CN102954851A - Method for measuring 6K-times electromagnetic torque information of permanent magnet synchronous motor for distributed drive - Google Patents

Abstract

The invention relates to a method for measuring 6K-times electromagnetic torque information of a permanent magnet synchronous motor for distributed drive. An information processing device consisting of a magnetic flux density information processing module, a flux linkage information processing module, an induced electromotive force information processing module and an electromagnetic torque information processing module is used for processing, and the processing course comprises the following steps of: 1) obtaining the magnetic flux density information of a permanent magnet pole; 2) calculating the three-phase induced flux linkage information of a permanent magnet synchronous motor according to the magnetic flux density information of the permanent magnet pole, and obtaining the stator total flux linkage information according to the three-phase induced flux linkage information; 3) obtaining the induced electromotive force information of the permanent magnet synchronous motor according to the stator total flux linkage information; and 4) calculating the electromagnetic torque of the permanent magnet synchronous motor according to the induced electromotive force information, and performing order transformation on the electromagnetic torque to obtain the 6K-times electromagnetic torque information of the permanent magnet synchronous motor. Compared with the prior art, the method provided by the invention can obtain a high-accuracy kth order torque ripple frequency value.

Description

Distributed driving doubly time electromagnetic torque information measuring method of permagnetic synchronous motor 6K

Technical field

The present invention relates to a kind of motor electromagnetic moment information measuring method, especially relate to a kind of distributed driving doubly time electromagnetic torque information measuring method of permagnetic synchronous motor 6K.

Background technology

Distributed-driving electric automobile becomes the important trend that future automobile is changed owing to driving the outstanding advantages such as driving-chain is short, transmission efficient, compact conformation.Owing to adopting the wheel hub permagnetic synchronous motor directly to drive electric automobile, distributed-driving electric automobile vibration noise problem presents new characteristics: the doubly inferior torque ripple of the 6k of wheel hub permagnetic synchronous motor is the vibration source of vehicle body times time time vibration and internal car noise, and the impact on car load extensional vibration under the transient condition is particularly remarkable.For permagnetic synchronous motor 6k time torque ripple doubly, document analysis has been arranged 6 times of subharmonic torque ripple mechanism have been discussed the inhibition method of 6 times of subharmonic torques, but to 12 times times, 18 times inferior 6k doubly time torque ripple mechanism do not analyze; There is document to propose the doubly mathematical model of time electromagnetic torque of permagnetic synchronous motor 6k, but 1 times time, 5 times times, 7 times order harmonic components of key parameter induction electromotive force need to be calculated or test and obtain by magnetic field, and 1 times of primary current harmonic component also need could obtain by torque instruction.

Summary of the invention

Purpose of the present invention is exactly to provide a kind of distributed driving doubly time electromagnetic torque information measuring method of permagnetic synchronous motor 6K for the defective that overcomes above-mentioned prior art existence.

Purpose of the present invention can be achieved through the following technical solutions:

Distributed driving doubly time electromagnetic torque information measurement apparatus of permagnetic synchronous motor 6K comprises:

Magnetic flux density message processing module: be used for obtaining permanent magnet pole magnetic flux density information;

The magnetic linkage message processing module: be used for the three-phase induction magnetic linkage information according to permanent magnet pole magnetic flux density information calculations permagnetic synchronous motor, and by the total magnetic linkage information of three-phase induction magnetic linkage acquisition of information stator;

Induction electromotive force message processing module: be used for the induction electromotive force information according to the total magnetic linkage acquisition of information of stator permagnetic synchronous motor;

Electromagnetic torque message processing module: be used for the electromagnetic torque according to induction electromotive force information calculations permagnetic synchronous motor, and electromagnetic torque is carried out the order conversion process, obtain doubly time electromagnetic torque information of permagnetic synchronous motor 6K.

Distributed driving doubly time electromagnetic torque information measuring method of permagnetic synchronous motor 6K may further comprise the steps:

1) obtains permanent magnet pole magnetic flux density information;

2) according to the three-phase induction magnetic linkage information of permanent magnet pole magnetic flux density information calculations permagnetic synchronous motor, and by the total magnetic linkage information of three-phase induction magnetic linkage acquisition of information stator;

3) according to the induction electromotive force information of the total magnetic linkage acquisition of information of stator permagnetic synchronous motor;

4) carry out the order conversion process according to the electromagnetic torque of induction electromotive force information calculations permagnetic synchronous motor, and to electromagnetic torque, obtain doubly time electromagnetic torque information of permagnetic synchronous motor 6K.

Step 1) the magnetic flux density information exchange is crossed following formula and is calculated acquisition in:

By Fourier series it is launched to obtain following formula:

$B_r\left(\mathrm{\θ}\right)=\underset{i=1}{\overset{\∞}{\mathrm{\Σ}}}\frac{8}{{(2i-1)}^2\mathrm{\π}}[\frac{(B_1-B_r)}{{\mathrm{\τ}}_m}(1-\cos \frac{(2i-1){\mathrm{\τ}}_m}{2})+\frac{B_r}{{\mathrm{\τ}}_1}\sin \frac{(2i-1)({\mathrm{\τ}}_m+{\mathrm{\τ}}_1)}{2}\sin \frac{(2i-1){\mathrm{\τ}}_1}{2}]\cos (2i-1)\mathrm{\θ}=\underset{i=1}{\overset{\∞}{\mathrm{\Σ}}}{B}_{(2i-1)}\cos (2i-1)\mathrm{\θ}$

Wherein, Be deviation factor of wave, τ _m, τ ₁Be the air-gap field distribution coefficient, θ is main pole and A phase angle, B _(2i-1)Be air gap flux density harmonic amplitude, B ₁Be the permanent magnet pole magnetic flux density at θ=π place, B _rFor

The permanent magnet pole magnetic flux density at place.

