Nonlinear Feedback Control of a Bearingless Brushless DC Motor

The demands on bearingless drive configurations concerning performance as well as costs are high. The proposed bearingless brushless dc motor consists of five concentrated coils in a symmetrical arrangement, which generate radial forces and motor torque simultaneously in interaction with a permanent-magnet-excited disk-shaped rotor. Additionally, tilting deflection and the axial position of the rotor are stabilized passively by means of magnetic reluctance forces. Thus, system costs can be reduced significantly compared to a conventional bearingless motor setup, which actively stabilizes all 6 DOF. Due to the nonlinearity of the plant, the use of linear control design methods alone is not suitable for achieving a high operation performance. This paper introduces a novel radial position and motor torque control algorithm for a bearingless brushless dc motor based on the theory of feedback linearization. Thereby, the combined model of translatory and rotatory dynamics can be split into independent linear systems by means of a nonlinear change of system coordinates and a static-state feedback. Experimental results demonstrate the effectiveness of the proposed approach.      

一种具有容错功能的无轴承薄片电机的原理及其实现

本文研究了一种可以实现容错功能的无轴承薄片电机的工作原理和结构设计。详细推导了当无轴承薄片电机在采用单绕组结构并采用定子绕组电流功率最优约束下的径向悬浮力和转矩的数学模型,并由此推导出了电机在绕组完整和绕组故障时的不同定子电流模型,同时给出了相应的控制策略和样机系统设计。实验样机调试结果表明：采用单绕组结构的无轴承薄片电机成功实现了转子在径向、轴向和扭转方向上的5自由度全悬浮。     

基于有限元分析的直流电机控制策略

无轴承无刷直流电机集成了直流和交流电机的优点,具有重要的实际应用价值,针对传统悬浮力控制方法存在工作复杂、逆变器通断频繁等缺陷,为了提高磁悬浮力的控制效果,提出了基于有限元分析的无轴承无刷直流电机悬浮力控制策略。首先对无轴承无刷直流电机的结构以及悬浮力产生的原理进行了分析,然后采用有限元分析法对电机转矩和悬浮力进行计算,从而实现无轴承无刷直流电机控制,最后采用Matlab/Simulink工具对其性能进行测试与验证。结果表明,本文策略可以提高转子悬浮的稳定性,能够保证无轴承无刷直流电机的正常运行。     

图解分析法讲解无轴承电机磁悬浮控制原理

在回顾电机中的洛伦兹力和麦克斯韦力基础上,本文通过理论解析介绍了无轴承电机产生稳定径向悬浮力的基本条件。笔者以二极悬浮控制四极无轴承电机为例,针对几个典型时刻产生出的径向磁悬浮力,对无轴承电机磁悬浮控制原理进行了图解分析。教学实践表明,采用本文解析推导和图解分析相结合的讲解方法,便于快速且深入地理解掌握无轴承电机这种新型电机的基本工作原理。     

Regelung von Tangential- und Radialkräften in bürstenlosen permanentmagneterregten Motoren

Electrical drives for pumps or blowers, which are exposed to abrasive media or which must operate absolutely free of wear and tear are hardly feasible with conventional bearings. As a possible alternative to conventional sliding or roller bearings a bearingless motor may be used. In this paper a control scheme for bearingless motors with permanent magnet excitation is presented. This scheme can help reduce the complexity of the power amplifier substantially. Especially, when the motor is operated in conjunction with a voltage source inverter it is possible to observe the state variables by means of a mathematical model, thus measurement of the phase currents is no longer necessary. Control of the radial rotor position, however, requires a nonlinear controller design.     

