了对比，证实了所建立的转子涡流损耗数学模型的合理性。
最后，本文研究并分析了现有的无位置传感器技术，针对传统无位置传感器技术的不足，和高速永磁无刷直流电机对无位置传感器技术的新要求，提出了一种基于坐标变换的无位置传感器技术。该技术与三次谐波法的无位置传感技术相比，具有信噪比高、不受电机本体结构影响等特点。此外，该技术由于利用正交坐标变换的连续性，可实时估算电机的转速信息，与传统转速计算方法相比具有较高的快速性。
在以上理论分析的基础上，本文设计了一台额定转速60krpm，额定功率2.5kW的原理样机，并进行了空载和负载实验，对空载损耗、空载转矩、机械特性和工作特性进行了分析，并进行了本文所提出的无位置传感器技术的实验验证。
High speed motors become a key technology in many applications, and is the hot issue in thefield of high speed motors because of its high power density, high efficiency, simple control and so on.The high-speed BLDC motor drive system has been widely used in the spindle drive system and theturbine mechanical system, such as aerospace, automotive, mold, semiconductor processing,electronic manufacturing, turbocharger, turbo air compressor and gas turbine generator etc. The keyproblems of the high speed BLDC motor are reflected in that the centrifugal force and the temperatureraise impact the mechanical properties and magnetic properties, position sensor can’t meet therequirement of high speed running and the contact bearing limit the highest speed. In view of theabove problems, many scholars have launched the aspects of the research that are the rotor eddycurrent loss analysis, rotor dynamics analysis, rotor stress analysis, sensorless technology and bearingsupport technology.
This paper does research about the rotor eddy current loss analysis and the sensorless technology.
Firstly, this paper establishes the BLDC motor electromagnetic field mathematical modelsincludes no-load magnetic field model, the armature electromagnetic field mathematical model andthe load electromagnetic field mathematical model, on the base of the existing literature. Thereference of this electromagnetic field mathematical model is the static coordinate system. It’s aharmonic analysis method, based on double Fourier series in the complex domain and get theelectromagnetic field distribution by solve the diffusion equation derived from Maxwell equations.The proposed models are general that means they are applicable to different motor configurations.Analytically calculated field distributions from both models are compared with finite elementpredictions for a slotted motor having a radial magnetized rotor and overlapping stator windings.
Secondly, this paper establishes the rotor eddy current loss analysis model based on theelectromagnetic field mathematical model and Poynting’s theorem. According to this model, theinfluence factors of the rotor eddy current loss, such as the material electromagnetic characteristics,the width of slot opening and the copper shielding layer thickness, are researched. The research resultslaid theoretical foundation for the optimal design in order to reduce the rotor eddy current loss. Theanalytically calculated results are compared with the finite element simulation results. The comparedresults verify the correctness of the mathematical model.
At last, this paper presents a novel sensorless technology in high-speed BLDC motor control demand. Based on the characteristics of the back electromotive force (EMF), the rotor position signalswould be constructed. It is intended to construct these signals, which makes the phase differencebetween the constructed signals and the back EMFs be controllable. Then, the rotor position error canbe compensated by controlling the phase difference angle in real time, and the opening angle can becontrol according to the control demand. Furthermore, a new method was proposed in this paper forthe permanent magnet brushless dc (BLDC) motor speed estimation. Based on the orthogonalcoordinate transformation, two orthogonal sine and cosine waves can be constructed from thetrapezoidal back electromotive force (EMF). It brings the opportunity for the rotation speedestimation. The proposed speed estimation method does not need the timer to calculate the speed,which is necessary for the traditional speed calculation, and not to be based on the assumed conditionthat the rotation speed does not change significantly over a certain period of time.
Based on the theoretical analysis, this paper design the high speed BLDC motor whose ratedspeed is60krpm and rated power is2.5kW. The prototype is tested by no-load experiment and loadexperiment. The mechanical properties and working properties of this prototype is obtained based onthe test data, and the proposed sensorless technology is verified.
引文
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