异向旋转双转子永磁电机研究
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摘要
异向旋转双转子永磁电机具有单输入的电端口和两个独立的机械输出口，运用于水下航行器对转螺旋桨推进系统中，能够简化推进系统的结构、减小体积、降低重量和成本，而且没有电刷滑环，运行更加安全可靠，因而受到关注。国内外对该种电机的研究尚处于起步阶段。针对目前缺乏该种电机系统的分析理论与设计方法的研究现状，在国家自然科学基金项目和辽宁省高校优秀人才支持计划项目的资助下，从电机的基本电磁关系出发，开展了以下研究工作。
首先，异向旋转双转子永磁电机是一种新型结构电机，与传统电机结构有很大不同，提出了同速异向旋转的单输入电端口双输出机械端口电机的机电能量转换机理和功率转换关系。针对该种电机的定子和两个转子之间是由两个异向旋转磁场耦合的特点，建立了该种电机统一的等效磁路模型。根据磁力线不能交叉及最小磁阻路径原理，建立了半闭口槽大气隙面贴式永磁电机极间漏磁解析计算模型，有限元验证了理论推导的有效性。
其次，为了满足驱动对转螺旋桨的内、外转子永磁电机单元具有相同或相似的功角特性，提出了该种电机的电磁设计思路和原则。采用有限元分析方法，建立了异向旋转双转子永磁电机二维有限元模型。分析了电机在空载、额定负载及过载等情况下的磁场，研究了永磁体分片对电机的影响。深入分析了该种电机的定子铁心磁场的分布、电感、反电动势和转矩等参数。为了削弱由于内、外转子永磁之间相互吸引和排斥的转矩，提出在定子铁心轭部中间引入不导磁的隔磁环方法。
第三，针对异向旋转双转子永磁电机中定子紧固件是铁心磁路的一部分，从机械和电磁方面分别分析了定子紧固件对该种结构电机的影响。机械方面：从定子紧固件材料的选取，与端盖配合以及定子受力三方面考虑。电磁方面：深入分析了定子紧固件导磁与不导磁及内、外转子相对初始位置对磁场、反电动势、转矩等方面的影响。
第四，基于傅立叶变换和分离变量法，提出了一种用于分析面贴式双转子永磁电机的空载磁场的解析方法。模型在二维极坐标下建立，考虑了任意极槽配合，径向/平行充磁。为了准确计算磁场分布和齿槽转矩，直接利用边界条件来考虑定子槽的影响。通过转子转动，得出槽口区域磁场变化，同时准确估计该种电机的齿槽转矩和反电动势。
第五，通过坐标变换及电流相等的约束关系，将内、外转子永磁电机单元统一到同一d-q坐标系下，并建立了单输入电端口双机械输出端口电机的数学模型。分析了内、外转子永磁电机单元的反电动势大小对电机运行特性的影响。借助MATLAB软件开发了异向旋转双转子永磁电机的电磁设计及特性仿真CAD软件。
最后，在上述理论研究的基础上，提出了一种可靠保证中间定子与内、外双转子同心和稳定运行的双机械口电机机械结构方案。研制了一台11kW的6极试验样机，通过试验与仿真结果的对比，部分验证了该种电机理论分析和设计方法的正确性，为进一步深入研究该种电机奠定了理论和技术基础。
Counter-rotating Dual Rotors Permanent-magnet Machine (CDRPM) hascharacteristics of single electrical port input and dual mechanical ports output, which canbe applied to anti-rotation propeller propulsion system of underwater vehicle, since it cansubstantially simplify system structure, decrease volume, reduce mass and cost, moreover,improve reliability without brush and slip-ring. Study on CDRPM is still at an elementarystage at home and abroad due to lack of analysis theory and design method about this kindof machine. The systemic research works are done from the starting of the basicelectromagnetic relationship under the supports by National Natural Science Foundation ofChina and Program for Liaoning Excellent Talents in University.
Firstly, in comparison with conventional machine, CDRPM is a new structure. Thebasic electromagnetic relationship and principle of electromechanical energy conversionabout CDRPM are proposed; in view of two counter-rotating main magnetic fieldsgenerated by dual rotors, a unified equivalent magnetic circuit is established. According tothe magnetic field lines can not cross and the minimum reluctance path principle, thecalculation model of interpolar leakage fluxes of semi-closed slot large airgap surfacepermanent magnet machine is established and its validity is verified through the finiteelement method (FEM).
