CN114244217A - Permanent magnet synchronous motor simulation method based on motor order reduction model - Google Patents

Permanent magnet synchronous motor simulation method based on motor order reduction model Download PDF

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CN114244217A
CN114244217A CN202111555815.2A CN202111555815A CN114244217A CN 114244217 A CN114244217 A CN 114244217A CN 202111555815 A CN202111555815 A CN 202111555815A CN 114244217 A CN114244217 A CN 114244217A
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motor
permanent magnet
magnet synchronous
model
synchronous motor
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魏翼鹰
李新颜
周永平
邹琳
张晖
郑砚龄
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Wuhan University of Technology WUT
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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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
    • 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
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    • 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
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    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention discloses a permanent magnet synchronous motor simulation method based on a motor order reduction model, which comprises the following steps of: building a main circuit in Simplorer software, adding a Simulink module and a motor reduced model into the Simplorer software, connecting the motor reduced model with the main circuit, and connecting the motor reduced model with the Simulink module; building a control strategy of the permanent magnet synchronous motor in Simulink software; and setting the same simulation time and simulation step length in the Simplorer software and the Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor. The field-circuit coupling method is used for combining the motor electromagnetic field analysis model with the control system model, the whole system can be simulated, the influence of the motor body performance and different control strategies on the motor performance can be simultaneously researched, the mutual coupling relation and coupling factors among all parts of the motor system can be further comprehensively researched, and the field-circuit coupling simulation speed can be greatly improved by using the motor order reduction model.

Description

Permanent magnet synchronous motor simulation method based on motor order reduction model
Technical Field
The invention relates to the technical field of simulation of permanent magnet synchronous motors, in particular to a permanent magnet synchronous motor simulation method, device, system and medium based on a motor order reduction model.
Background
With the adjustment of national development strategy, China has become the world with the biggest country for the production and sale of electric vehicles. Under the support of various national welfare policies, various technical funds are put into the emerging industry in the electric automobile industry, and rapid development is achieved in recent years. In the development process of the driving motor of the electric automobile, along with the continuous improvement of the requirements of people on the driving motor, the permanent magnet synchronous motor is widely applied to the electric automobile with the advantages of high efficiency, high control precision, high torque density, good torque stability, low vibration, low noise and the like. Therefore, it is necessary to comprehensively analyze the system performance of the permanent magnet synchronous motor. In the design research of the permanent magnet synchronous motor, a modeling simulation method based on MATLAB/Simulink and a simulation design method based on finite elements are adopted.
However, the MATLAB/Simulink-based simulation method can realize accurate modeling of a control system and a control algorithm, but the motor is replaced by a mathematical model, so that the limitation of neglecting the inherent characteristics of the motor exists. The simulation design method based on finite elements can accurately model the motor body, but is difficult to analyze an external circuit, and cannot simulate the starting of the motor, the load and the operation performance of a research system when different control strategies are adopted.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a method, a device, a system and a medium for simulating a permanent magnet synchronous motor based on a motor reduced model, and solves the technical problems that a simulation design method based on finite elements in the prior art can accurately model a motor body, but is difficult to analyze an external circuit and cannot simulate the starting and loading of the motor and research the running performance of the system adopting different control strategies.
In order to achieve the above technical objective, a first aspect of the present invention provides a method for simulating a permanent magnet synchronous motor based on a motor reduced-order model, including the following steps:
building a main circuit in Simplorer software, adding a Simulink module and a motor reduced model into the Simplorer software, connecting the motor reduced model with the main circuit, and connecting the motor reduced model with the Simulink module;
building a control strategy of the permanent magnet synchronous motor in Simulink software;
and setting the same simulation time and simulation step length in the Simplorer software and the Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a permanent magnet synchronous motor simulation method based on a motor reduced model, wherein Simulink software is a visual simulation tool in MATLAB (matrix laboratory) promoted by Mathworks company, and Simplorer software is visual and easy-to-use multi-physical-domain multi-level system simulation software. The field-circuit coupling method is used for combining the motor electromagnetic field analysis model with the control system model, the whole system can be simulated, the influence of the motor body performance and different control strategies on the motor performance can be simultaneously researched, the mutual coupling relation and coupling factors among all parts of the motor system can be further comprehensively researched, and the field-circuit coupling simulation speed can be greatly improved by using the motor order reduction model.
