CN111460657A - Six-phase motor simulation method and device - Google Patents

Abstract

According to the six-phase motor simulation method and device, an electric angle, an inductance matrix, a first matrix, a second matrix and a third matrix of a current simulation period are determined according to a first mechanical rotating speed, an electric angle and a component of a permanent magnet interlinking to each stator winding, then a first six-phase current, a pole pair number, a load moment, a rotational inertia, a simulation step length, a first mechanical rotating speed, a line voltage and a winding resistance are combined, a motor moment, a mechanical rotating speed and a six-phase current of the current simulation period are determined, the six-phase current, the electric angle, the mechanical rotating speed and the motor moment of the current simulation period are used as simulation output, and the performance of the six-phase motor is analyzed. Based on an original model which is not subjected to coordinate transformation under the constraint condition, the electrical characteristics of the six-phase motor can be accurately reflected, normal compiling and simulation in the FPGA can be guaranteed, and the calculation amount in the calculation process is reduced.

Description

Six-phase motor simulation method and device

Technical Field

The present application relates to the field of simulation technologies, and in particular, to a method and an apparatus for simulating a six-phase motor.

Background

The motor is subjected to simulation test, so that the research on the motor can be promoted, and the working efficiency and the production efficiency are improved. The invention mainly researches a six-phase motor, wherein a Y30 six-phase motor is taken as an example, in SG (System Generator) model construction of a Y30 six-phase motor based on a six-phase coordinate system, a two-phase rotating coordinate system is generally subjected to coordinate transformation, namely, a six-phase motor stator is equivalent to two groups of three-phase motor windings with a difference of 30 degrees, motor mathematical models based on a winding function and an inverted air gap function are respectively established under a natural coordinate system, and then the motor mathematical model based on the two-phase rotating coordinate system is obtained according to a coordinate transformation (abc coordinate-dq coordinate) theory. The steady-state performance and the transient performance of the motor are observed and analyzed by converting variable coefficients in the six-phase motor SG model into constant coefficients and eliminating time-varying parameters.

Although the technology can simplify the operation analysis of a motor mathematical model and reduce the resource occupancy rate of a Field Programmable Gate Array (FPGA), the precision and the accuracy of a calculation result cannot be ensured, and the electrical characteristics of a Y30 six-phase motor cannot be completely reflected. And the Y30 six-phase motor rotor flux linkage structure has asymmetry, the calculated amount using the technology is very large, the hardware resource of the current FPGA simulation equipment is limited, and the test requirement is difficult to meet.

Disclosure of Invention

In view of the above, the present application provides a simulation method and apparatus for a six-phase motor to improve the accuracy of the simulation result and reduce the calculation amount in the calculation process.

In order to achieve the above purpose, the present application provides the following technical solutions:

in one aspect, the present application provides a simulation method for a six-phase motor, including:

determining the electrical angle of the six-phase motor in the current simulation period according to the first mechanical rotating speed of the six-phase motor, wherein in the first simulation period, the first mechanical rotating speed is a preset initial value of the mechanical rotating speed, and in the non-first simulation period, the first mechanical rotating speed is the mechanical rotating speed output in the previous simulation period;

determining an inductance matrix according to the electrical angle of the six-phase motor, and solving a derivative of the inductance matrix to the electrical angle of the six-phase motor to obtain a first matrix;

solving the derivative of the component of the permanent magnet interlinking to each stator winding to the electrical angle of the six-phase motor to obtain a second matrix;

determining the motor torque and the mechanical rotation speed of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load moment of the six-phase motor, the rotational inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotation speed, wherein in the first simulation period, the first six-phase current is a preset initial value of the six-phase current, and in the non-first simulation period, the first six-phase current is the six-phase current output in the previous simulation period;

inverting the inductance matrix to obtain a third matrix;

determining the six-phase current of the six-phase motor in the current simulation period according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed in the current simulation period and the third matrix of the six-phase motor;

and the six-phase current, the electrical angle, the mechanical rotating speed and the motor torque of the six-phase motor in the current simulation period are used as simulation output for analyzing the performance of the six-phase motor.

Optionally, the determining an inductance matrix according to the electrical angle of the six-phase motor includes:

when i is j, according to L_i,j＝L_1s+L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

When i ≠ j, according to L_i,j＝L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

Wherein θ is an electrical angle of the six-phase motor, i is a row mark of an element in the inductance matrix, j is a column mark of an element in the inductance matrix, i has a value of 1 to 6, j has a value of 1 to 6, L_1sAs a parameter of the leakage self-inductance of the winding, L_tIs an air gap of windingInductance parameter, L_mAs a parameter of mutual inductance of the windings, a₁To a₆Six different angle values.

Optionally, the determining, according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load moment of the six-phase motor, the rotational inertia of the six-phase motor, the simulation step size of the six-phase motor, and the first mechanical rotation speed, the motor moment and the mechanical rotation speed of the six-phase motor in the current simulation cycle includes:

determining the motor torque of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current and the pole pair number of the six-phase motor;

determining the derivative of the mechanical rotating speed of the six-phase motor to the time according to the load moment of the six-phase motor, the rotational inertia of the six-phase motor and the motor moment in the current simulation period;

and determining the mechanical rotating speed of the six-phase motor in the current simulation period according to the derivative of the mechanical rotating speed of the six-phase motor to time, the first mechanical rotating speed and the simulation step length of the six-phase motor.

Optionally, the determining the six-phase current of the six-phase motor in the current simulation cycle according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotation speed of the current simulation cycle, and the third matrix of the six-phase motor includes:

determining the derivative of the six-phase current of the six-phase motor with respect to time according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor;

and determining the six-phase current of the six-phase motor in the current simulation period according to the derivative of the six-phase current of the six-phase motor with respect to time, the first six-phase current and the simulation step length of the six-phase motor.

