Method for optimizing electromagnetic environment of actuator and computer device

Abstract

The application relates to the technical field of electromagnetic actuators, and discloses an electromagnetic environment optimization method for an actuator, computer equipment, a computer readable storage medium and a computer program product, to solve the problem of poor active vibration control effect. The method comprises the following steps: acquiring main technical index requirements of an electromagnetic actuator; establishing an initial actuator structure model according to initial values of active output force influencing factors and the main technical index requirements of the electromagnetic actuator; determining target ampere-turns of coil current excitation based on the initial actuator structure model; and determining target cross-sectional areas of the coil, target winding lengths, target distances between the armature and the surface of the permanent magnet, and obtaining a target actuator structure model based on the initial actuator structure model and the target ampere-turns of the coil current excitation. The method can make the electromagnetic actuator have the characteristics of small volume, relatively small working current, linear stability, relatively low power consumption, large active output force and strong output force density.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electromagnetic actuators, and more particularly to an electromagnetic environment optimization method for an actuator, a computer device, a computer readable storage medium and a computer program product. BACKGROUND

[0002] At present, passive damping systems cannot meet the requirements of vibration control in environmental tests and equipment, and active control methods are increasingly valued. As a key component in active control systems, the actuator determines the success or failure of active vibration control.

[0003] Traditional actuators have the problems of large volume, large fluctuation of the position of the armature, large and fluctuating working current, high power consumption, large heat generation, insufficient output force, and small output force density, which leads to poor effect of active vibration control, and even causes the failure of active vibration control. The reason is that in the electromagnetic environment of the actuator, the design of the thickness of the coil and the air gap magnetic field strength is often contradictory. Specifically, if the output force is to be increased, the number of turns of the winding coil of the electromagnetic actuator needs to be increased, but the increase in the number of turns often makes the air gap of the electromagnetic actuator larger, thereby weakening the active output force of the actuator for active vibration control. If the air gap is reduced, the number of turns of the coil of the electromagnetic actuator is reduced, the overcurrent on the coil area is reduced, and the active output force of the actuator for active vibration control is also weakened.

[0004] Therefore, the traditional actuator has the problem of unreasonable design parameters, which leads to the failure or poor effect of vibration control. How to optimize the electromagnetic environment of the actuator to design an actuator that meets the requirements of the main technical indicators such as output force, output force density, and size in active control, and meets the requirements of existing vibration test projects, has become a problem to be solved in the field of active control. SUMMARY

[0005] To solve the above problems, the present application provides an electromagnetic environment optimization method for an actuator, a computer device, a computer readable storage medium and a computer program product, which has the characteristics of small volume, moderate size, relatively small working current, stable fluctuation, stable fluctuation of the position of the armature, relatively low power consumption, less heat generation, large active output force and strong output force density.

[0006] To achieve the above purpose, according to the first aspect of the present application, an electromagnetic environment optimization method for an actuator is provided, which comprises:

[0007] obtaining the main technical indicator requirements of the electromagnetic actuator, including that the active output force is not less than a preset value, the output force density is not less than a set value, and the diameter and height of the actuator meet the preset range;

[0008] According to the initial value of the active output force influencing factor and the main technical index requirement of the electromagnetic actuator, an initial actuator structure model is established, the active output force influencing factor includes at least one of the coil current excitation, the contact area of the iron core and the armature, and the air gap length;

[0009] Based on the initial actuator structure model, the target ampere-turn number of the coil current excitation is determined.

[0010] Based on the initial actuator structure model and the target ampere-turn number of the coil current excitation, the target cross-sectional area of the coil, the target winding length, and the target distance between the armature and the permanent magnet surface are determined, and a target actuator structure model is obtained.

[0011] Further, according to the initial value of the active output force influencing factor and the main technical index requirement of the electromagnetic actuator, an initial actuator structure model is established, including determining the initial value of the active output force influencing factor according to the active output force influencing factor, including the ratio of the area of the iron core of the middle winding of the E-type electromagnet to the sum of the areas of the two side iron cores; determining the target diameter and the target height of the actuator according to the initial value of the active output force influencing factor and the main technical index requirement of the electromagnetic actuator; and establishing the initial actuator structure model based on the ratio of the area of the iron core of the middle winding of the E-type electromagnet to the sum of the areas of the two side iron cores, the target diameter and the target height of the actuator.

[0012] Further, based on the initial actuator structure model, the target ampere-turn number of the coil current excitation is determined, including simulating and analyzing the initial actuator structure model to obtain a curve graph of the active output force with respect to the ampere-turn number of the coil current excitation; and determining the target ampere-turn number of the coil current excitation based on the curve graph and the main technical index requirement of the electromagnetic actuator that the active output force is not less than a preset value.

[0013] Further, based on the initial actuator structure model and the target ampere-turn number of the coil current excitation, the target cross-sectional area of the coil, the target winding length, and the target distance between the armature and the permanent magnet surface are determined, and a target actuator structure model is obtained, including comparing two kinds of coils with different cross-sectional areas based on the initial actuator structure model and the target ampere-turn number of the coil current excitation to determine the target cross-sectional area and the target winding length of the coil; determining the target distance between the armature and the permanent magnet surface based on the curve graph of the active output force with respect to the distance between the armature and the permanent magnet surface and the main technical index requirement of the electromagnetic actuator that the active output force is not less than a preset value; and establishing the target actuator structure model based on the initial actuator structure model, the target ampere-turn number of the coil current excitation, the target cross-sectional area of the coil, the target winding length, and the target distance between the armature and the permanent magnet surface.

