Parameter design method, system and device for multi-phase reluctance type micro servo motor

Abstract

The invention relates to a multi-phase reluctance type micro servo motor parameter design method, system and device, and the method comprises the steps: obtaining excitation magnetic field characteristics and target performance demands of a servo motor, and carrying out the structure differentiation configuration, and obtaining mechanical structure parameters; performing multi-phase excitation electromagnetic performance calculation on the mechanical structure parameters according to motor thermal boundary conditions of the servo motor to generate an electromagnetic performance index set; performing integrated heat dissipation structure design based on the electromagnetic performance index set and the mechanical structure parameters to obtain heat dissipation structure data; and iteratively integrating the mechanical structure parameters, the electromagnetic performance index set and the heat dissipation structure data to obtain a motor structure design scheme. By integrating an electromagnetic performance index set and mechanical structure parameters in integrated heat dissipation construction, collaborative optimization of a heat dissipation network and an electromagnetic core is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of micro servo motor, and particularly relates to a parameter design method, system and device of a multiphase reluctance micro servo motor. BACKGROUND

[0002] With the development of miniaturization technology and the improvement of working condition complexity, the parameter design needs to meet the collaborative optimization requirements of electromagnetic performance, thermal stability and compact structure. The current mainstream design method generally adopts a sequential independent optimization strategy, that is, mechanical structure parameters, electromagnetic performance index set and heat dissipation structure data are independently generated, and there is a lack of systematic iterative integration mechanism for the dynamic coupling effect among the three. Such a fragmented design process is easy to cause the mismatch between the thermal boundary conditions and the electromagnetic excitation characteristics, and the heat dissipation path cannot respond to the local temperature rise mutation caused by magnetic saturation, which eventually leads to electromagnetic efficiency decline, torque fluctuation aggravation or thermal failure risk, and seriously restricts the deployment feasibility of such motors in high-precision application scenarios. SUMMARY

[0003] The main purpose of the present application is to provide a parameter design method, system and device of a multiphase reluctance micro servo motor, which can integrate electromagnetic performance index set and mechanical structure parameters in the integrated heat dissipation construction, and realize the collaborative optimization of heat dissipation network and electromagnetic core.

[0004] To achieve the above purpose, the present application provides a parameter design method of a multiphase reluctance micro servo motor, comprising: obtaining the excitation magnetic field characteristics and target performance requirements of the servo motor, and performing structure differentiation configuration to obtain mechanical structure parameters; performing multiphase excitation electromagnetic performance calculation on the mechanical structure parameters according to the motor thermal boundary conditions of the servo motor, to generate an electromagnetic performance index set; performing integrated heat dissipation structure design based on the electromagnetic performance index set and the mechanical structure parameters to obtain heat dissipation structure data; performing iterative integration on the mechanical structure parameters, the electromagnetic performance index set and the heat dissipation structure data to obtain a motor structure design scheme.

[0005] Further, the obtaining of the excitation magnetic field characteristics and target performance requirements of the servo motor and the structure differentiation configuration to obtain the mechanical structure parameters comprises: performing stator-rotor coupling analysis based on the excitation magnetic field characteristics and the target performance requirements to generate tooth phase data and magnetic density parameters; performing main and auxiliary tooth width ratio planning calculation according to the tooth phase data, and combining the target performance requirements to perform tooth structure optimization to obtain tooth basic parameters; Calculate the air gap depth by the excitation magnetic field characteristics and the magnetic density parameters, and obtain the air gap distribution parameters; Perform structural primary identification on the tooth base parameters and the air gap distribution parameters, and output the mechanical structure parameters. Further, perform main and auxiliary tooth width ratio planning calculation according to the tooth phase data, and perform tooth structure optimization in combination with the target performance requirements to obtain the tooth base parameters, including: Perform main and auxiliary tooth phase angle analysis on the tooth phase data to obtain the main tooth phase angle and the auxiliary tooth phase angle; Perform main and auxiliary tooth width calculation by the main tooth phase angle and the auxiliary tooth phase angle to generate main and auxiliary tooth width coefficients; Perform tooth profile segmentation construction based on the main and auxiliary tooth width coefficients to generate initial tooth profile parameters; Perform tooth tip chamfer optimization and tooth root fillet optimization on the initial tooth profile parameters according to the target performance requirements to generate the tooth base parameters.

[0006] Further, perform multi-phase excitation electromagnetic performance calculation on the mechanical structure parameters according to the motor thermal boundary conditions of the servo motor to generate an electromagnetic performance index set, including: Perform conductor arrangement according to the mechanical structure parameters to output conductor arrangement parameters; Perform thermal resistance matching calculation on the winding insulation layer thickness and the cooling groove size of the servo motor based on the motor thermal boundary conditions to generate a winding current threshold; Perform rotor phase correction and slot thermal electromagnetic calculation according to the conductor arrangement parameters and the winding current threshold to output a current phase difference set and conductor cross-sectional area data; Perform standard electromagnetic system construction on the conductor arrangement parameters, the current phase difference set, and the conductor cross-sectional area data to output the electromagnetic performance index set.

[0007] Further, perform rotor phase correction and slot thermal electromagnetic calculation according to the conductor arrangement parameters and the winding current threshold to output a current phase difference set and conductor cross-sectional area data, including: Perform spatial phase deviation analysis on the mechanical structure parameters and the conductor coordinate set to obtain a rotor phase offset; Perform winding phase correction according to the rotor phase offset and the winding current threshold to generate initial phase difference information; Perform in-slot thermal electromagnetic calculation based on the initial phase difference information and the conductor coordinate set to obtain thermal magnetic load information; Perform conductor slot-by-slot distribution by the thermal magnetic load information and the conductor coordinate set to generate conductor cross-sectional area data; Calculate current phase difference by combining the initial phase difference information and the thermal magnetic load information, to obtain the current phase difference set.

[0008] Further, the integrated heat dissipation structure design is performed based on the electromagnetic performance index set and the mechanical structure parameter, to obtain heat dissipation structure data, including: Thermoelectric coupling is performed on the electromagnetic performance index set and the mechanical structure parameter, to obtain heat source heat conduction coupling attribute; Three-dimensional transient thermal field solving is performed by combining the heat source heat conduction coupling attribute and the thermal boundary condition, to obtain steady-state temperature distribution; Thermal resistance network is constructed by the steady-state temperature distribution and the mechanical structure parameter, to obtain equivalent thermal network data; Based on the equivalent thermal network data, the convection heat exchange path is constructed, to obtain the heat dissipation structure data.

[0009] Further, the motor structure design scheme is obtained by iteratively integrating the mechanical structure parameter, the electromagnetic performance index set and the heat dissipation structure data, including: Electromagnetic structure coupling analysis is performed by combining the mechanical structure parameter and the electromagnetic performance index set, to generate a first analysis result; Thermal electromagnetic coupling analysis is performed based on the first analysis result and the heat dissipation structure data, to generate a second analysis result; The second analysis result is used to perform magnetic circuit reconstruction calculation on the electromagnetic performance index set, to extract dynamic magnetic circuit parameters; Thermal magnetic bidirectional iteration is performed on the dynamic magnetic circuit parameters and the heat dissipation structure data, to obtain thermal magnetic optimization parameters; Multi-objective collaborative optimization is performed on the mechanical structure parameter according to the thermal magnetic optimization parameters, to generate the motor structure design scheme.

[0010] Further, the thermal magnetic bidirectional iteration is performed on the dynamic magnetic circuit parameters and the heat dissipation structure data, to obtain thermal magnetic optimization parameters, including: Thermal permeability correction is performed on the dynamic magnetic circuit parameters, to obtain temperature magnetic circuit parameters; Thermal resistance reconstruction and magnetic heat coupling feedback are performed on the heat dissipation structure data by using the temperature magnetic circuit parameters, to obtain feedback magnetic circuit parameters; Saturation evaluation parameters are obtained by performing magnetic saturation characteristic evaluation on the feedback magnetic circuit parameters; Bidirectional iteration is performed based on the saturation evaluation parameters and the feedback magnetic circuit parameters, to obtain the thermal magnetic optimization parameters.

[0011] The application also provides a multiphase magnetic reluctance micro servo motor parameter design system, which is applied to the multiphase magnetic reluctance micro servo motor parameter design method. An identification module is configured to obtain the excitation magnetic field characteristics of the servo motor and target performance requirements, and perform structural differentiation configuration to obtain mechanical structure parameters; An analysis module is configured to perform multi-phase excitation electromagnetic performance calculation on the mechanical structure parameters according to the motor thermal boundary conditions of the servo motor to generate an electromagnetic performance index set; A processing module is configured to perform integrated heat dissipation structure design based on the electromagnetic performance index set and the mechanical structure parameters to obtain heat dissipation structure data; A construction module is configured to obtain a motor structure design scheme by iteratively integrating the mechanical structure parameters, the electromagnetic performance index set and the heat dissipation structure data.

[0012] The application also provides a multi-phase reluctance micro servo motor parameter design device, comprising: A memory is configured to store a program; A processor is configured to execute the program to implement each step of the air source heat pump system heat load quantification method.