Optionally, the inverting the inductance matrix to obtain a third matrix includes:

splitting the inductance matrix into a first sub-matrix L S1, a second sub-matrix L S2, a third sub-matrix L0S 3, and a fourth sub-matrix L1S 4, wherein the first sub-matrix L S1, the second sub-matrix L S2, the third sub-matrix L S3, and the fourth sub-matrix L S4 each include three rows and three columns of elements, the first row and first column of elements in the first sub-matrix L S1 are the first row and first column of elements in the inductance matrix, the first row and first column of elements in the second sub-matrix L S2 are the first row and fourth column of elements in the inductance matrix, the first row and first column of elements in the third sub-matrix L S3 are the fourth row and fourth column of elements in the inductance matrix, and the first row and first column of elements in the fourth sub-matrix L S4 are the fourth row and first column of elements in the fourth column of elements in the inductance matrix;

determining a fifth submatrix L2S 5, a sixth submatrix L3S 6, a seventh submatrix L4S 7 and an eighth submatrix L5S 8 from the first submatrix L S1, the second submatrix L S2, the third submatrix L0S 3 and the fourth submatrix L1S 4, wherein the fifth submatrix L6S 5 is invA + invA L7S 2 invD 2S 2 invA, the sixth submatrix 2S 2 is-invA 2S 2 invD, the seventh submatrix 2S 2 is-invD 2S 2 invA, the eighth submatrix 2S 2 is-invD 2S 2, and the inverse submatrix 2S 2 is 2 inverse of the first submatrix 2S 2 and the inverse submatrix 2S 2 is 2 inverse 2;

and splicing the fifth submatrix L S5, the sixth submatrix L S6, the seventh submatrix L S7 and the eighth submatrix L S8 to obtain the third submatrix, wherein elements positioned in a first row and a first column in the fifth submatrix L S5 are taken as elements positioned in a first row and a first column in the third submatrix, elements positioned in a first row and a first column in the sixth submatrix L S6 are taken as elements positioned in a first row and a fourth column in the third submatrix, elements positioned in a first row and a first column in the seventh submatrix L S7 are taken as elements positioned in a fourth row and a first column in the third submatrix, and elements positioned in a first row and a first column in the eighth submatrix L S8 are taken as elements positioned in a fourth row and a fourth column in the third submatrix.

Optionally, the determining a fifth sub-matrix L S5, a sixth sub-matrix L S6, a seventh sub-matrix L S7 and an eighth sub-matrix L S8 according to the first sub-matrix L S1, the second sub-matrix L S2, the third sub-matrix L S3 and the fourth sub-matrix L S4 includes:

calculating an inverse matrix invA of the first sub-matrix L S1;

calculating invA L S2;

calculating an inverse matrix invD of L S3 invA L S2, L S4-L S3 invA L S2 based on said invA L S2, resulting in said eighth submatrix L S8;

calculating-invA L S2 invD based on said invA L S2, resulting in said sixth sub-matrix L S6;

calculating a transposed matrix of the sixth sub-matrix L S6 to obtain a seventh sub-matrix L S7;

calculating invA L S2 invD L S3 invA based on said-invA L S2 invD, resulting in said fifth sub-matrix L S5.

In another aspect, the present application provides a simulation apparatus of a six-phase motor, the apparatus including:

the electrical angle determining unit is used for determining the electrical angle of the six-phase motor in the current simulation period according to the first mechanical rotating speed of the six-phase motor, wherein in the first simulation period, the first mechanical rotating speed is a preset initial value of the mechanical rotating speed, and in the non-first simulation period, the first mechanical rotating speed is the mechanical rotating speed output in the previous simulation period;

the inductance matrix determining unit is used for determining an inductance matrix according to the electrical angle of the six-phase motor;

the first matrix determining unit is used for solving the derivative of the inductance matrix to the electrical angle of the six-phase motor to obtain a first matrix;

the second matrix determining unit is used for solving the derivative of the component of the permanent magnet interlinkage to each stator winding to the electrical angle of the six-phase motor to obtain a second matrix;

the torque and rotating speed determining unit is used for determining the motor torque and the mechanical rotating speed of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load torque of the six-phase motor, the rotational inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotating speed, wherein in the first simulation period, the first six-phase current is a preset initial value of the six-phase current, and in a non-first simulation period, the first six-phase current is the six-phase current output in the previous simulation period;

the third matrix determining unit is used for inverting the inductance matrix to obtain a third matrix;

the six-phase current determining unit is used for determining the six-phase current of the six-phase motor in the current simulation period according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor;

and the six-phase current, the electrical angle, the mechanical rotating speed and the motor torque of the six-phase motor in the current simulation period are used as simulation output for analyzing the performance of the six-phase motor.

Optionally, the inductance matrix determining unit determines the inductance matrix according to the electrical angle of the six-phase motor, including:

when i is j, according to L_i,j＝L_1s+L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

When i ≠ j, according to L_i,j＝L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

Wherein θ is an electrical angle of the six-phase motor, i is a row mark of an element in the inductance matrix, j is a column mark of an element in the inductance matrix, i has a value of 1 to 6, j has a value of 1 to 6, L_1sAs a parameter of the leakage self-inductance of the winding, L_tAs a winding air gap inductance parameter, L_mAs a parameter of mutual inductance of the windings, a₁To a₆Six different angle values.

Optionally, the determining unit of the torque and the rotation speed determines the motor torque and the mechanical rotation speed of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load torque of the six-phase motor, the rotational inertia of the six-phase motor, the simulation step size of the six-phase motor, and the first mechanical rotation speed, and includes:

determining the motor torque of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current and the pole pair number of the six-phase motor;

determining the derivative of the mechanical rotating speed of the six-phase motor to the time according to the load moment of the six-phase motor, the rotational inertia of the six-phase motor and the motor moment in the current simulation period;

and determining the mechanical rotating speed of the six-phase motor in the current simulation period according to the derivative of the mechanical rotating speed of the six-phase motor to time, the first mechanical rotating speed and the simulation step length of the six-phase motor.

Optionally, the determining unit of the six-phase current determines the six-phase current of the six-phase motor in the current simulation period according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotation speed of the current simulation period, and the third matrix of the six-phase motor, and includes:

determining the derivative of the six-phase current of the six-phase motor with respect to time according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor;

and determining the six-phase current of the six-phase motor in the current simulation period according to the derivative of the six-phase current of the six-phase motor with respect to time, the first six-phase current and the simulation step length of the six-phase motor.

The method for simulating the six-phase motor comprises the steps of determining an electrical angle of the six-phase motor in a current simulation period according to a first mechanical rotating speed of the six-phase motor, determining an inductance matrix according to the electrical angle of the six-phase motor, calculating a derivative of the inductance matrix to the electrical angle of the six-phase motor to obtain a first matrix, calculating a derivative of a component of a permanent magnet interlinkage to each stator winding to the electrical angle of the six-phase motor to obtain a second matrix, determining a motor moment and a mechanical rotating speed of the six-phase motor in the current simulation period according to the first matrix, the second matrix, a first six-phase current of the six-phase motor, a pole logarithm of the six-phase motor, a load moment of the six-phase motor, a rotating inertia of the six-phase motor, a simulation step length of the six-phase motor and the first mechanical rotating speed, determining a motor moment and a mechanical rotating speed of the six-phase motor in the current simulation period, inverting the inductance matrix to obtain a, The six-phase motor simulation method comprises the steps of determining six-phase current of a six-phase motor in a current simulation period through a first matrix, a second matrix, the mechanical rotating speed of the current simulation period and a third matrix. And taking the six-phase current, the electrical angle, the mechanical rotating speed and the motor torque of the six-phase motor in the current simulation period as simulation output, and analyzing the performance of the six-phase motor. The simulation method of the six-phase motor provided by the application is based on the original model which is not subjected to coordinate transformation under the constraint condition, can accurately reflect the electrical characteristics of the six-phase motor, ensures normal compiling and simulation in the FPGA, and reduces the calculation amount in the calculation process. In addition, the six-phase motor simulation method provided by the application can be suitable for building other multi-phase motor SG models without the same-phase winding.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a simulation method of a six-phase motor disclosed in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a simulation apparatus of a six-phase motor disclosed in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Aiming at the problems in the prior art, the application provides a six-phase motor simulation method to improve the accuracy of a simulation result and optimize a calculation process.