[0014] Further, the main technical index requirements of the electromagnetic actuator include: active output force ≥ 470N; square of active output force / (power consumption*volume) ≥ 1.4*10^6 within 10-250Hz; size: diameter < 155mm, height < 102mm.

[0015] Further, the electromagnetic environment optimization method of the actuator further includes performing two-dimensional transient AC / DC simulation analysis on the target actuator structure model to verify whether the target actuator structure model meets the main technical index requirements of the electromagnetic actuator.

[0016] Further, the two-dimensional transient AC / DC simulation analysis on the target actuator structure model to verify whether the target actuator structure model meets the main technical index requirements of the electromagnetic actuator includes: performing two-dimensional transient AC / DC simulation analysis on the target actuator structure model to verify whether the target actuator structure model meets the main technical index requirements of the electromagnetic actuator; if yes, ending the simulation; if no, returning to establishing the initial actuator structure model according to the initial values of the active output force influencing factors and the main technical index requirements of the electromagnetic actuator.

[0017] According to a second aspect of the present application, a computer device is also provided, which includes a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of any of the above methods.

[0018] According to a third aspect of the present application, a computer readable storage medium is also provided, which stores a computer program, and the computer program is executed by a processor to implement the steps of any of the above methods.

[0019] According to a fourth aspect of the present application, a computer program product is also provided, which includes a computer program, and the computer program is executed by a processor to implement the steps of any of the above methods.

[0020] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0021] The electromagnetic environment optimization method of the actuator provided by the present application obtains the target ampere-turns of the coil under the excitation of the current, the target cross-sectional area of the coil, the target winding length, the target distance between the armature and the surface of the permanent magnet and other parameters through simulation analysis, so that the designed electromagnetic actuator has the characteristics of small volume, moderate size, relatively small working current, stable fluctuation, stable fluctuation of the position of the armature, relatively low power consumption, less heat generation, large active output force and strong output force density, and meets the requirements of most general active vibration control. BRIEF DESCRIPTION OF DRAWINGS

[0022] 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 introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0023] Figure 1 A flowchart of an electromagnetic environment optimization method of an actuator provided by an embodiment of the present application is shown in the figure.

[0024] Figure 2 A structure diagram of an existing electromagnetic actuator provided by an embodiment of the present application is shown in the figure.

[0025] Figure 3 A diagram of an initial actuator structure model provided by an embodiment of the present application is shown in the figure.

[0026] Figure 4 A curve diagram of the suction force (in the Z direction) of the armature with respect to the exciting ampere-turns of the coil provided by an embodiment of the present application is shown in the figure.

[0027] Figure 5 A simulation model diagram of the armature provided by an embodiment of the present application is shown in the figure.

[0028] Figure 6 A curve diagram of the suction force (in the Z direction) of the armature with respect to the distance between the armature and the surface of the permanent magnet provided by an embodiment of the present application is shown in the figure.

[0029] Figure 7 A two-dimensional transient simulation model of a target actuator structure model provided by an embodiment of the present application is shown in the figure.

[0030] Figure 8 A simulation result of the relationship between the suction force of the armature and time provided by an embodiment of the present application is shown in the figure.

[0031] Figure 9 A simulation result of the relationship between the position of the armature and time provided by an embodiment of the present application is shown in the figure.

[0032] Figure 10 A simulation result of the relationship between the current in the coil and time provided by an embodiment of the present application is shown in the figure.

[0033] Figure 11 A simulation result of the relationship between the copper loss in the coil and time provided by an embodiment of the present application is shown in the figure.

[0034] Figure 12 A simulation result of the relationship between the suction force of the armature and time provided by an embodiment of the present application when the frequency is 50 Hz is shown in the figure.

[0035] Figure 13The simulation result of the relationship between the position of the armature and time when the frequency provided by the embodiment of the present application is 50Hz is shown in the following table:

[0036] Figure 14 The simulation result of the relationship between the copper loss in the coil and time when the frequency provided by the embodiment of the present application is 50Hz is shown in the following table:

[0037] Figure 15 The simulation result of the relationship between the suction force on the armature and time when the frequency provided by the embodiment of the present application is 100Hz is shown in the following table:

[0038] Figure 16 The simulation result of the relationship between the position of the armature and time when the frequency provided by the embodiment of the present application is 100Hz is shown in the following table:

[0039] Figure 17 The simulation result of the relationship between the copper loss in the coil and time when the frequency provided by the embodiment of the present application is 100Hz is shown in the following table:

[0040] Figure 18 The simulation result of the relationship between the suction force on the armature and time when the frequency provided by the embodiment of the present application is 150Hz is shown in the following table:

[0041] Figure 19 The simulation result of the relationship between the position of the armature and time when the frequency provided by the embodiment of the present application is 150Hz is shown in the following table:

[0042] Figure 20 The simulation result of the relationship between the copper loss in the coil and time when the frequency provided by the embodiment of the present application is 150Hz is shown in the following table:

[0043] Figure 21 The flowchart of the electromagnetic environment optimization method of an actuator provided by the embodiment of the present application is shown in the following table:

[0044] Figure 22 The internal structure of the computer device provided by the embodiment of the present application is shown in the following table. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0046] The terms "first", "second", "third", and the like in the description and in the claims of the present application and above-described drawings are used for distinguishing between similar objects, not for describing a particular sequential order. The terms "comprises", "comprising", "includes", "including" and the like are synonymous with the term "containing" and are used in the sense of "including, but not limited to". For example, a process, method, object, or apparatus that comprises a list of steps or elements is not necessarily limited to the listed steps or elements, but can include additional steps or elements not expressly listed or inherent to such process, method, object, or apparatus.

