Decoupling method and control device for suspension force feed-forward compensation of bearingless permanent magnet synchronous motor

Abstract

The invention discloses a suspension force feedforward compensation decoupling method and a control device of a bearingless permanent magnet synchronous motor. During control, it includes an expanded current hysteresis PWM inverter configured to supply power to the torque winding of the motor; the structure is expanded The coupled levitation force model; construct an extended feedforward compensation decoupling controller; the extended feedforward compensation decoupling controller takes two levitation force components, torque current components, permanent magnet equivalent excitation current and rotational speed as its input , the reference value of the three-phase current of the suspension winding is output, and the actual three-phase current is output after the first current hysteresis PWM inverter, which is used as the input of the extended coupling suspension force model, and the extended coupling suspension force model outputs the rotor displacement; finally, the two A decoupled suspension force subsystem and speed subsystem design a closed-loop regulator. By using the invention to control the bearingless permanent magnet synchronous motor, the stable suspension of the controlled motor can be realized, and the system has fast response, simple algorithm and excellent performance.

Description

Technical field [0001] The invention relates to the technical field of power transmission control, in particular to a sine wave surface type bearingless permanent magnet synchronous motor suspension force feedforward compensation decoupling method and control device, which is suitable for high-performance suspension operation of the surface type bearingless permanent magnet synchronous motor With frequency conversion speed control. Background technique [0002] The bearingless permanent magnet synchronous motor uses the structural similarity between the magnetic bearing and the ordinary permanent magnet synchronous motor, and superimposes the levitation winding used to generate the radial suspension force and the inherent torque winding of the ordinary permanent magnet synchronous motor on the stator. In order to achieve stable suspension of the rotor and electromagnetic torque output. Owing to the omission of mechanical bearings to support the rotor, it has a series of outstand...

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Problems solved by technology

[0004] After searching the existing patents and documents, it was found that Fei Decheng and others proposed "Research on decoupling control of bearingless permanent magnet synchronous motor based on inverse system theory" (China Engineering Science, Vol. 7, No. 11, 2005, No. 48 pages to 54 pages), Sun Yukun and others proposed "Based on α-order inverse system five degrees of freedom bearingless permanent magnet motor decoupling control" (Proceedings of the Chinese Society for Electrical Engineering, 2006, Vol. Page), the above-mentioned decoupling control adopts the analytical inverse system method that completely depends on the precise model of the controlled motor, which is less robust to motor parameter changes and load disturbances; Sun Xiaodong et al. applied for the "Neural Network Generalized Inverse Bearingless Permanent magnet synchronous motor decoupling controller construction method" national invention patent (patent number: 200710190554.2), Zhu Yuqiu and others applied for "inverse five degrees of freedom based on neural network bearingless permanent magnet synchronous motor control system and control method" (patent number : 200510040065.X), the above-mentioned decoupling method is to integrate complex neural network algorithm on the basis of inverse system, this method leads to more complicated control algorithm, more difficult engineering implementation, and slower dynamic response; In the paper "Decoupling Control Strategy of Magnetic Bearingless Motor" (Control Engineering, Volume 17, Issue 5, 2010, Pages 603-606), a decoupling control algorithm based on torque winding air gap magnetic field orientation was proposed In this method, the error between the detected value and the actual value of the torque winding air gap flux linkage amplitude and phase is relatively large, resulting in poor decoupling effect

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