CN111460657B - Simulation method and device for six-phase motor - Google Patents
Simulation method and device for six-phase motor Download PDFInfo
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- CN111460657B CN111460657B CN202010244738.8A CN202010244738A CN111460657B CN 111460657 B CN111460657 B CN 111460657B CN 202010244738 A CN202010244738 A CN 202010244738A CN 111460657 B CN111460657 B CN 111460657B
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Abstract
According to the simulation method and device for the six-phase motor, the electrical angle, the inductance matrix, the first matrix, the second matrix and the third matrix of the current simulation period are determined according to the first mechanical rotation speed, the electrical angle and the components of the permanent magnet which are linked to each stator winding, and then the motor moment, the mechanical rotation speed and the six-phase current of the current simulation period are determined by combining the first six-phase current, the pole pair number, the load moment, the moment of inertia, the simulation step length, the first mechanical rotation speed, the line voltage and the winding resistance, the six-phase current, the electrical angle, the mechanical rotation speed and the motor moment of the current simulation period are taken 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 electric characteristics of the six-phase motor can be accurately reflected, normal compiling and simulation in the FPGA can be ensured, and the calculated amount in the calculation process is reduced.
Description
Technical Field
The application relates to the technical field of simulation, in particular to a simulation method and device of a six-phase motor.
Background
The simulation test is carried out on the motor, 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, taking a Y30 six-phase motor as an example, in the construction of a SG (System Generator) model of the 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 phase difference of 30 degrees, motor mathematical models based on winding functions and an inverse air gap function are respectively established under a natural coordinate system, and then the motor mathematical models based on the two-phase rotating coordinate system are obtained according to a coordinate transformation (abc coordinate-dq coordinate) theory. And the steady state and transient performance of the motor are observed and analyzed by converting the variable coefficients in the six-phase motor SG model into constant coefficients and eliminating the time-varying parameters.
The technology can simplify the operation analysis of a motor mathematical model and reduce the resource occupancy rate of an FPGA (Field Programmable Gate Array ), but the precision and the accuracy of a calculation result cannot be ensured, and the electrical characteristics of the Y30 six-phase motor cannot be fully reflected. And the Y30 six-phase motor rotor flux linkage structure has asymmetry, the calculated amount of the technology can be huge, the hardware resources of the current FPGA simulation equipment are limited, and the testing requirement is difficult to meet.
Disclosure of Invention
In view of the above, the present application provides a method and apparatus for simulating 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 an electrical angle of the six-phase motor in a current simulation period according to a first mechanical rotation speed of the six-phase motor, wherein the first mechanical rotation speed is a preset mechanical rotation speed initial value in a first simulation period, and the first mechanical rotation speed is a mechanical rotation speed output in a previous simulation period in a non-first simulation period;
Determining an inductance matrix according to the electrical angle of the six-phase motor, and solving the derivative of the inductance matrix on the electrical angle of the six-phase motor to obtain a first matrix;
obtaining the derivative of the component of the permanent magnet which is interlinked to each stator winding to the electrical angle of the six-phase motor, and obtaining a second matrix;
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 moment of 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 six-phase current initial value, 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 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;
The six-phase motor takes six-phase current, an electric angle, a mechanical rotating speed and motor torque in the current simulation period 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=j, according to L i,j ＝L 1s +L m cos(a i -a j )+L t cos(2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
When i.noteq.j, according to L i,j ＝L m cos(a i -a j )+L t cos(2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
Wherein θ is the electrical angle of the six-phase motor, i is the row mark of the element in the inductance matrix, j is the column mark of the element in the inductance matrix, i has a value of 1 to 6,j and a value of 1 to 6, L 1s For the leakage self-inductance parameter of the winding, L t For winding air gap inductance parameter, L m A is the mutual inductance parameter of the winding 1 To a 6 Six different angle values.
Optionally, the 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 moment of inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotation speed includes:
Determining motor moment 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 rotation speed of the six-phase motor with respect to 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 with respect 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 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 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 rotation 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 LS1, a second sub-matrix LS2, a third sub-matrix LS3 and a fourth sub-matrix LS4; the first sub-matrix LS1, the second sub-matrix LS2, the third sub-matrix LS3 and the fourth sub-matrix LS4 each include three rows and three columns of elements, the element in the first row and the first column in the first sub-matrix LS1 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 LS2 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 LS3 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 sub-matrix LS4 is the element in the fourth row and the fourth column in the inductance matrix;
determining a fifth sub-matrix LS5, a sixth sub-matrix LS6, a seventh sub-matrix LS7 and an eighth sub-matrix LS8 according to the first sub-matrix LS1, the second sub-matrix LS2, the third sub-matrix LS3 and the fourth sub-matrix LS4; wherein the fifth sub-matrix LS5 is inva+inva 2 lnvd 3 invA, the sixth sub-matrix LS6 is-invA 2 invD, the seventh sub-matrix LS7 is-invD 3 invA, the eighth sub-matrix LS8 is invD, invA is the inverse of the first sub-matrix LS1, and invD is the inverse of LS4-LS3 invA LS 2;
Splicing the fifth sub-matrix LS5, the sixth sub-matrix LS6, the seventh sub-matrix LS7 and the eighth sub-matrix LS8 to obtain the third matrix; wherein the elements in the first row and the first column in the fifth sub-matrix LS5 are used as 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 LS6 are used as 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 LS7 are used as the elements in the first column 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 LS8 are used as the elements in the fourth row and the fourth column in the third matrix.
