CN113673026B - Method and system for calculating random electromagnetic vibration characteristics of hub motor - Google Patents
Method and system for calculating random electromagnetic vibration characteristics of hub motor Download PDFInfo
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Abstract
The invention discloses a method and a system for calculating the random electromagnetic vibration characteristics of a hub motor.
Description
Technical Field
The invention relates to a method and a system for calculating random electromagnetic vibration characteristics of a hub motor, and belongs to the field of new energy electric automobiles.
Background
The hub motor is used as a key component of the electric automobile hub drive, the performance of the hub motor directly determines the dynamic performance of the automobile, however, the hub motor is affected by random vibration generated by road surface unevenness in the running process, so that the contradiction between the smoothness and the steering stability of the electric automobile is activated, and the riding comfort and the driving safety of the automobile are affected.
One of the main factors causing the in-wheel motor to vibrate is unbalanced radial electromagnetic force of the motor. Because unbalanced radial electromagnetic force directly acts on the wheels without vibration reduction, the working environment of the motor can be deteriorated, the fatigue life of the motor can be reduced, the dynamic load of the tire can be increased, the ground-grabbing adhesion capability of the motor can be reduced, and the rollover risk of the automobile can be increased.
Aiming at the problem of random vibration of the hub motor, the prior art only carries out single research on the vibration of the hub motor due to the excitation of the road surface, and the analysis and the research are carried out from the outside of the motor, and the influence of random vibration factors of the road surface on the electromagnetic change inside the motor is not further considered, so that the influence of the random vibration factors of the road surface on the electromagnetic vibration characteristics of the hub motor can not be truly reflected.
Disclosure of Invention
The invention provides a method and a system for calculating random electromagnetic vibration characteristics of an in-wheel motor, which solve the problems disclosed in the background art.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for calculating the random electromagnetic vibration characteristics of an in-wheel motor comprises the following steps:
according to the road surface unevenness, carrying out random dynamics analysis on the electric automobile body and the wheels, and obtaining random vibration factors affecting the hub motor;
carrying out dynamic eccentricity analysis on the stator and the rotor of the hub motor, and calculating the eccentricity of the stator and the rotor of the hub motor according to random vibration factors;
calculating the air gap magnetic flux density when the rotor of the hub motor is eccentric according to the eccentricity of the stator and the rotor of the hub motor;
calculating radial electromagnetic force of the hub motor according to the air gap magnetic flux density;
and calculating a radial electromagnetic force acceleration transfer function reflecting the random electromagnetic vibration characteristic of the hub motor according to the radial electromagnetic force.
According to the road surface unevenness, carrying out random dynamics analysis of electric automobile body and wheels, obtaining random vibration factors influencing the hub motor, wherein the specific process is as follows:
according to the road surface unevenness, carrying out random dynamics analysis on the electric automobile body and wheels, and constructing a road surface power spectrum density fitting function and an electric automobile vibration model;
and obtaining random vibration factors influencing the hub motor according to the road surface power spectral density fitting function and the electric vehicle vibration model.
The pavement power spectral density fitting function is:
where n is the spatial frequency, n 0 For reference spatial frequency, G q (n 0 ) For reference spatial frequency n 0 Road surface unevenness q coefficient, ω is a frequency index, G q And (n) is the pavement power spectral density.
The electric automobile vibration model is:
wherein m is 1 、m 2 、m 0 Respectively a vehicle body mass, an in-wheel motor mass and a tire mass, k 1 、k 2 、k 0 C is respectively the rigidity of an automobile suspension, the rigidity of an in-wheel motor and the rigidity of a tyre spring 1 、c 2 、c 0 Respectively the damping coefficient of an automobile suspension shock absorber, the damping coefficient of an in-wheel motor and the damping coefficient of a tire, q is road surface unevenness,respectively m n N= 1,2,0.
The random vibration factors are:
wherein, beta is a random vibration factor, lambda is a frequency ratio, q is road surface unevenness, and ζ is a damping ratio.
