无轴承异步电机悬浮力模型与数控系统研究
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摘要
无轴承电机是一种能够同时实现转矩控制与悬浮力控制的新型电机。作为高速或超高速电机发展的重要方向之一,受到了国内外众多专家学者的广泛关注。其中无轴承异步电机因其结构简单、坚固可靠、气隙均匀、易于弱磁调速等特点,较其它无轴承电机更具有研究和应用价值。
无轴承异步电机是一个多变量、非线性、强耦合的复杂系统。论文在国家自然科学基金的支持下,以无轴承异步电机的悬浮力模型和数控系统为研究重点,对无轴承异步电机悬浮力数学模型、解耦控制策略、悬浮转子位移检测技术和数字控制系统进行了深入研究。具体研究工作如下:
1.概述了无轴承电机的研究背景及在国内外的发展概况,重点阐述了无轴承异步电机的研究现状及发展方向,并指出了其研究意义和潜在的应用价值。
2.介绍了无轴承异步电机工作原理,分析推导了无轴承异步电机基于电机内部磁力和基于电感矩阵的悬浮力模型,并利用电磁场有限元分析软件ANSYS对无轴承异步电机的悬浮机理和悬浮力模型的正确性进行了验证。
3.针对电机电磁转矩和径向悬浮力之间的耦合特性,研究了基于转矩绕组转子磁场定向控制的无轴承异步电机控制策略,建立了无轴承异步电机结构框图和仿真模型,并利用Matlab/Simulink仿真软件对控制系统进行仿真研究。
4.研究了无轴承异步电机悬浮转子位移检测技术,从无轴承异步电机对位移传感器性能的要求出发,对比分析了几种非接触式位移传感器,重点对拟采用的电涡流式位移传感器进行性能研究,并对电涡流传感器的安装方案、转子位移检测系统的构建及其测量误差进行分析研究。
5.设计了以数字信号处理器TMS320LF2407A DSP为核心部件的无轴承异步电机数字控制系统,详细描述了硬件系统的设计和软件系统的开发,并以二自由度无轴承异步电机为实验样机,对控制系统进行调试和优化,通过实验来验证控制系统和控制方法的正确性。
The bearingless motor, in which torque and suspension force independent control can be realized simultaneously, is a new type of motors. As one of the most important research directions on high-speed or super high-speed motors, it has aroused wide attention of experts and scholars all over the world. The bearingless induction motor, because of its simple structure, high reliability, air-gap uniform and easy field weaken, has more value of research and applications than other bearingless motors.
The bearingless induction motor is a multi-variable, non-linear, strong-coupled complicated system. At the support of National Natural Science Foundation of China, the research of the dissertation focuses on the suspension force models and the digital control system, including the suspension force mathematic models, the rotor flux oriented controller, the rotor displacement detection and the design of digital control system of the bearingless induction motor. The detail contents are as follows:
Firstly, the research background and the developing situation are summaried at home and abroad of bearingless motor, then the research status, the developing direction, the research significance and the latent using value of bearingless induction motor are expounded detailedly.
Secondly, the principle of the bearingless induction motor is introduced, and the suspension force models based on the magnetic force and the inductance matrix are given, the correctness of suspension principle and suspension force models are verified by ANSYS software, which is finite element analysis software of electrical machines.
Thirdly, in allusion to the coupling characteristics between the electromagnet torque and radial suspension forces of bearingless induction motor, the rotor flux oriented control strategy based on torque winding is investigated, the control system and the simulation models are designed. Then, the control system is simulated with Matlab/Simulink software.
Fourthly, the suspension rotor displacement measuring technique is investigated. The dissertation, beginning from the bearingless induction motors' requests to displacement sensors, compares some non-contact displacement sensors. The characteristics of the eddy current displacement sensor are emphatically researched. Then, the installation of eddy current sensor, the rotor displacement detection system, and the errors in measuring system are investigated detailedly.
Finally, the digital control system of the bearingless induction motor is designed using TMS320LF2407A DSP, then the design of hardware system and the development of software system are described detailedly. Based on the experiment prototype of the 2-degrees of freedom bearingless induction motor, the digital control system is debugged and optimized, and the correctness of digital control system and control strategy are verified by the experiments.
无轴承异步电机是一个多变量、非线性、强耦合的复杂系统。论文在国家自然科学基金的支持下,以无轴承异步电机的悬浮力模型和数控系统为研究重点,对无轴承异步电机悬浮力数学模型、解耦控制策略、悬浮转子位移检测技术和数字控制系统进行了深入研究。具体研究工作如下:
1.概述了无轴承电机的研究背景及在国内外的发展概况,重点阐述了无轴承异步电机的研究现状及发展方向,并指出了其研究意义和潜在的应用价值。
2.介绍了无轴承异步电机工作原理,分析推导了无轴承异步电机基于电机内部磁力和基于电感矩阵的悬浮力模型,并利用电磁场有限元分析软件ANSYS对无轴承异步电机的悬浮机理和悬浮力模型的正确性进行了验证。
3.针对电机电磁转矩和径向悬浮力之间的耦合特性,研究了基于转矩绕组转子磁场定向控制的无轴承异步电机控制策略,建立了无轴承异步电机结构框图和仿真模型,并利用Matlab/Simulink仿真软件对控制系统进行仿真研究。
4.研究了无轴承异步电机悬浮转子位移检测技术,从无轴承异步电机对位移传感器性能的要求出发,对比分析了几种非接触式位移传感器,重点对拟采用的电涡流式位移传感器进行性能研究,并对电涡流传感器的安装方案、转子位移检测系统的构建及其测量误差进行分析研究。
5.设计了以数字信号处理器TMS320LF2407A DSP为核心部件的无轴承异步电机数字控制系统,详细描述了硬件系统的设计和软件系统的开发,并以二自由度无轴承异步电机为实验样机,对控制系统进行调试和优化,通过实验来验证控制系统和控制方法的正确性。
The bearingless motor, in which torque and suspension force independent control can be realized simultaneously, is a new type of motors. As one of the most important research directions on high-speed or super high-speed motors, it has aroused wide attention of experts and scholars all over the world. The bearingless induction motor, because of its simple structure, high reliability, air-gap uniform and easy field weaken, has more value of research and applications than other bearingless motors.