According to some embodiments of the invention, the constructing of the reduced order model of the motor comprises the steps of:
scanning armature current of the permanent magnet synchronous motor and the angle of a motor rotor to obtain a scanning setting file;
importing the scanning setting file into a finite element model of the permanent magnet synchronous motor established in motor finite element simulation software;
running the motor finite element simulation software to analyze and calculate the finite element model of the permanent magnet synchronous motor to obtain motor current data, motor flux linkage data and electromagnetic torque data;
and constructing a motor order reduction model according to the motor current data, the motor flux linkage data and the electromagnetic torque data.
According to some embodiments of the invention, the finite element model of the permanent magnet synchronous machine comprises:
the stator voltage equation of the permanent magnet synchronous motor under a three-phase static coordinate system is as follows:
Figure BDA0003418629420000031
ua、ub、ucis the abc three-phase voltage, ia、ib、icRespectively being abc three-phase current, psia、ψb、ψcAre respectively abc three-phase magnetic linkage, RsIs the armature internal resistance;
the permanent magnet synchronous motor has a flux linkage equation under a three-phase static coordinate system:
Figure BDA0003418629420000032
in the formula Laa、Lbb、LccIs self-inductive for each winding and has Laa＝Lbb＝Lcc；Mab、Mac、Mba、Mbc、Mca、McbIs mutual inductance between windings, and has Mab＝Mac＝Mba＝Mbc＝Mca＝Mcb；ψfAnd theta is a rotor magnetic linkage, namely the included angle between the rotor N pole and the phase axis a.
According to some embodiments of the invention, the stator voltage equation of the permanent magnet synchronous motor in the three-phase static coordinate system and the flux linkage equation in the three-phase static coordinate system are converted in the dq rotation coordinate system to obtain:
voltage equation:
Figure BDA0003418629420000033
the flux linkage equation:
Figure BDA0003418629420000034
the torque equation: t ise＝np(ψfiq+(Ld-Lq)idiq)
Equation of motion:
Figure BDA0003418629420000035
wherein u isd、uqIs the dq-axis voltage, id、iqIs dq-axis current, Ld、LqIs a dq-axis inductance,. psid、ψqIs dq axis flux linkage.
According to some embodiments of the invention, the scanning the armature current of the permanent magnet synchronous motor and the rotor angle of the motor to obtain the scan setting file comprises the following steps:
and setting different scanning intervals and scanning step lengths according to requirements so as to control the model precision of the scanning setting file.
According to some embodiments of the invention, the main circuit comprises: the device comprises a three-phase power supply, a resistor, an inductor, a torque measuring module, an angular velocity measuring module, a rotational inertia measuring module, a torque source module and a Ground module.
According to some embodiments of the invention, the building of the control strategy of the permanent magnet synchronous motor in the Simulink software comprises the steps of:
building a mathematical model of a control strategy in the Simulink software, wherein the selection of the control strategy comprises but is not limited to idThe method comprises the following steps of (1) a vector control strategy of 0, a maximum torque ratio current control strategy and a flux weakening control strategy;
the mathematical model adopts a double closed-loop control structure, wherein a control inner loop is a current loop, and a control outer loop is a voltage loop;
the control model of the control strategy comprises: the system comprises a PI regulator, a current decoupling module, a coordinate transformation module, space vector control and an S-Function module which is used for data transmission with the Simplorer software.
According to some embodiments of the invention, the building of the main circuit in the simlorer software comprises the steps of:
adding the variables output to and input from the Simulink module.
In a second aspect, a technical solution of the present invention provides a permanent magnet synchronous motor simulation apparatus based on a motor order reduction model, including:
the motor scanning module is used for scanning the armature current of the permanent magnet synchronous motor and the angle of a motor rotor;
the model establishing module is used for establishing a finite element model and a motor reduced-order model of the permanent magnet synchronous motor;
the main circuit building module is used for building a main circuit in Simplorer software;
the control strategy module is used for building a control strategy of the permanent magnet synchronous motor in Simulink software;
and the joint debugging simulation module is used for performing joint debugging simulation on the permanent magnet synchronous motor in Simplorer software and Simulink software.