One-axis hysteresis motor driven magnetically suspended reaction sphere

This paper presents the design, modeling, control, and experimental results for a one-axis magnetically suspended reaction sphere (1D-MSRS) driven by a hysteresis motor. The goal of this work is twofold: (a) to conduct a preliminary study for magnetically suspended reaction sphere for three-axis spacecraft attitude control, and (b) study the potential of hysteresis motors for the reaction wheel/sphere drives. The 1D-MSRS uses a hysteresis motor with a spherical rotor made of solid steel. The rotor sphere is magnetically suspended in all translational directions, and is driven about the vertical axis by a bearingless hysteresis motor. We present the modeling and control of the magnetic suspension of the bearingless motor in the 1D-MSRS, and the hysteresis motor dynamics are analyzed by a hysteresis motor equivalent circuit model. The 1D-MSRS system has experimentally demonstrated a starting torque of 8.9 mNm under 0.7 A peak sinusoidal excitation current. With this excitation the sphere can run up to 12,000 rpm synchronously in the presence of air drag. This study demonstrates that the hysteresis motor has strong potential for use in high-speed, low-vibration reaction wheels.     

Speed sensorless control of a bearingless induction motor with combined neural network and fractional sliding mode

To address the problem of speed and flux observation in sensorless control of a bearingless induction motor under the influence of parameter changes and external disturbances, a speed sensorless control strategy combining radial basis function (radial basis function, RBF) neural network and fractional sliding mode is proposed. According to the current error, fractional sliding mode control rate is designed to reduce the speed-observed chatter of the bearingless induction motor and its adverse effect on the rotor suspension stability. Then, combined with the theory of RBF neural network, the new optimal control rate is obtained by using its approximation ability. At the same time, the stability of two control rate is proved. Thus, the flux linkage and speed under normal operation, parameter change and external disturbance are observed and the new speed sensorless control is realized. The simulation and experimental results show that the proposed joint RBF neural network approximation algorithm and fractional sliding mode speed sensorless control system of the bearingless induction motor can not only effectively identify the flux and speed under three conditions of no-load, load disturbance and speed change, but also ensure the good suspension of the motor rotor in the x-axis and y-axis directions.     

CMP抛光液供给及分布系统的研究

从整体结构及硬件设计方面介绍了小批量生产及隔膜泵系统,分析隔膜泵的工作原理,循环机理及硬件控制和驱动电路,同时指出在湿度较大的生产厂里面产生的漂移及解决措施;从整体结构分析集中式抛光液供给系统,分析其抛光液混合中心具备的温度控制、无轴承磁悬浮泵工作机理及循环机制;对比隔膜泵与无轴承磁悬浮泵对颗粒凝聚的影响,并分析这种系统适用范围。     

A novel bearingless interior permanent magnet slice motor driven blood pump

A 2-pole bearingless interior permanent magnet (IPM) motor with slice rotor configuration is presented in this paper. A novel IPM rotor is designed considering direct and indirect operational specifications such as force constant, torque constant, axial/radial stiffness and cogging torque. Cogging torque and its resulting vibrations affect motor and levitation operation significantly. Hence, various rotor configurations are simulated using the finite element method to develop a topology that minimizes these phenomena. The final topology is tested for closed-loop levitation and speed control. The motor is also tested for its intended application as a blood pump. A mock circulatory loop is developed to measure the performance of the pump. The simulation results, experimental control system performance and pump performance results are shown and explained in the paper.     

Design and analysis of a novel wound rotor for a bearingless induction motor

The traditional squirrel-type bearingless induction motor (BIM) suspension winding generates induced current in its squirrel-cage rotor and affects the phase and amplitude of the suspension force. Based on the analysis of the spatial distribution of torque winding magnetic field and suspension winding magnetic field, a new type of wound rotor BIM is designed. Different from the squirrel-cage rotor, the wound rotor uses a special method of embedding a set of coils at any symmetrical four rotor slot positions, so as to only induce the torque winding magnetic field. The induced current, air-gap magnetic density, magnetic field line distribution, suspension force as well as electromagnetic torque of the traditional squirrel-cage motor and the new wound motor are analysed by Maxwell finite element calculation. The results show that the designed new wound BIM can not only effectively suppress the induced current of suspension winding, eliminating its influence on the suspension force, but also has a better starting performance.     

