Electromechanical coupling closed-loop simulation system of double-rotor flux-adjusting motor and modeling method of electromechanical coupling closed-loop simulation system

Abstract

The invention discloses an electromechanical coupling closed-loop simulation system for a dual-rotor flux-adjusting motor and a modeling method of the electromechanical coupling closed-loop simulation system. The electromechanical coupling closed-loop simulation system comprises a main winding electrical sub-model, a secondary winding electrical sub-model, an inner rotor mechanical sub-model and an outer rotor mechanical sub-model, an electromagnetic torque part generated by the main winding electrical sub-model is input into the inner rotor mechanical sub-model, and the remaining part of the electromagnetic torque generated by the main winding electrical sub-model and the electromagnetic torque generated by the secondary winding electrical sub-model are input into the outer rotor mechanical sub-model. And the outer rotor mechanical sub-model and the inner rotor mechanical sub-model respectively send feedback signals back to the main winding electrical sub-model and the secondary winding electrical sub-model. According to the electromechanical coupling closed-loop simulation system and the modeling method thereof, the structure is clear, calculation is efficient, the core internal and external torque distribution and motion coupling mechanism of the double-rotor flux-adjustable motor is grasped, the simulation accuracy is guaranteed, and a reliable theoretical basis is provided for motor body design optimization and control system performance prediction.

Description

Technical Field

[0001] This invention relates to a control system for a dual-rotor adjustable magnet motor, and more particularly to a closed-loop simulation system for electromechanical coupling of a dual-rotor adjustable magnet motor and its modeling method. Background Technology

[0002] The dual-rotor adjustable magnet motor is a special motor with a novel structure and superior performance. (See the attached instruction manual.) Figure 1 As shown, the dual-rotor magnet-adjusting motor includes an inner rotor 3-1, an outer rotor 2-1, and a stator 1-1 connected together from the inside to the outside. The outer array of the outer rotor 2-1 has several windings composed of a main winding 4-1 and a secondary winding 5-1. Through the combined action of the main winding and the secondary (magnet-adjusting) winding, the dual-rotor magnet-adjusting motor drives the inner rotor 3-1 and the outer rotor 2-1 to achieve wide-range speed regulation and high-efficiency operation, and has broad application prospects in electric vehicles, aerospace and other fields.

[0003] However, its unique dual-rotor and dual-winding structure results in extremely complex internal electromagnetic relationships and mechanical dynamics, exhibiting highly nonlinear and strong coupling characteristics. Researchers faced the following technical challenges in developing a control system for this type of motor:

[0004] 1. Lack of accurate and efficient mathematical models: Currently, modeling methods for traditional single-rotor motors are very mature, but they cannot be directly applied to dual-rotor tuned-magnet motors. Accurate analysis often relies on the computationally intensive and time-consuming three-dimensional finite element analysis (FEA) method. While this method is accurate, it is difficult to use for the design and simulation of real-time control systems, resulting in long controller development cycles and high costs.

[0005] 2. The internal coupling relationship is difficult to describe: How to accurately distribute the electromagnetic torque generated by the main and auxiliary windings inside the motor to the inner and outer rotors, and how the movement of the two rotors affects the electromagnetic state of the windings in turn, this complex two-way coupling relationship is difficult to describe with a clear mathematical model, making the controller design lack a theoretical basis.

[0006] 3. Challenges in controller design and verification: Without an accurate and efficient simulation model as a "virtual prototype," the development of controller algorithms, parameter tuning, and performance verification can only rely on expensive physical platforms and repeated experiments, resulting in low R&D efficiency and the risk of hardware damage. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a closed-loop simulation system and modeling method for electromechanical coupling of a dual-rotor magneto-tunable motor that can completely, efficiently and accurately reflect the dynamic characteristics of the motor.

[0008] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0009] A closed-loop simulation system for electromechanical coupling of a dual-rotor tuned magnet motor includes a main winding electrical sub-model, a secondary winding electrical sub-model, an inner rotor mechanical sub-model, and an outer rotor mechanical sub-model. The electromagnetic torque generated by the main winding electrical sub-model is input to the inner rotor mechanical sub-model. The remaining electromagnetic torque of the main winding electrical sub-model and the electromagnetic torque generated by the secondary winding electrical model are both input to the outer rotor mechanical sub-model. The outer rotor mechanical sub-model and the inner rotor mechanical model send feedback signals back to the main winding electrical sub-model and the secondary winding electrical sub-model, respectively.