In a third aspect, a technical solution of the present invention provides a permanent magnet synchronous motor simulation system based on a motor order reduction model, including: a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method for simulating a permanent magnet synchronous motor based on a reduced-order motor model according to any one of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium, where computer-executable instructions are stored, where the computer-executable instructions are configured to enable a computer to execute the method for simulating a permanent magnet synchronous motor based on a reduced motor order model according to any one of the first aspects.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which the abstract is to be fully consistent with one of the figures of the specification:
fig. 1 is a flowchart of a method for simulating a permanent magnet synchronous motor based on a motor reduced-order model according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for simulating a permanent magnet synchronous motor based on a motor reduced-order model according to another embodiment of the present invention;
fig. 3 is a flowchart of a method for simulating a permanent magnet synchronous motor based on a motor reduced-order model according to another embodiment of the present invention;
fig. 4 is a flowchart of a control strategy of a permanent magnet synchronous motor simulation method based on a motor reduced-order model according to another embodiment of the present invention;
fig. 5 is a rotation speed result diagram of joint simulation of a permanent magnet synchronous motor simulation method based on a motor reduced-order model according to another embodiment of the present invention;
fig. 6 is a three-phase current result diagram of joint simulation of a permanent magnet synchronous motor simulation method based on a motor reduced-order model according to another embodiment of the present invention.
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.
It should be noted that although functional block divisions are provided in the system drawings and logical orders are shown in the flowcharts, in some cases, the steps shown and described may be performed in different orders than the block divisions in the systems or in the flowcharts. The terms first, second and the like in the description and in the claims, and the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The invention provides a permanent magnet synchronous motor simulation method based on a motor reduced model, which combines a motor electromagnetic field analysis model and a control system model by using a field circuit coupling method, can simulate the whole system, can simultaneously research the influence of the performance of a motor body and different control strategies on the performance of the motor, further comprehensively research the mutual coupling relation and coupling factors among all parts of the motor system, and can greatly improve the field circuit coupling simulation speed by using the motor reduced model.
The embodiments of the present invention will be further explained with reference to the drawings.
Referring to fig. 1, fig. 1 is a flowchart of a method for simulating a permanent magnet synchronous motor based on a motor reduced-order model according to an embodiment of the present invention, where the method for simulating a permanent magnet synchronous motor based on a motor reduced-order model includes, but is not limited to, steps S110 to S130.
Step S110, a main circuit is built in Simplorer software, a Simulink module and a motor reduced model are added into the Simplorer software, the motor reduced model is connected with the main circuit, and the motor reduced model is connected with the Simulink module;
step S120, a control strategy of the permanent magnet synchronous motor is built in Simulink software;
and S130, setting the same simulation time and simulation step length in Simplorer software and Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor.
In one embodiment, a main circuit is built in Simplorer software, a Simulink module and a motor reduced model are added into the Simplorer software, the motor reduced model is connected with the main circuit, and the motor reduced model is connected with the Simulink module; building a control strategy of the permanent magnet synchronous motor in Simulink software; and setting the same simulation time and simulation step length in Simplorer software and Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor. According to the permanent magnet synchronous motor simulation method based on the motor reduced-order model, a motor electromagnetic field analysis model and a control system model are combined by using a field circuit coupling method, the whole system can be simulated, the influence of the motor body performance and different control strategies on the motor performance can be simultaneously researched, the mutual coupling relation and coupling factors among all parts of the motor system can be further comprehensively researched, and the field circuit coupling simulation speed can be greatly improved by using the motor reduced-order model.
The invention adopts idThe basic idea of vector control is to try to simulate the law of dc motor torque control on a common three-phase ac motor, and on the magnetic field orientation coordinate, the current vector is decomposed into an excitation current component generating magnetic flux and a torque current component generating torque, and the two components are made perpendicular to each other, independent of each other, and then adjusted separately. The direct axis (i) of the stator current is completedd) And the quadrature component (i)q) The decoupling control of (2) enables the PMSM to have superior operating characteristics.
