CN103166404A - Cage barrier spliced outer rotor stator electro-magnetic synchronous motor and control method thereof - Google Patents

Abstract

The invention relates to a cage barrier spliced outer rotor stator electro-magnetic synchronous motor and a control method thereof. The motor is characterized in that an outer rotor is positioned outside a stator, a three-phase armature winding and a single-phase exciting winding are arranged in slots of the outer surface of the stator, and the same cage barrier outer rotor modules are connected with a sleeve made of a non-permeability magnetic material through positioning slots and spliced in a circumferential direction to form the outer rotor with inner salient pole types; the inner surface of each cage outer rotor module is provided with radial trapezoid-shaped slots which have multiple step slot widths along a radial direction, and short circuit cage bars are arranged in the slots; after the adjacent rotor modules are spliced, common trapezoid-shaped slots are formed on connection parts of the modules, gaps of the bottoms of the slots reach the inner surface of the sleeve, the slots have multiple step slot widths along the radial direction, and common cage bars are arranged in the slots; and the invention aims to provide the cage barrier spliced outer rotor stator electro-magnetic synchronous motor which is convenient to process and manufacture, can realize the stator-side excitation, and has high power density and the excellent steady state and dynamic performance.

Description

Cage hinders assembled external rotor stator electric excitation synchronous motor and control method thereof

Technical field:

The present invention relates to a kind of synchronous machine, particularly a kind of cage hinders assembled external rotor stator electric excitation synchronous motor and control method thereof.This motor both can have been done the motor operation, can make generator operation again.

Background technology:

Cage hinders the single-phase symmetrical excitation winding (or single-phase symmetrical excitation winding of the three-phase symmetrical armature winding of the 2q utmost point and the 2p utmost point) that comprises three-phase symmetrical armature winding and the 2q utmost point of the 2p utmost point on the stator of assembled external rotor stator electric excitation synchronous motor, and meet 2p-2q>=4, the coupling between double winding is by p _r=p+q realizes the rotor of utmost point particular design, therefore this kind of motor is without electric brush slip ring is installed, can realize energy converting between mechanical by the interaction in excitation winding magnetic field and armature winding magnetic field, compare with conventional synchronous machine that running reliability of motor is high, maintenance cost is low.The rotor structure that can be used for this kind of motor mainly comprises Wound-rotor type and the large class of reluctance type two.Wherein Wound-rotor type comprises individual layer concentric type short-circuited winding, the double-deck distributed winding of slot ripples; The magnetic resistance class comprises the radially lamination salient pole reluctance rotor with teeth groove, axial lamination reluctance rotor.

The advantage of coiling class rotor structure be manufacturing process and conventional electric machinery seemingly, shortcoming is the coupling of stator double winding to be take fully to sacrifice rotor winding copper loss be cost, and it is not good enough to stator double winding coupling ability, the dynamic property of motor is also poor, and the manufacturability of the double-deck distributed winding of slot ripples is not good enough.The advantage of magnetic resistance class rotor be on rotor without any copper loss, different to stator double winding coupling ability and processed complex degree.Radially lamination salient pole reluctance rotor with teeth groove is easy to processing, but not good enough to the coupling effect of stator double winding; Axially the coupling ability of lamination reluctance rotor is strong, but the manufacturing process complexity, application difficult in large-size stator double winding alternating current machine.In addition, in addition, the control system that stator is laid the conventional alternating current machine of two cover windings is subject to uncertain parameters variation and disturbing influence greatly, has the shortcomings such as poor anti jamming capability.

Summary of the invention

Goal of the invention: the invention provides a kind of cage and hinder assembled external rotor stator electric excitation synchronous motor and control method thereof, its purpose is to have proposed a kind of processing and manufacturing of both being convenient to, can make again stator double winding coupling ability is realized maximizing, thereby the novel cage with high power density and good stable state and dynamic property hinders assembled external rotor stator electric excitation synchronous motor structure, also greatly improved the antijamming capability of this kind of alternating current machine simultaneously.

Technical scheme: the present invention by the following technical solutions:

Cage hinders assembled external rotor stator electric excitation synchronous motor, mainly comprise stator, external rotor, controllable direct current power supply, bearing and end cap, it is characterized in that: the single-phase symmetrical excitation winding of laying three-phase symmetrical armature winding and the 2q utmost point of the 2p utmost point on stator, the number of poles of armature winding and the number of poles of excitation winding are also interchangeable, and all meet 2p-2q>=4, external rotor is by p _r=p+q identical cage barrier external rotor module along the circumferential direction is combined into one and has p _rthe external rotor of individual interior salient pole type, the sleeve that make with non-magnet material by location notch in each cage barrier external rotor module outside is connected, sleeve coaxially is connected with back shaft by alignment pin, and the outer roller axial both sides are connected with end cap, and end cap is connected with back shaft by bearing; Each cage barrier external rotor module inner surface has a plurality of radially dovetail grooves, and radially the dovetail groove spacing can equate also can not wait, and each dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each dovetail groove and forms short circuit cage bar; Adjacent cage barrier external rotor module joint is the notch cuttype gap, after the splicing of adjacent cage barrier external rotor module, in its joint, forms p _rindividual public dovetail groove, and the gap depth of public dovetail groove bottom reaches sleeve interior surface always, and each public dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each public dovetail groove and forms public cage bar; Public cage bar and short circuit cage bar end adopt respectively the end conducting ring to be connected to form galvanic circle; Cage barrier external rotor module centers place has many groups tangentially every magnetosphere, and the dovetail groove that embeds short circuit cage bar respectively at both sides separately is combined to form organizes radially lamination magnetic barrier, a plurality of magnetic layers of formation in cage barrier rotor module more.

Armature winding is connected with electrical network, and excitation winding is connected with an end of controllable direct current power supply.

Pressing plate is equipped with at cage barrier external rotor two ends, add insulator separation between pressing plate and external rotor, on pressing plate, be drilled with and the identical location hole of cage barrier external rotor position of positioning hole, the clamping screw that non-magnet material is made through whole location holes, utilizes nut to be fixed at the pressing plate two ends vertically.