Step 2) three-phase induction magnetic linkage information exchange is crossed the following steps acquisition in:

21) according to the induction magnetic linkage of permanent magnet pole magnetic flux density information calculations A phase, computing formula is:

${\mathrm{\&psi;}}_{m,a}\left(\mathrm{\&theta;}\right)=k\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}[{\&Integral;}_{\mathrm{\&theta;}-\frac{{\mathrm{\&alpha;}}_{\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">j</figure-callout>}}}{2}}^{\mathrm{\&theta;}+\frac{{\mathrm{\&alpha;}}_j}{2}}{B}_r\left(\mathrm{\&theta;}\right)\&CenterDot;r_s{l}_s\mathrm{d\&theta;}]=k\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}[{\&Integral;}_{\mathrm{\&theta;}-\frac{{\mathrm{\&alpha;}}_{\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">j</figure-callout>}}}{2}}^{\mathrm{\&theta;}+\frac{{\mathrm{\&alpha;}}_{\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">j</figure-callout>}}}{2}}\underset{i}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{B}_{(2i-1)}\cos (2i-1)\mathrm{\&theta;}\&CenterDot;r_s{l}_s\mathrm{d\&theta;}]$

$=\underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}\left\{\frac{16{\mathrm{kr}}_s{l}_s}{{(2i-1)}^3\mathrm{\&pi;}}\right[\frac{(B_1-B_r)}{{\mathrm{\&tau;}}_m}(1-\cos \frac{(2i-1){\mathrm{\&tau;}}_m}{2})+\frac{B_r}{{\mathrm{\&tau;}}_1}\sin \frac{(2i-1)({\mathrm{\&tau;}}_m+{\mathrm{\&tau;}}_1)}{2}\sin \frac{(2i-1){\mathrm{\&tau;}}_1}{2}\left]\sin \right[(2i-1)\frac{{\mathrm{\&alpha;}}_j}{2}\left]\right\}(2i-1)\mathrm{\&theta;}]$

$=\underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)\mathrm{\&theta;}\right]$

Wherein, ${\mathrm{\&psi;}}_{(2i-1)}=\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}\left\{\frac{16{\mathrm{kr}}_s{l}_s}{{(2i-1)}^3\mathrm{\&pi;}}\right[\frac{(B_1-B_r)}{{\mathrm{\&tau;}}_m}(1-\cos \frac{(2i-1){\mathrm{\&tau;}}_m}{2})+\frac{B_r}{{\mathrm{\&tau;}}_1}\sin \frac{(2i-1)({\mathrm{\&tau;}}_m+{\mathrm{\&tau;}}_1)}{2}\sin \frac{(2i-1){\mathrm{\&tau;}}_1}{2}\left]\sin \right[(2i-1)\frac{{\mathrm{\&alpha;}}_j}{2}\left]\right\},$ K is winding coefficient, N _cThe phase winding coil turn, α _jBe the space angle of coil j, r _sBe stator exradius, l _sBe stator shaft orientation length;

22) according to the induction magnetic linkage of A phase, and phase angle difference is between A, B, the C three-phase

The three-phase induction magnetic linkage information that obtains under the abc coordinate system is:

23) to step 22) in three-phase induction magnetic linkage information under the abc coordinate system carry out the Blondel-Park conversion, obtain the induction magnetic linkage under the dq0 coordinate system:

${\mathrm{\&psi;}}_{m,\mathrm{<figure-callout\; id="0"\; label="dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">dq</figure-callout>}0}=T_{\mathrm{dq},\mathrm{ph}}{\mathrm{\&psi;}}_{m,\mathrm{ph}}$

$=\frac{1}{3}\left[\begin{array}{ccc}2\cos \mathrm{\&theta;}& 2\cos (\mathrm{\&theta;}-\frac{2\mathrm{\&pi;}}{3})& 2\cos (\mathrm{\&theta;}+\frac{2\mathrm{\&pi;}}{3})\\ -2\sin \mathrm{\&theta;}& -2\sin (\mathrm{\&theta;}-\frac{2\mathrm{\&pi;}}{3})& -2\sin (\mathrm{\&theta;}+\frac{2\mathrm{\&pi;}}{3})\\ 1& 1& 1\end{array}\right]\left[\begin{array}{c}\underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)\mathrm{\&theta;}\right]\\ \underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)(\mathrm{\&theta;}-\frac{2\mathrm{\&pi;}}{3})\right]\\ \underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)(\mathrm{\&theta;}+\frac{2\mathrm{\&pi;}}{3})\right]\end{array}\right]$

$=\left[\begin{array}{c}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\{{\mathrm{\&psi;}}_1+[{\mathrm{\&psi;}}_{(6k-1)}+{\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}\\ \underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-{\mathrm{\&psi;}}_{(6k-1)}+{\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}\\ \underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(6k+3)}\cos (6k+3)\mathrm{\&theta;}\end{array}\right]$

Wherein, T _{Dq, ph}Be the Blondel-Park transformation matrix;

24) according to step 23) induction magnetic linkage under the dq0 coordinate system that obtains obtains the total magnetic linkage of stator:

