CN110705149B - Motor stator mode calculation method - Google Patents
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Abstract
The invention relates to a method for calculating the mode of a motor stator, comprising the following steps of S1, obtaining the actual mode and the corresponding natural frequency of the motor stator by the mode test of the motor stator by a hammering method; s2, establishing a simplified model of the prototype stator; s3, determining physical quantities related to a simplified 3D stator mode simulation result; s4, importing the simplified 3D stator model into finite element software for simulation calculation to obtain an initial modal shape and a corresponding natural frequency; s5, optimizing material parameters: comparing the obtained initial modal shape and the corresponding natural frequency with the shape and the corresponding natural frequency obtained by the hammering method test, and optimizing by using an optimization module in finite element software; and S6, substituting the optimized material parameters into the simplified 3D stator model, and recalculating the mode to obtain an accurate motor stator mode result. The simplified model for the modal analysis of the motor stator structure not only can accurately predict the natural frequency of the motor stator, but also reduces the workload and the working difficulty.
Description
Technical Field
The invention relates to the technical field of motor engineering, in particular to a method for calculating a motor stator mode.
Background
The key of suppressing the electromagnetic vibration noise of the driving motor of the electric automobile is to accurately predict the natural frequency of each order of the motor structure in a given speed operation range to avoid resonance, wherein the natural frequency of the motor stator on the motor structure is the most influential factor, so that the accurate prediction of the natural frequency of the motor stator structure is most important.
Because the motor structure is complicated and various, the analytic method model is difficult to accurately describe the stator structure with complicated boundary conditions. With the development of finite element software, the most effective analysis method of the motor mode at present is a finite element calculation method, however, the existing stator mode simulation method is often a theoretical simulation, and the simulation result is not verified through the actual test result, so that the simulation result has no great guiding significance on the design and development of the actual motor.
A finite element model which is close to an actual motor stator core is established, and other researches such as noise and vibration simulation can be more accurately carried out only by an accurate finite element stator simulation model.
The influence of the winding on the modal frequency of the motor is always a difficult point in the modal analysis of the motor, and the reason is that: the winding end part has complex shape and high modeling difficulty; (2) The mechanical parameters such as the elastic modulus of the winding are greatly influenced by the slot filling rate and the paint dipping process, and the simulation of the modal parameters is difficult to determine. After the winding in the slot of the motor iron core is dipped in paint, the winding in the slot and the iron core form a firm whole, and the rigidity of the motor iron core is effectively improved.
Therefore, it is complicated and difficult to establish a finite element model approximating a stator core of an actual motor.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for calculating the motor stator mode, aiming at the defects in the prior art, the method can quickly calibrate the mode frequency of the experimental result, thereby accurately predicting the influence of each order of natural frequency of the motor structure on the motor vibration, and reducing the workload and the working difficulty.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for calculating the motor stator mode comprises the following steps:
s1, obtaining an actual mode and a corresponding natural frequency of a motor stator through a hammering method motor stator mode test;
s2, establishing a simplified model of the prototype stator: equivalent winding, insulating paper and insulating varnish in each stator slot into an equivalent winding, so that the motor stator model is cut into three structures, namely a winding part, a silicon steel sheet part and a mixed body part of the silicon steel sheet and the winding;
s3, determining physical quantities related to the simplified 3D stator modal simulation result: determining the density, young modulus and Poisson ratio of the three structures after primary correction;
s4, importing the simplified 3D stator model into finite element software for simulation calculation to obtain an initial modal shape and a corresponding natural frequency;
s5, optimizing material parameters: comparing the obtained initial modal shape and the corresponding natural frequency with the shape and the corresponding natural frequency obtained by the hammering method test, and optimizing by utilizing an optimizing module in finite element software to obtain material parameters of three parts of an optimized simplified 3D stator model;
and S6, substituting the optimized material parameters into the simplified 3D stator model, and recalculating the mode to obtain an accurate motor stator mode result.