[0047] As shown in Figure 1 An electromagnetic environment optimization method of an actuator is provided, which can be executed by a terminal or a server in communication with the terminal through a network. The terminal can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and the like. The server can be a stand-alone server or a server cluster composed of multiple servers. Taking the method applied to the terminal as an example, the method comprises the following steps:

[0048] In step 101, main technical index requirements of the electromagnetic actuator are obtained.

[0049] The main technical index requirements of the electromagnetic actuator include that the active output force is not less than a preset value, the output force density is not less than a set value, and the diameter and height of the actuator meet a preset range. The output force density is the ratio of the square of the active output force to the product of the power consumption and the volume in a set frequency band.

[0050] In this embodiment, the main technical index requirements of the electromagnetic actuator are as follows:

[0051] a) the active output force is greater than or equal to 470 N;

[0052] b) in a set frequency band (10-250 Hz), the square of the active output force / (power consumption*volume) is greater than or equal to 1.4*10^6;

[0053] c) size: diameter < 155 mm, height < 102 mm.

[0054] In step 102, an initial actuator structure model is established according to initial values of active output force influencing factors and the main technical index requirements of the electromagnetic actuator.

[0055] The active output force influencing factors include at least one of the coil current excitation, the contact area of the core and the armature, and the air gap length.

[0056] As shown in Figure 2As shown, exemplarily, an existing electromagnetic actuator includes an E-type electromagnet, a coil wound around the E-type electromagnet, and an armature placed at the opening of the E-type electromagnet. Based on the physical model of the existing electromagnetic actuator, considering that the attractive force provided by the permanent magnet is constant, the model can be equivalently divided into two parts: one part is the attractive force provided by the permanent magnet; the other part is the attractive force provided by the E-type electromagnet.

[0057] By analyzing the physical models of existing electromagnetic actuators, it can be determined that the factors affecting the active output force of electromagnetic actuators include the current excitation applied to the coil, the contact area between the iron core and the armature, and the air gap length.

[0058] Based on the above-mentioned factors affecting the active output force and combined with the main technical requirements of the electromagnetic actuator, the terminal determined that the ratio of the area of ​​the iron core of the middle winding of the E-type electromagnet to the sum of the areas of the iron cores on both sides is 1:2, the actuator diameter is less than 155mm, and the actuator height is less than 102mm. At this time, the vibration output power generated by the electromagnetic actuator meets the requirements.

[0059] To optimize the electromagnetic environment of the actuator, the ratio of the area of ​​the iron core in the middle winding of the E-type electromagnet to the sum of the areas of the iron cores on both sides is selected as 1:2. The target diameter of the actuator is 150mm, and the target height is 102mm. The following is established: Figure 3 The initial actuator structure model is shown.

[0060] Step 103: Based on the initial actuator structure model, determine the target ampere-turns of the current applied to the coil.

[0061] The target ampere-turns of the current applied to the coil are the ampere-turns of the current applied to the coil that meet the main technical requirements of the electromagnetic actuator.

[0062] Simulation analysis was performed on the initial actuator structural model, and the results were as follows: Figure 4 The graph shown is a curve of the attractive force (along the Z direction) on the armature in the electromagnetic actuator as a function of the current excitation ampere-turns of the coil (i.e., the active output force as a function of the current excitation ampere-turns of the coil).

[0063] Figure 4 The simulation data of the corresponding coil current excitation and the armature attraction force (along the Z direction) are shown in Table 1.

[0064] Table 1

[0065]

[0066]

[0067] from Figure 4As can be seen from Table 1, when the coil is excited by a current of 7000 ampere-turns (A·N), the armature is subjected to an attractive force of 471 Newtons (N), satisfying the requirement that the active output force ≥ 470 N. Therefore, 7000 ampere-turns is determined as the target number of ampere-turns of the coil excited by the current.

[0068] In step 104, based on the initial actuator structure model and the target number of ampere-turns of the coil excited by the current, the target cross-sectional area of the coil, the target winding length of the coil, and the target distance between the armature and the surface of the permanent magnet are determined to obtain a target actuator structure model.

[0069] In the formula, the target cross-sectional area of the coil is the cross-sectional area of the coil that satisfies the main technical index requirements of the electromagnetic actuator, the target winding length of the coil is the winding length of the coil that satisfies the main technical index requirements of the electromagnetic actuator, the target distance between the armature and the surface of the permanent magnet is the distance between the armature and the surface of the permanent magnet that satisfies the main technical index requirements of the electromagnetic actuator, and the target actuator structure model is the structure model of the electromagnetic actuator after electromagnetic environment optimization.

[0070] For example, in order to satisfy the main technical index requirements of the electromagnetic actuator described above, two kinds of coils with different cross-sectional areas are compared, one is a large-diameter wire (i.e., a large cross-sectional wire), such as a copper wire with a cross-sectional area of 2.5 square millimeters, and the other is a small-diameter wire (i.e., a small cross-sectional wire), such as a copper wire with a cross-sectional area of 1 square millimeter, so as to select the optimal scheme.

