CN114142688B - Reluctance motor magnetic barrier end deflection method for inhibiting torque pulsation - Google Patents
Reluctance motor magnetic barrier end deflection method for inhibiting torque pulsation Download PDFInfo
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Abstract
The invention discloses a reluctance motor magnetic barrier end deflection method for inhibiting torque pulsation, and belongs to the field of motor magnetic barrier structure design. The invention aims at the problem that the torque pulsation is large due to the structural characteristics of the motor of the existing synchronous reluctance motor. The method comprises the steps of obtaining a magnetic barrier group to be deflected, taking the center of a circle of a rotor inner circle and the distance between the center of the circle and a magnetic barrier of the magnetic barrier group as a deflection radius, dividing the magnetic barrier in the magnetic barrier group into two parts by an arc line formed by the rotation of the deflection radius around the center of the circle of the rotor inner circle, wherein the part close to an air gap side is the end part of the magnetic barrier, the part close to a rotating shaft side is a main body of the magnetic barrier, and selecting the deflection radius when the torque pulsation is minimum as an optimal deflection radius; fixing the optimal deflection radius to obtain an optimal deflection angle; and combining the optimal deflection radius and the optimal deflection angle to obtain the rotor magnetic barrier end deflection structure with the minimum torque pulsation. The invention obtains a novel rotor end deflection structure for effectively inhibiting the torque pulsation of the synchronous reluctance motor by a magnetic barrier end deflection method.
Description
Technical Field
The invention relates to the field of motor magnetic barrier structure design, in particular to a method for deflecting an end part of a magnetic barrier of a reluctance motor for inhibiting torque pulsation.
Background
The synchronous reluctance motor is a novel motor which is expected to replace the traditional asynchronous motor in the industrial fields with low cost and high performance requirements such as fans, water pumps and the like. The traditional synchronous reluctance motor has the advantages of low cost, high efficiency, wide speed regulation range, small size and the like, but the synchronous reluctance motor also has certain problems, such as the defects of low power factor, large difficulty in optimization design, large torque pulsation and the like, so that the application of the synchronous reluctance motor in the industrial field is restricted.
Synchronous reluctance motor can be applied to conveyer belt or conveying intelligent machine transfer cart etc. and require higher to the stationarity, and the higher occasion of efficiency, requires that the machine cost is lower in the manufacture process, and efficiency is higher, and stability is better, can have the vibration, but can not be too big, avoids the emergence of accidents such as goods fall. Synchronous reluctance motors have normally achieved high efficiency and low cost, and excessive torque ripple has become a major problem to be solved.
Disclosure of Invention
In order to solve the problems, the invention provides a method for deflecting the end part of a magnetic barrier of a reluctance motor for inhibiting torque pulsation, and a novel rotor structure for effectively inhibiting the torque pulsation of a synchronous reluctance motor is obtained by deflecting the end part of the rotor magnetic barrier.
The invention provides a method for deflecting the end part of a magnetic barrier of a reluctance motor for inhibiting torque pulsation, wherein the reluctance motor comprises a rotor, n layers of magnetic barriers which are sequentially laminated are arranged between the outer side of the rotor and an air gap, and n is more than or equal to 2, and the method comprises the following steps:
s1, setting one layer of magnetic barrier adjacent to an air gap as a fixed magnetic barrier, and combining the other n-1 layers of magnetic barriers to obtain M magnetic barrier groups to be deflected;
s2, selecting a magnetic barrier group to be deflected, taking the center of the inner circle of the rotor, the distance between the center of the inner circle of the rotor and the magnetic barrier of the selected magnetic barrier group to be deflected as a deflection radius, dividing the magnetic barrier in the magnetic barrier group into two parts by an arc line formed by the rotation of the deflection radius around the center of the inner circle of the rotor, taking the part close to an air gap side as a magnetic barrier end part, taking the part close to a rotating shaft side as a magnetic barrier main body, and selecting the deflection radius when the torque pulsation is minimum as an optimal deflection radius r s ；
S3, fixing the optimal deflection radius to obtain the deflection angle of the end part of the magnetic barrier when the torque pulsation is minimum, wherein the deflection angle is the optimal deflection angle alpha s ；
S4, combining the optimal deflection radius and the optimal deflection angle to obtain a rotor magnetic barrier end deflection structure of the magnetic barrier group to be deflected, which is selected in the step S2, when the torque pulsation is minimum;
and S5, repeating the steps S2 to S4 until the M magnetic barrier groups to be deflected are traversed to obtain a magnetic barrier end part deflection structure of each deflection magnetic barrier group when the torque pulsation is minimum, comparing the torque pulsation of each deflection structure, wherein the deflection structure when the torque pulsation is minimum is the final deflection structure of the magnetic barrier end part.
Preferably, step S1 includes:
s11, dividing n-1 magnetic barrier end deflection types according to the number of the magnetic barriers in the magnetic barrier group, wherein the deflection types are respectively as follows: the magnetic shield comprises a single-layer magnetic barrier end part deflection type, a two-layer magnetic barrier end part deflection type, a three-layer magnetic barrier end part deflection type, \8230;, an n-1 layer magnetic barrier end part deflection type;
s12, the magnetic barrier group in the magnetic barrier end deflection type is the magnetic barrier group needing deflection.
Preferably, the length range of the deflection radius is: the length of the deflection radius is more than or equal to the distance from the circle center of the inner circle of the rotor to the outer edge of the center of the magnetic barrier close to the side of the rotating shaft in the magnetic barrier group, and the length of the deflection radius is less than or equal to the distance from the circle center of the inner circle of the rotor to the end edge of the magnetic barrier close to the side of the air gap in the magnetic barrier group.
Preferably, step S2 includes:
limiting the range of deflection angles, setting the end part of the fixed magnetic barrier as a fixed angle in the range of the deflection angles, selecting a plurality of deflection radiuses to be measured in the length range of the deflection radiuses, calculating the torque pulsation under the deflection radiuses to be measured, and selecting the deflection radius corresponding to the minimum torque pulsation as the optimal deflection radius r s 。
Preferably, step S3 includes:
fixing the optimum deflection radius r s Selecting a plurality of deflection angles to be detected in the deflection angle range, calculating torque pulsation under the deflection angles to be detected, and selecting the deflection radius corresponding to the minimum torque pulsation as the optimal deflection angle alpha s 。
Preferably, the method for calculating the torque ripple is: and the ratio of the difference value obtained by subtracting the torque minimum value from the torque maximum value after the motor is stabilized to the torque average value.