${\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="0"\; label="dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">dq</figure-callout>}0}={\mathrm{<figure-callout\; id="0"\; label="Li\; dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">Li</figure-callout>}}_{\mathrm{dq}}+{\mathrm{\&psi;}}_{m,\mathrm{<figure-callout\; id="0"\; label="dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">dq</figure-callout>}0}=\left[\begin{array}{ccc}{\mathrm{<figure-callout\; id="0"\; label="L\; d"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">L</figure-callout>}}_d& 0& 0\\ 0& {\mathrm{<figure-callout\; id="0"\; label="L\; q"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">L</figure-callout>}}_q& 0\\ 0& 0& L_0\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\\ i_0\end{array}\right]+\left[\begin{array}{c}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\{{\mathrm{\&psi;}}_1+[{\mathrm{\&psi;}}_{(6k-1)}+{\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}\\ \underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-{\mathrm{\&psi;}}_{(6k-1)}+{\mathrm{\&psi;}}_{(6k+1)}\sin 6\mathrm{k\&theta;}\}\\ \underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(6k+3)}\cos (6k+3)\mathrm{\&theta;}\end{array}\right]$

Wherein, L _d, L _q, L _nBe respectively d, q, 0 axle stator inductance.

Step 3) the induction electromotive force information exchange is crossed the following steps acquisition in:

31) obtain voltage equation under the abc coordinate system:

$V_{\mathrm{ph}}=R_s{i}_{\mathrm{ph}}+\frac{d}{\mathrm{dt}}\left({\mathrm{\&psi;}}_{\mathrm{ph}}\right)$

$=\left[\begin{array}{ccc}{\mathrm{<figure-callout\; id="0"\; label="R\; s"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">R</figure-callout>}}_s& 0& 0\\ 0& {\mathrm{<figure-callout\; id="0"\; label="R\; s"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">R</figure-callout>}}_s& 0\\ 0& 0& R_s\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_b\end{array}\right]+\frac{d}{\mathrm{dt}}\left({\mathrm{\&psi;}}_{\mathrm{ph}}\right)$

Wherein, V _PhBe phase voltage under the abc coordinate; R _sBe phase winding resistance; i _a, i _b, i _cBe respectively A, B, C three-phase current; ψ _PhBe total phase magnetic linkage under the abc coordinate;

32) with step 31) in voltage equation carry out Blondel-Park conversion and matrix differential, obtain the voltage equation under the dq0 coordinate system:

${\mathrm{<figure-callout\; id="0"\; label="V\; dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">V</figure-callout>}}_{\mathrm{dq}}=T_{\mathrm{dq},\mathrm{ph}}{V}_{\mathrm{ph}}$

$=T_{\mathrm{dq},\mathrm{ph}}{R}_s{i}_{\mathrm{ph}}+T_{\mathrm{dq},\mathrm{ph}}\frac{d}{\mathrm{dt}}\left({\mathrm{\&psi;}}_{\mathrm{ph}}\right)$

$=T_{\mathrm{dq},\mathrm{ph}}{R}_s{T}_{\mathrm{dq},\mathrm{ph}}^{-1}{\mathrm{<figure-callout\; id="0"\; label="i\; dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">i</figure-callout>}}_{\mathrm{dq}}+T_{\mathrm{dq},\mathrm{ph}}\frac{d}{\mathrm{dt}}\left(T_{\mathrm{dq},\mathrm{ph}}^{-1}{\mathrm{\&psi;}}_{\mathrm{dq}0}\right)$

$=R_{\mathrm{<figure-callout\; id="0"\; label="s\; i\; dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">s</figure-callout>}}{i}_{\mathrm{dq}}{0}_{}+T_{\mathrm{dq},\mathrm{ph}}\left[\left(\frac{d}{\mathrm{dt}}{T}_{\mathrm{dq},\mathrm{ph}}^{-1}\right){\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="0"\; label="dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">dq</figure-callout>}0}+T_{\mathrm{dq},\mathrm{ph}}^{-1}\frac{d}{\mathrm{dt}}{\mathrm{\&psi;}}_{\mathrm{dq}0}\right]$

$=R_{\mathrm{<figure-callout\; id="0"\; label="s\; i\; dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">s</figure-callout>}}{i}_{\mathrm{dq}}{0}_{}+T_{\mathrm{dq},\mathrm{ph}}\left(\frac{d}{\mathrm{dt}}{T}_{\mathrm{dq},\mathrm{ph}}^{-1}\right){\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="0"\; label="dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">dq</figure-callout>}0}+\frac{d}{\mathrm{dt}}{\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="0"\; label="dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">dq</figure-callout>}0}$

$=\left[\begin{array}{c}{R}_s{i}_d+L_d\frac{d}{\mathrm{dt}}{i}_d-{\mathrm{\&omega;}}_r{L}_q{i}_q-{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}\\ R_s{i}_q+L_q\frac{d}{\mathrm{dt}}{i}_q+{\mathrm{\&omega;}}_r{L}_d{i}_d+{\mathrm{\&omega;}}_r{\mathrm{\&psi;}}_1+{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}\\ {\mathrm{<figure-callout\; id="0"\; label="R\; s\; i"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">R</figure-callout>}}_s{i}_{}{}_0+L_0\frac{d}{\mathrm{dt}}{i}_0-{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left[(6k+3){\mathrm{\&psi;}}_{(6k+3)}\left(\sin (6k+3)\mathrm{\&theta;}\right)\right]\end{array}\right]$