[0071] For a small cross-sectional copper wire, more turns are needed, and the length of the wire is longer. The resistance of the long straight wire is calculated by the formula: In the formula, p is the resistivity of copper, which is 1.75 x 10 -8 Ω·m, L is the length of the copper wire, and S is the cross-sectional area of the copper wire.

[0072] a) If a small cross-sectional wire, i.e., a 1 square millimeter copper wire, is used to wind the coil, the small cross-sectional area means that the number of turns of the coil will be more, the length of the wire will be longer, and the entire resistance of the coil will be larger.

[0073] The diameter d of the copper wire with a cross-sectional area of 1 square millimeter is 1.1284 mm, and the height of the core for intermediate winding is 56 mm, so the number of turns n that can be wound in one layer is 56 / 1.1284≈49.63=49 turns.

[0074] 1 square millimeter of copper wire at room temperature, the current size can be long time about 5-10 (A), if take 5A, 7000 / 5≈1400 turns; if take 6A, then need 7000 / 6≈1167 turns; if take 7A then need 1000 turns; considering, if take 5A, need 1400 turns; middle winding core layer can be wound 49 turns, then: 1400 / 49 = 28.6≈29 layers; the thickness is 29*1.1284 = 32.7236≈32.8mm>31mm; since the window width of the middle winding core of both sides is only 31mm, this design can not meet the requirements.

[0075] But the length of E-type electromagnet can be expanded from 150mm to its upper limit of 155mm, while ensuring the ratio of the area of the middle winding core of E-type electromagnet to the sum of the areas of the two sides of the core is 1:2, the window width of the middle winding core of both sides will be: (155-48-20*2) / 2 = 33.5mm, at this time because 33.5mm>32.8mm will meet the requirements.

[0076] At this time, the winding length can be approximately calculated as the length of one turn in the 15th layer * 1400, that is, (48+1.1284*15+75+1.1284*15)*2*1400 = 439.20m, the corresponding resistance value is about 7.69Ω, the power consumed by the coil = I 2 R = 25*7.69 = 192.14W.

[0077] If take 6A, then need 1167 turns, each layer winding 49 turns, a total of 24 layers. At this time the thickness is 24*1.1284≈27.0816≈27.1mm, meet the requirements. The winding length can be approximately calculated as: the length of one turn in the 13th layer * 1167 = [(48+1.1284*13+75+1.1284*13]*2*1167 = 355.56m, the corresponding resistance value is about: 6.22Ω, the power consumed by the coil = I 2 R = 36*6.22 = 223.92W.

[0078] If take 7A, then need 1000 turns, each layer winding 49 turns, a total of 21 layers. At this time the thickness is 21*1.1284≈23.6964≈24mm, meet the requirements, take the length of one turn in the 11th layer * 1000 = [(48+1.1284*11+75+1.1284*11]*2*1000 = 295.65m, the resistance value is about: 5.17Ω, the power consumed by the coil = I 2 R = 49*5.17 = 253.33W.

[0079] Obviously, increasing the current flowing through the single-turn coil, although the number of turns can be reduced, because the power it consumes is in a square relationship with the current, the power consumed by the coil per unit time will also be greater, which is not conducive to heat dissipation.

[0080] b) If a large cross-section wire is used, such as a 2.5 square millimeter copper wire (corresponding to a diameter of 1.78 mm), when the same current size is passed, increasing the cross-sectional area of the wire helps to reduce the resistance of the wire, thereby reducing the loss on the winding, and at the same time reducing the amount of heat generated. However, since the main technical indicators of the electromagnetic actuator in this embodiment require a requirement for the volume, if only the diameter of the copper wire is increased, but the size of the current is not increased, i.e. still maintained at 5A, in order to achieve the suction force indicators, the width and thickness of the two windows of the core must be too small to meet the thickness requirement of the 1400-turn coil. Therefore, when a large cross-section wire is used, the size of the current passing through the copper wire must be increased. Now we can deduce that under the limit condition that the two windows of the core are filled, how many turns can be wound with a 2.5 square millimeter copper wire. 55 / 1.78 = 31.46. That is, 31 turns can be wound in one layer, considering that the width of the two windows on both sides of the core is 31 mm, the limit condition can reach 33.5 mm, i.e. the maximum number of layers is: 31 / 1.78 = 17.41 layers ≈ 17; 33.5 / 1.78 = 18.8 layers ≈ 18 layers. That is, the maximum number of turns is: 31*17 = 527 turns - 31*18 = 558 turns. In order to reach 7000 an-turn, the minimum current should be: 7000 / 558 = 12.55A, 7000 / 527 = 13.28 ≈ 13.30A. That is, between 12.55A and 13.30A.

[0081] At this time, if 17 layers are taken, the total number of turns is 527, and the minimum current passing through should be 13.3A. The winding length can be approximately calculated as the length of one turn in the 9th layer * 527, i.e. [(48+1.78*9+75+1.78*9]*2*527 = 163.42m, the corresponding resistance value is about 1.61Ω, the power consumed by the coil = I 2 R = 13.3*13.3*1.61 = 284.8W.

[0082] If the extreme value is taken, i.e. the window width is 33.5mm, the maximum number of layers is 18, and the total number of turns can reach 558. The winding length can be approximately calculated as the length of one turn in the 10th layer * 558, i.e. [(48+1.78*10+75+1.78*10]*2*558 = 177m, the corresponding resistance value is about: 1.74Ω. The power consumed by the coil = I 2 R = 12.55*12.55*1.74 = 274.8W.

