A method, device, medium and rail vehicle for determining the leakage inductance of a linear motor

Abstract

The present invention discloses a method, device, medium and rail vehicle for determining the leakage inductance of a linear motor, which is applicable to the field of motor analysis and design. By establishing a three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor; adding an air-gap current, an image current and an equivalent current of the current coil passing through the iron core to the current coil of the linear motor for large-segment and small-segment processing to determine the large-segment components and small-segment components of the current coil at the three axes respectively, using the different small-segment components of the three axes to determine the distances between different small segments of each coil, and then determining the magnetic potential vectors on its three axes according to the distances and the different large-segment components of the three axes, further obtaining the magnetic flux of the current coil corresponding to other coils, calculating the end leakage inductance of the current coil by using the magnetic potential vector method and the superposition theorem, and then determining the end leakage inductance of each phase according to the position matrix of the linear motor. The whole process is based on the structure of the linear motor itself, improving the calculation accuracy of the end leakage inductance.

Description

Technical Field

[0001] The present invention relates to the field of motor analysis and design, and particularly to a method, device, medium and rail vehicle for determining the leakage inductance of a linear motor. Background Art

[0002] At present, the methods for determining the leakage inductance of the end part of a motor stator winding are relatively complete, but the leakage inductance determination methods are only limited to the end leakage inductance of ordinary rotating motors, and mainly include the following several: electromagnetic field calculation method, finite element method and discrete integral method.

[0003] Due to the particularity of the arrangement of the primary winding of the normal-conduction high-speed maglev linear motor, which is an asymmetric structure, while the rotating motor is an axially symmetric structure, and the winding arrangement methods of the two motors are different, the determination methods applicable to the end leakage inductance of ordinary rotating motors cannot be applied to the normal-conduction high-speed maglev linear motor. Therefore, it is rather difficult to explore the determination method for the end leakage inductance of the normal-conduction high-speed maglev linear motor, and the existing motor leakage inductance determination methods are difficult to meet the leakage inductance requirements of actual linear motors.

[0004] Therefore, it is an urgent need for those skilled in the art to seek a determination method for a linear motor. Summary of the Invention

[0005] The purpose of the present invention is to provide a method, device, medium and rail vehicle for determining the leakage inductance of a linear motor, and the whole process is based on the structure of the linear motor itself to improve the calculation accuracy of the end leakage inductance.

[0006] To solve the above technical problems, the present invention provides a determination of the leakage inductance of a linear motor, including:

[0007] Establish a three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor;

[0008] Perform large-section processing and small-section processing on the air-gap current, mirror current and the equivalent current of the current coil passing through the iron core added to the current coil of the linear motor, and respectively determine the large-section components of the vector corresponding to the current large section with respect to the three axes and the small-section components of the vector corresponding to the current small section with respect to the three axes according to the midpoint coordinates corresponding to the current large section and the current small section of the current coil;

[0009] Determine the distances between the small sections of the current coil and the small sections of the Nth coil of other coils according to the relationship between the midpoint coordinates of each small section and each small-section component; and determine the superimposed magnetic potential vectors of each small section of the current coil at the three axes corresponding to the small sections of the Nth coil according to the superposition processing of the distances and each large-section component;

[0010] Determine the magnetic flux of the current coil and the Nth coil according to each superimposed magnetic potential vector, and determine the inductance value of the current coil, the self-inductance value of the current coil and the mutual inductance value between the current coil and other coils according to the relationship between the magnetic flux and the current of a single-turn coil of the current coil, so as to construct a mutual inductance matrix;

[0011] Determine the end leakage inductance of each phase according to the relationship between the mutual inductance matrix, the position matrix of each coil and the incidence matrix.

[0012] Preferably, establish a three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor, including:

[0013] Set the axis of symmetry line of the starting coil into which the current of the current phase flows as the Y-axis, and the direction is from bottom to top;

[0014] The plane where the X-axis perpendicular to the Y-axis is located is coplanar with the planes where the primary winding and the secondary winding of the linear motor are located, and the direction is from left to right;

[0015] Take the 1 / 2 line corresponding to the air gap between the primary winding and the secondary winding as the plane where the Z-axis is located;

[0016] Establish a three-dimensional rectangular coordinate system by setting the Y-axis, the X-axis and the Z-axis, and the positive direction of the current of the linear motor is the direction of the right-hand rule.

[0017] Preferably, perform large-section processing on the air gap current, the mirror image current and the equivalent current of the current coil passing through the iron core added to the current coil, including:

[0018] According to the actual structure of the end of the current coil, take the upper straight part and the upper side bevel part through which the current of the current coil passes as the first four large sections;

[0019] Take the lower straight part and the lower side bevel part through which the current passes as the second four large sections of the part through which the mirror image current passes;

[0020] Take the air gaps at both ends through which the current passes as the air gap current, and take the part through which the air gap current passes as the first two large sections;

[0021] Take the part through which the equivalent current of the current coil passing through the iron core passes as the second two large sections;

[0022] Combine the first four large sections, the second four large sections, the first two large sections and the second two large sections as the result after the large-section processing of the current coil.