In the above scheme, step S1 specifically includes the following steps:
(1.1) defining the order of cylindrical vibration mode as (m, n), wherein n is a radial node mode, and m is an axial node mode;
(1.2) carrying out hammering mode Test on a sample machine structure by adopting an LMS-Test-Lab data acquisition and signal analysis system, suspending a tested sample machine by using a flexible wire, attaching an acceleration sensor to the left position of the middle part of the outer surface of a stator core, and applying excitation along the radial direction of a stator in the excitation direction of a force hammer;
and (1.3) performing modal analysis by using Impact-Testing post-processing software to obtain the test modal shape order and the corresponding frequency.
In the above scheme, in step S2, the simplified modeling method of the 3D stator model is as follows:
(2.1) winding modeling: the upper and lower extending ends of the winding are actually measured lengths, the gap between the windings is an actual measurement gap, the width and the height of the gap are determined by referring to actual conditions, the inner diameter of the winding is the annular inner diameter formed by the actual windings, and the outer diameter of the winding is the annular outer diameter formed by the actual windings;
(2.2) modeling of silicon steel sheets: the silicon steel sheet is divided into a plurality of equal parts along the thickness direction for modeling;
and (2.3) cutting the simplified motor stator model into three structures, namely a winding part, a silicon steel sheet part and a mixed body part of the silicon steel sheet and the winding.
In the scheme, the specific segmentation step in the step (2.3) is as follows:
a) Cutting the silicon steel sheet along the annular outer diameter surface of the winding, wherein the silicon steel sheet is cut into two parts, namely an outer silicon steel sheet and an inner silicon steel sheet;
b) Respectively cutting the winding along the upper surface and the lower surface of the silicon steel sheet, wherein the winding is cut into 3 parts, namely a first winding part, a second winding part and a middle winding part;
c) The method comprises the following steps of defining an outer silicon steel sheet as a silicon steel sheet part, defining an inner silicon steel sheet and a middle winding part as a mixture part of the silicon steel sheet and a winding, and defining a first winding part and a second winding part as a first winding part and a second winding part respectively.
In the above scheme, in step S3, the density correction of the three structures of the simplified 3D stator model follows the mass setting principle: 1) Ensuring that the total mass of the model after the density modification is equal to the actual motor stator mass; 2) The density of each structure after correction can not fluctuate more than 50% above and below the original density.
In the above scheme, in step S3, the young' S modulus and the poisson ratio after the initial correction of the winding structure in the three structures of the simplified 3D stator model are set as the original winding material parameters; setting the Young modulus and Poisson ratio of a silicon steel sheet structure in the three structures of the simplified 3D stator model after primary correction as original silicon steel sheet material parameters; young modulus and Poisson ratio after primary correction of a hybrid structure in three structures of the simplified 3D stator model are set to be the same as material parameters of silicon steel sheets.
In the above scheme, step S4 specifically includes the following steps:
(4.1) importing the simplified 3D stator model into finite element software analysis Ansys and defining contact pair relationships: 1) Binding and contacting each part of the mixture model in finite element software; 2) Binding and contacting the inner surface of the silicon steel sheet model and the outer surface of the mixture model; 3) Adopting a binding contact relationship between the lower surface of the first winding model and the upper surface of the hybrid model, and adopting a binding contact relationship between the upper surface of the second winding model and the lower surface of the hybrid model;
(4.2) dividing the simplified 3D stator model by using a tetrahedral mesh with the size of 8 mm;
(4.3) sequentially endowing the simplified 3D stator model with the material parameters after the initial correction;
and (4.4) carrying out modal calculation on the simplified 3D stator model in finite element software, and obtaining an initial modal shape and a corresponding natural frequency.
In the above scheme, the specific operation method of step S5 is: setting the natural frequency of an actual mode of a hammering mode test as an Optimization target, setting the natural frequency corresponding to a primary mode shape as an Optimization object, taking the Young modulus and the Poisson ratio of the parameters of the winding, the silicon steel sheet and the mixture material after primary correction as 6 Optimization parameters, starting automatic Optimization by using Direct Optimization or Response Surface Optimization in Ansys software, and obtaining the Young modulus and the Poisson ratio of the parameters of the winding, the silicon steel sheet and the mixture material after Optimization.