The notch place of placing the dovetail groove of public cage bar and short circuit cage bar has interior gap and embeds slot wedge; Public cage bar end link form can be: the end conducting ring all connects together the public cage bar both side ends with layer in public dovetail groove; Also the public cage bar of individual layer in public dovetail groove can be divided into to two parts, the public cage bar of two parts is connected by the end conducting ring with the public cage bar with layer in adjacent public dovetail groove respectively; Also the public cage bar of internal layer is connected by the end conducting ring with the public cage bar of skin in one-sided adjacent inverted trapezoidal groove in addition; Also can in adjacent two public dovetail grooves, place the multiturn coil conductor; Short circuit cage bar end link form can be: centered by cage barrier external rotor module radial symmetric line, the same layer short circuit cage bar end that both sides are corresponding is connected by conductor, forms and organizes independently concentric type annular galvanic circle more; Also internal layer short circuit cage bar can be connected by conductor with the outer short circuit cage bar of corresponding dovetail groove, form and organize independently chiasma type concentric type loop checking installation more; Also can place the multiturn coil conductor in layer dovetail groove at corresponding two, the many groups coil-conductor number of turn on same rotor module can be identical also can be different.

Whole rotor is installed in public dovetail groove gap remaining after winding and module in magnetic barrier gap pourable high temperature resistant non-magnet material or is not built.

Sleeve fluting form can be rectangular channel or dovetail groove.

Shape every magnetosphere can be arc magnetic barrier formula external rotor or U-shaped magnetic barrier formula external rotor.

A kind of cage as mentioned above hinders the control method of assembled external rotor stator electric excitation synchronous motor, it is characterized in that: control mode adopts the PIMD control method to realize that cage hinders the rotating-speed tracking of assembled external rotor stator electric excitation synchronous motor, its control thought is to hinder for cage the characteristics that assembled external rotor stator electric excitation synchronous motor has uncertain parameters variation and disturbing influence, utilize negative related method thereof, eliminate the uncertain noises signal time of delay by adjusting, and introduced H _∞control strategy, and then the robustness of raising system; Be specially: adopt armature winding dq coordinate system, cage hinders the electromagnetic torque equation of assembled external rotor stator electric excitation synchronous motor and is

$T_e=\frac{3}{2}(p_p+p_c){\mathrm{\Ψ}}_{\mathrm{dp}}{i}_{\mathrm{qc}}=J\frac{d{\mathrm{\ω}}_r}{\mathrm{dt}}+B{\mathrm{\ω}}_r+T_1---\left(1\right)$

In formula, p _pand p _cthe number of pole-pairs that means respectively armature winding and excitation winding, Ψ _dpfor the d axle component of armature winding magnetic linkage, i _qcfor the q axle component of excitation winding electric current, ω _rfor rotating speed output, J is the external rotor mechanical inertia, and B is the rotary damping coefficient, T _efor total electromagnetic torque, T _lfor load torque.

Laplace transformation is carried out in formula (1) both sides, and the transfer function P (s) that can obtain nominal model is

$P\left(s\right)=\frac{1}{\mathrm{Js}+B}---\left(2\right)$

The transfer function of controller can be expressed as

$K\left(s\right)=\frac{U\left(s\right)}{E\left(s\right)}=K_p+\frac{K_i}{s}-K_d{e}^{-T_{d}s}---\left(3\right)$

In formula, E(or e) be error, U(or u) be the control inputs signal, K (s) is controller, K _p, K _i, K _dfor controlling parameter, T _dfor time of delay.

Formula (3) is carried out to the Laplace inverse transformation, can obtain

$u\left(t\right)=K_{p}e\left(t\right)+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}-K_{d}e(t-T_d)$

$=(K_p-K_d)e\left(t\right)+T_d{K}_d\frac{e\left(t\right)-e(t-T_d)}{T_d}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}---\left(4\right)$

$=K_{\mathrm{pn}}e\left(t\right)+K_{\mathrm{dn}}\·\frac{1}{T_d}{\∫}_{t-T_d}^t\stackrel{\·}{e}\left(t\right)\mathrm{dt}+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}$

In formula, the derivative of e (t) to time t; K _pn=K _p-K _d, and K _p>=K _d; K _dn=T _dk _d.

If contain a sinusoidal interference d who is caused by outside in error e (t), be

d＝Asin2πft (5)

In formula, A and f are respectively amplitude and the frequency of disturbing input d.When e (t)=d (t), by its substitution formula (4), second postpones can be write as

$\frac{1}{T_d}{\&Integral;}_{t-T_d}^t\stackrel{\&CenterDot;}{d}\left(t\right)\mathrm{dt}=\frac{A}{T_d}[\sin 2\mathrm{\&pi;ft}-\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="HDA00002988731000011.png,HDA00002988731000012.png"\; state="\{\{state\}\}">sin</figure-callout>}2\mathrm{\&pi;f}(t-T_d)]---\left(6\right)$

If make T _d=N/f, wherein N is natural number, so

sin(2πft-2πfT _d)＝sin(2πft-2πN)

＝sin(2πft)cos(2πN)+cos(2πft)sin(2πN)

＝sin(2πft)

Formula (6) is zero,

that is to say, as T time of delay _dwhile leveling off to N/f, formula (6) levels off to zero, therefore, and by adjusting T time of delay _d, the PIMD controller can be eliminated differential term and disturb input.