Referring to fig. 1, fig. 1 is a flowchart of a simulation method of a six-phase motor according to an embodiment of the present application, where the simulation method includes:

step S101: and determining the electrical angle of the six-phase motor in the current simulation period according to the first mechanical rotating speed of the six-phase motor.

In the first simulation period, the first mechanical rotating speed is a preset initial value of the mechanical rotating speed, and in the non-first simulation period, the first mechanical rotating speed is the mechanical rotating speed output in the previous simulation period.

In the process of specifically implementing the step S101, discrete integration is performed on the product of the pole pair number of the six-phase motor and the first mechanical rotation speed, so as to obtain the electrical angle of the six-phase motor in the current simulation period. It can be understood that if the current simulation period is the first simulation period, the electrical angle of the six-phase motor in the current simulation period is obtained based on the pole pair number of the six-phase motor and a preset mechanical rotation speed initial value; and if the current simulation period is not the first simulation period, obtaining the electrical angle of the six-phase motor in the current simulation period based on the pole pair number of the six-phase motor and the mechanical rotating speed output in the previous simulation period.

Step S102: and determining an inductance matrix according to the electrical angle of the six-phase motor, and solving the derivative of the inductance matrix to the electrical angle of the six-phase motor to obtain a first matrix.

In the process of implementing step S102 specifically, for convenience of introduction, the inductance matrix is described as L, and the inductance matrix is determined to be:

when i is j, according to L_i,j＝L_1s+L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

When i ≠ j, according to L_i,j＝L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

In the above formula, θ is an electrical angle of the six-phase motor, i is a row mark of an element in the inductance matrix, j is a column mark of an element in the inductance matrix, i has a value of 1 to 6, j has a value of 1 to 6, and L_1sAs a parameter of the leakage self-inductance of the winding, L_tAs a winding air gap inductance parameter, L_mAs a parameter of mutual inductance of the windings, a₁To a₆Six different angle values.

It will be appreciated that the inductance matrix is a 6 × 6 matrix.

Optionally, a₁To a₆Corresponding in turn to 0 °, 30 °, 120 °, 150 °, 240 ° and 270 °, it being understood that a₁To a₆Other angle values are also possible. But a₁To a₆The mutual inductance is calculated by taking the angle values of the two windings to be different from each other, because the same-gap inductance is required to be considered when calculating the mutual inductance if the two windings have the same angle.

It should be noted that, the derivation of the electrical angle of the six-phase motor by the inductance matrix is obtained, for the purpose of visual description, we use the form of formula to introduce, and the derivation results in the first matrix d L/d θ matrix, where the elements in the first matrix are [ d L/d θ ] matrix]_i,j＝2*L_tsin(2*θ-a_i+a_j)。

Step S103: and solving the derivative of the component of the permanent magnet interlinking to each stator winding to the electrical angle of the six-phase motor to obtain a second matrix.

In the process of implementing step S103, the second matrix is specifically:

according to the formula [ d Λ/d theta ]]_i＝-lam1*sin(θ-a_i) Determining the elements [ d Λ/d θ ] in the second matrix]_i。

In the above formula, Λ represents the component of the permanent magnet interlinking to each stator winding, θ is the electrical angle of the six-phase motor, i represents the row mark of the element in the second matrix, i has a value of 1 to 6, a₁To a₆For six different angular values, lam1 represents the maximum value of the component of the permanent magnet interlinking to each stator winding, being a constant. In addition, a is₁To a₆The values can be referred to the above description, and are not described herein again.

Step S104: and determining the motor moment and the mechanical rotation speed of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load moment of the six-phase motor, the rotational inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotation speed.

In the first simulation period, the first six-phase current is a preset initial value of the six-phase current, and in the non-first simulation period, the first six-phase current is the six-phase current output in the previous simulation period.

Note that the first six-phase current takes the form of a matrix. Optionally, the first six-phase current is in a column matrix.

In the process of specifically implementing step S104, determining the motor torque of the six-phase motor in the current simulation cycle specifically is: determining the motor torque of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current and the pole pair number of the six-phase motor;

for intuitive introduction, we describe with a formula according to which:

Te＝n*p*[0.5*I_s1`*(dL/dθ)*I<sub>s1</sub>+I<sub>s1</sub>`*(dΛ/dθ)]and calculating to obtain the motor torque of the six-phase motor in the current simulation period.

In the above formula, Te represents motor torque, n × p represents the pole pair number of six-phase motor, I_s1Denotes the first sixPhase current, I_s1' represents I_s1The transposed matrix of (2).

In the process of specifically implementing step S104, determining the mechanical rotation speed of the six-phase motor in the current simulation cycle specifically is: determining the derivative of the mechanical rotating speed of the six-phase motor to the time according to the load moment of the six-phase motor, the rotational inertia of the six-phase motor and the motor moment in the current simulation period; and determining the mechanical rotating speed of the six-phase motor in the current simulation period according to the derivative of the mechanical rotating speed of the six-phase motor to time, the first mechanical rotating speed and the simulation step length.

For intuitive introduction, we describe with formulas.

According to the formula: d ω/dt ═ Te-T_m) The derivative of the mechanical speed of the six-phase machine with respect to time (d ω/dt) is determined by the formula: omega_2＝ω₁+ Ts x (d ω/dt) determines the mechanical rotational speed of the six-phase motor during the current simulation cycle.

In the above formula, T_mRepresenting load moment, J rotational inertia, Ts simulation step size, omega₂Representing the mechanical speed, omega, of the six-phase motor in the current simulation cycle₁Representing the first mechanical rotational speed of the six-phase motor.

It will be appreciated that the derivative of the mechanical speed of the six-phase motor with respect to time (d ω/dt) is indicative of the rate of change of the mechanical speed of the six-phase motor over the current simulation cycle.