In the formula, i _d, i _q, i ₀Be respectively d, q, 0 axle stator current; ω _rBe rotor electrical angle angular velocity;

33) obtain the induction electromotive force of permagnetic synchronous motor according to the voltage equation under the dq0 coordinate system:

$E=\left[\begin{array}{c}-{\mathrm{\&omega;}}_r{L}_q{i}_q-{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}\\ {\mathrm{\&omega;}}_r{L}_d{i}_d+{\mathrm{\&omega;}}_r{\mathrm{\&psi;}}_1+{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}\\ -{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left[(6k+3){\mathrm{\&psi;}}_{(6k+3)}\left(\sin (6k+3)\mathrm{\&theta;}\right)\right]\end{array}\right].$

Step 4) the doubly inferior electromagnetic torque information exchange of permagnetic synchronous motor 6K is crossed the following steps acquisition in:

41) obtain the electromagnetic torque equation of permagnetic synchronous motor according to induction electromotive force information:

$T_e=\frac{3}{2}p\left\{\begin{array}{c}(L_d-L_q)i_d{i}_q+{\mathrm{\&psi;}}_1{i}_q-\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}{i}_d\\ +\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}{i}_q-\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left[(6k+3){\mathrm{\&psi;}}_{(6k+3)}\left(\sin (6k+3)\mathrm{\&theta;}\right)\right]i_0\end{array}\right\}$

42) according to the distributed driving Y type syndeton with permagnetic synchronous motor, to step 41) the electromagnetic torque equation simplify:

$T_e=\frac{3}{2}p\left\{\begin{array}{c}(L_d-L_q)i_d{i}_q+{\mathrm{\&psi;}}_1{i}_q-\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}{i}_d\\ +\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}{i}_q\end{array}\right\}$

Wherein, ${\mathrm{\&psi;}}_{(2i-1)}=\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}\left\{\frac{16k{r}_s{l}_s{B}_r}{{(2i-1)}^3{\mathrm{\&pi;\&tau;}}_1}\sin \frac{(2i-1)({\mathrm{\&tau;}}_m+{\mathrm{\&tau;}}_1)}{2}\sin \frac{(2i-1){\mathrm{\&tau;}}_1}{2}\sin \right[(2i-1)\frac{{\mathrm{\&alpha;}}_j}{2}\left]\right\};$

43) according to the 6K rank torque ripple item in the electromagnetic torque equation after simplifying:

$-\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1)\mathrm{\&psi;}(6k-1)+(6k+1)\mathrm{\&psi;}(6k+1)\left]\sin 6\mathrm{k\&theta;}\right\}{i}_d$ With $\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1)\mathrm{\&psi;}(6k-1)+(6k+1)\mathrm{\&psi;}(6k+1)\left]\cos 6\mathrm{k\&theta;}\right\}{i}_q$ Can obtain following equation is:

$6\mathrm{k\&theta;}=6k{\mathrm{\&omega;}}_{r}t=6\mathrm{kp}{w}_{m}t=6\mathrm{<figure-callout\; id="2"\; label="kp"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">kp</figure-callout>}\frac{2\mathrm{\&pi;n}}{60}t$

Wherein, n is rotating speed, and t is the time;

44) according to step 43) in equation obtain permagnetic synchronous motor k rank torque ripple frequency f _k:

$f_k=\frac{6\mathrm{k\&theta;}}{2\mathrm{\&pi;t}}=\frac{6\mathrm{<figure-callout\; id="2"\; label="kp"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">kp</figure-callout>}\frac{2\mathrm{\&pi;n}}{60}\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">t</figure-callout>}}{2\mathrm{\&pi;t}}=k\frac{\mathrm{pn}}{10}$

Compared with prior art, the present invention can carry out order analysis with the permagnetic synchronous motor electromagnetic torque fluctuation to distributed driving, thereby obtains the higher k rank torque ripple frequency values of precision.

Description of drawings

Fig. 1 is the process flow diagram of information process of the present invention;

Fig. 2 is the result's of result of the present invention and finite element disposal route comparison diagram.

Embodiment

The present invention is described in detail below in conjunction with the drawings and specific embodiments.

Embodiment

As shown in Figure 1, a kind of distributed driving doubly time electromagnetic torque information measuring method of permagnetic synchronous motor 6K, process by the signal conditioning package that is comprised of magnetic flux density message processing module, magnetic linkage message processing module, induction electromotive force message processing module, electromagnetic torque message processing module, concrete processing procedure may further comprise the steps:

Step 1: following formula calculates the permanent magnet pole magnetic flux density information that obtains:

Then by Fourier series it is launched to obtain following formula:

$B_r\left(\mathrm{\&theta;}\right)=\underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\frac{8}{{(2i-1)}^2\mathrm{\&pi;}}[\frac{(B_1-B_r)}{{\mathrm{\&tau;}}_m}(1-\cos \frac{(2i-1){\mathrm{\&tau;}}_m}{2})+\frac{B_r}{{\mathrm{\&tau;}}_1}\sin \frac{(2i-1)({\mathrm{\&tau;}}_m+{\mathrm{\&tau;}}_1)}{2}\sin \frac{(2i-1){\mathrm{\&tau;}}_1}{2}]\cos (2i-1)\mathrm{\&theta;}=\underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{B}_{(u-1)}\cos (2i-1)\mathrm{\&theta;}$

Wherein, Be deviation factor of wave, τ _m, τ ₁Be the air-gap field distribution coefficient, θ is main pole and A phase angle, B _(2i-1)Be air gap flux density harmonic amplitude, B ₁Be the permanent magnet pole magnetic flux density at θ=π place, B _rFor

The permanent magnet pole magnetic flux density at place.

