Modeling method of equivalent magnetic circuit model of dual-rotor dual-stator permanent magnet synchronous motor

Abstract

The present invention discloses a modeling method for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor, the method comprising: obtaining a first equivalent magnetic resistance calculation formula based on motor-related data and motor region division results; obtaining a second equivalent magnetic resistance calculation formula based on the classification and division results of the internal and external motor magnetic circuit coupling regions; solving the magnetic flux density results of each part of the equivalent magnetic circuit model based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula, and establishing a unit motor finite element model based on the number of pole slots to solve the finite element analysis magnetic flux density distribution; obtaining an equivalent magnetic resistance correction coefficient of the internal and external motor magnetic circuit coupling region based on the comparison result of the finite element analysis magnetic flux density distribution and the magnetic flux density result, and establishing an equivalent magnetic circuit overall model of the dual-rotor dual-stator permanent magnet synchronous motor based on the equivalent magnetic resistance correction coefficient and the magnetic circuits of each part of the internal and external motors. The present invention uses the finite element method for correction, and efficiently improves the model accuracy and calculation accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of motor magnetic circuit modeling, and in particular to a modeling method, device, equipment and storage medium for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor. Background Art

[0002] With the emergence of various high-performance permanent magnet materials, the research and application of permanent magnet motors have entered a stage of rapid development. The improvement of motor manufacturing technology and the optimization of corresponding intelligent control strategies have laid a foundation for the research and development of dual-rotor dual-stator permanent magnet motors with relatively complex structures. Based on the traditional permanent magnet motor structure, the dual-rotor dual-stator permanent magnet synchronous motor adopts an inner and outer motor nesting structure to make full use of the internal space of the motor, thereby improving the torque density and power density.

[0003] The dual-rotor dual-stator permanent magnet synchronous motor has many structural components. The finite element method can obtain more accurate calculation results, but the modeling process is more complicated and the simulation time is longer. The equivalent magnetic circuit method can realize the magnetic field solution in the initial design stage of the motor, complete the rapid calculation of the air gap magnetic field of the motor, and preliminarily determine the magnetic circuit coupling relationship between the inner and outer motors.

[0004] Since the dual-rotor dual-stator permanent magnet synchronous motor has a nested structure of inner and outer motors, there is magnetic field coupling in the middle part of the stators of the inner and outer motors. The modeling of the equivalent magnetic circuit of this part needs to be refined and corrected to further improve the model accuracy. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, the first purpose of the present invention is to propose a modeling method for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor, to realize rapid calculation of the magnetic field analysis of the dual-rotor dual-stator permanent magnet synchronous motor, and to preliminarily determine the magnetic circuit coupling relationship between the inner and outer motors. At the same time, the implementation of this method can adapt to dual-rotor dual-stator permanent magnet synchronous motors with different pole-slot combinations.

[0007] The second object of the present invention is to provide a modeling device for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor.

[0008] A third object of the present invention is to provide a computer device.

[0009] A fourth object of the present invention is to provide a non-transitory computer-readable storage medium.

[0010] To achieve the above-mentioned purpose, a first aspect of the present invention provides a modeling method for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor, comprising:

[0011] A first equivalent magnetic resistance calculation formula is obtained based on the motor-related data and the division result of the motor area; wherein the motor-related data includes the motor stator and rotor, air gap, permanent magnet size and number of pole slots;

[0012] Based on the classification results of the coupling areas of the internal and external motor magnetic circuits, the second equivalent magnetic resistance calculation formula is obtained;

[0013] Based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula, the magnetic flux density results of each part of the equivalent magnetic circuit model are solved, and based on the number of poles and slots, a unit motor finite element model is established to solve the finite element analysis magnetic flux density distribution;

[0014] According to the comparison result of the finite element analysis magnetic flux density distribution and the magnetic density result, the equivalent magnetic resistance correction coefficient of the magnetic circuit coupling area of ​​the inner and outer motors is obtained, and according to the equivalent magnetic resistance correction coefficient and the magnetic circuits of each part of the inner and outer motors, the overall model of the equivalent magnetic circuit of the dual-rotor dual-stator permanent magnet synchronous motor is established.

