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1 21 6 Ò Ä Vol. 21 No ý 12 TORPEDO TECHNOLOGY Dec 一种新型水下推进用双转子永磁电机及其研究现状 ó 1, 2, ó 1, É 3 (1. ø Ñã ¼ø,, ; 2. Ð, h, ; 3. ø Ñã,, ) : è, j e åá ƒðœ á Æé, e Æœ á, e ÀƒÐé, j è å åá ù Š e n, é Æ, á ÿ Ñ, Æœ á t œ ºÀ : ; ; œ á; é f É ú: TJ630.32; TM301 h u: A ú: (2013) The New Type of Dual-rotor Permanent Magnet Motor for Underwater Propulsion: a Review ZHANG Lin-sen 1, XU Hai-zhu 2, WANG Song-lin 1, ZHANG Jiang-ping 3 (1. Department of Weaponry Engineering, Naval University of Engineering, Wuhan , China; 2. Naval Academy of Armament, Beijing , China; 3. Office of Research & Development, Naval University of Engineering, Wuhan , China) Abstract: To further improve efficiency and power density of propulsion motor, a new type of permanent magnet (PM) motor with a stator in center and double contra-rotating rotors at both sides is introduced. The origin and evolvement of the new dual-rotor PM motor are described in detail, its key characteristics are analyzed, and the research status of the motor is summarized. Moreover, the main advantages are summarized with respect to the improvements in motor torque density, motor efficiency, mechanical stability, heat radiating effect, etc. The difficulties in the researches of this new dual-rotor motor are analyzed, and it is found that the problems about electromagnetic field coupling and rotor speed synchronization are more difficult to be solved. Keywords: underwater propulsion; permanent magnet motor; dual-rotor; contra-rotating 0 ÀƒÐ 2 : ø ¼ê 1 2, n Ð ; f sn åá( ), œ á k, j é e è, ÀƒÐã é n, ý, ã e åá ƒð œ á é (k Æœ á ) Æ [1], Ê ÕÀ 1 { ÈrÀ ( ). ~v (1982-),, Ï, ú, ¼

2013 ý 12 21 1 µz1 µz2 µz3 Ã ¼ Ã ö± wn Fig.

2 ž öô, [5]ê 1 žƒ á öôœ 1 žð á åáƒ, ÕÀ 2 2 ž, 2 Ô f, åá ê, 2 ž, žkš Œ q á Ñ, 2, žk œ é 2 ö± wn Fig.

2 2013 ý µz1 µz2 µz3 Ã ¼ Ã ö± wn Fig. 1 Fundamental structure of the new type of dualrotor permanent magnet (PM) motor À 1 : l 2 åá, ; l 1 l 3 2 ( ƒðœ á) Ñ [2-4], ü q ¼,, ì eàƒð, Áþ œ Àƒ Ð Ê, j Æœ á œ ÀƒÐ œ, ýé Æ e 1 ö± wn q ö Æœ á ø æ f 2 ž öô, [5]ê 1 žƒ á öôœ 1 žð á åáƒ, ÕÀ 2 2 ž, 2 Ô f, åá ê, 2 ž, žkš Œ q á Ñ, 2, žk œ é 2 ö± wn Fig. 2 PM motor with nested dual rotors [6]ê 1 žð á ÿ 1 žƒ á ÿ åá ý q, e Â œ á ÿ 1 åá ƒ Ð 2 á, [7-8], åáƒ Ð u ÿ, g, žá ƒ Ð 2 í Š g Â ƒ Ð á á, f Á Â [9-12], g Á œ á ÿ Ê, qk, [13] e œ á, ÕÀ 3, ƒ áðu Ð áƒu éÿp ä e œ q, œ áá u å 3 üý ±ö± wn x Fig. 3 Schematic of iso-directional rotating dual-rotor PM motor [1]Š e œ á š, êe, Š e š, Â e, e Šn ý e, Œ š [14] e œ á Æ, e, é å eš, ý e åá, ƒ Ð Â, œ á, é [15] e, såáƒ Ð 2 í ÿ œ, é g, Á 2 í Š g œ Â, Á Æ Ê, Œ œ œ á, ÕÀ 4 j 1 åá ƒ Ð 2 á, p 2 á, Áœ Â, œ ážkœ 446 Torpedo Technology

