CN106788065A - A kind of line inductance electromotor stable state loss minimization controller method and system - Google Patents

Abstract

The invention discloses a kind of line inductance electromotor stable state loss minimization controller method and system, line inductance electromotor primary current i is gathered first_A、i_B, speed v₂, by v₂Obtain secondary angular frequency_r；Based on direct field orientation method, by i_A、i_B、ω_rObtain motor secondary magnetic linkage amplitude ψ_dr, magnetic linkage angle, θ₁, by coordinate transform by θ₁With i_A、i_BObtain primary d shaft currents i_dsWith primary q shaft currents i_qs；Electromagnetic push F is obtained with reference to electric moter voltage equation, flux linkage equations；Based on F, ω_rObtain optimal magnetic linkage valueBy ψ_dr、ω_r、i_ds、i_qsRespectively with it is correspondingMore afterwards primary d shaft current controlled quentity controlled variables are obtained through PI regulationsPrimary q shaft currents controlled quentity controlled variablePrimary d shaft voltages controlled quentity controlled variablePrimary q shaft voltages controlled quentity controlled variableModulated through coordinate transform and SVPWM again, the line inductance electromotor operation of control Driven by inverter.The loss of electric machine under different operating modes, lifting motor operational efficiency can be reduced with the optimal magnetic linkage value needed for online rapid calculation line inductance electromotor loss minimization controller.

Description

A kind of line inductance electromotor stable state loss minimization controller method and system

Technical field

It is minimum more particularly, to a kind of line inductance electromotor stable state the invention belongs to line inductance electromotor technical field Loss control method and system.

Background technology

Line inductance electromotor just can produce direct Thrust without mechanical transmission structure, with simple structure, acceleration and deceleration The advantages such as big, mechanical loss is small, maintenance is few are spent, so as to be widely used in industrial circle, such as city rail traffic, servo-drive system, biography Send band etc..

But line inductance electromotor cut-off due to primary, first level width special construction not etc., operationally exist vertical To side-termind effect and transverse edge effect (general designation side-termind effect).It is violent that side-termind effect can cause the parameter of electric machine to change, maneuverability Can deteriorate, loss rises, efficiency declines.Meanwhile, most of line inductance electromotor, such as city rail traffic, conveyer belt, longtime running In light condition.Huge copper loss will be produced under constant excitation megnet, causes electric efficiency seriously to reduce.

It is lifting line inductance electromotor operational efficiency, loss minimization controller strategy can be dropped by on-line control excitation level The low loss of electric machine, so as to realize efficiency optimization.Current loss minimization controller strategy can be divided mainly into two classes：Modelling and physics Method.Physical constantly adjusts excitation level using intelligent algorithm by on-line measurement power input to machine, until realizing loss most It is small.Modelling is based on motor equivalent circuit, by setting up loss model controller and the optimal magnetic linkage of line solver, so as to realize efficiency Optimization.Compared to Physical, modelling calculating speed is fast, and the hardware requirement to controller is low；Simultaneously as modelling does not exist Convergent requirement, can effectively reduce because of the force oscillation that control algolithm causes, thus suitable for all types of motors and controller.But mould Type method parameter dependence is strong, it is necessary to accurately obtaining the parameter of electric machine could realize loss minimization controller.Influenceed by side-termind effect, directly The change of line induction motor parameter is complicated, there is serious coupling between each parameter, it is difficult to obtain accurate loss model.For straight line sense Motor is answered, at present still without relatively comprehensive and practical loss model and loss minimization controller method.

The content of the invention

It is minimum the invention provides a kind of line inductance electromotor stable state for the disadvantages described above or Improvement requirement of prior art Loss control method and system, introduce side-termind effect coefficient and magnetizing inductance, secondary resistance are corrected, and straight line is analyzed comprehensively The copper loss of induction machine, iron loss, establish line inductance electromotor steady-state loss model, and propose the working solution of optimal magnetic linkage. Line inductance electromotor loss, lifting motor operational efficiency can be significantly reduced under different operating modes.