[0015] The modeling method of the equivalent magnetic circuit model of the dual-rotor dual-stator permanent magnet synchronous motor according to the embodiment of the present invention may also have the following additional technical features:

[0016] In one embodiment of the present invention, the division of the motor region includes multiple types of permanent magnet region, rotor core region, air gap region, stator core region and internal and external motor magnetic field coupling region.

[0017] In one embodiment of the present invention, the second equivalent magnetic resistance calculation formula is obtained based on the classification and division results of the magnetic circuit coupling areas of the internal and external motors, including:

[0018] Based on the relative position of the inner and outer permanent magnets, with the same poles of the inner and outer permanent magnets aligned as the starting position, the equivalent magnetic resistance calculation formula of the inner and outer motor magnetic circuit coupling area is:

[0019]

[0020] Among them, l s is the circumferential length between poles in the magnetic field coupling region of the internal and external motors, μ s is the magnetic field coupling area of ​​the internal and external motors, h s L is the radial thickness of the magnetic field coupling region of the inner and outer motors, ef Calculate the motor axial length. p is the number of permanent magnet pole pairs, k s is the equivalent magnetic resistance correction coefficient, D os1 is the inner diameter of the outer stator, D is2 is the outer diameter of the inner stator, and Δθ is the relative electrical angle between the inner and outer rotors.

[0021] In one embodiment of the present invention, solving the magnetic flux density results of each part of the equivalent magnetic circuit model based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula includes:

[0022] Set the initial values ​​of air gap flux and main flux and the calculation accuracy;

[0023] Based on the air gap flux and the initial value of the main flux, the magnetic flux density of each region of the motor and the magnetization curve of the core material are calculated to determine the magnetic permeability of each region;

[0024] The magnetic resistance of each region is obtained based on the first equivalent magnetic resistance calculation formula, the second equivalent magnetic resistance calculation formula and the magnetic permeability, and an equivalent magnetic circuit model matrix equation is established and solved based on Ohm's law of magnetic circuit to obtain a solution result;

[0025] It is determined whether the air gap flux error obtained from the solution reaches the calculation accuracy, and the air gap flux result is obtained according to the determination result.

[0026] In one embodiment of the present invention, the magnetic flux density result is calculated based on the air gap magnetic flux result:

[0027]

[0028] Among them, Φ g is the air gap flux, α is the permanent magnet pole arc coefficient, τ is the permanent magnet pole pitch, and L is the axial length of the motor.

[0029] In one embodiment of the present invention, the equivalent magnetic resistance correction coefficient is:

[0030]

[0031] Among them, a, b, c, and d are unknown coefficients.

[0032] To achieve the above-mentioned purpose, a second embodiment of the present invention provides a modeling device for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor, comprising:

[0033] A first magnetic resistance calculation module, used to obtain a first equivalent magnetic resistance calculation formula based on motor-related data and a division result of the motor area; wherein the motor-related data includes the motor stator and rotor, air gap, permanent magnet size and number of pole slots;

[0034] A second magnetic resistance calculation module, used to obtain a second equivalent magnetic resistance calculation formula based on the classification and division results of the magnetic circuit coupling areas of the inner and outer motors;

[0035] A magnetic flux density calculation module, used to solve the magnetic flux density results of each part of the equivalent magnetic circuit model based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula, and establish a unit motor finite element model based on the number of poles and slots to solve and obtain the finite element analysis magnetic flux density distribution;

[0036] A magnetic circuit model building module is used to obtain an equivalent magnetic resistance correction coefficient of the magnetic circuit coupling area of ​​the inner and outer motors based on the comparison result of the finite element analysis magnetic flux density distribution and the magnetic density result, and to establish an equivalent magnetic circuit overall model of the dual-rotor dual-stator permanent magnet synchronous motor based on the equivalent magnetic resistance correction coefficient and the magnetic circuits of each part of the inner and outer motors.

[0037] The modeling method and device of the equivalent magnetic circuit model of the dual-rotor dual-stator permanent magnet synchronous motor of the embodiment of the present invention realize the rapid calculation of the magnetic field analysis of the dual-rotor dual-stator permanent magnet synchronous motor, and preliminarily determine the magnetic circuit coupling relationship between the inner and outer motors. At the same time, the implementation of this method can adapt to the dual-rotor dual-stator permanent magnet synchronous motor with different pole-slot combinations.