3 2013 ý 12, : Æ œ á œ 6 4 öý ±ö± wn Fig. 4 Structure of contra-rotating dual-rotor PM motor 2 ö± wn u{jg Æœ á žk q 1 žð á 1 žƒ á öôá ý 1 åá [16-18] [19] e Æœ á øqš, e Æ, ý ê ã Æ, ÿ Š e å èšù œ, ƒ Ð q ép, ý, œ ý Ã{ Ã{, ä eœ á [20], Æœ á Ñ f ¼é, ¼ 2 k Ñ œ, k Á, ¼ ý, ì œ á k œ eœ á ã Æ ¼ Æ, ý Œe Œ æ, éœ á ý ý e, œ ƒ Ð á ý, ng Ñ áò, ê [21] e Æœ á œ 2 á, Â åeœ Ê ìé éœ, œ á œ ý e ÿ, f ƒ Ð á ÿ, ƒ Ð á œ œ á ý œ á é, é ¼ Œœ á œ [22] é Æœ á œ, œ áœ, 2 á Áåá k ý g, ý åá Š, p, p åá, q, œ œ á [23], Æœ á øq, é œ áœ, s åá Š êf Æœ á åe ø Ð, ë ƒ Ðœ á é, Õq kw å, g [24]Š, Æœ á åáƒ Ð, œ é Õ, ž Œ, üøq, œ á Áåá ký g, k Æœ á p {ÿœý ýã{ 3 ö± wn g q Æ œ á, [1,15] Õ 1) ÿð á-åá-ƒ á œ, ÎÑe, j e è Á Ð l, Æ œ á Ñfn, f è, Î Ñ ì è 2), s Ñü, j ÑÑ ê, s Œ ; Æœ á Ð é, žk n ÎÑ è, dž ë k p 3) é œ á œ, žk s, ƒ Ð áq Áåá jw Ñœ, åá Œ, e å 4) œ s åáƒð uãq 447

4 2013 ý 12 21, ÎÑe ƒ ; Á ¼, åá ¼w é, vfä, 5) éf é, Æœ á åá, s t Ð, åá ù v, 4 ö± wn u{ä Æœ á ý Æ, ÀƒÐã é eñ, ë Á ÂŠ œ e Ñ î pj q, é Æœ á Á Š, j Ñ g, œ f, á «œ á ÿ Ñ Áéœ á Â Š, ÀƒÐã Šq, ê 2 ž Š, ef, ÊfŠq eƒ Ð fq, Õœ á Áåá åá u f, ê eåá kœ œ, Šq, œ á ê é, f Á œ ; é Ãe œ á é, pe ; é nê ¼, ýsé g ø [25] Šq ê œ á, œ á œ, œ áœ œ á, œ á œ œ á é éœ á, œ á êœ á å, Î e Ð, pe è 5 Æœ á ƒ œ, ƒ Ð u ÿ œ, 1 é g, œ ž œ Â, æ eœ á œ Æ œ á, ÑÊ f, p q, Æœ á Á Éƒ l{ Õ ÿ õ h: [1] Qu R, Lipo T A. Dual-rotor, Radial-flux, Toriodallywound, Permanent-magnet Machines[J]. IEEE Transaction on Industry Applications, 2003, 6(39): [2] Hoshi N, Kawamura A. Experimental Discussion on the Permanent Magnet Type Anti-directional-twin-rotary Motor Drive for Electric Vehicle[C]//IEEE International Workshop on Advanced Motion Control. Tokyo, 1996: [3] Kawamura A, Hoshi N Analysis of Anti-directional-twinrotary Motor Drive Characteristics for Electrical Vehicles [J]. IEEE Transactions on Industrial Electronics, 1997, 44(1): [4] Xu Long-ya. A New Breed of Electric Machines-basic Analysis and Applications of Dual Mechanical Port Electric Machines[C]//IEEE International Conference on Electrical Machines and Systems. Nanjing, 2005: [5] Xu Long-ya. Design and Evaluation of a Dual Mechanical Port Machine and System[C]//IEEE International Conference on Power Electronics and Motion Control. Shanghai, 2006: 1-5 [6] Kelly D H. Double-rotor Induction Motors[J]. IEEE Transactions on Power Apparatus and Systems, 1996, 88 (7): [7] Kawamura A, Yokoyama T. Anti-directional-twin-rotary Motor Drive for Electric Vehicles[C]//IEEE International Conference on Industry Applications of Society. Denver, 1994: [8] Ghada B H Design of a Single-stator Dual-rotor Permanent-magnet Motor[J]. IEEE Transactions on Magnetics, 2009, 45(1): [9] Backstorm T Integrated Energy Transducer Driver for 448 Torpedo Technology

