CN115021644A - Synchronous reluctance motor torque ripple calculation method and application - Google Patents

Synchronous reluctance motor torque ripple calculation method and application Download PDF

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Publication number
CN115021644A
CN115021644A CN202210702797.4A CN202210702797A CN115021644A CN 115021644 A CN115021644 A CN 115021644A CN 202210702797 A CN202210702797 A CN 202210702797A CN 115021644 A CN115021644 A CN 115021644A
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magnetic
calculating
density distribution
end part
stator
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杨凯
王翼
徐百川
罗伊逍
李黎
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • H02P25/08—Reluctance motors
    • H02P25/098—Arrangements for reducing torque ripple
    • 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
    • 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
    • H02P25/08—Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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Abstract

The application discloses a method for calculating torque ripple of a synchronous reluctance motor, which comprises the following steps: acquiring current of each slot of a stator of the synchronous reluctance motor, calculating stator current density distribution along the circumference of an air gap, and calculating magnetomotive force distribution along the circumference of the air gap according to the stator current density distribution; estimating the magnetic induction intensity of the end part of the magnetic barrier of the rotor according to the current density distribution of the stator, and calculating the magnetic resistance density distribution of the end part of the magnetic barrier according to the magnetic induction intensity of the end part of the magnetic barrier and the size parameter of the rotor; calculating the magnetic resistance density distribution of the tooth spaces according to the size parameters and the space permeability of the stator, and performing superposition operation according to the magnetic resistance density distribution of the end parts of the magnetic barriers and the magnetic resistance density distribution of the tooth spaces to obtain the total magnetic resistance distribution along the circumference of the air gap; and calculating the relative magnitude of the torque according to the total reluctance distribution, and calculating the torque ripple according to the change relation of the relative magnitude of the torque along with the rotation time. The method can solve the problems that a traditional motor reluctance calculation method is complex in calculation model and cannot visually express the influence of a motor structure on the magnitude of torque pulsation.

Description

Synchronous reluctance motor torque ripple calculation method and application
Technical Field
The present disclosure relates to the field of motor technologies, and in particular, to a method for calculating torque ripple of a synchronous reluctance motor, a device for calculating torque ripple of a synchronous reluctance motor, an electronic apparatus, and a computer-readable storage medium.
Background
The synchronous reluctance motor has the advantages of simple structure, low manufacturing cost and high reliability, but the torque pulsation is large due to the characteristic of large difference of the inductance of a dq axis of a rotor, and the torque pulsation needs to be reduced when the design and optimization are carried out. In the prior art, finite element simulation analysis is adopted when torque ripple is calculated, scanning optimization methods such as a Taguchi method are required for reducing the torque ripple, a large amount of simulation time is required, the design period is long, the efficiency is low, and visual connection between a motor structure and torque is lacked.
In order to solve the above problems, for example, chinese patent publication No. CN106712620A discloses a method and an apparatus for calculating torque of a permanent magnet synchronous motor, in which a voltage in a two-phase stationary coordinate system of the motor is calculated according to a duty ratio of a switching tube of a motor controller, a bus voltage, and a three-phase current of the motor, and the three-phase current of the motor is subjected to coordinate transformation to obtain a current in the two-phase stationary coordinate system, a flux linkage and a current in a rotor coordinate system are obtained by using a flux linkage MRAS method according to the voltage and the current in the two-phase stationary coordinate system, and the torque of the motor is calculated according to the flux linkage and the current in the rotor coordinate system.
However, the method only aims at the permanent magnet synchronous motor, is not suitable for the synchronous reluctance motor, and has the problems that the calculation model is complex, and the motor structure cannot intuitively express the torque pulsation magnitude.
Disclosure of Invention
Aiming at least one defect or improvement requirement in the prior art, the invention provides a synchronous reluctance motor torque ripple calculation method, a synchronous reluctance motor torque ripple calculation device, electronic equipment and a computer readable storage medium, and aims to solve the problems that a traditional motor reluctance calculation method is complex in calculation model and cannot intuitively express the influence of a motor structure on the magnitude of torque ripple.
