CN110212710B - Design method of permanent magnet synchronous motor for vehicle - Google Patents
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention provides a design method of a permanent magnet synchronous motor for a vehicle, which not only can determine structural parameters of the motor, such as the inner diameter of a stator, the outer diameter of a rotor, the length of an air gap, the calculated length of an armature and the like, based on the actual performance requirements of the permanent magnet synchronous motor, but also can simulate and analyze the output performance of the designed permanent magnet synchronous motor in a computer simulation mode, analyze and verify the structural parameters of the motor determined by the design method and reduce the possibility that a test prototype can not meet the design requirements in the aspects of performance output quantity, dynamic characteristics, working efficiency and the like, thereby reducing the design cost of the permanent magnet synchronous motor and shortening the design period of the.
Description
Technical Field
The invention relates to the technical field of motor design, in particular to a design method of a permanent magnet synchronous motor for a vehicle.
Background
The motor is a core component of a new energy automobile power system, and when the performance of the automobile needs to be fully met, the motor also needs to meet the performances of comfort, environmental adaptability, driving range of one-time charging and the like in the driving process, and accordingly, the design of the automobile motor is more strict in technical specification compared with that of a common industrial motor.
The traditional design theory and analysis method of the permanent magnet synchronous motor mainly comprise an analytic magnetic circuit analysis method, a finite element method and the like. The analytical magnetic circuit analysis method is based on a classical mathematical analysis method, obtains a relational expression between the motor performance and design parameters, and is a quick and effective motor analysis method. However, this method relies on selection of empirical values and measurement of experimental values, and it is difficult to obtain accurate design and analysis results. The finite element method is a method for analyzing and calculating a physical system and a structure of the motor by utilizing the numerical calculation of the electromagnetic field of the computer, however, the establishment, the setting and the calculation of a finite element model of the permanent magnet synchronous motor are complex, and a large amount of time is needed. In some prior arts, for example, patent CN104716790A comprehensively applies an analytic magnetic circuit analysis method and a finite element numerical analysis method, and designs, optimizes, analyzes, and verifies an existing 22KW pmsm, but the requirements for the output performance of the motor are not considered, so that the performance of the motor may be wasted in actual use, the requirements for accuracy, rapidity, and efficiency of pmsm design cannot be considered, and further improvement of the performance of the pmsm is limited. In addition, performance testing and evaluation of the permanent magnet synchronous motor are mostly performed by means of actual experiments after a prototype is designed and manufactured. If the performance of the motor does not meet the design requirements, redesigning, manufacturing and testing are needed, which wastes manpower and material resources and prolongs the design period.
Therefore, how to develop a design according to the actual performance requirement of the vehicle motor and simultaneously consider the output performance of the motor is a problem to be solved urgently in the field.
Disclosure of Invention
Aiming at the existing problems, the invention provides a design method of a permanent magnet synchronous motor for a new energy automobile aiming at motor power loss, which specifically comprises the following steps:
step one, determining performance requirement parameters of a motor;
secondly, determining structural parameters of a motor stator and a motor rotor according to the performance parameters according to the relationship between the rated torque of the motor and the inner diameter of the stator and the relationship between the maximum torque and the armature calculation length;
thirdly, establishing a power loss mathematical model of the permanent magnet synchronous motor by using the performance demand parameters and the motor stator and rotor structure parameters;
establishing a dynamic simulation model of the permanent magnet synchronous motor system, which comprises the performance parameters, the motor stator and rotor structural parameters and the power loss mathematical model;
step five, the motor working efficiency η obtained by the dynamic simulation modelmComparing the measured working efficiency with the actually measured working efficiency of the motor with the same performance requirement parameters, verifying the precision of the dynamic simulation model, and adjusting the parameters of the permanent magnet synchronous motor; and repeating the second step to the fourth step until the precision and the parameters of the permanent magnet synchronous motor meet the design requirements.
Further, the performance requirement parameters include: the battery direct current power supply voltage, rated torque, maximum torque, rated rotating speed and pole pair number.