Optionally, the determining the fifth sub-matrix LS5, the sixth sub-matrix LS6, the seventh sub-matrix LS7 and the eighth sub-matrix LS8 according to the first sub-matrix LS1, the second sub-matrix LS2, the third sub-matrix LS3 and the fourth sub-matrix LS4 includes:
calculating an inverse matrix invA of the first sub-matrix LS 1;
calculating inva×ls2;
calculating LS3 x invA x LS2 based on the invA x LS2, calculating an inverse matrix invD of LS4-LS3 x invA x LS2, and obtaining the eighth submatrix LS8;
Calculating-inva×ls2×invd based on the inva×ls2, to obtain the sixth submatrix LS6;
calculating a transpose matrix of the sixth sub-matrix LS6 to obtain the seventh sub-matrix LS7;
calculating invA, LS2, LS3, invA based on the-invA, LS2, invD, obtaining the fifth submatrix LS5.
In another aspect, the present application provides a simulation apparatus for a six-phase motor, the apparatus including:
the electric angle determining unit is used for determining the electric angle of the six-phase motor in the current simulation period according to the first mechanical rotation speed of the six-phase motor, wherein in the first simulation period, the first mechanical rotation speed is a preset mechanical rotation speed initial value, and in the non-first simulation period, the first mechanical rotation speed is the mechanical rotation 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 obtaining the derivative of the inductance matrix on the electrical angle of the six-phase motor to obtain a first matrix;
the second matrix determining unit is used for obtaining the derivative of the component of the permanent magnet which is crosslinked to each stator winding on the electrical angle of the six-phase motor to obtain a second matrix;
the torque and rotation speed determining unit is used for 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 torque of the six-phase motor, the moment of 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 six-phase current initial value, and in the non-first simulation period, the first six-phase current is a six-phase current output in the previous simulation period;
A third matrix determining unit, configured to invert the inductance matrix to obtain a third matrix;
the six-phase current determining unit is used for determining six-phase current of the six-phase motor in the current simulation period according to line voltage, winding resistance, the first six-phase current, the first matrix, the second matrix, mechanical rotation speed of the current simulation period and the third matrix of the six-phase motor;
the six-phase motor takes six-phase current, an electric angle, a mechanical rotating speed and motor torque in the current simulation period as simulation output for analyzing the performance of the six-phase motor.
Optionally, the inductance matrix determining unit determines an inductance matrix according to an electrical angle of the six-phase motor, including:
when i=j, according to L i,j ＝L 1s +L m cos(a i -a j )+L t cos(2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
When i.noteq.j, according to L i,j ＝L m cos(a i -a j )+L t cos(2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
Wherein θ is the electrical angle of the six-phase motor, i is the row mark of the element in the inductance matrix, j is the column mark of the element in the inductance matrix, i has a value of 1 to 6,j and a value of 1 to 6, L 1s For the leakage self-inductance parameter of the winding, L t For winding air gap inductance parameter, L m A is the mutual inductance parameter of the winding 1 To a 6 Six different angle values.
Optionally, the torque and rotation speed determining unit 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 moment of inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotation speed, and the method includes:
determining motor moment 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 rotation speed of the six-phase motor with respect to 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 with respect to time, the first mechanical rotating speed and the simulation step length of the six-phase motor.
Optionally, the six-phase current determining unit 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, 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 rotation 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.
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, an 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 obtained, a first matrix is obtained, the derivative of the component of the permanent magnet which is crosslinked to each stator winding to the electrical angle of the six-phase motor is obtained, a second matrix is obtained, and 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 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 is inverted to obtain a third matrix, and according to the line voltage, the winding resistance of the six-phase motor, 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 current simulation period are determined. And taking the six-phase current, the electrical angle, the mechanical rotation speed and the motor moment of the six-phase motor in the current simulation period as simulation output, and analyzing the performance of the six-phase motor. According to the simulation method of the six-phase motor, based on the original model which is subjected to coordinate transformation under the condition of no constraint, the electrical characteristics of the six-phase motor can be accurately reflected, normal compiling and simulation in an FPGA can be ensured, and the calculated amount in the calculation process is reduced. In addition, the simulation method of the six-phase motor can be suitable for building SG models of other multi-phase motors with different phase windings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
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 device of a six-phase motor according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Aiming at the problems in the prior art, the application provides a simulation method of a six-phase motor, so as to improve the accuracy of a simulation result and optimize the 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 rotation speed of the six-phase motor.
The first mechanical rotation speed is a preset mechanical rotation speed initial value in a first simulation period, and is a mechanical rotation speed output in a previous simulation period in a non-first simulation period.