Add weight function in PIMD controls, can be translated into H _∞control problem.If the state space form of weight function is

$W_e\left(s\right)=\left[\begin{array}{cc}{A}_e& B_e\\ C_e& D_e\end{array}\right],$ $W_u\left(s\right)=\left[\begin{array}{cc}{A}_u& B_u\\ C_u& D_u\end{array}\right]$

In formula, W _eand W (s) _u(s) be weighting function, A _e, B _e, C _e, D _e, A _u, B _u, C _u, D _ufor constant matrices,

Weight function W _e(s) be to be determined by the performance requirement of system, because the frequency of the external disturbance of system and external input signal is usually lower, for the assurance system can suppress to disturb and tracking signal accurately effectively, W _e(s) usually there is integral characteristic or high-gain low-pass characteristic, more repeatedly try to gather by emulation experiment, can obtain a preferably W _e(s) value; Weight function W _u(s) be to make system still can keep stable under the high frequency components effect having, for not increasing the order of controller, usually get W _u(s) be a constant; Weight function W _d(s) reflected load disturbing signal T _lthe effect power, usually also be taken as a constant.

System G (s) is described as

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{x}=\mathrm{Ax}+B_{1}w+B_{2}u\\ z=C_{1}x+D_{12}u\\ y=C_{2}x+D_{21}w\end{array}\right.$

$G\left(s\right)=\left[\begin{array}{ccc}A& B_1& B_2\\ {\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="HDA00002988731000011.png,HDA00002988731000081.png"\; state="\{\{state\}\}">C</figure-callout>}}_1& 0& D_{12}\\ C_2& D_{21}& 0\end{array}\right]$

In formula, x=[x ₁x ₂x ₃] ^tfor state variable, y is observation output signal, z=[z ₁z ₂] ^tfor evaluation signal, w=T _lfor disturbing input signal, A, B ₁, B ₂, C ₁, C ₂, D ₁₂, D ₂₁for constant matrices, K=[K _pk _ik _d] be the controller that will solve.The state space of augmentation controlled device G (s) is embodied as

Hinfsyn function in recycling MATLAB software, solve controller K, repeatedly until meet H _∞the Suboptimal Design index

||LFT(G,K)|| _∞＜γ (8)

In formula, || || _∞for Infinite Norm, LFT (G, K) is the conversion of lower linear fraction, and γ is very little constant.

Advantageous effect: the invention provides a kind of novel cage and hinder assembled external rotor stator electric excitation synchronous motor, the coupling ability that this kind of alternating current machine has the stator double winding is strong, power density and energy converting between mechanical efficiency is high, structural module, technique are simple, be convenient to make the remarkable advantage such as large ac machines.

The invention has the beneficial effects as follows: the external rotor of this motor adopts radially lamination magnetic barrier and short circuit cage bar composite structure, when further improving rotor magnetic coupling ability, can effectively reduce Gas-gap Magnetic Field Resonance Wave and loss, improve power density and the runnability of motor; Rotor pack radially laminates, and can reduce the eddy current loss in rotor core, improves electric efficiency; The salient pole centerline is placed conduction cage bar, adopts hierarchical design, can effectively overcome faradic kelvin effect; Excitation winding is placed in stator side and realizes brushless excitation, with conventional synchronous machine, compares, and without coaxial excitation system or electric brush slip ring device are installed, the motor reliability improves; Along rotor one week by p _rindividual identical stack of laminations forms, and such symmetrical structure can realize only processing a kind of lamination just can be assembled into whole rotor, thereby has greatly reduced process costs, is convenient to batch production.This kind of Novel composite rotor has novel structure, technique is simple, with low cost, mechanical strength is high, reliable, structural module, be convenient to the significant advantage of the aspects such as industrialization.

Control mode adopts the PIMD control method to realize that cage hinders the rotating-speed tracking of assembled external rotor stator electric excitation synchronous motor, this kind of control method hinders for cage the characteristics that assembled external rotor stator electric excitation synchronous motor has uncertain parameters variation and disturbing influence, utilize negative related method thereof, eliminate the uncertain noises signal time of delay by adjusting, and introduced H _∞control strategy, can effectively suppress the uncertain load disturbance of system, has stronger robustness, greatly improved the antijamming capability of this kind of alternating current machine.

The accompanying drawing explanation

Fig. 1 is that cage of the present invention hinders assembled external rotor stator electric excitation synchronous motor system configuration schematic diagram;

Fig. 2 is electric machine structure schematic diagram of the present invention;

Fig. 3 is motor stator structure schematic diagram of the present invention;

A kind of outer-rotor structure schematic diagram that Fig. 4 is motor of the present invention;

A kind of external rotor modular structure schematic diagram that Fig. 5 is motor of the present invention;

Fig. 6 is motor outer rotor pressure plate structure schematic diagram of the present invention;

Fig. 7 is motor the second cage barrier outer-rotor structure schematic diagram of the present invention;

Fig. 8 is the third cage barrier outer-rotor structure schematic diagram of motor of the present invention;

A kind of end connected mode schematic diagram that Fig. 9 is the public cage bar of motor of the present invention;

A kind of end connected mode expanded view that Figure 10 is the public cage bar of motor of the present invention;

The second connected mode expanded view that Figure 11 is the public cage bar of motor of the present invention;

The third connected mode end linked, diagram that Figure 12 is the public cage bar of motor of the present invention;

Figure 13 is a kind of connected mode schematic diagram of motor short circuit cage bar of the present invention;

Figure 14 is motor short circuit cage bar the second connected mode of the present invention end linked, diagram;

Figure 15 is the public cage bar of motor of the present invention and short circuit cage bar scheme of installation;

The second connected mode expanded view that Figure 16 is the public cage bar of motor of the present invention and short circuit cage bar;

Figure 17 is the PIMD control principle schematic diagram that cage of the present invention hinders assembled external rotor stator electric excitation synchronous motor;

The H that Figure 18 is PIMD controller of the present invention _∞the control problem schematic diagram.

Description of reference numerals:

1. stator; 2. external rotor; 3. controllable direct current power supply; 4. electrical network; 5. armature winding; 6. excitation winding; 7. back shaft; 8. bearing; 9. end cap; 10. every magnetosphere; 11. magnetic layer; 12. public cage bar; 13 short circuit cage bars; 14. location hole; 15. location notch; 16. sleeve; 17. module gap; 18. slot wedge; 19. end conducting ring.