To achieve the above object, according to a first aspect of the present invention, there is provided a synchronous reluctance motor torque ripple calculation method including: acquiring current of each slot of a stator of the synchronous reluctance motor, calculating stator current density distribution along the circumference of an air gap, and calculating magnetomotive force distribution along the circumference of the air gap according to the stator current density distribution; estimating the magnetic induction intensity of the end part of the magnetic barrier of the rotor according to the current density distribution of the stator, and calculating the magnetic resistance density distribution of the end part of the magnetic barrier according to the magnetic induction intensity of the end part of the magnetic barrier and the size parameter of the rotor; calculating the magnetic resistance density distribution of the tooth spaces according to the size parameters and the space permeability of the stator, and performing superposition operation according to the magnetic resistance density distribution of the end parts of the magnetic barriers and the magnetic resistance density distribution of the tooth spaces to obtain the total magnetic resistance distribution along the circumference of the air gap; and calculating the relative magnitude of the torque according to the total reluctance distribution, and calculating to obtain the torque pulsation according to the variation relation of the relative magnitude of the torque along with the rotation time.
In one embodiment of the present invention, the obtaining of the per-slot current of the stator of the synchronous reluctance motor and calculating the stator current density distribution along the circumference of the air gap includes: establishing a stator three-phase current instantaneous expression, and calculating to obtain the current of each slot according to the three-phase current instantaneous expression and the distribution position of each slot of the motor to a winding; and calculating to obtain the stator current density distribution according to the mode that the current of each slot is uniformly distributed in the slot along the circumference of the air gap.
In an embodiment of the invention, the calculating the magnetic barrier end magnetic resistance density distribution according to the magnetic barrier end magnetic induction and the rotor size parameter comprises: determining the magnetic flux barrier end part magnetic flux density according to a B-H curve of a rotor iron core and the magnetic flux barrier end part magnetic flux density, and calculating the magnetic flux barrier end part magnetic flux resistance according to the magnetic flux barrier end part size parameter as follows:
Figure BDA0003704986020000021
wherein l is the length of the end part of the magnetic barrier; b is magnetic induction intensity of the end part of the magnetic barrier; h is the thickness of the end part of the magnetic barrier; h is the magnetic field intensity of the end part of the magnetic barrier determined according to the B-H curve; and calculating to obtain the magnetic barrier end magnetic resistance density distribution according to the mode that the magnetic barrier end magnetic resistance is uniformly distributed along the air gap circumference.
In one embodiment of the invention, the calculating the cogging reluctance density distribution according to the stator size parameter and the space permeability comprises: calculating the magnetic resistance density of the tooth socket according to the air length and the air gap width of the tooth socket as follows:
Figure BDA0003704986020000031
wherein l 0 The distance between the inner diameter of the stator and the outer diameter of the rotor is shown as ls, and the distance between the lower boundary of the winding and the outer diameter of the rotor is shown as ls; μ is the relative permeability of air; mu.s 0 Is a vacuum magnetic permeability.
In an embodiment of the present invention, the calculating a relative magnitude of the torque according to the total reluctance distribution and calculating a torque ripple according to a variation relationship between the relative magnitude of the torque and a rotation time includes: calculating the relative magnitude of the torque as follows:
Figure BDA0003704986020000032
wherein F is magnetomotive force distribution along the circumference of the air gap, R is total reluctance distribution along the circumference of the air gap, and I is stator current density distribution along the circumference of the air gap; calculating the torque ripple as:
Figure BDA0003704986020000033
wherein, T max 、T min And T avg The maximum value, the minimum value and the average value of the relative magnitude of the torque in the rotation time are respectively.
According to a second aspect of the present invention, there is also provided a synchronous reluctance motor torque ripple calculation apparatus including: the magnetomotive force distribution calculating module is used for acquiring the current of each slot of the stator of the synchronous reluctance motor, calculating the stator current density distribution along the circumference of the air gap, and calculating the magnetomotive force distribution along the circumference of the air gap according to the stator current density distribution; the magnetic barrier end magnetic resistance density calculation module is used for estimating the magnetic flux density of the end part of the rotor magnetic barrier according to the stator current density distribution and calculating the magnetic resistance density distribution of the end part of the magnetic barrier according to the magnetic flux density of the end part of the magnetic barrier and the rotor size parameter; the total magnetic resistance distribution calculation module is used for calculating the magnetic resistance density distribution of the tooth socket according to the size parameters of the stator and the space magnetic conductivity, and performing superposition operation according to the magnetic resistance density distribution of the end part of the magnetic barrier and the magnetic resistance density distribution of the tooth socket to obtain the total magnetic resistance distribution along the circumference of the air gap; and the torque ripple calculation module is used for calculating the relative magnitude of the torque according to the total magnetic resistance distribution and calculating the torque ripple according to the change relation of the relative magnitude of the torque along with the rotation time.