Preferably, the deflection angle ranges from: (-1.5 °,1.5 °).
As described above, the method for deflecting the magnetic barrier end of the reluctance motor for suppressing the torque ripple according to the present invention has the following effects:
1. the invention classifies and combines according to the number of the magnetic barrier layers of the reluctance motor, divides a plurality of types of magnetic barrier end deflection types, such as a single-layer magnetic barrier end deflection type, a double-layer magnetic barrier end deflection type, a three-layer magnetic barrier end deflection type and the like, carries out deflection design on different magnetic barrier groups under each magnetic barrier end deflection type, gives consideration to deflection schemes of all magnetic barrier ends in all magnetic barrier groups more comprehensively, ensures that the deflection of the rotor magnetic barrier end of the synchronous reluctance motor has more orderliness, and is easy for data arrangement and subsequent classification comparison analysis.
2. The invention fully considers the relevant parameter characteristics of the motor magnetic barrier, limits the range of the deflection radius and the deflection angle according to the structure of the reluctance motor, accords with the design structure of the reluctance motor, and has stronger practicability.
3. According to the invention, the deflection radius with the minimum torque pulsation is screened out within the length range of the limited deflection radius by limiting the length range of the deflection radius, the end parts of the magnetic barriers of other layers except the fixed magnetic barrier layer can be effectively deflected, and the optimal deflection radius length is easy to determine subsequently.
4. According to the invention, the deflection angle range is limited, so that the risk of rotor end part fracture caused by overlarge deflection of the end part of the magnetic barrier is avoided, the touching risk of the deflected end part of the magnetic barrier and the magnetic barriers on the upper layer and the lower layer or between adjacent poles is reduced, the deflection angle range is limited, and certain rotor strength is ensured while torque pulsation is reduced.
5. The method can reduce the harmonic amplitude in the air gap flux density, and reduce the harmonic torque amplitude caused when the stator magnetomotive force is consistent with the rotor magnetomotive force in harmonic, thereby achieving the effect of reducing the torque pulsation.
Drawings
Fig. 1 is an overall flowchart of a method for deflecting an end of a magnetic barrier of a reluctance motor according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of the rotor optimization principle of a synchronous reluctance motor according to an embodiment of the present invention;
FIG. 3 is a block diagram of a rotor of a synchronous reluctance motor without deflection of the end of the magnetic barrier (before optimization) according to an embodiment of the present invention;
FIG. 4 is a rotor structure of a synchronous reluctance motor with a single-layer magnetic barrier end portion deflected by 1.14 degrees from the end portion of the 2 nd layer magnetic barrier toward the center line of the magnetic barrier according to an embodiment of the present invention;
FIG. 5 is a rotor structure of a synchronous reluctance motor with a single-layer magnetic barrier end deflected, wherein the end of the 3 rd layer magnetic barrier is deflected by 0.87 degrees away from the center line of the magnetic barrier in the single-layer magnetic barrier end deflection according to an embodiment of the present invention;
FIG. 6 shows a rotor structure of a synchronous reluctance motor with a single-layer magnetic barrier end deflection, in which the end of the 4 th layer of magnetic barrier is deflected 1.48 degrees away from the center line of the magnetic barrier in the single-layer magnetic barrier end deflection according to an embodiment of the present invention;
fig. 7 is a rotor structure of a synchronous reluctance motor in which, in the deflection of the end portions of the double-layer magnetic barriers according to an embodiment of the present invention, the end portions of the 2 nd and 3 rd layer magnetic barriers deflect 1.41 ° toward the center line of the magnetic barriers;
fig. 8 shows a rotor structure of a synchronous reluctance motor in which, in the deflection of the end portions of the double-layer magnetic barriers according to an embodiment of the present invention, the end portions of the 2 nd and 4 th layers of magnetic barriers deflect 1.4 ° away from the center line of the magnetic barrier;
fig. 9 is a rotor structure of a synchronous reluctance motor in which, in the deflection of the end portions of the double-layer magnetic barriers according to an embodiment of the present invention, the end portions of the 3 rd and 4 th layers of magnetic barriers are deflected by 0.52 ° away from the center line of the magnetic barrier;
fig. 10 is a rotor structure of a synchronous reluctance motor in which the end portions of the magnetic barriers of the 2 nd, 3 rd and 4 th layers deviate from the center line of the magnetic barrier by 0.78 ° in the deflection of the end portions of the magnetic barriers of the three layers according to an embodiment of the present invention;
FIG. 11 is a graph of a single layer magnetic barrier end deflection type and a comparative torque waveform generated prior to optimization in an embodiment of the present invention; FIG. 11a is a torque waveform of a reluctance machine before optimization, and FIG. 11b is a torque waveform of the reluctance machine after deflecting the end of the layer 2 magnetic barrier; FIG. 11c is a torque waveform of the reluctance machine after deflecting the end of the layer 3 barrier; FIG. 11d is a torque waveform of the reluctance machine after deflecting the end of the layer 4 barrier;
FIG. 12 is a comparative torque waveform generated before optimization and a double layer barrier end deflection type in an embodiment of the present invention; FIG. 12a is a torque waveform of a reluctance motor before optimization, and FIG. 12b is a torque waveform of the reluctance motor after deflection of the end of the layer 2 and 3 magnetic barriers; FIG. 12c is a torque waveform of a reluctance machine after deflecting the ends of the 2 nd and 4 th layer barriers; FIG. 12d is a torque waveform of the reluctance machine after deflecting the ends of the 3 rd and 4 th layer barriers;
FIG. 13 is a comparison torque waveform generated before optimization and a triple layer barrier tip deflection type in an embodiment of the present invention; wherein, fig. 13a is a torque waveform of the reluctance motor before optimization, and fig. 13b is a torque waveform of the reluctance motor after deflecting the end portions of the 2 nd, 3 rd and 4 th layer magnetic barriers;
FIG. 14 is torque ripple data before and after optimization of the present invention;
FIG. 15 is a harmonic component of air gap flux density before optimization of the magnetic barrier structure for a specific embodiment of the present invention;
FIG. 16 shows the variation of the amplitudes of the 47 th and 49 th harmonics before and after optimization of the magnetic barrier structure according to the embodiment of the present invention;
FIG. 17 is a schematic diagram illustrating the air gap flux density comparison before and after optimization of the magnetic barrier structure according to an embodiment of the present invention; FIGS. 17 a-17 h illustrate the air gap flux densities for the respective deflection schemes of FIGS. 3-10, respectively.