[0038] To achieve the above-mentioned purpose, the third aspect embodiment of the present application proposes a computer device, comprising: a processor and a memory; wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the modeling method of the equivalent magnetic circuit model of the dual-rotor dual-stator permanent magnet synchronous motor as described in the first aspect embodiment.

[0039] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present application proposes a non-temporary computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the modeling method of the equivalent magnetic circuit model of the dual-rotor dual-stator permanent magnet synchronous motor as described in the first aspect embodiment.

[0040] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0042] Figure 1 Flow chart of a modeling method of an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor according to an embodiment of the present invention;

[0043] Figure 2 2 is a schematic structural diagram of a dual-rotor dual-stator permanent magnet synchronous motor according to an embodiment of the present invention;

[0044] Figure 3 is a schematic diagram of a local model of an equivalent magnetic circuit according to an embodiment of the present invention;

[0045] Figure 4 Schematic diagrams of three typical situations of relative positions of permanent magnets according to embodiments of the present invention;

[0046] Figure 5 is a diagram of an equivalent magnetic circuit model applied to a dual-rotor dual-stator permanent magnet synchronous motor according to an embodiment of the present invention;

[0047] Figure 6 A comparison diagram of the average magnetic flux density of the finite element analysis model and the average magnetic flux density of the equivalent model in the coupling region according to an embodiment of the present invention;

[0048] Figure 7 2 is a schematic structural diagram of a device for modeling an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor according to an embodiment of the present invention;

[0049] Figure 8 FIG. 4 is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0051] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0052] The following describes a modeling method, apparatus, computer equipment and storage medium for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor according to an embodiment of the present invention with reference to the accompanying drawings.

[0053] Embodiment 1:

[0054] Figure 1 It is a flow chart of a method for modeling an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor according to an embodiment of the present invention.

[0055] like Figure 1 As shown, the method includes but is not limited to the following steps:

[0056] S1, obtaining a first equivalent magnetic resistance calculation formula based on motor-related data and motor area division results; wherein the motor-related data includes the motor stator and rotor, air gap, permanent magnet size and number of pole slots;

[0057] S2, based on the classification and division results of the magnetic circuit coupling areas of the internal and external motors, a second equivalent magnetic resistance calculation formula is obtained;

[0058] S3, solving the magnetic flux density results of each part of the equivalent magnetic circuit model based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula, and establishing a unit motor finite element model based on the number of poles and slots to solve and obtain the finite element analysis magnetic flux density distribution;

[0059] S4, based on the comparison results of the finite element analysis magnetic flux density distribution and the magnetic flux density results, the equivalent reluctance correction coefficient of the magnetic circuit coupling area of ​​the inner and outer motors is obtained, and the equivalent magnetic circuit overall model of the dual-rotor dual-stator permanent magnet synchronous motor is established based on the equivalent reluctance correction coefficient and the magnetic circuits of each part of the inner and outer motors.

[0060] Specifically, the embodiment of the present invention may include the following steps:

[0061] Step 1, determine the motor stator and rotor, air gap, permanent magnet size and number of pole slots;

[0062] Step 2, dividing the motor stator, rotor and air gap area to obtain the calculation formula of the equivalent magnetic resistance of the corresponding part;

[0063] Step 3, classify and divide the magnetic circuit coupling areas of the internal and external motors to obtain an equivalent magnetic resistance calculation formula;

[0064] Step 4, solving the magnetic flux density results of each part of the equivalent magnetic circuit model;

[0065] Step 5, establishing a finite element model of the unit motor based on the pole-slot combination and solving it;

[0066] Step 6, comparing the finite element analysis magnetic flux density distribution and the calculation results of the equivalent magnetic circuit model to obtain the equivalent magnetic resistance correction coefficient of the inner and outer motor magnetic circuit coupling area;

[0067] Step 7, integrate the magnetic circuits of the internal and external motors to establish an overall model of the equivalent magnetic circuit of the dual-rotor dual-stator permanent magnet synchronous motor.

[0068] In one embodiment of the present invention, the division of the motor area in step 2 above includes multiple types of permanent magnet area, rotor core area, air gap area, stator core area and internal and external motor magnetic field coupling area.