[0083] It can be seen that the power consumed by the coil in the above two cases is greater than 200W. The scheme of using small cross-section thin wire and increasing the number of turns is more advantageous, and the power consumed by the coil is smaller, which is also conducive to controlling the temperature of the actuator and enabling it to work for a long time.

[0084] Therefore, finally it is determined that the coil adopts copper wire with a cross-sectional area of 1 square millimeter (at this time the corresponding diameter is 1.12866mm), and the number of turns can be determined as 1400 turns, 49 turns per layer, and a total of 29 layers. That is, the target cross-sectional area of the coil is 1 square millimeter, and the target wire length is: [(48+1.12866*29+75+1.12866*29]*2*1400≈527.69m.

[0085] Further, through the above analysis, it can be known that the suction force borne by the armature is affected by the distance between the armature and the surface of the permanent magnet. It is assumed that the initial distance between the armature and the surface of the permanent magnet (the core of the wire winding) is 2mm, and a simulation model of the armature is established as shown in Figure 5 The simulation analysis is performed on the simulation model of the armature, and a curve graph of the suction force borne by the armature (along the Z direction) about the distance between the armature and the core of the wire winding between the armature and the surface of the permanent magnet (i.e. the distance between the armature and the core of the wire winding between the armature and the surface of the permanent magnet) is obtained as shown in Figure 6 It can be seen from

[0086] that the suction force borne by the armature decreases with the increase of the distance between the armature and the core of the wire winding between the armature and the surface of the permanent magnet. When the distance between the armature and the core of the wire winding between the armature and the surface of the permanent magnet is 2mm, i.e. the distance of the negative movement of the armature along the Z axis is 0mm, the suction force borne by the armature along the Z axis is about 510N, which meets the requirement of the active output force≥470N. Therefore, 2mm is determined as the target distance between the armature and the core of the wire winding between the armature and the surface of the permanent magnet. Figure 6 The result is about 40N different from the simulation result of the initial actuator structure model as shown in

[0087] The main reason is that the modeling method of the coil is different. Figure 3 In the initial actuator structure model as shown in Figure 3 the coil adopts an integral type and is simplified to reduce the complexity of modeling.

[0088] In the above electromagnetic environment optimization method for the optimization of the traditional electromagnetic actuator in the active vibration control, the electromagnetic actuator designed by the optimization method has the advantages of small volume, moderate size, relatively small and stable fluctuation of working current, relatively low power consumption, less heat generation, large active output force and strong output force density, etc., which meet the requirements of most general active vibration control.

[0089] After determining the structural model of the target actuator, it is necessary to perform DC excitation simulation and AC excitation simulation to simulate its working state under DC and AC excitation and determine whether the electromagnetic environment during its operation has been optimized.

[0090] In one embodiment, after step 104, the electromagnetic environment optimization method for the actuator further includes performing a two-dimensional transient AC / DC simulation analysis on the target actuator structural model to verify whether it meets the main technical requirements of the electromagnetic actuator; if it meets the requirements, the simulation ends; if it does not meet the requirements, the process returns to step 102 to establish an initial actuator structural model based on the initial values ​​of the factors affecting the active output force and the main technical requirements of the electromagnetic actuator.

[0091] To ensure a sufficiently large attractive force on the armature along the negative Z-axis, and considering the simplified design of the actuator coil (using a single unit to reduce modeling complexity and allow for some margin), the simulation's current excitation is set as a multi-turn winding coil. The current is generated by an external DC source, and the magnet's excitation direction is consistent with the magnetic field generated by the coil, both along the Y-axis. The current excitation is set to 8000 amp-turns, and the initial distance between the armature and the upper surface of the permanent magnet is 4 mm. The current excitation in the coil is generated by a 38-volt DC voltage source. Assuming the total coil resistance is 7.5 ohms, the steady-state current will be approximately 5A. The number of coil turns is set to 1600, corresponding to 8000 amp-turns in steady state.

[0092] Figure 7 This is a two-dimensional transient simulation model of the target actuator structure. For example... Figure 7 As shown, a two-dimensional transient DC simulation analysis was performed on the target actuator structural model. The results show the relationships between the armature's attraction force and time, the armature's position and time, the current in the coil and time, and the copper loss (i.e., resistance loss) in the coil and time during the DC excitation simulation of the actuator. Figure 8 to Figure 11 As shown.

[0093] Figure 8 The simulation results show the relationship between the attractive force on the armature and time (simulation method 1, with the attractive force unit being kN). The horizontal axis represents time, and the vertical axis represents the attractive force on the armature. From Figure 8It can be seen that the attraction force on the armature (negative because along the y-axis) increases all the time in the first 0.2 ms, and reaches a maximum of about 2.8 kN. This is because the armature moves downward along the y-axis after it is attracted, so that the distance between the armature and the core decreases, i.e. the magnetic reluctance decreases, and thus the attraction force increases. However, when t > 0.2 ms, the attraction force decreases, and even reverses. This is probably related to the eddy current and induced electromotive force in the coil. In this process, the eddy current can be too large, so that the attraction force gradually decreases and even reverses. However, the armature will continue to move towards the core due to inertia until it is closed. The initial minimum attraction force can also reach 1.85 kN. Thereafter, the peak value of the attraction force is basically unchanged, but it maintains a clear oscillation pattern, with a period of about 0.4 ms.