Further, the step two of determining the structural parameters of the stator and the rotor of the motor is to determine the relationship between the rated torque of the motor and the inner diameter of the stator and the relationship between the maximum torque and the calculated length of the armature, and specifically includes:
firstly, the inner diameter D of the stator of the motor is determined according to the relation between rated torque and the inner diameter of the statori1
In the formula, Di1Is the stator inner diameter, PNTo rated workRate, σ0Is a no-load magnetic leakage coefficient, KEIs the potential coefficient, p is the number of pole pairs, KBIs the form factor, KdpIs a winding coefficient, A is a line load, b'm0Assumed value for permanent magnet no-load operating point, BrTo calculate the remanence, AmTo provide a cross-sectional area of flux per pole, ηNIn order to be able to operate at a rated efficiency,
is a rated power factor;
then, the calculated length L of the armature is determined according to the relation between the maximum torque and the calculated length of the armature and the maximum torque methodef：
In the formula, TmaxAt maximum torque, Bδ1Is the amplitude of the air gap flux density fundamental wave;
after the air gap length delta of the motor is determined according to actual conditions and experience, the outer diameter D of the rotor can be obtained2Length L of stator core1And rotor core length L2:
Further, the PMSM power loss mathematical model established in the third step is composed of copper loss PCuIron loss PFeStray loss PsAnd mechanical loss PfwConsists of the following components: pL＝PCu+PFe+Ps+PfwWherein P isLRepresenting the power loss of the motor;
the copper loss PCuIs to calculate the DC resistance R of each phase of the stator windingDCThen, it is obtained by the following formula:
PCu＝mI2RDC
in the formula, m is the phase number of the motor, and I is the actual current of the motor;
the iron loss PFeAfter the instantaneous abnormal loss is ignored, the hysteresis loss and the eddy current loss are calculated to obtain:
PFe＝KhfBβ+Kff2B2
in the formula, KhAnd KfHysteresis loss constant and eddy current loss constant respectively, f is motor frequency, B is flux linkage density amplitude, β is Steinmetz constant;
said stray loss PsCalculated by the following empirical formula:
in the formula INThe current is rated for the motor,
the stray loss and rated power P of the motor at rated powerNThe ratio of (A) to (B) can be selected empirically;
said mechanical loss PfwAfter bearing friction loss is ignored, the wind resistance loss between the rotor and the air is calculated to obtain:
in the formula, CfIs the coefficient of friction, ρ is the air density, ωmAs angular velocity of rotation of the motor, R2Is the rotor radius.
Further, the fourth step is to establish a dynamic simulation software model of the permanent magnet synchronous motor system based on MATLAB/Simulink software.
Further, the fifth step specifically includes adjusting parameters of the air gap length of the motor, a hysteresis loss constant, and a ratio of stray loss to rated power of the motor at rated power according to the accuracy.
By the method provided by the invention, the structural parameters of the motor, such as the inner diameter of the stator, the outer diameter of the rotor, the length of the air gap, the calculated length of the armature and the like, can be determined based on the actual performance requirements of the permanent magnet synchronous motor, the output performance of the designed permanent magnet synchronous motor can be simulated and analyzed in a computer simulation mode, the structural parameters of the motor determined by the design method are analyzed and verified, and the possibility that a test prototype can not meet the design requirements in the aspects of performance output quantity, dynamic characteristics, working efficiency and the like is reduced, so that the design cost of the permanent magnet synchronous motor is reduced, and the design cycle of.
Drawings
FIG. 1 is a flow chart of a motor design method of the present invention
FIG. 2 is a schematic diagram of a dynamic simulation model of a PMSM system
FIG. 3 is a graph of the actual efficiency of a PMSM
Detailed Description
The method provided by the invention is explained in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method provided by the present invention specifically includes:
step one, determining performance requirement parameters of a motor;
secondly, determining structural parameters of a motor stator and a motor rotor according to the performance parameters according to the relationship between the rated torque of the motor and the inner diameter of the stator and the relationship between the maximum torque and the armature calculation length;
thirdly, establishing a power loss mathematical model of the permanent magnet synchronous motor by using the performance demand parameters and the motor stator and rotor structure parameters;
establishing a dynamic simulation model of the permanent magnet synchronous motor system, which comprises the performance parameters, the motor stator and rotor structural parameters and the power loss mathematical model;
step five, the motor working efficiency η obtained by the dynamic simulation modelmComparing the measured working efficiency with the actually measured working efficiency of the motor with the same performance requirement parameters, verifying the precision of the dynamic simulation model, and adjusting the parameters of the permanent magnet synchronous motor; and repeating the second step to the fourth step until the precision and the parameters of the permanent magnet synchronous motor meet the design requirements.
