CN107017749B - Optimization method for reducing torque ripple of pseudo fractional slot winding permanent magnet synchronous motor - Google Patents
Optimization method for reducing torque ripple of pseudo fractional slot winding permanent magnet synchronous motor Download PDFInfo
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- CN107017749B CN107017749B CN201710319362.0A CN201710319362A CN107017749B CN 107017749 B CN107017749 B CN 107017749B CN 201710319362 A CN201710319362 A CN 201710319362A CN 107017749 B CN107017749 B CN 107017749B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/12—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors arranged in slots
- H02K3/16—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors arranged in slots for auxiliary purposes, e.g. damping or commutating
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Permanent Magnet Type Synchronous Machine (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
Abstract
The invention discloses an optimization method for reducing the torque ripple of a pseudo fractional slot winding permanent magnet synchronous motor, which reasonably selects the pole number of a stator and a rotor through the calculation of a single-slot cogging torque phase angle, namely when the single-slot cogging torque is grouped according to the same phase angle, the number of the stator slots in each group is minimum, namely the maximum common divisor of the number of the slots of the stator and the number of the poles of a permanent magnet is 1. The invention utilizes a new idea to select the pole slot proportion of the motor, so that the cogging torque and the torque ripple of the motor are smaller. The permanent magnet synchronous motor comprises an outer stator, an inner rotor, an armature winding, a permanent magnet and an air gap; an air gap is provided between the stator and the rotor; the outer stator comprises 45 stator slots and double-layer short-distance armature windings embedded in the stator slots; the inner rotor comprises a rotor iron core and 8 permanent magnet poles, and the greatest common divisor of the number of slots of the stator and the number of poles of the permanent magnets is 1. The invention can obviously weaken the cogging effect of the motor and reduce the cogging torque of the motor.
Description
Technical Field
The invention relates to a design of a permanent magnet synchronous motor adopting a pseudo fractional slot winding, in particular to a method for reducing torque ripple of the permanent magnet synchronous motor, belonging to the technical field of motor manufacturing.
Background
The permanent magnet motor has the prominent characteristics of high torque density, high efficiency, simple structure, small weight and volume and the like. The permanent magnet motor cancels the loss of an excitation system, and improves the efficiency; an excitation winding and an excitation power supply are eliminated, the mechanical structure of the motor is simplified, and the operation reliability of the motor is improved.
As one of important issues to be considered in a high-performance permanent magnet synchronous motor, cogging torque is an important content of research on a permanent magnet synchronous motor. In many application occasions, the permanent magnet synchronous motor is required to provide stable torque output, so that the research on the torque ripple suppression method is of practical significance.
The method for reducing the cogging torque of the permanent magnet synchronous motor with the open slot comprises the following steps: magnetic slot wedges, stator core chutes, rotor oblique poles, non-uniform air gaps, fractional slot windings and the like are adopted. The magnetic slot wedge has an unobvious effect on reducing the cogging torque, and the reliability of the motor is influenced due to the poor strength of the magnetic slot wedge; the stator core chute has a good effect of reducing the cogging torque, and can reduce the cogging torque to zero theoretically, but for an open slot forming winding motor, the coil shape is complex, so that the wire embedding is difficult, the process implementation is difficult, especially under the condition of a large chute angle, and the utilization rate of the motor can be reduced due to the existence of the chute coefficient; the rotor oblique pole has a good effect of reducing the cogging torque, and when a proper oblique pole angle and a proper number of sections are adopted, the cogging torque can be reduced to a satisfactory degree, but the rotor oblique pole is easy to implement in a surface type magnetic circuit structure motor, and for a built-in permanent magnet synchronous motor, the adoption of the structure can cause great difficulty in the embedding of permanent magnets, the laminating of iron cores and the like, so that the use is less. The stator skewed slot and rotor skewed pole method can also increase the magnetic leakage of the motor and reduce the torque.