Description of reference numerals: 1-1, fixing a magnetic barrier; 1-2, layer 2 magnetic barrier; 1-2-1, end of the 2 nd layer magnetic barrier; 1-2-2, 2 nd layer magnetic barrier body; 1-3, layer 3 magnetic barrier; 1-3-1, end of layer 3 magnetic barrier; 1-3-2, 3 rd layer magnetic barrier body; 1-4, 4 th layer magnetic barrier; 1-4-1, end of the 4 th layer magnetic barrier; 1-4-2, 4 th layer of magnetic barrier body; 1-5, magnetic barrier center line; 1-6, magnetic barrier end; 1. a C-shaped rotor magnetic barrier; 2. and distributing the windings.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of each component in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
Synchronous reluctance motor rotors exhibit a high degree of anisotropy, and the harmonic in the stator current and rotor saliency effects contribute to severe torque ripple, which is generally attributable to two sources: the magnetic resistance variation caused by the stator magnetic motive force and the rotor magnetic motive force is uneven. In order to reduce the interaction between stator magnetomotive force harmonics and rotor magnetomotive force harmonics and reduce torque ripple, in a specific embodiment, a method for deflecting an end of a magnetic barrier of a reluctance motor for suppressing torque ripple is provided, the reluctance motor comprises a rotor, n layers of magnetic barriers which are sequentially stacked are arranged between the outer side of the rotor and an air gap, n is a positive integer and is not less than 2, and the method flow is shown in fig. 1 and comprises the following steps:
s1, setting one layer of magnetic barrier adjacent to an air gap as a fixed magnetic barrier, and combining the other n-1 layers of magnetic barriers to obtain M magnetic barrier groups to be deflected;
in this embodiment, step S1 specifically includes the following steps:
s11, dividing n-1 magnetic barrier end deflection types according to the number of the magnetic barriers in the magnetic barrier group; because the deflection of the magnetic barrier layer adjacent to the air gap is limited, the magnetic barrier layer adjacent to the air gap is set as a fixed magnetic barrier and does not participate in the combination of the magnetic barriers, and the rest n-1 layers are classified and combined, wherein the classified combination comprises a single-layer magnetic barrier end deflection type of the end deflection of any one magnetic barrier layer in the rest n-1 layers, a double-layer magnetic barrier end deflection type of the end deflection of any two magnetic barrier layers in the rest n-1 layers, a three-layer magnetic barrier end deflection type of the end deflection of any three magnetic barrier layers in the rest n-1 layers, \ 8230 \\ 8230;, and an end deflection type of the magnetic barrier layers in the rest n-1 layers.
End deflection of the single layer magnetic barrierThe number of magnetic barrier groups in the type is m 1 The number of the magnetic barrier groups in the double-layer magnetic barrier end deflection type is m 2 The number of the magnetic barrier groups in the three-layer magnetic barrier end deflection type is m 3 823060, 82305, m magnetic barrier groups in the end deflection type of n-1 magnetic barriers n-1 And the quantity M of all magnetic barrier groups meets the following conditions:
s12, the magnetic barrier group in the magnetic barrier end deflection type is the magnetic barrier group needing deflection.
The magnetic barrier groups capable of deflecting are selected through the steps to form a deflection layer number scheme of all combinations, and the corresponding magnetic barrier groups can be selected according to specific magnetic barrier end deflection types in the subsequent steps, so that the comprehensive and organized recording of the magnetic barrier end deflection structure and the deflection effect is realized, omission and repetition are prevented, and a data basis is provided for the subsequent optimal magnetic barrier group deflection structure.
S2, taking the center of a rotor inner circle, and dividing the distance between the center of the rotor inner circle and the magnetic barriers of the magnetic barrier group in the step S1 into two parts by an arc line formed by the rotation of the deflection radius r around the center of the rotor inner circle, wherein the part close to an air gap side is a magnetic barrier end part, and the part close to a rotating shaft side is a magnetic barrier main body, for example, as shown in a C-type rotor synchronous reluctance motor rotor optimization principle diagram of four layers of magnetic barriers in fig. 2, for convenience of description, a fixed magnetic barrier is set as a 1-1 layer of magnetic barrier, the other three layers of magnetic barriers are sequentially arranged in the direction from an air gap to the rotating shaft as a 1-2 layer of magnetic barrier, a 1-3 layer of magnetic barrier and a 1-4 layer of magnetic barrier, and the arc line drawn by the deflection radius r divides the magnetic barriers into a 1-6 layer of magnetic barrier end part and a 1-7 layer of magnetic barrier main body;
in the present embodiment, the deflection position of the end of the magnetic barrier is determined by the deflection radius, but the deflection radius of the end of the magnetic barrier obtained by a large amount of existing experimental data is less than the influence of the deflection angle on the torque ripple, and the influence of the deflection angle on the torque ripple plays a major role, so the present embodiment determines the deflection of the magnetic barrier firstAnd determining the deflection angle of the magnetic barrier through the subsequent steps after the radius is increased. Selecting a plurality of deflection radiuses to be measured within the length range of the deflection radius, calculating the torque pulsation under the deflection radius to be measured, and selecting the deflection radius corresponding to the minimum torque pulsation as the optimal deflection radius r s 。
In order to ensure that the end parts of the magnetic barriers of the other layers except the fixed magnetic barrier layer can deflect, the length range of the deflection radius is defined as follows: the length of the deflection radius is more than or equal to the distance from the circle center of the inner circle of the rotor to the outer edge of the center of the magnetic barrier close to the side of the rotating shaft in the magnetic barrier group, and the length of the deflection radius is less than or equal to the distance from the circle center of the inner circle of the rotor to the end edge of the magnetic barrier close to the side of the air gap in the magnetic barrier group.