To achieve the above object, according to one aspect of the present invention, there is provided a kind of line inductance electromotor stable state is minimum to damage Consumption control method, including：

(1) collection line inductance electromotor primary current i_A、i_B, motor speed v₂, and by motor speed v₂It is calculated motor Secondary angular frequency_r；

(2) based on direct field orientation method, by electric motor primary electric current i_A、i_BBy combining electricity after ABC- α β coordinate transforms Machine secondary angular frequency_rCalculate the secondary magnetic linkage amplitude ψ for obtaining line inductance electromotor_dr, secondary magnetic chain angle, θ₁；By electric motor primary Electric current i_A、i_BBy combining secondary magnetic chain angle, θ after ABC-dq coordinate transforms₁Calculate and obtain primary d shaft currents i_dsWith primary q axles Electric current i_qs；

(3) after being corrected with secondary resistance to the magnetizing inductance of line inductance electromotor dq axles based on side-termind effect coefficient, The electromagnetic push F of motor is obtained with reference to the voltage of line inductance electromotor dq axles and the flux linkage calculation of line inductance electromotor dq axles；

(4) based on electromagnetic push F and motor secondary angular frequency_rIt is optimal when obtaining making line inductance electromotor be lost minimum Magnetic linkage valueBy secondary magnetic linkage amplitude ψ_drWith optimal magnetic linkage valueMore afterwards primary d shaft current controlled quentity controlled variables are obtained through PI regulationsBy motor secondary angular frequency_rWith preset valueMore afterwards primary q shaft current controlled quentity controlled variables are obtained through PI regulations

(5) by primary d shaft currents i_dsWith primary d shaft currents controlled quentity controlled variableMore afterwards primary d shaft voltages are obtained through PI regulations Controlled quentity controlled variableBy primary q shaft currents i_qsWith primary q shaft currents controlled quentity controlled variableMore afterwards primary q shaft voltage controls are obtained through PI regulations Amount processedBy primary d shaft voltages controlled quentity controlled variablePrimary q shaft voltages controlled quentity controlled variableBy carrying out space after dq- α β coordinate transforms Vector Pulse Width Modulation SVPWM, the line inductance electromotor operation of control Driven by inverter.

Preferably, the voltage of the line inductance electromotor dq axles in step (3) is：

Wherein, u_dsIt is primary d shaft voltages, u_qsIt is primary q shaft voltages, i_dsIt is primary d shaft currents, i_qsIt is primary q axles electricity Stream, i_drIt is secondary d shaft currents, i_qrIt is secondary q shaft currents, i_dcIt is core-loss resistance branch road d shaft currents, i_qcIt is core-loss resistance branch road q Shaft current, ψ_dsIt is primary d axles magnetic linkage, ψ_qsIt is primary q axles magnetic linkage, ψ_drIt is secondary d axles magnetic linkage, ψ_qrIt is secondary q axles magnetic linkage, ω_sFor Primary angular frequency, ω_slIt is slippage angular frequency, p is differential operator, R_re=K_rC_rR_rIt is equivalent secondary resistance, R_sFor primary resistance, R_cIt is core-loss resistance, R_rIt is secondary resistance, K_rIt is longitudinal edge effect secondary resistance correction factor, C_rIt is transverse edge effect time Level resistance correction factor.

Preferably, the magnetic linkage of the line inductance electromotor dq axles in step (3) is：

Wherein, L_me=K_xC_xL_m, L_lsIt is primary leakage inductance, L_mIt is magnetizing inductance, L_lrIt is secondary leakage inductance, i_dmIt is field excitation branch line d Shaft current, i_qmIt is field excitation branch line q shaft currents, K_xIt is longitudinal edge effect magnetizing inductance correction factor, C_xIt is transverse edge effect Magnetizing inductance correction factor.

Preferably, the electromagnetic push F of the motor is： Wherein, τ is line inductance electromotor pole span, L_r=L_me+L_lr。

Preferably, the optimal magnetic linkage value ψ_d ^* _rSpecific implementation be：

Determine the controllable loss function of line inductance electromotor：

When steady-state operation is in using secondary magnetic orientation and motor, electromagnetic push F and the motor secondary angular frequency of motor Rate ω_rIt is considered as constant, pressure drop is zero on each inductance, while secondary q axle magnetic linkages ψ_qrIt is zero, then is reduced to electromagnetic push：And then by the controllable loss function P of line inductance electromotor_lossIt is reduced to：Wherein, a₁、a₂、a₃、a₄、a₅Represent loss factor：

Wherein,

In P_loss' it is minimum when the magnetic linkage value tried to achieve be optimal magnetic linkage

It is another aspect of this invention to provide that a kind of line inductance electromotor stable state loss minimization controller system is provided, including：