In a preferred embodiment of the invention, the performance requirement parameters of the permanent magnet synchronous motor comprise the battery dc supply voltage, the motor rated torque, the maximum torque, the rated rotational speed and the number of pole pairs of the motor. The performance parameters can be obtained by power matching according to the preset design requirements or the requirements of the running conditions of the new energy automobile.
In a preferred embodiment of the present invention, the stator and rotor structural parameters include a stator inner diameter, a rotor outer diameter, an air gap length, an armature calculated length, a stator core length, a rotor core length, and the like, wherein the stator inner diameter and the armature calculated length are obtained through a relational formula of a motor rated torque and a stator inner diameter and a relational formula of a maximum torque and an armature calculated length, respectively, the air gap length is selected through experience, and the rotor outer diameter and the stator and rotor core lengths are calculated according to the determined stator inner diameter, the determined armature calculated length, and the determined air gap length.
In the method provided by the invention, the determination of the stator and rotor structural parameters of the electrical machine based on the above-mentioned proposed performance parameters is an important part. In the process, a relational formula of the rated torque of the motor and the inner diameter of the stator and a relational formula of the maximum torque and the calculated length of the armature play an important role. After some parameters such as waveform coefficients, winding coefficients, line loads, assumed values of no-load working points of permanent magnets and the like are selected empirically, the inner diameter of a stator and the calculated length of an armature of the permanent magnet synchronous motor can be determined according to a relational formula of rated torque and the inner diameter of the stator of the motor and a relational formula of maximum torque and the calculated length of the armature of the motor respectively.
1. Stator bore
In order to meet the space limitation and light weight of new energy vehicle layout and the design requirements of high power density and high torque density of a driving motor, the inner diameter of a stator of a permanent magnet synchronous motor cannot be obtained by directly referring to the inner diameter of the stator of an existing asynchronous motor. According to the basic theory of permanent magnet synchronous motor design, the stator inner diameter D is from the viewpoint of electric chargei1And the calculated power P' is expressed as:
in the formula, αiCalculating the pole arc coefficient; kBIs the form factor; kdpIs the winding coefficient; a is a line load; b isδAir gap flux density; n isNIs the rated rotating speed. Wherein the air gap flux density BδCan be calculated by the following formula:
in the formula, p is a polar pair number; b'm0Setting a value for a no-load working point of the permanent magnet; b isrTo calculate the residual magnetic density; a. themTo provide a cross-sectional area of magnetic flux per pole; sigma0Is the no-load magnetic leakage coefficient.
And the calculated power P' may be expressed as:
in the formula, KEIs the potential coefficient; pNη being rated powerNRated efficiency;
is the rated power factor.
Calculating the remanence BrCan be calculated according to the following formula:
where t is the expected operating temperature αBrTo calculate the remanence BrThe reversible temperature coefficient of (a); IL is calculated remanence BrIrreversible loss rate of; b isr20The residual magnetic density at 20 ℃.
Providing a cross-sectional area A of magnetic flux per polemIt is required to be derived from the following formula:
Am＝bMIM
in the formula, bMIs the width of the permanent magnet; l isMFor axial length of permanent magnet, it is necessary to rotateLength L of sub-core2Are equal.
Due to the rated speed n of the motorNThe number of sum pole pairs p is known in advance, and the remanence B is calculatedrAnd a cross-sectional area A providing a magnetic flux per polemHave been calculated separately and other parameters such as form factor KBCoefficient of winding KdpLinear load A and no-load magnetic leakage coefficient sigma0And b 'assumed value of no-load working point of permanent magnet'm0Rated efficiency ηNAnd rated power factor
Can be selected in a certain small range according to experience, so that the stator inner diameter D of the permanent magnet synchronous motor can be calculated by the three formulasi1And finishing to obtain:
2. armature calculated length
The main dimensions of a permanent magnet synchronous machine are related to the required maximum torque. When the maximum torque of the permanent magnet synchronous motor is TmaxBecause of the stator bore diameter Di1Obtained by the relation formula of the rated torque of the motor and the inner diameter of the stator, so that the armature calculates the length LefThe calculation formula is as follows:
in the formula, Bδ1Is the air gap flux density fundamental amplitude.