[0023] Preferably, the construction process of the position matrix includes the following steps:

[0024] Arrange according to the positions of each coil in the corresponding coil slots of the iron core to obtain the position matrix.

[0025] Preferably, the construction process of the incidence matrix includes the following steps:

[0026] Obtain each phase winding and each coil of the linear motor;

[0027] When the current direction of the phase winding is the same as the current direction of the phase current, set the associated element corresponding to the slot where the coil corresponding to the phase winding is located to 1;

[0028] When the current direction of the phase winding is opposite to the current direction of the phase current, set the associated element corresponding to the slot where the coil corresponding to the phase winding is located to -1;

[0029] When the current direction of the phase winding has nothing to do with the current direction of the phase current, set the associated element corresponding to the slot where the coil corresponding to the phase winding is located to 0;

[0030] Construct an association matrix according to the associated elements of each phase winding.

[0031] Preferably, the number of small segments corresponding to the upper straight part and the lower straight part, the upper edge bevel part and the lower edge bevel part, the part through which the air-gap current passes, and the part through which the equivalent current passes is the same.

[0032] Preferably, it further includes:

[0033] Obtain the included angle parameters corresponding to each phase current;

[0034] Determine the final end leakage inductance of each phase according to the corresponding relationship between each included angle parameter and the end leakage inductance of each phase.

[0035] To solve the above technical problems, the present invention also provides a device for determining the leakage inductance of a linear motor, including:

[0036] A building module, configured to establish a three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor;

[0037] A first determination module, configured to perform large-segment processing and small-segment processing on the air-gap current, mirror current, and equivalent current passing through the iron core of the current coil of the linear motor, and respectively determine the large-segment components of the vector corresponding to the current large segment with respect to the large segments at the three axes and the small-segment components of the vector corresponding to the current small segment with respect to the small segments at the three axes according to the midpoint coordinates corresponding to the current large segment and the current small segment of the current coil;

[0038] A second determination module, configured to determine the distance between each small segment of the current coil and each small segment of the Nth coil of other coils according to the relationship between the midpoint coordinates of each small segment and each small segment component; and determine the superimposed magnetic potential vector of each small segment of the current coil at the three axes corresponding to each small segment of the Nth coil according to the superposition processing of the distance and each large-segment component;

[0039] A third determination module, configured to determine the magnetic flux of the current coil and the Nth coil according to each superimposed magnetic potential vector, and determine the inductance value of the current coil, the self-inductance value of the current coil, and the mutual inductance value between the current coil and other coils according to the relationship between the magnetic flux and the current of a single-turn coil of the current coil, so as to construct a mutual inductance matrix;

[0040] A fourth determination module, configured to determine the end leakage inductance of each phase according to the relationship between the mutual inductance matrix, the position matrix of each coil, and the correlation matrix.

[0041] To solve the above technical problems, the present invention further provides a device for determining the leakage inductance of a linear motor, including:

[0042] A memory, configured to store a computer program;

[0043] A processor, configured to implement the steps of the method for determining the leakage inductance of the linear motor as described above when executing the computer program.

[0044] To solve the above technical problems, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for determining the leakage inductance of the linear motor as described above are implemented.

[0045] To solve the above technical problems, the present invention further provides a rail vehicle, including the device for determining the leakage inductance of the linear motor as described above.

[0046] A method for determining the leakage inductance of a linear motor provided by the present invention includes: establishing a three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor; performing large-section processing and small-section processing on the current coil of the linear motor by adding air-gap current, mirror image current, and the equivalent current of the current coil passing through the iron core, and respectively determining the large-section components of the vector corresponding to the current large section of the current coil with respect to the large sections at the three axes and the small-section components of the vector corresponding to the current small section of the current coil with respect to the small sections at the three axes according to the midpoint coordinates corresponding to the current large section and the current small section of the current coil; determining the distances between each small section of the current coil and each small section of the Nth coil of other coils according to the relationship between the midpoint coordinates of each small section and each small-section component; and determining the superimposed magnetic potential vectors at the three axes corresponding to each small section of the Nth coil of each small section of the current coil by performing superposition processing on the distances and the large-section components of each axis; determining the magnetic flux between the current coil and the Nth coil according to each superimposed magnetic potential vector, and determining the inductance value of the current coil, the self-inductance value of the current coil, and the mutual inductance value between the current coil and other coils according to the relationship between the magnetic flux and the current of a single-turn coil of the current coil to construct a mutual inductance matrix; determining the end leakage inductance of each phase according to the relationship between the mutual inductance matrix, the position matrix, and the correlation matrix of each coil. This method determines the large-section components and small-section components of the current coil at the three axes respectively through large-section and small-section processing, uses the different small-section components of the three axes to determine the distances between different small sections of each coil, and then determines the magnetic potential vectors on its three axes according to the distances and the different large-section components of the three axes, and further obtains the magnetic flux of the current coil corresponding to other coils. It can be seen that the end leakage inductance of the current coil is calculated by using the magnetic potential vector method and the superposition theorem, and then the end leakage inductance of each phase is determined according to the position matrix of the linear motor. The whole process is based on the structure of the linear motor itself, improving the calculation accuracy of the end leakage inductance.