In actual design, the cogging torque of some motors is difficult to optimize, and the main reason is that the pole slot proportion is not reasonable. The fractional slot winding is used as another method for reducing the cogging torque, and has relatively complex wire inserting and connecting and unobvious advantages in a closed slot random insertion motor, but in an open slot permanent magnet synchronous motor, the fractional slot winding is a better method for reducing the cogging torque because the process difficulty caused by a stator skewed slot and a rotor skewed pole can be reduced. The principle that the motor adopting the fractional slot winding is beneficial to reducing the cogging torque is that based on the fact that when the motors are grouped according to the same phase angle of the single-slot cogging torque, the number of slots in each group is small, the total cogging torque is also small, and therefore the cogging torque can be reduced, and the torque ripple is reduced. Meanwhile, the effects of improving the potential waveform and increasing the utilization rate of the winding are achieved by utilizing the equivalent distribution effect of the fractional slot winding and the weakening effect on the counter potential of the tooth harmonic. However, the conventional permanent magnet synchronous motor adopts integer slot windings, and when the windings are grouped according to the same single-slot cogging torque phase angle, the number of slots in each group is the number of rotor poles, so that the cogging torque and the torque ripple are high, and the application of the permanent magnet synchronous motor in occasions requiring low torque ripple, high control precision and high reliability is limited.
Disclosure of Invention
The invention aims to overcome the defects of the existing permanent magnet synchronous motor, and provides a method for weakening the cogging torque, namely how to select a low-torque-ripple permanent magnet synchronous motor adopting a false fractional slot winding, which can avoid the skewed slot of a stator and the skewed pole of a rotor, greatly reduce the cogging torque and the torque ripple of the motor, and achieve the effects of improving the potential waveform and improving the utilization rate of the winding by utilizing the equivalent distribution effect of the fractional slot winding and the weakening effect on the back electromotive force of the tooth harmonic wave, and has good manufacturability.
Aiming at the problems, the optimization method for reducing the torque ripple of the pseudo fractional slot winding permanent magnet synchronous motor comprises the following design steps:
step 1, analyzing the cogging torque of the motor from the cogging torque period of the motor and the phase of the single-groove cogging torque.
And 2, analyzing the influence of the motor pole slot ratio on the cogging torque, and reasonably selecting the pole number of the motor stator and the motor rotor based on that when the single-slot cogging torque phase angles are grouped in the same way, and the total cogging torque is small when the number n of slots in each group is small.
And 3, determining the number 2p of rotor poles and the number m of phases of the motor, and selecting the number of stator slots according to the condition that n is 1.
And 4, keeping the main size of the motor unchanged, establishing different fractional slot winding permanent magnet motor tooth space torque finite element simulation models, and comparing the sizes of the motor tooth space torques.
and 6, selecting a false fractional slot permanent magnet synchronous motor with a smaller tooth groove torque, then comprehensively analyzing various performances of the motor, and finally selecting a fractional slot permanent magnet motor with a larger k value and a smaller radial force.
Step 1 comprises that the period of the cogging torque is within the range that the relative position of the stator and the rotor changes by one tooth pitch, the change of the cogging torque is changed periodically, and the changed period number depends on the combination of the number of poles and the number of slots. Number of cycles NpIs the ratio of the number of poles, the number of slots and the greatest common divisor of the number of poles (where p is the number of pole pairs and z is the number of slots), i.e.
(ii) a Phase angle of torque phase difference of adjacent single-groove tooth sockets
And the phase difference between the wave crest and the wave crest of the same single-groove tooth socket torque is 180 electrical degrees.
Step 2 comprises that when the single-groove tooth socket torque is grouped according to the same phase angle, the number of the grooves in each group is n, wherein
Since the number of slots in each group is an integer, n is GCD (z,2p), where GCD represents the greatest common divisor of the number of slots z of the motor and the number of poles 2 p. The motor opens the cogging torque of z slots simultaneously, and the first peak is caused by the superposition of peaks of a group of cogging torques when the cogging torques of single slots are grouped at the same phase angle. Therefore, in the design process of the motor, the motor with the smaller maximum common divisor of the number z of the slots and the number 2p of the poles is selected, so that the cogging torque is reduced, and the torque pulsation of the motor is reduced.