Alternatively, the simulation step size Ts may be set to 100 ns.

It will be appreciated that ω is the first simulation cycle, if it is₁The first mechanical rotating speed of the six-phase motor is a preset initial value of the mechanical rotating speed, omega₂The mechanical speed of the six-phase motor in the current simulation cycle is shown. If in the non-first simulation cycle, ω₁The first mechanical rotating speed of the six-phase motor is the mechanical rotating speed, omega, output in the previous simulation period₂The mechanical speed of the six-phase motor in the current simulation cycle is shown.

It should be understood that ω calculated in step S104₂The model input of the next simulation cycle is used to continue the calculation of the next simulation cycle.

Step S105: and inverting the inductance matrix to obtain a third matrix.

Step S106: and determining the six-phase current of the six-phase motor in the current simulation period according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor.

In the process of specifically implementing step S106, it is determined that the six-phase current of the six-phase motor in the current simulation cycle is specifically: determining the derivative of the six-phase current of the six-phase motor with respect to time according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor; and determining the six-phase current of the six-phase motor in the current simulation period according to the derivative of the six-phase current of the six-phase motor with respect to time, the first six-phase current and the simulation step length.

For intuitive introduction, we describe with formulas.

According to the voltage formula U_S＝U-L*(dI_sDt) and the formula U ═ U_S-[R*I_s1+ω*(dL/dθ)*I_s1+ω*(dΛ/dθ)]And calculating to obtain the derivative (dI) of the six-phase current of the six-phase motor with respect to time_s/dt)：

dI_s/dt＝invLSS*[U_S-R*I_s1-ω*(dL/dθ)*I_s1-ω*(dΛ/dθ)]，

Then according to the formula: i is_s2＝I_s1+Ts*(dI_sDt), determining the six-phase current of the six-phase motor in the current simulation cycle, in the above equation, U_SRepresenting the line voltage of a six-phase motor, R representing the winding resistance of a six-phase motor, I_s2Showing the six-phase current, I, of a six-phase motor in the current simulation cycle_s1Showing the first six-phase current for a six-phase motor.

It can be understood that the derivative with respect to time (dI) of the six-phase current of a six-phase motor_sDt) characterizes the rate of change of the six-phase current of the six-phase motor during the current simulation cycle.

It will be appreciated that if in the first simulation cycle, I_s1To representThe first six-phase current of the six-phase motor is the preset initial value of the six-phase current, I_s2Showing the six-phase current of the six-phase motor in the current simulation cycle. If it is in the non-first simulation cycle, I_s1The first six-phase current of the six-phase motor is the six-phase current output in the previous simulation period, I_s2Showing the six-phase current of the six-phase motor in the current simulation cycle.

It should be understood that I calculated in step S106_s2The model input of the next simulation cycle is used to continue the calculation of the next simulation cycle.

Therefore, according to the simulation method of the six-phase motor, the electrical angle of the six-phase motor in the current simulation period is determined according to the first mechanical rotating speed of the six-phase motor, the inductance matrix is determined according to the electrical angle of the six-phase motor, the derivative of the inductance matrix to the electrical angle of the six-phase motor is calculated to obtain the first matrix, the derivative of the component of the permanent magnet interlinking to each stator winding to the electrical angle of the six-phase motor is calculated to obtain the second matrix, the motor moment and the mechanical rotating speed of the six-phase motor in the current simulation period are determined according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load moment of the six-phase motor, the rotating inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotating speed, the motor moment and the mechanical rotating speed of the six-phase motor in the current simulation period are determined, the inductance matrix, The six-phase motor simulation method comprises the steps of determining six-phase current of a six-phase motor in a current simulation period through a first matrix, a second matrix, the mechanical rotating speed of the current simulation period and a third matrix. And analyzing the performance of the six-phase motor by using the six-phase current, the electrical angle, the mechanical rotating speed and the motor torque of the six-phase motor in the current simulation period as simulation output. The simulation method of the six-phase motor provided by the application is based on the original model which is not subjected to coordinate transformation under the constraint condition, can accurately reflect the electrical characteristics of the six-phase motor, ensures normal compiling and simulation in the FPGA, and reduces the calculation amount in the calculation process. In addition, the six-phase motor simulation method provided by the application can be suitable for building other multi-phase motor SG models without the same-phase winding.

The above step S105 will be described in detail below.

In the process of specifically implementing step S105, inverting the inductance matrix to obtain a third matrix specifically includes the following steps:

firstly, splitting an inductance matrix into a first sub-matrix L S1, a second sub-matrix L S2, a third sub-matrix L S3 and a fourth sub-matrix L S4;

the first sub-matrix L S1, the second sub-matrix L S2, the third sub-matrix L S3 and the fourth sub-matrix L S4 all include three rows and three columns of elements, the element in the first row and the first column in the first sub-matrix L S1 is the element in the first row and the first column in the inductance matrix, the element in the first row and the first column in the second sub-matrix L S2 is the element in the first row and the fourth column in the inductance matrix, the element in the first row and the first column in the third sub-matrix L S3 is the element in the fourth row and the first column in the inductance matrix, and the element in the first row and the first column in the fourth row and the fourth column in the fourth sub-matrix L S4 is the element in the inductance matrix.

Determining a fifth sub-matrix L S5, a sixth sub-matrix L S6, a seventh sub-matrix L S7 and an eighth sub-matrix L S8 according to the first sub-matrix L S1, the second sub-matrix L S2, the third sub-matrix L S3 and the fourth sub-matrix L S4;

wherein, the fifth sub-matrix L S5 is invA + invA L S2 invD L0S 3 invA, the sixth sub-matrix L1S 6 is-invA L S2 invD, the seventh sub-matrix L S7 is-invD L S3 invA, the eighth sub-matrix L S8 is invD, invA is an inverse matrix of the first sub-matrix L S1, and invD is an inverse matrix of L S4-L S3 invA L S2.

Thirdly, splicing a fifth sub-matrix L S5, a sixth sub-matrix L S6, a seventh sub-matrix L S7 and an eighth sub-matrix L S8 to obtain a third matrix;

the elements in the first row and the first column in the fifth sub-matrix L S5 are the elements in the first row and the first column in the third matrix, the elements in the first row and the first column in the sixth sub-matrix L S6 are the elements in the first row and the fourth column in the third matrix, the elements in the first row and the first column in the seventh sub-matrix L S7 are the elements in the fourth row and the first column in the third matrix, and the elements in the first row and the first column in the eighth sub-matrix L S8 are the elements in the fourth row and the fourth column in the third matrix.