Step 2: at first according to the induction magnetic linkage of permanent magnet pole magnetic flux density information calculations A phase, computing formula is:

${\mathrm{\&psi;}}_{m,a}\left(\mathrm{\&theta;}\right)=k\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}[{\&Integral;}_{\mathrm{\&theta;}-\frac{{\mathrm{\&alpha;}}_{\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">j</figure-callout>}}}{2}}^{\mathrm{\&theta;}+\frac{{\mathrm{\&alpha;}}_j}{2}}{B}_r\left(\mathrm{\&theta;}\right)\&CenterDot;r_s{l}_s\mathrm{d\&theta;}]=k\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}[{\&Integral;}_{\mathrm{\&theta;}-\frac{{\mathrm{\&alpha;}}_{\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">j</figure-callout>}}}{2}}^{\mathrm{\&theta;}+\frac{{\mathrm{\&alpha;}}_{\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">j</figure-callout>}}}{2}}\underset{i}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{B}_{(2i-1)}\cos (2i-1)\mathrm{\&theta;}\&CenterDot;r_s{l}_s\mathrm{d\&theta;}]$

$=\underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}\left\{\frac{16{\mathrm{kr}}_s{l}_s}{{(2i-1)}^3\mathrm{\&pi;}}\right[\frac{(B_1-B_r)}{{\mathrm{\&tau;}}_m}(1-\cos \frac{(2i-1){\mathrm{\&tau;}}_m}{2})+\frac{B_r}{{\mathrm{\&tau;}}_1}\sin \frac{(2i-1)({\mathrm{\&tau;}}_m+{\mathrm{\&tau;}}_1)}{2}\sin \frac{(2i-1){\mathrm{\&tau;}}_1}{2}\left]\sin \right[(2i-1)\frac{{\mathrm{\&alpha;}}_j}{2}\left]\right\}(2i-1)\mathrm{\&theta;}]$

$=\underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)\mathrm{\&theta;}\right]$

Wherein, ${\mathrm{\&psi;}}_{(2i-1)}=\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}\left\{\frac{16{\mathrm{kr}}_s{l}_s}{{(2i-1)}^3\mathrm{\&pi;}}\right[\frac{(B_1-B_r)}{{\mathrm{\&tau;}}_m}(1-\cos \frac{(2i-1){\mathrm{\&tau;}}_m}{2})+\frac{B_r}{{\mathrm{\&tau;}}_1}\sin \frac{(2i-1)({\mathrm{\&tau;}}_m+{\mathrm{\&tau;}}_1)}{2}\sin \frac{(2i-1){\mathrm{\&tau;}}_1}{2}\left]\sin \right[(2i-1)\frac{{\mathrm{\&alpha;}}_j}{2}\left]\right\},$ K is winding coefficient, N _cThe phase winding coil turn, α _jBe the space angle of coil j, r _sBe stator exradius, l _sBe stator shaft orientation length.

Then according to the induction magnetic linkage of A phase, and phase angle difference is between A, B, the C three-phase The three-phase induction magnetic linkage information that obtains under the abc coordinate system is:

${\mathrm{\&psi;}}_{m,\mathrm{ph}}=\left[\begin{array}{c}{\mathrm{\&psi;}}_{m,a}\left(\mathrm{\&theta;}\right)\\ {\mathrm{\&psi;}}_{m,b}\left(\mathrm{\&theta;}\right)\\ {\mathrm{\&psi;}}_{m,c}\left(\mathrm{\&theta;}\right)\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&psi;}}_{m,a}\left(\mathrm{\&theta;}\right)\\ {\mathrm{\&psi;}}_{m,a}(\mathrm{\&theta;}-\frac{2\mathrm{\&pi;}}{3})\\ {\mathrm{\&psi;}}_{m,a}(\mathrm{\&theta;}+\frac{2\mathrm{\&pi;}}{3})\end{array}\right]=\left[\begin{array}{c}\underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)\mathrm{\&theta;}\right]\\ \underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)(\mathrm{\&theta;}-\frac{2\mathrm{\&pi;}}{3})\right]\\ \underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)(\mathrm{\&theta;}+\frac{2\mathrm{\&pi;}}{3})\right]\end{array}\right]$

Again the three-phase induction magnetic linkage information under the abc coordinate system is carried out the Blondel-Park conversion, obtains the induction magnetic linkage under the dq0 coordinate system:

${\mathrm{\&psi;}}_{m,\mathrm{dq}0}=T_{\mathrm{dq},\mathrm{ph}}{\mathrm{\&psi;}}_{m,\mathrm{ph}}$

$=\frac{1}{3}\left[\begin{array}{ccc}2\cos \mathrm{\&theta;}& 2\cos (\mathrm{\&theta;}-\frac{2\mathrm{\&pi;}}{3})& 2\cos (\mathrm{\&theta;}+\frac{2\mathrm{\&pi;}}{3})\\ -2\sin \mathrm{\&theta;}& -2\sin (\mathrm{\&theta;}-\frac{2\mathrm{\&pi;}}{3})& -2\sin (\mathrm{\&theta;}+\frac{2\mathrm{\&pi;}}{3})\\ 1& 1& 1\end{array}\right]\left[\begin{array}{c}\underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)\mathrm{\&theta;}\right]\\ \underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)(\mathrm{\&theta;}-\frac{2\mathrm{\&pi;}}{3})\right]\\ \underset{i=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(2i-1)}\cos \left[(2i-1)(\mathrm{\&theta;}+\frac{2\mathrm{\&pi;}}{3})\right]\end{array}\right]$

