CN113381670A - Multi-three-phase permanent magnet synchronous motor high-frequency PWM vibration suppression method and system - Google Patents

Multi-three-phase permanent magnet synchronous motor high-frequency PWM vibration suppression method and system Download PDF

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CN113381670A
CN113381670A CN202110631717.6A CN202110631717A CN113381670A CN 113381670 A CN113381670 A CN 113381670A CN 202110631717 A CN202110631717 A CN 202110631717A CN 113381670 A CN113381670 A CN 113381670A
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phase
motor
electromagnetic force
order
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CN113381670B (en
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刘自程
闫涉
王启元
蒋栋
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

The invention discloses a method and a system for restraining high-frequency PWM vibration of a multi-three-phase permanent magnet synchronous motor; the method comprises the following steps: s1, screening out the frequency with the minimum difference with the 0-order natural frequency of the motor from the frequency of the high-frequency electromagnetic force generated by PWM modulation in the motor, and marking as the reference frequency; s2, screening out the natural frequency with the maximum difference from the reference frequency from the natural frequencies of all orders of the motor, and obtaining the order S corresponding to the natural frequency with the maximum difference; and S3, adjusting the carrier phase of each inverter, changing the current harmonic phase generated by PWM modulation in each set of three-phase windings, and converting the 0-order high-frequency electromagnetic force in the air gap of the motor into the S-order high-frequency electromagnetic force so as to inhibit the vibration of the multi-three-phase permanent magnet synchronous motor. The invention only starts from the angle of the PWM algorithm to inhibit the vibration, does not increase the hardware cost, can set a proper carrier phase adjusting angle for different switching frequencies to reasonably change the spatial order of the high-frequency electromagnetic force, and realizes the effective inhibition of the high-frequency vibration of the motor.

Description

Multi-three-phase permanent magnet synchronous motor high-frequency PWM vibration suppression method and system
Technical Field
The invention belongs to the field of motor vibration suppression, and particularly relates to a multi-three-phase permanent magnet synchronous motor high-frequency PWM vibration suppression method and system.
Background
The permanent magnet synchronous motor has the advantages of high power density, high efficiency and the like, and is widely applied to new energy automobiles, aerospace and other occasions.
The multi-three-phase permanent magnet synchronous motor with the stator provided with the multiple sets of three-phase windings has the advantages of low torque pulsation, high control freedom degree and the like, can realize open-phase fault-tolerant operation, and has high reliability. The motor is applied to occasions with higher requirements on the reliability of the motor, such as ship propulsion and the like.
For a motor powered by a PWM inverter, when a switching device in the inverter works, high-frequency harmonic current of switching frequency multiplication is introduced into a motor winding to generate high-frequency air gap flux density and high-frequency electromagnetic force, so that high-frequency electromagnetic vibration and noise are caused. High frequency electromagnetic vibrations can seriously affect the performance of equipment, such as can reduce stealth performance of ships.
For high-frequency electromagnetic vibration generated by PWM modulation, there are two main methods for suppressing vibration:
1) and a variable switching frequency modulation technology is adopted. In the traditional PWM modulation, the switching frequency is a fixed value, and the high-frequency harmonic current is concentrated near the switching frequency multiplication; the switching frequency is changed in a modulation mode, the switching frequency is changed randomly in a certain set frequency band, and the high-frequency harmonic current frequency spectrum is uniformly distributed in the frequency band, so that the harmonic current peak value near the original switching frequency doubling is reduced, and the vibration of the corresponding frequency is restrained. However, with variable switching frequency modulation, the harmonic spectrum is dispersed into a continuous spectrum, increasing the chance of coincidence with the motor resonance frequency and increasing the risk of motor resonance.
2) The carrier phase shift technology is applied to a double three-phase permanent magnet synchronous motor with a common-slot structure. The same slot of the motor contains two sets of coils of three-phase windings, the two sets of three-phase windings are independently powered by two inverters, and carrier phase shift angles of the two inverters are reasonably arranged, so that high-frequency current harmonic phases of the two sets of three-phase windings are opposite, and generated high-frequency magnetomotive forces are mutually offset, thereby inhibiting corresponding vibration. However, this method depends on the common slot design of the winding, and cannot be popularized to multi-three-phase motors with other winding structures.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a method and a system for restraining high-frequency PWM vibration of a multi-three-phase permanent magnet synchronous motor, which are used for solving the technical problem that the prior art cannot restrain the high-frequency PWM vibration of the multi-three-phase permanent magnet synchronous motor under the scene of not depending on winding common slot design.