[0013] The multi-phase reluctance micro servo motor parameter design method, system and device provided by the application have the following beneficial effects: By performing structural differentiation configuration on the excitation magnetic field characteristics and target performance requirements, the magnetic circuit distribution and structure constraints can be accurately associated, so that the structure parameters suitable for specific working conditions can be generated in the initial stage, and the risk of parameter mismatch caused by demand deviation can be avoided. Based on the motor thermal boundary conditions, the mechanical structure parameters are subjected to multi-phase excitation electromagnetic performance calculation, the thermal environment constraints and electromagnetic excitation characteristics are effectively coupled, the heat dissipation path dynamically responds to local loss hot spots, and the torque fluctuation caused by heat accumulation is reduced. By integrating the electromagnetic performance index set and the mechanical structure parameters in the integrated heat dissipation construction, the heat dissipation network and the electromagnetic core are optimized, the possibility of thermal failure is reduced, and the operation stability is improved. According to the iterative integration mechanism, the structure parameters, electromagnetic parameters and heat dissipation structure data are subjected to closed-loop feedback optimization, so that the multi-physical field parameter set maintains convergence consistency under dynamic working conditions, and finally the overall reliability and efficiency balance of the motor in the high-precision scene are enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a multi-phase reluctance micro servo motor parameter design method flowchart provided by the application; Figure 2 It is a multi-phase reluctance micro servo motor parameter design system structure diagram provided by the application; Figure 3 It is a multi-phase reluctance micro servo motor parameter design device structure diagram provided by the application.

[0015] The object, technical solutions and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0016] In order to make the object, 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 not to limit the present application.

[0017] The present application will be further described below with reference to the accompanying drawings and specific embodiments.

[0018] Referring to Figure 1 The present application provides a multi-phase reluctance micro servo motor parameter design method, comprising: Step S1: obtaining the excitation magnetic field characteristics and target performance requirements of the multi-phase reluctance micro servo motor, and performing structure differentiation configuration to obtain mechanical structure parameters; Step S2: performing multi-phase excitation electromagnetic performance calculation on the mechanical structure parameters according to the motor thermal boundary conditions of the multi-phase reluctance micro servo motor, to generate an electromagnetic performance index set; Step S3: performing integrated heat dissipation structure design based on the electromagnetic performance index set and the mechanical structure parameters, to obtain heat dissipation structure data; Step S4: obtaining a motor structure design scheme by iteratively integrating the mechanical structure parameters, the electromagnetic performance index set and the heat dissipation structure data.

[0019] Based on the above step content, the detailed step process is shown as follows: Step S1: Analyzing the target performance requirements input by the user, including the rated speed range, peak torque threshold and allowable temperature rise range, and extracting the inherent characteristics of the excitation magnetic field of the reluctance motor, such as the magnetic potential waveform of each phase winding, the magnetic saturation critical point and the main magnetic flux path distribution.

[0020] Based on the above input, perform stator-rotor core coupling topology analysis, calculate the common relationship of tooth slot period number and phase winding number, generate tooth phase distribution table that satisfies torque output continuity; eliminate local magnetic circuit saturation risk through magnetic density balancing algorithm, output magnetic flux density tolerance parameters between stator tooth tip and rotor salient pole; then, according to the efficiency weight factor in the target performance, implement nonlinear programming calculation on the main tooth width ratio of the stator, adjust the main tooth magnetic circuit cross section proportion to match the high torque density requirement, and introduce tooth tip angle compensation mechanism to correct the edge magnetic flux distortion, to obtain the geometric characteristic data of tooth width distribution.

[0021] Combining the magnetic flux density balance parameters and the magnetic field strength gradient, the minimum air gap depth constraint value is solved by the air gap permeance analytical model, and the non-uniform air gap distribution parameter set in the axial and radial directions is output. The three-dimensional structure initial identification is performed by comprehensively combining the tooth width distribution data and the air gap parameters, the matching assignment of the basic framework parameters such as the shell wall thickness and the axial stack length is completed, and the mechanical structure parameter package is generated.

[0022] Step S2: According to the slot shape geometric characteristics in the mechanical structure parameters, the multi-phase winding space arrangement planning is performed, the radial and tangential positions of each phase conductor in the slot are allocated through the slot fill factor constraint algorithm, the conductor coordinate data set with an accuracy of 0.01 mm is output, and the winding end span is calculated synchronously to control the copper loss distribution. Then, according to the maximum allowable temperature rise value in the motor thermal boundary condition, the cooling medium flow rate and the ambient temperature range, the thermal resistance balance calculation is performed on the winding insulation layer thickness: the matching function of the thermal conductivity of the insulation material and the cooling slot gap is established, the thermal resistance is minimized under the premise of meeting the dielectric strength, and the safety threshold of the winding current density is derived.

[0023] Based on the conductor coordinate set and the end span parameter, the rotor phase correction is performed by adopting the magnetic field-temperature feedback mechanism, the rotor magnetic pole offset angle is adjusted according to the temperature field simulation data, and the magnetic flux harmonic under high load working condition is suppressed; combined with the winding current threshold, the line-slot thermal-electromagnetic joint simulation is carried out, the skin effect loss and the eddy current loss distribution of the copper conductor in the slot are calculated, and the optimized conductor cross-sectional area trapezoidal configuration scheme is generated. Finally, the conductor arrangement coordinates, the current phase compensation angle set and the special-shaped cross-sectional area distribution data are integrated to construct the electromagnetic performance index set system.

[0024] Step S3: According to the conductor loss spectrum and the core loss distribution data in the generated electromagnetic performance index set, combined with the shell geometric profile and the material thermal conductivity set in the mechanical structure parameters, the spatial matching of the heat source power density and the structure heat transfer attribute is performed. The stator slot winding Joule heat intensity distribution and the rotor core eddy current loss concentration area are extracted, and the spatial correspondence between the heat source intensity field and the material thermal conductivity tensor is established. Based on the correspondence, the cooling medium flow rate limit value in the motor thermal boundary condition is combined, the numerical analysis of the motor whole domain is performed through the three-dimensional transient heat conduction differential equation, and the steady-state temperature distribution data under continuous working condition is solved.

[0025] According to the heat flow transfer direction solved by the temperature gradient vector, the heat flow density set is combined with the shell heat sink topology structure and the bearing installation interference constraint to generate the spatial heat network configuration containing the equivalent thermal resistance nodes and the heat capacity units. Through the optimization of the cross-sectional area distribution and the thermal interface layout of the convection heat exchange channel, the heat dissipation path configuration table labeled with the heat flow path priority and the thermal resistance parameters is output.

[0026] Step S4: The air gap depth gradient data in the mechanical structure parameters, the phase difference correction angle set in the electromagnetic performance index set, the conductor cross-sectional area distribution, and the heat flow priority path set in the heat dissipation structure data are called to perform multi-physical field coupling analysis of electromagnetic field-temperature field-structure field. The joint calculation of electromagnetic field and mechanical deformation is performed, the material strain is fed back to the magnetic field redistribution process, the torque pulsation increment value caused by the magnetic flux shift is analyzed, and the electromagnetic structure compatibility index set is generated.

[0027] Based on the index set, the thermal resistance node parameters in the heat dissipation path are implemented to perform thermal-electromagnetic cross iteration: the winding current density threshold is reconstructed through the steady-state temperature distribution, and the local magnetic saturation characteristics are adjusted according to the spatial coordinates of the heat source to realize the geometric matching of the loss concentration area and the cooling path. The dynamic magnetic circuit reconstruction calculation is performed by using the magnetic circuit gradient optimization operation, and the magnetic flux path configuration is updated according to the change response of the magnetic permeability to the temperature rise.

[0028] The multi-objective optimization decision is executed within the preset temperature rise fluctuation threshold and the efficiency deviation range, and the design parameter assembly containing the three-dimensional coordinate data of the fixed rotor, the winding topology rule and the heat dissipation interface parameter is output.

[0029] The parameter design method of the multi-phase magnetic resistance type micro servo motor provided by the application can accurately associate the magnetic circuit distribution and the structure constraint by performing structure differentiation configuration on the excitation magnetic field characteristics and the target performance demand, thereby generating structure parameters adapted to specific working conditions in the initial stage, avoiding parameter mismatch risk caused by demand deviation. The multi-phase excitation electromagnetic performance calculation is performed on the mechanical structure parameters based on the motor thermal boundary condition, effectively coupling the thermal environment constraint and the electromagnetic excitation characteristics, prompting the dynamic response of the heat dissipation path to the local loss hot spot, and reducing the torque fluctuation caused by heat accumulation. By integrating the electromagnetic performance index set and the mechanical structure parameters in the heat dissipation construction, the synergistic optimization of the heat dissipation network and the electromagnetic core is realized, the possibility of thermal failure is reduced, and the operation stability is improved. According to the iterative integration mechanism, the structure parameters, electromagnetic parameters and heat dissipation structure data are executed closed-loop feedback optimization, ensuring that the multi-physical field parameter set maintains convergence consistency under dynamic working conditions, and finally enhancing the overall reliability and efficiency balance of the motor in high-precision scenarios.