Step 3 comprises selecting a machine slot number z having the basic condition of forming a pseudo-fractional slot winding, with a greatest common divisor of the number of poles 2p and the number of stator slots z being 1, i.e. z/m ═ j (j is an integer), and z >2 mp.
And step 4, keeping the rotor unchanged, only changing the number of stator slots, establishing different fractional slot winding permanent magnet motor finite element simulation models, adding zero current excitation to the motor, simulating the motor cogging torque, and comparing the peak value and the peak value of the motor cogging torque.
The permanent magnet synchronous motor comprises an outer stator, an inner rotor, an armature winding, a permanent magnet and an air gap; an air gap is provided between the outer stator and the inner rotor; the outer stator comprises 45 stator slots and double-layer short-distance armature windings embedded in the stator slots; the inner rotor comprises a rotor iron core and 8 permanent magnet poles, and the greatest common divisor of the number of the slots of the outer stator and the number of the poles of the permanent magnets is 1.
Has the advantages that:
1. by the optimization method for reducing the torque ripple of the pseudo fractional slot winding permanent magnet synchronous motor, the cogging effect of the motor can be weakened quickly, the cogging torque of the motor is reduced, and the torque output is more stable.
2. Compared with the magnetic slot wedge, the stator core chute and the rotor chute, the fractional slot winding selected by the method has good manufacturability, is simple and convenient to manufacture, and can save the cost of the motor.
3. The fractional slot stator structure provided by the invention reduces the slot number of the stator winding under the condition that the pole number of the permanent magnet of the motor is certain, and effectively solves the contradiction that the motor has lower rotating speed and more pole numbers and the slot number of the motor is limited.
4. The double-layer short-distance winding structure weakens certain order of harmonic waves and effectively improves the performance of the motor.
Drawings
Fig. 1 is a schematic structural diagram of a motor according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a conventional integer slot permanent magnet synchronous motor.
Fig. 3 is a comparison graph of no-load back electromotive force of the motor adopting the method of the embodiment of the invention and the traditional permanent magnet synchronous motor.
Fig. 4 is a comparison graph of cogging torque of a motor of an embodiment of the method of the present invention and a conventional permanent magnet synchronous motor.
FIG. 5 is a graph comparing the output torque of an embodiment of a motor using the method of the present invention with that of a conventional PMSM.
Number designation in fig. 1, 2: 1. outer stator, 2, inner rotor, 3, armature winding, 4, permanent magnet, 5, air gap.
Detailed Description
The following takes a three-phase surface-embedded permanent magnet synchronous motor as an example, and the method steps are as follows.
Step 1, analyzing the cogging torque of the motor from the cogging torque period of the motor and the phase of the single-groove cogging torque.
And 2, analyzing the influence of the motor pole slot ratio on the cogging torque, and reasonably selecting the pole number of the motor stator and the motor rotor based on that when the single-slot cogging torque phase angles are grouped in the same way, and the total cogging torque is small when the number n of slots in each group is small.
Step 3, determining the number of rotor poles 2p of the motor to be 8 and the number of phases m to be 3, wherein the number of stator slots has the basic conditions for forming a pseudo-fractional slot winding, namely z/m to be j (j is an integer) and z >2mp, so that z can be selected from 27,30,33,36,39,42,45 and the like.
And 4, keeping the main size of the motor unchanged, establishing different fractional slot winding permanent magnet motor tooth space torque finite element simulation models, and comparing the sizes of the motor tooth space torques.
And 5, carrying out phase splitting on different motor models according to a 60-degree phase band, wherein the motor winding is a double-layer short-distance winding.
And 6, selecting a false fractional slot permanent magnet synchronous motor with a smaller tooth groove torque, then comprehensively analyzing various performances of the motor, and finally selecting a fractional slot permanent magnet motor with a larger k value and a smaller radial force. When z is 27,33,39,45, the k value is large. Then, the magnitude of the radial force of the four motors is compared, and when z is 45, the radial force is the smallest. So the motor with z 45 is finally selected.