In order to achieve the above object, in a first aspect, the present invention provides a method for suppressing high frequency PWM vibration of a multi-three-phase permanent magnet synchronous motor, wherein the multi-three-phase permanent magnet synchronous motor includes: n sets of three-phase windings; all sets of three-phase windings are sequentially distributed along the circumference of the stator; each set of three-phase winding is independently controlled by a corresponding inverter; n is an even number;
the vibration suppression method comprises the following steps:
s1, screening out the frequency with the minimum difference with the 0-order natural frequency of the motor from the frequency of the high-frequency electromagnetic force generated by PWM modulation in the motor, and marking as the reference frequency;
s2, screening out the natural frequency with the maximum difference from the reference frequency from the natural frequencies of all orders of the motor, and obtaining the order S corresponding to the natural frequency with the maximum difference;
and S3, changing the current harmonic phase generated by PWM modulation in each set of three-phase windings by adjusting the carrier phase of each inverter so as to convert the 0-order high-frequency electromagnetic force in the air gap of the motor into the S-order high-frequency electromagnetic force, thereby inhibiting the vibration of the multi-three-phase permanent magnet synchronous motor.
Further preferably, step S3 includes:
s31, constructing a carrier phase adjustment angle set; the carrier phase adjustment angle set comprises a plurality of preset groups of carrier phase adjustment angles; each group of phase adjustment angles comprises carrier phase adjustment angles of the inverters corresponding to the N sets of three-phase windings;
s32, carrying out Fourier transformation on the spatial angle of the high-frequency electromagnetic force about the electromagnetic force, and then bringing the spatial angle into each group of phase adjustment angles in the carrier phase adjustment angle set and the switching frequency multiplication number corresponding to the reference frequency to obtain the spatial order distribution of the high-frequency electromagnetic force under the reference frequency corresponding to each group of phase adjustment angles, wherein the group of phase adjustment angles with the largest S-order electromagnetic force ratio is taken as the optimal group of phase adjustment angles, and further the optimal value of the carrier phase adjustment angle of the inverter corresponding to N sets of three-phase windings is obtained;
and S33, carrying out carrier phase adjustment on the inverters corresponding to the three-phase windings according to the optimal values of the carrier phase adjustment angles corresponding to the inverters, so that the 0-order high-frequency electromagnetic force is converted into the S-order high-frequency electromagnetic force.
Further preferably, each set of phase adjustment angles is represented as [0, p ]2,p3,…,pN]Wherein p isiAnd adjusting the angle of the carrier phase of the ith set of three-phase windings relative to the inverter corresponding to the first set of three-phase windings, wherein i is 1,2, … and N.
Further preferably, each set of three-phase windings is rotationally symmetric about the stator center, and two adjacent sets of three-phase windings are coupled only at the stator teeth between the two sets of three-phase windings.
Further preferably, the vibration suppressing method described above further includes step S0 performed before step S1, and step S0 includes:
analyzing high-frequency electromagnetic force generated by interaction of air gap flux density generated by high-frequency current harmonic waves of the motor and air gap flux density generated by a permanent magnet when PWM modulation is carried out in the motor to obtain frequency of the high-frequency electromagnetic force; and carrying out experimental modal testing on the motor to obtain the inherent frequency of each order of the motor.
Further preferably, the frequency of the high-frequency electromagnetic force is:
f＝mfs±gfb
wherein f issIs the switching frequency of the motor, fbThe frequency is the fundamental frequency, m is the switching frequency multiplication factor, g is the fundamental frequency multiplication factor, and m and g are positive integers.
Further preferably, the method for suppressing the high-frequency PWM vibration of the multi-three-phase permanent magnet synchronous motor provided by the invention is applied to the field of multi-three-phase permanent magnet synchronous motors.