[0030] In one embodiment, the excitation magnetic field characteristics and target performance demand of the multi-phase magnetic resistance type micro servo motor are obtained, and structure differentiation configuration is performed to obtain mechanical structure parameters, including: The excitation magnetic field core characteristics of the multi-phase magnetic resistance type micro servo motor are extracted, including the harmonic spectrum of each phase winding magnetic potential, the magnetic saturation critical point coordinates, and the main magnetic flux path space vector direction. The rated speed range, peak torque threshold, and allowable temperature rise upper limit value in the target performance demand are analyzed and converted into electromagnetic design constraints.

[0031] According to the magnetic field strength gradient and torque pulse suppression requirements, the matching relationship between the stator tooth pole circumferential distribution position and the rotor salient pole phase angle is calculated, the stator tooth pitch angle sequence and the corresponding rotor magnetic pole offset angle set are generated, and the tooth phase data table is constructed.

[0032] By the magnetic flux density peak equalization algorithm, the local magnetic circuit saturation risk is eliminated: the magnetic flux density monitoring point is set in the transition area of the stator yoke and the tooth tip, the tooth slot fitting depth parameter is adjusted with the preset magnetic flux density tolerance as the boundary condition, and the stator tooth root magnetic flux density uniformity coefficient and the rotor salient pole magnetic flux density margin parameter set are output. This process integrates the magnetic field modulation theory, and ensures that the harmonic distortion rate of the air gap permeance waveform is lower than the threshold set by the target performance requirement.

[0033] Based on the stator tooth pitch angle sequence in the tooth phase data, the main and auxiliary tooth magnetic flux bearing capacity distribution calculation is performed: according to the high torque density index and the efficiency weight factor in the target performance requirement, the proportion of the main tooth bearing magnetic flux load is determined. Through the nonlinear programming algorithm of the magnetic circuit cross section, the distribution rules of the main and auxiliary tooth width ratio in the axial and radial dimensions are optimized.

[0034] The main tooth width ratio is dominated by the principle of maximizing the efficiency of magnetic energy conversion to mechanical energy, and the auxiliary tooth width ratio is subject to the boundary conditions of meeting the slot fill rate and heat dissipation space constraints. Combined with the vibration and noise limit value in the target performance requirement, a tooth tip inclination angle compensation mechanism is introduced, and according to the spatial envelope relationship between the stator slot geometry and the rotor rotation trajectory, the tooth tip edge magnetic flux leakage suppression parameter is calculated.

[0035] The mechanical stress field is used to verify and correct the tooth root chamfer curvature radius to prevent the risk of structure resonance caused by magnetostriction. Finally, the main and auxiliary tooth width gradient distribution map, tooth tip inclination angle compensation angle set and tooth root reinforcement geometric parameters are integrated to generate the tooth basic parameter package According to the rotor salient pole magnetic flux density margin coefficient and the stator tooth root magnetic flux density uniformity index in the generated magnetic flux parameters, the electromagnetic boundary conditions of the minimum air gap depth are solved. The main magnetic flux path space vector direction and the edge magnetic field diffusion angle distribution data are extracted from the excitation magnetic field characteristics, combined with the magnetic pressure drop tolerance value under the rated working condition, and the critical point of the magnetic circuit is analyzed through the air gap permeance differential equation.

[0036] The magnetic flux monitoring section is set on the relative motion trajectory of the stator and rotor, and the magnetic flux density gradient inversion algorithm is used to derive the axial and radial air gap depth extreme value parameters with the constraint that the peak magnetic flux density does not exceed the saturation threshold of the core material. For the stator tooth tip inclination angle compensation area and the rotor salient pole pole arc transition area, the magnetic field strength space gradient change rate in the rotation process is calculated to suppress the increase of eddy current loss caused by air gap magnetic field harmonics.

[0037] The bearing installation tolerance chain and the rotor dynamic balance precision requirement are combined, and a non-uniformly distributed step air gap parameter set and a radial eccentricity compensation parameter table are output. Finally, the air gap depth gradient envelope data and the dynamic gap compensation rule are integrated to form an air gap distribution parameter library.

[0038] Based on the main and secondary tooth width gradient distribution diagram in the generated tooth basic parameters and the tooth root reinforcement geometric size, combined with the step air gap axial gradient data in the output air gap distribution parameters, the spatial topology matching of the stator and rotor core structure is performed. According to the electromagnetic design constraint, the relative position of the tooth slot is reconstructed: the stator tooth pitch angle sequence is rotated and interfered with the rotor magnetic pole phase shift angle to eliminate the geometric conflict points in the magnetic circuit coupling process.

[0039] The structural load path is calculated by the shell wall thickness strength algorithm. Under the premise of meeting the tooth root stress safety factor set in the tooth basic parameters, the axial lamination length and the end ring thickness ratio are optimized. The matching degree of the air gap dynamic gap compensation value and the bearing radial play is checked synchronously to prevent the magnetic pull imbalance caused by rotor eccentricity.

[0040] A three-dimensional thermal expansion pre-compensation mechanism is adopted, and the loss heat distribution data estimated in the electromagnetic design stage are associated to mark the temperature rise deformation compensation coefficient in the air gap distribution parameter library. Finally, the mechanical structure parameter assembly containing the stator slot shape coordinate set, the rotor salient pole profile parameter, the air gap tolerance band distribution and the shell bearing frame data is output.

[0041] In this embodiment, the stator and rotor coupling analysis in the structure differentiation configuration is used to accurately match the tooth slot phase relationship and generate magnetic density balancing parameters, effectively suppress the risk of local saturation of the magnetic circuit, and ensure that the magnetic field harmonic distortion rate is lower than the set threshold. The non-uniform air gap depth calculation mechanism is used to dynamically optimize the air gap gradient distribution combined with electromagnetic constraints and mechanical tolerance chain, and the electromagnetic conversion efficiency and rotor dynamic balance stability are simultaneously improved. Based on the tooth tip angle compensation in the tooth basic parameters and the air gap temperature rise deformation pre-compensation strategy, the torque ripple amplitude under high speed working condition is significantly reduced, and the additional loss caused by edge magnetic flux leakage is prevented. Through the spatial topology integration in the structure identification stage, the accurate adaptation of the stator and rotor geometric profile and the shell bearing frame is realized, the assembly interference risk is avoided, and the thermal deformation tolerance is controllable. The full-process closed-loop design makes the initial parameter set have the electromagnetic-structure-thermal collaborative convergence characteristics, and enhances the operation reliability of the micro servo motor in the high power density scene.

[0042] In one embodiment, tooth phase data is used to calculate the main and secondary tooth width ratio, and the tooth structure is optimized combined with the target performance requirement to obtain tooth basic parameters, including: Based on the stator tooth pitch angle sequence and the rotor magnetic pole offset angle set in the tooth phase data table, the phase separation operation of the main magnetic flux path and the leakage magnetic flux path is performed. According to the fundamental wave amplitude value proportion threshold of the magnetic potential waveform, the main tooth action interval is determined, and the tooth slot center axis angle value of the high magnetic flux density concentration area is extracted as the main tooth phase angle reference.

[0043] Synchronously, the leakage magnetic flux diffusion interval is inversely deduced through the harmonic distortion rate, the geometric boundary angles corresponding to the magnetic flux strength decay area on both sides of the stator slot opening are identified, and the secondary tooth phase angle coordinates are established. The magnetic field harmonic space filtering technology is adopted to divide the main and secondary tooth action scopes in the [0°, 360°] mechanical angle range: the main tooth phase angle interval covers the magnetic pole center envelope angle, and the secondary tooth phase angle interval is located in the ±8° mechanical angle range of the transition zone of adjacent main teeth.

[0044] The main tooth phase angle center coordinate set and the secondary tooth phase angle boundary coordinate set are output, and the mapping relationship of the tooth slot magnetic circuit function partition is established. This process integrates the air gap permeance fluctuation characteristics, ensures that the main tooth dominates the magnetic energy conversion and the secondary tooth bears the mechanical support and heat dissipation channel functions, and provides an angle reference for the differentiated design of the tooth physical structure.

[0045] Based on the main tooth phase angle center coordinate set, the main tooth magnetic circuit effective cross section planning is performed: according to the peak torque index and the efficiency priority parameter in the target performance requirement, the minimum cross section requirement of the main tooth bearing magnetic flux is calculated, and the main tooth theoretical width baseline value is calculated combined with the saturation magnetic density limit value of the core material.

[0046] Synchronously, the maximum allowable width of the mechanical avoidance area occupied by the secondary tooth is determined through the rotor rotation trajectory envelope space constraint algorithm using the secondary tooth phase angle boundary coordinate set. The magnetic-thermal collaborative constraint mechanism is introduced: the secondary tooth width needs to meet the slot winding heat dissipation gap requirement, and the lower limit of its size is determined by the highest temperature rise threshold in the thermal boundary condition and the insulation layer thickness.