Controller, for the line inductance electromotor speed v by collecting₂It is calculated motor secondary angular frequency_r；

The controller, is additionally operable to based on direct field orientation method, by the line inductance electromotor primary electrical for collecting Stream i_A、i_BBy combining motor secondary angular frequency after ABC- α β coordinate transforms_rCalculate the secondary magnetic linkage for obtaining line inductance electromotor Amplitude ψ_dr, secondary magnetic chain angle, θ₁；By the line inductance electromotor primary current i for collecting_A、i_BBy ABC-dq coordinate transforms Secondary magnetic chain angle, θ is combined afterwards₁Calculate and obtain primary d shaft currents i_dsWith primary q shaft currents i_qs；

The controller, is additionally operable to magnetizing inductance and secondary electrical to line inductance electromotor dq axles based on side-termind effect coefficient After resistance is corrected, motor is obtained with reference to the voltage of line inductance electromotor dq axles and the flux linkage calculation of line inductance electromotor dq axles Electromagnetic push F；

The controller, is additionally operable to based on electromagnetic push F and motor secondary angular frequency_rObtain damaging line inductance electromotor Optimal magnetic linkage value when consumption is minimum

First comparator, for by secondary magnetic linkage amplitude ψ_drWith optimal magnetic linkage valueIt is compared；

First pi regulator, for by the first comparator relatively after result be adjusted obtaining primary d shaft currents Controlled quentity controlled variable

Second comparator, for by motor secondary angular frequency_rWith preset valueIt is compared；

Second pi regulator, for by second comparator relatively after result be adjusted obtaining primary q shaft currents Controlled quentity controlled variable

3rd comparator, for by primary d shaft currents i_dsWith primary d shaft currents controlled quentity controlled variableIt is compared；

3rd pi regulator, for by the 3rd comparator relatively after result be adjusted obtaining primary d shaft voltages Controlled quentity controlled variable

4th comparator, for by primary q shaft currents i_qsWith primary q shaft currents controlled quentity controlled variableIt is compared；

4th pi regulator, for by the 4th comparator relatively after result be adjusted obtaining primary q shaft voltages Controlled quentity controlled variable

The controller, is additionally operable to primary d shaft voltages controlled quentity controlled variablePrimary q shaft voltages controlled quentity controlled variableBy dq- α β Space vector pulse width modulation SVPWM, the line inductance electromotor operation of control Driven by inverter are carried out after coordinate transform.

In general, there is following skill compared with prior art, mainly by the contemplated above technical scheme of the present invention Art advantage：Different operating modes can be reduced with the optimal magnetic linkage value needed for online rapid calculation line inductance electromotor loss minimization controller Under the loss of electric machine, lifting motor operational efficiency.

Brief description of the drawings

Fig. 1 is embodiment of the present invention cathetus induction machine stable state loss minimization controller Method And Principle schematic diagram；

Fig. 2 (a) is embodiment of the present invention cathetus induction machine d axle equivalent circuits；

Fig. 2 (b) is embodiment of the present invention cathetus induction machine q axle equivalent circuits；

Fig. 3 (a) is loss minimization controller and field orientation of the line inductance electromotor under constant electromagnetic thrust, friction speed Control loss ratio is compared with result figure；

Fig. 3 (b) is loss minimization controller and field orientation of the line inductance electromotor under different electromagnetic push, constant speed Control loss ratio is compared with result figure.

Specific embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.As long as additionally, technical characteristic involved in invention described below each implementation method Not constituting conflict each other can just be mutually combined.

It is as shown in Figure 1 embodiment of the present invention cathetus induction machine stable state loss minimization controller Method And Principle schematic diagram, Suitable for motor steady state operating condition, specific implementation step is as follows：

(1) collection line inductance electromotor primary current i_A、i_B, motor speed v₂, and by motor speed v₂It is calculated motor Secondary angular frequency_r；

(2) based on direct field orientation method, by electric motor primary electric current i_A、i_BBy combining electricity after ABC- α β coordinate transforms Machine secondary angular frequency_rCalculate the secondary magnetic linkage amplitude ψ for obtaining line inductance electromotor_dr, secondary magnetic chain angle, θ₁；By electric motor primary Electric current i_A、i_BBy combining secondary magnetic chain angle, θ after ABC-dq coordinate transforms₁Calculate and obtain primary d shaft currents i_dsWith primary q axles Electric current i_qs；

