电动舵机中永磁同步电机设计、分析与控制研究
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摘要
新一代多电以及全电飞行器中,电动舵机的应用与研究越来越多。电机作为电动舵机的功率元件,其性能好坏直接影响到电动舵机的性能优劣和可靠性程度。分数槽集中绕组永磁同步电机具有磁隔离、物理隔离、热隔离、电气隔离和大电感等优点,因而具有很强的容错能力,被广泛应用到电动舵机中,是当前电机领域研究的热点。本文对这种特殊结构的电机进行了详细的理论分析和仿真验证,主要工作和创新点如下:
首先,分析了电机容错技术和分数槽集中绕组结构,明确了设计的分数槽集中绕组永磁同步电机必须具有相间电气隔离和物理隔离,必须采用大的相电感来限制电机的短路电流,当发生短路故障时,电机有防止正常相产生的磁通和短路相的磁通相铰链的低互感,甚至没有互感。通过对比研究,找到了实现容错设计的若干规律,用于指导本文电机的设计。
其次,重点研究了一个3相12槽10极分数槽集中绕组永磁同步电机的电感和谐波。分别建立了电机的谐波漏感、激磁电感、槽口漏感和槽内漏感的数学模型,进行了详细的磁路分析和磁路计算,并通过解析法和有限元法双重验证找到的设计规则,证明了采用容错方案去设计3相12槽10极分数槽集中绕组永磁同步电机完全符合电动舵机用电机的要求。
再次,利用有限元分析软件Ansoft设计了一个3相12槽10极分数槽集中绕组永磁同步电机仿真模型,对电机模型进行了2维稳态分析和瞬态分析,再次证明了本文容错设计方案正确可行。
最后,通过对传统PWM控制策略的研究,提出了通过检测输入三相线电压来确定传统逆变器开关和矩阵变换器开关对应关系的控制算法,并研究了基于传统PWM控制策略的矩阵变换器间接控制策略,将其应用于本文分数槽集中绕组永磁同步电机的空间电压矢量控制系统,在Matlab/simulink中组建了系统各个模块的仿真模型,仿真结果显示系统控制效果良好,能够满足实际要求。
本文的研究结果具有一定的理论价值和工程价值,对研制与改进永磁同步电机设计具有一定的工程指导意义。
In the new generation of more electricity and all electricity aerocraft, the application and research about electromechanical actuator become wider. Motor as electric power components, its performance affect the performance and reliability of electromechanical actuator greatly. Fractional slot concentrated winding PMSM (Permanent Magnet Synchronous Motor), which has strong fault tolerance because of the advantages of magnetic isolation, physical isolation, thermal isolation, electrical isolation and large inductance, has been widely applied to electromechanical actuator, and become the focus of research in the current motor areas. This thesis made detail theoretical analysis and simulation to this special structure PMSM, the main work and innovation are as follows:
Firstly, the fault-tolerant technology and the structure of Fractional slot concentrated winding were analysed, the fractional slot concentrated winding permanent magnet synchronous motor must have an electrical isolation and physical isolation, and must use large motor phase inductance to limit short-circuit current. When there is a short circuit fault, the motor has a little or no mutual inductance to prevent the gemel magnetic flux between the normal phase and the short circuit phase. Through contradistinctive research, several rules of fault-tolerant design were achieved, which could guide the design of PMSM.
Secondly, the inductance and harmonic of a three-phase 12-slot 10-pole fractional slot concentrated winding PMSM were researched. The mathematical model of the motor harmonic leakage inductance, magnetizing inductance, slot leakage inductance and tank leakage inductance were established. The magnetic circuit was analyzed and computed, and these design rules were verified through the analytical method and the finite element method. The results of simulation proved that it was fully accord with the requirements of electromechanical actuator when went to design the three-phase 12-slot 10-pole fractional slot concentrated winding PMSM by this way.
Thirdly, the finite element analysis software Ansoft was used to design a three-phase 12-slot 10-pole fractional slot concentrated winding PMSM simulation model. Two-dimensional steady state analysis and transient analysis of the motor model was made.The results of simulation proved the fault-tolerant design principles were accurate and feasible again.