And the amplitude B of the air gap flux density fundamental waveδ1This can be derived from the following formula:
in the formula, KfIs the air gap flux density wave form coefficient; phiδ0Selected empirically for no-load main magnetic flux αiCalculating the pole arc coefficient; tau is1Is the polar distance.
Calculating polar arc coefficient αiCan be obtained according to the following formula:
in the formula, αpThe polar arc coefficient is selected empirically.
Air gap flux density wave form factor KfCan be obtained according to the following formula:
polar distance τ1Can be obtained according to the following formula:
firstly, the air gap length delta of the motor is determined according to the actual situation and experience, and then the determined stator inner diameter D can be usedi1Armature calculated length LefObtaining the outer diameter D of the rotor2Length L of stator core1And rotor core length L2:
In a preferred embodiment of the present invention, in order to verify the above-determined motor structural parameters through simulation analysis in a computer simulation manner from the output performance including the working efficiency of the permanent magnet synchronous motor, a dynamic simulation analysis system of the permanent magnet synchronous motor for the power loss of the motor needs to be established. Before this, a mathematical model of the power loss of the motor is established, and a calculation formula of the motor loss is determined. The power loss of the permanent magnet synchronous motor is mainly composed of copper loss, iron loss, stray loss and mechanical loss, and therefore, the power loss PLThe mathematical model equation of (1) is:
PL＝PCu+PFe+Ps+Pfw
in the formula, PCuCopper loss; pFeIs the iron loss; psIs stray loss; pfwIs a mechanical loss.
And the length of the stator core determined in the step two can be used for calculating copper loss, the calculated length of the armature can be used for calculating iron loss, and the outer diameter of the rotor and the length of the rotor core can be used for calculating mechanical loss.
1. Copper loss
First, the DC resistance R of each phase of the stator windingDCCan be expressed as:
in the formula, ρCuIs the resistivity of the copper wire at a given temperature; n is a radical of1Each phase of winding is connected with the number of turns in series; l isavIs the average half turn length of the coil; a is1The number of the parallel branches is; a. theCuIs the cross-sectional area of the wire.
The temperature of the winding affects the resistivity of the wire, and in a normal temperature range, the effect of the temperature on the resistivity can be expressed as:
ρCu＝ρ15[1+α(T-15)]
in the formula, ρ15The resistivity of copper at 15 ℃, α the temperature coefficient of the conductor resistance, and T the wire temperature.
When alternating current flows through the wire, the cross-sectional area of the wire is reduced due to the influence of the skin effect, so that the alternating current resistance of the winding is larger than the direct current resistance. For a stator winding wound by a cylindrical conducting wire, when a current with a lower frequency is applied, the influence of the skin effect can be ignored in the calculation process of the copper loss. Finally, the copper loss of the stator winding can be expressed as:
PCu＝mI2RDC
in the formula, m is the number of motor phases; i is the actual current of the motor.
2. Iron loss
In the research of the permanent magnet synchronous motor, the iron loss can be divided into three parts, namely hysteresis loss, eddy current loss and instant abnormal loss. Because the instantaneous abnormal loss is relatively small compared with the hysteresis loss and the eddy current loss, the instantaneous abnormal loss can be ignored in the iron loss calculation, so the iron loss can be calculated by adopting the following formula:
PFe＝KhfBβ+Kff2B2
in the formula, KhIs the hysteresis loss constant; kfIs the eddy current loss constant, f is the motor frequency, B is the flux linkage density amplitude, β is the Steinmetz constant.
3. Stray losses
Stray losses are losses in the core due to higher harmonics of the magnetic field and from tooth spaces, and are generated in the stator, air gap and tooth spaces. Stray losses are difficult to express using mathematical models, are very difficult to calculate and give accurate results. It can be roughly calculated by the following empirical formula:
in the formula INRated current for the motor;
the ratio of the stray loss to the rated power when the motor operates at the rated power can be selected through experience.