The invention has the beneficial effects that:
1. in order to avoid resonance of the driving motor of the electric automobile in a wide speed operation range, and the accurate calculation of the natural frequency of the motor stator is of great significance, the simplified model for the structural modal analysis of the motor stator provided by the invention not only can accurately predict the natural frequency of the motor stator, but also reduces the workload and the working difficulty.
2. The error of the finite element calculation result and the measurement result is small, the calculation result is more accurate, the correctness of the finite element model is verified, the method has more engineering practical value, and a foundation is laid for reducing vibration and motor noise. The motor stator model can be substituted into a complete machine to carry out vibration simulation to replace an actual vibration test, and time cost and material cost are saved. The motor stator model can be used in noise simulation to predict the electromagnetic noise sound pressure value of the actual motor and the order of electromagnetic noise which is most obvious.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram illustrating the definition of the order of the mode shape of the cylinder in the method of the present invention;
FIG. 2 is a schematic representation of a hammering test in the method of the invention;
FIG. 3 is a graph of the modal shape of a stator of an electric machine of several typical orders obtained by hammering in the method of the present invention;
FIG. 4 is a geometric model of a stator of an electric machine built in a conventional stator modal simulation method;
FIG. 5 is an equivalent schematic view of the structure in the stator slot in the method of the present invention;
FIG. 6 is a simplified post-motor stator geometric model established in the method of the present invention;
FIG. 7 is a top view of the simplified geometric model of the motor stator shown in FIG. 6;
FIG. 8 is a cut-away view of the simplified stator geometry model of the motor shown in FIG. 6;
fig. 9 is a diagram of simulated stator mode shapes of several exemplary orders after optimization of material parameters in the method of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The invention provides a motor stator modal calculation method, which can be used for rapidly calibrating modal frequency of an experimental result, thereby accurately predicting the influence of each order of natural frequency of a motor structure on motor vibration and reducing workload and working difficulty. The method comprises the following steps:
s1, obtaining an actual mode and a corresponding natural frequency of a motor stator through a hammering method motor stator mode test. The method specifically comprises the following steps:
(1.1) the order of the cylindrical mode shape is defined as (m, n), n is the radial node mode shape, and m is the axial node mode shape, as shown in fig. 1.
(1.2) carrying out hammering mode Test on a sample machine structure by adopting an LMS-Test-Lab data acquisition and signal analysis system, hanging the tested sample machine by using a flexible wire, and simulating a free state as much as possible so as to compare with a finite element result; the acceleration sensor is attached to the left position of the middle of the outer surface of the stator core, and the force hammer excitation direction applies excitation along the radial direction of the stator, as shown in fig. 2.
And (1.3) performing modal analysis by using Impact-Testing post-processing software to obtain the test modal shape order and the corresponding frequency. Wherein, the modal shape diagram of the motor stator with the order of (0,2) (1,2) (0,3) (1,3) is shown in fig. 3. The test mode order and corresponding frequency are shown in table 1.
TABLE 1 test mode order and corresponding frequency
S2, establishing a simplified model of the prototype stator.