Embodiment

Below in conjunction with accompanying drawing, the present invention is specifically described:

Fig. 1 is that cage of the present invention hinders assembled external rotor stator electric excitation synchronous motor system configuration schematic diagram, this system mainly comprises stator 1, external rotor 2, controllable direct current power supply 3, wherein on stator 1, lay the single-phase symmetrical excitation winding 6 of three-phase symmetrical armature winding 5 and the 2q utmost point of the 2p utmost point, the number of poles of the number of poles of armature winding 5 and excitation winding 6 is also interchangeable, but all meet 2p-2q >=4, can realize that the winding electric magnetic coupling of the different numbers of poles of stator two cover maximizes.Armature winding 5 is connected with electrical network 4, and excitation winding 6 is connected with an end of controllable direct current power supply 3.The voltage of adjustable amplitude is provided by 3 pairs of excitation winding 6 of controllable direct current power supply, can regulates these armature winding 5 output voltages and power factor (as generator), also can regulate the torque (as motor) of motor output external rotor 2 outputs.

Fig. 2 is electric machine structure schematic diagram of the present invention, and stator 1 coaxially is connected with back shaft 7 by alignment pin, and the axial both sides of external rotor 2 are connected with end cap 9, and end cap 9 is connected with back shaft by bearing 8.

Fig. 3 is motor stator structure schematic diagram of the present invention, stator 1 outer surface is evenly slotted, embedded two in groove and overlapped the independent symmetric winding that numbers of poles are respectively the 2p utmost point and the 2q utmost point, be armature winding 5 and excitation winding 6, embed the multilayer winding in each groove, between every layer of winding, insulation is arranged, double winding can adopt bilayer or single layer winding, and pitch can be whole distance or short distance.

A kind of outer-rotor structure schematic diagram that Fig. 4 is motor of the present invention, described external rotor adopts p _rindividual identical cage barrier external rotor module along the circumferential direction is combined into one and has p _rthe external rotor of individual salient pole type, the sleeve 16 that make with non-magnet material by location notch 15 in each cage barrier external rotor module outside is connected.

Fig. 5 is cage barrier external rotor module diagram, each module inner surface has a plurality of radially dovetail grooves, each dovetail groove radially has several ladder groove widths that do not wait, put into some conductors in each dovetail groove and form short circuit cage bar 13, in order to save cost and to simplify technique and also can only in the part dovetail groove, put into conductor; In addition, adjacent cage barrier external rotor module joint is the notch cuttype gap, form a public dovetail groove in its joint after the splicing of two adjacent cage barrier external rotor modules, and module gap 17 degree of depth of this groove outside reach sleeve 16 inner surfaces always, main purpose is isolation adjacent block magnetic flux, make the separate nothing coupling of magnetic circuit between each module, improve the coupling performance of this motor double winding, whole external rotor inner surface has p _rindividual so public dovetail groove, by p _rthe along the circumferential direction magnetic isolation of individual cage barrier external rotor module, because sleeve 16 is non-magnet material, so be also non-magnetic between each cage barrier external rotor module, each module is all separate aspect structure and magnetic circuit two, each public dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each public dovetail groove and forms public cage bar 12.The notch place of placing the dovetail groove of public cage bar 12 and short circuit cage bar 13 has interior gap and embeds slot wedge 18, is used for fixing cage bar in groove.Little well width near air gap in all dovetail grooves is greater than or equal to the little well width near sleeve 16, its objective is in order to overcome faradic kelvin effect, the cage bar number of plies in sulculus can be individual layer or multilayer, choose the number of plies according to the quantity of ladder in step trough, between each layer, all be added with insulation between cage bar and rotor and isolated, the cage bar is joined together to form loop by end, and it is all 2 that accompanying drawing of the present invention is chosen the number of plies, and inner layer groove is wider than outer groove width.In Fig. 4, cage barrier external rotor module centers place has many groups tangentially every magnetosphere 10, the inverted trapezoidal groove that embeds short-circuited winding with both sides separately respectively is combined to form the U-shaped radially lamination magnetic barrier of many groups, form a plurality of magnetic layers 11 in cage barrier external rotor module, its objective is the increase quadrature-axis reluctance, reduce direct axis reluctance, be convenient to magnetic flux along the path circulation that is conducive to magnetic field modulation, in addition, between each cage barrier external rotor module, magnetic circuit is independent, adding after magnetosphere 10 forms U-shaped radially lamination magnetic barrier, its magnetic field transfer capability obviously improves, and more every the magnetosphere number, effect is just more obvious, but when magnetosphere is too many, its cost can increase again, therefore should be chosen as the suitable number of plies every magnetosphere.In addition, each magnetic layer 11 width can equate or not wait, width embeds short-circuited winding dovetail groove spacing while not waiting or not, can change air-gap reluctance and distribute, weaken unfavorable magnetic field harmonic amplitude, strengthen useful magnetic field harmonic amplitude, improve the coupling ability of stator double winding, reduce supplementary load loss, improve the performance of motor, also can adopt the magnetic layer 11 that width is identical when not high to performance requirement.There are a plurality of location holes 14 the lateral septal magnetosphere outside of each cage barrier external rotor module.

Cage barrier external rotor module is not installed the inverted trapezoidal line of rabbet joint gap of winding and pourable epoxy resin or by other high temperature resistant non-magnet material in magnetosphere, its order is strengthen external rotor intensity and winding is positioned, also can not pour into a mould and utilize the gap ventilation heat radiation, reduce the temperature rise of motor, improve motor performance, and still can make so the not coupling of magnetic circuit of each intermodule.Cage barrier external rotor module adopts lamination axially to be overrided to form, and its purpose can reduce the eddy current loss in outer rotor iron core, improves electric efficiency.External rotor adopts modular form, makes only to process a kind of external rotor module and just can be assembled into whole external rotor, has greatly reduced process costs, and the larger heavy-duty motor of production motor external diameter, also be of value to this motor industrialization.