A three-phase surface-embedded permanent magnet synchronous motor of a preferred embodiment is shown in fig. 1, and comprises an outer stator (1), an inner rotor (2), an armature winding (3), a permanent magnet (4) and an air gap (5); an air gap (5) is arranged between the outer stator (1) and the inner rotor (2); the outer stator (1) comprises 45 stator slots and a double-layer short-distance armature winding (3) embedded therein; the inner rotor (2) comprises a rotor iron core and 8 permanent magnetic poles (3), and the greatest common divisor of the number of the slots of the outer stator (1) and the number of the poles of the permanent magnets (4) is 1.
For a clear illustration of a preferred embodiment of the motor using the method of the invention, the method of the invention will be described below with reference to a preferred three-phase motor embodiment in the drawing. From fig. 1, it can be seen that the outer stator (1) has 45 stator slots; 8 permanent magnets (4) which are adjacent, opposite in polarity and magnetized in the radial direction are embedded on the rotor; the armature adopts a double-layer short-distance winding (3); it is noted that, by using the method of the present invention, the number of stator slots of the motor is 45, the number of permanent magnet poles is 8, and the proposed relationship of low cogging torque and low torque ripple is satisfied, that is, based on the same grouping of single-slot cogging torque phase angles, the number of slots n in each group is 1.
Fig. 2 shows a conventional integer slot permanent magnet synchronous motor structure, in which 48 stator slots are formed in an outer stator (1); 8 permanent magnets (4) which are adjacent, opposite in polarity and magnetized in the radial direction are embedded on the rotor; the armature adopts a double-layer short-distance winding (3); it is noted that the conventional motor without the method of the present invention, with a number of stator slots of 48 and a number of permanent magnet poles of 8, does not meet the proposed relationship with low cogging torque and torque ripple.
Fig. 3 compares the no-load back electromotive force waveforms of the conventional integer slot permanent magnet synchronous motor and the motor using the embodiment of the method of the present invention, and it can be seen that the motor using the embodiment of the method of the present invention weakens a certain order of harmonics, and the no-load back electromotive force waveform is more sinusoidal.
Fig. 4 compares the cogging torque of a conventional integer slot permanent magnet synchronous motor with that of an embodiment motor using the method of the present invention, and it can be seen that the cogging torque of the embodiment motor using the method of the present invention is greatly reduced. Compared with the original motor, the peak value of the cogging torque of the motor of the embodiment is greatly reduced, and the peak value is reduced to 35.6mN from the original 1123.8 mN.
Fig. 5 compares the output torque of a conventional integer slot permanent magnet synchronous motor with that of an embodiment motor using the method of the present invention, and it can be seen that the torque output of the embodiment motor using the method of the present invention is smoother. Compared with the original motor, the output torque of the motor of the embodiment is not reduced and is 6.3N. Compared with the original motor, the peak value of the output torque of the motor of the embodiment is greatly reduced, the peak value is reduced from the original 1.97N to 0.26N, and the torque ripple is reduced from 31.3% to 4.1%.