In an embodiment of the present invention, the magnetic barrier end portion magnetic resistance density calculation module is specifically configured to: determining the magnetic flux barrier end part magnetic flux density according to a B-H curve of a rotor iron core and the magnetic flux barrier end part magnetic flux density, and calculating the magnetic flux barrier end part magnetic flux resistance according to the magnetic flux barrier end part size parameter as follows:
Figure BDA0003704986020000034
wherein l is the length of the end part of the magnetic barrier; b is magnetic induction intensity of the end part of the magnetic barrier; h is the thickness of the end part of the magnetic barrier; h is the magnetic field intensity of the end part of the magnetic barrier determined according to the B-H curve; and calculating to obtain the magnetic barrier end magnetic resistance density distribution according to the mode that the magnetic barrier end magnetic resistance is uniformly distributed along the air gap circumference.
In an embodiment of the present invention, the total magnetic resistance distribution calculating module is specifically configured to: calculating the magnetic resistance density of the tooth socket according to the air length and the air gap width of the tooth socket as follows:
Figure BDA0003704986020000041
wherein l 0 Is the distance between the inner diameter of the stator and the outer diameter of the rotor, l s The distance between the lower boundary of the winding and the outer diameter of the rotor; μ is the relative permeability of air; mu.s 0 Is a vacuum magnetic permeability.
According to a third aspect of the present invention, there is also provided an electronic device comprising at least one processing unit, and at least one memory unit, wherein the memory unit stores a computer program that, when executed by the processing unit, causes the processing unit to perform the steps of the method of any of the above embodiments.
According to a fourth aspect of the present invention, there is also provided a computer-readable storage medium storing a computer program executable by an access authentication apparatus, the computer program, when run on the access authentication apparatus, causing the access authentication apparatus to perform the steps of the method of any one of the above embodiments.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve at least the following advantages:
the magnetic induction intensity of the end part of the rotor magnetic barrier is estimated by calculating the current density distribution and the magnetomotive force distribution of the stator of the motor along the circumference of the air gap, the magnetic resistance density distribution of the end part of the magnetic barrier is obtained by combining the calculation of the size parameters of the rotor, and the tooth space magnetic resistance density distribution is calculated according to the size parameters and the space magnetic conductivity of the stator, so that the simplified calculation of the total magnetic resistance distribution of the reluctance motor along the circumference of the air gap is realized, the influence of different rotor structures of the synchronous reluctance motor on torque pulsation can be reflected visually, the calculation complexity can be greatly reduced compared with the magnetic linkage method, and the better calculation precision is ensured.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for calculating torque ripple of a synchronous reluctance motor according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of current density and magnetomotive force distribution along the circumference of an air gap as provided by an embodiment of the present application;
FIG. 3 is a schematic cross-sectional view of a rotor according to an embodiment of the present disclosure;
FIG. 4 is a diagram illustrating an end portion MR density distribution of a magnetic barrier along an air gap circumference according to an embodiment of the present application;
fig. 5 is a schematic cross-sectional structural view of a stator provided in an embodiment of the present application;
FIG. 6 is a schematic illustration of a cogging magnetoresistive density distribution along an air gap circumference as provided by an embodiment of the present application;
fig. 7 is a schematic structural diagram of a synchronous reluctance machine torque ripple calculation apparatus according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The terms "first," "second," "third," and the like in the description and claims of this application and in the foregoing drawings are used for distinguishing between different elements and not for describing a particular sequential order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
As shown in fig. 1, a first embodiment of the present invention provides a method for calculating torque ripple of a synchronous reluctance motor, for example, including: step S1, obtaining the current of each slot of the stator of the synchronous reluctance motor, calculating the stator current density distribution along the circumference of the air gap, and calculating the magnetomotive force distribution along the circumference of the air gap according to the stator current density distribution; step S2, estimating the magnetic induction intensity of the end part of the magnetic barrier of the rotor according to the current density distribution of the stator, and calculating the magnetic resistance density distribution of the end part of the magnetic barrier according to the magnetic induction intensity of the end part of the magnetic barrier and the size parameter of the rotor; step S3, calculating the magnetic resistance density distribution of the tooth socket according to the size parameters of the stator and the space magnetic conductivity, and performing the superposition operation according to the magnetic resistance density distribution of the magnetic barrier end and the magnetic resistance density distribution of the tooth socket to obtain the total magnetic resistance distribution along the circumference of the air gap; and step S4, calculating the relative magnitude of the torque according to the total reluctance distribution, and calculating the torque pulsation according to the variation relation of the relative magnitude of the torque along with the rotation time.