The air gap magnetic flux density calculation formula is:
B r ＝kN 2 λ l Isin(ωt+θ)
wherein k is a proportionality coefficient, N is the number of turns of the stator winding, I is peak current, ω e For rotor rotation angular frequency, B r Is the air gap flux density, θ is the rotor angle,
is air gap flux guide, gamma 0 The length of the uniform air gap between the stator and the rotor is equal to the length of the uniform air gap between the stator and the rotor when the rotor is not eccentric, alpha is the eccentric direction angle of the rotor, and e is the eccentric distance between the stator and the rotor of the hub motor.
According to the air gap magnetic flux density, calculating the radial electromagnetic force of the hub motor, wherein the specific process is as follows:
and integrating the rotor angle according to the air gap magnetic flux density to obtain the radial electromagnetic force of the hub motor.
The radial electromagnetic force calculation formula of the hub motor is as follows:
wherein F is r,β Radial electromagnetic force of hub motor, theta is rotor angle, mu 0 Is magnetic permeability.
The radial electromagnetic force acceleration transfer function is:
wherein H (s, beta), a (s, beta), F r (s, beta) are the radial electromagnetic force acceleration transfer function, acceleration response and radial electromagnetic force under the influence of the random vibration factor beta, respectively, and s is the Laplace variable.
A hub motor random electromagnetic vibration characteristic calculation system, comprising:
a random vibration factor acquisition module: according to the road surface unevenness, carrying out random dynamics analysis on the electric automobile body and the wheels, and obtaining random vibration factors affecting the hub motor;
the eccentricity calculation module: carrying out dynamic eccentricity analysis on the stator and the rotor of the hub motor, and calculating the eccentricity of the stator and the rotor of the hub motor according to random vibration factors;
an air gap magnetic flux density calculation module: calculating the air gap magnetic flux density when the rotor of the hub motor is eccentric according to the eccentricity of the stator and the rotor of the hub motor;
radial electromagnetic force calculation module: calculating radial electromagnetic force of the hub motor according to the air gap magnetic flux density;
transfer function calculation module: and calculating a radial electromagnetic force acceleration transfer function reflecting the random electromagnetic vibration characteristic of the hub motor according to the radial electromagnetic force.
The invention has the beneficial effects that: according to the invention, the random vibration mechanics and the electromagnetic mechanics are combined, the radial electromagnetic force vibration acceleration transfer function of the hub motor under the random vibration factors is calculated, and the electromagnetic characteristics of the hub motor under the random vibration can be analyzed based on the transfer function, so that the influence of the road surface random vibration factors on the electromagnetic vibration of the hub motor, namely the random electromagnetic vibration characteristics of the hub motor, can be more comprehensively reflected.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of in-wheel motor coupled vibration;
fig. 3 is a schematic diagram of the eccentricity of the rotor of the in-wheel motor.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1, a method for calculating the random electromagnetic vibration characteristics of an in-wheel motor includes the following steps:
step 1, carrying out random dynamics analysis on an electric automobile body and wheels according to road surface unevenness, and obtaining random vibration factors affecting a hub motor;
step 2, carrying out dynamic eccentricity analysis on the stator and the rotor of the hub motor, and calculating the eccentricity of the stator and the rotor of the hub motor according to random vibration factors;
step 3, calculating the air gap magnetic flux density when the rotor of the hub motor is eccentric according to the eccentricity of the stator and the rotor of the hub motor;
step 4, calculating radial electromagnetic force of the hub motor according to the air gap magnetic flux density;
and 5, calculating a radial electromagnetic force acceleration transfer function reflecting the random electromagnetic vibration characteristic of the hub motor according to the radial electromagnetic force.
According to the method, random vibration mechanics and electromagnetic mechanics are combined, the radial electromagnetic force vibration acceleration transfer function of the hub motor under random vibration factors is calculated, electromagnetic characteristics of the hub motor under random vibration can be analyzed based on the transfer function, and accordingly influences of road surface random vibration factors on the electromagnetic vibration of the hub motor, namely the random electromagnetic vibration characteristics of the hub motor, are reflected more comprehensively.