In conclusion, the optimization method for reducing the torque ripple of the pseudo fractional slot winding permanent magnet synchronous motor can effectively weaken the cogging effect of the motor and greatly reduce the cogging torque and the torque ripple of the motor only by reasonably selecting the number of poles of the stator and the rotor, not only improves the performance of the motor, but also has good manufacturability, and therefore has wider application prospect.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (4)
1. An optimization method for reducing torque ripple of a pseudo fractional slot winding permanent magnet synchronous motor is characterized by comprising the following steps:
step 1, analyzing the cogging torque of the motor from the cogging torque period of the motor and the phase of the cogging torque of a single slot;
step 2, analyzing the influence of the motor pole slot ratio on the cogging torque, and reasonably selecting the pole number of the motor stator and the motor rotor based on that when the motor pole slot ratio is grouped according to the same single-slot cogging torque phase angle, and the number n of slots in each group is smaller, the total cogging torque is also smaller;
step 3, determining the number 2p of rotor poles and the number m of phases of the motor, and selecting the number of stator slots according to the condition that n is 1;
step 4, keeping the main size of the motor unchanged, establishing different fractional slot winding permanent magnet motor tooth space torque finite element simulation models, and comparing the sizes of the motor tooth space torques;
step 5, according to 60, different motor models adopting the false fractional slot winding°The phase belt carries out phase splitting, and the motor winding is a double-layer short-distance winding;
step 6, selecting a false fractional slot permanent magnet synchronous motor with smaller cogging torque, then comprehensively analyzing various performances of the motor, and finally selecting a fractional slot permanent magnet motor with larger k value and smaller radial force;
in step 6, k is Tavg/Tripple，TavgIs the average torque of the motor, TrippleIs motor torque ripple;
the permanent magnet synchronous motor comprises an outer stator (1), an inner rotor (2), an armature winding (3), a permanent magnet (4) and an air gap (5); an air gap (5) is arranged between the outer stator (1) and the inner rotor (2); the outer stator (1) comprises 45 stator slots and a double-layer short-distance armature winding (3) embedded therein; the inner rotor (2) comprises a rotor iron core and 8 permanent magnetic poles (3), and the greatest common divisor of the number of slots of the outer stator (1) and the number of poles of the permanent magnets (4) is 1;
in the step 1, the period of the cogging torque is within a range that the relative position of the stator and the rotor changes by one tooth pitch, the change of the cogging torque is periodically changed, the changed period number depends on the combination of the number of poles and the number of slots, and the period number N ispIs the ratio of the number of poles, the number of slots and the greatest common divisor of the number of poles, where p is the number of pole pairs and z is the number of slots, i.e.
Phase angle of torque phase difference of adjacent single-groove tooth socketsThe phase difference between the wave crest and the wave crest of the same single-groove tooth socket torque is 180 electrical degrees;
in the step 2, when the single-groove tooth socket torques are grouped according to the same phase angle, the number of the grooves in each group is n, whereinSince the number of slots in each group is an integer, n is GCD (z,2p), wherein GCD represents the greatest common divisor of the number of slots z of the motor and the number of poles 2 p; the motor simultaneously opens the cogging torque of z slots.
2. The optimization method for reducing the torque ripple of the pseudo fractional-slot winding permanent magnet synchronous motor according to claim 1, wherein in the step 3, the greatest common divisor of the selected number of the stator slots z and the number of the poles 2p is 1, the number of the stator slots has the basic condition of forming the pseudo fractional-slot winding, namely z/m-j (j is an integer), and z >2 mp.
3. The optimization method for reducing the torque ripple of the pseudo fractional-slot winding permanent magnet synchronous motor according to claim 1, wherein in the step 4, a rotor needs to be kept unchanged, only the number of stator slots is changed, different fractional-slot winding permanent magnet motor finite element simulation models are established, zero current excitation is added to the motor, the motor cogging torque is simulated, and the peak-to-peak value of the motor cogging torque is compared.
4. An optimized method for reducing the torque ripple of the pseudo fractional-slot-winding permanent magnet synchronous motor as claimed in claim 1, wherein in the step 5, the fractional-slot winding is analyzed by a slot potential phasor star diagram, and the coil pitches are selected according to the pole pitches of the motors, wherein the motors are selected to have short pitches close to the pole pitches in view of weakening the harmonic waves but not weakening the fundamental waves as much as possible, and the pole pitches
The motor winding connection mode is a double-layer short-distance winding.
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| CN111669004B (en) * | 2020-06-24 | 2022-03-15 | 合肥工业大学 | Optimization design method for number of slots of low-speed large-torque permanent magnet synchronous motor |
| CN113964963A (en) * | 2021-10-28 | 2022-01-21 | 江苏嘉轩智能工业科技股份有限公司 | Permanent magnet direct-drive roller false fractional slot motor for belt conveyor |
| CN114844267B (en) * | 2022-06-10 | 2024-05-03 | 合肥工业大学 | Double-stator permanent magnet synchronous motor torque pulsation weakening method based on single-side Halbach array |
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