The system mainly comprises the following modules: the device comprises a permanent magnet synchronous motor module, a rotating speed/current regulating module, a coordinate transformation module, Space Vector Pulse Width Modulation (SVPWM), an inverter module and a measuring module. The whole control process is as follows: speed command nrefCompared with the detected rotor speed signal n and then passed through the output i of the speed regulatorqrefCommand signal, with i fed backqMake a difference as iqThe input of the current regulator. While simultaneously giving idrefIs 0, transforming the coordinates of id、iqThe three-phase current is converted into three-phase current of the stator, and then the six-path PWM wave is output by the PWM module to drive the inverter circuit, so that three-phase sinusoidal voltage with variable frequency and amplitude is generated to drive the motor to operate.
Referring to fig. 2, fig. 2 is a flowchart of a method for simulating a pmsm based on a reduced motor order model according to another embodiment of the present invention, where the method for simulating a pmsm based on a reduced motor order model includes, but is not limited to, steps S210 to S240.
Step S210, scanning the armature current of the permanent magnet synchronous motor and the angle of a motor rotor to obtain a scanning setting file;
step S220, importing the scanning setting file into a finite element model of the permanent magnet synchronous motor established in motor finite element simulation software;
step S230, running motor finite element simulation software to analyze and calculate a finite element model of the permanent magnet synchronous motor to obtain motor current data, motor flux linkage data and electromagnetic torque data;
and step S240, constructing a motor reduced model according to the motor current data, the motor flux linkage data and the electromagnetic torque data.
In one embodiment, the armature current of the permanent magnet synchronous motor and the angle of a motor rotor are scanned to obtain a scanning setting file; importing the scanning setting file into a finite element model of the permanent magnet synchronous motor established in motor finite element simulation software; running motor finite element simulation software to analyze and calculate a finite element model of the permanent magnet synchronous motor to obtain motor current data, motor flux linkage data and electromagnetic torque data; and constructing a motor order reduction model according to the motor current data, the motor flux linkage data and the electromagnetic torque data. A main circuit is built in Simplorer software, a Simulink module and a motor reduced model are added into the Simplorer software, the motor reduced model is connected with the main circuit, and the motor reduced model is connected with the Simulink module; building a control strategy of the permanent magnet synchronous motor in Simulink software; and setting the same simulation time and simulation step length in Simplorer software and Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor.
Referring to fig. 3 to 6, fig. 3 is a flowchart of a method for simulating a permanent magnet synchronous motor based on a motor reduced-order model according to another embodiment of the present invention; fig. 4 is a flowchart of a control strategy of a permanent magnet synchronous motor simulation method based on a motor reduced-order model according to another embodiment of the present invention; fig. 5 is a rotation speed result diagram of joint simulation of a permanent magnet synchronous motor simulation method based on a motor reduced-order model according to another embodiment of the present invention; fig. 6 is a three-phase current result diagram of joint simulation of a permanent magnet synchronous motor simulation method based on a motor reduced-order model according to another embodiment of the present invention.
In one embodiment, the armature current of the permanent magnet synchronous motor and the angle of a motor rotor are scanned to obtain a scanning setting file; importing the scanning setting file into a finite element model of the permanent magnet synchronous motor established in motor finite element simulation software; running motor finite element simulation software to analyze and calculate a finite element model of the permanent magnet synchronous motor to obtain motor current data, motor flux linkage data and electromagnetic torque data; and constructing a motor order reduction model according to the motor current data, the motor flux linkage data and the electromagnetic torque data. A main circuit is built in Simplorer software, a Simulink module and a motor reduced model are added into the Simplorer software, the motor reduced model is connected with the main circuit, and the motor reduced model is connected with the Simulink module; building a control strategy of the permanent magnet synchronous motor in Simulink software; and setting the same simulation time and simulation step length in Simplorer software and Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor.
The permanent magnet synchronous motor is a nonlinear system and has the characteristics of multivariable and strong coupling. To facilitate its analysis, the following assumptions were made:
(1) neglecting the iron core saturation phenomenon, and not counting eddy current and magnetic hysteresis loss;
(2) neglecting the influence of tooth grooves, a phase change process, armature reaction and the like;
(3) the rotor has no damping winding, and the permanent magnet has no damping function;
(4) the excitation magnetic field generated by the permanent magnet and the induction magnetic field generated by the three-phase winding are distributed in a sine shape;
(5) the stator winding current generates only a sinusoidal magnetic potential in the air gap, without higher harmonics.
