Controller for an axial flux machine and method
We describe a method and controller for controlling an axial flux machine in which an alternating current supplied to the plurality of coils injects a compensation current to reduce a mechanical resonant component of the rotor. The compensation current is a modulated current component added to at least one of the Quadrature Current (Iq) and Direct Current (Id) components (when the alternating current is represented as a vectored DC component), when the rotor is rotating over one or more ranges of rotational speeds. The modulated current component has an electrical frequency that varies over a range of frequencies between a first frequency and a second frequency depending on the rotational speed of the rotor, the range of frequencies including a frequency that is substantially the same as a fundamental mechanical resonant frequency of the rotor, and having a phase that is out of phase with the fundamental mechanical resonant frequency of the rotor.
1. A method of controlling an axial flux machine, the axial flux machine comprising a stator comprising a stator housing enclosing a plurality of stator pole pieces disposed circumferentially at intervals around an axis of the machine, each of the stator pole pieces having a set of coils wound therearound for generating a magnetic field; and a rotor comprising a set of permanent magnets and mounted for rotation about the axis of the machine, the rotor being spaced apart from the stator along the axis of the machine to define a gap between the stator and rotor and in which magnetic flux in the machine is generally in an axial direction, the method comprising:
controlling an alternating current supplied to the plurality of coils to inject a compensation current for reducing a mechanical resonant component of the rotor, the compensation current being injected when the rotor is rotating over one or more ranges of rotational speeds, each of the one or more ranges of rotational speeds of the rotor including a respective determined rotational speed of the rotor,
wherein the alternating current through each coil is represented as vectored direct current components comprising a Direct current (I d ) component and a Quadrature current (I q ) component that are orthogonal to one another, and
wherein the compensation current comprises a modulated current component added to the Direct Current (I d ) components, the modulated current component having an electrical frequency that varies over a range of frequencies between a first frequency and a second frequency depending on the rotational speed of the rotor, the range of frequencies including a frequency that is substantially the same as a fundamental mechanical resonant frequency of the rotor; and a phase that is out of phase with the fundamental mechanical resonant frequency of the rotor.
2. The method according to claim 1 , wherein the one or more respective determined rotational speeds of the rotor is dependent on one or more respective mechanical resonant excitation orders of the rotor.
3. The method according to claim 2 , wherein the one or more respective determined rotational speeds of the rotor is defined by the relationship:
determined_rotational
_speed
=
60
*
rotor_fundamental
_resonant
_frequency
excitation_order
.
4. The method according to claim 1 , wherein each of the ranges of rotational speed of the rotor is based on a percentage change of the rotor fundamental mechanical resonant frequency for a given mechanical resonant excitation order of the rotor.
5. The method according to claim 1 , comprising:
receiving vibration data from a vibration sensor, the vibration sensor detecting mechanical vibrations in the rotor;
identifying a mechanical resonant component of the rotor from the vibration data; and
injecting the compensation current in response to an identified mechanical resonant component of the rotor.
6. The method according to claim 1 , wherein, in each of the one or more ranges of rotational speeds of the rotor, the modulated current component has a frequency at the first frequency when the rotor is rotating at a rotational speed corresponding with a lowest rotational speed within the respective range of rotational speeds of the rotor; and
wherein the modulated current component has a frequency that is at the second frequency when the rotor is rotating at rotational speed corresponding with the highest rotational speed within the respective range of rotational speeds of the rotor.
7. The method according to claim 1 , wherein, in each of the one or more ranges of rotational speeds of the rotor, the modulated current component has a frequency substantially the same as the fundamental mechanical resonant frequency of the rotor at a rotational speed of the rotor corresponding with the respective determined rotational speed.
8. The method according to claim 6 , wherein the range of frequencies of the modulated current component between the first frequency and second frequency is based on a percentage change of the rotor fundamental mechanical resonant frequency, and wherein the percentage change of the rotor fundamental mechanical resonant frequency is ±1%, ±5%, ±10%, ±15% or ±20% of the rotor fundamental mechanical resonant frequency.
9. The method according to claim 1 , wherein the alternating current supplied to the plurality of coils is a three-phase alternating current, and wherein I d and I q represent vectored direct current components of the combination of all three-phases.