[0069] In one embodiment of the present invention, in the above step 3, according to the relative positions of the inner and outer permanent magnets, the same-pole alignment is divided into two categories: other situations. With the same-pole alignment of the inner and outer permanent magnets as the starting position, the equivalent magnetic resistance of the magnetic circuit coupling region of the inner and outer motors is:

[0070]

[0071] In the formula, ls is the circumferential length between poles in the magnetic field coupling region of the internal and external motors, μ s is the magnetic field coupling area of ​​the internal and external motors, h s L is the radial thickness of the magnetic field coupling region of the inner and outer motors, ef is the calculated axial length of the motor, p is the number of permanent magnet pole pairs, k s is the equivalent magnetic resistance correction coefficient, D os1 is the inner diameter of the outer stator, D is2 is the outer diameter of the inner stator, Δθ is the relative electrical angle between the inner and outer rotors, and it is converted from [-180°, 180°] to [-90°, 90°] according to the symmetry of the permanent magnet polarity.

[0072] In one embodiment of the present invention, in the above step 4, the equivalent magnetic circuit solution process mainly includes the following steps:

[0073] Step 4.1, set the initial values ​​of air gap flux and main flux and the calculation accuracy;

[0074] Step 4.2, based on the current magnetic flux, calculate the magnetic flux density of each region of the motor and the magnetization curve of the core material to determine the magnetization intensity and magnetic permeability of each region;

[0075] Step 4.3, substitute the magnetic permeability into the calculation formula to obtain the magnetic resistance of each region, and establish and solve the equivalent magnetic circuit model matrix equation based on Ohm's law of magnetic circuit;

[0076] Step 4.4, determine whether the air gap flux error obtained by the solution reaches the calculation accuracy. If not, repeat steps 4.2 and 4.3 for multiple iterations to finally obtain the air gap flux result. The air gap flux density is obtained by the following formula:

[0077]

[0078] In the formula, Φ g is the air gap flux, α is the permanent magnet pole arc coefficient, τ is the permanent magnet pole pitch, and L is the axial length of the motor.

[0079] In one embodiment of the present invention, in the above step 6, the equivalent magnetic resistance correction coefficient of the magnetic field coupling region of the inner and outer motors is:

[0080]

[0081] In the formula, a, b 、c、 d is the coefficient to be determined.

[0082] Figure 2 FIG. 1 is a schematic diagram of the structure of a dual-rotor dual-stator permanent magnet synchronous motor according to an embodiment of the present invention. Figure 2As shown, 1 is the outer rotor core, 2 is the outer permanent magnet, 3 is the outer stator core, 4 is the inner rotor core, 5 is the inner permanent magnet, and 6 is the inner stator core. Some structural parameters of the dual-rotor dual-stator permanent magnet synchronous motor are shown in Table 1.

[0083] Table 1

[0084]

[0085] Figure 3 Schematic diagram of the local model of the equivalent magnetic circuit in the embodiment of the present invention. Figure 3 As shown, the motor (taking a single motor as an example) is divided into the permanent magnet area (including the permanent magnet magnetomotive force F pm 、Permanent magnet internal magnetic resistance R pm , permanent magnet to rotor yoke leakage magnetic resistance R l 、Permanent magnet inter-pole leakage magnetic resistance R m ), rotor core area (rotor yoke reluctance R rc ), air gap area (air gap magnetic resistance R g ), stator core area (including stator tooth reluctance R st , stator tooth leakage magnetic resistance R t , stator yoke reluctance R sc ) and the internal and external motor magnetic field coupling area.

[0086] Figure 4 are three typical situations of the relative positions of the permanent magnets during the rotation of the motor in the embodiment of the present invention, such as Figure 4 As shown, (1) the inner and outer permanent magnets are aligned with the same poles, (2) the general position, and (3) the inner and outer permanent magnets are aligned with different poles.

[0087] in, Figure 4 In (1), the overall magnetic circuit of the motor is a parallel magnetic circuit, the radial coupling degree is low, and the magnetic resistance in the coupling area is set as circumferential magnetic resistance; Figure 4 The overall magnetic circuit of the motor in (2) is a conventional magnetic circuit. Figure 4 In (3), the overall magnetic circuit of the motor is a series magnetic circuit, and there is magnetic circuit coupling between the two in the radial direction, and the magnetic resistance in the coupling area is set to radial magnetic resistance.