The theoretical analysis control is in the engineering error range, the obtained result is very close to the real situation, the analysis and control of the permanent magnet synchronous motor are feasible under the assumption, and the finite element model of the permanent magnet synchronous motor comprises the following steps:
the stator voltage equation of the permanent magnet synchronous motor under a three-phase static coordinate system is as follows:
Figure BDA0003418629420000091
ua、ub、ucis the abc three-phase voltage, ia、ib、icRespectively being abc three-phase current, psia、ψb、ψcAre respectively abc three-phase magnetic linkage, RsIs the armature internal resistance;
the flux linkage equation of the permanent magnet synchronous motor under a three-phase static coordinate system is as follows:
Figure BDA0003418629420000092
in the formula Laa、Lbb、LccIs self-inductive for each winding and has Laa＝Lbb＝Lcc；Mab、Mac、Mba、Mbc、Mca、McbIs mutual inductance between windings, and has Mab＝Mac＝Mba＝Mbc＝Mca＝Mcb；ψfAnd theta is a rotor magnetic linkage, namely the included angle between the rotor N pole and the phase axis a.
In one embodiment, a stator voltage equation of the permanent magnet synchronous motor in a three-phase static coordinate system and a flux linkage equation in the three-phase static coordinate system are converted in a dq rotation coordinate system to obtain:
voltage equation:
Figure BDA0003418629420000093
the flux linkage equation:
Figure BDA0003418629420000094
the torque equation: t ise＝np(ψfiq+(Ld-Lq)idiq)
Equation of motion:
Figure BDA0003418629420000095
wherein u isd、uqIs the dq-axis voltage, id、iqIs dq-axis current, Ld、LqIs a dq-axis inductance,. psid、ψqIs dq axis flux linkage.
As can be seen from the torque equation, the electromagnetic torque has two parts, the first term is generated by the interaction of rotor permanent magnet flux and three-phase stator winding flux, and the second term is the reaction torque generated by the reluctance change caused by the convex effect, and is a convex permanent magnet synchronous motor (L)d≠Lq) Peculiar to non-salient pole permanent magnet synchronous machines (L)d＝Lq) Reluctance torque can not be generated, and it can be seen that only the stator quadrature-direct axis current component (i) needs to be adjusted to adjust the electromagnetic torque of the PMSM (permanent magnet synchronous motor) because the rotor flux linkage is constantd、iq)。
In one embodiment, the armature current of the permanent magnet synchronous motor and the angle of a motor rotor are scanned to obtain a scanning setting file; and importing the scanning setting file into a finite element model of the permanent magnet synchronous motor established in motor finite element simulation software, and setting different scanning intervals and scanning step lengths according to requirements to control the model precision of the scanning setting file. Running motor finite element simulation software to analyze and calculate a finite element model of the permanent magnet synchronous motor to obtain motor current data, motor flux linkage data and electromagnetic torque data; and constructing a motor order reduction model according to the motor current data, the motor flux linkage data and the electromagnetic torque data. A main circuit is built in Simplorer software, a Simulink module and a motor reduced model are added into the Simplorer software, the motor reduced model is connected with the main circuit, and the motor reduced model is connected with the Simulink module; building a control strategy of the permanent magnet synchronous motor in Simulink software; and setting the same simulation time and simulation step length in Simplorer software and Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor.
In one embodiment, the armature current of the permanent magnet synchronous motor and the angle of a motor rotor are scanned to obtain a scanning setting file; importing the scanning setting file into a finite element model of the permanent magnet synchronous motor established in motor finite element simulation software; running motor finite element simulation software to analyze and calculate a finite element model of the permanent magnet synchronous motor to obtain motor current data, motor flux linkage data and electromagnetic torque data; and constructing a motor order reduction model according to the motor current data, the motor flux linkage data and the electromagnetic torque data. A main circuit is built in Simplorer software, a Simulink module and a motor reduced model are added into the Simplorer software, the motor reduced model is connected with the main circuit, and the motor reduced model is connected with the Simulink module; building a control strategy of the permanent magnet synchronous motor in Simulink software; and setting the same simulation time and simulation step length in Simplorer software and Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor. The main circuit comprises: the device comprises a three-phase power supply, a resistor, an inductor, a torque measuring module, an angular velocity measuring module, a rotational inertia measuring module, a torque source module and a Ground module.