[0010] A modeling method for a closed-loop simulation system of electromechanical coupling of a dual-rotor tuned magnet motor includes the following steps:

[0011] S1. First, establish the main winding electrical sub-model and the secondary winding electrical sub-model respectively. Calculate the total electromagnetic torque generated by the main winding, i.e., the main winding torque, through the main winding electrical sub-model. Calculate the electromagnetic torque generated by the secondary winding, i.e., the secondary winding torque, through the secondary winding electrical sub-model.

[0012] S2. Establish the inner rotor mechanical sub-model and the outer rotor mechanical sub-model respectively. The inner rotor mechanical sub-model receives a portion of the main winding torque and the external load torque in step S1 and calculates the angular velocity and mechanical angle of the inner rotor. The outer rotor mechanical sub-model receives the remaining portion of the main winding torque, the secondary winding torque, and the external load torque in step S1 and calculates the angular velocity and mechanical angle of the outer rotor.

[0013] S3. The inner and outer rotor angular velocities and mechanical angles calculated in step S2 are sent back as feedback signals to the secondary winding electrical sub-model and the main winding electrical sub-model in step S1, respectively, to calculate speed-related terms such as back electromotive force, thereby forming a complete electromechanical coupling closed-loop simulation system.

[0014] Furthermore, the electromagnetic torque in step S1 is calculated as follows:

[0015] 1) Current calculation (in the electrical model module)

[0016] The current is calculated based on the dq-axis voltage equation, obtained through integration. First, the voltage equation is rearranged into a form with respect to the current derivative:

[0017] 1-1) Calculation of d-axis current:

[0018]

[0019] 1-2) Calculation of q-axis current:

[0020]

[0021] In the Simulink model, the currents id and iq along the dq axis can be obtained by integrating these two derivatives using the integrator module.

[0022] 2) Electromagnetic torque calculation (in the Torque equation module)

[0023] The electromagnetic torque is calculated based on the calculated dq-axis current and flux linkage parameters;

[0024] Formula for calculating electromagnetic torque:

[0025]

[0026] in:

[0027] ud, uq: stator voltages along the d-axis and q-axis, respectively;

[0028] id, iq: stator currents along the d-axis and q-axis, respectively;

[0029] Ld, Lq: Inductance along the d-axis and q-axis, respectively;

[0030] Rs: is the stator winding resistance;

[0031] ψf: is the magnetic flux generated by the rotor permanent magnet;

[0032] ωe: is the electric angular velocity of the motor, and its relationship with the mechanical angular velocity ωm is ωe = p·ωm;

[0033] p: is the number of pole pairs of the motor;

[0034] Te: is the generated electromagnetic torque.

[0035] Furthermore, the calculation method for the angular velocity and mechanical angle of the outer rotor in step S2 is as follows:

[0036] First, calculate the resultant torque acting on the outer rotor, then divide by the moment of inertia to obtain the angular acceleration:

[0037]

[0038] Integrating the angular acceleration once yields the real-time angular velocity of the outer rotor:

[0039]

[0040] Integrating the angular velocity again yields the real-time mechanical angle of the outer rotor:

[0041] θ o =∫ω o dt.

[0042] Furthermore, in step S3, the electrical sub-model uses the electrical angular velocity (ω_e), while the mechanical sub-model calculates the mechanical angular velocity (ω_m, i.e., ω_o or ω_i). The conversion formula between them is as follows:

[0043] ω e =p·ω m

[0044] Where p is the number of pole pairs of the motor;

[0045] The converted electric angular velocity ω_e will be directly used to solve the current differential equation along the dq axis, and the part containing ω_e is the velocity-related term;

[0046] The angular velocity ω_o and angle θ_o of the outer rotor are used as feedback signals and sent back to the main winding electrical sub-model. In the main winding model, ω_m takes the value of ω_o.

[0047] The angular velocity ω_i and angle θ_i of the inner rotor are fed back to the secondary winding electrical sub-model as feedback signals. In the secondary winding model, ω_m takes the value of ω_i.