[0047] In addition, the present invention also provides a device, a medium, and a rail vehicle for determining the leakage inductance of a linear motor, which have the same beneficial effects as the method for determining the leakage inductance of the linear motor described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0049] Figure 1 It is a flowchart of a method for determining the leakage inductance of a linear motor provided by an embodiment of the present invention;

[0050] Figure 2 It is a schematic diagram of the primary winding arrangement provided by an embodiment of the present invention;

[0051] Figure 3Schematic diagram of establishing a coordinate system by a single coil provided by an embodiment of the present invention;

[0052] Figure 4 Structural diagram of a leakage inductance determination device for a linear motor provided by an embodiment of the present invention;

[0053] Figure 5 Structural diagram of another leakage inductance determination device for a linear motor provided by an embodiment of the present invention. Detailed implementation manners

[0054] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0055] The core of the present invention is to provide a method, device, medium and rail vehicle for determining the leakage inductance of a linear motor. The whole process is based on the structure of the linear motor itself to improve the calculation accuracy of the end leakage inductance.

[0056] In order to enable those skilled in the art to better understand the solutions of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0057] It should be noted that a linear motor, also known as a linear motor, converts an electrical signal into a linear motion, which is different from a rotary motor. Compared with a rotary motor, a linear motor has a simple structure, high positioning accuracy, fast response speed, high sensitivity, safe and reliable operation, long service life, and high operating speed. The structure of a linear motor mainly includes three parts: a stator, a mover, and a support wheel for linear motion. To ensure good electromagnetic field coupling between the stator and the mover within the stroke range, the core lengths of the stator and the mover are not equal. A linear motor can perform ultra-precision linear motion, so it has a wide range of application fields, such as maglev trains, robotics, robotic arms, precision micro-lithography industry, printed circuit board (PCB) industry, laser precision cutting industry, semiconductor industry, computer numerical control (CNC) machining industry, flat panel display (FPD) inspection industry, battery energy industry, key technologies and overall solutions for smart factories, etc.

[0058] Figure 1 Flowchart of a method for determining the leakage inductance of a linear motor provided by an embodiment of the present invention, as Figure 1 shown, the method includes:

[0059] S11: Establish a three - dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor;

[0060] S12: Perform large - segment processing and small - segment processing on the air - gap current, mirror current, and the equivalent current of the current coil passing through the iron core added to the current coil of the linear motor, and respectively determine the large - segment components of the vector corresponding to the current large - segment with respect to the large - segments at the three axes and the small - segment components of the vector corresponding to the current small - segment with respect to the small - segments at the three axes according to the mid - point coordinates of the current large - segment and the current small - segment of the current coil;

[0061] S13: Determine the distances between the small - segments of the current coil and the small - segments of the Nth coil of other coils according to the relationship between the mid - point coordinates of each small - segment and the small - segment components; and perform superposition processing based on the distances and the large - segment components to determine the superposition magnetic potential vectors of the small - segments of the current coil at the three axes corresponding to the small - segments of the Nth coil;

[0062] S14: Determine the magnetic flux between the current coil and the Nth coil according to the superposition magnetic potential vectors, and determine the inductance value of the current coil, the self - inductance value of the current coil, and the mutual inductance values between the current coil and other coils according to the relationship between the magnetic flux and the current of a single - turn coil of the current coil to construct a mutual inductance matrix;

[0063] S15: Determine the end - leakage inductance of each phase according to the relationship between the mutual inductance matrix, the position matrix, and the incidence matrix of each coil.