As known from the foregoing, the inductor matrix is a matrix of 6 × 6, that is, the element in the first row and the second column in the first sub-matrix L S1 is the element in the first row and the second column in the inductor matrix, the element in the first row and the third column in the first sub-matrix is the element in the first row and the second column in the inductor matrix, the element in the second row and the second column in the second sub-matrix is the element in the second row and the third column in the inductor matrix, the element in the second row and the third column in the inductor matrix, the element in the third row and the first column in the inductor matrix, the element in the third row and the third column in the inductor matrix in the third row and the third column in the inductor matrix;

the second sub-matrix L S2 includes elements in the first row and the second column, which are elements in the first row and the fifth column of the inductor matrix, elements in the first row and the third column of the inductor matrix, elements in the second row and the first column of the inductor matrix, elements in the second row and the fourth column of the inductor matrix, elements in the second row and the second column of the inductor matrix, elements in the second row and the fifth column of the inductor matrix, elements in the second row and the third column of the inductor matrix, elements in the third row and the fourth column of the inductor matrix, elements in the third row and the second column of the inductor matrix, elements in the third row and the fifth column of the inductor matrix, and elements in the third row and the third column of the inductor matrix;

the elements in the second row and the second column in the third sub-matrix L S3 are the elements in the fourth row and the second column in the inductance matrix, the elements in the fourth row and the third column in the inductance matrix, the elements in the first row and the first column in the second row and the first column in the fifth row and the second column in the inductance matrix, the elements in the second row and the second column in the fifth row and the second column in the inductance matrix, the elements in the third row and the third column in the fifth row and the third column in the inductance matrix, the elements in the first column in the sixth row and the first column in the inductance matrix, the elements in the second column in the sixth row and the third column in the inductance matrix, and the elements in the third row and the third column in the sixth row and the third column in the inductance matrix;

the element in the second row and the second column in the fourth sub-matrix L S4 is an element in the fourth row and the fifth column in the inductance matrix, the element in the third row and the third column in the inductance matrix is an element in the fourth row and the sixth column in the inductance matrix, the element in the first column in the second row and the fourth column in the fifth row and the second column in the inductance matrix, the element in the third row and the third column in the fifth row and the sixth column in the inductance matrix, the element in the first column in the third row and the fourth column in the sixth row and the fourth column in the inductance matrix, the element in the second column in the third row and the fifth column in the inductance matrix, and the element in the third column in the third row and the sixth column in the inductance matrix;

it is to be understood that the element in the first row and the second column in the fifth sub-matrix L S5 is taken as the element in the first row and the second column in the third matrix, the element in the first row and the third column is taken as the element in the first row and the third column in the third matrix, the element in the second row and the first column is taken as the element in the second row and the first column in the third matrix, the element in the second row and the second column is taken as the element in the second row and the second column in the third matrix, the element in the second row and the third column is taken as the element in the second row and the third column in the third matrix, the element in the third row and the first column is taken as the element in the third row and the first column in the third matrix, the element in the third row and the second column in the third matrix is taken as the element in the third row and the third column in the third matrix;

the element in the second row and the second column in the sixth sub-matrix L S6 is the element in the first row and the fifth column in the third matrix, the element in the first row and the third column is the element in the first row and the sixth column in the third matrix, the element in the first row and the first column in the second row and the fourth column in the third matrix, the element in the second row and the second column is the element in the fifth row and the fifth column in the third matrix, the element in the second row and the third column is the element in the sixth row and the sixth column in the third matrix, the element in the first column in the third row and the fourth column in the third matrix, the element in the second column in the third row and the fifth column in the third matrix, and the element in the third row and the third column in the third matrix;

the element in the second row and the second column in the seventh sub-matrix L S7 is the element in the fourth row and the second column in the third matrix, the element in the first row and the third column is the element in the fourth row and the third column in the third matrix, the element in the first row and the first column in the second matrix is the element in the fifth row and the first column in the third matrix, the element in the second row and the second column is the element in the fifth row and the second column in the third matrix, the element in the second row and the third column is the element in the fifth row and the third column in the third matrix, the element in the first column in the third row and the first column in the sixth row and the element in the second column in the third row and the third column in the sixth row and the third column in the third matrix;

the element in the second row and the second column in the eighth sub-matrix L S8 is the element in the fourth row and the fifth column in the third matrix, the element in the third row and the third column is the element in the fourth row and the sixth column in the third matrix, the element in the first row and the first column is the element in the fifth row and the fourth column in the third matrix, the element in the second row and the second column is the element in the fifth row and the fifth column in the third matrix, the element in the second row and the third column is the element in the sixth row and the sixth column in the third matrix, the element in the first column in the third row is the element in the fourth column in the sixth row in the third matrix, the element in the second column in the third row is the element in the fifth column in the sixth row in the third matrix, and the element in the third column in the third row and the sixth column in the sixth row and the sixth column in the third matrix.

In the process of implementing step S105 specifically, for the convenience of visual description, let us denote the third matrix by inv L SS, then

Wherein invA is an inverse matrix of the first sub-matrix L S1, and invD is an inverse matrix of L S4-L S3 invA L S2, so that the original inversion of the inductance matrix of 6 × 6 is simplified into the inversion of two 3 × 3 matrixes, and the calculation amount is greatly reduced.

Preferably, the fifth sub-matrix L S5, the sixth sub-matrix L S6, the seventh sub-matrix L S7 and the eighth sub-matrix L S8 are determined as follows:

1) and calculating an inverse matrix invA of the first sub-matrix L S1.

2) And calculating invA L S2, wherein the step is a matrix multiplication operation.

3) L S3 invA L S2 is calculated, followed by L S4-L S3 invA L S2, which is the eighth sub-matrix L S8.

Note that, here, invA L S2 obtained in the 2 nd step is used, and therefore, this step includes one matrix multiplication operation and one matrix inversion operation.

4) calculate-invA L S2 invD, i.e. calculate the sixth submatrix L S6.

Note that, here, invA × L S2 obtained in the 2 nd step is used, and therefore, this step includes a matrix multiplication.

5) A seventh sub-matrix L S7 is determined from the sixth sub-matrix L S6.

Since the third matrix inv L SS is a symmetric matrix, the sixth sub-matrix L S6 and the seventh sub-matrix L S7 are transposed matrices to each other, and therefore, the seventh sub-matrix L S7 can be obtained from the sixth sub-matrix L S6.

6) And calculating invA L S2 invD L S3 invA to obtain a fifth submatrix L S5.

Note that, here, the-invA L S2 invD obtained in the 4 th step is used, and therefore, this step includes two matrix multiplication operations.