As shown in fig. 4, for a geometric model of a motor stator established in a conventional stator modal simulation method, a plurality of layers of insulating paper and a plurality of wires coated with insulating paint are arranged in stator slots, and when finite element software is used for calculation, each part is difficult to be properly split. For the convenience of analysis, the present invention equates the windings, paper insulation, and varnish in each stator slot to an equivalent winding, as shown in fig. 5. Thereby simplifying the motor stator model as shown in fig. 6-7. The concrete modeling method of the simplified model is as follows: (1) winding modeling: the upper and lower extending ends of the winding are actually measured lengths, the gap between the windings is an actual measurement gap, the width and the height of the gap are determined by referring to actual conditions, the inner diameter of the winding is an annular inner diameter formed by the actual windings, and the outer diameter of the winding is an annular outer diameter formed by the actual windings. In this embodiment, since the stator is a 60-slot stator, the number of gaps is 60. (2) modeling of silicon steel sheets: the actual stator silicon steel sheet is formed by stamping a plurality of thin silicon steel sheets with the thickness of about 0.36mm, and the thickness of the formed silicon steel sheet is 90 mm. (3) The simplified motor stator model shown in fig. 6 is divided into three structures shown in fig. 8, namely a winding part, a silicon steel sheet part and a mixture part of a silicon steel sheet and a winding, and the dividing step is as follows: a) Cutting the silicon steel sheet along the annular outer diameter surface of the winding, wherein the silicon steel sheet is cut into two parts, namely an outer silicon steel sheet and an inner silicon steel sheet; b) Respectively cutting the winding along the upper surface and the lower surface of the silicon steel sheet, wherein the winding is cut into 3 parts, namely a first winding part, a second winding part and a middle winding part; c) The outer silicon steel sheet is defined as a silicon steel sheet part, the inner silicon steel sheet and the middle winding part are defined as a mixture part of the silicon steel sheet and the winding, and the first winding part and the second winding part are respectively defined as a first winding part and a second winding part. The first winding part, the second winding part, the silicon steel sheet part and the mixture part of the silicon steel sheet and the winding can be obtained.
And S3, determining physical quantities related to the simplified 3D stator mode simulation result.
For the stator of the motor, the characteristic parameters of the winding and the characteristic parameters of the silicon steel sheet need to be determined. The winding is made of copper wire, and the density, young modulus and Poisson ratio of the original material are shown in the table 2. The stator core is made of silicon steel sheets, and the original material parameters of density, young modulus and Poisson ratio are shown in Table 2.
For the simplified 3D stator model, the density correction of the three structures follows the mass setting principle: 1) Ensuring that the total mass of the model after the density modification is equal to the actual motor stator mass; 2) The density of each structure after being corrected fluctuates by no more than 50% from the original density. In this example, the density of the winding was set to 5000kg/m 3 The density of the silicon steel sheet was set to 7365kg/m 3 The density of the mixture is set to 8170kg/m 3 。
Setting the Young modulus and the Poisson ratio of the winding structure in the three structures of the simplified 3D stator model after the initial correction as original winding material parameters; setting the Young modulus and Poisson ratio of a silicon steel sheet structure in the three structures of the simplified 3D stator model after primary correction as original silicon steel sheet material parameters; young modulus and Poisson ratio after primary correction of a hybrid structure in three structures of the simplified 3D stator model are set to be the same as material parameters of silicon steel sheets. See table 3.
Table 2 raw material parameters
| Density kg/m 3 | Young's modulus Mpa | Poisson ratio | |
| Winding wire | 8300 | 110000 | 0.26 |
| Silicon steel sheet | 7650 | 197000 | 0.34 |
TABLE 3 Material parameters after initial correction
| Density kg/m 3 | Young's modulus Mpa | Poisson ratio | |
| Winding wire | 5000 | 110000 | 0.26 |
| Silicon steel sheet | 7365 | 197000 | 0.34 |
| Mixture of silicon steel sheet and winding | 8170 | 197000 | 0.34 |
And S4, importing the simplified 3D stator model into Ansys finite element software for simulation calculation. The method specifically comprises the following steps:
(4.1) importing the simplified 3D stator model into finite element software analysis Ansys and defining contact pair relationships: 1) Binding and contacting each part of the mixture model in finite element software; 2) Binding and contacting the inner surface of the silicon steel sheet model and the outer surface of the mixture model; 3) Adopting a binding contact relationship between the lower surface of the first winding model and the upper surface of the hybrid model, and adopting a binding contact relationship between the upper surface of the second winding model and the lower surface of the hybrid model;
(4.2) dividing the simplified 3D stator model by using a tetrahedral mesh with the size of 8 mm;
(4.3) sequentially endowing the simplified 3D stator model with the material parameters after primary correction;
and (4.4) carrying out modal calculation on the simplified 3D stator model in finite element software, and obtaining an initial modal shape and a corresponding natural frequency.