[0064] Specifically, the linear motor can be considered as an evolution of the rotary motor in terms of structure. It can be regarded as radially cutting open the rotary motor and then unfolding the motor along the circumference into a straight line, forming a flat - type linear motor. The side evolved from the stator of the rotary motor is called the primary, and the side evolved from the rotor of the rotary motor is called the secondary. To facilitate the analysis of the formation of end - leakage inductance, a three - dimensional rectangular coordinate system is established according to the structures of the primary winding and the secondary winding of the linear motor. As an embodiment, the axis of symmetry of the starting coil into which the phase current flows is set as the Y - axis, the plane where the primary winding and the secondary winding of the linear motor are located is coplanar with the Z - axis, and the plane where half of the air - gap between the primary winding and the secondary winding is located is the plane where the Z - axis is located. The direction of its current follows the right - hand rule principle. The axis of symmetry line of the starting coil into which the current phase current flows is set as the Y - axis and the direction is from bottom to top. The plane where the X - axis is located is coplanar with the plane where the primary winding and the secondary winding of the linear motor are located and the direction is from left to right. The intersection of the X and Y axes is the starting point, and its positive direction conforms to the right - hand rule. Figure 2 The following is a schematic diagram of the primary winding arrangement provided by the embodiment of the present invention. As Figure 2 shown, there are a total of three - phase currents. In the rectangular coordinate system determined by the current flow direction, 1, 2, and 3 respectively represent the three - phase coils of the primary winding.

[0065] Set the coordinates of the key points of the coil according to the existing motor parameters. Taking a single coil as an example, it corresponds to the air-gap current, mirror current, and equivalent current of the coil passing through the iron core. When an AC power supply is applied to the primary winding, a traveling magnetic field is generated in the air gap. Under the cutting of the traveling magnetic field, the secondary will induce an electromotive force and generate a current, and this current interacts with the magnetic field in the air gap to generate an electromagnetic thrust.

[0066] Perform large-section processing and small-section processing on the current coil of the linear motor by adding the air-gap current, mirror current, and equivalent current of the current coil passing through the iron core. According to the actual structure of the coil end, the straight parts of the upper and lower layers where the current passes, the inclined parts of the upper and lower layers, the parts where the air-gap current flows, and the parts where the equivalent current of the coil passing through the iron core passes are defined as large sections, and each large section is divided into multiple small sections. In this embodiment, the large-section processing and small-section processing are carried out in sequence. On the basis of the large-section processing, small sections are further divided on each large section. Taking the large-section processing as an example, in order to correspond to different key points, the sectioning process is simply set. As a preferred embodiment, according to the actual structure of the end of the current coil, the upper-layer straight part and the upper-layer inclined part where the current of the current coil passes are used as the first four large sections; the lower-layer straight part and the lower-layer inclined part where the current passes are used as the second four large sections of the part where the mirror current passes; the two ends of the air gap where the current passes are used as the air-gap current, and the parts where the air-gap current passes are used as the first two large sections; the parts where the equivalent current of the current coil passing through the iron core passes are used as the second two large sections; combining the first four large sections, the second four large sections, the first two large sections, and the second two large sections is the result after the large-section processing of the current coil. It can be seen that according to the structure of the current coil, it is divided into 12 large sections.

[0067] Figure 3 Schematic diagram of establishing a coordinate system for the single coil provided by the embodiment of the present invention, as Figure 3 shown, the first four large sections are AB, BC, CD, DE, where the upper-layer straight part is AB, DE, and the upper-layer inclined part is BC, CD. The second four large sections are A'B', B'C', C'D', D'E', the lower-layer straight part is A'B', D'E', and the lower-layer inclined part is B'C', C'D'. Regarding the air-gap current in the air gap between A and A', E and E', the corresponding equivalent current is due to Figure 2 the XY-axis plane, and the equivalent current of the coil passing through the iron core cannot be shown.

[0068] After the large-section processing of the current coil, current values are sequentially assigned, and then small-section processing is continued on the basis of the large-section. It should be noted that the small-section processing is similar to the large-section processing. Small sections need to be divided at the current large section. The number of small sections is not specifically limited and can be determined according to the actual situation or empirical values, and will not be specifically described here.

[0069] After processing the large and small segments, the midpoint coordinates of each large segment are taken in sequence, and the midpoint coordinates of each small segment are taken. Based on the midpoint coordinates of each large segment, the components Δlx, Δly, and Δlz of each vector segment on the winding coil side in the X, Y, and Z axes are calculated respectively, that is, the large segment components. Based on the midpoint coordinates of each small segment, the components Δlx', Δly', and Δlz' of each vector segment on the winding coil surface in the X, Y, and Z axes are calculated respectively, that is, the small segment components. It should be noted that for the processing of large and small segments and the components of large and small segments, it is also possible to first perform large segment processing, calculate the large segment components, then perform small segment processing, and calculate the small segment components. The present invention does not make specific limitations.

[0070] According to the relationship between the midpoint coordinates of each small segment and the components of each small segment, determine the distance R between each small segment of the current coil and each small segment of the Nth coil of other coils. In this embodiment, it is necessary to determine the distance between each small segment of each coil corresponding to each small segment of other coils, that is, corresponding to multiple Rs, and other coils are the Nth coil. For example, calculate the distance between the midpoint of the mth small segment of the first coil and the midpoint of the nth small segment of the k th coil according to the coordinates of the midpoints of each small segment.

