CN108631663A - A method of analyzing accurately and quickly magneto electromagnetic performance - Google Patents
A method of analyzing accurately and quickly magneto electromagnetic performance Download PDFInfo
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- CN108631663A CN108631663A CN201810341621.4A CN201810341621A CN108631663A CN 108631663 A CN108631663 A CN 108631663A CN 201810341621 A CN201810341621 A CN 201810341621A CN 108631663 A CN108631663 A CN 108631663A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
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- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to methods that is a kind of accurate and quickly analyzing magneto electromagnetic performance, belong to magneto technical field.This method carries out simulation analysis to the electromagnetic property of same permanent magnet synchronous motor, respectively by way of setting machine winding energisation mode to ideal sinusoidal Impetus of Current Source, ideal sinusoidal voltage source excitation, and finite element motor model control using vector control system and look-up table motor model is controlled using vector control system, and using vector control system to obtaining the motor electromagnetic performance under four kinds of models；By the comparison with experimental result, illustrate to possess highest precision using the model of vector control system, the speed of emulation can be accelerated under the premise of meeting precision using the model of desired voltage source forcing, improve simulation efficiency.The present invention can accurately and quickly analyze the electromagnetic property in magneto actual motion.
Description
Technical field
The present invention relates to methods that is a kind of accurate and quickly analyzing magneto electromagnetic performance, belong to magneto technology
Field.
Background technology
The advantages that permanent magnet synchronous motor is light-weight because it is with small, efficient, and power density is high and answered extensively
With.By rotor structure point, permanent magnet synchronous motor can be divided into surface-mount type and built-in two class.The permanent magnet of surface-mounted rotor structure
It is installed on the outer round surface of rotor core, rotating speed is generally relatively low.The permanent magnet of interior permanent magnet machines is placed in rotor core
Portion, mechanical structure are relatively reliable.In terms of electromagnetic performance, it is close that interior permanent magnet machines reluctance torque helps to improve power of motor
Degree and overload capacity, and it is easily achieved weak magnetism speed expansion, electric vehicle output-constant operation range, therefore extensive use can be expanded
In electric vehicle field.
Permanent magnet synchronous motor applied to electric vehicle needs have the wider range of speeds, and needs in most of fortune
There is high efficiency in row section.The method of the general analysis efficiency used in simulations, is by using ideal sinusoidal current source
The emulation of the model (model one) of excitation obtain motor each point efficiency, but when it has ignored motor actual motion, electric current
Loss caused by harmonic wave increases.The considerations of for comfort level, the permanent magnet synchronous motor for being applied to electric vehicle are needed with smaller
Noise.The simulation analysis that noise of motor carries out is needed to establish on the basis of accurately analysis electromagnetic force, and generally use
Emulation by model one is inaccurate.And model (the mould that finite element motor model is controlled using vector control system
Type three) although mode can accurately obtain electromagnetic property, take too long.Therefore it needs to study and both can guarantee emulation essence
Degree, while the method for simulation time can be reduced.
Invention content
In order to overcome the ideal sinusoidal Impetus of Current Source when analyzing permanent magnet synchronous motor electromagnetic property, generally used at present
Mode (model one) analysis motor performance when it is not accurate enough, and what vector control system controlled finite element motor model
Although analysis motor performance is accurate but take too long problem, the present invention proposes a kind of accurate and fast model (model three)
The method of speed analysis magneto electromagnetic performance.
The present invention is to solve its technical problem to adopt the following technical scheme that：
A method of magneto electromagnetic performance is analyzed accurately and quickly, is included the following steps：It is same to same permanent magnetism
The electromagnetic property for walking motor carries out simulation analysis, is swashed respectively by setting machine winding energisation mode to ideal sinusoidal current source
It encourages, the mode of ideal sinusoidal voltage source excitation, and finite element motor model is controlled and adopted using vector control system
Look-up table motor model is controlled with vector control system, and using vector control system to obtaining the electricity under four kinds of models
Electromechanical magnetic property；By the comparison with experimental result, illustrates to possess highest precision using the model of vector control system, use
The model of desired voltage source forcing can accelerate the speed of emulation under the premise of meeting precision, improve simulation efficiency.