[0048] Compared with existing technologies, the advantages of this invention, a closed-loop simulation system and modeling method for electromechanical coupling of a dual-rotor tuned magnet motor, are as follows:

[0049] 1. Solved the problem of starting from scratch: Provided a clear, complete and specific system-level mathematical modeling method for dual-rotor magnetotunable motors, filling the technical gap in efficient simulation models in this field;

[0050] 2. Clear structure, easy to understand and implement: By using a modular approach, the complex electromechanical coupling system is decomposed into functionally independent electrical and mechanical sub-models, making the physical meaning of the model clear and easy for engineers to understand, implement and modify;

[0051] 3. High computational efficiency and support for controller design: Compared with the time-consuming finite element analysis method, the analytical model proposed by the dual-rotor tuned magnet motor electromechanical coupling closed-loop simulation system and its modeling method of this invention has an extremely fast calculation speed, which can meet the simulation requirements of real-time or semi-real-time. It greatly facilitates the development, debugging, parameter tuning and performance verification of complex control algorithms such as FOC and MPC, significantly shortens the R&D cycle and reduces development costs.

[0052] 4. Accurately reflects the core mechanism: This model accurately captures the core internal and external torque distribution and motion coupling mechanism of the dual-rotor magnetizing motor, ensuring the accuracy of the simulation and providing a reliable theoretical basis for motor body design optimization and control system performance prediction. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a schematic diagram of the structural principle of a dual-rotor magnet-adjusting motor;

[0055] Figure 2 This is a block diagram of the overall Simulink model of a dual-rotor magneto-tunable motor electromechanical coupling closed-loop simulation system according to the present invention;

[0056] Figure 3 yes Figure 2 Schematic diagram of the internal structure of the main winding electrical sub-model;

[0057] Figure 4 yes Figure 2 Schematic diagram of the internal structure of the intermediate and auxiliary winding electrical sub-model;

[0058] Figure 5 yes Figure 2 Schematic diagram of the internal structure of the Chinese and foreign rotor mechanical sub-models;

[0059] Figure 6 yes Figure 2 Schematic diagram of the internal structure of the inner rotor mechanical sub-model.

[0060] In the diagram: 1-1, stator; 2-1, outer rotor; 3-1, inner rotor; 4-1, main winding; 5-1, auxiliary winding. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0062] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In the description of the embodiments of the invention, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" indicate orientation or positional relationships based on the orientation or positional relationships shown in the drawings, or the orientation or positional relationships commonly used when the product is in use, they are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0063] Furthermore, the use of terms such as "horizontal" or "vertical" does not imply that the component must be absolutely horizontal or vertical, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure or component must be completely horizontal, but can be slightly tilted.

[0064] In the description of the embodiments of the present invention, "multiple" means at least two.

[0065] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0066] Example

[0067] The specific implementation of the electromechanical coupling closed-loop simulation system and modeling method for a dual-rotor tuned magnet motor of the present invention is carried out in the MATLAB / Simulink environment.

[0068] Please refer to the instruction manual attached. Figure 2 As shown, the instruction manual is attached. Figure 2The diagram shows the overall Simulink model block diagram of a dual-rotor tuned magnet motor electromechanical coupling closed-loop simulation system according to the present invention. It mainly consists of four core subsystem modules: main winding electrical sub-model, auxiliary winding electrical sub-model, inner rotor mechanical sub-model, and outer rotor mechanical sub-model. These four interconnected and functionally independent subsystem modules decouple and reconstruct the complex motor system. By precisely defining the interfaces and data flows between the sub-models, namely torque distribution and motion feedback, the electromagnetic torque generated by the main winding electrical sub-model and a portion of the external load torque are input to the inner rotor mechanical sub-model. The remaining portion of the electromagnetic torque of the main winding electrical sub-model, as well as the external load torque and the electromagnetic torque generated by the auxiliary winding electrical model, are all input to the outer rotor mechanical sub-model. The outer rotor mechanical sub-model and the inner rotor mechanical model respectively send feedback signals back to the main winding electrical sub-model and the auxiliary winding electrical model, thereby constructing a complete, efficient, and accurate closed-loop simulation model that reflects the dynamic characteristics of the motor.

[0069] Specifically, the modeling method for a closed-loop simulation system of a dual-rotor tuned magnet motor electromechanical coupling according to the present invention includes the following steps:

[0070] S1. First, establish the main winding electrical sub-model and the secondary winding electrical sub-model respectively; calculate the total electromagnetic torque generated by the main winding, i.e., the main winding torque, through the main winding electrical sub-model, and calculate the electromagnetic torque generated by the secondary winding, i.e., the secondary winding torque, through the secondary winding electrical sub-model.

[0071] The electromagnetic torque is calculated as follows:

[0072] 1) Current calculation (in the electrical model module)

[0073] The current is calculated based on the dq-axis voltage equation, obtained through integration. First, the voltage equation is rearranged into a form with respect to the current derivative:

[0074] 1-1) Calculation of d-axis current:

[0075]

[0076] 1-2) Calculation of q-axis current:

[0077]

[0078] In the Simulink model, the currents id and iq along the dq axis can be obtained by integrating these two derivatives using the integrator module.