S5, optimizing material parameters: and comparing the obtained initial modal shape and the corresponding natural frequency with the shape and the corresponding natural frequency obtained by the hammering method test, and optimizing by using an optimization module in finite element software to obtain the material parameters of the three parts of the optimized simplified 3D stator model.
The specific operation method comprises the following steps: setting the natural frequency of an actual mode of a hammering mode test as an Optimization target, setting the natural frequency corresponding to a primary mode shape as an Optimization object, taking the Young modulus and the Poisson ratio of the parameters of the winding, the silicon steel sheet and the mixture material after primary correction as 6 Optimization parameters, starting automatic Optimization by using Direct Optimization or Response Surface Optimization in Ansys software, and obtaining the Young modulus and the Poisson ratio of the parameters of the winding, the silicon steel sheet and the mixture material after Optimization. The optimized material parameters of the simplified 3D stator model are shown in table 5. The optimized material parameters of the simplified 3D stator model are shown in table 4.
TABLE 4 optimized Material parameters
| Density kg/m 3 | Young's modulus Mpa | Poisson ratio | |
| Winding wire | 5000 | 9500 | 0.1 |
| Silicon steel sheet | 7365 | 80000 | 0.4 |
| Assembly of silicon steel sheet and winding | 8170 | 7000 | 0.3 |
And S6, substituting the optimized material parameters into the simplified 3D stator model, and recalculating the mode to obtain an accurate motor stator mode result. Wherein, the simulated stator mode shape diagram of the order of (0,2) (1,2) (0,3) (1,3) is shown in fig. 9. The simulation stator mode shape order and the corresponding frequency are shown in table 5.
TABLE 5 simulation mode order and corresponding frequency
| No. | (m，n) | Frequency (Hz) | No. | (m，n) | Frequency (Hz) |
| 1 | (0,0) | 4840 | 8 | (1,0) | 5513 |
| 2 | (0,1) | 3306 | 9 | (1,1) | 4176 |
| 3 | (0,2) | 431 | 10 | (1,2) | 641 |
| 4 | (0,3) | 1102 | 11 | (1,3) | 1406 |
| 5 | (0,4) | 1933 | 12 | (1,4) | 3104 |
| 6 | (0,5) | 3840 | 13 | (1,5) | 4318 |
| 7 | (0,6) | 4867 | 14 | (2,6) | 5544 |
As shown in table 6, the free mode order and the corresponding frequency are compared with the test results. The result shows that the error of the simulation calculation and the actual test result is small, and the accuracy of the simplified stator model and the material parameters is verified.
TABLE 6 comparison of free modal orders and corresponding frequency simulations and experiments
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. A method for calculating the mode of a motor stator is characterized by comprising the following steps:
s1, obtaining an actual modal vibration mode and a corresponding natural frequency of a motor stator through a hammering method motor stator modal test;
s2, establishing a simplified 3D stator model of the prototype stator, wherein the modeling method comprises the following steps:
(2.1) winding modeling: the winding, the insulating paper and the insulating varnish in each stator slot are equivalent to an equivalent winding, the upper and lower extending ends of the winding are actually measured in length, the gap between the windings is an actual measurement gap, the width and the height of the gap are determined by referring to actual conditions, the inner diameter of the winding is the annular inner diameter formed by the actual winding, and the outer diameter of the winding is the annular outer diameter formed by the actual winding;
(2.2) modeling of silicon steel sheets: the silicon steel sheet is divided into a plurality of equal parts along the thickness direction for modeling;
(2.3) forming a simplified motor stator model after the winding modeling and the silicon steel sheet modeling are completed, then cutting the simplified motor stator model into three structures, namely a winding part, a silicon steel sheet and a winding mixture part, and forming a simplified 3D stator model by the three structures; the specific segmentation steps are as follows:
a) Cutting the silicon steel sheet along the annular outer diameter surface of the winding, wherein the silicon steel sheet is cut into two parts, namely an outer silicon steel sheet and an inner silicon steel sheet;
b) Respectively cutting the winding along the upper and lower surfaces of the silicon steel sheet, wherein the winding is cut into 3 parts, namely a first winding part, a second winding part and a middle winding part;
c) Defining an outer silicon steel sheet as a silicon steel sheet part, defining an inner silicon steel sheet and a middle winding part as a mixture part of the silicon steel sheet and the winding, and defining a first winding part and a second winding part as a winding part;
s3, determining physical quantities related to the simulation result of the simplified 3D stator model: determining the density, young modulus and Poisson ratio of the three structures after primary correction;
s4, importing the simplified 3D stator model into finite element software for simulation calculation to obtain an initial modal shape and a corresponding natural frequency;
s5, optimizing material parameters: comparing the obtained initial modal shape and the corresponding natural frequency with the shape and the corresponding natural frequency obtained by the hammering method test, and optimizing by using an optimization module in finite element software to obtain the material parameters of three parts of the optimized simplified 3D stator model;
and S6, substituting the optimized material parameters into the simplified 3D stator model, and recalculating the mode to obtain an accurate motor stator mode result.