In the model using ideal sinusoidal Impetus of Current Source, machine winding energisation mode is Impetus of Current Source, according to
The amplitude and initial angle of electric current is arranged in operating point.
In the model using ideal sinusoidal voltage source excitation, machine winding energisation mode is voltage source excitation, according to
The amplitude of phase voltage is arranged in operating point；By adjusting the mode of load torque, so that motor is started from stationary state and stablize to institute
Need operating point.
In the model controlled finite element motor model using vector control system, to the threephase armature of acquisition
Winding current first carries out Clark transformation and carries out Park again and convert to obtain motor direct-axis current idWith quadrature axis current iq；It is closed by electric current
Ring control makes idAnd iqStablize in given value.
In the model controlled look-up table motor model using vector control system, by obtaining different
idAnd iqUnder three pole reactor, and according to permanent magnet synchronous motor math equation establish motor search table model；The control knot of the model
Structure is identical as the model controlled finite element motor model using vector control system, and with the look-up table motor model generation
For finite element motor model.
Beneficial effects of the present invention are as follows：
1. the present invention improves simulation model (model three) according to Experimental Control System, to accurately be analyzed in simulated environment
Electromagnetic property of the motor in actual motion.
2. the present invention in such a way that machine winding energisation mode to be set as to voltage source excitation (model two), is ensureing to emulate
Under the premise of precision, effectively shorten simulation time.
3. the present invention is ensureing simulation accuracy using the control system analysis look-up table motor model (model four) in experiment
Under the premise of, effectively shorten simulation time.
Description of the drawings
Fig. 1 is the comparative illustration figure of four models.
Fig. 2 is the system construction drawing that a permanent magnet synchronous motor uses Impetus of Current Source (model one).
Fig. 3 is using the system construction drawing that machine winding energisation mode is set as to voltage source excitation (model two).Fig. 4 is pair
The system construction drawing for the model (model three) that finite element motor model is controlled using vector control system.
Fig. 5 is the system structure of the model (model four) controlled using vector control system look-up table motor model
Figure.
Fig. 6 (a) is a permanent magnet synchronous motor in each simulation model and experiment test, operates in 2200rpm, 262Nm
Low order current harmonics comparison diagram when operating point, Fig. 6 (b) are the high order current harmonics comparison diagrams of the operating point.
Fig. 7 (a) is a permanent magnet synchronous motor in each simulation model, operates in 2200rpm, when the operating points 262Nm
Low order electromagnetic torque harmonic contrast schemes, and Fig. 7 (b) is the high order electromagnetic torque harmonic contrast figure of the operating point.
Fig. 8 is a permanent magnet synchronous motor in each simulation model, operates in 2200rpm, the loss when operating points 262Nm
Comparison diagram.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or the element of similar functions.Below with reference to the reality of attached drawing description
The mode of applying is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
When the present invention obtains the electromagnetic property of interior permanent magnet machines to solve the existing method using Impetus of Current Source
It is not accurate enough, although and accurately time-consuming too long problem, proposition one kind are new using vector control system analysis motor performance
It is quick and accurately obtain motor electromagnetic characteristic method, below in conjunction with the accompanying drawings to embodiments of the present invention carry out specifically
It is bright：
Fig. 1 is the method explanation of the present invention, that is, uses the model of voltage source excitation and adopted using to look-up table motor model
With the model of vector controlled, accurate simulation result is obtained, and accelerate simulation velocity.
Fig. 2 is the system structure of model one.In model one, it sets winding energization mode to Impetus of Current Source, is arranged
The corresponding rotating speed of simulation work point, current amplitude and initial angle.Think that electric machine phase current is ideal sinusoidal electric current, it is humorous without electric current
Wave.