In the specific implementation process of 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 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 the preset initial value of the mechanical rotation speed; if the simulation period is not 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 the mechanical rotation 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 obtaining 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, for convenience of description, the inductance matrix is described by L, and the determination of the inductance matrix is specifically:
when i=j, according to L i,j ＝L 1s +L m cos(a i -a j )+L t cos(2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
When i.noteq.j, according to L i,j ＝L m cos(a i -a j )+L t cos(2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
In the above formula, θ is the electrical angle of the six-phase motor, i is the line mark of the element in the inductance matrix, j is the column mark of the element in the inductance matrix, i has a value of 1 to 6,j and a value of 1 to 6, l 1s For the leakage self-inductance parameter of the winding, L t For winding air gap inductance parameter, L m A is the mutual inductance parameter of the winding 1 To a 6 Six different angle values.
It will be appreciated that the inductance matrix is a 6 x 6 matrix.
Alternatively, a 1 To a 6 Corresponding to 0 °, 30 °, 120 °, 150 °, 240 ° and 270 ° in sequence, it being understood that a 1 To a 6 Other angle values are also possible. But a is 1 To a 6 The angle values should be generally different from each other, because if two windings have the same angle, the inductance coefficient of the same gap needs to be considered particularly when calculating the mutual inductance.
It should be noted that, for intuitively describing the derivative of the inductance matrix with respect to the electrical angle of the six-phase motor, we introduce the derivative in the form of a formula, and obtain the first matrix after the derivative: dL/dθ matrix, wherein the elements in the first matrix are: [ dL/dθ ]] i,j ＝2*L t sin(2*θ-a i +a j )。
Step S103: and (3) obtaining the derivative of the component of the permanent magnet which is interlinked to each stator winding to the electrical angle of the six-phase motor, and obtaining a second matrix.
In the process of implementing step S103, the second matrix is specifically:
according to the formula: [ dΛ/dθ ]] i ＝-lam1*sin(θ-a i ) Determining the elements in the second matrix dΛ/dθ] i 。
In the above formula, Λ represents the component of the permanent magnet which is interlinked 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, a 1 To a 6 For six different angle values, lam1 represents the maximum value of the component of the permanent magnet that is cross-linked to each stator winding, which is a constant. A is that 1 To a 6 Reference may be made to the foregoing description, and no further description is given here.
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.
The first six-phase current is a preset six-phase current initial value in a first simulation period, and is a six-phase current output in a previous simulation period in a non-first simulation period.
It should be noted that the first six-phase current takes the form of a matrix. Optionally, the first six-phase current is a column matrix.
In the specific implementation process of step S104, the motor moment of the six-phase motor in the current simulation period is determined specifically as follows: determining the motor moment 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 visual introduction, we describe with a formula according to which:
Te＝n*p*[0.5*I s1 `*(dL/dθ)*I s1 +I s1 `*(dΛ/dθ)]and calculating to obtain the motor moment of the six-phase motor in the current simulation period.
In the above formula, te represents motor torque, n is p represents pole pair number of a six-phase motor, I s1 Representing the first six-phase current, I s1 ' represents I s1 Is a transposed matrix of (a).
In the specific implementation process of step S104, the mechanical rotation speed of the six-phase motor in the current simulation period is determined specifically as follows: determining the derivative of the mechanical rotation speed of the six-phase motor with respect to 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 with respect to time, the first mechanical rotating speed and the simulation step length.
For visual introduction, we describe with formulas.
According to the formula: dω/dt= (Te-T) m ) The derivative of the mechanical rotational speed of the six-phase motor with respect to time (dω/dt) is determined according to the formula: omega 2＝ ω 1 +ts (dω/dt) determines the mechanical rotational speed of the six-phase motor at the current simulation cycle.
In the above formula, T m Represents load moment, J represents moment of inertia, ts represents simulation step length, omega 2 Representing a six-phase motorMechanical speed, ω, at the current simulation cycle 1 Representing 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 (dω/dt) characterizes the rate of change of the mechanical speed of the six-phase motor at the current simulation cycle.
Alternatively, the simulation step size Ts may be set to 100ns.
It will be appreciated that if it is in the first simulation cycle, ω 1 The first mechanical rotation speed of the six-phase motor is a preset initial value of mechanical rotation speed omega 2 The mechanical rotation speed of the six-phase motor in the current simulation period is represented. If it is in a non-first simulation period omega 1 The first mechanical rotation speed of the six-phase motor is the mechanical rotation speed outputted in the previous simulation period, omega 2 The mechanical rotation speed of the six-phase motor in the current simulation period is represented.
It should be understood that ω calculated in step S104 2 The model input of the next simulation period is used as the model input of the next simulation period, and the calculation of the next simulation period is continued.
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 rotation speed of the current simulation period and the third matrix of the six-phase motor.
In the specific implementation process of step S106, the six-phase current of the six-phase motor in the current simulation period is determined specifically as follows: 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 rotation 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 visual introduction, we describe with formulas.
According to the voltage formula U S ＝U-L*(dI s I/dt) and formula u=u S -[R*I s1 +ω*(dL/dθ)*I s1 +ω*(dΛ/dθ)]Calculating 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)]，
And then according to the formula: i s2＝ I s1 +Ts*(dI s Dt), determining six-phase current of the six-phase motor in the current simulation period, U in the above formula S Represents the line voltage of the six-phase motor, R represents the winding resistance of the six-phase motor, I s2 Six-phase current representing the current of the six-phase motor in the current simulation period, I s1 Representing the first six-phase current of a six-phase motor.