Fig. 6 is motor outer rotor pressure plate structure schematic diagram of the present invention, the external rotor pressing plate is positioned at cage barrier outer roller axial two ends, identical with the external rotor outer contour shape, add insulator separation between pressing plate and external rotor, be drilled with on pressing plate with cage barrier external rotor location hole 14(and see Fig. 4) the identical location hole 14 in position, the clamping screw that non-magnet material is made, vertically through whole location holes 14, adds the insulation isolation between clamping screw and rotor module, at the pressing plate two ends, utilize nut to be fixed.The inboard trapezoid slit identical with shape with external rotor dovetail groove same position of pressing plate, public cage bar 12 and short circuit cage bar 13 pass from this gap, carry out the end link.

Fig. 7 is the second outer-rotor structure schematic diagram that cage of the present invention hinders assembled external rotor stator electric excitation synchronous motor.This motor outer rotor can be divided into two classes according to the shape every magnetosphere: arc magnetic barrier formula outer-rotor structure (as shown in Figure 7) and U-shaped magnetic barrier formula outer-rotor structure (as shown in Figure 4), multi-form external rotor can play the effect of restriction magnetic flux path every magneto spheric structure, makes magnetic flux along the path circulation that is conducive to magnetic field modulation.This motor outer rotor can be divided into two classes according to sleeve fluting form: rectangular channel (as shown in Figure 4) and dovetail groove (as shown in Figure 7).

The third outer-rotor structure schematic diagram that Fig. 8 is motor of the present invention, do not install public cage bar and short circuit cage bar, can adopt in addition the form of short circuit cage strips only being installed and public cage bar only being installed yet.Public cage bar and short circuit cage bar can play the magnetic field modulation effect, because public cage bar is positioned at the salient pole center, so its magnetic field modulation effect is more obvious than short circuit cage bar, therefore adopt form motor performance the best of public cage bar and short circuit cage bar, be followed successively by the form that only adopts public cage bar, the form that only adopts the form of short circuit cage bar, any cage bar is not installed later.

A kind of end connected mode schematic diagram that Fig. 9 is the public cage bar of motor of the present invention, adopt end conducting ring 19 that public cage bar 12 both side ends with layer in public dovetail groove are linked together, and forms p _rindividual mesh type galvanic circle, when outside magnetic flux passes the mesh center of galvanic circle, can induce therein electromotive force, thereby form electric current in loop, magnetic direction and outside magnetic flux opposite direction that this electric current produces, the main flux path of rotor thereby impact is flowed through, make main flux enter rotor from salient pole, played the effect every magnetic and change magnetic flux path, improve the magnetic field modulation effect, adopt the insulation isolation between internal layer and outer field end conducting ring 19, therefore between each layer, no current flows through, make copper loss reduction and the magnetic field modulation effect of public cage bar 12 and end conducting ring 19 better.

The end connected mode expanded view that Figure 10 is public cage bar in Fig. 9.

The second connected mode expanded view that Figure 11 is the public cage bar of motor of the present invention, the public cage bar 12 of individual layer in public dovetail groove is divided into to two parts, and mutually insulated isolation, the public cage bar of two parts is connected by end conducting ring 19 with the public cage bar in adjacent public dovetail groove respectively, the public cage bar 12 of same layer can be connected into to p _rthe annular galvanic circle of individual independence, its separated magnetic effect is identical with Fig. 9, but inside and outside two-layer also mutually insulated isolation can further reduce electric current in public cage bar, reduces the copper loss of public cage bar 12 and end conducting ring 19, improves the magnetic field modulation effect; Also can in adjacent two public dovetail grooves, place the multiturn coil conductor, it is identical with Figure 11 that it connects signal, and employing multicircuit winding coil, can reduce kelvin effect, and because the number of turn is more, it is more obvious every the magnetic effect, makes the motor-field modulation effect better.

The third connected mode end linked, diagram that Figure 12 is the public cage bar of motor of the present invention motor of the present invention, the public cage bar 12 of internal layer is connected by the end conductor with the public cage bar 12 of skin in one-sided adjacent inverted trapezoidal groove, forms p _rthe annular galvanic circle of individual independence, its connected mode expanded view is identical with Figure 11, and the effect reached is also identical.

Figure 13 is a kind of connected mode schematic diagram of motor short circuit cage bar of the present invention, in each cage barrier rotor module, centered by cage barrier rotor module radial symmetric line, the same layer short circuit cage bar end that both sides are corresponding is connected by conductor, form and organize independently concentric type annular galvanic circle more, there is equally the separated magnetic effect similar to public cage bar, can further improve the magnetic field modulation effect, each loop checking installation mutually insulated isolation, also mutually insulated isolation of the loop checking installation that internal layer short circuit cage bar and outer short circuit cage bar form.Also can place the multiturn coil conductor in same layer dovetail groove corresponding two, form and organize independently concentric type annular multiturn galvanic circle more, adopt the multicircuit winding coil, can reduce kelvin effect, because the number of turn is more, it is more obvious every the magnetic effect, magnetic field modulation is effective, on same rotor module, the formed independently concentric type annular galvanic circle numbers of turn of organizing can equate also can not wait more, inequality can weakened field in disadvantageous harmonic field, improve the coupling ability of stator double winding, reduce supplementary load loss, further improve the performance of motor.

Figure 14 is motor short circuit cage bar the second connected mode of the present invention end linked, diagram, internal layer short circuit cage bar is connected by conductor with the outer short circuit cage bar of corresponding dovetail groove, form and organize independently chiasma type concentric type loop checking installation more, the effect reached is identical with connected mode described in Figure 13.

Figure 15 is the public cage bar of motor of the present invention and short circuit cage bar scheme of installation, the connected mode in figure in public cage strip adoption Fig. 9, the connected mode of short circuit cage strip adoption Figure 13.No matter adopt which kind of form, all adopt the insulation isolation between all public cage bars and short circuit cage bar.