The road surface unevenness is determined according to the road surface on which the electric vehicle actually walks, random dynamics analysis of the electric vehicle body and wheels is carried out according to the road surface unevenness, a road surface power spectral density fitting function and an electric vehicle vibration model are built, and then random vibration factors affecting the hub motor are obtained according to the road surface power spectral density fitting function and the electric vehicle vibration model.
The pavement power spectral density fitting function is:
where n is the spatial frequency, n 0 For reference spatial frequency, G q (n 0 ) For reference spatial frequency n 0 Road surface unevenness q coefficient, ω is a frequency index, G q And (n) is the pavement power spectral density.
As a complex nonlinear system, a coupling system with multiple degrees of freedom is adopted for vibration analysis of an electric automobile, and a 1/4 vehicle vertical vibration model shown in fig. 2 is established on the assumption that the mass of the electric automobile body is evenly distributed on wheels.
And the equilibrium position of each mass block is taken as the origin of coordinates, and a kinetic equation is obtained through deduction of Newton's second law, namely, the vibration model of the electric automobile is as follows:
wherein m is 1 、m 2 、m 0 Respectively a vehicle body mass, an in-wheel motor mass and a tire mass, k 1 、k 2 、k 0 C is respectively the rigidity of an automobile suspension, the rigidity of an in-wheel motor and the rigidity of a tyre spring 1 、c 2 、c 0 Respectively the damping coefficient of an automobile suspension shock absorber, the damping coefficient of an in-wheel motor and the damping coefficient of a tire, q is road surface unevenness,respectively m n N= 1,2,0.
In the running process of the hub motor, the uneven excitation of the road surface and the load change of the vehicle body are acted on the hub motor, and the random vibration factor beta of the hub motor is finally converted, so that the random vibration factor affecting the hub motor is extracted through the road surface power spectral density fitting function and the two-degree-of-freedom vibration model, and the specific formula is as follows:
the amplitude-frequency characteristic of beta to q is:
wherein, beta is a random vibration factor, lambda is a frequency ratio, q is road surface unevenness, and ζ is a damping ratio.
And (3) dynamic eccentricity analysis of stator and rotor of the hub motor: in the running process of the hub motor, the air gaps are uniformly distributed on the sections of the stator and the rotor, so that the vertical electromagnetic forces can be mutually offset, but in the practical situation, as shown in fig. 3, the eccentricity between the stator and the rotor is difficult to avoid, so that the unbalanced distribution of the air gaps and the magnetic field is caused, and when only the basic magnetic field generated by the permanent magnets and the d and q-axis currents is considered, a certain functional relation is shown between the eccentricity and the random vibration factor.
Therefore, according to random vibration factors, the eccentricity of the stator and the rotor of the hub motor can be calculated, and the method is as follows:
e＝f(β)
wherein e is the eccentricity of the stator and the rotor of the hub motor, and f is a relation function between e and beta.
Based on a hub motor rotor coordinate system, the air gap flux guide of the motor is obtained by the length of the air gap between the stator and the rotor of the motor:
wherein, gamma 0 The uniform air gap length between the stator and the rotor is ensured when no eccentricity exists, and alpha is the eccentric direction angle of the rotor; omega e The rotor rotation angular frequency;
and then the air gap flux density is obtained as follows:
B r ＝kN 2 λ l Isin(ω e t+θ)
wherein k is a proportionality coefficient, N is the number of turns of the stator winding, I is peak current, B r Is the air gap flux density, θ is the rotor angle.
Since radial electromagnetic force is the main source of radial electromagnetic vibration, the radial electromagnetic force of the hub motor can be obtained by integrating the rotor angle according to the air gap magnetic flux density, and the radial electromagnetic force is specifically as follows:
wherein F is r,β Mu, radial electromagnetic force of in-wheel motor 0 Is magnetic permeability.