It will be appreciated that the derivative of the six-phase current with respect to time (dI s /dt) characterizes the rate of change of the six-phase current of the six-phase motor in the current simulation cycle.
It will be appreciated that if it is in the first simulation cycle, I s1 The first six-phase current representing the six-phase motor is the preset six-phase current initial value, I s2 Representing the six-phase current of the six-phase motor in the current simulation period. If it is in a non-first simulation period, I s1 The first six-phase current representing the six-phase motor is the six-phase current output in the previous simulation period, I s2 Representing the six-phase current of the six-phase motor in the current simulation period.
It should be understood that I calculated in step S106 s2 The model input of the next simulation period is used as the model input of the next simulation period, and the calculation of the next simulation period is continued.
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 obtained to obtain a first matrix, the derivative of the component of the permanent magnet which is crosslinked to each stator winding to the electrical angle of the six-phase motor is obtained to obtain a second matrix, and the six-phase current of the six-phase motor in the current simulation period is 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 rotational inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotating speed. And the performance of the six-phase motor is analyzed by using the six-phase current, the electrical angle, the mechanical rotation speed and the motor torque of the six-phase motor in the current simulation period as simulation output. According to the simulation method of the six-phase motor, based on the original model which is subjected to coordinate transformation under the condition of no constraint, the electrical characteristics of the six-phase motor can be accurately reflected, normal compiling and simulation in an FPGA can be ensured, and the calculated amount in the calculation process is reduced. In addition, the simulation method of the six-phase motor can be suitable for building SG models of other multi-phase motors with different phase windings.
The above step S105 will be described in detail.
In the specific implementation process of step S105, inverting the inductance matrix to obtain the third matrix specifically includes the following steps:
step one: splitting the inductance matrix into a first sub-matrix LS1, a second sub-matrix LS2, a third sub-matrix LS3 and a fourth sub-matrix LS4;
the first submatrix LS1, the second submatrix LS2, the third submatrix LS3, and the fourth submatrix LS4 each include three rows and three columns of elements, the element in the first row and the first column in the first submatrix LS1 is an 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 submatrix LS2 is an 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 submatrix LS3 is an element in the first row and the first column in the inductance matrix, and the element in the first row and the first column in the fourth submatrix LS4 is an element in the fourth row and the fourth column in the inductance matrix.
Step two: determining a fifth sub-matrix LS5, a sixth sub-matrix LS6, a seventh sub-matrix LS7 and an eighth sub-matrix LS8 according to the first sub-matrix LS1, the second sub-matrix LS2, the third sub-matrix LS3 and the fourth sub-matrix LS4;
wherein the fifth sub-matrix LS5 is inva+inva×ls2×invd×ls3×inva, the sixth sub-matrix LS6 is-inva×ls2×invd, the seventh sub-matrix LS7 is-invd×ls3×inva, the eighth submatrix LS8 is invD, invA is the inverse of the first submatrix LS1, invD is the inverse of LS4-LS3 invA LS 2.
Step three: splicing the fifth submatrix LS5, the sixth submatrix LS6, the seventh submatrix LS7 and the eighth submatrix LS8 to obtain a third matrix;
wherein, the elements in the first row and the first column in the fifth sub-matrix LS5 are taken as 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 LS6 are taken as the elements in the fourth row and the fourth column in the third matrix, the elements in the first row and the first column in the seventh sub-matrix LS7 are taken as the elements in the first 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 LS8 are taken as the elements in the fourth row and the fourth column in the third matrix.
In the foregoing, it is known that the inductance matrix is a 6×6 matrix, that is, the element in the first row and the second column in the first sub-matrix LS1 is the element in the first row and the second column in the inductance matrix, the element in the first row and the third column in the inductance matrix is the element in the second row and the first column in the inductance matrix, the element in the second row and the second column in the inductance matrix is the element in the second row and the second column in the inductance matrix, the element in the second row and the third column in the inductance matrix is the element in the second row and the third column in the inductance matrix, the element in the third row and the first column in the third row is the element in the third row and the third column in the inductance matrix, and the element in the third row and the third column is the element in the third row and the third column in the inductance matrix;
The elements in the second row and the second column in the second sub-matrix LS2 are the elements in the first row and the fifth column in the inductance matrix, the elements in the first row and the third column in the inductance matrix are the elements in the first row and the sixth column in the inductance matrix, the elements in the second row and the first column in the second row and the fourth column in the inductance matrix, the elements in the second row and the fifth column in the inductance matrix, the elements in the second row and the third column in the inductance matrix are the elements in the second row and the sixth column in the inductance matrix, the elements in the third row and the first column in the third row and the fourth column in the inductance matrix, the elements in the third row and the third column in the third row and the sixth column in the inductance matrix;