10. A controller for controlling an axial flux machine, the axial flux machine comprising a stator comprising a stator housing enclosing a plurality of stator pole pieces disposed circumferentially at intervals around an axis of the machine, each of the stator pole pieces having a set of coils wound therearound for generating a magnetic field; and a rotor comprising a set of permanent magnets and mounted for rotation about the axis of the machine, the rotor being spaced apart from the stator along the axis of the machine to define a gap between the stator and rotor and in which magnetic flux in the machine is generally in an axial direction, the controller comprising:
one or more electrical inputs for receiving one or more electrical currents;
one or more electrical outputs for supplying one or more alternating currents to the axial flux machine coils,
wherein the controller is configured to:
control an alternating current supplied to the plurality of coils to inject a compensation current for reducing a mechanical resonant component of the rotor, the compensation current being injected when the rotor is rotating over one or more ranges of rotational speeds, each of the one or more ranges of rotational speeds of the rotor including a respective determined rotational speed of the rotor,
wherein the alternating current through each coil is represented as vectored direct current components comprising a Direct current (I d ) component and a Quadrature current (I q ) component that are orthogonal to one another, and
wherein the compensation current comprises an alternating current component added to the Direct Current (I d ) components, the modulated current component having an electrical frequency that varies over a range of frequencies between a first frequency and a second frequency depending on the rotational speed of the rotor, the range of frequencies including a frequency that is substantially the same as a fundamental mechanical resonant frequency of the rotor, and a phase that is out of phase with the fundamental mechanical resonant frequency of the rotor.
11. The controller according to claim 10 , wherein the one or more respective determined rotational speeds of the rotor is dependent on one or more respective mechanical resonant excitation orders of the rotor.
12. The controller according to claim 11 , wherein the one or more respective determined rotational speeds of the rotor is defined by the relationship:
determined_rotational
_speed
=
60
*
rotor_fundamental
_resonant
_frequency
excitation_order
.
13. The controller according to claim 10 , wherein each of the ranges of rotational speed of the rotor is based on a percentage change of the rotor fundamental mechanical resonant frequency for a given resonant excitation order of the rotor.
14. The controller according to claim 10 , comprising:
a vibration sensor input for receiving vibration data from a vibration sensor, the vibration sensor detecting mechanical vibrations in the rotor,
wherein the controller is configured to:
identify a mechanical resonant component of the rotor from the vibration data; and
inject the compensation current in response to an identified mechanical resonant component of the rotor.
15. The controller according to claim 10 , wherein, in each of the one or more ranges of rotational speeds of the rotor, the controller controls the modulated current component to have a frequency at the first frequency when the rotor is rotating at a rotational speed corresponding with a lowest rotational speed within the respective range of rotational speeds of the rotor; and
wherein the controller controls the modulated current component to have a frequency that is at the second frequency when the rotor is rotating at rotational speed corresponding with the highest rotational speed within the respective range of rotational speeds of the rotor.
16. The controller according to claim 10 , wherein, in each of the one or more ranges of rotational speeds of the rotor, the controller controls the modulated current component to have a frequency substantially the same as the fundamental mechanical resonant frequency of the rotor at a rotational speed of the rotor corresponding with the respective determined rotational speed.
17. The controller according to claim 15 , wherein the range of frequencies of the modulated current component between the first frequency and second frequency is based on a percentage change of the rotor fundamental mechanical resonant frequency, and wherein the percentage change of the rotor fundamental mechanical resonant frequency is ±1%, ±5%, ±10%, ±15% or ±20% of the rotor fundamental mechanical resonant frequency.
18. The controller according to claim 10 , wherein the one or more alternating currents supplied to the plurality of coils are a three-phase alternating current, and wherein I d and I q represent vectored direct current components of the combination of all three-phases.
19. An axial flux machine, comprising:
a stator comprising a stator housing enclosing a plurality of stator pole pieces disposed circumferentially at intervals around an axis of the machine, each of the stator pole pieces having a set of coils wound therearound for generating a magnetic field; and
a rotor comprising a set of permanent magnets and mounted for rotation about the axis of the machine, the rotor being spaced apart from the stator along the axis of the machine to define a gap between the stator and rotor and in which magnetic flux in the machine is generally in an axial direction,
wherein the axial flux machine is coupled to the controller according to claim 10 , the controller supplying alternating currents to the plurality of coils.
20. The axial flux machine according to claim 19 , comprising a vibration sensor mounted to the machine for sensing vibrations in the rotor.
21. The axial flux machine according to claim 19 , wherein the stator housing has an annular shape forming a hollow region about the axis of the machine, and wherein the rotor is formed of an annulus and having a hollow central region about the axis of the machine.
22. The axial flux machine according to claim 19 , comprising a second rotor disposed on an opposite side of the stator to the first rotor, the second rotor comprising a set of permanent magnets on a first side of the second rotor facing the stator, the second rotor being mounted for rotation about the axis of the machine and relative to the stator, the second rotor being spaced apart from the stator along the axis of the machine to define an axial gap between the stator and second rotor and in which magnetic flux in the machine is generally in an axial direction.