Performances of bearingless and sensorless induction motor drive based on mutual inductances and rotor displacements estimation

A self-sensing bearingless motor is considered as an effective solution to reduce cost and shorten a shaft length. In this paper, a novel estimation method of a rotor displacement is proposed. The method is based on the detection of currents induced by mutual inductances, which vary as a function of the rotor displacements. A high-frequency carrier voltage is superimposed on a motor main terminal voltage. The induced carrier-frequency current component is distinguished from the suspension-winding current. The carrier signal is selected high enough to suspension-current components. However, the carrier current is disturbed in transient conditions. The disturbed current results in a vibration of the estimated rotor displacements. A suspension-current estimator is proposed to reduce this vibration and to obtain the difference between the detected current and the estimated current. As a result, the disturbance vibration is significantly reduced. It is shown that a successful magnetic suspension is realized with the proposed method.     

Robust Angle-Sensorless Control of a PMSM Bearingless Pump

In the semiconductor industry, where bearingless pump systems are employed as the state-of-the-art technology, the trend goes toward higher fluid temperatures (150 $^{circ}hbox{C}$ and more) in order to further increase process efficiency. This fact translates into the requirement of a high-temperature bearingless pump system and/or the elimination of thermal-critical components such as Hall sensors. This paper introduces a new method for a hall-sensorless control of a permanent-magnet synchronous machine bearingless pump in its operating range from 0 to 8000 r/min and from zero load to full load. The sensorless operation is performed by the following three novel control functionalities: a controlled startup routine, enabling a sure levitation and zero-angle setting; an open-loop angle estimation based on stator voltage and stator current measurement and known machine parameters; and an angle synchronization establishing a robust operation of the pump in the whole operating range even for a large machine parameter drift. In particular, considering the temperature degrading of the permanent-magnet flux density, the novel robust control concept is of great benefit for bearingless pump systems employed in high-temperature applications.      

关于讲解"无轴承电机径向悬浮力"

本文在回顾电机中的洛伦兹力和麦克斯韦力基础上,通过介绍无轴承电机基本结构,径向悬浮力产生机理和悬浮力系统的运动方程等来讲解无轴承电机的径向悬浮力,并且介绍了教学过程中的实践经验。通过采用本文的讲解方法,学生易于理解和掌握无轴承电机的结构和径向悬浮力产生原理。     

Independent Control of Average Torque and Radial Force in Bearingless Switched-Reluctance Motors With Hybrid Excitations

Radial force and torque are the control objectives that determine the machine performance of levitation and rotation in a bearingless switched reluctance motor (BSRM). This paper proposes a control scheme for rotating and levitating a 12/8 BSRM. The motor average torque and radial force are independently controlled with hybrid excitations in main windings and levitation windings. First, the mathematical relationship between radial force and currents, which is utilized in this paper, is derived by using the Maxwell stress tensor method. Then, the proposed control scheme is analyzed. The average torque of each phase generated in the levitation region equals zero for its symmetry of the aligned position. Accordingly, the current calculating algorithm is deduced to minimize the magnitude of instantaneous torque in the levitation region. The principle and realization of the proposed scheme are demonstrated with finite-element (FE) analysis. Experimental results show that the proposed scheme is effective for a stable levitation.      

Speed-sensorless control system of a bearingless induction motor based on iterative central difference Kalman filter

ABSTRACT

In order to obtain speed self-detecting with low cost for a bearingless induction motor (BIM) a speed-sensorless control strategy based on the iterative central difference Kalman filter (ICDKF) is proposed. Firstly, on the basis of the BIM mathematical model, the nonlinear state equation is established and its order is reduced from fifth-order to fourth-order using the stator terminal voltage and current as input. Then, a sterling interpolation formulation is used in the filter to reduce the model error, and an iteration loop link is adopted to improve the filter accuracy. Finally, the online speed of the BIM is identified through the filter rotor speed estimation. Theoretical analysis, simulation and experimental results by UKF and CDKF method have been compared. The results show that the proposed speed-sensorless control system not only has good speed tracking performance and reduce the load disturbance but also improves the BIM suspension performance.     

