A bearingless alternating-pole permanent magnet motor suspension control system and control method

Abstract

The invention discloses a bearingless alternating pole permanent magnet motor suspension control system and control method. The control system comprises a displacement measuring unit, a displacement comparing unit, a displacement regulating unit, a translation speed extracting unit, a translation speed comparing unit, a translation speed regulating unit, a suspension current measuring unit, a suspension current comparing unit, a suspension current regulating unit and a suspension system power driving unit. The control method comprises the following steps: comparing the real-time displacement with the given amount, and then forming a rotor translation speed given amount through a displacement regulator; adjusting the real-time rotor displacement through a translation speed extracting unit to form a translation speed feedback amount; comparing the rotor translation speed given amount with the translation speed feedback amount, and then forming a suspension winding three-phase current given amount through a translation speed regulator; and then forming a driving switch signal through a suspension current regulator to drive a suspension inverter after comparing the given amount with the real-time current of the suspension winding, so as to inject the required suspension current, so as to improve the dynamic performance and anti-interference performance of the suspension system.

Description

Technical Field

[0001] The invention relates to the technical field of bearingless motors, and in particular to a bearingless alternating-pole permanent magnet motor suspension control system and a control method. Background Art

[0002] In addition to the advantages of traditional bearingless motors such as no contact, no lubrication and no friction, the bearingless alternating-pole permanent magnet motor further solves the design compromise problem between the torque output and the suspension force output of the traditional bearingless permanent magnet motor, and the problem that the suspension force control accuracy is affected by the accuracy of the rotor magnetic field orientation. Therefore, it has broad application prospects in the fields of national defense and military industry, aerospace, energy and transportation, mechanical processing, etc.

[0003] The suspension system of bearingless alternating-pole permanent magnet motor currently adopts dual closed-loop control of displacement closed-loop and current closed-loop. However, in some applications that have high requirements on the dynamic performance and anti-interference performance of the suspension system (such as servo control, satellite attitude adjustment, etc.), the control performance of the dual closed-loop suspension system is still relatively lacking. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above problems and / or the problems existing in the control of the existing bearingless alternating-pole permanent magnet motor, the present invention is proposed.

[0006] Therefore, the object of the present invention is to provide a bearingless alternating-pole permanent magnet motor suspension control system and control method, which has strong dynamic performance and anti-interference performance.

[0007] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0008] A bearingless alternating-pole permanent magnet motor suspension control method, comprising:

[0009] Obtain the real-time displacement of the suspended rotor;

[0010] Subtract the given displacement of the suspended rotor from the acquired real-time displacement of the suspended rotor to obtain a displacement difference;

[0011] The displacement difference is converted to obtain the given value of the translational speed of the suspended rotor;

[0012] The real-time displacement of the suspended rotor is adjusted and converted to obtain the actual translational velocity feedback of the suspended rotor;

[0013] The translation speed difference is obtained by subtracting the given translation speed of the suspended rotor from the actual translation speed feedback of the suspended rotor;

[0014] The obtained translational speed difference is adjusted and converted to obtain a given value of the three-phase current of the suspension winding;

[0015] Get the real-time current of the suspension winding;

[0016] The current difference is obtained by subtracting the given value of the three-phase current of the suspension winding from the real-time current of the suspension winding;

[0017] The current difference is adjusted and converted to obtain a driving switch signal;

[0018] After the driving switch signal is generated, a suspension current is injected into the suspension winding of the bearingless alternating-pole permanent magnet motor.

[0019] As a preferred solution of the bearingless alternating-pole permanent magnet motor suspension control method described in the present invention, the specific steps of obtaining the given amount of the suspended rotor translation speed are as follows:

[0020] The displacement difference in the X direction is sent to the X direction displacement regulator to obtain the given amount of the translational speed of the suspended rotor in the X direction;

[0021] The Y-direction displacement difference is sent to the Y-direction displacement regulator to obtain the Y-direction translation speed given value of the suspended rotor.

[0022] As a preferred solution of the bearingless alternating-pole permanent magnet motor suspension control method described in the present invention, the specific steps of obtaining the actual translational speed feedback of the suspended rotor are as follows:

[0023] The real-time displacement of the suspended rotor in the X direction is sent to a translation speed extraction unit to obtain the actual translation speed feedback of the suspended rotor in the X direction;

[0024] The obtained real-time displacement of the suspended rotor in the Y direction is sent to a translation speed extraction unit to obtain an actual translation speed feedback of the suspended rotor in the Y direction.