In one embodiment, the armature current of the permanent magnet synchronous motor and the angle of a motor rotor are scanned to obtain a scanning setting file; importing the scanning setting file into a finite element model of the permanent magnet synchronous motor established in motor finite element simulation software; running motor finite element simulation software to analyze and calculate a finite element model of the permanent magnet synchronous motor to obtain motor current data, motor flux linkage data and electromagnetic torque data; and constructing a motor order reduction model according to the motor current data, the motor flux linkage data and the electromagnetic torque data. A main circuit is built in Simplorer software, a Simulink module and a motor reduced model are added into the Simplorer software, the motor reduced model is connected with the main circuit, and the motor reduced model is connected with the Simulink module; building a control strategy of the permanent magnet synchronous motor in Simulink software; and setting the same simulation time and simulation step length in Simplorer software and Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor.
A control strategy of a permanent magnet synchronous motor is built in Simulink software, and the method comprises the following steps:
building a mathematical model of a control strategy in Simulink software, wherein the selection of the control strategy comprises but is not limited to idThe method comprises the following steps of (1) a vector control strategy of 0, a maximum torque ratio current control strategy and a flux weakening control strategy; the mathematical model adopts a double closed-loop control structure, wherein the control inner loop is a current loop, and the control outer loop is a voltage loop;
the control model of the control strategy comprises: the system comprises a PI regulator, a current decoupling module, a coordinate transformation module, space vector control and an S-Function module for data transmission with Simplorer software.
In one embodiment, firstly, a permanent magnet synchronous motor 2D electromagnetic finite element model is established in a Maxwell transient field of motor finite element simulation software based on motor design structure parameters. Then, motor scanning setting is carried out, armature current of a motor and the angle of a motor rotor are scanned through the component, model accuracy can be controlled by setting different scanning intervals and scanning step lengths as required, and then a scanning setting file is exported.
Then, by setting an armature excitation source in the motor finite element simulation software to be External (External input), the scanning setting file derived in the previous step is imported into a permanent magnet synchronous motor finite element model established in the motor finite element simulation software.
And finally, operating the simulation model, analyzing and calculating the permanent magnet synchronous motor model, and obtaining a reduced-order extraction motor model of the permanent magnet synchronous motor.
In the simulation result file, the data such as motor current, flux linkage, electromagnetic torque and the like obtained by scanning simulation can be found. And constructing a motor model based on a lookup table by finite element reduced order extraction based on the data, wherein the finite element reduced order extraction considers space harmonic caused by the complex topological structure and the nonlinearity of the material characteristic. Specifically, after finite element post-processing file data screening processing, a multi-dimensional lookup table is constructed to establish a motor reduced model, and the motor reduced model is further used as a high-precision motor model to be added with a motor control algorithm.
The control system mainly comprises the following modules: the device comprises a permanent magnet synchronous motor module, a rotating speed/current regulating module, a coordinate transformation module, Space Vector Pulse Width Modulation (SVPWM), an inverter module and a measuring module. The whole control process is as follows: speed command nrefCompared with the detected rotor speed signal n and then passed through the output i of the speed regulatorqrefCommand signal, with i fed backqMake a difference as iqThe input of the current regulator. While simultaneously giving idrefIs 0, transforming the coordinates of id、iqThe three-phase current is converted into three-phase current of the stator, and then the six-path PWM wave is output by the PWM module to drive the inverter circuit, so that three-phase sinusoidal voltage with variable frequency and amplitude is generated to drive the motor to operate.
In one embodiment, a main circuit is built in Simplorer, and a motor control strategy is built in MATLAB/Simulink. And then joint debugging is carried out on the motor reduced model extracted from the Maxwell software in the steps, and finally joint debugging of three kinds of software of Maxwell, Simplorer and MATLAB/Simulink is realized.