$=\left[\begin{array}{c}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\{{\mathrm{\&psi;}}_1+[{\mathrm{\&psi;}}_{(6k-1)}+{\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}\\ \underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-{\mathrm{\&psi;}}_{(6k-1)}+{\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}\\ \underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(6k+3)}\cos (6k+3)\mathrm{\&theta;}\end{array}\right]$

Wherein, T _{Dq, ph}Be the Blondel-Park transformation matrix.

Finally obtain the total magnetic linkage of stator by the induction magnetic linkage under the dq0 coordinate system:

${\mathrm{\&psi;}}_{\mathrm{dq}0}={\mathrm{Li}}_{\mathrm{dq}0}+{\mathrm{\&psi;}}_{m,\mathrm{dq}0}=\left[\begin{array}{ccc}{\mathrm{<figure-callout\; id="0"\; label="L\; d"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">L</figure-callout>}}_d& 0& 0\\ 0& {\mathrm{<figure-callout\; id="0"\; label="L\; q"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">L</figure-callout>}}_q& 0\\ 0& 0& L_0\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_{\mathrm{<figure-callout\; id="0"\; label="q\; i"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">q</figure-callout>}}& \\ i_{}{}_0\end{array}\right]+\left[\begin{array}{c}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\{{\mathrm{\&psi;}}_1+[{\mathrm{\&psi;}}_{(6k-1)}+{\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}\\ \underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-{\mathrm{\&psi;}}_{(6k-1)}+{\mathrm{\&psi;}}_{(6k+1)}\sin 6\mathrm{k\&theta;}\}\\ \underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{\mathrm{\&psi;}}_{(6k+3)}\cos (6k+3)\mathrm{\&theta;}\end{array}\right]$

Wherein, L _d, L _q, L _nBe respectively d, q, 0 axle stator inductance.

Step 3: at first obtain the voltage equation under the abc coordinate system:

$V_{\mathrm{ph}}=R_s{i}_{\mathrm{ph}}+\frac{d}{\mathrm{dt}}\left({\mathrm{\&psi;}}_{\mathrm{ph}}\right)$

$=\left[\begin{array}{ccc}{R}_s& 0& 0\\ 0& {\mathrm{<figure-callout\; id="0"\; label="R\; s"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">R</figure-callout>}}_s& 0\\ 0& 0& R_s\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_b\end{array}\right]+\frac{d}{\mathrm{dt}}\left({\mathrm{\&psi;}}_{\mathrm{ph}}\right)$

Wherein, V _PhBe phase voltage under the abc coordinate; R _sBe phase winding resistance; i _a, i _b, i _cBe respectively A, B, C three-phase current; ψ _PhBe total phase magnetic linkage under the abc coordinate.

Then with under the abc coordinate system voltage equation carry out Blondel-Park conversion and matrix differential, obtain the voltage equation under the dq0 coordinate system:

$V_{\mathrm{dq}0}=T_{\mathrm{dq},\mathrm{ph}}{V}_{\mathrm{ph}}$

$=T_{\mathrm{dq},\mathrm{ph}}{R}_s{i}_{\mathrm{ph}}+T_{\mathrm{dq},\mathrm{ph}}\frac{d}{\mathrm{dt}}\left({\mathrm{\&psi;}}_{\mathrm{ph}}\right)$

$=T_{\mathrm{dq},\mathrm{ph}}{R}_s{T}_{\mathrm{dq},\mathrm{ph}}^{-1}{i}_{\mathrm{dq}0}+T_{\mathrm{dq},\mathrm{ph}}\frac{d}{\mathrm{dt}}\left(T_{\mathrm{dq},\mathrm{ph}}^{-1}{\mathrm{\&psi;}}_{\mathrm{dq}0}\right)$

$=R_s{i}_{\mathrm{dq}0}+T_{\mathrm{dq},\mathrm{ph}}\left[\left(\frac{d}{\mathrm{dt}}{T}_{\mathrm{dq},\mathrm{ph}}^{-1}\right){\mathrm{\&psi;}}_{\mathrm{dq}0}+T_{\mathrm{dq},\mathrm{ph}}^{-1}\frac{d}{\mathrm{dt}}{\mathrm{\&psi;}}_{\mathrm{dq}0}\right]$

$=R_s{i}_{\mathrm{dq}0}+T_{\mathrm{dq},\mathrm{ph}}\left(\frac{d}{\mathrm{dt}}{T}_{\mathrm{dq},\mathrm{ph}}^{-1}\right){\mathrm{\&psi;}}_{\mathrm{dq}0}+\frac{d}{\mathrm{dt}}{\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="0"\; label="dq"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">dq</figure-callout>}0}$

$=\left[\begin{array}{c}{R}_s{i}_d+L_d\frac{d}{\mathrm{dt}}{i}_d-{\mathrm{\&omega;}}_r{L}_q{i}_q-{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}\\ R_s{i}_q+L_q\frac{d}{\mathrm{dt}}{i}_q+{\mathrm{\&omega;}}_r{L}_d{i}_d+{\mathrm{\&omega;}}_r{\mathrm{\&psi;}}_1+{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}\\ R_s{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">i</figure-callout>}}_0+L_0\frac{d}{\mathrm{dt}}{i}_0-{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left[(6k+3){\mathrm{\&psi;}}_{(6k+3)}\left(\sin (6k+3)\mathrm{\&theta;}\right)\right]\end{array}\right]$

In the formula, i _d, i _q, i ₀Be respectively d, q, 0 axle stator current; ω _rBe rotor electrical angle angular velocity.