[0025] As a preferred solution of the bearingless alternating-pole permanent magnet motor suspension control method described in the present invention, the specific steps of obtaining the translational speed difference are as follows:

[0026] The suspension rotor translation speed reference value in the X direction is subtracted from the obtained suspension rotor translation speed feedback value in the X direction to obtain the suspension rotor translation speed difference in the X direction;

[0027] The Y-direction translation speed difference of the suspended rotor is obtained by subtracting the given amount of the Y-direction translation speed of the suspended rotor from the obtained Y-direction translation speed feedback amount of the suspended rotor.

[0028] As a preferred solution of the bearingless alternating-pole permanent magnet motor suspension control method described in the present invention, the specific steps of obtaining the given amount of the three-phase current of the suspension winding are as follows:

[0029] The obtained X-direction suspension rotor translation speed difference is sent to the X-direction translation speed regulator to obtain the X-direction suspension current given value;

[0030] The obtained Y-direction suspension rotor translation speed difference is sent to the Y-direction translation speed regulator to obtain the Y-direction suspension current given value;

[0031] The obtained X-direction suspension current given quantity and Y-direction suspension current given quantity are sent to the Clark inverse transformation unit to obtain the suspension winding three-phase current given quantity.

[0032] A bearingless alternating-pole permanent magnet motor suspension control system, comprising:

[0033] A displacement measurement unit, used to obtain the real-time displacement of the suspended rotor;

[0034] A displacement comparison unit, used for subtracting a given displacement of the suspended rotor from an acquired real-time displacement of the suspended rotor to obtain a displacement difference;

[0035] The displacement adjustment unit is used to convert the obtained displacement difference to obtain a given amount of the suspended rotor translation speed;

[0036] The translation speed extraction unit is used to adjust and convert the real-time displacement of the suspended rotor to obtain the actual translation speed feedback of the suspended rotor;

[0037] The translation speed comparison unit is used to obtain the translation speed difference by subtracting the given translation speed of the suspended rotor from the actual translation speed feedback of the suspended rotor;

[0038] A translation speed regulating unit, used for regulating and converting the obtained translation speed difference to obtain a given value of the three-phase current of the suspension winding;

[0039] A suspension current measurement unit, used to obtain the real-time current of the suspension winding;

[0040] The suspension current comparison unit is used to obtain the current difference by subtracting the given current of the suspension winding three-phase current from the real-time current of the suspension winding;

[0041] The suspension current regulating unit is used to regulate and convert the current difference to obtain a driving switch signal;

[0042] The suspension system power drive unit is used to obtain a drive switch signal and inject a suspension current into the suspension winding of the bearingless alternating-pole permanent magnet motor.

[0043] As a preferred solution of the bearingless alternating-pole permanent magnet motor suspension control system described in the present invention, the translation speed adjustment unit includes:

[0044] The translation speed regulator is used to adjust and convert the obtained translation speed difference to obtain a given amount of suspension current.

[0045] Compared with the prior art, the present invention has the following beneficial effects: the real-time displacement of the suspended rotor of the bearingless alternating-pole permanent magnet motor is compared with a given value and converted into a suspended rotor translational speed given value, and the real-time displacement of the suspended rotor is adjusted and converted to form an actual translational speed feedback value, and the suspended rotor translational speed given value is compared with the translational speed feedback value and then converted into a suspended winding three-phase current given value, and a difference is made with the real-time current of the suspension winding to form a driving switch signal, so that the suspension winding injects the suspension current to output the current to the bearingless alternating-pole permanent magnet motor. Compared with the traditional dual closed-loop control method using a displacement closed loop and a current closed loop, the present invention has stronger dynamic performance and anti-interference performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in combination with the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0047] Figure 1 A control principle block diagram of a bearingless alternating-pole permanent magnet motor control system of the present invention;

[0048] Figure 2 The figure is a schematic diagram of the overall structure of a bearingless alternating-pole permanent magnet motor control system of the present invention. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0050] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0051] Secondly, the present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0052] The invention provides a bearingless alternating-pole permanent magnet motor suspension control system and a control method, which have strong dynamic performance and anti-interference performance.

[0053] The following will be combined Figure 1 and Figure 2 The suspension control system of the bearingless alternating-pole permanent magnet motor and the suspension control method of the bearingless alternating-pole permanent magnet motor are described in detail respectively.

[0054] The displacement measuring unit obtains the real-time displacement of the suspended rotor. In this embodiment, the displacement measuring unit includes an X-direction displacement measuring mechanism 9 and a Y-direction displacement measuring mechanism 10 which are arranged perpendicularly to each other in the bearingless alternating-pole permanent magnet motor, respectively obtaining the real-time displacement x in the X direction and the real-time displacement y in the Y direction of the suspended rotor, and preferably, the X-direction displacement measuring mechanism and the Y-direction displacement measuring mechanism adopt eddy current or inductive non-contact displacement sensors.