the elements in the third sub-matrix LS3 in the first row and the second column are the elements in the inductance matrix in the fourth row and the second column, the elements in the first row and the third column are the elements in the inductance matrix in the fourth row and the third column, the elements in the second row and the second column are the elements in the inductance matrix in the fifth row and the second column, the elements in the second row and the third column are the elements in the inductance matrix in the fifth row and the third column, the elements in the third row and the first column are the elements in the inductance matrix in the sixth row and the first column, the elements in the third row and the third column are the elements in the inductance matrix in the sixth row and the third column;
The elements in the fourth sub-matrix LS4 in the first row and the second column are the elements in the inductance matrix in the fourth row and the fifth column, the elements in the first row and the third column are the elements in the inductance matrix in the fourth row and the sixth column, the elements in the second row and the first column are the elements in the inductance matrix in the fifth row and the fifth column, the elements in the second row and the third column are the elements in the inductance matrix in the fifth row and the sixth column, the elements in the third row and the first column are the elements in the inductance matrix in the sixth row and the fourth column, the elements in the third row and the third column are the elements in the inductance matrix in the sixth row and the fifth column, and the elements in the third row and the third column are the elements in the inductance matrix in the sixth row and the sixth column;
it will be understood that the elements in the first row and the second column in the fifth sub-matrix LS5 are taken as the elements in the first row and the second column in the third matrix, the elements in the first row and the third column in the third matrix, the elements in the second row and the first column in the third matrix, the elements in the second row and the second column in the third matrix, the elements in the second row and the third column in the third matrix, the elements in the third row and the first column in the third matrix, the elements in the third row and the third column in the third matrix, and the elements in the third row and the third column in the third matrix;
The elements in the first row and the second column in the sixth sub-matrix LS6 are taken as the elements in the first row and the fifth column in the third matrix, the elements in the first row and the third column are taken as the elements in the first row and the sixth column in the third matrix, the elements in the second row and the first column are taken as the elements in the second row and the fourth column in the third matrix, the elements in the second row and the fifth column in the third matrix, the elements in the second row and the third column are taken as the elements in the second row and the sixth column in the third matrix, the elements in the third row and the first column are taken as the elements in the third row and the fourth column in the third matrix, and the elements in the third row and the third column are taken as the elements in the third row and the sixth column in the third matrix;
the elements in the first row and the second column in the seventh sub-matrix LS7 are taken as the elements in the fourth row and the second column in the third matrix, the elements in the first row and the third column are taken as the elements in the fourth row and the third column in the third matrix, the elements in the second row and the first column are taken as the elements in the fifth row and the second column in the third matrix, the elements in the second row and the third column are taken as the elements in the fifth row and the third column in the third matrix, the elements in the first row and the first column are taken as the elements in the sixth row and the first column in the third matrix, the elements in the third row and the third column are taken as the elements in the sixth row and the third column in the third matrix;
The elements in the first row and the second column in the eighth sub-matrix LS8 are taken as the elements in the fourth row and the fifth column in the third matrix, the elements in the first row and the third column are taken as the elements in the fourth row and the sixth column in the third matrix, the elements in the second row and the first column are taken as the elements in the fifth row and the fifth column in the third matrix, the elements in the second row and the third column are taken as the elements in the fifth row and the sixth column in the third matrix, the elements in the third row and the first column are taken as the elements in the sixth row and the fourth column in the third matrix, the elements in the third row and the third column are taken as the elements in the sixth row and the fifth column in the third matrix, and the elements in the third row and the third column are taken as the elements in the sixth row and the sixth column in the third matrix.
In the process of implementing step S105, we denote the third matrix by invLSS for visual description, then
The invA is the inverse matrix of the first submatrix LS1, the invD is the inverse matrix of LS4-LS3 x invA x LS2, and it can be seen that the inversion of the inductance matrix of 6 x 6 is reduced to the inversion of the two 3 x 3 matrices, and the calculation amount is greatly reduced.
Preferably, the fifth sub-matrix LS5, the sixth sub-matrix LS6, the seventh sub-matrix LS7 and the eighth sub-matrix LS8 are determined using the following scheme:
1) The inverse matrix invA of the first sub-matrix LS1 is calculated.
2) Calculating invA LS2, which is a matrix multiplication operation.
3) Calculating LS3 x invA x LS2 and then calculating LS4-LS3 x invA x LS2 inverse matrix invD, i.e. the eighth sub-matrix LS8.
Here, inva×ls2 obtained in step 2 is used, and thus this step includes a matrix multiplication operation and a matrix inversion operation.
4) calculate-invA LS2 invD, i.e. calculate the sixth sub-matrix LS6.
Here, inva×ls2 obtained in step 2 is used, and thus, this step includes a matrix multiplication operation.
5) A seventh sub-matrix LS7 is determined from the sixth sub-matrix LS6.
Since the third matrix invLSS is a symmetric matrix, the sixth sub-matrix LS6 and the seventh sub-matrix LS7 are transposed matrices with each other, and thus the seventh sub-matrix LS7 can be obtained from the sixth sub-matrix LS6.
6) Calculating invA LS2 invD LS3 invA to obtain a fifth sub-matrix LS5.
Here, the term "invA" LS2 "invD obtained in step 4 is used, and thus this step includes two matrix multiplication operations.