In step S1, the current per slot of the stator of the synchronous reluctance motor is determined, for example, the instantaneous expression of the three-phase current of the stator is established as follows:
Figure BDA0003704986020000061
wherein, I A 、I B 、I C Stator A, B, C phase currents, respectively; a. the p Is the phase current amplitude; omega is synchronous angular velocity; θ is the initial current angle.
And calculating to obtain the current of each slot of the stator according to the instantaneous expression of the three-phase current and the distribution position of each slot of the motor to the winding. Referring to fig. 2, for example, considering that the current of each slot is uniformly distributed in the slot along the circumference of the air gap, the stator current density distribution I along the circumference of the air gap can be solved; and the central line of each slot is taken as the rising or falling boundary of the magnetomotive force, and the magnetomotive force distribution F along the circumference of the air gap can be solved according to the current magnitude and direction of each slot.
In step S2, as shown in fig. 3, the solving step for the rotor reluctance is as follows:
firstly, magnetic induction B at the end part of the magnetic barrier is estimated, for example, the magnetic induction B is obtained by taking stator current density distribution obtained by calculation as excitation and roughly calculating through finite element simulation, and the magnetic induction B is considered not to change in the process of changing the position, the number of layers and the like of the magnetic barrier.
Then, calculating the transverse magnetic resistance R of the end part of the magnetic barrier according to the B-H curve of the motor rotor core material d It can be expressed as:
Figure BDA0003704986020000062
wherein l is the length of the end part of the magnetic barrier; b is the estimated magnetic flux density at the end part of the magnetic barrier; h is the thickness of the end part of the magnetic barrier; h is the magnetic field intensity at the end of the magnetic barrier determined according to the B-H curve.
Referring to fig. 4, for example, assuming that the magnetic resistance at the end of the magnetic barrier is uniformly distributed, the magnetic resistance density at the end of the magnetic barrier is linearly distributed along the circumference of the air gap, and the magnetic resistance density distribution at the end of the magnetic barrier along the circumference of the air gap can be solved.
In step S3, as shown in fig. 5 and 6, the solving step for the stator reluctance is as follows:
for example according to the tooth slot air length l s And air gap width l 0 Calculating cogging magnetoresistance density R s It can be expressed as:
Figure BDA0003704986020000071
wherein l 0 The distance between the inner diameter of the stator and the outer diameter of the rotor, namely the width of an air gap; l. the s The distance between the lower boundary of the winding and the outer diameter of the rotor is the air length of the tooth groove; μ is the relative permeability of air; mu.s 0 Is a vacuum magnetic permeability.
Then, the distribution of the total magnetic resistance along the air gap circumference is solved, for example, the magnetic resistance of the iron core is not counted, and the superposition operation is performed according to the calculated magnetic resistance density distribution of the end part of the magnetic barrier and the magnetic resistance density distribution of the tooth socket, so as to obtain the total magnetic resistance distribution R along the air gap circumference, which can be expressed as:
R＝R d +R s
in step S4, for example, the variation of the relative magnitude of the torque with time is solved according to the calculated total reluctance distribution R to solve the torque ripple, and the specific steps are as follows:
calculating the relative torque T, which can be expressed as:
Figure BDA0003704986020000072
wherein F is the magnetomotive force distribution along the circumference of the air gap, R is the total reluctance distribution along the circumference of the air gap, and I is the stator current density distribution along the circumference of the air gap.