In a second aspect, the present invention provides a multi-three-phase permanent magnet synchronous motor high-frequency PWM vibration suppression system, including:
the reference frequency acquisition module is used for screening out the frequency with the minimum difference with the 0-order natural frequency of the motor from the frequency of the high-frequency electromagnetic force generated by PWM modulation in the motor and marking as the reference frequency;
the space order acquisition module is used for screening out the natural frequency with the maximum difference from the reference frequency from the natural frequencies of all orders of the motor and obtaining the order s corresponding to the natural frequency with the maximum difference;
the order conversion control module is used for changing the current harmonic phase generated by PWM modulation in each set of three-phase windings by adjusting the carrier phase of each inverter so as to convert the 0-order high-frequency electromagnetic force in the air gap of the motor into the s-order high-frequency electromagnetic force and further inhibit the vibration of the multi-three-phase permanent magnet synchronous motor;
wherein, many three-phase PMSM includes: n sets of three-phase windings; all sets of three-phase windings are sequentially distributed along the circumference of the stator; each set of three-phase winding is independently controlled by a corresponding inverter; n is an even number.
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained:
the invention provides a multi-three-phase permanent magnet synchronous motor high-frequency PWM vibration suppression method, which utilizes the independence of three-phase windings of a multi-three-phase motor, changes the spatial order of high-frequency radial electromagnetic force by adjusting the carrier phase, and enables the natural frequency of the corresponding order to be far away from the frequency of the high-frequency radial electromagnetic force, thereby realizing the suppression of vibration. The invention does not depend on the special structural design of the motors such as the common-slot winding and the like, only starts to inhibit the vibration from the angle of the PWM (pulse-width modulation) algorithm, and does not increase the hardware cost; for different switching frequencies, the spatial order of high-frequency electromagnetic force can be reasonably changed by setting a proper carrier phase adjusting angle, so that the high-frequency vibration of the motor can be effectively inhibited.
Drawings
Fig. 1 is a flowchart of a method for suppressing high-frequency PWM vibration of a multi-three-phase permanent magnet synchronous motor according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a 4 x 3-phase permanent magnet synchronous motor according to embodiment 1 of the present invention;
fig. 3 is a power supply structure diagram of a 4 x 3-phase permanent magnet synchronous motor provided in embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of spatial order variation of the electromagnetic force provided in embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a mechanical transfer function curve of a 4 x 3-phase permanent magnet synchronous motor according to embodiment 1 of the present invention;
fig. 6 is a schematic diagram of carrier phase adjustment provided in embodiment 1 of the present invention;
fig. 7 is a vibration acceleration frequency spectrum before and after the carrier phase adjustment of the motor according to embodiment 1 of the present invention; wherein, (a) is a vibration acceleration frequency spectrum before the carrier phase of the motor is adjusted; (b) and the frequency spectrum of the vibration acceleration after the carrier phase of the motor is adjusted.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Examples 1,
A multi-three-phase permanent magnet synchronous motor high-frequency PWM vibration suppression method;
wherein, many three-phase PMSM includes: n sets of three-phase windings; all sets of three-phase windings are sequentially distributed along the circumference of the stator; each set of three-phase winding is independently controlled by a corresponding inverter; n is an even number; specifically, each set of three-phase winding is rotationally symmetrical about the center of a stator circle, and two adjacent sets of three-phase windings are only coupled at the position of a stator tooth between the two sets of three-phase windings; each set of three-phase winding is connected with a corresponding inverter, and each inverter is mutually independent in control and is controlled by adopting a PWM (pulse-width modulation) algorithm;
the invention considers the vibration generated by the high-frequency radial electromagnetic force acting on the stator, and changes the spatial order of the high-frequency radial electromagnetic force through a carrier phase adjustment technology, so that the natural frequency of the corresponding order is far away from the frequency of the high-frequency radial electromagnetic force, thereby realizing the suppression of the vibration; specifically, as shown in fig. 1, the vibration suppressing method includes the steps of:
s1, screening out the frequency with the minimum difference with the 0-order natural frequency of the motor from the frequency of the high-frequency electromagnetic force generated by PWM modulation in the motor, and marking as the reference frequency;
s2, screening out the natural frequency with the maximum difference from the reference frequency from the natural frequencies of all orders of the motor, and obtaining the order S corresponding to the natural frequency with the maximum difference;
and S3, changing the current harmonic phase generated by PWM modulation in each set of three-phase windings by adjusting the carrier phase of each inverter so as to convert the 0-order high-frequency electromagnetic force in the air gap of the motor into the S-order high-frequency electromagnetic force, thereby inhibiting the vibration of the multi-three-phase permanent magnet synchronous motor.