In the above-mentioned scheme for determining the fifth sub-matrix L S5, the sixth sub-matrix L S6, the seventh sub-matrix L S7 and the eighth sub-matrix L S8, 5 times of matrix multiplication operations and 2 times of matrix inversion operations are included, after a compilation attempt, when an existing FPGA device inverts an inductance matrix, the matrix multiplication operations still occupy a large amount of resources, therefore, optionally, in the present application, in order to further reduce the occupancy rate of FPGA resources, a time division multiplexing method may be adopted, that is, only one matrix multiplication operation is performed in the same simulation step length, and 5 times of matrix multiplication operations in the inductance matrix inversion process are sequentially completed, taking the simulation step length as 100ns as an example, and the actual simulation period as 500ns, so as to ensure that the FPGA resources occupied by the model are further reduced.

The invention discloses a simulation method of a six-phase motor, correspondingly, the invention also discloses a simulation device of the six-phase motor, and the description of the two can be mutually referred.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a simulation apparatus of a six-phase motor according to an embodiment of the present disclosure.

The simulation apparatus includes: an electrical angle determination unit 201, an inductance matrix determination unit 202, a first matrix determination unit 203, a second matrix determination unit 204, a torque and rotational speed determination unit 205, a third matrix determination unit 206, and a six-phase current determination unit 207.

The electrical angle determination unit 201 is configured to: and determining the electrical angle of the six-phase motor in the current simulation period according to the first mechanical rotating speed of the six-phase motor.

In the first simulation period, the first mechanical rotating speed is a preset initial value of the mechanical rotating speed, and in the non-first simulation period, the first mechanical rotating speed is the mechanical rotating speed output in the previous simulation period.

The electrical angle determining unit 201 performs discrete integration on the product of the pole pair number of the six-phase motor and the first mechanical rotation speed to obtain the electrical angle of the six-phase motor in the current simulation period.

The inductance matrix determination unit 202 is configured to: and determining an inductance matrix according to the electrical angle of the six-phase motor.

For convenience of introduction, the inductance matrix is described as L, and the inductance matrix determining unit determines the inductance matrix specifically as follows:

when i is j, according to L_i,j＝L_1s+L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

When i ≠ j, according to L_i,j＝L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

In the above formula, θ is an electrical angle of the six-phase motor, i is a row mark of an element in the inductance matrix, j is a column mark of an element in the inductance matrix, i has a value of 1 to 6, j has a value of 1 to 6, and L_1sAs a parameter of the leakage self-inductance of the winding, L_tAs a winding air gap inductance parameter, L_mAs a parameter of mutual inductance of the windings, a₁To a₆Six different angle values.

It will be appreciated that the inductance matrix is a 6 × 6 matrix.

Optionally, a₁To a₆Corresponding in turn to 0 °, 30 °, 120 °, 150 °, 240 ° and 270 °, it being understood that a₁To a₆Other angle values are also possible. But a₁To a₆The mutual inductance is calculated by taking the angle values of the two windings to be different from each other, because the same-gap inductance is required to be considered when calculating the mutual inductance if the two windings have the same angle.

The first matrix determination unit 203 is configured to: and solving the derivative of the inductance matrix to the electrical angle of the six-phase motor to obtain a first matrix.

For visual description, we use the formula form to introduce, and after derivation, we get the first matrix d L/d θ matrix, where the elements in the first matrix are [ d L/d θ: [ [ d L ] ]/d θ ]]_i,j＝2*L_tsin(2*θ-a_i+a_j)。

The second matrix determination unit 204 is configured to: and solving the derivative of the component of the permanent magnet interlinking to each stator winding to the electrical angle of the six-phase motor to obtain a second matrix.

The derivation to obtain the second matrix is specifically according to the formula [ d Λ/d theta ]]_i＝-lam1*sin(θ-a_i) Determining the elements [ d Λ/d θ ] in the second matrix]_i。

In the above formula, Λ represents the component of the permanent magnet interlinking to each stator winding, θ is the electrical angle of the six-phase motor, i represents the row mark of the element in the second matrix, i has a value of 1 to 6, a₁To a₆For six different angular values, lam1 represents the maximum value of the component of the permanent magnet interlinking to each stator winding, being a constant. In addition, a is₁To a₆The values can be referred to the above description, and are not described herein again.

The torque and speed determination unit 205 is configured to: and determining the motor moment and the mechanical rotation speed of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load moment of the six-phase motor, the rotational inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotation speed.

In the first simulation period, the first six-phase current is a preset initial value of the six-phase current, and in the non-first simulation period, the first six-phase current is the six-phase current output in the previous simulation period.

Note that the first six-phase current takes the form of a matrix. Optionally, the first six-phase current is in a column matrix.

The torque and rotation speed determining unit 205 determines that the motor torque of the six-phase motor in the current simulation cycle is specifically: and determining the motor torque of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current and the pole pair number of the six-phase motor.

For intuitive introduction, we describe with a formula according to which:

Te＝n*p*[0.5*I_s1`*(dL/dθ)*I<sub>s1</sub>+I<sub>s1</sub>`*(dΛ/dθ)]and calculating to obtain the motor torque of the six-phase motor in the current simulation period.

In the above formula, Te represents motor torque, n × p represents the pole pair number of six-phase motor, I_s1Showing a first six-phase current, I_s1' represents I_s1The transposed matrix of (2).

The torque and rotation speed determining unit 205 determines that the mechanical rotation speed of the six-phase motor in the current simulation cycle is specifically: determining the derivative of the mechanical rotating speed of the six-phase motor to the time according to the load moment of the six-phase motor, the rotational inertia of the six-phase motor and the motor moment in the current simulation period; and determining the mechanical rotating speed of the six-phase motor in the current simulation period according to the derivative of the mechanical rotating speed of the six-phase motor to time, the first mechanical rotating speed and the simulation step length.

For intuitive introduction, we describe with formulas.

According to the formula: d ω/dt ═ Te-T_m) The derivative of the mechanical speed of the six-phase machine with respect to time (d ω/dt) is determined by the formula: omega_2＝ω₁+ Ts x (d ω/dt) determines the mechanical rotational speed of the six-phase motor during the current simulation cycle.

In the above formula, T_mRepresenting load moment, J rotational inertia, Ts simulation step size, omega₂Representing the mechanical speed, omega, of the six-phase motor in the current simulation cycle₁Representing the first mechanical rotational speed of the six-phase motor.

It will be appreciated that the derivative of the mechanical speed of the six-phase motor with respect to time (d ω/dt) is indicative of the rate of change of the mechanical speed of the six-phase motor over the current simulation cycle.

Alternatively, the simulation step size Ts may be set to 100 ns.

The third matrix determination unit 206 is configured to: and inverting the inductance matrix to obtain a third matrix.