[0079] 2) Electromagnetic torque calculation (in the Torque equation module)

[0080] The electromagnetic torque is calculated based on the calculated dq-axis current and flux linkage parameters;

[0081] Formula for calculating electromagnetic torque:

[0082]

[0083] in:

[0084] ud, uq: stator voltages along the d-axis and q-axis, respectively;

[0085] id, iq: stator currents along the d-axis and q-axis, respectively;

[0086] Ld, Lq: Inductance along the d-axis and q-axis, respectively;

[0087] Rs: is the stator winding resistance;

[0088] ψf: is the magnetic flux generated by the rotor permanent magnet;

[0089] ωe: is the electric angular velocity of the motor, and its relationship with the mechanical angular velocity ωm is ωe = p·ωm;

[0090] p: is the number of pole pairs of the motor;

[0091] Te: is the generated electromagnetic torque.

[0092] It is important to note that:

[0093] For the main winding, the parameters (Rs,Ld,Lq,ψf,p) in the above formula are all the corresponding parameters of the main winding, and the feedback mechanical angular velocity is the outer rotor angular velocity wo.

[0094] For the secondary winding, the same formula is used, but the parameters of the secondary winding itself are used, and its feedback mechanical angular velocity is the inner rotor angular velocity wi.

[0095] Specifically, the total electromagnetic torque generated by the main winding, i.e., the main winding torque, is calculated using the main winding electrical sub-model. (Refer to the appendix of the instruction manual.) Figure 3 As shown, the instruction manual is attached. Figure 3 The diagram shown is a schematic of the internal structure of the main winding electrical sub-model. This main winding electrical sub-model is modeled using a standard dq synchronous rotating coordinate system. It receives the externally input three-phase voltage Vmainwinding and internally transforms the three-phase ABC voltages into dq-axis voltages ud_m and uq_m through the ABC2dq module (Park transformation). Within the electricalmodel module, based on the dq-axis voltage equations...

[0096]

[0097] By combining the motor parameters (resistance Rs_m, inductance Ldm, Lqm) and the feedback speed w_o, the dq axis currents id_m and iq_m are calculated by integration.

[0098]

[0099] After using the integrator,

[0100]

[0101] In the Torqureequation module, the total electromagnetic torque T_m generated by the main winding is calculated based on the dq axis current and flux linkage.

[0102]

[0103] symbol meaning ud,uq Stator voltages along the d-axis and q-axis id,iq Stator currents along the d-axis and q-axis Ld,Lq Inductance along the d-axis and q-axis Rs stator winding resistance ψf Magnetic flux generated by rotor permanent magnet ωe The electric angular velocity of the motor is calculated based on the feedback mechanical angular velocity w_o. p Number of pole pairs of motor Tm Total electromagnetic torque generated by the main winding

[0104] The electromagnetic torque generated by the secondary winding, i.e., the secondary winding torque, is calculated using the secondary winding electrical sub-model. (See attached instruction manual.) Figure 4 The diagram shows the internal structure of the secondary winding electrical sub-model. This secondary winding electrical sub-model is similar in structure to the primary winding electrical sub-model, and it is modeled using a standard dq synchronous rotating coordinate system. The secondary winding electrical sub-model receives the externally input three-phase voltage Vmainwinding, and internally transforms the three-phase ABC voltages into dq-axis voltages ud_a and uq_a through the ABC2dq module (Park transformation). In the electricalmodel module, based on the dq-axis voltage equations...

[0105]

[0106] By combining the motor parameters (resistance Rs_a, inductance Lda, Lqa) and the feedback speed w_o, the dq axis currents id_a and iq_a are calculated by integration.

[0107]

[0108]

[0109] In the Torqureequation module, the electromagnetic torque To_a generated by the secondary winding is calculated based on the dq axis current and flux linkage.