(1) Building a main circuit in Simplorer: firstly, a main circuit is built in a Simplorer and specifically comprises a three-phase power supply, a resistor, an inductor, a torque measuring module FM _ ROTB1, an angular velocity measuring module VM _ ROTB1, a rotational inertia measuring module MASS _ ROTB1, a torque source module F _ ROTB1 and a group module. Then clicking Add Equivalent Circuit Extraction in Link to Add the motor reduced model to the main circuit in Simplorer, then clicking Add Simulink Component in Link to Add the Simulink module,
further adding to the module a variable output to and from the Simulink module, wherein the output variable comprises a three-phase current Ia，Ib，IcMechanical angle The, mechanical angular velocity ωmAnd output torque Te(ii) a The input variable comprising a voltage E1,E2,E3And torque TL. And connecting the motor reduced model and the Simulink module with a main circuit built in the Simplorer, namely completing the Simplorer part.
(2) And (3) building a control strategy in MATLAB/Simulink: motor control strategy adopted by the inventionBuilding a mathematical model of a control strategy in the Simulink software, wherein the selection of the control strategy comprises but is not limited to idThe method comprises a vector control strategy of 0, a maximum torque ratio current control strategy and a flux weakening control strategy. Firstly, building i in MATLAB/SimulinkdThe model adopts a double closed-loop control structure, wherein a current loop is a control inner loop, and a speed loop is a control outer loop; the control model is composed of a PI regulator, a current decoupling module, a coordinate transformation module, a space vector control module and an S-Function module which is used for carrying out data transmission with Simplorer. The specific operation of using the S-Function module and Simplorer to transfer data is as follows: firstly, inserting an S-Function module into Simulink, naming the S-Function module as Ansoftfunction, then popping up a module interface in joint debugging with Simplorer, finding and adding a stored Simplorer file address in the interface, further double-clicking the appeared variable to add the stored Simplorer file address, then determining, and connecting the S-Function module with the built control strategy, thus completing the Simulink module part.
(3) And (4) joint debugging, namely simultaneously opening Simplorer and MATLAB/Simulink, setting the simulation time and the simulation step length of the Simplorer and the MATLAB/Simulink to be the same, and then running simulation.
The invention also provides a permanent magnet synchronous motor simulation device based on the motor order reduction model, which comprises the following steps: the motor scanning module is used for scanning the armature current of the permanent magnet synchronous motor and the angle of a motor rotor; the model establishing module is used for establishing a finite element model and a motor reduced-order model of the permanent magnet synchronous motor; the main circuit building module is used for building a main circuit in Simplorer software; the control strategy module is used for building a control strategy of the permanent magnet synchronous motor in Simulink software; and the joint debugging simulation module is used for performing joint debugging simulation on the permanent magnet synchronous motor in Simplorer software and Simulink software.
The invention also provides a permanent magnet synchronous motor simulation system based on the motor order reduction model, which comprises the following steps: the simulation system comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the simulation method of the permanent magnet synchronous motor based on the motor reduced-order model is realized.
The processor and memory may be connected by a bus or other means.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
It should be noted that the permanent magnet synchronous motor simulation system based on the motor order reduction model in this embodiment may include a service processing module, an edge database, a server version information register, and a data synchronization module, and when a processor executes a computer program, the above-mentioned permanent magnet synchronous motor simulation method based on the motor order reduction model applied to the permanent magnet synchronous motor simulation system based on the motor order reduction model is implemented.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions, which are executed by a processor or a controller, for example, by a processor in the terminal embodiment, and can make the processor execute the method for simulating a pmsm in the above embodiment based on a reduced-order model of a motor.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A permanent magnet synchronous motor simulation method based on a motor reduced model is characterized by comprising the following steps:
building a main circuit in Simplorer software, adding a Simulink module and a motor reduced model into the Simplorer software, connecting the motor reduced model with the main circuit, and connecting the motor reduced model with the Simulink module;
building a control strategy of the permanent magnet synchronous motor in Simulink software;
and setting the same simulation time and simulation step length in the Simplorer software and the Simulink software, and performing joint debugging simulation on the permanent magnet synchronous motor.
2. The method for simulating the permanent magnet synchronous motor based on the motor reduced-order model according to claim 1, wherein the construction of the motor reduced-order model comprises the following steps:
scanning armature current of the permanent magnet synchronous motor and the angle of a motor rotor to obtain a scanning setting file;
importing the scanning setting file into a finite element model of the permanent magnet synchronous motor established in motor finite element simulation software;
running the motor finite element simulation software to analyze and calculate the finite element model of the permanent magnet synchronous motor to obtain motor current data, motor flux linkage data and electromagnetic torque data;
and constructing a motor order reduction model according to the motor current data, the motor flux linkage data and the electromagnetic torque data.