[0047] The width weighted distribution function is adopted to coordinate the proportion relationship of the main and secondary teeth: the main tooth width coefficient is the product of the magnetic flux load proportion and the structural strength coefficient, and the secondary tooth width coefficient is the harmonic mean value of the heat dissipation weight and the space margin. Finally, the axial segmented differentiated main tooth width coefficient gradient table and the circumferentially uniformly distributed secondary tooth width constant set are generated, forming the spatial distribution rule library of the main and secondary tooth width proportion. This output provides key geometric dimension constraints for tooth profile construction, ensuring that the main tooth is not magnetically saturated and the secondary tooth does not cause local overheating under high torque conditions.

[0048] According to the main tooth width coefficient gradient table and the secondary tooth width constant set, the axial segmented differentiated profile construction is performed: in the axial 0-50% section of the core lamination, the main tooth width is expanded according to the linear increasing rule, and the increasing proportion is positively related to the torque density improvement requirement; in the axial 50%-100% section, the equal width maintenance strategy is adopted to stabilize the magnetic circuit cross section efficiency.

[0049] The secondary tooth width is globally constant, the width value is the secondary tooth constant set bit number, and the curvature radius transition is set in the slot bottom area to meet the minimum bending radius requirement of winding embedding. Based on the spatial relationship of the phase angle of the primary and secondary teeth, the tooth slot opening geometry is determined by the envelope trajectory intersection algorithm: the primary tooth tip profile adopts double circular arc tangent and involute composite curve to ensure smooth transition of air gap permeance change rate; the secondary tooth tip is fitted with a single circular arc to reduce the risk of leakage magnetic flux aggregation.

[0050] The double optimization constraint is implemented in the tooth root transition area: a double curvature bending resistant structure is constructed in the primary tooth root area to improve the mechanical strength of the tooth part; the stress dispersion type slope design is adopted for the secondary tooth root to balance the core stacking pressure distribution. The initial tooth profile data package containing the spatial coordinate point set of the primary and secondary teeth, the slot bottom curvature center trajectory and the tooth tip envelope control line is finally output, which includes the complete geometric topology information of the axial 8 characteristic cross sections, providing the coordinate reference for the fine processing of the tooth part.

[0051] Based on the tooth tip envelope control line and the slot bottom curvature trajectory in the initial tooth profile parameters, high-cycle fatigue stress field analysis is performed: the maximum equivalent stress concentration points of the tooth tip edge and the tooth root transition area are located, wherein the tooth tip stress peak area is located at the starting point of the primary tooth involute, and the tooth root stress is concentrated at the turning point of the primary tooth double curvature structure. According to the anti-fatigue life index in the target performance requirement, the tooth tip chamfer geometry is optimized by the topology sensitivity correction algorithm: the primary tooth tip chamfer angle is selected in the range of [45°, 65°], and the chamfer depth is varied in gradient values of 0.1-0.3 times the primary tooth width; the secondary tooth tip is uniformly chamfered all around with a fixed angle of 55° to suppress eddy current loss.

[0052] The tooth root fillet optimization introduces multi-physical field joint determination: the minimum value of the fillet radius is limited by the material yield strength threshold, and the maximum value is constrained by the space occupancy rate of the winding slot; through thermal-mechanical coupling analysis, a variable radius fillet cluster is set at the tooth root turning point, and the radius variation gradient is positively related to the core temperature distribution. Finally, the tooth part basic parameter library is generated by integrating the chamfer correction coordinate set, the variable radius fillet control point sequence and the stress verification marker point.

[0053] The embodiment accurately separates the magnetic circuit functional areas by analyzing the phase angle of the primary and secondary teeth, concentrates the effective magnetic flux of the primary tooth, and suppresses the leakage magnetic diffusion of the secondary tooth, to ensure the uniformity of the air gap magnetic field distribution and significantly improve the torque output stability. Based on the tooth profile segmentation construction mechanism, the axial gradientized geometric distribution is generated, so that the air gap permeance presents a linear gradient feature, avoiding the abnormal loss phenomenon caused by tooth tip magnetic saturation. The tooth tip chamfer optimizes the magnetic field edge diffusion effect, and simultaneously reduces the air gap wind resistance and rotating noise; the tooth root fillet optimization disperses stress concentration through multi-physical field adaptive design, and enhances the anti-fatigue performance of the tooth part. The formed tooth part basic parameter library has the characteristics of thermal and mechanical deformation pre-compensation, realizes the seamless connection of electromagnetic design and structure manufacturing, and guarantees the operation reliability and mass production consistency of the micro servo motor under high working conditions.

[0054] In one embodiment, the mechanical structure parameters are calculated according to the motor thermal boundary conditions of the multiphase reluctance micro servo motor, and an electromagnetic performance index set is generated, including: Based on the stator slot shape coordinate set and slot depth gradient data in the mechanical structure parameters, multi-phase winding space occupation planning is performed. According to the axial magnetic flux density distribution characteristics of the magnetic circuit, the conductors are grouped and distributed to the corresponding slot positions according to the phase sequence, and the main load phase conductors are preferentially deployed in the high magnetic density area at the bottom of the slot, and the auxiliary phase conductors are placed in the transition area in the middle of the slot.

[0055] The number of radial stacking layers and the tangential gap value of the slot conductors are calculated to maximize the copper cross-section utilization rate under the condition that the slot fullness rate does not exceed the preset threshold. The conductor axial positioning implements end span optimization: according to the rotor rotation trajectory envelope line, the end bending radius is constrained, the space polyline algorithm is used to generate the end sector expansion angle, and the axial projection length of the winding overlap area is controlled.

[0056] The conductor arrangement parameter package containing the three-dimensional coordinate matrix of the conductor center point, the end span angle set, and the interlayer insulation gap data is output. This parameter package ensures accurate matching of winding distribution and electromagnetic excitation characteristics, and avoids magnetic field harmonic distortion caused by conductor positioning deviation.

[0057] The key parameters in the motor thermal boundary conditions are analyzed: cooling medium flow rate, environmental temperature upper limit value, allowable temperature rise threshold, and heat dissipation contact thermal resistance coefficient. The dielectric strength-thermal conductivity double target optimization is performed on the winding insulation layer thickness: under the premise of meeting the safety factor of breakdown voltage, the insulation layer thickness is iteratively thinned until the thermal resistance value approaches the material thermal conductivity limit, and a differentiated insulation layer thickness gradient table for each slot position is output.

[0058] The cooling slot size calculation uses the heat flow channel balance rule: according to the heat source power density distribution map (derived from the mechanical structure parameters), the high heat flow intensity area is divided, and the cooling slot cross-sectional area proportion is expanded in this area, while the slot depth is constrained not to exceed the allowable value of the tooth root structure strength.

[0059] The steady-state temperature rise envelope is solved by thermal resistance network transient analysis: a series network equation of the insulation layer thermal resistance, the cooling slot convective thermal resistance, and the iron core heat conduction path is established, and the safety threshold upper limit of the winding current density is inversely deduced with the convergence condition that the hot spot temperature rise is equal to the allowable threshold. A current density threshold table bound to the slot position coordinates is generated, providing core thermal protection parameters for multi-phase excitation construction.

[0060] Based on the three-dimensional coordinate matrix and the end span angle set in the conductor arrangement parameters, combined with the generated winding current threshold table, the rotor phase offset compensation operation is performed. The influence of stator slot thermal distribution on air gap magnetic field is analyzed by temperature field reconstruction technology: according to the winding hot spot temperature rise gradient data, the rotor magnetic pole center line offset angle is calculated, the magnetic potential harmonic distortion caused by temperature deformation is suppressed, and the rotor phase compensation angle sequence is generated.

[0061] Synchronous development of line slot thermal electromagnetic joint analysis: according to the conductor arrangement layer gap data and the upper limit of current threshold, the conductor skin effect depth and adjacent effect eddy current loss distribution are calculated, and the contradiction between the conductivity efficiency and the heat accumulation is balanced through the cross-sectional area gradient optimization algorithm.

[0062] In the high heat flow intensity area of the slot, trapezoidal section conductors are configured, and their cross-sectional area increases with the axial position; rectangular cross-section is maintained in low temperature area to simplify the process. The final output includes a comprehensive data set containing rotor magnetic pole correction angle set, phase winding current phase difference compensation amount and conductor cross-sectional area distribution diagram, forming the key correction parameters of electromagnetic-thermal coupling design.

[0063] Integrate the spatial coordinate information in the conductor arrangement parameters, the output current phase difference compensation amount set and the conductor cross-sectional area distribution diagram, and perform multi-physical field parameter space mapping reconstruction. First, recalibrate the conductor position coordinates: adjust the winding end span angle according to the rotor phase compensation angle sequence to eliminate the asymmetry of rotating magnetic field; update the conductor occupancy coordinates in the slot according to the cross-sectional area distribution diagram to ensure that the insulation gap between trapezoidal conductors and slot walls meets the dielectric strength requirements.

[0064] Construct the current phase-space position correlation matrix: group the current phase difference compensation amount according to the phase sequence to generate the time-space phase offset rule table of the excitation current of each phase winding. Finally, through the electromagnetic compatibility verification process: check the matching degree of the conductor cross-sectional area gradient change and the magnetic density distribution curve, and verify that the harmonic content of the air gap permeance after the rotor phase correction is reduced to below the target threshold. Output the electromagnetic performance index set library containing standardized conductor topology coordinates, phase excitation timing rules and cross-sectional area configuration code. This parameter library can directly drive the winding manufacturing and motor assembly.