[0088] Figure 5 is an equivalent magnetic circuit model of the dual-rotor dual-stator permanent magnet synchronous motor in the embodiment of the present invention, such as Figure 5 As shown, F ipm 、F opm are the inner and outer permanent magnet magnetomotive force, R ipm , R opm are the internal magnetic reluctance of the inner and outer permanent magnets, R irc , R orc are the magnetic resistance of the inner and outer rotor yokes, R ig , R ogare the inner and outer air gap reluctances, R ist , R ost are the inner and outer stator tooth reluctances, R isc , R osc are the magnetic resistance of the inner and outer stator yokes, R il , R ol are the leakage magnetic resistance of the inner and outer permanent magnets to the rotor yoke, R im , R om are respectively the inner and outer permanent magnet pole leakage resistance, R it , R ot are the inner and outer stator tooth leakage resistance, R s The magnetic resistance of the inner and outer motor magnetic field coupling area, when in Figure 4 In the case shown in (1) in the figure, the magnetic resistance becomes the circumferential magnetic resistance R s '.

[0089] Among them, the magnetic resistance of the inner and outer permanent magnets is:

[0090]

[0091] In the formula, μ ipm , μ opm are the magnetic permeabilities of the inner and outer permanent magnets, τ i , τ o are the inner and outer permanent magnet pole pitches respectively, and L is the axial length of the motor.

[0092] The magnetic resistance of the inner and outer rotor yokes is:

[0093]

[0094] In the formula, l irc , l orc are the calculated circumferential lengths of the inner and outer rotors corresponding to a pair of poles, μ irc , μ orc are the magnetic permeabilities of the inner and outer rotor yokes, h irc 、h orc are the thickness of the inner and outer rotor yokes, L ef Calculate the length for the motor axis.

[0095] The magnetic reluctance of the inner and outer air gaps is:

[0096]

[0097] Where μ0 is the magnetic permeability of vacuum.

[0098] The magnetic resistance of the inner and outer stator teeth is:

[0099]

[0100] In the formula, h it、h ot are the inner and outer stator tooth heights, μ isc , μ osc are the magnetic permeabilities of the inner and outer rotor yokes, s it 、s ot are the number of slots per pole of the inner and outer motors, respectively, and b it 、b ot They are the inner and outer stator tooth widths respectively.

[0101] The magnetic resistance of the inner and outer stator yokes is:

[0102]

[0103] In the formula, l isc , l osc are the calculated circumferential lengths of the inner and outer stators corresponding to a pair of poles, h isc 、h osc are the thickness of inner and outer rotor teeth respectively.

[0104] The equivalent magnetic resistance correction coefficient of the internal and external motor magnetic field coupling area can be obtained by the following formula:

[0105]

[0106] In the formula, h s is the thickness of the coupling region, n r is the relative speed of the inner and outer motors.

[0107] Furthermore, the calculated magnetic resistance is substituted into the equivalent magnetic circuit of the dual-rotor dual-stator permanent magnet synchronous motor, and the matrix equation of the magnetic flux with respect to the magnetomotive force is solved to obtain the magnetic flux value of each node, and then the results such as the air gap magnetic flux density and the coupling region magnetic flux density can be solved. The solution result of the air gap magnetic flux density obtained based on the embodiment of the present invention is compared with the simulation result obtained by the corresponding finite element model, as shown in FIG. Figure 6 As shown, the average magnetic flux density obtained in the embodiment of the present invention is basically consistent with the average magnetic flux density obtained by the finite element analysis model, which verifies the accuracy of the equivalent magnetic circuit model of the dual-rotor dual-stator permanent magnet synchronous motor constructed by the present invention.

[0108] The modeling method of the equivalent magnetic circuit model of the dual-rotor dual-stator permanent magnet synchronous motor in the embodiment of the present invention realizes rapid calculation of the magnetic field analysis of the dual-rotor dual-stator permanent magnet synchronous motor, and preliminarily determines the magnetic circuit coupling relationship between the inner and outer motors. At the same time, the implementation of this method can adapt to dual-rotor dual-stator permanent magnet synchronous motors with different pole-slot combinations.