3. The method of claim 2, wherein the finite element model of the PMSM comprises:
the stator voltage equation of the permanent magnet synchronous motor under a three-phase static coordinate system is as follows:
Figure FDA0003418629410000011
ua、ub、ucis the abc three-phase voltage, ia、ib、icRespectively being abc three-phase current, psia、ψb、ψcAre respectively abc three-phase magnetic linkage, RsIs the armature internal resistance;
the permanent magnet synchronous motor has a flux linkage equation under a three-phase static coordinate system:
Figure FDA0003418629410000021
in the formula Laa、Lbb、LccIs self-inductive for each winding and has Laa＝Lbb＝Lcc；Mab、Mac、Mba、Mbc、Mca、McbIs mutual inductance between windings, and has Mab＝Mac＝Mba＝Mbc＝Mca＝Mcb；ψfAnd theta is a rotor magnetic linkage, namely the included angle between the rotor N pole and the phase axis a.
4. The method for simulating the permanent magnet synchronous motor based on the motor reduced-order model according to claim 3, wherein a stator voltage equation of the permanent magnet synchronous motor in a three-phase static coordinate system and a flux linkage equation of the permanent magnet synchronous motor in the three-phase static coordinate system are converted in a dq rotation coordinate system to obtain:
voltage equation:
Figure FDA0003418629410000022
the flux linkage equation:
Figure FDA0003418629410000023
the torque equation: t ise＝np(ψfiq+(Ld-Lq)idiq)
Equation of motion:
Figure FDA0003418629410000024
wherein u isd、uqIs the dq-axis voltage, id、iqIs dq-axis current, Ld、LqIs a dq-axis inductance,. psid、ψqIs dq axis flux linkage.
5. The method for simulating the permanent magnet synchronous motor based on the motor reduced model according to claim 2, wherein the scanning of the armature current of the permanent magnet synchronous motor and the angle of the motor rotor to obtain the scanning setting file comprises the following steps:
and setting different scanning intervals and scanning step lengths according to requirements so as to control the model precision of the scanning setting file.
6. The method for simulating the permanent magnet synchronous motor based on the motor reduced-order model according to claim 2, wherein the main circuit comprises: the device comprises a three-phase power supply, a resistor, an inductor, a torque measuring module, an angular velocity measuring module, a rotational inertia measuring module, a torque source module and a Ground module.
7. The method for simulating the permanent magnet synchronous motor based on the motor reduced model according to claim 2, wherein the control strategy of the permanent magnet synchronous motor is built in Simulink software, and the method comprises the following steps:
building a mathematical model of a control strategy in the Simulink software, wherein the selection of the control strategy comprises but is not limited to idThe method comprises the following steps of (1) a vector control strategy of 0, a maximum torque ratio current control strategy and a flux weakening control strategy; the mathematical model adopts a double closed-loop control structure, wherein a control inner loop is a current loop, and a control outer loop is a voltage loop;
the control model of the control strategy comprises: the system comprises a PI regulator, a current decoupling module, a coordinate transformation module, space vector control and an S-Function module which is used for data transmission with the Simplorer software.
8. A permanent magnet synchronous motor simulation device based on a motor reduced model is characterized by comprising:
the motor scanning module is used for scanning the armature current of the permanent magnet synchronous motor and the angle of a motor rotor;
the model establishing module is used for establishing a finite element model and a motor reduced-order model of the permanent magnet synchronous motor;
the main circuit building module is used for building a main circuit in Simplorer software;
the control strategy module is used for building a control strategy of the permanent magnet synchronous motor in Simulink software;
and the joint debugging simulation module is used for performing joint debugging simulation on the permanent magnet synchronous motor in Simplorer software and Simulink software.
9. A permanent magnet synchronous motor simulation system based on a motor reduced model is characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of simulating a PMSM based on a reduced motor order model according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method of motor-reduced-order-model-based simulation of a permanent magnet synchronous motor according to any one of claims 1 to 7.
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