4. Mechanical wear
The mechanical losses of a permanent magnet synchronous motor are mainly composed of bearing friction losses and windage losses between the rotor and the air. In most cases, the mechanical losses of the motor are obtained according to a simple empirical formula or existing motor experimental data. The permanent magnet synchronous motor for the new energy automobile adopts the deep groove ball bearing, and the friction caused by the deep groove ball bearing is small and can be ignored.
The formula for calculating the mechanical losses of the motor is therefore:
in the formula, CfTo be rubbedA coefficient; ρ is the air density; omegamIs the motor rotation angular velocity; r2Is the rotor radius, is the rotor outer diameter D21/2 of (1).
Coefficient of friction CfCan be obtained by the following formula:
in the formula, ReδIs the radial Reynolds number; reaIs the tangential reynolds number.
Radial Reynolds number ReδThe calculation formula is as follows:
wherein δ is the air gap length; μ is the relative permeability of the rotor material.
Axial Reynolds number ReaThe calculation formula is as follows:
in the formula, vaIs the viscosity coefficient of the surrounding air.
Since the motor has no provision for axial ventilation cooling, the axial reynolds number determined by the axial ventilation is 0.
In the preferred embodiment of the invention, based on the above mathematical model of the power loss of the permanent magnet synchronous motor, a corresponding motor power loss module is established in MATLAB/Simulink software, so that a dynamic simulation model of a permanent magnet synchronous motor system is established. In the model, the performance output quantity, the dynamic characteristic and the working efficiency of the permanent magnet synchronous motor under specific required torque and required rotating speed can be obtained through simulation.
Fig. 2 shows a schematic diagram of a dynamic model of a permanent magnet synchronous motor. Under a certain specific motor working point, a demand torque command is given
Control of a motorThen the motor controller obtains the required current according to the formulated magnetic field orientation vector control strategy
And
in addition, the actually measured three-phase currents i of the motora、ibAnd icConversion into actual current i by coordinate transformationdAnd iqComparing it with the required current, generating the required voltage by PI controller
And
the required voltage to be generated again by coordinate transformation
And
the voltage is input to a Space Vector Pulse Width Modulation (SVPWM) generator, and a switching signal of an inverter is obtained, so that the inverter is controlled to convert the direct-current voltage of the battery pack into the three-phase alternating-current voltage required by the motor. Finally controlling Permanent Magnet Synchronous Motor (PMSM) to output actual torque TeAnd generating the motor speed omega under the action of the load torquemAnd power Pm. Finally, collecting current signal i from the motora、ibAnd icAs a feedback signal of a motor speed regulating system, the rotating speed omega is usedmPower PmAnd the actual current idAnd iqOutputting the power loss value to a motor power loss module established according to the motor power loss mathematical model to further obtain a motor power loss value PLAnd operating efficiency ηm。
The simulation work efficiency of the permanent magnet synchronous motor system under a certain specific rotating speed and torque obtained by a dynamic simulation model is compared with the work efficiency of the motor actually having the same performance required value, and the work efficiency chart of the permanent magnet synchronous motor is shown in fig. 3. And if the precision requirement is met, outputting structural parameters including the inner diameter of a motor stator, the outer diameter of a rotor, the length of an air gap, the calculated length of an armature, the length of a stator core, the length of a rotor core and the like, otherwise, finely adjusting the length of the air gap, the linear load, the hysteresis loss constant, the eddy current loss constant and the ratio of the stray loss to the rated power of the motor at the rated power, repeating the second step to the fourth step, and finally finishing after the design requirement is met.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A design method of a permanent magnet synchronous motor for a vehicle is characterized by comprising the following steps: the method specifically comprises the following steps:
step one, determining performance requirement parameters of a motor;
secondly, determining structural parameters of a motor stator and a motor rotor according to the performance requirement parameters according to the relationship between the rated torque of the motor and the inner diameter of the stator and the relationship between the maximum torque and the armature calculation length;
thirdly, establishing a power loss mathematical model of the permanent magnet synchronous motor by using the performance demand parameters and the motor stator and rotor structure parameters;
establishing a dynamic simulation model of the permanent magnet synchronous motor system, which comprises the performance demand parameters, the motor stator and rotor structural parameters and the power loss mathematical model;
step five, the motor working efficiency η obtained by the dynamic simulation modelmComparing the measured working efficiency with the actually measured working efficiency of the motor with the same performance requirement parameters, verifying the precision of the dynamic simulation model, and adjusting the parameters of the permanent magnet synchronous motor; repeating the second step to the fourth step until the precisionAnd the parameters of the permanent magnet synchronous motor meet the design requirements.