Specifically, step S3 includes:
s31, constructing a carrier phase adjustment angle set; the carrier phase adjustment angle set comprises a plurality of preset groups of carrier phase adjustment angles; each group of phase adjustment angles comprises carrier phase adjustment angles of the inverters corresponding to the N sets of three-phase windings;
specifically, each set of phase adjustment angles is recorded as [0, p ]2,p3,…,pN]The corresponding high-frequency electromagnetic force phase combination is [0, m ]*p2,m*p3,…,m*pN]Wherein p isiAdjusting the carrier phase angle of the ith set of three-phase windings relative to the inverter corresponding to the first set of three-phase windings, wherein i is 1,2, …, N, m*The switching frequency is the switching frequency multiplication corresponding to the reference frequency.
S32, carrying out Fourier transformation on the spatial angle of the high-frequency electromagnetic force about the electromagnetic force, and then bringing the spatial angle into each group of phase adjustment angles in the carrier phase adjustment angle set and the switching frequency multiplication number corresponding to the reference frequency to obtain the spatial order distribution of the high-frequency electromagnetic force under the reference frequency corresponding to each group of phase adjustment angles, wherein the group of phase adjustment angles with the largest S-order electromagnetic force ratio is taken as the optimal group of phase adjustment angles, and further the optimal value of the carrier phase adjustment angle of the inverter corresponding to N sets of three-phase windings is obtained;
specifically, after the switching frequency multiplication number corresponding to each group of phase adjustment angles and the reference frequency in the carrier phase adjustment angle set is substituted into the expression of the high-frequency electromagnetic force, spatial FFT analysis is performed on the expression of the high-frequency electromagnetic force to obtain spatial order distribution of the electromagnetic force under the reference frequency corresponding to each group of phase adjustment angles, and the group of phase adjustment angles with the largest s-order high-frequency electromagnetic force ratio is used as the optimal group of phase adjustment angles to further obtain the optimal value of the carrier phase adjustment angle of the inverter corresponding to the N sets of three-phase windings.
And S33, carrying out carrier phase adjustment on the inverters corresponding to the three-phase windings according to the optimal values of the carrier phase adjustment angles corresponding to the inverters, so that the 0-order high-frequency electromagnetic force is converted into the S-order high-frequency electromagnetic force.
Further, the above vibration suppressing method further includes step S0 performed before step S1, and step S0 includes:
and analyzing high-frequency electromagnetic force generated by the interaction of the air gap flux density generated by the high-frequency current harmonic waves of the motor and the air gap flux density generated by the permanent magnet when PWM modulation is carried out in the motor to obtain the frequency of the high-frequency electromagnetic force.
Specifically, the frequency of the high-frequency electromagnetic force is:
f＝mfs±gfb
wherein f issIs the switching frequency of the motor, fbThe frequency is the fundamental frequency, m is the switching frequency multiplication factor, g is the fundamental frequency multiplication factor, and m and g are positive integers.
To further illustrate the vibration suppression method provided by the present invention, a 4 × 3 phase permanent magnet synchronous motor is taken as an example for detailed description:
fig. 2 is a schematic structural diagram of a 4 × 3-phase permanent magnet synchronous motor in the present embodiment; the motor is provided with 4 sets of three-phase windings, mutual inductance between the 4 sets of three-phase windings is small, and the three-phase windings can be regarded as decoupling, namely the 4 sets of three-phase windings are structurally independent. In this embodiment, the main parameters and experimental conditions of the motor are shown in table 1:
TABLE 1
Number of stator slots 48
Number of poles 8
Experimental operating power 1kW
Experimental operating speed 1200rpm
Bus voltage 300V
Experimental switching frequency 10kHz
Further, as shown in fig. 3, a power supply structure diagram of the 4 × 3 phase permanent magnet synchronous motor provided in this embodiment is shown; the 4 sets of three-phase windings of the motor are respectively and independently supplied with power by 4 groups of inverters, and the 4 groups of inverters are mutually independent in control. Therefore, the PWM carrier phase difference of 4 groups of inverters can be set to be a certain phase angle, so that the carrier phase can be adjusted;
since the 4 sets of three-phase windings are independent in structure and control, the 4 sets of three-phase windings can be regarded as 4 modules, and the electromagnetic force generated by each module is analyzed independently.