The method for selecting the optimal deflection radius in the step S2 specifically comprises the following steps:
s21, limiting the range of deflection angles, wherein the end part of the fixed magnetic barrier is a fixed angle in the range of the deflection angles, and selecting a plurality of deflection radiuses in the length range of the deflection radiuses to form a deflection radius set R of which the number is { R 1 ，r 2 ，r 3 ，…，r x }；
The deflection angle of the end part of the magnetic barrier along the arc line is a deflection angle, and the range of the deflection angle is limited to (-1.5 degrees and 1.5 degrees);
as shown in fig. 2, the direction of the deflection magnetic barrier center line 1-5 is set to be positive, the direction of the deflection magnetic barrier center line 1-5 is set to be negative, when the deflection angle exceeds 1.5 degrees, the end of the magnetic barrier deflects too much, which is easy to cause the risk of rotor fracture, and when the deflection angle exceeds ± 1.5 degrees, the end of the deflected magnetic barrier is easy to contact with the upper and lower magnetic barriers or the magnetic barriers between adjacent poles, when the deflection angle of the end of the magnetic barrier is between-1.5 degrees and 1.5 degrees, in the deflection angle range, each deflection type reaches low torque pulsation, so that excessive deflection is not needed, so the angle range of the deflection angle of the end of the magnetic barrier in this embodiment is between-1.5 degrees and 1.5 degrees.
S22, assigning r i ＝r 1 Calculating the deflection radius r i Time torque ripple h i And r is i Assignment of valueTo r s Pulsating the torque h i Is assigned to H s ；
S23, assigning r i ＝r i+1 ；
S24, calculating a deflection radius r i+1 Time torque ripple h i+1 Comparing the torque ripple h i+1 With torque ripple h i The size of (d);
when torque ripple h i+1 Torque ripple h or more i If so, repeatedly executing the step S23;
when torque ripple h i+1 Less than torque ripple h i While, the torque is pulsed by h i+1 Is assigned to H s R is to be i+1 Is assigned to r s And step S23 is repeatedly executed.
The torque ripple h i The calculating method comprises the following steps: the ratio of the difference obtained by subtracting the minimum torque value from the maximum torque value after the motor is stabilized to the average torque value is as follows:
wherein h is avg Is the average electromagnetic torque value, h max Is the maximum torque value in steady state, h min Is the minimum torque value in the steady state.
Through steps S21 to S23, traversing each deflection radius in the deflection radius set to obtain a torque ripple value and a corresponding deflection radius when the torque ripple is minimum, the selection of each deflection radius in the deflection radius set R may be arranged according to a logical order, for example, the selection may be arranged according to a sequence of values from large to small or from small to large, and the value of each deflection radius in the deflection radius set R may be selected according to needs, and the closer the values of two adjacent deflection radii are, the finer the deflection radius value in the deflection radius set is, the more accurate the obtained optimal deflection radius is.
S3, fixing the optimal deflection radius r selected in the step S2 s Obtaining the deflection angle of the end part of the magnetic barrier when the torque pulsation is minimum, wherein the deflection angle is the optimal deflection angle alpha s Specifically comprisesThe method comprises the following steps:
s31, fixing the optimal deflection radius r s ；
S32, selecting a plurality of deflection angles in the deflection angle range to form a deflection radius set alpha of which the value is { alpha 1 ，α 2 ，α 3 ，…，α y }；
S33, assigning a value of alpha j ＝α 1 Calculating the yaw angle alpha j Time torque ripple T j And r is i Is assigned to r s Torque will be pulsated by T j Assigned to T ripple ；
S34, assigning alpha j ＝α j+1 ；
S35, calculating a deflection angle alpha j+1 Time torque ripple T j+1 Comparing the torque ripple T j+1 And torque ripple T j The size of (d);
when torque ripple T j+1 Torque ripple T or more j If so, repeatedly executing step S34;
when torque ripple T j+1 Less than torque ripple T j Time, will torque ripple T j+1 Assigned to T ripple α is prepared by j+1 Assigned to alpha s And step S34 is repeatedly executed.
The magnitude of the torque ripple in this embodiment is quantitatively described by the ratio of the peak-peak value to the torque average value, that is, the ratio of the value of the torque maximum value minus the torque minimum value after the motor is stabilized to the torque average value, and the torque ripple after the motor is stabilized is calculated, specifically as shown in formula (1):
wherein, T avg Is the average electromagnetic torque value, T max Is the maximum torque value in steady state, T min Is the minimum torque value in the steady state.
S36, obtaining the optimal deflection angle alpha s And an optimum deflection radius r s Combined air gap flux density and tooth harmonic amplitude.
By electricityThe deflection angle alpha is obtained by magnetic simulation j In the present embodiment, the simulation result is output in an xlsx format, and a Min function, a Max function, and an Average function in Excel are used to calculate a torque minimum value, a torque maximum value, a torque Average value, and the like.
Calculating the harmonic order of the main teeth in the air gap flux density;
according to the motor parameters of the reluctance motor, when the motor is in the case of integer slot distributed winding, the stator magnetomotive force and the air gap flux density have odd harmonics, and the main harmonic number of the stator magnetomotive force and the air gap flux density meets the following formula (2):
in the case of a fractional slot motor, since the number q of slots per pole and phase is a fraction, for the sake of convenience of analysis, let:
where D ≠ 1, and N and D are irreducible scores.
When the number of the tooth harmonic waves of the three-phase fractional slot motor can be written as a three-phase fractional slot motor, the number of the tooth harmonic waves satisfies the following formula (4):
ν fractional groove ＝6kN±1； (4)
Wherein k is a positive integer, N s The number of stator slots is shown, and p is the number of pole pairs; and (4) calculating according to the formulas (2) and (4) to obtain the tooth harmonic order which plays a main influence role in the air gap flux density.
Traversing each deflection angle in the deflection angle set through the steps S31-S36 to obtain a torque pulsation value and a corresponding deflection angle when the torque pulsation is minimum, wherein the selection of each deflection angle in the deflection angle set can be arranged according to a logic sequence, for example, the selection can be arranged according to the sequence of the values from large to small or from small to large, the value of each deflection angle in the deflection angle set can be selected according to the requirement, and the closer the values of two adjacent deflection angles are, the finer the deflection angle value in the deflection angle set is, the more accurate the obtained optimal deflection angle is.