[0109] Embodiment 2:

[0110] In order to implement the above embodiment, Figure 7As shown, in this embodiment, a modeling device 10 for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor is also provided, and the device 10 includes: a first magnetic resistance calculation module 100, a second magnetic resistance calculation module 200, a magnetic flux density calculation module 300 and a magnetic circuit model construction module 400;

[0111] A first magnetic resistance calculation module 100 is used to obtain a first equivalent magnetic resistance calculation formula based on motor-related data and a division result of the motor area; wherein the motor-related data includes the motor stator and rotor, air gap, permanent magnet size and number of pole slots;

[0112] A second magnetic resistance calculation module 200, used to obtain a second equivalent magnetic resistance calculation formula based on the classification and division results of the magnetic circuit coupling areas of the inner and outer motors;

[0113] A magnetic flux density calculation module 300 is used to solve the magnetic flux density results of each part of the equivalent magnetic circuit model based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula, and to establish a unit motor finite element model based on the number of poles and slots to solve and obtain the finite element analysis magnetic flux density distribution;

[0114] The magnetic circuit model building module 400 is used to obtain the equivalent magnetic resistance correction coefficient of the magnetic circuit coupling area of ​​the inner and outer motors based on the comparison result of the finite element analysis magnetic flux density distribution and the magnetic density result, and to establish the equivalent magnetic circuit overall model of the dual-rotor dual-stator permanent magnet synchronous motor based on the equivalent magnetic resistance correction coefficient and the magnetic circuits of each part of the inner and outer motors.

[0115] Furthermore, the magnetic flux density calculation module 300 is also used for:

[0116] Set the initial values ​​of air gap flux and main flux and the calculation accuracy;

[0117] Based on the initial values ​​of the air gap flux and the main flux, the flux density of each region of the motor and the magnetization curve of the core material are calculated to determine the magnetic permeability of each region;

[0118] Based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula and the magnetic permeability, the magnetic resistance of each region is obtained, and based on Ohm's law of magnetic circuit, the equivalent magnetic circuit model matrix equation is established and solved to obtain the solution result;

[0119] It is determined whether the air gap flux error obtained from the solution reaches the calculation accuracy, and the air gap flux result is obtained based on the determination result.

[0120] The modeling device of the equivalent magnetic circuit model of the dual-rotor dual-stator permanent magnet synchronous motor in the embodiment of the present invention realizes rapid calculation of the magnetic field analysis of the dual-rotor dual-stator permanent magnet synchronous motor, preliminarily determines the magnetic circuit coupling relationship between the inner and outer motors, and at the same time realizes a dual-rotor dual-stator permanent magnet synchronous motor that can adapt to different pole-slot combinations.

[0121] Embodiment 3:

[0122] In order to implement the method of the above embodiment, the present invention also provides a computer device, such as Figure 8 As shown, the computer device 600 includes a memory 601 and a processor 602; wherein the processor 602 runs a program corresponding to the executable program code by reading the executable program code stored in the memory 601, so as to implement each step of the method described above.

[0123] In order to implement the above embodiments, the present application also proposes a non-temporary computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in the above embodiments is implemented.

[0124] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0125] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. A modeling method for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor, characterized in that: The method comprises the following steps: A first equivalent magnetic resistance calculation formula is obtained based on the motor-related data and the division result of the motor area; wherein the motor-related data includes the motor stator and rotor, air gap, permanent magnet size and number of pole slots; Based on the classification results of the coupling areas of the internal and external motor magnetic circuits, the second equivalent magnetic resistance calculation formula is obtained; Based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula, the magnetic flux density results of each part of the equivalent magnetic circuit model are solved, and based on the number of poles and slots, a unit motor finite element model is established to solve the finite element analysis magnetic flux density distribution; According to the comparison result of the finite element analysis magnetic flux density distribution and the magnetic density result, the equivalent magnetic resistance correction coefficient of the magnetic circuit coupling area of ​​the inner and outer motors is obtained, and according to the equivalent magnetic resistance correction coefficient and the magnetic circuits of each part of the inner and outer motors, the overall model of the equivalent magnetic circuit of the dual-rotor dual-stator permanent magnet synchronous motor is established.

2. The method according to claim 1, characterized in that The division of the motor area includes multiple types of permanent magnet area, rotor core area, air gap area, stator core area and internal and external motor magnetic field coupling area.