Fig. 3 is the system structure of model two.In model two, machine winding mode is set as voltage source excitation, voltage amplitude
Value is set as the corresponding phase voltage amplitude in operating point in model one.Motor phase resistance and leakage inductance are set in a model.By adjusting negative
The mode of set torque makes motor be started from stationary state and stablizes in required operating point (n0, T0)。n0And T0Needed for respectively
The rotating speed and electromagnetic torque of operating point.Use sentence if (n<n0,-T0/n0*n,-T0*n0/n)-T0/n0*(n-n0) * 10 settings are negative
Set torque.I.e. when rotating speed is less than n0When, so that motor is accelerated by reducing load torque；When rotating speed is higher than n0When, it is loaded by increasing
Torque makes decelerating through motor；Final motor will stabilise at (n0, T0)。
Fig. 4 is the system structure of model three.In model three, Simulation of Vector Control is built according to the control system in experiment
Model.iaAnd ibRespectively stator current, iαAnd iβElectric current respectively under two-phase stationary coordinate system, idAnd iqRespectively two-phase is revolved
Turn the electric current under coordinate system,WithFor given command value, PI modules are proportional integration calculator,WithTo be calculated
Two-phase rotating coordinate system under voltage reference value,WithFor the Voltage Reference under the two-phase stationary coordinate system that is calculated
Value, SVPWM modules are space voltage pulse width modulation module, and Clarke is transformed to realize static from three-phase static coordinate system to two-phase
The transformation matrix of coordinate system, Park are transformed to realize the transformation matrix from two-phase stationary coordinate system to two-phase rotating coordinate system,
PMSM FEA models are the motor model built in finite element emulation software, and θ is electrical angle.Wherein busbar voltage, switch frequency
Rate is all identical as experiment condition, is all added in the output signal (being respectively position and electric current) of position sensor and current sensor
Postponement module is with the sampling delay situation in simulated experiment.Motor speed is set as the rotating speed of required operating point, and control system is adopted
With current closed-loop by current control in required idAnd iq。
Fig. 5 is the system structure of model four.In model four, control system use and model three in identical structure, only
Finite element motor model in model three is changed to look-up table motor model.The acquisition methods of the look-up table motor model are：
In finite element motor model, emulation obtains motor in different idAnd iqUnder combination, the magnetic linkage in each rotor-position and inductance number
According to.In the mathematical model of permanent magnet synchronous motor, inductance and magnetic linkage are set as to obtain above-mentioned data by searching for the mode of table, with
This establishes the lookup table model of permanent magnet synchronous motor.
The simulation accuracy of four models and simulation velocity are described in detail below in conjunction with the accompanying drawings：
Fig. 6 (a) and (b) are a permanent magnet synchronous motor respectively in each simulation model and experiment test, are operated in same
Low order when operating point and high order current harmonics comparing result.Because not having current harmonics in model one, mould is not put into Fig. 6
The data of type one.In Fig. 6 (a), the result of model two, model three and model four is all close with experimental result, illustrates to pass through mould
Type two, model three and model four can effectively analyze low order current harmonics when motor actual motion.The low order electric current of motor
Harmonic wave is based on 5 subharmonic and 7 subharmonic.In Fig. 6 (b), the result of model three and model four is all close with experimental result, says
Bright high order current harmonics when can effectively analyze motor actual motion by model three and model four；High order current harmonics point
Cloth is near switching frequency (5kHz) and the multiple of switching frequency.And it is not using ideal voltage source, voltage in model two
PWM forms, therefore without the high order current harmonics near switching frequency multiple in model two.Model three most connects with experimental result
Closely, therefore, it is considered that model three is the highest model of precision, and the mould can be passed through for the judgement of other simulation model precision
The close degree of three simulation result of type and model determines.