[0094] Figure 9 The simulation results of the relationship between the position of the armature and time are shown in FIG. 6, where the horizontal axis is time and the vertical axis is the position of the armature. From Figure 9 it can be seen that the armature moves and closes with the core in about 0.4 ms. After closing, there is an oscillation phenomenon at the closing position, with an oscillation amplitude of about 0.2 mm and an oscillation period of about 0.4 ms, which is consistent with the period of the attraction force. This is obviously corresponding to the phenomenon of the attraction force reversing. Obviously, the position of the armature does not fluctuate significantly with time, which avoids the nonlinearity of the actuator to some extent when it is working under direct current excitation.

[0095] Figure 10 The simulation results of the relationship between the current in the coil and time are shown in FIG. 7, where the horizontal axis is time and the vertical axis is the current in the coil. From Figure 10 it can be seen that the total current in the coil during the transient process should be: (power supply voltage - induced voltage) / coil resistance value. At the same time, it should be considered that the coil is equivalent to an inductor in series with a resistor, and the initial current in the coil is zero. The current in the coil is a process of gradually increasing and then maintaining a relatively stable oscillation. And from Figure 10 it can be seen that the working current of the actuator under direct current excitation is relatively small and has small fluctuations, which also makes the actuator have a certain degree of good linearity.

[0096] Figure 11 The simulation results of the relationship between the copper loss (i.e. resistance loss) in the coil and time are shown in FIG. 8, where the horizontal axis is time and the vertical axis is the resistance loss power in the coil. From Figure 11 it can be seen that the copper loss, i.e. the resistance loss power in the coil, is only tens of milliwatts. It can be seen that when the coil adopts a small cross-section thin wire and a large number of turns, the power consumed by the coil is small, which is also conducive to the control of the temperature of the actuator and long-time work.

[0097] As Figure 7As shown, the target actuator structure model is analyzed by two-dimensional transient alternating current simulation, and the relationship between the attraction force of the armature and time, the relationship between the position of the armature and time, the relationship between the current in the coil and time, and the relationship between the copper loss (i.e. resistance loss) in the coil and time are obtained as shown in the following figures. Figure 12 to Figure 20

[0098] In the actuator alternating current excitation simulation, 38V alternating current power supply is applied, the excitation is 50Hz, 100Hz and 150Hz sine alternating current power supply, and the armature moves, and other conditions are the same as those in the direct current excitation simulation part.

[0099] Figure 12 For the simulation result of the relationship between the attraction force of the armature and time when the frequency is 50Hz, the horizontal coordinate is time, and the vertical coordinate is the attraction force of the armature. From Figure 12 It can be seen that the initial attraction force of the armature is about 1.85kN, and then as the armature moves downward, the distance from the armature to the core becomes smaller, and the attraction force also increases, and the attraction force reaches the maximum of about 5.05kN at the closing.

[0100] By comparing the result graph of the direct current excitation simulation, it can be found that the oscillation characteristics of the attraction force have both the same points and different points. The same points are that the initial attraction force and the oscillation frequency after closing are basically the same. The different points are that the force change curve is different during the attraction process: in the direct current excitation case, the force change is linear, but in the alternating current case, it is obviously nonlinear. In addition, the closing time is also different: in the alternating current case, it takes less time, and the attraction force reaches the maximum value at the closing moment; however, in the direct current case, the attraction force at the closing is not the maximum value.

[0101] Figure 13 For the simulation result of the relationship between the position of the armature and time when the frequency is 50Hz, the horizontal coordinate is time, and the vertical coordinate is the position of the armature. From Figure 13 It can be seen that the armature is closed in about 0.28ms, and the armature will have a slight high-frequency oscillation near the closing. By comparing the case in the direct current, the oscillation amplitude of the armature near the closing is obviously smaller under the alternating current excitation, but the oscillation frequency is higher. Obviously, the nonlinearity of vibration control is also avoided at this time.

[0102] Figure 14 For the simulation result of the relationship between the copper loss in the coil and time when the frequency is 50Hz, the horizontal coordinate is time, and the vertical coordinate is the resistance loss power in the coil. From Figure 14 It can be seen that by comparing the simulation result of the direct current excitation, the resistance loss of the coil is slightly higher in the alternating current case, but the time to reach the peak value is basically the same, and the envelope lines of the two are basically the same. The design at this time is also conducive to the actuator control temperature and long-time work.

[0103] ​In addition, the higher frequency case of the actuator under AC is simulated as follows, respectively obtaining the simulation results of the relationship between the force on the armature and time, the relationship between the position of the armature and time, and the relationship between the copper loss in the coil and time as shown in Figure 15 to Figure 17 The simulation results of the relationship between the force on the armature and time, the relationship between the position of the armature and time, and the relationship between the copper loss in the coil and time when the frequency is 150 Hz are obtained as shown in Figure 18 to Figure 20

[0104] It can be seen from Figure 15 that compared with the case at 50 Hz, the force and the oscillation frequency of the armature after closing are basically unchanged. It can be seen from Figure 16 that the change of the position of the armature with time is basically the same as that at 50 Hz, and the closing time is basically unchanged. It can be seen from Figure 17 that the copper loss of the coil is also basically unchanged, which is also conducive to the actuator to work normally for a long time.