The implementation principle of the third matrix determining unit 206 for determining the third matrix can be described with reference to the embodiment of fig. 1, and will not be described here.

The six-phase current determination unit 207 is configured to: and determining the six-phase current of the six-phase motor in the current simulation period according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor.

The six-phase current determining unit 207 determines that the six-phase current of the six-phase motor in the current simulation period is specifically: determining the derivative of the six-phase current of the six-phase motor with respect to time according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor; and determining the six-phase current of the six-phase motor in the current simulation period according to the derivative of the six-phase current of the six-phase motor with respect to time, the first six-phase current and the simulation step length.

For intuitive introduction, we describe with formulas.

According to the voltage formula U_S＝U-L*(dI_sDt) and the formula U ═ U_S-[R*I_s1+ω*(dL/dθ)*I_s1+ω*(dΛ/dθ)]And calculating to obtain the derivative (dI) of the six-phase current of the six-phase motor with respect to time_s/dt)：

dI_s/dt＝invLSS*[U_S-R*I_s1-ω*(dL/dθ)*I_s1-ω*(dΛ/dθ)]，

Then according to the formula: i is_s2＝I_s1+Ts*(dI_sDt), determining the six-phase current of the six-phase motor in the current simulation cycle, in the above equation, U_SRepresenting the line voltage of a six-phase motor, R representing the winding resistance of a six-phase motor, I_s2Showing the six-phase current, I, of a six-phase motor in the current simulation cycle_s1Showing the first six-phase current for a six-phase motor.

It can be understood that the derivative with respect to time (dI) of the six-phase current of a six-phase motor_sDt) characterizes the rate of change of the six-phase current of the six-phase motor during the current simulation cycle.

Therefore, according to the simulation device for the six-phase motor, the electrical angle of the six-phase motor in the current simulation period is determined according to the first mechanical rotating speed of the six-phase motor, the inductance matrix is determined according to the electrical angle of the six-phase motor, the derivative of the inductance matrix to the electrical angle of the six-phase motor is calculated to obtain the first matrix, the derivative of the component of the permanent magnet interlinking to each stator winding to the electrical angle of the six-phase motor is calculated to obtain the second matrix, the motor moment and the mechanical rotating speed of the six-phase motor in the current simulation period are determined according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load moment of the six-phase motor, the rotating inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotating speed, the motor moment and the mechanical rotating speed of the six-phase motor in the current simulation period are determined, the, The six-phase motor simulation method comprises the steps of determining six-phase current of a six-phase motor in a current simulation period through a first matrix, a second matrix, the mechanical rotating speed of the current simulation period and a third matrix. And analyzing the performance of the six-phase motor by using the six-phase current, the electrical angle, the mechanical rotating speed and the motor torque of the six-phase motor in the current simulation period as simulation output. The six-phase motor simulation device provided by the application can accurately embody the electrical characteristics of the six-phase motor based on the original model which is not subjected to coordinate transformation under the constraint condition, ensures normal compiling and simulation in the FPGA, and reduces the calculation amount in the calculation process. In addition, the six-phase motor simulation method provided by the application can be suitable for building other multi-phase motor SG models without the same-phase winding.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims (10)

1. A simulation method of a six-phase motor is characterized by comprising the following steps:

determining the electrical angle of the six-phase motor in the current simulation period according to the first mechanical rotating speed of the six-phase motor, wherein in the first simulation period, the first mechanical rotating speed is a preset initial value of the mechanical rotating speed, and in the non-first simulation period, the first mechanical rotating speed is the mechanical rotating speed output in the previous simulation period;

determining an inductance matrix according to the electrical angle of the six-phase motor, and solving a derivative of the inductance matrix to the electrical angle of the six-phase motor to obtain a first matrix;

solving the derivative of the component of the permanent magnet interlinking to each stator winding to the electrical angle of the six-phase motor to obtain a second matrix;

determining the motor torque and the mechanical rotation speed of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load moment of the six-phase motor, the rotational inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotation speed, wherein in the first simulation period, the first six-phase current is a preset initial value of the six-phase current, and in the non-first simulation period, the first six-phase current is the six-phase current output in the previous simulation period;

inverting the inductance matrix to obtain a third matrix;

determining the six-phase current of the six-phase motor in the current simulation period according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed in the current simulation period and the third matrix of the six-phase motor;

and the six-phase current, the electrical angle, the mechanical rotating speed and the motor torque of the six-phase motor in the current simulation period are used as simulation output for analyzing the performance of the six-phase motor.

2. The simulation method of claim 1, wherein the determining an inductance matrix from the electrical angles of the six-phase machine comprises:

when i is j, according to L_i,j＝L_1s+L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

When i ≠ j, according to L_i,j＝L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

Wherein θ is an electrical angle of the six-phase motor, i is a row mark of an element in the inductance matrix, j is a column mark of an element in the inductance matrix, i has a value of 1 to 6, j has a value of 1 to 6, L_1sAs a parameter of the leakage self-inductance of the winding, L_tAs a winding air gap inductance parameter, L_mAs a parameter of mutual inductance of the windings, a₁To a₆Six different angle values.

3. The simulation method of claim 1, wherein the determining the motor torque and the mechanical speed of the six-phase motor in the current simulation cycle according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load torque of the six-phase motor, the moment of inertia of the six-phase motor, the simulation step size of the six-phase motor, and the first mechanical speed comprises:

determining the motor torque of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current and the pole pair number of the six-phase motor;

determining the derivative of the mechanical rotating speed of the six-phase motor to the time according to the load moment of the six-phase motor, the rotational inertia of the six-phase motor and the motor moment in the current simulation period;

and determining the mechanical rotating speed of the six-phase motor in the current simulation period according to the derivative of the mechanical rotating speed of the six-phase motor to time, the first mechanical rotating speed and the simulation step length of the six-phase motor.

4. The simulation method of claim 1, wherein the determining six-phase current for the six-phase motor in a current simulation cycle based on the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical speed for the current simulation cycle, and the third matrix for the six-phase motor comprises:

determining the derivative of the six-phase current of the six-phase motor with respect to time according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor;

and determining the six-phase current of the six-phase motor in the current simulation period according to the derivative of the six-phase current of the six-phase motor with respect to time, the first six-phase current and the simulation step length of the six-phase motor.