When the carrier phase angle of the inverter corresponding to the 4 sets of three-phase windings is changed, the amplitude and the frequency of the electromagnetic force generated by the 4 sets of three-phase windings are hardly changed, and the phase of the electromagnetic force generated by the 4 sets of three-phase windings is changed along with the phase change of the carrier, so that the spatial order of the overall radial electromagnetic force is changed; specifically, as shown in fig. 4, a schematic diagram of spatial order variation of electromagnetic force is shown.
Specifically, in this embodiment, the method for suppressing the high-frequency PWM vibration of the 4 × 3-phase permanent magnet synchronous motor includes the following steps:
s0, considering factors such as the pole pair number, the slot number, the operation condition and the switching frequency of the motor, and obtaining the spatial order and the frequency distribution of the high-frequency electromagnetic force; acquiring the inherent frequency of each order of the motor;
according to the switching frequency of the inverter and the operation condition of the motor, obtaining a high-frequency PWM current harmonic signal of the motor, wherein the expression is as follows:
I＝Img cos((mωc±gωb)t)
wherein, ImnIs a high-frequency PWM current amplitude value, m is a switching frequency multiplication factor, g is a fundamental frequency multiplication factor, m and g are positive integers, omegacTo switch angular frequency, omegabIs the fundamental angular frequency.
Considering the air gap magnetic permeability of the motor, obtaining the air gap flux density generated by the current harmonic of the motor according to a current harmonic expression, wherein the expression is as follows:
Figure BDA0003103844290000081
h＝(6k±1)p,k＝0,±1,±2,±3…
wherein, Bh,mIs the air gap flux density amplitude; m' is the harmonic magnetic derivative; z1The number of stator slots is; omegai＝mωc±gωb(ii) a p is the number of pole pairs of the motor.
Obtaining the air gap flux density generated by the permanent magnet according to the pole number of the motor and the parameters of the permanent magnet, wherein the expression is as follows:
B2(θ,t)＝Bpmcos(pθ-ωbt)
wherein, BpmIs the air gap flux density amplitude of the permanent magnet, p is the pole pair number of the motor, omegabIs the fundamental angular frequency.
Because the air gap flux density value generated by the current harmonic wave of the motor is very small, only the high-frequency electromagnetic force generated by the interaction of the air gap flux density generated by the current harmonic wave of the motor and the air gap flux density generated by the permanent magnet is considered, and the air gap flux density B generated by the current harmonic wave of the motor1Air gap flux density B generated by permanent magnet2The expression of the high-frequency electromagnetic force is obtained by adopting a Maxwell stress-strain method:
Figure BDA0003103844290000091
wherein, mu0Is a vacuum permeability, FhIs the amplitude of the high-frequency electromagnetic force.
The spatial order and frequency of the electromagnetic force can be obtained by the expression of the high-frequency electromagnetic force.
As for the 4 x 3-phase permanent magnet synchronous motor adopted in the present embodiment, simple analysis shows that the electromagnetic force spatial order includes 0 order, 2 order, 3 order, and 4 order, mainly 0 order; the electromagnetic force frequency is:
f＝mfs±gfb
wherein f issIs the switching frequency of the motor;
Figure BDA0003103844290000092
is the fundamental frequency, p is the pole pair number of the motor, and n is the rotation speed (unit rpm) of the motor; m is the switching frequency multiplication number, g is the fundamental frequency multiplication number, and m and g are positive integers.
Considering the operation condition of the motor in this embodiment, fbIs much less than fsThe frequency of the high-frequency electromagnetic force is considered to be approximately distributed near the switch frequency multiplication.
When the natural frequency of each order of the motor is obtained, preferably, the motor is subjected to experimental modal testing to obtain the natural frequency of each order of the motor;
taking the 4 × 3 phase permanent magnet synchronous motor as an example, after the motor is subjected to modal testing, the natural frequencies of each spatial order are obtained as follows:
2, stage: 1967Hz, 3 th order: 2956Hz, 4 th order: 4521Hz, 0 th order: 21502 Hz.