In the above scheme of determining the fifth sub-matrix LS5, the sixth sub-matrix LS6, the seventh sub-matrix LS7, and the eighth sub-matrix LS8, 5 matrix multiplication operations and 2 matrix inversion operations are included. After compiling, when the inductance matrix is inverted by the current FPGA device, a large amount of resources still need to be occupied in the matrix multiplication calculation step. Therefore, optionally, in the present application, in order to further reduce the occupancy rate of the FPGA resource, a time division multiplexing method may be adopted, that is, only one matrix multiplication operation is executed in the same simulation step length, and 5 matrix multiplication operations in the inversion process of the inductance matrix are sequentially completed, taking the simulation step length as 100ns as an example, and the actual simulation period is 500ns, so that further reduction of the FPGA resource occupied by the model is ensured. Meanwhile, when the computation of the inverse matrix is completed in a time division multiplexing mode, in order to ensure that the final FPGA compiling time sequence can pass through normally, a model introduces delay everywhere. The latency introduced for optimizing the timing sequence processing can convert complex combinational logic into timing sequence logic, namely, the FPGA timing sequence is ensured at the cost of longer calculation result output lag time, so that a final model can be compiled.
The invention discloses a simulation method of a six-phase motor, and correspondingly, the invention also discloses a simulation device of the six-phase motor, and the description of the six-phase motor can be referred to each other in the specification.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a simulation device of a six-phase motor according to an embodiment of the present application.
The simulation device 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 rotation 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 rotation speed of the six-phase motor.
The first mechanical rotation speed is a preset mechanical rotation speed initial value in a first simulation period, and is a mechanical rotation speed output in a previous simulation period in a non-first 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 determining unit 202 is configured to: the inductance matrix is determined from the electrical angle of the six-phase motor.
For convenience of description, the inductance matrix is described by L, and the inductance matrix determining unit determines the inductance matrix specifically as follows:
when i=j, according to L i,j ＝L 1s +L m cos(a i -a j )+L t cos(2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
When i.noteq.j, according to L i,j ＝L m cos(a i -a j )+L t cos(2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
In the above formula, θ is the electrical angle of the six-phase motor, i is the line mark of the element in the inductance matrix, j is the column mark of the element in the inductance matrix, i has a value of 1 to 6,j and a value of 1 to 6, l 1s For the leakage self-inductance parameter of the winding, L t Is wound aroundGroup air gap inductance parameter, L m A is the mutual inductance parameter of the winding 1 To a 6 Six different angle values.
It will be appreciated that the inductance matrix is a 6 x 6 matrix.
Alternatively, a 1 To a 6 Corresponding to 0 °, 30 °, 120 °, 150 °, 240 ° and 270 ° in sequence, it being understood that a 1 To a 6 Other angle values are also possible. But a is 1 To a 6 The angle values should be generally different from each other, because if two windings have the same angle, the inductance coefficient of the same gap needs to be considered particularly when calculating the mutual inductance.
The first matrix determining unit 203 is configured to: and obtaining the derivative of the inductance matrix on the electrical angle of the six-phase motor to obtain a first matrix.
For visual description, we introduce in the form of a formula, and derive a first matrix: dL/dθ matrix, wherein the elements in the first matrix are: [ dL/dθ ] ] i,j ＝2*L t sin(2*θ-a i +a j )。
The second matrix determining unit 204 is configured to: and (3) obtaining the derivative of the component of the permanent magnet which is interlinked to each stator winding to the electrical angle of the six-phase motor, and obtaining a second matrix.
The second matrix is obtained after derivation specifically comprises the following steps: according to the formula: [ dΛ/dθ ]] i ＝-lam1*sin(θ-a i ) Determining the elements in the second matrix dΛ/dθ] i 。
In the above formula, Λ represents the component of the permanent magnet which is interlinked 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, a 1 To a 6 For six different angle values, lam1 represents the maximum value of the component of the permanent magnet that is cross-linked to each stator winding, which is a constant. A is that 1 To a 6 Reference may be made to the foregoing description, and no further description is given here.
The torque and rotation 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.
The first six-phase current is a preset six-phase current initial value in a first simulation period, and is a six-phase current output in a previous simulation period in a non-first simulation period.
It should be noted that the first six-phase current takes the form of a matrix. Optionally, the first six-phase current is 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 period is specifically: and determining the motor moment 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 visual introduction, we describe with a formula according to which:
Te＝n*p*[0.5*I s1 `*(dL/dθ)*I s1 +I s1 `*(dΛ/dθ)]and calculating to obtain the motor moment of the six-phase motor in the current simulation period.
In the above formula, te represents motor torque, n is p represents pole pair number of a six-phase motor, I s1 Representing the first six-phase current, I s1 ' represents I s1 Is a transposed matrix of (a).
The torque and rotation speed determining unit 205 determines that the mechanical rotation speed of the six-phase motor in the current simulation period is specifically: determining the derivative of the mechanical rotation speed of the six-phase motor with respect to 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 with respect to time, the first mechanical rotating speed and the simulation step length.
For visual introduction, we describe with formulas.
According to the formula: dω/dt= (Te-T) m ) The derivative of the mechanical rotational speed of the six-phase motor with respect to time (dω/dt) is determined according to the formula: omega 2＝ ω 1 +ts (dω/dt) determine six phasesThe mechanical rotation speed of the motor in the current simulation period.