Fig. 7 (a) and (b) are a permanent magnet synchronous motor respectively in each simulation model and experiment test, are operated in same
Low order when operating point and high order electromagnetic torque harmonic contrast's result.In Fig. 7 (a), the result of model two and model three is close,
Low order torque harmonic wave when illustrating effectively analyze motor actual motion by model two.In Fig. 7 (b), model four
High order electromagnetic torque harmonic wave and model three it is close, it can be considered that model four is believable.
It is same permanent magnet synchronous motor in Fig. 8 in several models, operates in loss comparison when identical operating point.Model
One because have ignored current harmonics, therefore copper loss with direct current, iron loss and permanent magnet loss are all smaller；Model four is look-up table mould
Type cannot analyze magnetic field, therefore can not carry out the analysis of iron loss and permanent magnet loss by model four.
Fig. 6, Fig. 7 and Fig. 8 illustrate, the electromagnetic property of permanent magnet synchronous motor are if desired accurately analyzed, using Impetus of Current Source
The precision of method (model one) be inadequate, the result of accurate current harmonics, electromagnetic torque harmonic wave and loss can not be obtained；
Most accurate result can be obtained using simulation model (model three) identical with Experimental Control System；Model two has relatively high
Precision, can accurately analyze the low order electric current and torque harmonic wave of motor, and can not obtain in electric current and torque and PWM switches frequently
The relevant information of rate；Model four possesses relatively high precision, can accurately analyze the high primary current and torque harmonic wave of motor, but
It is analysis for low-order harmonic be not as accurate as model two；And model four can only analysis circuit parameter, loss, air gap can not be obtained
The information of flux density and electromagnetic force etc..
| Simulation model | Model one | Model two | Model three | Model four |
| Simulation time | 10 minutes | 6 hours | 1 week | 10 minutes |
Table 1
Table 1 is a permanent magnet synchronous motor in each simulation model, from bringing into operation to stablizing in 2200rpm, 262Nm works
Required time comparison when putting.It is same permanent magnet synchronous motor in table 1 in several models, operation is required to stable state
Time.Model three has highest precision, but a disadvantage is that taking too long.Model two can obtain the higher simulation result of precision,
It is compared simultaneously with model three, is effectively shortened simulation time, improve simulation efficiency.The simulation time of model four is more than model two
It is short, highest simulation velocity is possessed in model two, model three and model four, but this is built upon and has been completed look-up table
On the basis of molded motor.The look-up table motor model required time is established, the precision with look-up table is (when establishing look-up table
The i of settingd、iqStep-length and range and rotor-position step-length) it is related, in this example, it is 3 days to establish taking for look-up table.
The foundation of look-up table only needs once, the post analysis motor look-up table motor can be directly used in the characteristic of each operating point
Model.
Based on conclusions, suitable model can be selected according to actual needs.The implementation situation of this method is as follows：
(1) if necessary to obtain most accurate Electromagnetic Simulation as a result, model three can be used；
(2) it is to accelerate simulation velocity, model two may be used, while the model can obtain the motor electromagnetic of degree of precision
Characteristic；
(3) if you do not need to obtaining magnetic field and lossy data, it is only necessary to which the electric current, counter electromotive force and electromagnetism for observing motor turn
The data such as square may be used model four and then effectively shorten simulation time.
Claims (5)
1. method that is a kind of accurate and quickly analyzing magneto electromagnetic performance, which is characterized in that include the following steps：To same
The electromagnetic property of one permanent magnet synchronous motor carries out simulation analysis, respectively by setting machine winding energisation mode to ideal sinusoidal
The mode of Impetus of Current Source, ideal sinusoidal voltage source excitation, and finite element motor model is carried out using vector control system
It controls and look-up table motor model is controlled using vector control system, and using vector control system to obtaining four kinds of moulds
Motor electromagnetic performance under type；By the comparison with experimental result, it is highest to illustrate that the model using vector control system possesses
Precision can accelerate the speed of emulation under the premise of meeting precision using the model of desired voltage source forcing, improve emulation effect
Rate.