[0071] According to the superposition processing of the distance and the large segment components, determine the superposition magnetic potential vector at the three axes corresponding to each small segment of the current coil in each small segment of the Nth coil. The superposition magnetic potential vector at the three axes in this embodiment is to perform the superposition of vector components on the corresponding axes (X, Y, and Z axes) according to different current values and the large segment components at different axes to unify the vector magnetic potential. The formula is as follows:

[0072]

[0073]

[0074]

[0075] Among them, dl represents the large segment components of the X axis, Y axis, and Z axis in the three formulas respectively, I x , I y and I z are the current values assigned after large segment processing respectively, and μ is the magnetic permeability of the medium.

[0076] After obtaining the superposition magnetic potential vectors of each axis, determine the magnetic flux linked by the ends of the current coil and the Nth coil according to Stokes' formula. The formula is as follows:

[0077]

[0078] Among them, A is the current value of the current coil. Substitute the As of the three axes in the above formula x , A y and Az Unify.

[0079] According to the formula for the inductance of a single-turn coil:

[0080]

[0081] Among them, i represents the current value flowing through each turn of the coil in the current coil.

[0082] The inductance value of the current coil, the self-inductance value of the current coil, and the mutual inductance value between the current coil and other coils can be further obtained. For example, a primary winding has 18 coils, there are 36 slots, and the winding method is single-layer full pitch. Refer to Figure 2 . Respectively obtain the self-inductance of the No. 1 coil with itself and the mutual inductance between it and the remaining 17 coils, and jointly form a 1*18 mutual inductance matrix.

[0083] Determine the end leakage inductance between phases according to the relationship between the mutual inductance matrix and the position matrix of each coil.

[0084] Its formula is as follows:

[0085]

[0086] Among them, the value ranges of i and j are both 1-3. Among them, L(i, j) represents the end mutual inductance between phase i and phase j in the high-speed maglev linear motor, p represents the number of pole pairs of the motor, m represents the number of phases of the motor, k represents the specific coil number, M1 represents the mutual inductance matrix, and H is the incidence matrix.

[0087] Combined with the above example, the position matrix is a 6X6 matrix, and different winding positions are represented by 1-36. Nesting in the mutual inductance matrix can play a role in accurately calling the mutual inductance value between the corresponding two windings. The incidence matrix is the relationship between the phase windings and the slot coils. The elements in H are composed of 0, 1, and -1. In the present invention, the coils on both sides where the current flows in and out are regarded as a unit. If the current flow direction is clockwise, the incidence matrix corresponding to the slot where the left coil is located is set to 1. If it is counterclockwise, it is -1. If no current of a certain phase flows through the coil, the corresponding element is 0.

[0088] A method for determining the leakage inductance of a linear motor provided by the present invention includes: establishing a three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor; performing large-section processing and small-section processing on the current coil of the linear motor by adding air-gap current, mirror current, and the equivalent current of the current coil passing through the iron core, and respectively determining the large-section components of the vector corresponding to the current large section with respect to the large sections at the three axes and the small-section components of the vector corresponding to the current small section with respect to the small sections at the three axes according to the midpoint coordinates corresponding to the current large section and the current small section of the current coil; determining the distances between the small sections of the current coil and the small sections of the Nth coil of other coils according to the relationship between the midpoint coordinates of each small section and each small-section component; and determining the superimposed magnetic potential vectors of the small sections of the current coil at the three axes corresponding to the small sections of the Nth coil through superposition processing of the distances and the large-section components; determining the magnetic flux between the current coil and the Nth coil according to each superimposed magnetic potential vector, and determining the inductance value of the current coil, the self-inductance value of the current coil, and the mutual inductance value between the current coil and other coils according to the relationship between the magnetic flux and the current of a single-turn coil of the current coil to construct a mutual inductance matrix; determining the end leakage inductance of each phase according to the relationship between the mutual inductance matrix, the position matrix, and the association matrix of each coil. This method determines the large-section components and small-section components of the current coil at the three axes respectively through large-section and small-section processing, uses the different small-section components of the three axes to determine the distances between different small sections of each coil, and then determines the magnetic potential vectors on its three axes according to the distances and the different large-section components of the three axes, and further obtains the magnetic flux corresponding to the current coil and other coils. It can be seen that the end leakage inductance of the current coil is calculated by using the magnetic potential vector method and the superposition theorem, and then the end leakage inductance of each phase is determined according to the position matrix of the linear motor. The whole process is based on the structure of the linear motor itself, improving the calculation accuracy of the end leakage inductance.

[0089] On the basis of the above embodiment, the construction process of the position matrix in step S15 includes the following steps:

[0090] Arrange according to the positions of the coils corresponding to the coil slots in the iron core to obtain the position matrix.