(3) after being corrected with secondary resistance to the magnetizing inductance of line inductance electromotor dq axles based on side-termind effect coefficient, The electromagnetic push F of motor is obtained with reference to the voltage of line inductance electromotor dq axles and the flux linkage calculation of line inductance electromotor dq axles；

(4) based on electromagnetic push F and motor secondary angular frequency_rIt is optimal when obtaining making line inductance electromotor be lost minimum Magnetic linkage valueBy secondary magnetic linkage amplitude ψ_drWith optimal magnetic linkage valueMore afterwards primary d shaft current controlled quentity controlled variables are obtained through PI regulationsBy motor secondary angular frequency_rWith preset valueMore afterwards primary q shaft current controlled quentity controlled variables are obtained through PI regulations

(5) by primary d shaft currents i_dsWith primary d shaft currents controlled quentity controlled variableMore afterwards primary d shaft voltages are obtained through PI regulations Controlled quentity controlled variableBy primary q shaft currents i_qsWith primary q shaft currents controlled quentity controlled variableMore afterwards primary q shaft voltage controls are obtained through PI regulations Amount processedBy primary d shaft voltages controlled quentity controlled variablePrimary q shaft voltages controlled quentity controlled variableBy carrying out space after dq- α β coordinate transforms Vector Pulse Width Modulation (Space Vector Pulse Width Modulation, SVPWM), controls Driven by inverter straight line sense Answer motor operation.

In the present invention, introduce side-termind effect coefficient and magnetizing inductance, secondary resistance are corrected, straight line sense is analyzed comprehensively Copper loss, the iron loss of motor are answered, line inductance electromotor steady-state loss model is established, and propose the working solution of optimal magnetic linkage.With It is lower to illustrate respectively.

1st, line inductance electromotor Mathematical Modeling

Fig. 2 is line inductance electromotor d-q axle equivalent circuits, and wherein Fig. 2 (a) is d axle equivalent circuits, and Fig. 2 (b) is q axles etc. Effect circuit.In figure, K_rIt is longitudinal edge effect secondary resistance correction factor, K_xIt is longitudinal edge effect magnetizing inductance correction factor, C_rIt is transverse edge effect secondary resistance correction factor, C_xIt is transverse edge effect magnetizing inductance correction factor.This four coefficients can It is expressed as：

Wherein, s is line inductance electromotor revolutional slip, and G is quality factor, and τ is pole span, T, C₁And C₂It is revolutional slip and quality The function of factor, R_e(T) real part of variable T, I are represented_m(T) imaginary part of variable T, p are represented_eIt is equivalent number of pole-pairs, its expression formula For：

In formula, n_pIt is the actual number of pole-pairs of line inductance electromotor, ε is short pitch, m₁It is the primary number of phases, q is every extremely per phase groove Number.

In Fig. 2, L_ls、L_mWith L_lrRespectively primary leakage inductance, magnetizing inductance and secondary leakage inductance, R_s、R_cWith R_rRespectively primary electrical Resistance, core-loss resistance and secondary resistance.Core-loss resistance is in parallel with magnetizing inductance and is placed in primary leakage inductance left side, with intactly comprising just Iron loss caused by level leakage inductance, magnetizing inductance and secondary leakage inductance.Especially, it is considered to the equivalent magnetizing inductance of side-termind effect influence It is represented by with equivalent secondary resistance

Based on equivalent circuit shown in Fig. 2, line inductance electromotor voltage equation is：

In formula, u_ds、u_qsRespectively primary d shaft voltages, primary q shaft voltages, i_ds、i_qs、i_dr、i_qr、i_dc、i_qcRespectively just Level d shaft currents, primary q shaft currents, secondary d shaft currents, secondary q shaft currents, core-loss resistance branch road d shaft currents and core-loss resistance branch Road q shaft currents, ψ_ds、ψ_qs、ψ_dr、ψ_qrRespectively primary d axles magnetic linkage, primary q axles magnetic linkage, secondary d axles magnetic linkage and secondary q axle magnetic linkages, ω_s、ω_slRespectively primary angular frequency, slippage angular frequency, p is differential operator.

Flux linkage equations are：

In formula, i_dm、i_qmRespectively field excitation branch line d shaft currents, field excitation branch line q shaft currents.