Voltage stress on induction motors in medium-voltage (2300-6900-V)PWM GTO CSI drives

In order to reduce the cost and improve the efficiency of medium-voltage induction motor drives, it is desirable that no power transformers be used. The GTO current source inverter (CSI) drive can achieve this requirement. However, the transformerless design of the drive may introduce a high-voltage stress on motor windings, which may deteriorate the motor insulation life. In this paper, the line-to-ground and neutral-to-ground voltages of the motor fed by the GTO CSI are investigated. It is demonstrated that the maximum line-to-ground voltage applied to the motor could be twice as high as the motor-rated phase voltage. Computer simulation and experimental results from a 4000 V, 1250 HP drive are given to verify the theoretical analysis. The effects of DC link choke arrangement on the motor voltage stress are also discussed. This paper provides a valuable design guidance for the insulation of medium-voltage motors used in the GTO CSI drives     

Pulsating torque minimization techniques for permanent magnet ACmotor drives-a review

Permanent magnet AC (PMAC) motor drives are finding expanded use in high-performance applications where torque smoothness is essential. This paper reviews a wide range of motor- and controller-based design techniques that have been described in the literature for minimizing the generation of cogging and ripple torques in both sinusoidal and trapezoidal PMAC motor drives. Sinusoidal PMAC drives generally show the greatest potential for pulsating torque minimization using well-known motor design techniques such as skewing and fractional slot pitch windings. In contrast, trapezoidal PMAC drives pose more difficult trade-offs in both the motor and controller design which may require compromises in drive simplicity: and cost to improve torque smoothness. Controller-based techniques for minimizing pulsating torque typically involve the use of active cancellation algorithms which depend on either accurate tuning or adaptive control schemes for effectiveness. In the end, successful suppression of pulsating torque ultimately relies on an orchestrated systems approach to all aspects of the PMAC machine and controller design which often requires a carefully selected combination of minimization techniques     

凸极转子无轴承同步磁阻电机悬浮机理和发展趋势

介绍凸极转子无轴承同步磁阻电机的结构优点和应用领域，简述无轴承同步磁阻电机的转子悬浮原理，分析研究无轴承同步磁阻电机中的麦克斯韦力和洛伦兹力，最后总结无轴承同步磁阻电机关键技术的发展趋势。．     

永磁体助磁的单相双凸极电机优化设计

针对永磁体助磁的单相双凸极电机优化设计问题开展了研究,推导出电机理想运行工况下的基本方程,并结合开关磁阻电机的设计原则总结出该电机的设计步骤。文中采用锥形气隙实现电机的自起动,然后利用总结的设计步骤设计了一台额定功率45 W,额定转速2 000 r·min^-1的永磁体助磁的单相双凸极电机。通过仿真计算电机主要结构参数对效率和齿槽转矩的影响并归纳出其规律性,为电机优化提供了参考。文中讨论了锥形气隙比率与电机起动能力的关系,并利用田口实验设计方法对电机进行了优化。优化后电机效率为89.86%,相比优化前提高了4.46%,证明了电机设计及优化的有效性。     

单相无刷直流电机的设计分析与建模仿真

文中针对单相无刷直流电机结构设计及驱动方式展开研究,推导出电机理想工况下的基本方程,根据工程实际需求并结合无刷直流电机的设计原则确定该电机的设计方案。利用设计方案设计一台额定功率38 W,额定转速750 rpm的单相无刷直流电机,并分析了渐变气隙对电机起动性能和齿槽转矩的影响,确定了最优气隙长度。通过对比单极性绕组和双极性绕组形式的优缺点确定绕组形式,结合传统电机设计公式确定绕组匝数。文中利用有限元法初步验证了设计方案的合理性。根据电机动态数学模型在Simulink环境中搭建了电机系统的模型,仿真得到电机的转速、转矩变化曲线,结果与理论分析吻合良好,验证了电机设计方案的合理性和电机模型的有效性。