[0110]

[0111] symbol meaning ud_a,uq_a d-axis and q-axis voltages of the secondary winding id_a, iq_a d-axis and q-axis currents of the secondary winding Lda, Lqa d-axis and q-axis inductance of the secondary winding Rs_a secondary winding resistance ψfa Permanent magnet flux linkage of secondary winding ωe_i The electrical angular velocity of the secondary winding, based on feedback. pa Number of pole pairs of secondary winding To_a Electromagnetic torque generated by the secondary winding

[0112] S2. Establish the inner rotor mechanical sub-model and the outer rotor mechanical sub-model respectively;

[0113] The inner rotor mechanical sub-model receives a portion of the main winding torque and the external load torque in step S1 and calculates the angular velocity and mechanical angle of the inner rotor; refer to the appendix of the instruction manual. Figure 6 As shown, the instruction manual is attached. Figure 6 The diagram shows the internal structure of the inner rotor mechanical sub-model. The inner rotor mechanical sub-model receives a portion of the main winding torque T_m (proportionally distributed through the Gain module, for example, Ti_m = k*T_m) and the external load torque TL_i. According to Newton's second law J*dw / dt = Ti_m - TL_i - B*w_i, the angular velocity w_i and mechanical angle theta_i of the inner rotor are calculated by the integrator.

[0114] The external rotor mechanical sub-model receives the remaining portion of the main winding torque from step S1, along with the secondary winding torque and the external load torque, and calculates the angular velocity and mechanical angle of the external rotor; refer to the appendix of the instruction manual. Figure 5 As shown, the instruction manual is attached. Figure 5 The diagram shows the internal structure of the inner rotor mechanical sub-model. The outer rotor mechanical sub-model receives the remaining part of the main winding torque T_m ((1-k)*T_m) and the sum of the secondary winding torque To_a, as well as the external load torque TL_o. According to Newton's second law, the angular velocity w_o and mechanical angle theta_o of the outer rotor are calculated by the integrator.

[0115] The angular velocity and mechanical angle of the external rotor are calculated as follows:

[0116] First, calculate the resultant torque acting on the outer rotor, then divide by the moment of inertia to obtain the angular acceleration:

[0117]

[0118] Integrating the angular acceleration once yields the real-time angular velocity of the outer rotor:

[0119]

[0120] Integrating the angular velocity again yields the real-time mechanical angle of the outer rotor:

[0121] θ o =∫ω o dt;

[0122] S3. The inner and outer rotor angular velocities and mechanical angles calculated in step S2 are fed back as feedback signals to the secondary winding electrical sub-model and the main winding electrical sub-model in step S1, respectively. Among them, the outer rotor angular velocity w_o and the outer rotor angle theta_o are fed back as feedback signals to the main winding electrical sub-model, and the inner rotor angular velocity w_i and the inner rotor angle theta_i are fed back as feedback signals to the secondary winding electrical model. These are used to calculate speed-related terms such as back electromotive force, thus forming a complete electromechanical coupling closed-loop simulation system.

[0123] The electrical sub-model uses electrical angular velocity (ω_e), while the mechanical sub-model calculates mechanical angular velocity (ω_m, i.e., ω_o or ω_i). The conversion formula between them is as follows:

[0124] ω e =p·ω m

[0125] Where p is the number of pole pairs of the motor;

[0126] The converted electric angular velocity ω_e will be directly used to solve the current differential equation along the dq axis, and the part containing ω_e is the velocity-related term;

[0127] The angular velocity ω_o and angle θ_o of the outer rotor are used as feedback signals and sent back to the main winding electrical sub-model. In the main winding model, ω_m takes the value of ω_o.

[0128] The angular velocity ω_i and angle θ_i of the inner rotor are fed back to the secondary winding electrical sub-model as feedback signals. In the secondary winding model, ω_m takes the value of ω_i.

[0129] This dual-rotor tuned magnet motor electromechanical coupling closed-loop simulation system and its modeling method provide a clear, complete, and specifically designed system-level mathematical modeling approach for dual-rotor tuned magnet motors, filling a technological gap in this field for efficient simulation models. By modularizing the complex electromechanical coupling system into functionally independent electrical and mechanical sub-models, the physical meaning of the model becomes clear, making it easy for engineers to understand, implement, and modify. Compared to the time-consuming finite element analysis method, the analytical model proposed in this invention offers extremely fast computation speed, meeting real-time or semi-real-time simulation requirements. This greatly facilitates the development, debugging, parameter tuning, and performance verification of complex control algorithms such as FOC and MPC, significantly shortening the R&D cycle and reducing development costs. The model accurately captures the core internal and external torque distribution and motion coupling mechanism of the dual-rotor tuned magnet motor, ensuring simulation accuracy and providing a reliable theoretical basis for motor design optimization and control system performance prediction.