Calculating the torque ripple η, which can be expressed as:
Figure BDA0003704986020000073
wherein, T max 、T min And T avg The maximum value, the minimum value and the average value of the relative magnitude of the torque in the rotation time are respectively.
The following describes beneficial effects of the synchronous reluctance motor torque ripple calculation method provided by the embodiment with reference to a motor torque calculation method in the prior art:
the traditional method for solving the magnetic resistance establishes a plurality of magnetic circuit models for the motor rotor, if the method is applied to the magnetic resistance motor, and the method is combined with the method shown in fig. 3, one magnetic circuit model is established according to each magnetic barrier area to calculate the corresponding magnetic resistance density distribution, the method has high solving precision, but the calculation model is very complex, dozens of magnetic circuit equations may need to be solved in practical application, and the calculation difficulty is high.
In the method for calculating the torque ripple of the synchronous reluctance motor provided by the embodiment, the density distribution of the motor reluctance along the circumference of an air gap is calculated by a simplified processing method, the relative torque magnitude is calculated by combining the stator current and the magnetomotive force distribution, and the torque ripple magnitude is further calculated, so that the influence of different rotor structures of the synchronous reluctance motor on the torque ripple can be visually reflected, meanwhile, the calculation model is simple, and the simulation calculation amount can be greatly reduced during the design of the synchronous reluctance motor.
In addition, as shown in fig. 7, a second embodiment of the present invention provides a synchronous reluctance motor torque ripple calculation apparatus 20, for example, including: the magnetic-motive-force-distribution calculating module 201, the magnetic-barrier-end magnetic resistance density calculating module 202, the total magnetic resistance distribution calculating module 203 and the torque ripple obtaining module 204.
The magnetomotive force distribution calculating module 201 is configured to obtain a current per slot of a stator of the synchronous reluctance motor, calculate a stator current density distribution along the circumference of the air gap, and calculate a magnetomotive force distribution along the circumference of the air gap according to the stator current density distribution. The magnetic barrier end magnetic resistance density calculation module 202 is configured to estimate magnetic flux density at the end of the magnetic barrier of the rotor according to the stator current density distribution, and calculate magnetic resistance density distribution at the end of the magnetic barrier according to the magnetic flux density at the end of the magnetic barrier and a rotor size parameter. The total magnetic resistance distribution calculating module 203 is used for calculating the magnetic resistance density distribution of the tooth space according to the size parameter and the space magnetic conductivity of the stator, and performing superposition operation according to the magnetic resistance density distribution of the end part of the magnetic barrier and the magnetic resistance density distribution of the tooth space to obtain the total magnetic resistance distribution along the circumference of the air gap. The torque ripple calculation module 204 is configured to calculate a relative magnitude of the torque according to the total reluctance distribution, and calculate a torque ripple according to a variation relationship between the relative magnitude of the torque and a rotation time.
In one embodiment, the magnetic barrier end magnetoresistance density calculation module 202 is specifically configured to, for example: determining the magnetic flux barrier end part magnetic flux density according to a B-H curve of a rotor iron core and the magnetic flux barrier end part magnetic flux density, and calculating the magnetic flux barrier end part magnetic flux resistance according to the magnetic flux barrier end part size parameter as follows:
Figure BDA0003704986020000081
wherein l is the length of the end part of the magnetic barrier; b is magnetic induction intensity of the end part of the magnetic barrier; h is the thickness of the end part of the magnetic barrier; h is the magnetic field intensity of the end part of the magnetic barrier determined according to the B-H curve; and calculating to obtain the magnetic barrier end magnetic resistance density distribution according to the mode that the magnetic barrier end magnetic resistance is uniformly distributed along the air gap circumference.
In one embodiment, the total magnetoresistance profile calculation module 203 is specifically configured to, for example: calculating the magnetic resistance density of the tooth socket according to the air length and the air gap width of the tooth socket as follows:
Figure BDA0003704986020000091
wherein l 0 Is the distance between the inner diameter of the stator and the outer diameter of the rotor, l s The distance between the lower boundary of the winding and the outer diameter of the rotor; μ is the relative permeability of air; mu.s 0 Is a vacuum magnetic permeability.