5. The simulation method of claim 1, wherein inverting the inductance matrix to obtain a third matrix comprises:

splitting the inductance matrix into a first sub-matrix L S1, a second sub-matrix L S2, a third sub-matrix L0S 3, and a fourth sub-matrix L1S 4, wherein the first sub-matrix L S1, the second sub-matrix L S2, the third sub-matrix L S3, and the fourth sub-matrix L S4 each include three rows and three columns of elements, the first row and first column of elements in the first sub-matrix L S1 are the first row and first column of elements in the inductance matrix, the first row and first column of elements in the second sub-matrix L S2 are the first row and fourth column of elements in the inductance matrix, the first row and first column of elements in the third sub-matrix L S3 are the fourth row and fourth column of elements in the inductance matrix, and the first row and first column of elements in the fourth sub-matrix L S4 are the fourth row and first column of elements in the fourth column of elements in the inductance matrix;

determining a fifth submatrix L2S 5, a sixth submatrix L3S 6, a seventh submatrix L4S 7 and an eighth submatrix L5S 8 from the first submatrix L S1, the second submatrix L S2, the third submatrix L0S 3 and the fourth submatrix L1S 4, wherein the fifth submatrix L6S 5 is invA + invA L7S 2 invD 2S 2 invA, the sixth submatrix 2S 2 is-invA 2S 2 invD, the seventh submatrix 2S 2 is-invD 2S 2 invA, the eighth submatrix 2S 2 is-invD 2S 2, and the inverse submatrix 2S 2 is 2 inverse of the first submatrix 2S 2 and the inverse submatrix 2S 2 is 2 inverse 2;

and splicing the fifth submatrix L S5, the sixth submatrix L S6, the seventh submatrix L S7 and the eighth submatrix L S8 to obtain the third submatrix, wherein elements positioned in a first row and a first column in the fifth submatrix L S5 are taken as elements positioned in a first row and a first column in the third submatrix, elements positioned in a first row and a first column in the sixth submatrix L S6 are taken as elements positioned in a first row and a fourth column in the third submatrix, elements positioned in a first row and a first column in the seventh submatrix L S7 are taken as elements positioned in a fourth row and a first column in the third submatrix, and elements positioned in a first row and a first column in the eighth submatrix L S8 are taken as elements positioned in a fourth row and a fourth column in the third submatrix.

6. The simulation method of claim 5, wherein determining a fifth sub-matrix L S5, a sixth sub-matrix L S6, a seventh sub-matrix L S7 and an eighth sub-matrix L S8 from the first sub-matrix L S1, the second sub-matrix L S2, the third sub-matrix L S3 and the fourth sub-matrix L S4 comprises:

calculating an inverse matrix invA of the first sub-matrix L S1;

calculating invA L S2;

calculating an inverse matrix invD of L S3 invA L S2, L S4-L S3 invA L S2 based on said invA L S2, resulting in said eighth submatrix L S8;

calculating-invA L S2 invD based on said invA L S2, resulting in said sixth sub-matrix L S6;

calculating a transposed matrix of the sixth sub-matrix L S6 to obtain a seventh sub-matrix L S7;

calculating invA L S2 invD L S3 invA based on said-invA L S2 invD, resulting in said fifth sub-matrix L S5.

7. An emulation apparatus of a six-phase motor, comprising:

the electrical angle determining unit is used for determining the electrical angle of the six-phase motor in the current simulation period according to the first mechanical rotating speed of the six-phase motor, wherein in the first simulation period, the first mechanical rotating speed is a preset initial value of the mechanical rotating speed, and in the non-first simulation period, the first mechanical rotating speed is the mechanical rotating speed output in the previous simulation period;

the inductance matrix determining unit is used for determining an inductance matrix according to the electrical angle of the six-phase motor;

the first matrix determining unit is used for solving the derivative of the inductance matrix to the electrical angle of the six-phase motor to obtain a first matrix;

the second matrix determining unit is used for solving the derivative of the component of the permanent magnet interlinkage to each stator winding to the electrical angle of the six-phase motor to obtain a second matrix;

the torque and rotating speed determining unit is used for determining the motor torque and the mechanical rotating speed of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current of the six-phase motor, the pole pair number of the six-phase motor, the load torque of the six-phase motor, the rotational inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotating speed, wherein in the first simulation period, the first six-phase current is a preset initial value of the six-phase current, and in a non-first simulation period, the first six-phase current is the six-phase current output in the previous simulation period;

the third matrix determining unit is used for inverting the inductance matrix to obtain a third matrix;

the six-phase current determining unit is used for determining the six-phase current of the six-phase motor in the current simulation period according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor;

and the six-phase current, the electrical angle, the mechanical rotating speed and the motor torque of the six-phase motor in the current simulation period are used as simulation output for analyzing the performance of the six-phase motor.

8. The simulation apparatus according to claim 7, wherein the inductance matrix determination unit determines the inductance matrix according to the electrical angle of the six-phase motor, including:

when i is j, according to L_i,j＝L_1s+L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

When i ≠ j, according to L_i,j＝L_mcos(a_i-a_j)+L_tcos(2*θ-a_i+a_j) Determining L an element in an inductance matrix_i,j；

Wherein θ is an electrical angle of the six-phase motor, i is a row mark of an element in the inductance matrix, j is a column mark of an element in the inductance matrix, i has a value of 1 to 6, j has a value of 1 to 6, L_1sAs a parameter of the leakage self-inductance of the winding, L_tAs a winding air gap inductance parameter, L_mFor mutual inductance of windingsNumber a₁To a₆Six different angle values.

9. The simulation apparatus according to claim 7, wherein the torque and rotational speed determination unit determines the motor torque and the mechanical rotational speed of the six-phase motor in the current simulation cycle based on the first matrix, the second matrix, the first six-phase current of the six-phase motor, the number of pole pairs of the six-phase motor, the load torque of the six-phase motor, the rotational inertia of the six-phase motor, the simulation step size of the six-phase motor, and the first mechanical rotational speed, and comprises:

determining the motor torque of the six-phase motor in the current simulation period according to the first matrix, the second matrix, the first six-phase current and the pole pair number of the six-phase motor;

determining the derivative of the mechanical rotating speed of the six-phase motor to the time according to the load moment of the six-phase motor, the rotational inertia of the six-phase motor and the motor moment in the current simulation period;

and determining the mechanical rotating speed of the six-phase motor in the current simulation period according to the derivative of the mechanical rotating speed of the six-phase motor to time, the first mechanical rotating speed and the simulation step length of the six-phase motor.

10. The simulation apparatus of claim 7, wherein the six-phase current determining unit determines the six-phase current of the six-phase motor in the current simulation cycle according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotation speed of the current simulation cycle, and the third matrix of the six-phase motor, including:

determining the derivative of the six-phase current of the six-phase motor with respect to time according to the line voltage, the winding resistance, the first six-phase current, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix of the six-phase motor;

and determining the six-phase current of the six-phase motor in the current simulation period according to the derivative of the six-phase current of the six-phase motor with respect to time, the first six-phase current and the simulation step length of the six-phase motor.

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