Figure 16 is the public cage bar of the second and short circuit cage bar connected mode expanded view, and in figure, the public cage bar of end, the same side and short circuit cage bar link together by an end conducting ring.Like this under the prerequisite of impact effect not, not only reduced the quantity of end connecting ring, simplified the motor end construction, reduced motor weight, and, because all cage bar one sides link together, each conductive loop internal induction electromotive force reduces, the electric current flow through also reduces, the motor copper loss reduces, and efficiency improves.

Figure 17 is the PIMD control principle schematic diagram that cage of the present invention hinders assembled external rotor stator electric excitation synchronous motor, and wherein, ω r* is rotational speed setup, ω r is rotating speed output, and e is error, and u is the control inputs signal, K (s) is controller, Kp, Ki, Kd are for controlling parameter, and Td is time of delay, and J is the external rotor mechanical inertia, B is the rotary damping coefficient, Kf is moment coefficient, and Tl is load torque, the nominal model that P (s) is controlled device.

Control mode adopts the PIMD control method to realize that cage hinders the rotating-speed tracking of assembled external rotor stator electric excitation synchronous motor, its control thought is to hinder for cage the characteristics that assembled external rotor stator electric excitation synchronous motor has uncertain parameters variation and disturbing influence, utilize negative related method thereof, eliminate the uncertain noises signal time of delay by adjusting, and introduced H ∞ control strategy, and then improve the robustness of system.

Adopt armature winding dq coordinate system, cage hinders the electromagnetic torque equation of assembled external rotor stator electric excitation synchronous motor and is

$T_e=\frac{3}{2}(p_p+p_c){\mathrm{\&Psi;}}_{\mathrm{dp}}{i}_{\mathrm{qc}}=J\frac{d{\mathrm{\&omega;}}_r}{\mathrm{dt}}+B{\mathrm{\&omega;}}_r+T_1---\left(1\right)$

In formula, p _pand p _cthe number of pole-pairs that means respectively armature winding and excitation winding, Ψ _dpfor the d axle component of armature winding magnetic linkage, i _qcfor the q axle component of excitation winding electric current, T _efor total electromagnetic torque.

Laplace transformation is carried out in formula (1) both sides, and the transfer function that can obtain nominal model is

$P\left(s\right)=\frac{1}{\mathrm{Js}+B}---\left(2\right)$

The transfer function of controller can be expressed as

$K\left(s\right)=\frac{U\left(s\right)}{E\left(s\right)}=K_p+\frac{K_i}{s}-K_d{e}^{-T_{d}s}---\left(3\right)$

Formula (3) is carried out to the Laplace inverse transformation, can obtain

$u\left(t\right)=K_{p}e\left(t\right)+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}-K_{d}e(t-T_d)$

$=(K_p-K_d)e\left(t\right)+T_d{K}_d\frac{e\left(t\right)-e(t-T_d)}{T_d}+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}---\left(4\right)$

$=K_{\mathrm{pn}}e\left(t\right)+K_{\mathrm{dn}}\&CenterDot;\frac{1}{T_d}{\&Integral;}_{t-T_d}^t\stackrel{\&CenterDot;}{e}\left(t\right)\mathrm{dt}+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}$

In formula,

the derivative of e (t) to time t; K _pn=K _p-K _d, and K _p>=K _d; K _dn=T _dk _d.

If contain a sinusoidal interference d who is caused by outside in error e (t), be

d＝Asin2πft (5)

In formula, A and f are respectively amplitude and the frequency of disturbing input d.When e (t)=d (t), by its substitution formula (4), second postpones can be write as

$\frac{1}{T_d}{\&Integral;}_{t-T_d}^t\stackrel{\&CenterDot;}{d}\left(t\right)\mathrm{dt}=\frac{A}{T_d}[\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="HDA00002988731000011.png,HDA00002988731000012.png"\; state="\{\{state\}\}">sin</figure-callout>}2\mathrm{\&pi;ft}-\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="HDA00002988731000011.png,HDA00002988731000012.png"\; state="\{\{state\}\}">sin</figure-callout>}2\mathrm{\&pi;f}(t-T_d)]---\left(6\right)$

If make T _d=N/f, wherein N is natural number, so

sin(2πft-2πfT _d)＝sin(2πft-2πN)

＝sin(2πft)cos(2πN)+cos(2πft)sin(2πN)

＝sin(2πft)

Formula (6) is zero,

that is to say, as T time of delay _dwhile leveling off to N/f, formula (6) levels off to zero, therefore, and by adjusting T time of delay _d, the PIMD controller can be eliminated differential term and disturb input.

The H ∞ control problem schematic diagram that Figure 18 is PIMD controller of the present invention, be to add weight function in the PIMD control principle schematic diagram shown in Figure 17, can be translated into H ∞ control problem.If the state space form of weight function is

$W_e\left(s\right)=\left[\begin{array}{cc}{A}_e& B_e\\ C_e& D_e\end{array}\right],$ $W_u\left(s\right)=\left[\begin{array}{cc}{A}_u& B_u\\ C_u& D_u\end{array}\right]$

In formula, W _eand W (s) _u(s) be weighting function, A _e, B _e, C _e, D _e, A _u, B _u, C _u, D _ufor constant matrices,

Weight function We (s) is determined by the performance requirement of system, because the frequency of the external disturbance of system and external input signal is usually lower, for the assurance system can suppress to disturb and tracking signal accurately effectively, We (s) has integral characteristic or high-gain low-pass characteristic usually, repeatedly try to gather by emulation experiment again, can obtain preferably We (s) value; Weight function Wu (s) makes system still can keep stable under the high frequency components effect having, and for not increasing the order of controller, usually getting Wu (s) is a constant; The effect power of weight function Wd (s) reflected load disturbing signal Tl, also be taken as a constant usually.