It should be noted that the method implemented by the synchronous reluctance motor torque ripple calculation apparatus 20 according to the second embodiment of the present invention is as described in the first embodiment, and therefore, will not be described in detail herein. Optionally, each module and the other operations or functions in the second embodiment are respectively for implementing the method for calculating the torque ripple of the synchronous reluctance motor according to the first embodiment, and the beneficial effects of this embodiment are the same as those of the first embodiment, and are not described herein for brevity.
As shown in fig. 8, the third embodiment of the present invention further provides an electronic device 30, for example, including: at least one processing unit 31, and at least one storage unit 32, wherein the storage unit 32 stores a computer program, and when the computer program is executed by the processing unit, the processing unit is enabled to execute the method according to the first embodiment, and the electronic device 30 provided by the present embodiment has the same beneficial effects as the synchronous reluctance motor torque ripple calculation method provided by the first embodiment.
As shown in fig. 9, the third embodiment of the present invention further provides a computer-readable storage medium 40, on which a computer program is stored, which when executed by a processor implements the steps of the above method, and the present embodiment provides the same advantageous effects as the method for calculating the torque ripple of the synchronous reluctance motor provided by the first embodiment.
The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some service interfaces, devices or units, and may be an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program, which is stored in a computer-readable memory, and the memory may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above description is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure should not be limited thereby. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are intended to be included within the scope of the present disclosure. Embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.

Claims (10)

1. A method for calculating torque ripple of a synchronous reluctance motor is characterized by comprising the following steps:
acquiring current of each slot of a stator of the synchronous reluctance motor, calculating stator current density distribution along the circumference of an air gap, and calculating magnetomotive force distribution along the circumference of the air gap according to the stator current density distribution;
estimating the magnetic induction intensity of the end part of the magnetic barrier of the rotor according to the current density distribution of the stator, and calculating the magnetic resistance density distribution of the end part of the magnetic barrier according to the magnetic induction intensity of the end part of the magnetic barrier and the size parameter of the rotor;
calculating the magnetic resistance density distribution of the tooth spaces according to the size parameters and the space permeability of the stator, and performing superposition operation according to the magnetic resistance density distribution of the end parts of the magnetic barriers and the magnetic resistance density distribution of the tooth spaces to obtain the total magnetic resistance distribution along the circumference of the air gap;
and calculating the relative magnitude of the torque according to the total reluctance distribution, and calculating the torque pulsation according to the change relation of the relative magnitude of the torque along with the rotation time.
2. The synchronous reluctance machine torque ripple calculation method of claim 1, wherein the obtaining of the per-slot current of the synchronous reluctance machine stator and calculating the stator current density distribution along the circumference of the air gap comprises:
establishing a stator three-phase current instantaneous expression, and calculating to obtain the current of each slot according to the three-phase current instantaneous expression and the distribution position of each slot of the motor to a winding;
and calculating to obtain the stator current density distribution according to the mode that the current of each slot is uniformly distributed in the slot along the circumference of the air gap.
3. The synchronous reluctance machine torque ripple calculation method of claim 1, wherein the calculating a magnetic barrier end reluctance density distribution according to the magnetic barrier end magnetic induction and rotor size parameters comprises:
determining the magnetic flux barrier end part magnetic flux density according to a B-H curve of a rotor iron core and the magnetic flux barrier end part magnetic flux density, and calculating the magnetic flux barrier end part magnetic flux resistance according to the magnetic flux barrier end part size parameter as follows:
Figure FDA0003704986010000011
wherein l is the length of the end part of the magnetic barrier; b is magnetic induction intensity of the end part of the magnetic barrier; h is the thickness of the end part of the magnetic barrier; h is the magnetic field intensity of the end part of the magnetic barrier determined according to the B-H curve;
and calculating to obtain the magnetic barrier end magnetic resistance density distribution according to the mode that the magnetic barrier end magnetic resistance is uniformly distributed along the air gap circumference.
4. The synchronous reluctance motor torque ripple calculating method of claim 1, wherein the calculating of the cogging reluctance density distribution according to the stator size parameter and the spatial permeability comprises:
and calculating the magnetic resistance density of the tooth socket according to the air length and the air gap width of the tooth socket as follows:
Figure FDA0003704986010000021
wherein l 0 Is the distance between the inner diameter of the stator and the outer diameter of the rotor,/ s The distance between the lower boundary of the winding and the outer diameter of the rotor; μ is the relative permeability of air; mu.s 0 Is a vacuum magnetic permeability.