Node current equation is：

Electromagnetic push is

In formula

L_r=L_me+L_lr (11)

2nd, line inductance electromotor loss model

The controllable loss of line inductance electromotor includes primary copper loss, secondary copper loss and iron loss, is represented by

Oriented using secondary magnetic and when motor is in steady-state operation, electromagnetic push F and motor speed (that is, secondary angle Frequencies omega_r) constant motor is all can be considered, pressure drop is zero on each inductance, while secondary q axle magnetic linkages are zero, i.e.,：

ψ_qr=0 (13)

From (7) and (13)

i_dr=0 (14)

From (8) and (13)

Can be obtained according to (8), (9) and (15)

Based on the equivalent circuits of d axles shown in Fig. 2 (a), can arrange and write following voltage equation：

R_ci_dc=-ω_sψ_qs (17)

Can be obtained with reference to (16), (17)

From (8) and (14)

Can be obtained with reference to (9), (18) and (19)

Can be obtained by (8), (18) and (19)

In formula

L_s=L_me+L_ls (22)

Based on the equivalent circuits of q axles shown in Fig. 2 (b), can arrange and write following voltage equation：

R_ci_qc=ω_sψ_ds (23)

Can be obtained with reference to (21), (23)

So as to simultaneous (9), (15) and (24) can be similarly achieved

Based on (10), (13), electromagnetic push can be reduced to

Simultaneous (24)-(26) can be derived by

Additionally, primary angular frequency is obtained by following formula

ω_s=ω_r+ω_sl (28)

Wherein slippage angular frequency is represented by

Now by above-mentioned each current expression abbreviation and arrangement obtain

(30) are substituted into (12), abbreviation is arranged and obtains line inductance electromotor loss model：

In formula, loss factor a₁、a₂、a₃、a₄And a₅It is expressed as follows：

3rd, line inductance electromotor loss minimization controller method

Single order and second dervative are asked respectively to (31)：

It is provable based on above-mentioned derivation：It is rightAndPerseverance has

(37) formula is made to be equal to zero, i.e.,

Due to

It will be appreciated that formula (40) existence and unique solution, i.e. formula (31) existence anduniquess minimum, that is, motor minimal losses point.Ask Solution (40) the optimal magnetic linkage that just can obtain corresponding to minimal losses point is：

In formula

Wherein

4th, loss minimization controller effect analysis

Fig. 3 is loss minimization controller and Field orientable control loss ratio of the line inductance electromotor under different operating conditions Compared with wherein Fig. 3 (a) is the comparing under constant electromagnetic thrust, friction speed, and Fig. 3 (b) is under different electromagnetic push, constant speed Comparing.As can be seen that compared with Field orientable control, loss minimization controller effectively can reduce straight line under different operating conditions Induction machine is lost, and it is especially pronounced that reducing effect is lost under underloading (electromagnetic push is small), high speed.

As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, it is not used to The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc., all should include Within protection scope of the present invention.

Claims (6)

1. a kind of line inductance electromotor stable state loss minimization controller method, it is characterised in that including：

(1) collection line inductance electromotor primary current i_A、i_B, motor speed v₂, and by motor speed v₂It is calculated motor secondary Angular frequency_r；

(2) based on direct field orientation method, by electric motor primary electric current i_A、i_BBy combining motor after ABC- α β coordinate transforms Level angular frequency_rCalculate the secondary magnetic linkage amplitude ψ for obtaining line inductance electromotor_dr, secondary magnetic chain angle, θ₁；By electric motor primary electric current i_A、i_BBy combining secondary magnetic chain angle, θ after ABC-dq coordinate transforms₁Calculate and obtain primary d shaft currents i_dsWith primary q shaft currents i_qs；

(3) after being corrected with secondary resistance to the magnetizing inductance of line inductance electromotor dq axles based on side-termind effect coefficient, with reference to The voltage of line inductance electromotor dq axles and the flux linkage calculation of line inductance electromotor dq axles obtain the electromagnetic push F of motor；

(4) based on electromagnetic push F and motor secondary angular frequency_rOptimal magnetic linkage when obtaining making line inductance electromotor be lost minimum ValueBy secondary magnetic linkage amplitude ψ_drWith optimal magnetic linkage valueMore afterwards primary d shaft current controlled quentity controlled variables are obtained through PI regulations By motor secondary angular frequency_rWith preset valueMore afterwards primary q shaft current controlled quentity controlled variables are obtained through PI regulations

(5) by primary d shaft currents i_dsWith primary d shaft currents controlled quentity controlled variablePrimary d shaft voltages are obtained through PI regulations more afterwards to control AmountBy primary q shaft currents i_qsWith primary q shaft currents controlled quentity controlled variableMore afterwards primary q shaft voltage controlled quentity controlled variables are obtained through PI regulationsBy primary d shaft voltages controlled quentity controlled variablePrimary q shaft voltages controlled quentity controlled variableBy carrying out space vector after dq- α β coordinate transforms Pulsewidth modulation SVPWM, the line inductance electromotor operation of control Driven by inverter.