The mechanical transfer function of the 4 × 3-phase permanent magnet synchronous motor in the present embodiment can be plotted from the natural frequency of each order, as shown in fig. 5. It should be noted that the specific expression of the mechanical transfer function in the figure is not obtained through a detailed vibration experiment test, but is only combined with a basic vibration theory and an approximate curve drawn by measuring the natural frequency of each order, so as to better explain the principle of the method of the invention.
S1, screening out the frequency with the minimum difference with the 0-order natural frequency of the motor from the frequency of the high-frequency electromagnetic force generated by PWM modulation in the motor, and marking as the reference frequency;
in this embodiment, the switching frequency is 10kHz, the frequency of the high-frequency PWM electromagnetic force is near 10kHz, 20kHz, and 30kHz … …, and as the main order of the electromagnetic force is 0 (the corresponding natural frequency is 21502Hz), the frequency closest to the natural frequency of the 0-order spatial order in the electromagnetic force frequency of the motor is 20kHz, which is recorded as the reference frequency, as can be known from the mechanical transfer function shown in fig. 5; the frequency of the electromagnetic force, which has a large influence on the vibration, is in the vicinity of 2 times the switching frequency.
S2, screening out the natural frequency with the maximum difference from the reference frequency from the natural frequencies of all orders of the motor, and obtaining the order S corresponding to the natural frequency with the maximum difference;
specifically, an appropriate order s needs to be found, and the natural frequency of the order s of the motor should be far away from the reference frequency, so that after the carrier phase is adjusted, the vibration generated by the electromagnetic force which has the largest influence on the vibration is effectively suppressed. Meanwhile, other multiple switching frequencies are avoided, and the vibration generated by the other multiple switching frequencies is prevented from deteriorating after the carrier phase is adjusted. Specifically, as can be seen from the mechanical transfer function of the motor shown in fig. 5, the natural frequency of the mode corresponding to the 2 nd order high frequency electromagnetic force is 1967Hz, which is farthest from the reference frequency by 20kHz, and which avoids other multiples of the switching frequency (10kHz, 30kHz, 40kHz … …). The choice is to shift the 2-fold switching frequency electromagnetic force from 0-order to 2-order to suppress the dominant vibrations.
And S3, changing the current harmonic phase generated by PWM modulation in each set of three-phase windings by adjusting the carrier phase of each inverter so as to convert the 0-order high-frequency electromagnetic force in the air gap of the motor into the S-order high-frequency electromagnetic force, thereby inhibiting the vibration of the multi-three-phase permanent magnet synchronous motor.
In this step, a suitable carrier phase adjustment angle needs to be calculated, so that the spatial order of the high-frequency electromagnetic force that has the greatest influence on the vibration after the carrier phase adjustment becomes s order, so as to suppress the main vibration. Specifically, for the 4 × 3 phase permanent magnet synchronous motor of the present embodiment, an appropriate carrier phase adjustment angle should be selected to change the primary order of the electromagnetic force of 2 times the switching frequency into 2 orders.
Since the high-frequency electromagnetic force spatial order of the motor is mainly 0 order, the electromagnetic force expression at any moment can be simplified and expressed as:
F＝cos(vθ)＝cos(0θ)＝1,θ∈[0,360)
wherein v is the spatial order of the electromagnetic force, and the value in this embodiment is 0; theta is the spatial angle of the electromagnetic force.
The spatial characteristics of the electromagnetic force are mainly analyzed here, and the time domain characteristics, amplitude and phase of the electromagnetic force are not concerned. Therefore, neglecting the time variable t, the phase is set to 0 and the amplitude is set to 1.
Specifically, as shown in fig. 6, which is a schematic diagram of carrier phase adjustment, when the carrier phase of the inverter corresponding to the four sets of three-phase permanent magnet synchronous motors changes, the phase of the electromagnetic force also changes. In this embodiment, when the carrier phase angles of the inverters corresponding to the second, third, and fourth sets of three-phase permanent magnet synchronous motors (i.e., the second, third, and fourth sets of inverters) with respect to the inverter corresponding to the first set of three-phase permanent magnet synchronous motors (i.e., the first set of inverters) are X, Y, Z, respectively, the combination of the carrier phase adjustment angles at this time is assumed to be 0-X-Y-Z.