[0105] It can be seen from Figure 18 to Figure 20 that compared with the simulation results at 50 Hz, the time curve of the copper loss of the coil has a small effect when the frequency is 150 Hz, mainly reflected in that the higher the frequency after stabilization, the slightly higher the copper loss. However, the curves of the force on the armature and the relationship between the closing time are basically unchanged. Specifically, it can be seen from Figure 18 that the relationship curve between the force on the armature and time when the AC excitation frequency is 150 Hz is basically the same as that under the previous frequency. It can be seen from Figure 19 that the relationship curve between the position of the armature and time when the AC excitation frequency is 150 Hz is basically the same as that under the previous frequency. It can be seen from Figure 20 that the relationship curve between the copper loss of the coil and time when the AC excitation frequency is 150 Hz is slightly higher than that under the frequency of 50 Hz and 100 Hz.

[0106] Through the above AC and DC excitation simulation of the electromagnetic actuator, it can be known that in terms of the main technical indicators, the key technical indicator that can make the actuator work normally is proposed for the square of the active output force / (power consumption*volume)≥1.4*10^6. And the simulation model analysis determines that the volume of the entire actuator is 155 mm long, 102 mm high, and 75 mm wide, and the total volume is =1185750*10 -9 ​Cubic meters, and combined with the margin optimization design ultimately determined to use a cross section of 1 square millimeter copper wire, the number of turns can be defined as (1400-1600) turns, 49 turns per layer, a total of 29 layers. Can meet the project test for the actuator volume is small, easy to install the demand. And through the simulation results, the initial attraction of the actuator armature under DC and AC excitation can reach 1.85kN, and the maximum attraction when closed can reach 2.8kN, even up to 5kN. Therefore, can fully meet the > 475N requirements, and far beyond its requirements.

[0107] Second, as to the force density index Q, considering the maximum output power of the actuator power Pmax = 38*5 = 190W, assuming that the power supply is converted into all the power loss, and take the minimum value of the attraction 1.85kN, which can be estimated as:

[0108]

[0109] The output force takes the minimum value of 1.85kN, and the loss power is necessarily less than or equal to the power supplied by the power supply. Therefore, the minimum value of Q should be 1.52*10 7 Left and right, also much larger than the design value of the patent technical index 1.4*10 6 .

[0110] In this embodiment, through the simulation analysis of the target actuator structure model, it is verified that it meets the main technical index requirements of the electromagnetic actuator, and the parameters of the designed electromagnetic actuator are reliable and stable, and the applicability is strong, and the optimization of the electromagnetic environment of the actuator is realized.

[0111] As Figure 21 shown, in one embodiment, an electromagnetic environment optimization method of an actuator is provided, comprising the following steps:

[0112] 1) Calculate and analyze the physical model of the existing E-type electromagnet, and obtain the key factors affecting the size of the main output force of the electromagnetic actuator.

[0113] 2) Through the optimization simulation design of the key factor index of the electromagnetic actuator, an initial actuator structure model is established.

[0114] 3) Analyze the relevant data of the initial actuator structure model, and preliminarily determine the ampere-turns of the winding coil of the electromagnetic actuator (i.e. the target ampere-turns of the coil current excitation) that meets the main force index of the electromagnetic environment optimization of the electromagnetic actuator.

[0115] 4) After optimizing the ampere-turns of the actuator winding coil, the cross-sectional area, winding length and distance between the core between the middle winding of the armature and the permanent magnet surface of the electromagnetic actuator coil are designed and determined.

[0116] 5) Two-dimensional transient AC / DC simulation analysis is performed on the optimized electromagnetic actuator to verify whether the electromagnetic environment optimization design effect of the electromagnetic actuator meets the main technical index requirements of the electromagnetic actuator. If the design parameters and the simulation results of the model are insufficient to meet the main technical index requirements, return to step 2) to re-determine the initial actuator structure model and the ampere-turns of the winding coil; if the main technical index requirements are met, the process is ended.

[0117] The electromagnetic environment optimization method of the actuator provided in the embodiment can make the parameters of the actuator have a basis and be good in stability and strong in applicability. Specifically, the method has the following characteristics:

[0118] a) Small volume and moderate size. Through simulation analysis, it is found that the ratio of the area of the middle winding core to the sum of the areas of the two side cores in the E-shaped electromagnetic actuator is 1:2. Considering the size design parameters, the actuator diameter is selected to be less than 155 mm and the height is selected to be less than 102 mm. At this time, the specific actuator size, winding turns and other physical index parameters can be finally determined through simulation analysis comparison.

[0119] b) Relatively small working current, stable fluctuation, and stable fluctuation of the position of the armature. After the specific size and winding turns of the relatively optimal electromagnetic actuator are determined through simulation analysis comparison, the current value through the actuator coil can be calculated according to the related formula. After comprehensive comparison of the current value and the cross-sectional area of the winding, the current value (5A-7A) of the actuator is determined to be lower than the current value (12.55A-13.30A) of the relatively traditional actuator during work. The current value is relatively stable through simulation analysis, the position of the armature fluctuates little during the work of the actuator, and the nonlinearity in a certain working degree is avoided.

[0120] c) Low power consumption and less heat. When the copper loss in the relatively optimal coil is determined through simulation analysis comparison, the power consumption of the coil is greater than 200W when the coil adopts a small cross-section and a large number of turns. When the coil adopts a small cross-section and a large number of turns, the power consumption of the coil is smaller, which is also conducive to the control of the temperature of the actuator and long-time work. The simulation data at this time shows that the resistance loss power is only in the order of tens of milliwatts.