2. method according to claim 1, it is characterised in that the voltage of the line inductance electromotor dq axles in step (3) is：

$\left\{\begin{array}{c}{u}_{ds}=R_s{i}_{ds}+p{\mathrm{\ψ}}_{ds}-{\mathrm{\ω}}_s{\mathrm{\ψ}}_{qs}\\ u_{qs}=R_s{i}_{qs}+{\mathrm{p\ψ}}_{qs}+{\mathrm{\ω}}_s{\mathrm{\ψ}}_{ds}\\ 0=R_{re}{i}_{dr}+{\mathrm{p\ψ}}_{dr}-{\mathrm{\ω}}_{sl}{\mathrm{\ψ}}_{qr}\\ 0=R_{re}{i}_{qr}+{\mathrm{p\ψ}}_{qr}+{\mathrm{\ω}}_{sl}{\mathrm{\ψ}}_{dr}\\ 0={\mathrm{p\ψ}}_{ds}-{\mathrm{\ω}}_s{\mathrm{\ψ}}_{qs}-R_c{i}_{dc}\\ 0={\mathrm{p\ψ}}_{qs}+{\mathrm{\ω}}_s{\mathrm{\ψ}}_{ds}-R_c{i}_{qc}\end{array}\right.$

Wherein, u_dsIt is primary d shaft voltages, u_qsIt is primary q shaft voltages, i_dsIt is primary d shaft currents, i_qsIt is primary q shaft currents, i_dr It is secondary d shaft currents, i_qrIt is secondary q shaft currents, i_dcIt is core-loss resistance branch road d shaft currents, i_qcIt is core-loss resistance branch road q axles electricity Stream, ψ_dsIt is primary d axles magnetic linkage, ψ_qsIt is primary q axles magnetic linkage, ψ_drIt is secondary d axles magnetic linkage, ψ_qrIt is secondary q axles magnetic linkage, ω_sIt is primary Angular frequency, ω_slIt is slippage angular frequency, p is differential operator, R_re=K_rC_rR_rIt is equivalent secondary resistance, R_sIt is primary resistance, R_cFor Core-loss resistance, R_rIt is secondary resistance, K_rIt is longitudinal edge effect secondary resistance correction factor, C_rIt is transverse edge effect secondary electrical Resistance correction factor.

3. method according to claim 2, it is characterised in that the magnetic linkage of the line inductance electromotor dq axles in step (3) is：

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{ds}=L_{ls}(i_{ds}-i_{dc})+L_{me}{i}_{dm}\\ {\mathrm{\ψ}}_{qs}=L_{ls}(i_{qs}-i_{qc})+L_{me}{i}_{qm}\\ {\mathrm{\ψ}}_{dr}=L_{lr}{i}_{dr}+L_{me}{i}_{dm}\\ {\mathrm{\ψ}}_{qr}=L_{lr}{i}_{qr}+L_{me}{i}_{qm}\end{array}\right.$

Wherein, L_me=K_xC_xL_m, L_lsIt is primary leakage inductance, L_mIt is magnetizing inductance, L_lrIt is secondary leakage inductance, i_dmIt is field excitation branch line d axles electricity Stream, i_qmIt is field excitation branch line q shaft currents, K_xIt is longitudinal edge effect magnetizing inductance correction factor, C_xIt is transverse edge effect excitation Inductance correction factor.