And S4, combining the optimal deflection radius and the optimal deflection angle to obtain the rotor magnetic barrier end deflection structure of the magnetic barrier group to be deflected selected in the step S2 when the torque pulsation is minimum.
The center of the circle of the rotor is taken as the center of the circle and r is taken as the center of the circle s Drawing an arc on the rotor magnetic barrier for the optimal deflection radius, dividing the rotor magnetic barrier into two parts, namely a magnetic barrier body close to the rotating shaft and a magnetic barrier end close to the air gap, fixing the magnetic barrier body, and deflecting the magnetic barrier end to the optimal deflection angle alpha s Obtaining a torque ripple T ripple Lower novel rotor magnetic barrier tip deflection structure.
And S5, repeating the steps S2 to S4 until the M magnetic barrier groups to be deflected are traversed to obtain a magnetic barrier end part deflection structure of each deflection magnetic barrier group when the torque pulsation is minimum, comparing the torque pulsation of each deflection structure, wherein the deflection structure when the torque pulsation is minimum is the final deflection structure of the magnetic barrier end part.
For describing the invention in more detail, a 4-pole 48-slot 4-layer C-type rotor magnetic barrier synchronous reluctance motor with the rated power of 18.5kW is selected as an experimental object, is applied to occasions with higher requirements on stability and higher efficiency, such as a conveyor belt, a conveying intelligent machine conveying vehicle and the like, meets the requirements on the stability of the conveyor belt during conveying in the conveying process, and avoids accidents such as falling of goods and the like. The structure of the rotor is shown in fig. 3, which is a synchronous reluctance motor rotor structure with the end of the magnetic barrier not deflected (before optimization), the rotor structure comprises four layers of magnetic barriers, the four layers of magnetic barriers are arranged in sequence from the air gap to the rotating shaft, and are set as 1-1 layer of magnetic barrier 1-1, 2 layer of magnetic barrier 1-2, 3 layer of magnetic barrier 1-3 and 4 layer of magnetic barrier 1-4, and the machine has the advantages of lower cost, higher efficiency and better stability in the manufacturing process, and can vibrate but cannot be overlarge. The synchronous reluctance motor has the requirements of high efficiency and low cost under normal conditions, and the method of the embodiment of the invention can achieve lower torque ripple and realize the stable operation of the synchronous motor.
According to the formula, the first order tooth harmonics which affect the air gap magnetic density in the example are calculated to be 23 rd and 25 th order harmonics, and the second order tooth harmonics are 47 th and 49 th order harmonics, in the example, although the amplitudes of the 23 th and 25 th order harmonics are the largest except for the fundamental wave, the amplitudes of the 47 th and 49 th order harmonics account for a larger proportion, as shown in fig. 15, and for the fundamental wave, the higher order harmonic wave is larger, the influence on the fundamental wave is larger, so that the higher order harmonic wave is reduced to a certain extent under the condition that the amplitude of the 23 th and 25 th order harmonics is ensured to be not changed greatly, and the better air gap magnetic density sine degree is achieved. And selecting the maximum value and the minimum value in the optimized torque curve of the end part of each magnetic barrier, calculating an average value, calculating to obtain optimized torque pulsation, and comparing the optimized torque pulsation with the torque pulsation before optimization.
Example 1: as shown in fig. 4, the structure is a novel synchronous reluctance motor rotor structure in which the end of the 2 nd layer magnetic barrier 1-2 deflects to the center line of the magnetic barrier in the single-layer magnetic barrier end deflection type, the rest layers of magnetic barriers 1, 3 and 4 are all kept still, an arc is drawn by taking the circle center of the circle in the rotor as the circle center and the length from the circle center of the circle in the rotor to the required deflection position as the deflection radius, the layer 2 of magnetic barrier is divided into two parts, the end part 2-1-1 of the magnetic barrier is arranged close to the air gap, and the other part is arranged as the magnetic barrier body 1-2-2. Firstly, fixing 1 degree as the deflection angle of the end part of the magnetic barrier, and selecting different deflection radiuses r i Outputting torque ripple, and determining the deflection radius at the minimum torque ripple as the optimal deflection radius r s Then deflecting the end part 2-1-1 of the magnetic barrier along an arc drawn in the rotor, wherein the deflection angle is set as alpha i It is parameterized and scanned between-1.5 degrees and 1.5 degrees. The optimal deflection angle alpha of the scheme is determined by comparing the output torque waveform, air gap flux density harmonic and torque ripple s Is 1.14 degrees. Then, by comparing the change of the amplitude of the air gap flux densities 47 and 49 th harmonics before and after optimization, as shown in fig. 16, in the figure, the abscissa indicates the number of magnetic barrier layers to be optimized, and the ordinate indicates the amplitude change of the 47 th harmonic and the 49 th harmonic respectively, it can be concluded that the air gap flux densities 47 and 49 th harmonics are reduced compared with the harmonics before optimization, and are respectively reduced from 0.1125T and 0.0975TThe torque ripple is reduced to 0.1089T and 0.0959T, so that the deflection performed on the end portion of the rotor magnetic barrier in this embodiment can achieve the effect of reducing the torque ripple, and compared with the torque waveform before optimization, as shown in fig. 11 and 14, fig. 11 is the torque waveform obtained by finite element analysis simulation of the rotor structure shown in fig. 3, 4 and 5 and the rotor structure before optimization, the optimized torque waveform is smoother, and the torque ripple is reduced; FIG. 14 is torque ripple data before and after optimization, where the lowest torque ripple can be achieved by optimizing only the fourth layer rotor flux barrier ends; from the above graph, it can be seen that the torque ripple of the present example is reduced from 21.43% to 16.51%, which is reduced by 22.96% relative to that before optimization.