5. The method for calculating the torque ripple of the synchronous reluctance motor according to the claims 3 and 4, wherein the calculating the relative magnitude of the torque according to the total reluctance distribution and the calculating the torque ripple according to the variation relationship of the relative magnitude of the torque with the rotation time comprises:
calculating the relative magnitude of the torque as follows:
Figure FDA0003704986010000022
wherein F is magnetomotive force distribution along the circumference of the air gap, R is total reluctance distribution along the circumference of the air gap, and I is stator current density distribution along the circumference of the air gap;
calculating the torque ripple as:
Figure FDA0003704986010000023
wherein, T max 、T min And Tavg is the maximum, minimum and average of the relative magnitude of the torque during the turning time, respectively.
6. A synchronous reluctance machine torque ripple calculation apparatus, comprising:
the magnetomotive force distribution calculating module is used for acquiring the current of each slot of the stator of the synchronous reluctance motor, calculating the stator current density distribution along the circumference of the air gap, and calculating the magnetomotive force distribution along the circumference of the air gap according to the stator current density distribution;
the magnetic barrier end part magnetic resistance density calculation module is used for estimating the magnetic flux density of the rotor magnetic barrier end part according to the stator current density distribution and calculating the magnetic barrier end part magnetic resistance density distribution according to the magnetic flux density of the magnetic barrier end part and the rotor size parameter;
the total magnetic resistance distribution calculation module is used for calculating the magnetic resistance density distribution of the tooth sockets according to the size parameters and the space permeability of the stator, and performing superposition operation according to the magnetic resistance density distribution of the end parts of the magnetic barriers and the magnetic resistance density distribution of the tooth sockets to obtain the total magnetic resistance distribution along the circumference of the air gap;
and the torque ripple calculation module is used for calculating the relative magnitude of the torque according to the total magnetic resistance distribution and calculating the torque ripple according to the change relation of the relative magnitude of the torque along with the rotation time.
7. The synchronous reluctance machine torque ripple calculation apparatus of claim 6, wherein the magnetic barrier end reluctance density calculation module is specifically configured to:
determining magnetic barrier end magnetic induction intensity according to a B-H curve of a rotor core and the magnetic barrier end magnetic induction intensity, and calculating the magnetic resistance of the magnetic barrier end according to the magnetic barrier end size parameters as follows:
Figure FDA0003704986010000031
wherein l is the length of the end part of the magnetic barrier; b is magnetic induction intensity of the end part of the magnetic barrier; h is the thickness of the end part of the magnetic barrier; h is the magnetic field intensity at the end part of the magnetic barrier determined according to a B-H curve;
and calculating to obtain the magnetic barrier end magnetic resistance density distribution according to the mode that the magnetic barrier end magnetic resistance is uniformly distributed along the air gap circumference.
8. The synchronous reluctance machine torque ripple calculation apparatus of claim 6, wherein the total reluctance distribution calculation module is specifically configured to:
calculating the magnetic resistance density of the tooth socket according to the air length and the air gap width of the tooth socket as follows:
Figure FDA0003704986010000032
wherein l 0 The distance between the inner diameter of the stator and the outer diameter of the rotor is shown as ls, and the distance between the lower boundary of the winding and the outer diameter of the rotor is shown as ls; μ is the relative permeability of air; mu.s 0 Is a vacuum magnetic permeability.
9. An electronic device, comprising at least one processing unit and at least one memory unit, wherein the memory unit stores a computer program that, when executed by the processing unit, causes the processing unit to perform the steps of the method of any one of claims 1-5.
10. A computer-readable storage medium, in which a computer program is stored which is executable by an access authentication device, which computer program, when run on the access authentication device, causes the access authentication device to carry out the steps of the method of any one of claims 1 to 5.
CN202210702797.4A 2022-06-21 2022-06-21 Synchronous reluctance motor torque ripple calculation method and application Pending CN115021644A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115790926A (en) * 2022-12-01 2023-03-14 华中科技大学 Torque measuring method and device of motor unit

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115790926A (en) * 2022-12-01 2023-03-14 华中科技大学 Torque measuring method and device of motor unit

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