Finally, through the research of the traditional PWM control strategy, a control algorithm was proposed which used the input of three-phase line voltage to determine the corresponding relationship of the traditional inverter switch and switch matrix converter. The indirect control strategy of matrix converter was researched based on traditional PWM control strategy, and it was applied to the space voltage vector control system of the fractional slot concentrated winding PMSM. The simulation models of this system were established by Matlab/simulink, and the simulation results showed that the control system was effective and could meet actual requirements.
The results in this paper have some important academic and practical value, which could be used to provide reference for the research and design of PMSM.
首先,分析了电机容错技术和分数槽集中绕组结构,明确了设计的分数槽集中绕组永磁同步电机必须具有相间电气隔离和物理隔离,必须采用大的相电感来限制电机的短路电流,当发生短路故障时,电机有防止正常相产生的磁通和短路相的磁通相铰链的低互感,甚至没有互感。通过对比研究,找到了实现容错设计的若干规律,用于指导本文电机的设计。
其次,重点研究了一个3相12槽10极分数槽集中绕组永磁同步电机的电感和谐波。分别建立了电机的谐波漏感、激磁电感、槽口漏感和槽内漏感的数学模型,进行了详细的磁路分析和磁路计算,并通过解析法和有限元法双重验证找到的设计规则,证明了采用容错方案去设计3相12槽10极分数槽集中绕组永磁同步电机完全符合电动舵机用电机的要求。
再次,利用有限元分析软件Ansoft设计了一个3相12槽10极分数槽集中绕组永磁同步电机仿真模型,对电机模型进行了2维稳态分析和瞬态分析,再次证明了本文容错设计方案正确可行。
最后,通过对传统PWM控制策略的研究,提出了通过检测输入三相线电压来确定传统逆变器开关和矩阵变换器开关对应关系的控制算法,并研究了基于传统PWM控制策略的矩阵变换器间接控制策略,将其应用于本文分数槽集中绕组永磁同步电机的空间电压矢量控制系统,在Matlab/simulink中组建了系统各个模块的仿真模型,仿真结果显示系统控制效果良好,能够满足实际要求。
本文的研究结果具有一定的理论价值和工程价值,对研制与改进永磁同步电机设计具有一定的工程指导意义。
In the new generation of more electricity and all electricity aerocraft, the application and research about electromechanical actuator become wider. Motor as electric power components, its performance affect the performance and reliability of electromechanical actuator greatly. Fractional slot concentrated winding PMSM (Permanent Magnet Synchronous Motor), which has strong fault tolerance because of the advantages of magnetic isolation, physical isolation, thermal isolation, electrical isolation and large inductance, has been widely applied to electromechanical actuator, and become the focus of research in the current motor areas. This thesis made detail theoretical analysis and simulation to this special structure PMSM, the main work and innovation are as follows:
Firstly, the fault-tolerant technology and the structure of Fractional slot concentrated winding were analysed, the fractional slot concentrated winding permanent magnet synchronous motor must have an electrical isolation and physical isolation, and must use large motor phase inductance to limit short-circuit current. When there is a short circuit fault, the motor has a little or no mutual inductance to prevent the gemel magnetic flux between the normal phase and the short circuit phase. Through contradistinctive research, several rules of fault-tolerant design were achieved, which could guide the design of PMSM.
Secondly, the inductance and harmonic of a three-phase 12-slot 10-pole fractional slot concentrated winding PMSM were researched. The mathematical model of the motor harmonic leakage inductance, magnetizing inductance, slot leakage inductance and tank leakage inductance were established. The magnetic circuit was analyzed and computed, and these design rules were verified through the analytical method and the finite element method. The results of simulation proved that it was fully accord with the requirements of electromechanical actuator when went to design the three-phase 12-slot 10-pole fractional slot concentrated winding PMSM by this way.
Thirdly, the finite element analysis software Ansoft was used to design a three-phase 12-slot 10-pole fractional slot concentrated winding PMSM simulation model. Two-dimensional steady state analysis and transient analysis of the motor model was made.The results of simulation proved the fault-tolerant design principles were accurate and feasible again.
Finally, through the research of the traditional PWM control strategy, a control algorithm was proposed which used the input of three-phase line voltage to determine the corresponding relationship of the traditional inverter switch and switch matrix converter. The indirect control strategy of matrix converter was researched based on traditional PWM control strategy, and it was applied to the space voltage vector control system of the fractional slot concentrated winding PMSM. The simulation models of this system were established by Matlab/simulink, and the simulation results showed that the control system was effective and could meet actual requirements.