Example 2: as shown in fig. 5, the single-layer magnetic barrier end deflection type is adopted, and the end portions of the 3 rd layer of magnetic barriers deviate from the center line of the magnetic barrier to deflect, i.e., the 1 st, 2 nd and 4 th layers of magnetic barriers are kept still, an arc is drawn by taking the circle center of the circle in the rotor as the circle center and the length from the circle center of the circle in the rotor to the required deflection position as the deflection radius, the 3 rd layer of magnetic barriers are divided into two parts, the end portion 1-3-1 of the magnetic barrier is arranged near the air gap, and the other part is arranged as the magnetic barrier body 1-3-2. Firstly, fixing 1 degree as the deflection angle of the end part of the magnetic barrier, and selecting different deflection radiuses r i Outputting torque ripple, and determining the deflection radius at the minimum torque ripple as the optimal deflection radius r s And then keeping the length of the optimal deflection radius unchanged, deflecting the end part of the magnetic barrier along an arc drawn in the rotor, parameterizing the deflection angle, scanning between-1.5 degrees and 1.5 degrees, outputting a torque waveform, an air gap flux density harmonic wave and torque pulsation, and determining the optimal deflection angle alpha of the scheme by comparing torque pulsation values s Is-0.87 deg. Comparing the air gap flux densities 47 and 49 subharmonics before and after optimization, as shown in fig. 16, it can be concluded that the air gap flux densities 47 and 49 subharmonics are reduced from 0.1125T and 0.0975T to 0.1089T and 0.0949T, respectively, so that the deflection of the rotor flux barrier end portion by the present invention can achieve the effect of reducing torque ripple, and compared with the torque waveform before optimization, as shown in fig. 11 and 14, the torque ripple of the present example is reduced from 21.43% to 14.96%, and is reduced by 30.19% compared with before optimization.
Example 3: as shown in fig. 6, the rotor structure is a single-layer magnetic barrier end deflection type, and a novel synchronous reluctance motor rotor structure in which the end portions of the 4 th layer of magnetic barriers deviate from the center line of the magnetic barriers deflects to keep the 1 st, 2 nd and 3 rd layers of magnetic barriers still; the center of the inner circle of the rotor is used as the center of the circle, the length from the center of the inner circle of the rotor to a required deflection position is used as a deflection radius to draw an arc, the 4 layers of magnetic barriers are divided into two parts, the part close to the air gap is set as a magnetic barrier end part 1-4-1, and the other part is set as a magnetic barrier body 1-4-2. Firstly, fixing 1 degree as the deflection angle of the end part of the magnetic barrier, and selecting different deflection radiuses r i Outputting torque ripple, and determining the deflection radius at the minimum torque ripple as the optimal deflection radius r s And then keeping the length of the optimal deflection radius unchanged, deflecting the end part of the magnetic barrier along an arc drawn in the rotor, parameterizing the deflection angle, scanning between minus 1.5 degrees and 1.5 degrees, outputting a torque waveform, an air gap flux density harmonic wave and torque pulsation, and determining the optimal deflection angle alpha of the scheme by comparing a torque pulsation value s Is-1.48 degrees. Comparing the harmonics of the air gap flux densities 47 and 49 before and after optimization, it can be concluded from fig. 16 that the harmonics of the air gap flux densities 47 and 49 before optimization are both reduced from 0.1125T and 0.0975T to 0.1109T and 0.0956T, respectively, so that the deflection of the rotor flux barrier end portion by the invention can achieve the effect of reducing torque ripple, and compared with the torque waveform before optimization, as shown in fig. 11 and 14, the torque ripple of the example is reduced from 21.43% to 13.95%, and is reduced by 34.90% compared with before optimization.
Example 4: as shown in fig. 7, the structure is a double-layer magnetic barrier end deflection type, and a novel synchronous reluctance motor rotor structure in which the ends of the 2 nd and 3 rd layer magnetic barriers deflect to the center line of the magnetic barrier holds the 1 st and 4 th layer magnetic barriers still. And drawing an arc by taking the circle center of the inner circle of the rotor as the circle center and the length from the circle center of the inner circle of the rotor to a required deflection position as a deflection radius, dividing the 2 nd layer magnetic barrier and the 3 rd layer magnetic barrier into two parts, wherein the parts close to an air gap are set as magnetic barrier end parts 2-1-1 and 1-3-1, and the other parts are set as magnetic barrier bodies 1-2-2 and 1-3-2. Firstly, fixing 1 degree as the deflection angle of the end part of the magnetic barrier, and selecting different deflection radiuses r i Outputting torque ripple, determining the deflection radius at the minimum torque ripple to be the most suitable for the schemeOptimum deflection radius r s And then keeping the length of the optimal deflection radius unchanged, deflecting the end part of the magnetic barrier along an arc drawn in the rotor, parameterizing the deflection angle, scanning between-1.5 degrees and 1.5 degrees, outputting a torque waveform, an air gap flux density harmonic wave and torque pulsation, and determining the optimal deflection angle alpha of the scheme by comparing torque pulsation values s Is 1.41 degrees. Then, by comparing the air gap flux densities 47 and 49 subharmonics before and after optimization, as shown in fig. 16, it can be concluded that the air gap flux densities 47 and 49 subharmonics are both reduced from 0.1125T and 0.0975T to 0.1119T and 0.0965T, respectively, so that the deflection of the rotor flux barrier end portion according to the present invention can achieve the effect of reducing the torque ripple, and as shown in fig. 12 and 14, with respect to the torque waveform before optimization, fig. 12 shows the double-layer flux barrier end deflection type in the embodiment of the present invention and the comparative torque waveform before optimization, that is, the torque waveform obtained by finite element analysis simulation of the rotor structures of fig. 6, 7 and 8 and the rotor structure before optimization, the optimized torque waveform is smoother, the torque ripple is reduced to some extent, and the torque ripple of the present example is reduced from 21.43% to 15.51%, and is reduced by 27.63% with respect to the torque waveform before optimization.