3. The method according to claim 1, characterized in that The second equivalent magnetic resistance calculation formula is obtained based on the classification and division results of the internal and external motor magnetic circuit coupling areas, including: Based on the relative position of the inner and outer permanent magnets, with the same poles of the inner and outer permanent magnets aligned as the starting position, the equivalent magnetic resistance calculation formula of the inner and outer motor magnetic circuit coupling area is: Among them, l s is the circumferential length between poles in the magnetic field coupling region of the internal and external motors, μ s is the magnetic field coupling area of ​​the internal and external motors, h s L is the radial thickness of the magnetic field coupling region of the inner and outer motors, ef is the calculated axial length of the motor, p is the number of permanent magnet pole pairs, k s is the equivalent magnetic resistance correction coefficient, D os1 is the inner diameter of the outer stator, D is2 is the outer diameter of the inner stator, and Δθ is the relative electrical angle between the inner and outer rotors.

4. The method according to claim 1, characterized in that: Based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula, the magnetic flux density results of each part of the equivalent magnetic circuit model are solved, including: Set the initial values ​​of air gap flux and main flux and the calculation accuracy; Based on the air gap flux and the initial value of the main flux, the magnetic flux density of each region of the motor and the magnetization curve of the core material are calculated to determine the magnetic permeability of each region; The magnetic resistance of each region is obtained based on the first equivalent magnetic resistance calculation formula, the second equivalent magnetic resistance calculation formula and the magnetic permeability, and an equivalent magnetic circuit model matrix equation is established and solved based on Ohm's law of magnetic circuit to obtain a solution result; It is determined whether the air gap flux error obtained from the solution reaches the calculation accuracy, and the air gap flux result is obtained according to the determination result.

5. The method according to claim 4, characterized in that The magnetic flux density result is calculated based on the air gap magnetic flux result: Among them, Φ g is the air gap flux, α is the permanent magnet pole arc coefficient, τ is the permanent magnet pole pitch, and L is the axial length of the motor.

6. The method according to claim 3, characterized in that The equivalent magnetic resistance correction coefficient is: Among them, a, b, c, and d are unknown coefficients.

7. A modeling device for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor, characterized in that: include: A first magnetic resistance calculation module, used to obtain a first equivalent magnetic resistance calculation formula based on motor-related data and a division result of the motor area; wherein the motor-related data includes the motor stator and rotor, air gap, permanent magnet size and number of pole slots; A second magnetic resistance calculation module, used to obtain a second equivalent magnetic resistance calculation formula based on the classification and division results of the magnetic circuit coupling areas of the inner and outer motors; A magnetic flux density calculation module, used to solve the magnetic flux density results of each part of the equivalent magnetic circuit model based on the first equivalent magnetic resistance calculation formula and the second equivalent magnetic resistance calculation formula, and establish a unit motor finite element model based on the number of poles and slots to solve and obtain the finite element analysis magnetic flux density distribution; A magnetic circuit model building module is used to obtain an equivalent magnetic resistance correction coefficient of the magnetic circuit coupling area of ​​the inner and outer motors based on the comparison result of the finite element analysis magnetic flux density distribution and the magnetic density result, and to establish an equivalent magnetic circuit overall model of the dual-rotor dual-stator permanent magnet synchronous motor based on the equivalent magnetic resistance correction coefficient and the magnetic circuits of each part of the inner and outer motors.

8. The device according to claim 7, characterized in that The magnetic flux density calculation module is also used for: Set the initial values ​​of air gap flux and main flux and the calculation accuracy; Based on the air gap flux and the initial value of the main flux, the magnetic flux density of each region of the motor and the magnetization curve of the core material are calculated to determine the magnetic permeability of each region; The magnetic resistance of each region is obtained based on the first equivalent magnetic resistance calculation formula, the second equivalent magnetic resistance calculation formula and the magnetic permeability, and an equivalent magnetic circuit model matrix equation is established and solved based on Ohm's law of magnetic circuit to obtain a solution result; It is determined whether the air gap flux error obtained from the solution reaches the calculation accuracy, and the air gap flux result is obtained according to the determination result.

9. A computer device, characterized in that: including a processor and a memory; In which, the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the modeling method of the equivalent magnetic circuit model of the dual-rotor dual-stator permanent magnet synchronous motor as described in any one of claims 1-6.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a modeling method for an equivalent magnetic circuit model of a dual-rotor dual-stator permanent magnet synchronous motor as described in any one of claims 1 to 6 is implemented.

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