2. The method of claim 1, wherein: the performance requirement parameters include: the battery direct current power supply voltage, rated torque, maximum torque, rated rotating speed and pole pair number.
3. The method of claim 1, wherein: the step two of determining the structural parameters of the stator and the rotor of the motor is to determine the relationship between the rated torque of the motor and the inner diameter of the stator and the relationship between the maximum torque and the armature calculation length, and specifically comprises the following steps:
firstly, the inner diameter D of the stator of the motor is determinedi1
In the formula, Di1Is the stator inner diameter, PNTo rated power, σ0Is a no-load magnetic leakage coefficient, KEIs the potential coefficient, p is the number of pole pairs, KBIs the form factor, KdpIs a winding coefficient, A is a line load, b'm0Assumed value for permanent magnet no-load operating point, BrTo calculate the remanence, AmTo provide a cross-sectional area of flux per pole, ηNIn order to be able to operate at a rated efficiency,
is a rated power factor;
then, the calculated length L of the armature is determined according to the relation between the maximum torque and the calculated length of the armature and the maximum torque methodef：
In the formula, TmaxAt maximum torque, Bδ1Is the amplitude of the air gap flux density fundamental wave;
after the air gap length delta of the motor is determined according to actual conditions and experience, the outside of the rotor can be obtainedDiameter D2Length L of stator core1And rotor core length L2:
4. The method of claim 3, wherein: the mathematical model of the permanent magnet synchronous motor power loss established in the third step is composed of copper loss PCuIron loss PFeStray loss PsAnd mechanical loss PfwConsists of the following components: pL＝PCu+PFe+Ps+PfwWherein P isLRepresenting the power loss of the motor;
the copper loss PCuIs to calculate the DC resistance R of each phase of the stator windingDCThen, it is obtained by the following formula:
PCu＝mI2RDC
in the formula, m is the phase number of the motor, and I is the actual current of the motor;
the iron loss PFeAfter the instantaneous abnormal loss is ignored, the hysteresis loss and the eddy current loss are calculated to obtain:
PFe＝KhfBβ+Kff2B2
in the formula, KhAnd KfHysteresis loss constant and eddy current loss constant respectively, f is motor frequency, B is flux linkage density amplitude, β is Steinmetz constant;
said stray loss PsCalculated by the following empirical formula:
in the formula INThe current is rated for the motor,
the stray loss and rated power P of the motor at rated powerNThe ratio of (a) to (b),the selection can be performed through experience;
said mechanical loss PfwAfter bearing friction loss is ignored, the wind resistance loss between the rotor and the air is calculated to obtain:
in the formula, CfIs the coefficient of friction, ρ is the air density, ωmAs angular velocity of rotation of the motor, R2Is the rotor radius.
5. The method of claim 1, wherein: and fourthly, establishing a dynamic simulation software model of the permanent magnet synchronous motor system based on MATLAB/Simulink software.
6. The method of claim 1, wherein: and step five specifically comprises the step of adjusting the air gap length of the motor, the hysteresis loss constant and the ratio parameter of the stray loss and the rated power of the motor at the rated power according to the precision.
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| CN113394922B (en) * | 2020-03-13 | 2022-06-14 | 中车永济电机有限公司 | Permanent magnet motor adjusting method, device, equipment and storage medium |
| CN111463971B (en) * | 2020-05-11 | 2021-09-17 | 江苏嘉轩智能工业科技股份有限公司 | Winding parameter calculation method of outer rotor motor |
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| CN111999642B (en) * | 2020-07-21 | 2021-07-23 | 山东科技大学 | Motor power density testing device and method |
| CN112713729B (en) * | 2020-12-08 | 2022-03-29 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Electromagnetic design method for surface-mounted permanent magnet motor |
| CN113091601B (en) * | 2021-04-12 | 2023-03-24 | 上海大学 | High-speed drive motor rotation angular displacement measurement error testing method |
| CN113239593B (en) * | 2021-05-19 | 2022-08-05 | 合肥工业大学 | Design method suitable for optimizing efficiency of water-filled submersible motor |
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