Obtained at last the induction electromotive force of permagnetic synchronous motor by the voltage equation under the dq0 coordinate system:

$E=\left[\begin{array}{c}-{\mathrm{\&omega;}}_r{L}_q{i}_q-{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}\\ {\mathrm{\&omega;}}_r{L}_d{i}_d+{\mathrm{\&omega;}}_r{\mathrm{\&psi;}}_1+{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}\\ -{\mathrm{\&omega;}}_r\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left[(6k+3){\mathrm{\&psi;}}_{(6k+3)}\left(\sin (6k+3)\mathrm{\&theta;}\right)\right]\end{array}\right].$

Step 4: because electromagnetic power can be tried to achieve by following formula:

$P_e=\frac{3}{2}{E}^T{i}_{\mathrm{dq}0}$

By the relational expression of electromagnetic power, electromagnetic torque, rotating speed, can get the electromagnetic torque expression formula:

$T_e=\frac{P_e}{{\mathrm{\&omega;}}_m}=\frac{P_e}{\frac{{\mathrm{\&omega;}}_r}{p}}=\frac{p{P}_e}{{\mathrm{\&omega;}}_r}$

In the formula, ω _mBe rotor mechanical angular velocity.

Therefore can obtain according to induction electromotive force information first the electromagnetic torque equation of permagnetic synchronous motor:

$T_e=\frac{3}{2}p\left\{\begin{array}{c}(L_d-L_q)i_d{i}_q+{\mathrm{\&psi;}}_1{i}_q-\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}{i}_d\\ +\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}{i}_q-\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left[(6k+3){\mathrm{\&psi;}}_{(6k+3)}\left(\sin (6k+3)\mathrm{\&theta;}\right)\right]{\mathrm{<figure-callout\; id="0"\; label="i"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">i</figure-callout>}}_0\end{array}\right\}$

Then according to the Y type syndeton of distributed driving with permagnetic synchronous motor, the electromagnetic torque equation is simplified:

$T_e=\frac{3}{2}p\left\{\begin{array}{c}(L_d-L_q)i_d{i}_q+{\mathrm{\&psi;}}_1{i}_q-\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\sin 6\mathrm{k\&theta;}\right\}{i}_d\\ +\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1){\mathrm{\&psi;}}_{(6k-1)}+(6k+1){\mathrm{\&psi;}}_{(6k+1)}\left]\cos 6\mathrm{k\&theta;}\right\}{i}_q\end{array}\right\}$

Wherein, ${\mathrm{\&psi;}}_{(2i-1)}=\underset{j=1}{\overset{N_c}{\mathrm{\&Sigma;}}}\left\{\frac{16k{r}_s{l}_s{B}_r}{{(2i-1)}^3{\mathrm{\&pi;\&tau;}}_1}\sin \frac{(2i-1)({\mathrm{\&tau;}}_m+{\mathrm{\&tau;}}_1)}{2}\sin \frac{(2i-1){\mathrm{\&tau;}}_1}{2}\sin \right[(2i-1)\frac{{\mathrm{\&alpha;}}_j}{2}\left]\right\};$

According to the 6K rank torque ripple item in the electromagnetic torque equation after simplifying:

$-\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[(6k-1)\mathrm{\&psi;}(6k-1)+(6k+1)\mathrm{\&psi;}(6k+1)\left]\sin 6\mathrm{k\&theta;}\right\}{i}_d$ With $\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\left\{\right[-(6k-1)\mathrm{\&psi;}(6k-1)+(6k+1)\mathrm{\&psi;}(6k+1)\left]\cos 6\mathrm{k\&theta;}\right\}{i}_q$ Can obtain following equation is:

$6\mathrm{k\&theta;}=6k{\mathrm{\&omega;}}_{r}t=6\mathrm{kp}{w}_{m}t=6\mathrm{<figure-callout\; id="2"\; label="kp"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">kp</figure-callout>}\frac{2\mathrm{\&pi;n}}{60}t$

Wherein, n is rotating speed, and t is the time;

Finally can obtain permagnetic synchronous motor k rank torque ripple frequency f _k:

$f_k=\frac{6\mathrm{k\&theta;}}{2\mathrm{\&pi;t}}=\frac{6\mathrm{<figure-callout\; id="2"\; label="kp"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">kp</figure-callout>}\frac{2\mathrm{\&pi;n}}{60}\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HDA0000135910550000012.png"\; state="\{\{state\}\}">t</figure-callout>}}{2\mathrm{\&pi;t}}=k\frac{\mathrm{pn}}{10}$

Employing the present invention process the several times torque under 2 utmost points, the 6 groove word synchronous motor rated conditions, obtains its k rank torque ripple frequency and be:

$f_k=k\frac{\mathrm{pn}}{10}=k\frac{1\&times;700}{10}=70k\left(\mathrm{Hz}\right),$ K=1 wherein, 2,3

The parameter of this motor is as shown in the table:

Can carry out order analysis with the permagnetic synchronous motor electromagnetic torque fluctuation to distributed driving by the present invention, thereby obtain the higher k rank torque ripple frequency values of precision, Fig. 2 is the result's of use result of the present invention and finite element disposal route comparison diagram, and the result of its result and finite element disposal route is substantially identical as seen from the figure.