In the above formula, T m Represents load moment, J represents moment of inertia, ts represents simulation step length, omega 2 Representing the mechanical rotation speed omega of the six-phase motor in the current simulation period 1 Representing 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 (dω/dt) characterizes the rate of change of the mechanical speed of the six-phase motor at the current simulation cycle.
Alternatively, the simulation step size Ts may be set to 100ns.
The third matrix determining unit 206 is configured to: and inverting the inductance matrix to obtain a third matrix.
The execution principle of the third matrix determining unit 206 for determining the third matrix may be described with reference to the embodiment of fig. 1, which 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 rotation 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 rotation 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 visual introduction, we describe with formulas.
According to the voltage formula U S ＝U-L*(dI s I/dt) and formula u=u S -[R*I s1 +ω*(dL/dθ)*I s1 +ω*(dΛ/dθ)]Calculating 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)]，
And then according to the formula: i s2＝ I s1 +Ts*(dI s Dt), determining six-phase current of the six-phase motor in the current simulation period, U in the above formula S Represents the line voltage of the six-phase motor, R represents the winding resistance of the six-phase motor, I s2 Six-phase current representing the current of the six-phase motor in the current simulation period, I s1 Representing the first six-phase current of a six-phase motor.
It will be appreciated that the derivative of the six-phase current with respect to time (dI s /dt) characterizes the rate of change of the six-phase current of the six-phase motor in the current simulation cycle.
Therefore, the simulation device for the six-phase motor provided by the application determines the electric angle of the six-phase motor in the current simulation period according to the first mechanical rotating speed of the six-phase motor, determines an inductance matrix according to the electric angle of the six-phase motor, obtains a first matrix by solving the derivative of the inductance matrix to the electric angle of the six-phase motor, obtains a second matrix by solving the derivative of the component of the permanent magnet crosslinked to each stator winding to the electric angle of the six-phase motor, and determines the six-phase current 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 moment of inertia of the six-phase motor, the simulation step length of the six-phase motor and the first mechanical rotating speed, inverts the inductance matrix to obtain a third matrix, and determines the six-phase current of the six-phase motor in the current simulation period according to the line voltage, the winding resistance of the six-phase motor, the first matrix, the second matrix, the mechanical rotating speed of the current simulation period and the third matrix. And the performance of the six-phase motor is analyzed by using the six-phase current, the electrical angle, the mechanical rotation speed and the motor torque of the six-phase motor in the current simulation period as simulation output. The simulation device of the six-phase motor, provided by the application, can accurately embody the electrical characteristics of the six-phase motor based on an original model which is subjected to coordinate transformation under the condition of no constraint, ensures normal compiling and simulation in an FPGA, and reduces the calculated amount in the calculation process. In addition, the simulation method of the six-phase motor can be suitable for building SG models of other multi-phase motors with different phase windings.
Finally, it is further noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like 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 merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (4)
1. A method of simulating a six-phase motor, comprising:
determining an electrical angle of the six-phase motor in a current simulation period according to a first mechanical rotation speed of the six-phase motor, wherein the first mechanical rotation speed is a preset mechanical rotation speed initial value in a first simulation period, and the first mechanical rotation speed is a mechanical rotation speed output in a previous simulation period in a non-first simulation period;
when i=j, according to L i,j =L 1s +L m cos（a i -a j ）+L t cos（2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
When i.noteq.j, according to L i,j =L m cos（a i -a j ）+L t cos（2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
Wherein θ is the electrical angle of the six-phase motor, i is the row mark of the element in the inductance matrix, j is the column mark of the element in the inductance matrix, i has a value of 1 to 6,j and a value of 1 to 6, L 1s For the leakage self-inductance parameter of the winding, L t For winding air gap inductance parameter, L m A is the mutual inductance parameter of the winding 1 To a 6 Six different angle values;
Obtaining the derivative of the inductance matrix on the electrical angle of the six-phase motor to obtain a first matrix;
obtaining the derivative of the component of the permanent magnet which is interlinked to each stator winding to the electrical angle of the six-phase motor, and obtaining a second matrix;
determining motor moment 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 and the pole pair number of the six-phase motor;
determining the derivative of the mechanical rotation speed of the six-phase motor with respect to 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;
determining the mechanical rotation speed of the six-phase motor in a current simulation period according to the derivative of the mechanical rotation speed of the six-phase motor with respect to time, the first mechanical rotation speed and the simulation step length of the six-phase motor, wherein in a first simulation period, the first six-phase current is a preset six-phase current initial value, and in a non-first simulation period, the first six-phase current is a six-phase current output in a previous simulation period;
inverting the inductance matrix to obtain a third matrix;
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 rotation speed of the current simulation period and the third matrix of the six-phase motor;
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 six-phase motor takes six-phase current, an electric angle, a mechanical rotating speed and motor torque in the current simulation period as simulation output for analyzing the performance of the six-phase motor.