The results in this paper have some important academic and practical value, which could be used to provide reference for the research and design of PMSM.
引文
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[2]朱忠惠.推力矢量控制伺服系统[M].宇航出版社, 1995.
[3] Gerada Chris, Keith J Bradley. Integrated PM Machine Design for an Aircraft EMA[J]. IEEE Transactions on Industrial Electronics. 2008, 55(9): 3300-3306.
[4]骆光照.电动舵机的鲁棒控制研究[D].西安:西北工业大学, 2003.
[5] I Jones R. The More Electric Aircraft: The Past and The Future[J]. IEE Colloquium on Electrical Machines and Systems for the More Electric Aircraft. 1999, 5(24): 1-4.
[6]韩丰.基于DSP的电动舵机控制系统[D].安徽:河南科技大学, 2006.
[7] Krishman R Bharadwaj A. S. A Comparative Study of Various Motor Drive Systems for Aircraft Applications[J]. Industry Applications Society Annual Meeting. 1991, 1(4): 252-258.
[8] Briere D Traverse P. AIRBUS A320/A330/A340 Electrical Flight Controls - A family of Fault-Tolerant Systems[J]. The Twenty-Third International Symposium on Fault-Tolerant Computing. 1993: 616-623.
[9] Fronista G L Bradbury G. An Electromechanical Actuator for A Transport Aircraft Spoiler Surface[J]. Proceedings of the 32nd Intersociety Energy Conversion Engineering Conference. 1997, 1: 694-698.
[10] Gribble J J Kjaer P. C. Feasibility Study of a Large Switched Reluctance Spoiler Actuator System[J]. IEE Colloquium on All Electric Aircraft. 1998, 23(11): 1-13.
[11] Ohyama Kazuhiro, Asher Greg M., Sumner Mark. Comparative Analysis of Experimental Performance and Stability of Sensorless Induction Motor Drives[J]. IEEE Transactions on Industrial Electronics. 2006, 53(1): 178-186.
[12] Atallah K Maxwell C. Permanent Magnet Brushless Drives for Aircraft Flight Control Surface Actuation[J]. IEE colloq. on all-electric aircraft. 1999, 1(7): 1-5.
[13] E Lyshevski S. Nonlinear Control of Servo - Systems Actuated by Permanent-Magnet Synchronous Motors[J]. Automatica. 1998, 34(10): 1231-1238.
[14] Atkinson G. J., Mecrow B. C., Jack A. G. The Design of Fault Tolerant Machines for Aerospace Applications[J]. IEEE International Conference on Electric Machines and Drives. 2005: 1863-1869.
[15] Jensen S C Jenney G. D. Dawson. Flight Test Experience with An Electromechanical Actuator on the F-18 Systems Research Aircraft[J]. The 19th Digital Avionics Systems Conferences. 2000, 1(14): 1-10.
[16] Byington C S Watson M. A Model-Based Approach to Prognostics and Health Management forFlight Control Actuators[J]. IEEE Aerospace Conference Proceedings. 2004, 6: 3551-3562.
[17] Atenaten M Whitley C. Towers G. Dynamic Performance of A Matrix Converter Driven Electro-Mechanical Actuator for An Aircraft Rudder[J]. Second International Conference on Power Electronics, Machines and Drives. 2004(1): 326-331.
[18] Cistelecan M. V., Popescu Mircea, Popescu Mihail. Study of the Number of Slots/Pole Combinations for Low Speed Permanent Magnet Synchronous Generators[J]. IEEE International Electric Machines & Drives Conference. 2007, 2: 1616-1620.
[19] Yanliang Xu, Yuanyuan Sun. Fractional-Slot Low Speed Large Torque Permanent Magnet Brushless Motors[J]. IEEE Conference on Industrial Electronics and Applications. 2009: 3565-3569.
[20] El-Refaie Ayman M., Jahns Thomas M. Scalability of Surface PM Machines with Concentrated Windings Designed to Achieve Wide Speed Ranges of Constant-Power Operation[J]. IEEE International Conference on Electric Machines and Drives. 2005: 1703-1709.
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