In combination with the stator winding structure of the 4 × 3-phase permanent magnet synchronous motor in this embodiment, when the combination of the carrier phase adjustment angles for the high-frequency electromagnetic forces of m times of the switching frequency and the sideband frequencies thereof is 0-X-Y-Z (0 to 180 degrees), the spatial expression of the high-frequency electromagnetic forces is as follows:
Figure BDA0003103844290000111
and recording the phase combination of the high-frequency electromagnetic force as 0-mX-mY-mZ, bringing the specific carrier phase adjustment angle combination of 0-X-Y-Z and the value of m, and carrying out Fourier analysis on the high-frequency electromagnetic force F of the motor about the spatial angle theta of the electromagnetic force to obtain the spatial order distribution of the electromagnetic force with m times of switching frequency when the carrier phase adjustment angle combination is 0-X-Y-Z.
For the 4 x 3-phase permanent magnet synchronous motor in the embodiment, it is necessary to change the main order of the electromagnetic force at 2 times of the switching frequency (i.e., the reference frequency) after the carrier phase adjustment to 2 orders. Through the calculation of the method, when the electromagnetic force phase combination 0-mX-mY-mZ is 0-180-0-180, the 2-order electromagnetic force content in the electromagnetic force under the m times of switching frequency reaches the maximum. Before the carrier phase is adjusted, the vibration caused by the high-frequency electromagnetic force under 2 times of the switching frequency is the largest, namely m is 2, so that the main vibration can be inhibited by selecting the carrier phase adjustment angle combination 0-X-Y-Z to be 0-90-0-90.
Respectively carrying out motor vibration experiment tests under the condition that the combination of the carrier-free phase adjustment angle and the carrier phase adjustment angle is 0-90-0-90, measuring the vibration acceleration of the surface of the motor shell by using a vibration sensor, and processing experiment data to obtain the frequency spectrum of the vibration acceleration of the motor as shown in figure 7; wherein, (a) is a vibration acceleration frequency spectrum before the carrier phase of the motor is adjusted; (b) and the frequency spectrum of the vibration acceleration after the carrier phase of the motor is adjusted. It can be seen from the figure that the amplitude of the vibration acceleration is reduced by about 50% when the combination of the carrier phase adjustment angles is 0-90-0-90, compared to the case where there is no carrier phase adjustment. Therefore, the method can effectively inhibit the vibration of the multi-three-phase permanent magnet synchronous motor.
Examples 2,
A multi-three-phase permanent magnet synchronous motor high-frequency PWM vibration suppression system comprises:
the reference frequency acquisition module is used for screening out the frequency with the minimum difference with the 0-order natural frequency of the motor from the frequency of the high-frequency electromagnetic force generated by PWM modulation in the motor and marking as the reference frequency;
the space order acquisition module is used for screening out the natural frequency with the maximum difference from the reference frequency from the natural frequencies of all orders of the motor and obtaining the order s corresponding to the natural frequency with the maximum difference;
the order conversion control module is used for changing the current harmonic phase generated by PWM modulation in each set of three-phase windings by adjusting the carrier phase of each inverter so as to convert the 0-order high-frequency electromagnetic force in the air gap of the motor into the s-order high-frequency electromagnetic force and further inhibit the vibration of the multi-three-phase permanent magnet synchronous motor;
wherein, many three-phase PMSM includes: n sets of three-phase windings; all sets of three-phase windings are sequentially distributed along the circumference of the stator; each set of three-phase winding is independently controlled by a corresponding inverter; n is an even number.
The related technical features are the same as those of embodiment 1, and are not described herein.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. A multi-three-phase permanent magnet synchronous motor high-frequency PWM vibration suppression method is characterized by comprising the following steps: n sets of three-phase windings; all sets of three-phase windings are sequentially distributed along the circumference of the stator; each set of three-phase winding is independently controlled by a corresponding inverter; n is an even number;
the vibration suppressing method includes the steps of:
s1, screening out the frequency with the minimum difference with the 0-order natural frequency of the motor from the frequency of the high-frequency electromagnetic force generated by PWM modulation in the motor, and marking as the reference frequency;
s2, screening out the natural frequency with the largest difference with the reference frequency from the natural frequencies of all orders of the motor, and obtaining the order S corresponding to the natural frequency with the largest difference;
and S3, changing the current harmonic phase generated by PWM modulation in each set of three-phase windings by adjusting the carrier phase of each inverter so as to convert the 0-order high-frequency electromagnetic force in the air gap of the motor into the S-order high-frequency electromagnetic force, thereby inhibiting the vibration of the multi-three-phase permanent magnet synchronous motor.