2. The simulation method according to claim 1, wherein inverting the inductance matrix to obtain a third matrix comprises:
splitting the inductance matrix into a first sub-matrix LS1, a second sub-matrix LS2, a third sub-matrix LS3 and a fourth sub-matrix LS4; the first sub-matrix LS1, the second sub-matrix LS2, the third sub-matrix LS3 and the fourth sub-matrix LS4 each include three rows and three columns of elements, the element in the first row and the first column in the first sub-matrix LS1 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 LS2 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 LS3 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 sub-matrix LS4 is the element in the fourth row and the fourth column in the inductance matrix;
Determining a fifth sub-matrix LS5, a sixth sub-matrix LS6, a seventh sub-matrix LS7 and an eighth sub-matrix LS8 according to the first sub-matrix LS1, the second sub-matrix LS2, the third sub-matrix LS3 and the fourth sub-matrix LS 4; wherein the fifth sub-matrix LS5 is inva+inva 2 lnvd 3 invA, the sixth sub-matrix LS6 is-invA 2 invD, the seventh sub-matrix LS7 is-invD 3 invA, the eighth sub-matrix LS8 is invD, invA is the inverse of the first sub-matrix LS1, and invD is the inverse of LS4-LS3 invA LS 2;
splicing the fifth sub-matrix LS5, the sixth sub-matrix LS6, the seventh sub-matrix LS7 and the eighth sub-matrix LS8 to obtain the third matrix; wherein the elements in the first row and the first column in the fifth sub-matrix LS5 are used as 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 LS6 are used as 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 LS7 are used as the elements in the first column 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 LS8 are used as the elements in the fourth row and the fourth column in the third matrix.
3. The simulation method according to claim 2, wherein the determining a fifth sub-matrix LS5, a sixth sub-matrix LS6, a seventh sub-matrix LS7 and an eighth sub-matrix LS8 from the first sub-matrix LS1, the second sub-matrix LS2, the third sub-matrix LS3 and the fourth sub-matrix LS4 comprises:
calculating an inverse matrix invA of the first sub-matrix LS 1;
calculating inva×ls2;
calculating LS3 x invA x LS2 based on the invA x LS2, calculating an inverse matrix invD of LS4-LS3 x invA x LS2, and obtaining the eighth submatrix LS8;
calculating-inva×ls2×invd based on the inva×ls2, to obtain the sixth submatrix LS6;
calculating a transpose matrix of the sixth sub-matrix LS6 to obtain the seventh sub-matrix LS7;
calculating invA, LS2, LS3, invA based on the-invA, LS2, invD, obtaining the fifth submatrix LS5.
4. A simulation device for a six-phase motor, comprising:
the electric angle determining unit is used for determining the electric angle of the six-phase motor in the current simulation period according to the first mechanical rotation speed of the six-phase motor, wherein in the first simulation period, the first mechanical rotation speed is a preset mechanical rotation speed initial value, and in the non-first simulation period, the first mechanical rotation speed is the mechanical rotation 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 obtaining the derivative of the inductance matrix on the electrical angle of the six-phase motor to obtain a first matrix;
the second matrix determining unit is used for obtaining the derivative of the component of the permanent magnet which is crosslinked to each stator winding on the electrical angle of the six-phase motor to obtain a second matrix;
the torque and rotation speed determining unit is used for 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 torque of the six-phase motor, the moment of 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 six-phase current initial value, and in the non-first simulation period, the first six-phase current is a six-phase current output in the previous simulation period;
a third matrix determining unit, configured to invert the inductance matrix to obtain a third matrix;
the six-phase current determining unit is used for determining six-phase current of the six-phase motor in the current simulation period according to line voltage, winding resistance, the first six-phase current, the first matrix, the second matrix, mechanical rotation speed of the current simulation period and the third matrix of the six-phase motor;
The six-phase motor takes six-phase current, an electric angle, a mechanical rotating speed and motor torque in the current simulation period as simulation output for analyzing the performance of the six-phase motor;
the inductance matrix determining unit determines an inductance matrix according to an electrical angle of the six-phase motor, including:
when i=j, according to L i,j =L 1s +L m cos（a i -a j ）+L t cos（2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
When i.noteq.j, according to L i,j =L m cos（a i -a j ）+L t cos（2*θ-a i +a j ) Determining element L in an inductance matrix i,j ；
Wherein θ is the electrical angle of the six-phase motor, i is the row mark of the element in the inductance matrix, j is the column mark of the element in the inductance matrix, i has a value of 1 to 6,j and a value of 1 to 6, L 1s For the leakage self-inductance parameter of the winding, L t For winding air gap inductance parameter, L m A is the mutual inductance parameter of the winding 1 To a 6 Six different angle values;
the torque and rotation speed determining unit determines a motor torque and a mechanical rotation speed of the six-phase motor in a current simulation period according to the first matrix, the second matrix, a first six-phase current of the six-phase motor, a pole pair number of the six-phase motor, a load torque of the six-phase motor, a moment of inertia of the six-phase motor, a simulation step length of the six-phase motor and the first mechanical rotation speed, and the method comprises the following steps:
Determining motor moment 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 rotation speed of the six-phase motor with respect to 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;
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 with respect to time, the first mechanical rotating speed and the simulation step length of the six-phase motor;
the six-phase current determining unit determines six-phase current of the six-phase motor in a current simulation period according to line voltage, winding resistance, the first six-phase current, the first matrix, the second matrix, mechanical rotation speed of the current simulation period and the third matrix of the six-phase motor, and the six-phase current determining unit 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 rotation 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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