[0091] Since the structure of the linear motor is different from that of the rotary motor and the linear motor is an asymmetric structure, it is necessary to arrange and construct the position matrix in combination with the positions of the coils of the linear motor corresponding to the coil slots in the iron core. Combining the above example, for 18 coils and a total of 36 slots, number the 36 slots in sequence from 1 to 36 to construct a 6X6 matrix.

[0092] The present invention embodiment provides arranging according to the positions of the coils corresponding to the coil slots in the iron core to obtain the position matrix. By setting the positions of different windings, it can play a role in accurately calling the mutual inductance value between the corresponding two windings in the mutual inductance matrix.

[0093] Based on the above embodiments, the construction process of the correlation matrix in step S15 includes the following steps:

[0094] Obtain each phase winding and each coil of the linear motor;

[0095] When the current direction of the phase winding is the same as the current direction of the phase current, set the correlation element corresponding to the slot where the coil corresponding to the phase winding is located to 1;

[0096] When the current direction of the phase winding is opposite to the current direction of the phase current, set the correlation element corresponding to the slot where the coil corresponding to the phase winding is located to -1;

[0097] When the current direction of the phase winding has no relation to the current direction of the phase current, set the correlation element corresponding to the slot where the coil corresponding to the phase winding is located to 0;

[0098] Construct a correlation matrix according to the correlation elements of each phase winding.

[0099] Specifically, write the correlation matrix of the coil and the phase winding with the coil as the basic unit. When the current direction of the phase winding is the same as the current direction of the phase current, set the correlation element corresponding to the slot where the coil corresponding to the phase winding is located to 1; when the current direction of the phase winding is opposite to the current direction of the phase current, set the correlation element corresponding to the slot where the coil corresponding to the phase winding is located to -1; when the current direction of the phase winding has no relation to the current direction of the phase current, set the correlation element corresponding to the slot where the coil corresponding to the phase winding is located to 0.

[0100] The construction of the correlation matrix provided by the present invention further realizes considering the respective end leakage inductances through the correlation matrix by obtaining the end leakage inductances between phases.

[0101] Based on the above embodiments, the number of segmented processes is determined according to the actual situation or empirical values. Among them, the number of small segments corresponding to the upper straight part and the lower straight part, the upper edge bevel part and the lower edge bevel part, the part where the air-gap current passes through, and the part where the equivalent current passes through are the same.

[0102] Specifically, for the convenience of subsequent calculation processing and simplifying the process, the number of small segments corresponding to the same straight part is the same for each.

[0103] The number of small segments corresponding to the upper straight part and the lower straight part, the upper edge bevel part and the lower edge bevel part, the part where the air-gap current passes through, and the part where the equivalent current passes through provided by the embodiments of the present invention are the same, which is convenient for subsequent calculation processing and simplifies the process.

[0104] Based on the above embodiments, there is an included angle between different phase currents. Therefore, when the coils of other phases affect a certain phase coil, it is necessary to determine in combination with the angle relationship. Therefore, this method further includes:

[0105] Obtain the included angle parameters corresponding to each phase current;

[0106] Determine the final end leakage inductance of each phase based on the corresponding relationship between each included angle parameter and the end leakage inductance of each phase.

[0107] It can be understood that by comprehensively considering the included angle parameters between each phase current to determine the final end leakage inductance of each phase, the influence generated between each phase coil is avoided, resulting in inaccurate calculation of the end leakage inductance.

[0108] The present embodiment provides: obtain the included angle parameters corresponding to each phase current; determine the final end leakage inductance of each phase based on the corresponding relationship between each included angle parameter and the end leakage inductance of each phase. Improve the calculation accuracy of the end leakage inductance and ensure the reliability of the linear motor.

[0109] The above has described in detail each embodiment corresponding to the method for determining the leakage inductance of a linear motor. On this basis, the present invention also discloses a device for determining the leakage inductance of a linear motor corresponding to the above method. Figure 4 It is a structural diagram of a device for determining the leakage inductance of a linear motor provided by an embodiment of the present invention. As Figure 4 shown, the device for determining the leakage inductance of a linear motor includes:

[0110] A building module 11, configured to establish a three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor;

[0111] A first determination module 12, configured to perform large-segment processing and small-segment processing on the air-gap current, mirror image current, and equivalent current of the current coil of the linear motor passing through the iron core, and respectively determine the large-segment components of the vector corresponding to the current large segment with respect to the three axes and the small-segment components of the vector corresponding to the current small segment with respect to the three axes according to the midpoint coordinates corresponding to the current large segment and the current small segment of the current coil;

[0112] A second determination module 13, configured to determine the distance between each small segment of the current coil and each small segment of the Nth coil of other coils according to the relationship between the midpoint coordinates of each small segment and each small segment component; and determine the superimposed magnetic potential vector of each small segment of the current coil at the three axes corresponding to each small segment of the Nth coil according to the superposition processing of the distance and each large-segment component;

[0113] A third determination module 14, configured to determine the magnetic flux between the current coil and the Nth coil according to each superimposed magnetic potential vector, and determine the inductance value of the current coil, the self-inductance value of the current coil, and the mutual inductance value between the current coil and other coils according to the relationship between the magnetic flux and the current of a single-turn coil of the current coil to construct a mutual inductance matrix;

[0114] A fourth determination module 15, configured to determine the end leakage inductance of each phase according to the relationship between the mutual inductance matrix, the position matrix of each coil, and the correlation matrix.