[0065] The embodiment accurately coordinates the winding insulation layer thickness and the cooling groove size through thermal resistance matching calculation, dynamically adapts the heat dissipation capacity to the current carrying demand, effectively prevents the winding temperature rise from exceeding the limit and maintains the insulation safety margin. Based on the conductor spatial arrangement and the current threshold, the rotor phase correction is performed to compensate for the magnetic field phase offset caused by temperature deformation, and the torque ripple phenomenon caused by magnetic potential harmonics is significantly suppressed. The gradient conductor cross-sectional area design responds to the difference in line slot heat distribution, increases the current-carrying cross section in the high temperature area to reduce the heat accumulation rate, and maintains the standard cross section in the low temperature area to optimize the slot space utilization. The constructed electromagnetic parameter system integrates spatial coordinates, phase timing and cross section rules to realize the manufacturability output of multi-physical field design parameters, ensuring the electromagnetic stability and production consistency of the micro servo motor under severe working conditions.

[0066] In one embodiment, the rotor phase correction and line slot thermal electromagnetic calculation are performed according to the conductor arrangement parameters and the winding current threshold, and the current phase difference set and conductor cross-sectional area data are output, including: The non-uniform distribution characteristics of the air gap in the mechanical structure parameters and the axial alignment tolerance data of the stator and rotor are extracted, and the three-dimensional coordinate matrix contained in the conductor arrangement parameters is combined to perform spatial symmetry analysis of the rotating magnetic field. 24 equal division detection cross sections are set in the mechanical angle range, the deviation degree of the actual value of the air gap permeance of each cross section from the ideal sinusoidal distribution is calculated, and the maximum deviation angle interval is located.

[0067] Through the thermal deformation pre-compensation mechanism: according to the material thermal expansion coefficient and the temperature rise estimation value, the thermal displacement vector of the rotor bearing installation end under the rated working condition is calculated, and the rotor center axis offset angle is derived.

[0068] The magnetic potential wave harmonic decomposition technology is adopted to separate the fundamental wave and 3 / 5 harmonic amplitude ratio, and when the harmonic content exceeds the threshold, the phase compensation requirement of the rotor magnetic pole center line is back calculated. The rotor phase offset table is output, which is labeled in three sections in the axial direction, and the offset amount includes the comprehensive correction value of the mechanical assembly tolerance and the thermal deformation, which provides the reference compensation parameters for the winding phase correction.

[0069] Based on the three-section compensation angle values in the output rotor phase offset table, the multi-phase winding excitation timing reconstruction is performed. The conduction period of the single-phase winding is divided into 16 timing segments, and in the timing corresponding to the axial section where the rotor offset exceeds the limit, the conduction period is extended or shortened according to the offset angle ratio. Synchronously utilize the winding current threshold table for amplitude restriction: when the conduction period adjustment causes the current effective value to exceed the threshold, start the current amplitude redistribution mechanism: transfer the excess current load between adjacent phase windings to ensure that the total heat accumulation amount remains unchanged.

[0070] A spatial phase angle-time offset mapping algorithm is used to generate a set of compensation values ​​for the conduction start angle of each phase winding: the compensation angle of phase A is taken as 70% of the average rotor offset, and phases B and C are adjusted proportionally according to a 120° phase difference. An initial phase difference information packet containing timing segment division rules, phase current transfer ratio set, and conduction angle compensation data is output, which forms the basic framework for fine-tuning the current phase.

[0071] Based on the conduction angle compensation dataset from the initial phase difference information, and combined with the three-dimensional coordinate matrix from the conductor arrangement parameters, a joint electromagnetic-thermal analysis of the slot domain is performed. Twenty-four sampling sections are set along the conductor axis, and a local Cartesian coordinate system is established at each section: the X-axis represents the slot depth, the Y-axis represents the slot width, and the Z-axis represents the axial extension direction.

[0072] Solving the electromagnetic-thermal coupling field in the coordinate system: First, calculate the eddy current loss distribution density after current phase compensation, and extract the coordinates of the loss peak point based on the frequency response curve of the winding skin effect; simultaneously solve the temperature gradient vector field through the heat conduction differential equation to locate the hot spot with the highest temperature rise at the contact surface between the slot wall insulation layer and the conductor.

[0073] Electromagnetic and thermal parameters are integrated to form a composite data unit: a thermomagnetic load data unit containing a magnetic flux density scalar, an eddy current loss density vector, and a temperature gradient vector is generated at each sampling section. The final output is a thermomagnetic load information library indexed by slot number and axial position, providing a multiphysics load reference for conductor optimization allocation.

[0074] Based on the eddy current loss density and temperature gradient data in the output thermomagnetic load information database, adaptive optimization of the conductor cross-sectional area in the slot is performed. High thermomagnetic load region and low load region are defined: regions with high temperature gradient (≥8K / mm) and high eddy current density (≥15W / mm³) are marked as red optimization regions; the remaining regions are marked as green baseline regions.

[0075] In the red optimization region, a gradient expansion strategy for cross-sectional area is implemented: the conductor in the bottom region of the trench adopts a trapezoidal cross-section, and its cross-sectional area increases exponentially from the bottom of the trench to the opening, with the increase rate being positively correlated with the eddy current loss density; the opening region adopts a variable-thickness rectangular cross-section, with the thickness increasing linearly with the amplitude of the temperature gradient. The green baseline region maintains the standard rectangular cross-section.

[0076] Synchronously perform structural interference verification: compare the distance between the outer contour of the conductor cross-sectional area and the slot wall after the change to ensure that the minimum insulation gap meets the withstand voltage level requirements. Output a conductor cross-sectional area data table including slot cross-sectional area type labels, size change rule sets, and safety margin annotations.

[0077] The timing compensation data in the initial phase difference information and the temperature gradient distribution map in the thermomagnetic load information are integrated to perform dynamic current phase correction. A phase offset classification mechanism is established for the temperature rise characteristics of different slot regions: the high thermomagnetic load region (temperature rise gradient ≥10K / mm) adopts an active phase compensation mode, and its current conduction start angle is advanced by 2° to 5° electrical angle according to the temperature gradient vector direction; the medium and low load regions adopt a passive tracking mode, and the phase angle is kept synchronized with the rotor position sensor signal.

[0078] The optimal compensation amount is calculated using a phase-temperature coupling equation: 72 correction points are set within an electrical angle period of 0° to 360°, and the phase compensation angle at each point is calculated proportionally based on the local temperature rise gradient. The final output is a current phase difference dataset grouped by phase sequence and containing temperature-related correction rules. The data establishes a three-dimensional mapping relationship between axial position and electrical angle coordinates, forming a multi-condition adaptive phase control protocol.

[0079] This embodiment quantifies rotor position error through spatial phase deviation analysis and generates axial segmented phase offset by combining a thermal deformation pre-compensation mechanism, significantly suppressing magnetic field distortion caused by assembly tolerances and temperature deformation. Based on the dynamic coupling of rotor offset and current threshold, a timing segment reconstruction and load transfer strategy is adopted in the winding phase correction stage to achieve coordinated adaptation of current amplitude and conduction cycle, breaking through the accuracy limitations of traditional phase compensation. In-slot thermo-magnetic calculations establish a micro-region physical field model of the axial conductor cross-section, accurately locating eddy current loss hotspots and temperature rise gradient core areas, providing a physical field load basis for conductor zonal optimization.

[0080] In one embodiment, an integrated heat dissipation structure design is performed based on a set of electromagnetic performance indicators and mechanical structure parameters to obtain heat dissipation structure data, including: Based on the casing geometry and thermal conductivity sets of stator and rotor materials from the mechanical structure parameters, combined with the winding copper loss spectrum and stator tooth eddy current loss distribution data output from the electromagnetic performance index set, the correlation analysis between heat source power density and structural heat transfer path is performed. A three-dimensional heat source positioning coordinate system is established on the axial eight-section cross-section of the casing: the Joule thermal intensity distribution matrix of the winding and the core eddy current loss density curve of each section are extracted, and the coordinates of the peak point of heat source intensity in the stator slot and the loss focusing area on the rotor magnetic pole surface are calculated.

[0081] Thermal conductivity is mapped using the dielectric constant-temperature correlation function of the material: anisotropic thermal conductivity tensors are labeled for the silicon steel lamination region according to the rolling direction, and the equivalent volume thermal resistance value of the winding insulation layer region is calculated based on the temperature resistance level. Finally, a heat source thermal conductivity coupling attribute table containing the heat source coordinate-power density matrix, the material thermal conductivity direction tensor, and the interface contact thermal resistance factor is output, forming the physical field attribute basis for thermal field analysis.

[0082] The heat source power density distribution and material thermal conductivity tensor set are integrated from the heat source thermal coupling attribute table. Thermal boundary condition parameters are applied: cooling medium inlet velocity-temperature curve, ambient radiation heat transfer coefficient, and convection enhancement factor of rotating components. Transient solution conditions are set in the three-dimensional global mesh: the initial temperature field is assumed to be a uniform ambient temperature distribution, and the time step is divided into 1 / 24 of the rotor mechanical period.