Example 5: as shown in fig. 8, the rotor structure of the synchronous reluctance motor is a double-layer magnetic barrier end deflection type, and the end portions of the 2 nd and 4 th layers of magnetic barriers deflect away from the center line of the magnetic barrier, the 1 st and 3 rd layers of magnetic barriers are kept still, the center of the inner circle of the rotor is the center of the circle, the length from the center of the inner circle of the rotor to the required deflection position is taken as the deflection radius to draw an arc, the 2 nd and 4 th layers of magnetic barriers are divided into two parts, the parts close to the air gap are set as the end portions 2-1-1 and 1-4-1 of the magnetic barriers, the other parts are set as the body portions 1-2-2 and 1-4-2 of the magnetic barriers, firstly, 1 degree is fixed as the deflection angle of the end portions of the magnetic barriers, and different deflection radii r are selected i Outputting torque ripple, and determining the deflection radius at the minimum torque ripple as the optimal deflection radius r s And then keeping the length of the optimal deflection radius unchanged, deflecting the end part of the magnetic barrier along an arc drawn in the rotor, parameterizing the deflection angle, scanning between-1.5 degrees and 1.5 degrees, outputting a torque waveform, an air gap flux density harmonic wave and torque pulsation, and determining the optimal deflection angle alpha of the scheme by comparing torque pulsation values s Is-1.4 deg. Comparing the harmonics of the air gap flux densities 47 and 49 before and after optimization, as shown in fig. 16, it can be concluded that the harmonics of the air gap flux densities 47 and 49 before optimization are reduced, and respectively changed from 0.1125T and 0.0975T to 0.1116T and 0.0995T, so that the deflection of the rotor flux barrier end portion by the invention can achieve the effect of reducing torque ripple, and compared with the torque waveform before optimization, as shown in fig. 12 and 14, the torque ripple of the example is reduced from 21.43% to 17.64%, and is reduced by 17.69% compared with the torque waveform before optimization.
Example 6: as shown in fig. 9, the structure is a double-layer magnetic barrier end deflection type, and a synchronous reluctance motor rotor structure in which the end portions of the 3 rd and 4 th layers of magnetic barriers deflect away from a magnetic barrier center line keeps the 1 st and 2 nd layers of magnetic barriers still, draws an arc by taking the circle center of the inner circle of the rotor as the circle center and the length from the circle center of the inner circle of the rotor to a required deflection position as a deflection radius, divides the 3 rd and 4 th layers of magnetic barriers into two parts, sets magnetic barrier end portions 1-3-1 and 1-4-1 close to an air gap, and sets magnetic barrier bodies 1-4-1 and 1-4-2 at the other part. Firstly, fixing 1 degree as the deflection angle of the end part of the magnetic barrier, and selecting different deflection radiuses r i Outputting torque ripple, and determining the deflection radius at the minimum torque ripple as the optimal deflection radius r s And then keeping the length of the optimal deflection radius unchanged, deflecting the end part of the magnetic barrier along an arc drawn in the rotor, parameterizing the deflection angle, scanning between minus 1.5 degrees and 1.5 degrees, outputting a torque waveform, an air gap flux density harmonic wave and torque pulsation, and determining the optimal deflection angle alpha of the scheme by comparing a torque pulsation value s Is-0.52 degrees. Comparing the harmonics of the air gap flux densities 47 and 49 before and after optimization, as shown in fig. 16, it can be concluded that the harmonics of the air gap flux densities 47 and 49 before optimization are both reduced from 0.1125T and 0.0975T to 0.1100T and 0.0954T, respectively, so that the deflection of the rotor flux barrier end portion by the invention can achieve the effect of reducing torque ripple, and compared with the torque waveform before optimization, as shown in fig. 12 and 14, the torque ripple of the example is reduced from 21.43% to 15.14%, and compared with the torque waveform before optimization, the torque ripple is reduced by 29.35%.
Example 7: as shown in fig. 10, the three-layer magnetic barrier end deflection type is adopted, and the end parts of the 2 nd, 3 rd and 4 th layers of magnetic barriers are away from the magnetA synchronous reluctance motor rotor structure capable of deflecting by a barrier center line is characterized in that a layer 1 magnetic barrier is kept still, an arc is drawn by taking the circle center of an inner circle of a rotor as the circle center and the length from the circle center of the inner circle of the rotor to a required deflection position as a deflection radius, layers 2, 3 and 4 magnetic barriers are divided into two parts, the parts close to an air gap are set as magnetic barrier end parts 2-1-1, 1-3-1 and 1-4-1, the other parts are set as magnetic barrier bodies 1-2-2, 1-3-2 and 1-4-2, 1 degree is firstly fixed as the deflection angle of the magnetic barrier end part, and different deflection radiuses r are selected i Outputting torque ripple, and determining the deflection radius at the minimum torque ripple as the optimal deflection radius r s And then keeping the length of the optimal deflection radius unchanged, deflecting the end part of the magnetic barrier along an arc drawn in the rotor, parameterizing the deflection angle, scanning between-1.5 degrees and 1.5 degrees, outputting a torque waveform, an air gap flux density harmonic wave and torque pulsation, and determining the optimal deflection angle alpha of the scheme by comparing torque pulsation values s Is-0.78 degree. Then, comparing the air gap flux densities 47 and 49 times of harmonics before and after optimization, as shown in fig. 16, it can be concluded that the air gap flux densities 47 and 49 times of harmonics are slightly reduced from 0.1125T and 0.0975T to 0.1096T and 0.0961T, respectively, so that the deflection of the end portion of the rotor flux barrier according to the present invention can achieve the effect of reducing torque ripple, and compared with the torque waveform before optimization, as shown in fig. 13 and fig. 14, fig. 13 shows the deflection type of the end portion of the three-layer flux barrier and the comparative torque waveform generated before optimization, that is, the comparative torque waveform obtained by finite element analysis simulation of the rotor structure of fig. 9 and the rotor structure before optimization, the optimized torque waveform is smoother, and the torque ripple is reduced; the torque ripple of the present example was reduced from 21.43% to 16.16%, which was reduced by 24.59% relative to that before optimization.
As can be seen from comparing fig. 11, 14, 16 and 17, for the example of the single-layer magnetic barrier end deflection type in the above embodiment, in the embodiment of the present invention, the structure and the method for deflecting the single-layer magnetic barrier end can achieve the effects of reducing the high-order harmonic of the air gap flux density, optimizing the air gap flux density waveform, smoothing the torque, and reducing the torque ripple.