The vibration of the in-wheel motor can be expressed as a mechanical model on a damping spring system, and a vibration equation is obtained by Newton's second lawAccording to Laplace transformation, the displacement response, the speed response and the acceleration response of the system are obtained, so that the radial electromagnetic force acceleration transfer function reflecting the random electromagnetic vibration characteristic of the hub motor is obtained, and the method specifically comprises the following steps:
wherein H (s, beta), a (s, beta), F r (s, beta) are the radial electromagnetic force acceleration transfer function, acceleration response and radial electromagnetic force under the influence of the random vibration factor beta, respectively, and s is the Laplace variable
The invention provides the random electromagnetic vibration analysis method for the hub motor of the electric automobile, integrates random vibration mechanics and electromagnetic force, more comprehensively and deeply analyzes and researches the electromagnetic characteristic influence of the hub motor, more truly reflects the electromagnetic characteristic of the hub motor under random vibration, and lays a certain foundation for solving the vibration problem of the hub motor and increasing the driving smoothness and riding comfort of the automobile in the future.
A hub motor random electromagnetic vibration characteristic calculation system, comprising:
a random vibration factor acquisition module: according to the road surface unevenness, carrying out random dynamics analysis on the electric automobile body and the wheels, and obtaining random vibration factors affecting the hub motor;
the eccentricity calculation module: carrying out dynamic eccentricity analysis on the stator and the rotor of the hub motor, and calculating the eccentricity of the stator and the rotor of the hub motor according to random vibration factors;
an air gap magnetic flux density calculation module: calculating the air gap magnetic flux density when the rotor of the hub motor is eccentric according to the eccentricity of the stator and the rotor of the hub motor;
radial electromagnetic force calculation module: calculating radial electromagnetic force of the hub motor according to the air gap magnetic flux density;
transfer function calculation module: and calculating a radial electromagnetic force acceleration transfer function reflecting the random electromagnetic vibration characteristic of the hub motor according to the radial electromagnetic force.
A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform a hub motor random electromagnetic vibration characteristic computing method.
A computing device comprising one or more processors, one or more memories, and one or more programs, wherein one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing a hub motor random electromagnetic vibration characteristic calculation method.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as providing for the use of additional embodiments and advantages of all such modifications, equivalents, improvements and similar to the present invention are intended to be included within the scope of the present invention as defined by the appended claims.
Claims (8)
1. The method for calculating the random electromagnetic vibration characteristics of the hub motor is characterized by comprising the following steps of:
according to the road surface unevenness, carrying out random dynamics analysis on the electric automobile body and the wheels, and obtaining random vibration factors affecting the hub motor; wherein, the random vibration factor is:
wherein beta is a random vibration factor, lambda is a frequency ratio, q is road surface unevenness, and zeta is a damping ratio;
carrying out dynamic eccentricity analysis on the stator and the rotor of the hub motor, and calculating the eccentricity of the stator and the rotor of the hub motor according to random vibration factors;
calculating the air gap magnetic flux density when the rotor of the hub motor is eccentric according to the eccentricity of the stator and the rotor of the hub motor; wherein, the air gap magnetic flux density calculation formula is:
B r ＝kN 2 λ l Isin(ω e t+θ)
wherein k is a proportionality coefficient, N is the number of turns of the stator winding, I is peak current, ω e For rotor rotation angular frequency, B r Is the air gap flux density, θ is the rotor angle,
is air gap flux guide, gamma 0 The length of an air gap between the stator and the rotor is uniform when no eccentricity exists, alpha is the eccentric direction angle of the rotor, and e is the eccentricity of the stator and the rotor of the hub motor;
calculating radial electromagnetic force of the hub motor according to the air gap magnetic flux density;
and calculating a radial electromagnetic force acceleration transfer function reflecting the random electromagnetic vibration characteristic of the hub motor according to the radial electromagnetic force.