[0055] The displacement comparison unit makes a difference between the given displacement of the suspended rotor and the real-time displacement of the suspended rotor to obtain a displacement difference. In this embodiment, the displacement comparison unit includes an X-direction displacement comparator and a Y-direction displacement comparator, which respectively calculate the given displacement x of the suspended rotor in the X direction and the real-time displacement x of the suspended rotor. * The real-time displacement x of the suspended rotor in the X direction is subtracted from the obtained displacement difference in the X direction, and the suspended rotor is displaced by a given amount y in the Y direction. * The difference between the real-time displacement y of the suspended rotor in the Y direction and the real-time displacement y in the Y direction is obtained to obtain the displacement difference in the Y direction.

[0056] The displacement adjustment unit adjusts and converts the obtained displacement difference to obtain a given translation speed of the suspended rotor. In this embodiment, the displacement adjustment unit includes an X-direction displacement adjuster 1 and a Y-direction displacement adjuster 2. The X-direction displacement adjuster 1 converts the obtained X-direction displacement difference into a given translation speed x of the suspended rotor in the X direction. v * The Y-direction displacement regulator 2 converts the obtained Y-direction displacement difference into the Y-direction translation speed given value y of the suspended rotor v * , and preferably, the X-direction displacement regulator 1 and the Y-direction displacement regulator 2 adopt PID regulators.

[0057] The translation speed extraction unit 5 adjusts and converts the real-time displacement of the suspended rotor to obtain the actual translation speed feedback of the suspended rotor. In this embodiment, the translation speed extraction unit 5 converts the real-time displacement x of the suspended rotor in the X direction and the real-time displacement y of the suspended rotor in the Y direction measured by the displacement measurement unit into the translation speed feedback x of the suspended rotor in the X direction. v and the translational velocity feedback y of the suspended rotor in the Y direction v .

[0058] The translation speed comparison unit makes a difference between the given translation speed of the suspended rotor and the actual translation speed feedback of the suspended rotor to obtain the translation speed difference. In this embodiment, the translation speed comparison unit includes an X-direction translation speed comparator and a Y-direction translation speed comparator, which respectively calculate the given translation speed x of the suspended rotor in the X direction and the feedback speed x of the suspended rotor in the Y direction. v * The translational velocity feedback x of the suspended rotor in the X direction v Make a difference to get the translational velocity difference in the X direction; set the translational velocity of the suspended rotor in the Y direction to the given value y v * The Y-direction translational velocity feedback value y of the suspended rotor v Make a difference and get the translational velocity difference in the Y direction.

[0059] The translation speed regulating unit adjusts and converts the obtained translation speed difference to obtain the three-phase current given value of the suspension winding. In this embodiment, the translation speed regulating unit includes an X-direction translation speed regulator 3 and a Y-direction translation speed regulator 4, which are used to adjust and convert the obtained translation speed difference to obtain the suspension current given value. Specifically, the X-direction translation speed regulator 3 adjusts and converts the obtained X-direction translation speed difference to obtain the X suspension current given value. The Y-direction translation speed regulator 4 adjusts and converts the obtained Y-direction translation speed difference to obtain the Y suspension current given value Clark inverse transformation 6 is used to inversely transform the given amount of suspension current to obtain the given amount of three-phase current of suspension winding. Specifically, Clark inverse transformation 6 transforms the given amount of suspension current in the X direction to and Y direction suspension current given value At the same time, the inverse transformation is used to obtain the three-phase current given value of the suspension winding and

[0060] The suspension current measurement unit obtains the real-time three-phase current of the suspension winding i sa 、i sb and i sc .

[0061] The suspension current comparison unit sets the three-phase current of the suspension winding to a given value. and The real-time three-phase current i of the suspension winding sa 、i sb and i sc Make the difference and get the three-phase current difference.

[0062] The suspension current regulating unit regulates and converts the three-phase current difference to obtain the driving switch signals S1 to S6 . Preferably, in this embodiment, the suspension current regulating unit is a suspension current regulator 7 .

[0063] The suspension system power drive unit obtains the drive switch signals S1 to S6, and the drive switch signals drive the suspension system power drive unit to inject the required three-phase suspension current i into the suspension winding of the bearingless alternating-pole permanent magnet motor 11. sa 、i sb and i sc Preferably, in this embodiment, the suspension system power drive unit is a three-phase suspension inverter 10 .