5 2013 ý 12, : Æ œ á œ 6 Hybrid Vehicles[D]. Stockholm: Royal Institute of Technology, [10] Nikolaus N, Erik N Magnetic Field Analysis of New Type of Double Rotors Induction Machine[J]. FHTE Spektrum, 2002(16): [11] Pavani G. Comparitive Study of Double-rotor Permanent Magnet Brushless Motors with Cylindrical and Disc Type Slot-less Stator[D] Baton Rouge: Louisiana State University, [12] âþ, ˆ, ˆ. Æ ƒð á ÿ [J]. äø Ñãã, 2005, 24(6): Sun Guang-gui, Zhang Feng-ge, Wang Feng-xiang. Novel Induction Motor with Inner and Outer Double Rotors[J]. Journal of Liaoning Technical University(Natural Science Edition), 2005, 24(6): [13] äž. œ á ¼ Ê [D]. «ë : «ë ø Ñã, 2011 [14] Qu Rong-hai, Thomas A L. Design and Parameter Effect Analysis of Dual-rotor, Radial-flux, Toroidally Wound, Permanent-magnet Machines[J]. IEEE Transactions on Industry Applications, 2004, 40(3): [15] ý. Âœ á [D]. : ï Ñã, 2006 [16] h, þ, œ á œ œ [J]. ø ã, 2007, 22(7): Xu Yan-liang. Wang Fa-qing, Feng Kai-jie. Analysis of Inductance, Permanent Magnet EMF and Slot Torque Ripple of Dual-Rotor Permanent Magnet Machine[J]. Transactions of China Electrotechnical Society, 2007, 22 (7): [17]. œ ž Œ ÒÄ rº [D]. : g Ñã, 2010 [18] Zhang Feng-ge, Neubcrger N A New Type of Induction Machine with Inner and Outer Double Rotors[C]//International Conference on Power Electronics and Motion Control. Xi an, 2004: [19] Chen Jin-hua, Zhang Feng-ge. Design and Analysis of a Novel PMSM with Anti-rotation Dual Rotor[C]//IEEE Proceedings of Industrial Electronics Conference. Shenyang, 2009: [20] â. ¼ œ á Œ¼ æ [D]. : ø Ñã, 2009 [21]. é œ á œ Š [D]. : ø Ñã, 2010 [22] Zhang Feng-ge, Meng Zhao-he, Chen Jin-hua Study on Control Technology of Double Rotor PMSM in Underwater Vehicle[C]//IEEE International Conference on Applied Super Conductivity and Electro-magnetic Devices. Chengdu, 2009: [23] Zhang Feng-ge, Liu Guang-wei. Characteristic Study on a Novel PMSM with Opposite-rotation Dual Rotors[C]// Proceedings of IEEE Conference on Electrical Machines and Systems. Seoul, 2007: [24] ˆ,, n. é œ á [J]., 2009(4): Zhang Feng-ge, Liu Xin, Liu Guang-wei. FEM Calculation of Contrarotating Double Rotors Permanent Magnet Motor s d, q Armature Reactance Parameter[J]. Electrical Engineering, 2009(4): [25] À. ø [D]. «ë : «ë ø Ñã, («{ ±: ) 1. Š Œ. ê. 2013, 21(2). 2. Êf š é p n ¼ Œ., u, ô,. 2012, 20(4). 3. é Œ., u,. 2012, 20(1). 4. Š AUV n ¼ Œ. å, ô. 2010, 18(6). 5. VSS-DTC Œÿ œm.,,. 2010, 18(5). 6. ÂŠ.,. 2010, 18(3). 7. é Œ å á ép. å,, å,. 2008, 16(2)

34 22 f t = f 0 w t + f r t f w θ t = F cos p - ω 0 t - φ 1 2 f r θ t = F cos p - ω 0 t - φ 2 3 p ω 0 F F φ 1 φ 2 t A B s Fig. 1

34 22 f t = f 0 w t + f r t f w θ t = F cos p - ω 0 t - φ 1 2 f r θ t = F cos p - ω 0 t - φ 2 3 p ω 0 F F φ 1 φ 2 t A B s Fig. 1 22 2 2018 2 Electri c Machines and Control Vol. 22 No. 2 Feb. 2018 1 2 3 3 1. 214082 2. 214082 3. 150001 DOI 10. 15938 /j. emc. 2018. 02. 005 TM 301. 4 A 1007-449X 2018 02-0033- 08 Research of permanent