Research On Decoupling Control And Disturbance Rejection Of Outer Rotor Coreless Bearingless Permanent Magnet Synchronous Motor

A bearingless permanent magnet synchronous motor is defined as a special motor,comparing with the ordinary permanent magnet synchronous motor,a set of suspension force winding that can realize the magnetic bearing effect of the rotor is added,so that the rotor can achieve the effect of running without bearings support and realize the stable suspension.As the electric vehicle battery and flywheel energy storage technology is fast developing,it is very important to provide the carrier of mechanical energy and electric energy conversion.In order to meet the needs of environmental changes,we propose a BPMSM which rotor is outside of the motor and coreless(ORC-BPMSM).Because the motor is bearingless,it achieves high output torque,high efficiency,low loss,and excellent maintenance-free performance in complex working conditions.In this dissertation,using the ORC-BPMSM,the working principle,mathematical model,decoupling control,disturbance inhibitory control,and digital control system are studied.The main works and the result through the dissertation are as follows:(1)Stating the basic structure of the ORC-BPMSM in the order from outside to inside,how the electromagnetic force inside the ORC-BPMSM is generated and acts is analyzed,and the principle of the generation of the levitation force is further elucidated.Since the motor is subject to rotor eccentricity during operation,the model of math of torque and radial force is stated on this basis.(2)In order to decouple the control system,we use least squares support vector machine(LS-SVM)generalized inverse to build the control method,for ORC-BPMSM multivariable,nonlinear,and strong coupling between torque and radial displacement.Firstly,based on the existing mathematical model,the invertibility analysis is performed to prove that the ORC-BPMSM is invertible.Then the LS-SVM is trained with parameters to identify the generalized inverse system of the ORC-BPMSM and the original system connect after the system to form three pseudo-linear systems.Then,the closed-loop controller is designed to improve the stability and robustness of the pseudo-linear system.Finally,the decoupling control model of LS-SVM generalized inverse is constructed,and the method is verified to have excellent decoupling characteristics between torque and radial displacement,and between radial displacement by simulating the simulation model and conducting a comprehensive and effective analysis of the simulation results.(3)In response to the internal and external disturbances of the ORC-BPMSM due to long operation,which affect the motor rotor,a closed-loop controller is proposed to be designed using self-anti-disturbance control,which is used to suppress the motor rotor disturbances.Firstly,the history and basic structure of ADRC are explained,then the principles of the three modules inside ADRC are introduced,then the speed disturbance and suspension force disturbance suppressors are designed and parameterized to replace the PID controller in the original system,and finally the simulation model of the replaced closed-loop controller is simulated and tested,and the analysis of the test results shows that the method can effectively enhance the disturbance suppression of the system The analysis of the test results shows that the method can effectively enhance the disturbance suppression power of the machine.(4)The digital control system design of ORC-BPMSM is divided into hardware system design and software system design.The hardware system is divided into DSP minimum system board,power drive board and interface circuit.Software system design is divided into master programming and interrupt subroutine design.Finally,the relevant control experiments were conducted on the experimental platform.The effectiveness of the control strategy used was verified.