As for the example of the deflection type of the end portion of the double-layer magnetic barrier in the above embodiment, as can be seen from comparing fig. 12, 14, 16 and 17, the structure and the method for deflecting the end portion of the double-layer magnetic barrier of the rotor according to the present invention can achieve the effects of reducing the high-order harmonic amplitude of the air gap flux density, and optimizing the air gap flux density waveform, thereby achieving the effects of smoothing the torque and reducing the torque ripple.
As for the example of the three-layer magnetic barrier end deflection type in the above embodiment, as can be seen from comparing fig. 13, 14, 16, and 17, the structure and the method for deflecting the rotor three-layer magnetic barrier end can achieve the effects of reducing the high-order harmonic amplitude of the air gap flux density, optimizing the air gap flux density waveform, thereby achieving the effects of smoothing the torque and reducing the torque ripple.
By comparing the above-described embodiments 1-7, which represent different deflection schemes with different deflection yoke groups, it can be determined that the deflection scheme of embodiment 3 achieves the least torque ripple, which is the optimal deflection scheme, and the resulting deflection structure is the optimal deflection structure.
In summary, the method for deflecting the end of the magnetic barrier according to the embodiment of the present invention optimally designs the deflection of the end of the rotor magnetic barrier, so as to reduce the harmonic amplitude in the air gap flux density, reduce the harmonic torque amplitude caused by the harmonic coincidence of the stator magnetomotive force and the rotor magnetomotive force, reduce the effect of torque pulsation, reduce the vibration of the motor during the motion process, and enable the optimized synchronous reluctance motor to obtain better torque characteristics.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (4)
1. A reluctance motor magnetic barrier end deflection method for inhibiting torque pulsation comprises a rotor, n layers of magnetic barriers which are sequentially stacked are arranged between the outer side of the rotor and an air gap, and n is larger than or equal to 2, and the reluctance motor magnetic barrier end deflection method is characterized by comprising the following steps:
s1, setting one layer of magnetic barrier adjacent to an air gap as a fixed magnetic barrier, and combining the other n-1 layers of magnetic barriers to obtain M magnetic barrier groups to be deflected;
s11, dividing n-1 magnetic barrier end deflection types according to the number of the magnetic barriers in the magnetic barrier group, wherein the deflection types are respectively as follows: the magnetic shield comprises a single-layer magnetic barrier end part deflection type, a two-layer magnetic barrier end part deflection type, a three-layer magnetic barrier end part deflection type, \8230 \ 8230;, an n-1 layer magnetic barrier end part deflection type; wherein, the first and the second end of the pipe are connected with each other,
m 1 the number of magnetic barrier groups in the single-layer magnetic barrier end deflection type, m 2 The number of the magnetic barrier groups in the double-layer magnetic barrier end deflection type, m 3 The number of magnetic barrier groups in the three-layer magnetic barrier end deflection type is (8230); 8230;, m) n-1 The number of the magnetic barrier groups in the deflection type of the end part of the n-1 layers of magnetic barriers;
s12, the magnetic barrier group in the magnetic barrier end deflection type is the magnetic barrier group to be deflected;
s2, selecting a magnetic barrier group to be deflected, taking the center of the inner circle of the rotor, the distance between the center of the inner circle of the rotor and the magnetic barrier of the selected magnetic barrier group to be deflected as a deflection radius, dividing the magnetic barrier in the magnetic barrier group into two parts by an arc line formed by the rotation of the deflection radius around the center of the inner circle of the rotor, wherein the part close to the air gap side is the end part of the magnetic barrier, the part close to the rotating shaft side is a main body of the magnetic barrier, and selecting the deflection radius with the smallest torque pulsation as the optimal deflection radius r s ；
The optimum deflection radius r s The obtaining method comprises the following steps:
limiting the range of deflection angles, setting the end part of the fixed magnetic barrier as a fixed angle in the range of the deflection angles, selecting a plurality of deflection radiuses to be measured in the length range of the deflection radiuses, calculating the torque pulsation under each deflection radius to be measured, obtaining the minimum value of the torque pulsation through comparison, and selecting the deflection radius corresponding to the minimum value of the torque pulsation as the optimal deflection radius r s ；
S3, fixing the optimal deviationRadius of rotation r s ，
Selecting a plurality of deflection angles to be tested in the range of the deflection angle, calculating torque pulsation under each deflection angle to be tested, obtaining the minimum value of the torque pulsation through comparison, and selecting the deflection angle of the corresponding deflection sub-long end part as the optimal deflection angle alpha when the torque pulsation is minimum s ；S4、
Taking the center of the circle of the rotor as the center of the circle and the optimal deflection radius r obtained in the step S2 s Drawing an arc for the rotor magnetic barrier by radius, dividing a magnetic barrier body and a magnetic barrier end part of the rotor magnetic barrier, fixing the magnetic barrier body, and deflecting the magnetic barrier end part to the optimal deflection angle alpha in the step S3 s Obtaining a rotor magnetic barrier end deflection structure when the torque pulsation is minimum;
and S5, repeating the steps S2 to S4 until the M magnetic barrier groups to be deflected are traversed to obtain a magnetic barrier end part deflection structure of each deflection magnetic barrier group when the torque pulsation is minimum, comparing the torque pulsation of each deflection structure, wherein the deflection structure when the torque pulsation is minimum is the final deflection structure of the magnetic barrier end part.
2. The method for deflecting the end part of the magnetic barrier of the reluctance motor for suppressing the torque ripple according to claim 1, wherein the length range of the deflection radius is: the length of the deflection radius is more than or equal to the distance from the circle center of the inner circle of the rotor to the outer edge of the center of the magnetic barrier close to the side of the rotating shaft in the magnetic barrier group, and the length of the deflection radius is less than or equal to the distance from the circle center of the inner circle of the rotor to the end edge of the magnetic barrier close to the side of the air gap in the magnetic barrier group.
3. The method for deflecting the end of the magnetic barrier of the reluctance motor for inhibiting the torque ripple according to claim 1, wherein the method for calculating the torque ripple comprises: and the ratio of the difference obtained by subtracting the minimum torque value from the maximum torque value after the motor is stabilized to the average torque value.
4. The method for deflecting the end of the magnetic barrier of the reluctance motor for inhibiting the torque ripple according to claim 1, wherein the deflection angle is in the range of: (-1.5 °,1.5 °).
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