4. method according to claim 3, it is characterised in that the electromagnetic push F of the motor is：Wherein, τ is line inductance electromotor pole span, L_r=L_me+ L_lr。

5. method according to claim 4, it is characterised in that the optimal magnetic linkage valueSpecific implementation be：

Determine the controllable loss function of line inductance electromotor： $P_{loss}=R_s(i_{ds}^2+i_{qs}^2)+R_{re}(i_{dr}^2+i_{qr}^2)+R_c(i_{dc}^2+i_{qc}^2);$

When steady-state operation is in using secondary magnetic orientation and motor, electromagnetic push F and the motor secondary angular frequency of motor_r It is considered as constant, pressure drop is zero on each inductance, while secondary q axle magnetic linkages ψ_qrIt is zero, then is reduced to electromagnetic push：And then by the controllable loss function P of line inductance electromotor_lossIt is reduced to：Wherein, a₁、a₂、a₃、a₄、a₅Represent loss factor：

$a_1=\frac{R_s{R}_c^2+(R_s+R_c){\mathrm{\ω}}_r^2{L}_s^2}{R_c^2{L}_{me}^2}$

$a_2=\frac{2{\mathrm{\τ\ω}}_r{F}^{\′}}{{\mathrm{\πR}}_c^2{L}_{me}^2}\{R_{re}(R_s+R_c)L_s^2+R_s{R}_c{L}_{me}^2\}$

$a_3=\frac{{\mathrm{\τ}}^2{F}^{\′2}}{{\mathrm{\π}}^2{R}_c^2{L}_{me}^2}\{R_{re}{R}_c^2{L}_{me}^2+R_s{R}_c^2{L}_r^2+R_c{R}_{re}^2{L}_s^2+R_s{R}_{re}^2{L}_s^2+{\mathrm{\ω}}_r^2(R_s+R_c){(L_{ls}{L}_r+L_{lr}{L}_{me})}^2\}$

$a_4=\frac{2{\mathrm{\τ}}^3{\mathrm{\ω}}_r{R}_{re}{F}^{\′3}}{{\mathrm{\π}}^3{R}_c^2{L}_{me}^2}(R_s+R_c){(L_{ls}{L}_r+L_{lr}{L}_{me})}^2$

Wherein, L_s=L_me+L_ls；

In P_loss' it is minimum when the magnetic linkage value tried to achieve be optimal magnetic linkage

6. a kind of line inductance electromotor stable state loss minimization controller system, it is characterised in that including：

Controller, for the line inductance electromotor speed v by collecting₂It is calculated motor secondary angular frequency_r；

The controller, is additionally operable to based on direct field orientation method, by the line inductance electromotor primary current i for collecting_A、 i_BBy combining motor secondary angular frequency after ABC- α β coordinate transforms_rCalculate the secondary magnetic linkage amplitude for obtaining line inductance electromotor ψ_dr, secondary magnetic chain angle, θ₁；By the line inductance electromotor primary current i for collecting_A、i_BBy being tied after ABC-dq coordinate transforms Close secondary magnetic chain angle, θ₁Calculate and obtain primary d shaft currents i_dsWith primary q shaft currents i_qs；

The controller, is additionally operable to add the magnetizing inductance of line inductance electromotor dq axles with secondary resistance based on side-termind effect coefficient After with amendment, the electricity of motor is obtained with reference to the voltage of line inductance electromotor dq axles and the flux linkage calculation of line inductance electromotor dq axles Magnetic thrust F；

The controller, is additionally operable to based on electromagnetic push F and motor secondary angular frequency_rObtain making line inductance electromotor be lost most The optimal magnetic linkage value of hour

First comparator, for by secondary magnetic linkage amplitude ψ_drWith optimal magnetic linkage valueIt is compared；

First pi regulator, for by the first comparator relatively after result be adjusted obtaining primary d shaft currents control Amount

Second comparator, for by motor secondary angular frequency_rWith preset valueIt is compared；

Second pi regulator, for by second comparator relatively after result be adjusted obtaining primary q shaft currents control Amount

3rd comparator, for by primary d shaft currents i_dsWith primary d shaft currents controlled quentity controlled variableIt is compared；

3rd pi regulator, for by the 3rd comparator relatively after result be adjusted obtaining primary d shaft voltages control Amount

4th comparator, for by primary q shaft currents i_qsWith primary q shaft currents controlled quentity controlled variableIt is compared；

4th pi regulator, for by the 4th comparator relatively after result be adjusted obtaining primary q shaft voltages control Amount

The controller, is additionally operable to primary d shaft voltages controlled quentity controlled variablePrimary q shaft voltages controlled quentity controlled variableBy dq- α β coordinates Space vector pulse width modulation SVPWM, the line inductance electromotor operation of control Driven by inverter are carried out after conversion.