[0083] The energy conservation equations are spatially discretized using the finite volume method: an unstructured mesh is used to refine the stator teeth, accurately capturing the heat diffusion angle region at the tooth tips; the mesh deformation rate is dynamically corrected according to the rotation angle in the rotor region. Temperature gradient threshold control is implemented during the solution process: when the rate of temperature rise at coordinate points with the same adjacent time steps is ≤0.5K / s, the system is considered to have entered a steady-state condition.

[0084] Output a global temperature distribution dataset: containing a temperature scalar field of 24 axial sections, a heat flow vector field in the XYZ direction, and a temperature change spectrum of key components over time, forming a temperature rise benchmark for heat dissipation path design.

[0085] Based on the axial section temperature field and heat flow vector field in the steady-state temperature distribution dataset, and combined with the thermal conductivity properties and geometric topology of the casing material within the mechanical structure parameters, a node-based reconstruction of the global thermal resistance network is implemented.

[0086] Twelve reference sections are equidistantly arranged along the motor axis, and each section is divided into eight radial heat flow ring zones: the innermost ring zone covers the rotor shaft to the edge of the air gap, the middle ring zone corresponds to the stator tooth groove structure, and the outer ring zone includes the housing heat dissipation fins and the environmental contact interface.

[0087] The heat flow path length and the angle between the temperature gradient vector between adjacent nodes within each ring are calculated, and the equivalent thermal conduction distance is calculated based on the anisotropic characteristics of the material. A parallel thermal resistance model of copper conductors and iron core laminations is constructed in the stator slot region, and its thermal resistance value is weighted and integrated according to the material volume ratio. The equivalent thermal resistance of the fins is introduced to correct the heat dissipation fin area of ​​the casing, and the heat conduction transfer path is optimized based on the fin height-to-width ratio and heat dissipation efficiency curve.

[0088] An equivalent thermal network database consisting of node coordinate-thermal resistance correlation matrix, annular thermal capacity factor set and interface contact thermal resistance parameter table is output, forming a structured physical benchmark for heat dissipation optimization.

[0089] Based on the node thermal resistance distribution and thermal capacity coefficient set in the equivalent thermal network database, a forced convection-dominated heat dissipation path generation strategy is implemented. Regions with excessive thermal resistance are identified: coordinate points whose thermal resistance exceeds 200% of the material mean are selected and marked as heat flow bottlenecks.

[0090] Using the outer surface of the casing as the heat exchange terminal, a continuous channel with minimum thermal resistance is constructed by tracing back along the reverse direction of heat flow. The heat dissipation path adopts a three-dimensional hierarchical configuration: the cross-sectional size of the axially continuous main channel expands linearly with the total heat flow; a branch flow network is constructed between high heat source nodes and the main channel, with the branch angle constrained within 30° to maintain flow velocity efficiency; a serpentine microgroove cooling loop is embedded in the stator slot area, with the depth adapting to local temperature rise gradient changes.

[0091] Cooling medium characteristics under coordinated thermal boundary conditions: Adjust the surface roughness distribution of the flow channel according to the viscosity-temperature curve, and implant turbulence enhancement structures in the high-speed flow region to improve the convection coefficient. The final output is a heat dissipation structure dataset containing the three-dimensional coordinate topological mapping relationship of the flow channel, the cross-sectional gradient rule chain, and the surface strengthening feature index, forming a design specification that can directly drive the manufacturing of heat sinks.

[0092] This embodiment precisely correlates electromagnetic loss with the thermal conductivity of the structure through a thermoelectric coupling mechanism, generating a matching parameter set between the spatial distribution of heat sources and the thermal conductivity characteristics of materials, providing high-fidelity physical field input for thermal field analysis. Based on three-dimensional transient thermal field solving technology, it captures the evolution of temperature gradients under rotating conditions, achieving dynamic convergence prediction of steady-state temperature distribution and significantly improving the accuracy of locating heat accumulation risk points. The thermal resistance network construction process transforms the continuous temperature field into structured node parameters, quantifying the heat flow path resistance characteristics through a ring-zone partitioning model, thus improving the efficiency of visual identification of heat dissipation bottlenecks. The convective heat transfer path adopts a hierarchical topology: the axial trunk channel ensures global heat flow, the radial branch network achieves precise heat dissipation at high heat source points, and the microgroove loop enhances local convective heat transfer intensity, forming a three-dimensional efficient thermal management system for coordinated heat dissipation.

[0093] In one embodiment, a motor structure design scheme is obtained by iteratively integrating mechanical structure parameters, electromagnetic performance index sets, and heat dissipation structure data, including: Based on the three-dimensional geometric coordinate set of the stator and rotor and the air gap tolerance zone distribution in the mechanical structure parameters, the conductor topological coordinates and phase excitation timing rules in the electromagnetic performance index set are integrated to perform multi-physics joint analysis. The electromagnetic-structural coupling effect is solved under rated load conditions: first, the magnetic pull distribution spectrum of the stator teeth is extracted, and the tooth tip deformation displacement field is calculated based on the magnetostrictive properties of the core material; simultaneously, the dynamic offset trajectory of the rotor shaft is derived through analysis of the rotor rotation centrifugal force field.

[0094] The magnetostrictive displacement field and rotor offset trajectory are input into the structural stress field solver to analyze the bending stress concentration areas of the stator housing support ribs and the peak points of bearing housing contact pressure. The adaptability of electromagnetic parameters under structural deformation is verified: when the tooth tip displacement exceeds the air gap tolerance threshold, the air gap permeability distribution curve is reconstructed and the magnetic flux density harmonic content spectrum is updated. Finally, the first analysis result dataset, containing the displacement field correction vector, magnetic flux density redistribution parameters, and stress hotspot coordinates, is output, forming a quantitative benchmark for the interaction between electromagnetics and structure.

[0095] The stress hotspot coordinates and magnetic flux redistribution parameters from the integrated first analysis results are combined with the flow channel topology and surface strengthening feature encoding from the heat dissipation structure data. A bidirectional temperature-electromagnetic field iteration is performed: based on the convective heat transfer coefficient distribution map of the heat dissipation path, the winding hotspot temperature rise gradient under steady-state conditions is calculated; the conductor resistance matrix is ​​updated using the temperature rise-resistivity correlation function, and the Joule heat distribution intensity within the slot is recalculated.

[0096] The updated heat source data is fed back to the electromagnetic field: the core permeability tensor is corrected based on the temperature decay curve of the silicon steel sheet permeability, the air gap magnetic flux density waveform is reconstructed, and the harmonic distortion increment is extracted. The influence of thermal deformation on the mechanical structure is analyzed simultaneously: the axial thermal expansion difference of the housing is solved based on the temperature field distribution, and the bearing preload loss and gear meshing misalignment angle are calculated. Finally, a second analysis result package containing the temperature rise-corrected magnetic parameter set, the thermally induced deformation displacement field, and the dynamic contact stress spectrum is output, establishing a design optimization basis for multi-physics coupling.

[0097] Based on the temperature-corrected magnetic parameter set and thermally induced deformation displacement field output from the second analysis, a flux path reconfiguration operation is performed on the electromagnetic performance index set. The influence characteristics of temperature gradient on material permeability are analyzed, and the equivalent permeability tensor of the stator and rotor cores is updated according to the temperature decay characteristics of silicon steel sheet permeability. The spatial distribution waveform of air gap magnetic flux density is then recalculated.

[0098] The magnetic circuit topology is corrected through harmonic suppression operations to locate axial sections where the magnetic flux density harmonic distortion rate exceeds a set threshold. The winding phase angle compensation in this region is adjusted to reconstruct the rotating magnetomotive force balance. The influence of structural deformation is synchronously responded to by offsetting the conductor coordinate position based on thermal expansion displacement field data to compensate for slot misalignment caused by casing deformation. Finally, a dynamic magnetic circuit parameter set containing the air gap magnetic flux density redistribution spectrum, winding phase correction angle gradient, and conductor position offset vector is extracted to form an electromagnetic optimization benchmark under thermal-structural coupling conditions.

[0099] By integrating the magnetic flux density distribution spectrum and conductor offset vector from the dynamic magnetic circuit parameters, and combining them with the flow channel topology and convective heat transfer coefficient distribution from the heat dissipation structure data, a thermo-magnetic cross-iterative operation is performed. A bidirectional feedback mechanism is established: the magnetic flux density harmonic increment is converted into an additional iron loss distribution, updating the heat source power density matrix in the heat dissipation path; local flow velocity changes in the flow channel affect the temperature rise gradient, triggering a second correction of the permeability tensor.

[0100] By monitoring key indicators through a convergence controller, the system is deemed to have converged when the magnetic flux density harmonic distortion rate fluctuates continuously below a threshold and the hotspot temperature rise stabilizes. The system outputs a thermomagnetic optimization parameter package containing the final permeability space tensor, heat source relocation coordinates, and flow channel optimization coefficients, forming the core of the multiphysics equilibrium design.