The bearingless induction motor is a multi-variable, non-linear, strong-coupled complicated system. At the support of National Natural Science Foundation of China, the research of the dissertation focuses on the suspension force models and the digital control system, including the suspension force mathematic models, the rotor flux oriented controller, the rotor displacement detection and the design of digital control system of the bearingless induction motor. The detail contents are as follows:
Firstly, the research background and the developing situation are summaried at home and abroad of bearingless motor, then the research status, the developing direction, the research significance and the latent using value of bearingless induction motor are expounded detailedly.
Secondly, the principle of the bearingless induction motor is introduced, and the suspension force models based on the magnetic force and the inductance matrix are given, the correctness of suspension principle and suspension force models are verified by ANSYS software, which is finite element analysis software of electrical machines.
Thirdly, in allusion to the coupling characteristics between the electromagnet torque and radial suspension forces of bearingless induction motor, the rotor flux oriented control strategy based on torque winding is investigated, the control system and the simulation models are designed. Then, the control system is simulated with Matlab/Simulink software.
Fourthly, the suspension rotor displacement measuring technique is investigated. The dissertation, beginning from the bearingless induction motors' requests to displacement sensors, compares some non-contact displacement sensors. The characteristics of the eddy current displacement sensor are emphatically researched. Then, the installation of eddy current sensor, the rotor displacement detection system, and the errors in measuring system are investigated detailedly.
Finally, the digital control system of the bearingless induction motor is designed using TMS320LF2407A DSP, then the design of hardware system and the development of software system are described detailedly. Based on the experiment prototype of the 2-degrees of freedom bearingless induction motor, the digital control system is debugged and optimized, and the correctness of digital control system and control strategy are verified by the experiments.
引文
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[2]A.O.Salazar,A.Chiba,T,Fukao.A Review of developments in bearingless motors.7th Int.Symp.Magnetic Bearings,2000:335-340
[3]R.Bosch.Development of a bearingless motor[C]//Proc.Int.Conf.Electric Machines (ICEM'88),1988,3:373-375
[4]P.K.Hermann.A radial active magnetic bearing[P].London Patent:No.1 478 868.1973.10.20
[5]P.K.Hermann.A radial active magnetic bearing having a rotating drive[P].London Patent:No.1 500809.1974.02.09
[6]P.Meinke,G.Flachenecker.Electromagnetic drive assembly for rotary bodies using a magnetically mounted rotor[P].United States Patent:No 3 988 658.1974.07.29
[7]A.Chiba,T.Deido,T.Fukao and M.A.Rahman.An analysis of bearingless AC motors[J].IEEE Trans.on Energy Conver,1994,9(1):61-68
[8]R.Schob,J.Bichsel.Vector control of the bearingless motor[C]//Proc.4th Int.Symp.Magnetic Bearings.Zurich,Switzerland,1994:327-332
[9]J.Bichsel.Beitraege zum lagerlosen Elektromotor[D].Schweiz:Eidgenoessische Technische Hochschule Zuerich,1990
[10]A.Chiba,K.Chida,T.Fukao.Principles and characteristics of a reluctance motor with windings of magnetic bearing[C]//Proc.Int.Power Electron.Conf.Tokyo,1990:919-926
[11]Y.Okada,et.Levitation control of permanent magnet type rotating motor[C]//Proc.of Symposium on dynamics of electro magnetic force.Tokyo,1992:251-256
[12]R.Schob,Applications of the lateral-force-motor(LFM),IPEC,Japan,1995:358-363
[13]J.Zhou,K.J.Tseng.A disk-type bearingless motor for use as satellite momentum-reaction wheel[J].IEEE Annual Power Electronics,2002,4(s):1971-1978
[14]K.Nenninger,W.Amrhein,S.Silber,G Trauner.Bearingless single-phase PM motor with low-cost rotary angle sensor[C]//Proc.of 6th International Symposium on Magnetic Suspension Technology,Turin,Italien,2001
[15]Pascal N.Boesch,N.Barletta.High power bearingless slice motor for bearingless canned pumps[C]//Prec.of 9th International Symposium on Magnetic Bearings,Kentucky,USA,August 2004
[16]A.O.Salazar,A.Chiba,T.Fukao.A review of developments in bearingless motors[C]//Proc.of 7th International Symposium on Magnetic Bearings.Zurich,2000:335-401
[17]A.Chiba,M.Hanazawa,T.Fukao,et al.Effects of magnetic saturation on radical force of bearingless synchronous reluctance motors[J].IEEE Trans.on Industry Applications,1996,32(2)354-362
[15]M.Ooshima.A.Chiba,T.Fukao.Characteristics of a permanent magnet type bearingless motor[J].IEEE Trans.Indus.Application,1996,32(2):363-370
[19]M.Ooshima,S.Miyazawa,A.Chiba,et al.Performance evaluation and test results of a 11,000r/min,4kW surface-mounted permant magnet-type bearingless motor[C]//Proc,of 7th International Symposium on Magnetic Bearings.ETH Zurich,2000:377-352
[20]Lyndon S.Stephens,H.Chin.Robust stability of the Lorentz-type self-bearing servomotor [C]//Proc.of Sth International Symposium on Magnetic Bearings.Mito,Japan,2002:27-33
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