System G in Figure 18 (s) is described as

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{x}=\mathrm{Ax}+B_{1}w+B_{2}u\\ z=C_{1}x+D_{12}u\\ y=C_{2}x+D_{21}w\end{array}\right.$

$G\left(s\right)=\left[\begin{array}{ccc}A& B_1& B_2\\ {\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="HDA00002988731000011.png,HDA00002988731000081.png"\; state="\{\{state\}\}">C</figure-callout>}}_1& 0& D_{12}\\ C_2& D_{21}& 0\end{array}\right]$

In formula, x=[x ₁x ₂x ₃] ^tfor state variable, y is observation output signal, z=[z ₁z ₂] ^tfor evaluation signal, w=T _lfor disturbing input signal, A, B ₁, B ₂, C ₁, C ₂, D ₁₂, D ₂₁for constant matrices, K=[K _pk _ik _d] be the controller that will solve.The state space that can be obtained augmentation controlled device G (s) by Figure 19 is embodied as

Hinfsyn function in recycling MATLAB software, solve controller K, repeatedly until meet H _∞the Suboptimal Design index

||LFT(G,K)|| _∞＜γ (8)

In formula, || || _∞for Infinite Norm, LFT (G, K) is the conversion of lower linear fraction, and γ is very little constant.

The PIMD control method that proposes to adopt can realize that cage hinders the rotating-speed tracking of assembled external rotor stator electric excitation synchronous motor, has effectively suppressed the uncertain load disturbance of system, has stronger robustness, has greatly improved the antijamming capability of this kind of alternating current machine.

Claims (9)

1. cage hinders assembled external rotor stator electric excitation synchronous motor, mainly comprise stator (1), external rotor (2), controllable direct current power supply (3), bearing (8) and end cap (9), it is characterized in that: the single-phase symmetrical excitation winding (6) of laying three-phase symmetrical armature winding (5) and the 2q utmost point of the 2p utmost point on stator (1), perhaps the number of poles of the number of poles of armature winding (5) and excitation winding (6) exchanges, and all meet 2p-2q>=4, external rotor (2) is by p _r=p+q identical cage barrier external rotor module along the circumferential direction is combined into one and has p _rthe external rotor of individual interior salient pole type, the sleeve (16) that make with non-magnet material by location notch (15) in each cage barrier external rotor module outside is connected, sleeve (16) is by alignment pin and coaxial connection of back shaft (7), external rotor (2) axially is connected with end cap (9) both sides, and end cap (9) is connected with back shaft by bearing (8); Each cage barrier external rotor module inner surface has a plurality of radially dovetail grooves, and radially the dovetail groove spacing equates or do not wait, and each dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each dovetail groove and forms short circuit cage bar (13); Adjacent cage barrier external rotor module joint is the notch cuttype gap, after the splicing of adjacent cage barrier external rotor module, in its joint, forms p _rindividual public dovetail groove, and gap (17) degree of depth of public dovetail groove bottom reaches sleeve (16) inner surface always, each public dovetail groove radially has several ladder groove widths that do not wait, and puts into some conductors in each public dovetail groove and forms public cage bar (12); Public cage bar (12) and short circuit cage bar (13) end adopt respectively end conducting ring (19) to be connected to form galvanic circle; Cage barrier external rotor module centers place has many groups tangentially every magnetosphere (10), and the dovetail groove that embeds short circuit cage bar (13) respectively at both sides separately is combined to form organizes radially lamination magnetic barrier, formation a plurality of magnetic layers (11) in cage barrier rotor module more.

2. the described cage of claim 1 hinders assembled external rotor stator electric excitation synchronous motor, it is characterized in that: armature winding (5) is connected with electrical network (4), and excitation winding (6) is connected with controllable direct current power supply (3).

3. the described cage of claim 1 hinders assembled external rotor stator electric excitation synchronous motor, it is characterized in that: the notch place of placing the dovetail groove of public cage bar (12) and short circuit cage bar (13) has interior gap and embeds slot wedge (18); Public cage bar (12) end link form can be: end conducting ring (19) all connects together public cage bar (12) both side ends with layer in public dovetail groove; Also the public cage bar of individual layer in public dovetail groove (12) can be divided into to two parts, the public cage bars of two parts (12) are connected by end conducting ring (19) with the public cage bar (12) with layer in adjacent public dovetail groove respectively; Also the public cage bar of internal layer (12) is connected by end conducting ring (19) with the public cage bar of skin (12) in one-sided adjacent inverted trapezoidal groove in addition; Also can in adjacent two public dovetail grooves, place the multiturn coil conductor; Short circuit cage bar (13) end link form can be: centered by cage barrier external rotor module radial symmetric line, same layer short circuit cage bar (13) end that both sides are corresponding is connected by conductor, forms and organizes independently concentric type annular galvanic circle more; Also internal layer short circuit cage bar can be connected by conductor with the outer short circuit cage bar of corresponding dovetail groove, form and organize independently chiasma type concentric type loop checking installation more; Also can place the multiturn coil conductor in layer dovetail groove at corresponding two, the many groups coil-conductor number of turn on same rotor module can be identical also can be different.

4. the described cage of claim 1 hinders assembled external rotor stator electric excitation synchronous motor, it is characterized in that: cage barrier two ends of rotor is equipped with pressing plate, add insulator separation between pressing plate and rotor, on pressing plate, be drilled with and the cage barrier identical location hole in rotor location hole (14) position (14), the clamping screw that non-magnet material is made through whole location holes (14), utilizes nut to be fixed at the pressing plate two ends vertically.

5. the described cage of claim 1 hinders assembled external rotor stator electric excitation synchronous motor, it is characterized in that: whole rotor is installed in public dovetail groove gap remaining after winding and module in magnetic barrier gap pourable high temperature resistant non-magnet material or is not built.

6. the described cage of claim 1 hinders assembled external rotor stator electric excitation synchronous motor, it is characterized in that: the fluting form of sleeve (16) can be rectangular channel or dovetail groove.

7. the described cage of claim 1 hinders assembled external rotor stator electric excitation synchronous motor, it is characterized in that: the shape every magnetosphere can be arc magnetic barrier formula external rotor or U-shaped magnetic barrier formula external rotor.