2. The method for calculating the motor stator mode shape according to claim 1, wherein the step S1 specifically comprises the following steps:
(1.1) defining the order of cylindrical vibration mode as (m, n), wherein n is a radial node mode, and m is an axial node mode;
(1.2) carrying out hammering mode Test on a sample machine structure by adopting an LMS-Test-Lab data acquisition and signal analysis system, suspending a tested sample machine by using a flexible wire, attaching an acceleration sensor to the left position of the middle part of the outer surface of a stator core, and applying excitation along the radial direction of a stator in the direction of force hammer excitation;
and (1.3) performing modal analysis by using Impact-Testing post-processing software to obtain a test modal vibration type order and corresponding frequency.
3. The method for calculating the motor stator mode shape according to claim 1, wherein in the step S3, the density correction of the three structures of the simplified 3D stator model follows a mass setting principle: 1) Ensuring that the total mass of the model after density correction is equal to the actual motor stator mass; 2) The density of each structure after being corrected fluctuates by no more than 50% from the original density.
4. The motor stator mode calculation method according to claim 1, wherein in step S3, the young 'S modulus and poisson' S ratio of the winding structure of the three structures of the simplified 3D stator model after the initial correction are set as original winding material parameters; setting the Young modulus and Poisson ratio of a silicon steel sheet structure in the three structures of the simplified 3D stator model after primary correction as original silicon steel sheet material parameters; young modulus and Poisson ratio after primary correction of a hybrid structure in three structures of the simplified 3D stator model are set to be the same as material parameters of silicon steel sheets.
5. The method for calculating the motor stator mode shape according to claim 1, wherein the step S4 specifically comprises the following steps:
(4.1) importing the simplified 3D stator model into finite element software analysis Ansys and defining contact pair relationships: 1) Binding and contacting each part of the mixture model in finite element software; 2) Binding and contacting the inner surface of the silicon steel sheet model and the outer surface of the mixture model; 3) Adopting a binding contact relationship between the lower surface of the first winding model and the upper surface of the hybrid model, and adopting a binding contact relationship between the upper surface of the second winding model and the lower surface of the hybrid model;
(4.2) dividing the simplified 3D stator model by using a tetrahedral mesh with the size of 8 mm;
(4.3) sequentially endowing the simplified 3D stator model with the material parameters after the initial correction;
and (4.4) carrying out modal calculation on the simplified 3D stator model in finite element software, and obtaining an initial modal shape and a corresponding natural frequency.
6. The method for calculating the motor stator mode shape according to claim 1, wherein the specific operation method of the step S5 is as follows: setting the natural frequency of an actual mode of a hammering mode test as an Optimization target, setting the natural frequency corresponding to a primary mode shape as an Optimization object, taking the Young modulus and the Poisson ratio of parameters of the winding, the silicon steel sheet and the mixture material after primary correction as 6 Optimization parameters, starting automatic Optimization by using Direct Optimization or Response Surface Optimization in Ansys software, and obtaining the Young modulus and the Poisson ratio of the parameters of the winding, the silicon steel sheet and the mixture material after Optimization.
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