Secondly, the idea and principle of electromagnetic design are provided in order tomeet power angle characteristic corresponding to uniform or similar between Inner RotorPermanent-magnet Machine Unit (IRPMU) and Outer Rotor Permanent-magnet MachineUnit (ORPMU). Two-dimensional finite element model is established by FEM. Magneticfield under no load, rated load and overload is presented, respectively. The study of impactof permanent magnet segmenting on the air-gap magnetic field is done. Magnetic fielddistributions of the stator core, inductance, electromotive force (EMF) and torque are analyzed. The torque ripple of the inner and outer permanent magnet attraction andrepulsion between the rotors is reduced by introducing magnetic barrier ring.
Thirdly, in view of stator fastener is the part of the magnetic circuit, influence analysisof the stator fasteners is completed both mechanical and electromagnetic aspects. Inmechanical aspects, the stator fasteners material selection, end caps combining and thestator forces are considered. In electromagnetic aspects, the magnetic field distribution,EMF and torque are analyzed when the stator fastener is magnetic carbon steel ornon-magnetic stainless steel, and effects of the inner and outer rotor relative initial positionis also analyzed.
Fourth, based on fourier transform and the method of separating variables, ananalytical solution for computation the no-load magnetic field in the CDRPM is presented.The analytical solution is based on two-dimensional analysis in polar coordinates andaccounts for the influence of any pole and slot combinations, radial/parallel magnetization.In order to accurately calculate the magnetic field and cogging torque, the boundaryconditions is used to consider the stator slotting effect. The magnetic field change of notchregion is acquired by rotor rotation, while cogging torque and EMF of CDRPM areestimated.
Fifth, a unified to the same d-q coordinate system by coordinate transformation andthe same current constraints between IRPMU and ORPMU, then, the mathematic model ofmachine with single electric port and dual mechanical ports is established. the influence onoperation characteristic of CDRPM because of the no-load EMFs induced by magnets oninner and outer rotors is analyzed. CAD software package about electromagnetic designand operating characteristics program of CDRPM is achieved by MATLAB.
Finally, based on theoretical research above, new mechanical structure scheme isproposed to guaranteed concentricity of inner rotor-stator-outer rotor and stable operation.An 11kW 6-poles prototype of CDRPM is manufactured, and carried out experimentsresearch. Correctness and feasibility of theoretical analysis and design method are partlyverified through the comparison of experiment result and simulation, foundation of theoryand technology is laid on further research on this kind of machine.
首先，异向旋转双转子永磁电机是一种新型结构电机，与传统电机结构有很大不同，提出了同速异向旋转的单输入电端口双输出机械端口电机的机电能量转换机理和功率转换关系。针对该种电机的定子和两个转子之间是由两个异向旋转磁场耦合的特点，建立了该种电机统一的等效磁路模型。根据磁力线不能交叉及最小磁阻路径原理，建立了半闭口槽大气隙面贴式永磁电机极间漏磁解析计算模型，有限元验证了理论推导的有效性。
其次，为了满足驱动对转螺旋桨的内、外转子永磁电机单元具有相同或相似的功角特性，提出了该种电机的电磁设计思路和原则。采用有限元分析方法，建立了异向旋转双转子永磁电机二维有限元模型。分析了电机在空载、额定负载及过载等情况下的磁场，研究了永磁体分片对电机的影响。深入分析了该种电机的定子铁心磁场的分布、电感、反电动势和转矩等参数。为了削弱由于内、外转子永磁之间相互吸引和排斥的转矩，提出在定子铁心轭部中间引入不导磁的隔磁环方法。
第三，针对异向旋转双转子永磁电机中定子紧固件是铁心磁路的一部分，从机械和电磁方面分别分析了定子紧固件对该种结构电机的影响。机械方面：从定子紧固件材料的选取，与端盖配合以及定子受力三方面考虑。电磁方面：深入分析了定子紧固件导磁与不导磁及内、外转子相对初始位置对磁场、反电动势、转矩等方面的影响。
第四，基于傅立叶变换和分离变量法，提出了一种用于分析面贴式双转子永磁电机的空载磁场的解析方法。模型在二维极坐标下建立，考虑了任意极槽配合，径向/平行充磁。为了准确计算磁场分布和齿槽转矩，直接利用边界条件来考虑定子槽的影响。通过转子转动，得出槽口区域磁场变化，同时准确估计该种电机的齿槽转矩和反电动势。
第五，通过坐标变换及电流相等的约束关系，将内、外转子永磁电机单元统一到同一d-q坐标系下，并建立了单输入电端口双机械输出端口电机的数学模型。分析了内、外转子永磁电机单元的反电动势大小对电机运行特性的影响。借助MATLAB软件开发了异向旋转双转子永磁电机的电磁设计及特性仿真CAD软件。
最后，在上述理论研究的基础上，提出了一种可靠保证中间定子与内、外双转子同心和稳定运行的双机械口电机机械结构方案。研制了一台11kW的6极试验样机，通过试验与仿真结果的对比，部分验证了该种电机理论分析和设计方法的正确性，为进一步深入研究该种电机奠定了理论和技术基础。