2. method that is according to claim 1 a kind of accurate and quickly analyzing magneto electromagnetic performance, feature exist
In in the model using ideal sinusoidal Impetus of Current Source, machine winding energisation mode is Impetus of Current Source, is set according to operating point
Set the amplitude and initial angle of electric current.
3. method that is according to claim 1 a kind of accurate and quickly analyzing magneto electromagnetic performance, feature exist
In in the model using ideal sinusoidal voltage source excitation, machine winding energisation mode is voltage source excitation, is set according to operating point
Set the amplitude of phase voltage；By adjusting the mode of load torque, so that motor is started from stationary state and stablize to required operating point.
4. method that is according to claim 1 a kind of accurate and quickly analyzing magneto electromagnetic performance, feature exist
In in the model controlled finite element motor model using vector control system, to the threephase armature winding electricity of acquisition
Stream first progress Clark transformation carries out Park and converts to obtain motor direct-axis current i againdWith quadrature axis current iq；Pass through closed-loop current control
Make idAnd iqStablize in given value.
5. method that is according to claim 1 a kind of accurate and quickly analyzing magneto electromagnetic performance, feature exist
In in the model controlled look-up table motor model using vector control system, by obtaining in different idAnd iqUnder
Three pole reactor, and motor is established according to permanent magnet synchronous motor math equation and searches table model；The control structure of the model and use
The model that vector control system controls finite element motor model is identical, and replaces finite element with the look-up table motor model
Motor model.
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Cited By (5)
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| CN109977626A (en) * | 2019-05-08 | 2019-07-05 | 广东工业大学 | A kind of calculation method and equipment of the weak magnetism speed expansion ability of permanent magnet synchronous motor |
| CN110795849A (en) * | 2019-10-30 | 2020-02-14 | 南京工程学院 | Three-dimensional analytic calculation method for electromagnetic torque of permanent magnet eddy current coupler |
| CN111707938A (en) * | 2020-06-29 | 2020-09-25 | 北京理工大学 | Motor simulator based on finite element reverse lookup table model |
| CN112968650A (en) * | 2021-03-23 | 2021-06-15 | 武汉理工大学 | Motor noise reduction method and device based on reduced order model vibration feedback control |
| US11366944B2 (en) | 2020-08-24 | 2022-06-21 | Mitsubishi Electric Research Laboratories, Inc. | Modeling interior permanent magnet synchronous machines considering permeability of rotor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109977626A (en) * | 2019-05-08 | 2019-07-05 | 广东工业大学 | A kind of calculation method and equipment of the weak magnetism speed expansion ability of permanent magnet synchronous motor |
| CN109977626B (en) * | 2019-05-08 | 2023-04-07 | 广东工业大学 | Method and equipment for calculating flux weakening and speed expanding capacity of permanent magnet synchronous motor |
| CN110795849A (en) * | 2019-10-30 | 2020-02-14 | 南京工程学院 | Three-dimensional analytic calculation method for electromagnetic torque of permanent magnet eddy current coupler |
| CN110795849B (en) * | 2019-10-30 | 2023-09-22 | 南京工程学院 | Electromagnetic torque three-dimensional analysis and calculation method for permanent magnet eddy current coupler |
| CN111707938A (en) * | 2020-06-29 | 2020-09-25 | 北京理工大学 | Motor simulator based on finite element reverse lookup table model |
| US11366944B2 (en) | 2020-08-24 | 2022-06-21 | Mitsubishi Electric Research Laboratories, Inc. | Modeling interior permanent magnet synchronous machines considering permeability of rotor |
| CN112968650A (en) * | 2021-03-23 | 2021-06-15 | 武汉理工大学 | Motor noise reduction method and device based on reduced order model vibration feedback control |
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