2. The method for calculating the random electromagnetic vibration characteristics of the hub motor according to claim 1, wherein the random dynamics analysis of the electric automobile body and the wheel is performed according to the road surface unevenness, and the random vibration factors affecting the hub motor are obtained by the following specific processes:
according to the road surface unevenness, carrying out random dynamics analysis on the electric automobile body and wheels, and constructing a road surface power spectrum density fitting function and an electric automobile vibration model;
and obtaining random vibration factors influencing the hub motor according to the road surface power spectral density fitting function and the electric vehicle vibration model.
3. The method for calculating the random electromagnetic vibration characteristics of the hub motor according to claim 2, wherein the road power spectral density fitting function is:
where n is the spatial frequency, n 0 For reference spatial frequency, G q (n 0 ) For reference spatial frequency n 0 Road surface unevenness q coefficient, ω is a frequency index, G q And (n) is the pavement power spectral density.
4. The method for calculating the random electromagnetic vibration characteristics of the hub motor according to claim 2, wherein the vibration model of the electric automobile is as follows:
wherein m is 1 、m 2 、m 0 Respectively a vehicle body mass, an in-wheel motor mass and a tire mass, k 1 、k 2 、k 0 C is respectively the rigidity of an automobile suspension, the rigidity of an in-wheel motor and the rigidity of a tyre spring 1 、c 2 、c 0 Respectively an automobile suspension shock absorber damping coefficient, an in-wheel motor damping coefficient and a tire damping coefficient, x n 、Respectively m n N= 1,2,0.
5. The method for calculating the random electromagnetic vibration characteristic of the hub motor according to claim 1, wherein the radial electromagnetic force of the hub motor is calculated according to the air gap magnetic flux density, and the method comprises the following specific steps:
and integrating the rotor angle according to the air gap magnetic flux density to obtain the radial electromagnetic force of the hub motor.
6. The method for calculating the random electromagnetic vibration characteristics of the hub motor according to claim 5, wherein the radial electromagnetic force calculation formula of the hub motor is:
wherein F is r,β Mu, radial electromagnetic force of in-wheel motor 0 Is magnetic permeability.
7. The method for calculating random electromagnetic vibration characteristics of an in-wheel motor according to claim 1, wherein the radial electromagnetic force acceleration transfer function is:
wherein H (s, beta), a (s, beta), F r (s, beta) are radial electromagnetic force acceleration transmission under the influence of random vibration factor betaThe transfer function, acceleration response and radial electromagnetic force, s being the Laplacian variable.
8. A hub motor random electromagnetic vibration characteristic calculation system, comprising:
a random vibration factor acquisition module: according to the road surface unevenness, carrying out random dynamics analysis on the electric automobile body and the wheels, and obtaining random vibration factors affecting the hub motor; wherein, the random vibration factor is:
wherein beta is a random vibration factor, lambda is a frequency ratio, q is road surface unevenness, and zeta is a damping ratio;
the eccentricity calculation module: carrying out dynamic eccentricity analysis on the stator and the rotor of the hub motor, and calculating the eccentricity of the stator and the rotor of the hub motor according to random vibration factors;
an air gap magnetic flux density calculation module: calculating the air gap magnetic flux density when the rotor of the hub motor is eccentric according to the eccentricity of the stator and the rotor of the hub motor; wherein, the air gap magnetic flux density calculation formula is:
B r ＝kN 2 λ l Isin(ω e t+θ)
wherein k is a proportionality coefficient, N is the number of turns of the stator winding, I is peak current, ω e For rotor rotation angular frequency, B r Is the air gap flux density, θ is the rotor angle,
is air gap flux guide, gamma 0 The length of an air gap between the stator and the rotor is uniform when no eccentricity exists, alpha is the eccentric direction angle of the rotor, and e is the eccentricity of the stator and the rotor of the hub motor;
radial electromagnetic force calculation module: calculating radial electromagnetic force of the hub motor according to the air gap magnetic flux density;
transfer function calculation module: and calculating a radial electromagnetic force acceleration transfer function reflecting the random electromagnetic vibration characteristic of the hub motor according to the radial electromagnetic force.
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