8. the control method that cage hinders assembled external rotor stator electric excitation synchronous motor as claimed in claim 1, it is characterized in that: control mode adopts the PIMD control method to realize that cage hinders the rotating-speed tracking of assembled external rotor stator electric excitation synchronous motor, its control thought is to hinder for cage the characteristics that assembled external rotor stator electric excitation synchronous motor has uncertain parameters variation and disturbing influence, utilize negative related method thereof, eliminate the uncertain noises signal time of delay by adjusting, and introduced H _∞control strategy, and then the robustness of raising system; Be specially: adopt armature winding dq coordinate system, cage hinders the electromagnetic torque equation of assembled external rotor stator electric excitation synchronous motor and is

$T_e=\frac{3}{2}(p_p+p_c){\mathrm{\&Psi;}}_{\mathrm{dp}}{i}_{\mathrm{qc}}=J\frac{d{\mathrm{\&omega;}}_r}{\mathrm{dt}}+B{\mathrm{\&omega;}}_r+T_1---\left(1\right)$

In formula, p _pand p _cthe number of pole-pairs that means respectively armature winding and excitation winding, Ψ _dpfor the d axle component of armature winding magnetic linkage, i _qcfor the q axle component of excitation winding electric current, ω _rfor rotating speed output, J is rotor mechanical inertia, and B is the rotary damping coefficient, T _efor total electromagnetic torque, T _lfor load torque;

Laplace transformation is carried out in formula (1) both sides, and the transfer function P (s) that can obtain nominal model is

$P\left(s\right)=\frac{1}{\mathrm{Js}+B}---\left(2\right)$

The transfer function of controller can be expressed as

$K\left(s\right)=\frac{U\left(s\right)}{E\left(s\right)}=K_p+\frac{K_i}{s}-K_d{e}^{-T_{d}s}---\left(3\right)$

In formula, E(or e) be error, U(or u) be the control inputs signal, K (s) is controller, K _p, K _i, K _dfor controlling parameter, T _dfor time of delay;

Formula (3) is carried out to the Laplace inverse transformation, can obtain

$u\left(t\right)=K_{p}e\left(t\right)+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}-K_{d}e(t-T_d)$

$=(K_p-K_d)e\left(t\right)+T_d{K}_d\frac{e\left(t\right)-e(t-T_d)}{T_d}+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}---\left(4\right)$

$=K_{\mathrm{pn}}e\left(t\right)+K_{\mathrm{dn}}\&CenterDot;\frac{1}{T_d}{\&Integral;}_{t-T_d}^t\stackrel{\&CenterDot;}{e}\left(t\right)\mathrm{dt}+K_i{\&Integral;}_0^{t}e\left(t\right)\mathrm{dt}$

In formula,

the derivative of e (t) to time t; K _pn=K _p-K _d, and K _p>=K _d; K _dn=T _dk _d.

If contain a sinusoidal interference d who is caused by outside in error e (t), be

d＝Asin2πft (5)

In formula, A and f are respectively amplitude and the frequency of disturbing input d; When e (t)=d (t), by its substitution formula (4), second postpones can be write as

$\frac{1}{T_d}{\&Integral;}_{t-T_d}^t\stackrel{\&CenterDot;}{d}\left(t\right)\mathrm{dt}=\frac{A}{T_d}[\sin 2\mathrm{\&pi;ft}-\sin 2\mathrm{\&pi;f}(t-T_d)]---\left(6\right)$

If make T _d=N/f, wherein N is natural number, so

sin(2πft-2πfT _d)＝sin(2πft-2πN)

＝sin(2πft)cos(2πN)+cos(2πft)sin(2πN)

＝sin(2πft)

Formula (6) is zero,

that is to say, as T time of delay _dwhile leveling off to N/f, formula (6) levels off to zero, therefore, and by adjusting T time of delay _d, the PIMD controller can be eliminated differential term and disturb input.

9. cage according to claim 8 hinders the control method of assembled external rotor stator electric excitation synchronous motor, it is characterized in that: add weight function in PIMD controls, can be translated into H _∞control problem; If the state space form of weight function is

$W_e\left(s\right)=\left[\begin{array}{cc}{A}_e& B_e\\ C_e& D_e\end{array}\right],$ $W_u\left(s\right)=\left[\begin{array}{cc}{A}_u& B_u\\ C_u& D_u\end{array}\right]$

In formula, W _eand W (s) _u(s) be weighting function, A _e, B _e, C _e, D _e, A _u, B _u, C _u, D _ufor constant matrices;

Weight function W _e(s) be to be determined by the performance requirement of system, because the frequency of the external disturbance of system and external input signal is usually lower, for the assurance system can suppress to disturb and tracking signal accurately effectively, W _e(s) usually there is integral characteristic or high-gain low-pass characteristic, more repeatedly try to gather by emulation experiment, can obtain a preferably W _e(s) value; Weight function W _u(s) be to make system still can keep stable under the high frequency components effect having, for not increasing the order of controller, usually get W _u(s) be a constant; Weight function W _d(s) reflected load disturbing signal T _lthe effect power, usually also be taken as a constant;

System G (s) is described as

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{x}=\mathrm{Ax}+B_{1}w+B_{2}u\\ z=C_{1}x+D_{12}u\\ y=C_{2}x+D_{21}w\end{array}\right.$

$G\left(s\right)=\left[\begin{array}{ccc}A& B_1& B_2\\ C_1& 0& D_{12}\\ C_2& D_{21}& 0\end{array}\right]$

In formula, x=[x ₁x ₂x ₃] ^tfor state variable, y is observation output signal, z=[z ₁z ₂] ^tfor evaluation signal, w=T _lfor disturbing input signal, A, B ₁, B ₂, C ₁, C ₂, D ₁₂, D ₂₁for constant matrices, K=[K _pk _ik _d] be the controller that will solve; The state space of augmentation controlled device G (s) is embodied as

Hinfsyn function in recycling MATLAB software, solve controller K, repeatedly until meet H _∞the Suboptimal Design index

||LFT(G,K)|| _∞＜γ (8)

In formula, || || _∞for Infinite Norm, LFT (G, K) is the conversion of lower linear fraction, and γ is very little constant.

Images