2. The vibration suppression method according to claim 1, wherein the step S3 includes:
s31, constructing a carrier phase adjustment angle set; the carrier phase adjustment angle set comprises a plurality of preset groups of carrier phase adjustment angles; each group of phase adjustment angles comprises carrier phase adjustment angles of the inverters corresponding to the N sets of three-phase windings;
s32, carrying out Fourier transformation on the spatial angle of the high-frequency electromagnetic force about the electromagnetic force, and then bringing the spatial angle into each group of phase adjustment angles in the carrier phase adjustment angle set and the switching frequency multiplication number corresponding to the reference frequency to obtain the spatial order distribution of the high-frequency electromagnetic force under the reference frequency corresponding to each group of phase adjustment angles, wherein the group of phase adjustment angles with the largest S-order electromagnetic force ratio is taken as the optimal group of phase adjustment angles, and further the optimal value of the carrier phase adjustment angle of the inverter corresponding to N sets of three-phase windings is obtained;
and S33, carrying out carrier phase adjustment on the inverters corresponding to the three-phase windings according to the optimal values of the carrier phase adjustment angles corresponding to the inverters, so that the 0-order high-frequency electromagnetic force is converted into the S-order high-frequency electromagnetic force.
3. The vibration suppression method according to claim 2, wherein each set of phase adjustment angles is represented as [0, p ]2,p3,…,pN]Wherein p isiAnd adjusting the angle of the carrier phase of the ith set of three-phase windings relative to the inverter corresponding to the first set of three-phase windings, wherein i is 1,2, … and N.
4. A method of suppressing vibration as defined in claim 1, wherein each set of three-phase windings is rotationally symmetric about a stator center, and adjacent sets of three-phase windings are coupled only at stator teeth therebetween.
5. The vibration suppression method according to any one of claims 1 to 4, further comprising step S0 performed before the step S1; the step S0 includes:
analyzing high-frequency electromagnetic force generated by interaction of air gap flux density generated by high-frequency current harmonic waves of the motor and air gap flux density generated by a permanent magnet when PWM modulation is carried out in the motor to obtain frequency of the high-frequency electromagnetic force; and carrying out experimental modal testing on the motor to obtain the inherent frequency of each order of the motor.
6. The vibration suppression method according to claim 5, wherein the frequency of the high-frequency electromagnetic force is:
f＝mfs±gfb
wherein f issIs the switching frequency of the motor, fbThe frequency is the fundamental frequency, m is the switching frequency multiplication factor, g is the fundamental frequency multiplication factor, and m and g are positive integers.
7. The vibration suppression method according to claim 1, applied to the field of multi-three-phase permanent magnet synchronous motors.
8. The utility model provides a many three-phase PMSM high frequency PWM vibration suppression system which characterized in that includes:
the reference frequency acquisition module is used for screening out the frequency with the minimum difference with the 0-order natural frequency of the motor from the frequency of the high-frequency electromagnetic force generated by PWM modulation in the motor and marking as the reference frequency;
the spatial order acquisition module is used for screening out the natural frequency with the largest difference with the reference frequency from the natural frequencies of all orders of the motor and obtaining the order s corresponding to the natural frequency with the largest difference;
the order conversion control module is used for changing the current harmonic phase generated by PWM modulation in each set of three-phase windings by adjusting the carrier phase of each inverter so as to convert the 0-order high-frequency electromagnetic force in the air gap of the motor into the s-order high-frequency electromagnetic force and further inhibit the vibration of the multi-three-phase permanent magnet synchronous motor;
wherein, many three-phase PMSM includes: n sets of three-phase windings; all sets of three-phase windings are sequentially distributed along the circumference of the stator; each set of three-phase winding is independently controlled by a corresponding inverter; n is an even number.
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CN117639597A (en) * 2023-12-05 2024-03-01 湖南大学 Carrier wave self-synchronization method and device among multiple three-phase permanent magnet motor distributed controllers

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