[0101] Based on the permeability tensor and heat source location coordinates in the thermomagnetic optimization parameters, electromagnetic-thermal-structural collaborative optimization is performed on the mechanical structure parameters. A three-objective parallel optimization strategy is adopted: the stator tooth profile tilt angle is optimized by constraining the sinusoidal distortion rate of the air gap magnetic flux density; the maximum temperature rise is controlled by adjusting the distribution density of the heat dissipation fins according to the heat source coordinates; and the housing dimensions are pre-compensated based on the thermal deformation displacement field to ensure the bearing clearance tolerance.

[0102] Key variables were identified by prioritizing parameter sensitivity, with the tooth chamfer radius, heat dissipation fin height, and axial expansion compensation of the housing being prioritized for optimization. The final output is a motor structure design scheme containing coordinate sets of stator and rotor manufacturing drawings, winding process rules, and radiator machining specifications.

[0103] This embodiment uses electromagnetic structure coupling analysis to accurately quantify the interaction between magnetostrictive deformation and rotor dynamic offset, generating displacement field correction parameters and magnetic flux density redistribution rules to effectively suppress magnetic field harmonic distortion caused by structural deformation. A closed-loop feedback mechanism based on thermo-electromagnetic coupling analysis—temperature rise, permeability decay, and thermal deformation displacement—is established, enabling real-time response of magnetic circuit reconstruction to the material's thermal decay characteristics and ensuring electromagnetic stability under high-temperature conditions. The thermomagnetic bidirectional iteration employs dual-threshold convergence control of magnetic harmonic distortion rate and temperature rise gradient, simultaneously optimizing the convection efficiency of the heat dissipation path and the magnetomotive force waveform quality to achieve a dynamic balance between electromagnetic loss and heat dissipation capacity. Multi-objective collaborative optimization integrates tooth profile tilt angle electromagnetic adaptation, fin density thermal management, and housing size pre-compensation technologies to eliminate the risk of thermal deformation assembly errors at the manufacturing stage.

[0104] In one embodiment, a thermomagnetic bidirectional iteration is performed on the dynamic magnetic circuit parameters and heat dissipation structure data to obtain thermomagnetic optimized parameters, including: Based on the air gap magnetic flux redistribution spectrum and conductor position offset vector in the dynamic magnetic circuit parameters, a temperature rise response correction for the material's magnetic permeability is performed. The convective heat transfer coefficient distribution map is extracted from the heat dissipation structure data, and the axial temperature rise gradient curve of the core under rated operating conditions is calculated. Based on the database of silicon steel sheet permeability temperature decay characteristics, a temperature-permeability correlation function is established: within the temperature range of 50-150℃, the permeability decay rate exhibits an exponential decreasing trend with temperature.

[0105] Correction rules are applied to the stator and rotor core partitioning: in the high heat load zone with a temperature rise gradient ≥ 8K / mm, the permeability tensor is updated in real time according to the local temperature value; in the zone with a gentle temperature rise, the baseline permeability characteristics are maintained. The magnetic circuit parameters are updated through a magnetic field reconstruction algorithm: the air gap flux density waveform is recalculated based on the corrected permeability tensor to locate the coordinates of the magnetic flux density depression zone caused by temperature decay.

[0106] Synchronous verification of the effects of thermal deformation: The rotor magnetic pole phase angle is finely adjusted based on the thermal expansion displacement field data to compensate for the change in magnetic circuit length caused by the thermal expansion of the iron core. The final output includes a set of temperature magnetic circuit parameters containing the temperature-calibrated permeability tensor, magnetic flux density distribution compensation spectrum, and phase correction factor, forming a thermally adaptive magnetic circuit design benchmark.

[0107] Based on the magnetic flux density distribution compensation spectrum in the temperature magnetic circuit parameters, the redistribution data of iron loss power density is analyzed: the spatial coordinate set of iron loss increment caused by temperature rise is calculated through a hysteresis loss and eddy current loss separation algorithm. The heat source distribution matrix in the heat dissipation structure data is reconstructed using this incremental data: the iron loss heat source intensity field is superimposed on the original Joule heat source, and the priority weight of the heat flow channel is updated.

[0108] Dynamic correction of the thermal resistance network is performed: the layout of equivalent thermal resistance nodes is adjusted according to the location of newly added heat sources, and branch heat dissipation paths are added in high heat flux areas, with their channel cross-sectional area expanded proportionally to the increase in heat flux density. The secondary effects of temperature rise are calculated through a magnetothermal coupling feedback loop: the updated heat dissipation structure data is input into the transient thermal field solver, which outputs the corrected temperature field distribution; the permeability tensor of the silicon steel sheet is corrected a second time based on the new temperature field, and the air gap magnetic flux density waveform is iteratively updated. Finally, a feedback magnetic circuit parameter package containing the coordinates of the iron-loss heat source, the optimized layout of the thermal resistance nodes, and the secondary correction of the permeability is output, forming a closed-loop optimized magnetothermal co-design carrier.

[0109] Based on the permeability second-correction tensor and magnetic flux density distribution compensation spectrum in the feedback magnetic circuit parameters, a multi-dimensional assessment of the core magnetic saturation risk is performed. Twelve assessment sections are set along the axial direction of the stator and rotor cores, and each section is divided into eight magnetic flux density monitoring segments along the magnetic flux path.

[0110] The approximation degree between the actual magnetic flux density value of each monitoring section and the saturation magnetic flux density threshold of the material in that section is calculated. When the actual magnetic flux density is close to the saturation magnetic flux density threshold, it is marked as a critical saturation risk zone. The saturation cause is located by harmonic distortion correlation analysis, and the harmonic components of the magnetic flux density waveform in the critical saturation zone are extracted to determine the harmonic saturation mode or the insufficient magnetic circuit cross section mode.

[0111] Output a saturation evaluation parameter package containing the coordinate set of saturation risk zone, classification labels of saturation causes, and magnetic flux density margin coefficients, forming a magnetic circuit optimization priority index.

[0112] By integrating the critical saturation zone coordinates and causative labels from the saturation assessment parameters, and combining them with the iron loss heat source distribution map from the feedback magnetic circuit parameters, a two-way iterative correction based on thermal and magnetic properties is performed. A zoned optimization strategy is established: for harmonic-induced saturation zones, the winding phase angle compensation is adjusted to suppress the amplitude of specific harmonic magnetomotive forces; for areas with insufficient magnetic circuit cross-sections, the tooth magnetic circuit cross-section is locally expanded.

[0113] The heat dissipation path is updated synchronously, and the flow channel branch layout is optimized based on the coordinates of newly added iron loss heat sources. Microgroove loops are added in the heat source concentration area to enhance heat transfer. Triple convergence monitoring is implemented during the iteration process. Optimization is terminated when the number of magnetic saturation risk areas decreases significantly, the peak intensity of iron loss heat sources decreases, and the total thermal resistance of the heat dissipation path stabilizes. The output is a thermomagnetic optimization parameter set containing the final permeability spatial distribution, heat source-flow channel matching relationship, and saturation safety margin annotations, achieving dual assurance of magnetic circuit unsaturation and efficient thermal management.

[0114] This embodiment utilizes thermally induced permeability correction technology to respond in real time to the temperature decay characteristics of the permeability of silicon steel sheets, dynamically updating the permeability tensor and magnetic flux density distribution spectrum in the magnetic circuit parameters to ensure magnetic stability under high-temperature conditions. Based on a magnetic saturation characteristic assessment mechanism, it accurately locates the critical saturation risk zone and achieves differentiated optimization through dual-mode discrimination of harmonic saturation and insufficient cross-section, effectively improving the core magnetic flux density safety margin. The thermomagnetic bidirectional iterative process employs a zoned optimization strategy: adjusting the phase angle to suppress harmonic magnetomotive force in the harmonic saturation zone, expanding the tooth magnetic circuit in the insufficient cross-section zone, and simultaneously optimizing the heat dissipation path to match the distribution of newly added heat sources, achieving a synergistic improvement in magnetic circuit unsaturation and thermal management efficiency.

[0115] Reference Figure 2 As shown, the present invention also provides a multiphase reluctance micro servo motor parameter design system, applicable to the multiphase reluctance micro servo motor parameter design method of any of the above, comprising: The identification module is used to obtain the excitation magnetic field characteristics and target performance requirements of the multiphase reluctance micro servo motor, and to perform structural differentiation configuration to obtain mechanical structure parameters. The analysis module is used to perform multiphase excitation electromagnetic performance calculations on the mechanical structure parameters based on the motor thermal boundary conditions of the multiphase reluctance micro servo motor, and generate a set of electromagnetic performance indicators. The processing module is used to perform integrated heat dissipation structure design based on electromagnetic performance index set and mechanical structure parameters to obtain heat dissipation structure data. The module is used to iteratively integrate mechanical structure parameters, electromagnetic performance index sets, and heat dissipation structure data to obtain motor structure design schemes.