[0115] Since the embodiments of the device part correspond to the above-mentioned embodiments, for the embodiments of the device part, please refer to the description of the embodiments in the above method part, and details will not be repeated here.

[0116] For the introduction of a leakage inductance determination device for a linear motor provided by the present invention, please refer to the above method embodiments. The present invention will not repeat it here, and it has the same beneficial effects as the above-mentioned leakage inductance determination method for a linear motor.

[0117] Figure 5 FIG. is a structural diagram of another leakage inductance determination device for a linear motor provided by an embodiment of the present invention. As Figure 5 shown, the device includes:

[0118] A memory 21 for storing a computer program;

[0119] A processor 22 for implementing the steps of the leakage inductance determination method for a linear motor when executing the computer program.

[0120] The leakage inductance determination device for a linear motor provided in this embodiment may include, but is not limited to, a tablet computer, a notebook computer, or a desktop computer, etc.

[0121] Among them, the processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 22 may be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the wake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 22 may be integrated with a graphics processing unit (GPU), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 22 may further include an artificial intelligence (AI) processor, and the AI processor is used to process computational operations related to machine learning.

[0122] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash storage devices. In this embodiment, the memory 21 is at least used to store the following computer program 211. After the computer program is loaded and executed by the processor 22, it can implement the relevant steps of the leakage inductance determination method of the linear motor disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212 and data 213, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include, but is not limited to, the data involved in the leakage inductance determination method of the linear motor, etc.

[0123] In some embodiments, the leakage inductance determination device of the linear motor may further include a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27.

[0124] Those skilled in the art can understand that Figure 5 the structure shown in

[0125] does not constitute a limitation on the leakage inductance determination device of the linear motor, and may include more or fewer components than those shown in the figure.

[0126] For the introduction of a leakage inductance determination device of a linear motor provided by the present invention, please refer to the foregoing method embodiments. The present invention will not be elaborated herein again, and it has the same beneficial effects as the above-mentioned leakage inductance determination method of the linear motor.

[0127] Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor 22, it implements the steps of the leakage inductance determination method of the linear motor as described above.

[0128] It can be understood that if the method in the above embodiments is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, external hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0129] For the introduction of a computer-readable storage medium provided by the present invention, please refer to the above method embodiments. The present invention will not elaborate here, and it has the same beneficial effects as the above-mentioned method for determining the leakage inductance of a linear motor.

[0130] Finally, the present application also provides an embodiment corresponding to a rail vehicle, including the above-mentioned device for determining the leakage inductance of a linear motor. For the specific embodiments of the method for determining the leakage inductance of a linear motor, reference can be made to the above, and details will not be repeated here.

[0131] The rail vehicle provided in this embodiment includes the above-mentioned device for determining the leakage inductance of a linear motor, and the effect is the same as above.

[0132] The above has introduced in detail a method for determining the leakage inductance of a linear motor, a device for determining the leakage inductance of a linear motor, a medium, and a rail vehicle provided by the present invention. The various embodiments in the specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method part. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0133] It should also be noted that in this specification, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

Claims

1. A method for determining the leakage inductance of a linear motor, characterized in that, Including: Establish a three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor; Perform large-section processing and small-section processing on the air-gap current, mirror current, and the equivalent current of the current coil passing through the iron core added to the current coil of the linear motor, and respectively determine the large-section components of the vector corresponding to the current large section of the current coil with respect to the large sections at the three axes and the small-section components of the vector corresponding to the current small section of the current coil with respect to the small sections at the three axes according to the midpoint coordinates corresponding to the current large section and the current small section of the current coil; Determine the distances between the small sections of the current coil and the small sections of the Nth coil of other coils according to the relationship between the midpoint coordinates of each small section and each small-section component; and perform superposition processing with each large-section component according to the distances to determine the superposition magnetic potential vectors of the small sections of the current coil at the three axes corresponding to the small sections of the Nth coil; Determine the magnetic flux between the current coil and the Nth coil according to each superposition magnetic potential vector, and determine the inductance value of the current coil, the self-inductance value of the current coil, and the mutual inductance value between the current coil and other coils according to the relationship between the magnetic flux and the current of a single-turn coil of the current coil to construct a mutual inductance matrix; Determine the end leakage inductance of each phase according to the relationship between the mutual inductance matrix, the position matrix of each coil, and the incidence matrix.