[0121] d) The active output force is large. Through preliminary simulation and formula calculation, the suction force of the electromagnetic actuator in active vibration control mainly depends on the number of turns of the coil, the contact area of the core and the armature, and the length of the air gap. When the current excitation of the actuator, i.e. the range of ampere-turns is (1000-10000) ampere-turns, the force curve shows that when the ampere-turns is 7000, the actuator has sufficient output force for active control. According to the analysis, the actual output force of the actuator under this condition is much larger than the expected active output force of 470N in the force curve, which can meet the needs of most active vibration control.

[0122] e) The output force density is strong. For the key technical index of active output force 2 / (power consumption*volume)≥1.4*10^6, through simulation optimization scheme, the volume of the entire actuator is calculated as the limit: length 155mm, height 102mm, width 75mm, total volume =1185750*10 -9 7 6 , the output force density is strong enough to meet the requirements of electromagnetic actuators for this index in active vibration control.

[0123] The application also provides a computer device, the internal structure of which can be shown as Figure 22 The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner. The wireless manner can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement an electromagnetic environment optimization method of an actuator.

[0124] Those skilled in the art can understand,​​Figure 22 The structure shown in the above figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0125] As shown in the above figure, the present application also provides a computer device including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps in the above method embodiments. Figure 22

[0126] The present application also provides a computer readable storage medium having a computer program stored thereon. The computer program is executed by a processor to implement the steps in the above method embodiments. The computer readable storage medium can include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nano system (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0127] The present application also provides a computer program product including a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

[0128] It should be noted that, for the above method embodiments, in order to simply describe, they are all expressed as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the action order described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0129] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0130] ​The above merely describes exemplary embodiments of the present disclosure, and cannot limit the scope of the present disclosure. That is, equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Those skilled in the art will readily conceive of embodiments of the present disclosure upon considering the specification and practicing the disclosure herein. The present application is intended to cover any variations, uses, or adaptive changes of the present disclosure following the general principles of the present disclosure and including common knowledge or conventional technical means in the art not described in the present disclosure. The specification and examples are merely considered as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

[0131] The technical features of the above embodiments can be combined in any manner. For brevity, not all possible combinations of the technical features in the above embodiments are described, but any combination of the technical features is deemed to be within the scope of the present disclosure as long as the combination does not result in contradictions.

[0132] Those skilled in the art will readily understand that the above described are merely preferred embodiments of the present application and are not intended to limit the present application, and any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for optimizing the electromagnetic environment of an actuator, characterized in that, include: The main technical requirements for the electromagnetic actuator are as follows: the active output force is not less than the preset value, the output force density is not less than the set value, and the diameter and height of the actuator meet the preset range. Based on the factors influencing the active output force, the initial values ​​of these factors are determined, including the ratio of the area of ​​the iron core of the middle winding of the E-type electromagnet to the sum of the areas of the iron cores on both sides. Based on the initial values ​​of these factors and the main technical requirements of the electromagnetic actuator, the target diameter and target height of the actuator are determined. Based on the ratio of the area of ​​the iron core of the middle winding of the E-type electromagnet to the sum of the areas of the iron cores on both sides, and the target diameter and target height of the actuator, an initial actuator structural model is established. The factors influencing the active output force include at least one of the following: the current excitation applied to the coil, the contact area between the iron core and the armature, and the air gap length. Based on the initial actuator structure model, determine the target ampere-turns of the current excitation applied to the coil; Based on the initial actuator structure model and the target ampere-turns of the current excitation applied to the coil, two coils with different cross-sectional areas are compared to determine the target cross-sectional area and target winding length of the coil. Based on the curve of the active output force relative to the distance between the armature and the iron core of the winding in the middle of the permanent magnet surface, and the main technical requirements of the electromagnetic actuator that the active output force is not less than a preset value, the target distance between the armature and the permanent magnet surface is determined; based on the initial actuator structure model, the target ampere-turns of the current applied to the coil, the target cross-sectional area of ​​the coil, the target winding length, and the target distance between the armature and the permanent magnet surface, the target actuator structure model is established.

2. The method as described in claim 1, characterized in that, The determination of the target ampere-turns of the current excitation applied to the coil based on the initial actuator structure model includes: The initial actuator structure model was simulated and analyzed to obtain a curve of active output force versus the ampere-turns of the current applied to the coil; Based on the curve and the main technical requirements of the electromagnetic actuator, the active output force is not less than a preset value, and the target ampere-turns of the current applied to the coil are determined.

3. The method as described in claim 1, characterized in that, The main technical specifications of the electromagnetic actuator include: active output force ≥ 470N; active output force squared / (power consumption * volume) ≥ 1.4 * 10^6 within 10-250Hz; dimensions: diameter < 155mm, height < 102mm.

4. The method as described in claim 1, characterized in that, The method further includes: A two-dimensional transient AC / DC simulation analysis was performed on the structural model of the target actuator to verify whether it meets the main technical requirements of the electromagnetic actuator.

5. The method as described in claim 4, characterized in that, The two-dimensional transient AC / DC simulation analysis of the target actuator structural model is performed to verify whether it meets the main technical requirements of the electromagnetic actuator, including: Two-dimensional transient AC / DC simulation analysis was performed on the target actuator structural model to verify whether it meets the main technical requirements of the electromagnetic actuator. If the conditions are met, the simulation ends; if not, the process returns to the initial actuator structural model established based on the initial values ​​of the factors affecting the active output force and the main technical requirements of the electromagnetic actuator.

6. A computer device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1-5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-5.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-5.

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