[0064] The present invention also provides a bearingless alternating-pole permanent magnet motor suspension control method, the specific steps are:

[0065] a1: obtaining the real-time displacement of the suspended rotor, specifically, obtaining the real-time displacement x of the suspended rotor in the X direction and the real-time displacement y of the suspended rotor in the Y direction.

[0066] a2: Subtract the given displacement of the suspended rotor from the real-time displacement of the suspended rotor to obtain the displacement difference. * The difference between the real-time displacement x of the suspended rotor in the X direction and the displacement difference in the X direction is obtained; the displacement of the suspended rotor in the Y direction is set by a given amount y. * The Y-direction displacement difference is obtained by subtracting the obtained real-time displacement x of the suspended rotor in the Y-direction.

[0067] a3: Convert the obtained displacement difference to obtain the given amount of the suspended rotor translation speed. Specifically, the X-direction displacement difference is sent to the X-direction displacement regulator 1 to obtain the given amount of the suspended rotor translation speed x in the X direction. v * ; Send the Y-direction displacement difference to the Y-direction displacement regulator 2 to obtain the Y-direction translation speed given value y of the suspended rotor v * .

[0068] a4: adjusting and converting the real-time displacement of the suspended rotor to obtain the actual translational velocity feedback of the suspended rotor. Specifically, the obtained real-time displacement x of the suspended rotor in the X direction is sent to the translational velocity extraction unit 5 to obtain the translational velocity feedback x of the suspended rotor in the X direction. vThe real-time displacement y of the suspended rotor in the Y direction is sent to the translation speed extraction unit 5 to obtain the translation speed feedback y of the suspended rotor in the Y direction. v .

[0069] a5: Subtract the given translation speed of the suspended rotor from the actual translation speed feedback of the suspended rotor to obtain the translation speed difference. v * The obtained translational velocity feedback x of the suspended rotor in the X direction v The difference is made to obtain the translational speed difference of the suspended rotor in the X direction; the translational speed of the suspended rotor in the Y direction is given by y v * The obtained Y-direction translational velocity feedback value y of the suspended rotor v By making a difference, we can obtain the translational velocity difference of the suspended rotor in the Y direction.

[0070] a6: The obtained translation speed difference is adjusted and converted to obtain the suspension winding three-phase current given value. Specifically, the obtained X-direction suspension rotor translation speed difference is sent to the X-direction translation speed regulator 3 to obtain the X-direction suspension current given value. The obtained Y-direction suspension rotor translation speed difference is sent to the Y-direction translation speed regulator 4 to obtain the Y-direction suspension current given value The obtained X-direction suspension current is given and Y direction suspension current given value Enter Clark inverse transformation 6 to obtain the three-phase current given value of the suspension winding and

[0071] a7: Obtain the real-time current of the suspension winding. Specifically, the real-time current of the three-phase suspension current is obtained by using the suspension current measurement unit. sa 、i sb and i sc .

[0072] a8: Set the three-phase current of the suspension winding to the given value and The real-time value of the suspension winding current i sa 、i sb and i sc Specifically, the suspension current of each phase is given as and The real-time values ​​of various suspension currents i sa 、i sb and i sc Make the difference and get the three-phase suspension current difference.

[0073] a9: Regulate and convert the current difference to obtain driving switch signals S1 to S6. Specifically, the obtained three-phase suspension current difference is sent to the suspension current regulator 7 to obtain the driving switch signals S1 to S6 of the three-phase suspension inverter.

[0074] a10: Obtain a drive switch signal and inject a suspension current i into the suspension winding of the bearingless alternating-pole permanent magnet motor 11 sa 、i sb and i sc Specifically, the generated driving switch signal drives the corresponding power switch in the three-phase floating inverter 10 to generate the required floating current i sa 、i sb and i sc .

[0075] The real-time displacement of the suspended rotor of the bearingless alternating-pole permanent magnet motor is compared with a given value and converted into a suspended rotor translational speed given value, and the real-time displacement of the suspended rotor is adjusted and converted to form an actual translational speed feedback value, and the suspended rotor translational speed given value is compared with the translational speed feedback value and then converted into a suspended winding three-phase current given value, and a difference conversion is made with the real-time current of the suspension winding to form a driving switch signal, so that the suspension winding injects the suspension current to output the current to the bearingless alternating-pole permanent magnet motor. Compared with the traditional dual closed-loop control method using a displacement closed loop and a current closed loop, the control method has stronger dynamic performance and anti-interference performance.