[0116] The multiphase reluctance micro servo motor parameter design system provided by this invention performs structural differentiation configuration based on the excitation magnetic field characteristics and target performance requirements. This enables precise correlation between magnetic circuit distribution and structural constraints, thereby generating structural parameters adapted to specific operating conditions in the initial stage and avoiding the risk of parameter mismatch caused by deviations in requirements. Multiphase excitation electromagnetic performance calculations are performed on the mechanical structure parameters based on the motor's thermal boundary conditions, effectively coupling thermal environment constraints and electromagnetic excitation characteristics. This promotes dynamic response of the heat dissipation path to local loss hotspots, reducing torque fluctuations caused by heat accumulation. By integrating the electromagnetic performance index set and mechanical structure parameters in the integrated heat dissipation construction, synergistic optimization of the heat dissipation network and electromagnetic core is achieved, reducing the possibility of thermal failure and improving operational stability. Closed-loop feedback optimization is performed on structural parameters, electromagnetic parameters, and heat dissipation structure data according to an iterative integration mechanism, ensuring that the multiphysics parameter set maintains convergence consistency under dynamic operating conditions, ultimately enhancing the overall reliability and efficiency balance of the motor in high-precision scenarios.

[0117] Reference Figure 3 As shown, the present invention also provides a parameter design device for a multiphase reluctance micro servo motor, comprising: Memory, used to store programs; A processor is used to execute a program to implement the various steps of a method for quantifying the heat load of an air source heat pump system, as described above.

[0118] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the system and each module described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0119] In this embodiment, the processor and memory can be connected via a bus or other means. The memory may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive. The processor may be a general-purpose processor, such as a central processing unit, digital signal processor, application-specific integrated circuit, or one or more integrated circuits configured to implement embodiments of the present invention.

[0120] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for designing parameters of a multiphase reluctance micro servo motor, characterized in that, include: The excitation magnetic field characteristics and target performance requirements of the servo motor are obtained, and structural differentiation configurations are performed to obtain mechanical structure parameters; Based on the motor thermal boundary conditions of the servo motor, the multiphase excitation electromagnetic performance of the mechanical structure parameters is calculated to generate a set of electromagnetic performance indicators. Based on the electromagnetic performance index set and the mechanical structure parameters, an integrated heat dissipation structure design is carried out to obtain heat dissipation structure data; By iteratively integrating the mechanical structure parameters, the electromagnetic performance index set, and the heat dissipation structure data, a motor structure design scheme is obtained.

2. The parameter design method for a multiphase reluctance micro servo motor according to claim 1, characterized in that, The process involves acquiring the excitation magnetic field characteristics and target performance requirements of the servo motor, and performing structural differentiation configurations to obtain mechanical structure parameters, including: Based on the characteristics of the excitation magnetic field and the target performance requirements, the stator-rotor coupling analysis is performed to generate tooth phase data and magnetic flux density parameters. Based on the tooth phase data, the main and auxiliary tooth width ratio is planned and calculated, and the tooth structure is optimized in combination with the target performance requirements to obtain the basic tooth parameters; The air gap depth is calculated using the excitation magnetic field characteristics and the magnetic flux density parameter, and the air gap distribution parameters are obtained. The basic parameters of the tooth and the air gap distribution parameters are initially identified, and the mechanical structure parameters are output.

3. The parameter design method for a multiphase reluctance micro servo motor according to claim 2, characterized in that, Based on the tooth phase data, the width ratio of the main and auxiliary teeth is calculated, and the tooth structure is optimized in conjunction with the target performance requirements to obtain the basic tooth parameters, including: The tooth phase data is analyzed to obtain the phase angles of the main tooth and the auxiliary tooth. The main tooth width coefficient is generated by calculating the main tooth width coefficient using the main tooth phase angle and the auxiliary tooth phase angle. Based on the main and auxiliary tooth width coefficients, the tooth profile is segmented and constructed to generate initial tooth profile parameters. Based on the target performance requirements, the initial tooth profile parameters are optimized by chamfering at the tooth tip and fillet at the tooth root to generate the basic parameters of the tooth.

4. The parameter design method for a multiphase reluctance micro servo motor according to claim 1, characterized in that, The step of performing multiphase excitation electromagnetic performance calculations on the mechanical structure parameters based on the motor thermal boundary conditions of the servo motor, and generating a set of electromagnetic performance indicators, includes: Conductor arrangement is executed according to the mechanical structure parameters, and conductor arrangement parameters are output; Based on the aforementioned motor thermal boundary conditions, thermal resistance matching calculations are performed on the winding insulation layer thickness and cooling tank size of the servo motor to generate a winding current threshold. Based on the conductor arrangement parameters and the winding current threshold, rotor phase correction and slot thermo-magnetic calculations are performed, and the current phase difference set and conductor cross-sectional area data are output. An electromagnetic system is constructed based on the conductor arrangement parameters, the current phase difference set, and the conductor cross-sectional area data, and the electromagnetic performance index set is output.

5. The parameter design method for a multiphase reluctance micro servo motor according to claim 4, characterized in that, The step of performing rotor phase correction and slot thermo-electromagnetic calculations based on the conductor arrangement parameters and the winding current threshold, and outputting current phase difference set and conductor cross-sectional area data, includes: Spatial phase deviation analysis is performed on the mechanical structure parameters and the conductor coordinate set to obtain the rotor phase offset; Based on the rotor phase offset and the winding current threshold, winding phase correction is performed to generate initial phase difference information; Based on the initial phase difference information and the conductor coordinate set, thermomagnetic and magnetic calculations are performed in the slot to obtain thermomagnetic load information; Conductor slot-by-slot allocation is performed using the thermomagnetic load information and the conductor coordinate set to generate conductor cross-sectional area data; The current phase difference is calculated by combining the initial phase difference information and the thermomagnetic load information to obtain the current phase difference set.

6. The parameter design method for a multiphase reluctance micro servo motor according to claim 1, characterized in that, The integrated heat dissipation structure design based on the electromagnetic performance index set and the mechanical structure parameters yields heat dissipation structure data, including: The electromagnetic performance index set is thermoelectrically coupled with the mechanical structure parameters to obtain the thermal conductivity coupling properties of the heat source. By combining the thermal conductivity coupling properties of the heat source and the thermal boundary conditions, a three-dimensional transient thermal field is solved to obtain the steady-state temperature distribution. A thermal resistance network is constructed using the steady-state temperature distribution and the mechanical structure parameters to obtain equivalent thermal network data; The heat dissipation structure data is obtained by constructing a convective heat transfer path based on the equivalent thermal network data.

7. The parameter design method for a multiphase reluctance micro servo motor according to claim 1, characterized in that, The process of iteratively integrating the mechanical structure parameters, the electromagnetic performance index set, and the heat dissipation structure data to obtain a motor structure design scheme includes: An electromagnetic structure coupling analysis is performed by combining the mechanical structure parameters with the electromagnetic performance index set to generate a first analysis result. Based on the first analysis result and the heat dissipation structure data, a thermo-electromagnetic coupling analysis is performed to generate a second analysis result. Using the second analysis results, magnetic circuit reconstruction calculations are performed on the electromagnetic performance index set to extract dynamic magnetic circuit parameters; The dynamic magnetic circuit parameters and the heat dissipation structure data are subjected to bidirectional thermomagnetic iteration to obtain thermomagnetic optimization parameters. Based on the thermomagnetic optimization parameters, multi-objective collaborative optimization is performed on the mechanical structure parameters to generate the motor structure design scheme.

8. The parameter design method for a multiphase reluctance micro servo motor according to claim 7, characterized in that, The step of performing bidirectional thermomagnetic iteration on the dynamic magnetic circuit parameters and the heat dissipation structure data to obtain thermomagnetic optimization parameters includes: The dynamic magnetic circuit parameters are corrected by thermally induced permeability to obtain temperature magnetic circuit parameters; The thermal resistance reconstruction and magnetothermal coupling feedback of the heat dissipation structure data are performed using the temperature magnetic circuit parameters to obtain the feedback magnetic circuit parameters. The magnetic saturation characteristics of the feedback magnetic circuit parameters are evaluated to obtain saturation evaluation parameters; The thermomagnetic optimization parameters are obtained by bidirectional iteration based on the saturation evaluation parameters and the feedback magnetic circuit parameters.

9. A parameter design system for a multiphase reluctance micro servo motor, characterized in that, The parameter design method for the multiphase reluctance micro servo motor described in any one of claims 1-8 includes: The identification module is used to obtain the excitation magnetic field characteristics and target performance requirements of the servo motor, and to perform structural differentiation configuration to obtain mechanical structure parameters. The analysis module is used to perform multiphase excitation electromagnetic performance calculation on the mechanical structure parameters based on the motor thermal boundary conditions of the servo motor, and generate a set of electromagnetic performance indicators. The processing module is used to perform integrated heat dissipation structure design based on the electromagnetic performance index set and the mechanical structure parameters to obtain heat dissipation structure data; A construction module is used to obtain a motor structure design scheme by iteratively integrating the mechanical structure parameters, the electromagnetic performance index set, and the heat dissipation structure data.

10. A parameter design device for a multiphase reluctance micro servo motor, characterized in that, include: Memory, used to store programs; A processor is configured to execute the program to implement the steps of the method for quantifying the heat load of an air source heat pump system as described in any one of claims 1-8.

Images