2. The method for determining the leakage inductance of a linear motor according to claim 1, characterized in that, The establishment of the three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor includes: Set the axis of symmetry line of the starting coil into which the current of the current phase flows as the Y axis, and the direction is from bottom to top; The plane where the X axis perpendicular to the Y axis is located is coplanar with the plane where the primary winding and the secondary winding of the linear motor are located, and the direction is from left to right; Take the 1 / 2 line corresponding to the air gap between the primary winding and the secondary winding as the plane where the Z axis is located; Establish the three-dimensional rectangular coordinate system by setting the Y axis, the X axis, and the Z axis, and the positive direction of the current of the linear motor is the direction of the right-hand rule.

3. The method for determining the leakage inductance of a linear motor according to claim 2, characterized in that, The large-section processing of adding the air-gap current, mirror current, and the equivalent current of the current coil passing through the iron core to the current coil includes: According to the actual structure of the end of the current coil, take the upper straight part and the upper edge bevel part through which the current of the current coil passes as the first four large sections; Take the lower straight part and the lower edge bevel part through which the current passes as the second four large sections of the part through which the mirror current passes; Take the two ends of the air gap through which the current passes as the air-gap current, and take the part through which the air-gap current passes as the first two large sections; Take the part through which the equivalent current of the current coil passing through the iron core passes as the second two large sections; Integrate the first four large sections, the second four large sections, the first two large sections, and the second two large sections as the result after the large-section processing of the current coil.

4. The method for determining the leakage inductance of a linear motor according to claim 3, characterized in that, The construction process of the position matrix includes the following steps: Arrange according to the positions of the coils in the coil slots corresponding to the iron core to obtain the position matrix.

5. The method for determining the leakage inductance of a linear motor according to claim 1, characterized in that, The construction process of the incidence matrix includes the following steps: Obtain each phase winding and each coil of the linear motor; When the current direction of the phase winding is the same as the current direction of the phase current, the associated element corresponding to the slot where the coil corresponding to the phase winding is located is set to 1; When the current direction of the phase winding is opposite to the current direction of the phase current, the associated element corresponding to the slot where the coil corresponding to the phase winding is located is set to -1; When the current direction of the phase winding has nothing to do with the current direction of the phase current, the associated element corresponding to the slot where the coil corresponding to the phase winding is located is set to 0; Construct the association matrix according to the associated elements of each phase winding.

6. The method for determining the leakage inductance of a linear motor according to claim 3, characterized in that, The number of small segments corresponding to the upper straight part and the lower straight part, the upper edge bevel part and the lower edge bevel part, the part through which the air-gap current passes, and the part through which the equivalent current passes is the same.

7. The method for determining the leakage inductance of a linear motor according to claim 2 or 5, characterized in that, It further includes: Obtain the included angle parameters corresponding to each of the phase currents; Determine the final end leakage inductance of each phase according to the corresponding relationship between each of the included angle parameters and the end leakage inductance of each phase.

8. A device for determining the leakage inductance of a linear motor, characterized in that, It includes: A building module, configured to establish a three-dimensional rectangular coordinate system according to the structures of the primary winding and the secondary winding of the linear motor; A first determination module, configured to perform large-segment processing and small-segment processing on the air-gap current, mirror image current, and equivalent current passing through the iron core of the current coil of the linear motor, and respectively determine the large-segment components of the vector corresponding to the current large segment with respect to the large segments at the three axes and the small-segment components of the vector corresponding to the current small segment with respect to the small segments at the three axes according to the midpoint coordinates corresponding to the current large segment and the current small segment of the current coil; A second determination module, configured to determine the distance between each small segment of the current coil and each small segment of the Nth coil of other coils according to the relationship between the midpoint coordinates of each small segment and each small segment component; and perform superposition processing according to the distance and each large-segment component to determine the superposition magnetic potential vector of each small segment of the current coil at the three axes corresponding to each small segment of the Nth coil; A third determination module, configured to determine the magnetic flux between the current coil and the Nth coil according to each of the superposition magnetic potential vectors, and determine the inductance value of the current coil, the self-inductance value of the current coil, and the mutual inductance value between the current coil and other coils according to the relationship between the magnetic flux and the current of a single-turn coil of the current coil to construct a mutual inductance matrix; A fourth determination module, configured to determine the end leakage inductance of each phase according to the relationship between the mutual inductance matrix, the position matrix of each coil, and the association matrix.

9. A device for determining the leakage inductance of a linear motor, characterized in that, It includes: A memory, configured to store a computer program; A processor, configured to implement the steps of the method for determining the leakage inductance of a linear motor according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for determining the leakage inductance of a linear motor according to any one of claims 1 to 7 are implemented.

11. A rail vehicle, characterized in that, It includes the device for determining the leakage inductance of the linear motor according to claim 9.

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