[0130] It should be emphasized that the above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A closed-loop simulation system for electromechanical coupling of a dual-rotor tuned magnet motor, characterized in that, It includes a main winding electrical sub-model, a secondary winding electrical sub-model, an inner rotor mechanical sub-model, and an outer rotor mechanical sub-model. The electromagnetic torque generated by the main winding electrical sub-model is input to the inner rotor mechanical sub-model. The remaining part of the electromagnetic torque of the main winding electrical sub-model and the electromagnetic torque generated by the secondary winding electrical model are both input to the outer rotor mechanical sub-model. The outer rotor mechanical sub-model and the inner rotor mechanical model send feedback signals back to the main winding electrical sub-model and the secondary winding electrical sub-model, respectively.

2. A modeling method for a closed-loop simulation system of a dual-rotor tuned magnet motor electromechanical coupling as described in claim 1, characterized in that, Includes the following steps: S1. First, establish the main winding electrical sub-model and the secondary winding electrical sub-model respectively. Calculate the total electromagnetic torque generated by the main winding, i.e., the main winding torque, through the main winding electrical sub-model. Calculate the electromagnetic torque generated by the secondary winding, i.e., the secondary winding torque, through the secondary winding electrical sub-model. S2. Establish the inner rotor mechanical sub-model and the outer rotor mechanical sub-model respectively. The inner rotor mechanical sub-model receives a portion of the main winding torque and the external load torque in step S1 and calculates the angular velocity and mechanical angle of the inner rotor. The outer rotor mechanical sub-model receives the remaining portion of the main winding torque, the secondary winding torque, and the external load torque in step S1 and calculates the angular velocity and mechanical angle of the outer rotor. S3. The inner and outer rotor angular velocities and mechanical angles calculated in step S2 are sent back as feedback signals to the secondary winding electrical sub-model and the main winding electrical sub-model in step S1, respectively, to calculate speed-related terms such as back electromotive force, thereby forming a complete electromechanical coupling closed-loop simulation system.

3. The modeling method for a closed-loop simulation system of a dual-rotor tuned magnet motor electromechanical coupling according to claim 2, characterized in that, The electromagnetic torque in step S1 is calculated as follows: 1) Current calculation (in the electrical model module) The current is calculated based on the dq-axis voltage equation, obtained through integration. First, the voltage equation is rearranged into a form with respect to the current derivative: 1-1) Calculation of d-axis current: 1-2) Calculation of q-axis current: In the Simulink model, the currents id and iq along the dq axis can be obtained by integrating these two derivatives using the integrator module. 2) Electromagnetic torque calculation (in the Torque equation module) The electromagnetic torque is calculated based on the calculated dq-axis current and flux linkage parameters; Formula for calculating electromagnetic torque: in: ud, uq: stator voltages along the d-axis and q-axis, respectively; id, iq: stator currents along the d-axis and q-axis, respectively; Ld, Lq: Inductance along the d-axis and q-axis, respectively; Rs: is the stator winding resistance; ψf: is the magnetic flux generated by the rotor permanent magnet; ωe: is the electric angular velocity of the motor, and its relationship with the mechanical angular velocity ωm is ωe = p·ωm; p: is the number of pole pairs of the motor; Te: is the generated electromagnetic torque.

4. The modeling method for a closed-loop simulation system of a dual-rotor tuned magnet motor electromechanical coupling according to claim 2, characterized in that, The calculation methods for the angular velocity and mechanical angle of the outer rotor in step S2 are as follows: First, calculate the resultant torque acting on the outer rotor, then divide by the moment of inertia to obtain the angular acceleration: Integrating the angular acceleration once yields the real-time angular velocity of the outer rotor: Integrating the angular velocity again yields the real-time mechanical angle of the outer rotor: θ o =∫ω o dt。 5. The modeling method for a closed-loop simulation system of a dual-rotor tuned magnet motor electromechanical coupling according to claim 2, characterized in that, In step S3, the electrical sub-model uses the electrical angular velocity (ω_e), while the mechanical sub-model calculates the mechanical angular velocity (ω_m, i.e., ω_o or ω_i). The conversion formula between them is as follows: oh e =p·ω m Where p is the number of pole pairs of the motor; The converted electric angular velocity ω_e will be directly used to solve the current differential equation along the dq axis, and the part containing ω_e is the velocity-related term; The angular velocity ω_o and angle θ_o of the outer rotor are used as feedback signals and sent back to the main winding electrical sub-model. In the main winding model, ω_m takes the value of ω_o. The angular velocity ω_i and angle θ_i of the inner rotor are fed back to the secondary winding electrical sub-model as feedback signals. In the secondary winding model, ω_m takes the value of ω_i.

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