单霍尔故障下无轴承永磁薄片电机径向位移容错检测研究

doi:10.19595/j.cnki.1000-6753.tces.230961

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摘要

由于人工无轴承心脏泵要求微型化,所以心脏泵系统不能采用大体积的电涡流传感器来采集径向位移信息。基于霍尔测径向位移的无轴承永磁薄片电机采用霍尔同时辨识转角和径向位移,大幅降低系统体积。霍尔输出信号直接影响无轴承电机悬浮性能,当单个霍尔传感器故障时,由于缺失一相磁链导致电机失浮。为了提高基于霍尔测径向位移的无轴承永磁薄片电机容错能力,本文针对单霍尔传感器故障时角度和径向位移信息会重新耦合难以高精度分离问题,提出基于谐波补偿的霍尔磁链重构算法。首先,采用磁链重构思想,利用剩余非故障霍尔重构用于解算径向位移的一相磁链;然后,对上述重构磁链中不偏心三次谐波进行补偿,并构建霍尔矫正表求解径向位移。最后搭建实验平台,通过仿真和实验验证了所提算法的准确性。

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关键词 ：无轴承永磁薄片电机, 径向位移, 霍尔传感器, 容错控制, 谐波补偿

Abstract：

In order to implement the displacement closed-loop control in the traditional bearingless permanent magnet slice motor system, high precision displacement sensors are required. Currently, bearingless permanent magnet slice motors are controlled by eddy current sensors, however, the volume of the sensor probe has increased, increasing the bearingless motor's axial and radial dimensions. Eddy current sensors cannot meet the accuracy and integration requirements of artificial heart pumps due to their large volume. According to the idea of Hall integrated dual-use, the angle and radial displacement can be identified simultaneously, reducing the volume of the artificial heart pump greatly.
As the Hall signal provides both angle information as well as radial displacement information, the health status of Hall directly influences the bearingless motor's suspension reliability. In the case of a single Hall fault, taking Hall₁ as an example, considering the third harmonic caused by the permanent magnet processing, the third harmonic coefficient was calculated, and the expression of single Hall output signal considering permanent magnet excitation, torque current excitation and suspension current excitation was derived.
Secondly, the Hall flux linkage reconstruction algorithm was proposed, which used the remaining five non-faulty Hall output signals to obtain the non-eccentric basic flux linkage, and subtracted the non-eccentric basic flux linkage from twice the Hall output signal that was opposite to the mechanical position of the faulty Hall to obtain the expression of the reconstructed flux linkage. Finally, the reconstructed flux linkage was compensated for the third harmonic, and the Hall signal correction table under Hall fault was constructed. The radial displacement was calculated by using the negative sequence demodulation method. The three-phase radial displacement flux linkage was projected onto a pair of poles to synthesize the magnetic field, which achieved the decoupling of angle and radial displacement and obtained the radial displacement information.
Finally, the platform of bearingless permanent magnet slice motor was built, and the stable suspension of the bearingless motor under Hall₁ fault was realized in static, steady state and transient state. Among them, the radial displacement fluctuation of static suspension did not exceed 80μm. The angle identification error of steady state suspension at 5000r/min did not exceed 9°, the α radial displacement error did not exceed 0.06mm, and the β radial displacement error did not exceed 0.08mm. When the speed changed from 0 to 3000r to 6000r/min, the switching dynamic time of the transient suspension speed was less than 1s, and the speed did not jitter obviously.
Through theoretical and experimental analysis, the following conclusions can be obtained: 1) In the case of a single Hall fault, the reduction of Hall output signal leads to the lack of one-phase radial displacement flux linkage in displacement calculation, resulting in the recoupling of system angle and radial displacement information. 2) The Hall flux linkage reconstruction algorithm reconstructs and compensates the third harmonic for the Hall flux linkage in the case of a single Hall fault, improving the reliability and fault tolerance of the bearingless motor. It can be used as a fault-tolerant scheme of artificial heart pump to improve the stability of extracorporeal blood circulation.

Key words： Bearingless permanent magnet slice motor radial displacement hall sensor fault tolerant control harmonic compensation

PACS:

TM351

基金资助:

国家自然科学基金项目(51977107),航空科学基金(2020HKZ0001),江苏省重点研发项目(PCA21001)和南京航空航天大学科研与实践创新计划(xcxjh20220345)资助项目

通讯作者: 王宇男,1982年生,副教授,硕士生导师,研究方向为交流电机本体及其控制。E-mail：wanghaohao@nuaa.edu.cn

作者简介: 赵攀男,1998年生,硕士研究生,研究方向为无轴承电机控制。E-mail：983663916@qq.com

引用本文:

赵攀, 王宇, 张艺. 单霍尔故障下无轴承永磁薄片电机径向位移容错检测研究[J]. 电工技术学报, 0, (): 961-961. Zhao Pan, Wang Yu, Zhang Yi. Research on Fault Tolerant Detection of Radial Displacement of Bearingless Permanent Magnet Slice Motor Under Single Hall Fault. Transactions of China Electrotechnical Society, 0, (): 961-961.

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