Claims (6)

1. distributed driving is characterized in that with the doubly inferior electromagnetic torque information measurement apparatus of permagnetic synchronous motor 6K, comprising:

Magnetic flux density message processing module: be used for obtaining permanent magnet pole magnetic flux density information;

The magnetic linkage message processing module: be used for the three-phase induction magnetic linkage information according to permanent magnet pole magnetic flux density information calculations permagnetic synchronous motor, and by the total magnetic linkage information of three-phase induction magnetic linkage acquisition of information stator;

Induction electromotive force message processing module: be used for the induction electromotive force information according to the total magnetic linkage acquisition of information of stator permagnetic synchronous motor;

Electromagnetic torque message processing module: be used for the electromagnetic torque according to induction electromotive force information calculations permagnetic synchronous motor, and electromagnetic torque is carried out the order conversion process, obtain doubly time electromagnetic torque information of permagnetic synchronous motor 6K.

2. distributed driving is characterized in that with the doubly inferior electromagnetic torque information measuring method of permagnetic synchronous motor 6K, may further comprise the steps:

1) obtains permanent magnet pole magnetic flux density information;

2) according to the three-phase induction magnetic linkage information of permanent magnet pole magnetic flux density information calculations permagnetic synchronous motor, and by the total magnetic linkage information of three-phase induction magnetic linkage acquisition of information stator;

3) according to the induction electromotive force information of the total magnetic linkage acquisition of information of stator permagnetic synchronous motor;

4) carry out the order conversion process according to the electromagnetic torque of induction electromotive force information calculations permagnetic synchronous motor, and to electromagnetic torque, obtain doubly time electromagnetic torque information of permagnetic synchronous motor 6K.

3. distributed driving according to claim 2 is characterized in that step 1 with permagnetic synchronous motor 6K time electromagnetic torque information measuring method doubly) in the magnetic flux density information exchange cross following formula and calculate and obtain:

By Fourier series it is launched to obtain following formula:

Wherein,

Be deviation factor of wave, τ _m, τ ₁Be the air-gap field distribution coefficient, θ is main pole and A phase angle, B _(2i-1)Be air gap flux density harmonic amplitude, B ₁Be the permanent magnet pole magnetic flux density at θ=π place, B _rFor

The permanent magnet pole magnetic flux density at place.

4. distributed driving according to claim 2 is characterized in that step 2 with permagnetic synchronous motor 6K time electromagnetic torque information measuring method doubly) in three-phase induction magnetic linkage information exchange cross following steps and obtain:

21) according to the induction magnetic linkage of permanent magnet pole magnetic flux density information calculations A phase, computing formula is:

Wherein,

K is winding coefficient, N _cThe phase winding coil turn, α _jBe the space angle of coil j, r _sBe stator exradius, l _sBe stator shaft orientation length;

22) according to the induction magnetic linkage of A phase, and phase angle difference is between A, B, the C three-phase The three-phase induction magnetic linkage information that obtains under the abc coordinate system is:

23) to step 22) in three-phase induction magnetic linkage information under the abc coordinate system carry out the Blondel-Park conversion, obtain the induction magnetic linkage under the dq0 coordinate system:

Wherein, T _{Dq, ph}Be the Blondel-Park transformation matrix;

24) according to step 23) induction magnetic linkage under the dq0 coordinate system that obtains obtains the total magnetic linkage of stator:

Wherein, L _d, L _q, L ₀Be respectively d, q, 0 axle stator inductance.

5. distributed driving according to claim 2 is characterized in that step 3 with permagnetic synchronous motor 6K time electromagnetic torque information measuring method doubly) in the induction electromotive force information exchange cross following steps and obtain:

31) obtain voltage equation under the abc coordinate system:

Wherein, V _PhBe phase voltage under the abc coordinate; R _sBe phase winding resistance; i _a, i _b, i _cBe respectively A, B, C three-phase current; ψ _PhBe total phase magnetic linkage under the abc coordinate;

32) with step 31) in voltage equation carry out Blondel-Park conversion and matrix differential, obtain the voltage equation under the dq0 coordinate system:

In the formula, i _d, i _q, i ₀Be respectively d, q, 0 axle stator current; ω _rBe rotor electrical angle angular velocity;

33) obtain the induction electromotive force of permagnetic synchronous motor according to the voltage equation under the dq0 coordinate system:

6. distributed driving according to claim 2 is characterized in that step 4 with permagnetic synchronous motor 6K time electromagnetic torque information measuring method doubly) in permagnetic synchronous motor 6K doubly time electromagnetic torque information exchange cross following steps and obtain:

41) obtain the electromagnetic torque equation of permagnetic synchronous motor according to induction electromotive force information:

42) according to the distributed driving Y type syndeton with permagnetic synchronous motor, to step 41) the electromagnetic torque equation simplify:

Wherein,

43) according to the 6K rank torque ripple item in the electromagnetic torque equation after simplifying:

With

Can obtain following equation is:

Wherein, n is rotating speed, and t is the time;

44) according to step 43) in equation obtain permagnetic synchronous motor k rank torque ripple frequency f _k:

。

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