[0076] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for controlling a bearingless alternating-pole permanent magnet motor suspension system, characterized in that: include: Obtain the real-time displacement of the suspended rotor; Subtract the given displacement of the suspended rotor from the acquired real-time displacement of the suspended rotor to obtain a displacement difference; The displacement difference is converted to obtain the given value of the translational speed of the suspended rotor; The real-time displacement of the suspended rotor is adjusted and converted to obtain the actual translational velocity feedback of the suspended rotor; The translation speed difference is obtained by subtracting the given translation speed of the suspended rotor from the actual translation speed feedback of the suspended rotor; The obtained translational speed difference is adjusted and converted to obtain a given value of the three-phase current of the suspension winding; Obtain the real-time value of the three-phase current of the suspension winding; The current difference is obtained by subtracting the given value of the three-phase current of the suspension winding from the real-time current of the suspension winding; The current difference is adjusted and converted to obtain a driving switch signal; After the driving switch signal is generated, a suspension current is injected into the suspension winding of the bearingless alternating-pole permanent magnet motor; The specific steps of obtaining the given amount of the suspended rotor translational speed are as follows: The displacement difference in the X direction is sent to the X direction displacement regulator to obtain the given amount of the translational speed of the suspended rotor in the X direction; The displacement difference in the Y direction is sent to the Y direction displacement regulator to obtain the given amount of the Y direction translation speed of the suspended rotor; The specific steps of obtaining the actual translational velocity feedback of the suspended rotor are as follows: The real-time displacement of the suspended rotor in the X direction is sent to a translation speed extraction unit to obtain the actual translation speed feedback of the suspended rotor in the X direction; The obtained real-time displacement of the suspended rotor in the Y direction is sent to a translation speed extraction unit to obtain an actual translation speed feedback of the suspended rotor in the Y direction.

2. A bearingless alternating-pole permanent magnet motor suspension system control method according to claim 1, characterized in that: The specific steps of obtaining the translational velocity difference are as follows: The suspension rotor translation speed reference value in the X direction is subtracted from the obtained suspension rotor translation speed feedback value in the X direction to obtain the suspension rotor translation speed difference in the X direction; The Y-direction translation speed difference of the suspended rotor is obtained by subtracting the given amount of the Y-direction translation speed of the suspended rotor from the obtained Y-direction translation speed feedback amount of the suspended rotor.

3. The method for controlling a bearingless alternating-pole permanent magnet motor suspension system according to claim 1, characterized in that: The specific steps of obtaining the given amount of the three-phase current of the suspension winding are as follows: The obtained X-direction suspension rotor translation speed difference is sent to the X-direction translation speed regulator to obtain the X-direction suspension current given value; The obtained Y-direction suspension rotor translation speed difference is sent to the Y-direction translation speed regulator to obtain the Y-direction suspension current given value; The obtained X-direction suspension current given quantity and Y-direction suspension current given quantity are sent to the Clark inverse transformation unit to obtain the suspension winding three-phase current given quantity.

4. A bearingless alternating-pole permanent magnet motor control system, executing the steps of a bearingless alternating-pole permanent magnet motor suspension system control method as claimed in any one of claims 1 to 3, characterized in that: include: A displacement measurement unit, used to obtain the real-time displacement of the suspended rotor; A displacement comparison unit, used for subtracting a given displacement of the suspended rotor from an acquired real-time displacement of the suspended rotor to obtain a displacement difference; The displacement adjustment unit is used to convert the obtained displacement difference to obtain a given amount of the suspended rotor translation speed; The translation speed extraction unit is used to adjust and convert the real-time displacement of the suspended rotor to obtain the actual translation speed feedback of the suspended rotor; The translation speed comparison unit is used to obtain the translation speed difference by subtracting the given translation speed of the suspended rotor from the actual translation speed feedback of the suspended rotor; A translation speed regulating unit, used for regulating and converting the obtained translation speed difference to obtain a given amount of suspension current; A suspension current measurement unit, used to obtain the real-time current of the suspension winding; The suspension current comparison unit is used to obtain the current difference by subtracting the given current of the suspension winding three-phase current from the real-time current of the suspension winding; The suspension current regulating unit is used to regulate and convert the current difference to obtain a driving switch signal; The suspension system power drive unit is used to obtain a drive switch signal and inject a suspension current into the suspension winding of the bearingless alternating-pole permanent magnet motor.

5. A bearingless alternating-pole permanent magnet motor control system according to claim 4, characterized in that: The translation speed adjustment unit comprises: The translation speed regulator is used to adjust and convert the obtained translation speed difference to obtain a given amount of suspension current.

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