Counter-rotating Dual Rotors Permanent-magnet Machine (CDRPM) hascharacteristics of single electrical port input and dual mechanical ports output, which canbe applied to anti-rotation propeller propulsion system of underwater vehicle, since it cansubstantially simplify system structure, decrease volume, reduce mass and cost, moreover,improve reliability without brush and slip-ring. Study on CDRPM is still at an elementarystage at home and abroad due to lack of analysis theory and design method about this kindof machine. The systemic research works are done from the starting of the basicelectromagnetic relationship under the supports by National Natural Science Foundation ofChina and Program for Liaoning Excellent Talents in University.
Firstly, in comparison with conventional machine, CDRPM is a new structure. Thebasic electromagnetic relationship and principle of electromechanical energy conversionabout CDRPM are proposed; in view of two counter-rotating main magnetic fieldsgenerated by dual rotors, a unified equivalent magnetic circuit is established. According tothe magnetic field lines can not cross and the minimum reluctance path principle, thecalculation model of interpolar leakage fluxes of semi-closed slot large airgap surfacepermanent magnet machine is established and its validity is verified through the finiteelement method (FEM).
Secondly, the idea and principle of electromagnetic design are provided in order tomeet power angle characteristic corresponding to uniform or similar between Inner RotorPermanent-magnet Machine Unit (IRPMU) and Outer Rotor Permanent-magnet MachineUnit (ORPMU). Two-dimensional finite element model is established by FEM. Magneticfield under no load, rated load and overload is presented, respectively. The study of impactof permanent magnet segmenting on the air-gap magnetic field is done. Magnetic fielddistributions of the stator core, inductance, electromotive force (EMF) and torque are analyzed. The torque ripple of the inner and outer permanent magnet attraction andrepulsion between the rotors is reduced by introducing magnetic barrier ring.
Thirdly, in view of stator fastener is the part of the magnetic circuit, influence analysisof the stator fasteners is completed both mechanical and electromagnetic aspects. Inmechanical aspects, the stator fasteners material selection, end caps combining and thestator forces are considered. In electromagnetic aspects, the magnetic field distribution,EMF and torque are analyzed when the stator fastener is magnetic carbon steel ornon-magnetic stainless steel, and effects of the inner and outer rotor relative initial positionis also analyzed.
Fourth, based on fourier transform and the method of separating variables, ananalytical solution for computation the no-load magnetic field in the CDRPM is presented.The analytical solution is based on two-dimensional analysis in polar coordinates andaccounts for the influence of any pole and slot combinations, radial/parallel magnetization.In order to accurately calculate the magnetic field and cogging torque, the boundaryconditions is used to consider the stator slotting effect. The magnetic field change of notchregion is acquired by rotor rotation, while cogging torque and EMF of CDRPM areestimated.
Fifth, a unified to the same d-q coordinate system by coordinate transformation andthe same current constraints between IRPMU and ORPMU, then, the mathematic model ofmachine with single electric port and dual mechanical ports is established. the influence onoperation characteristic of CDRPM because of the no-load EMFs induced by magnets oninner and outer rotors is analyzed. CAD software package about electromagnetic designand operating characteristics program of CDRPM is achieved by MATLAB.
Finally, based on theoretical research above, new mechanical structure scheme isproposed to guaranteed concentricity of inner rotor-stator-outer rotor and stable operation.An 11kW 6-poles prototype of CDRPM is manufactured, and carried out experimentsresearch. Correctness and feasibility of theoretical analysis and design method are partlyverified through the comparison of experiment result and simulation, foundation of theoryand technology is laid on further research on this kind of machine.
引文
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