Method, device, electronic device and storage medium for determining radial electromagnetic force of motor

Abstract

The present application provides a method, device, electronic device and storage medium for determining the radial electromagnetic force of a motor. In the method for determining the radial electromagnetic force of a motor, the vibration acceleration amplitude of the target position on the surface of the motor housing is first collected. Then, based on the preset transfer function calculation formula, the transfer function from the stator tooth surface to the target position in the motor finite element model is calculated. Finally, based on the preset radial electromagnetic force calculation formula, the vibration acceleration amplitude and the transfer function, the radial electromagnetic force on the stator tooth surface of the motor is calculated. It can be seen that the present application is based on the vibration acceleration amplitude of the motor housing measured in an actual environment, taking into account the influence of factors such as current harmonics and rotor eccentricity, and then reversely calculates the radial electromagnetic force acting on the stator tooth surface of the motor, thereby improving the accuracy of identifying and calculating the radial electromagnetic force.

Description

Technical Field

[0001] The present application relates to the technical field of motor analysis, and in particular to a method, device, electronic device and storage medium for determining radial electromagnetic force of a motor. Background Art

[0002] With the rapid development of human society and the rapid improvement of economic level, people have higher and higher requirements for the ride comfort of cars, so the NVH performance of cars has become an important indicator for evaluating the quality of a car. Unlike traditional fuel vehicles, the drive motor is the core of the power system of new energy vehicles and is also the main source of vehicle vibration and noise. During the operation of the motor, the radial electromagnetic force acting on the stator tooth surface is the main cause of motor vibration.

[0003] In the prior art, the calculation of radial electromagnetic force is often based on an ideal sinusoidal current, ignoring the influence of current harmonics in the inverter output current in the actual environment and the influence of uneven air gap distribution caused by eccentricity of the rotor components on the radial electromagnetic force, making it impossible to accurately calculate the radial electromagnetic force. Summary of the invention

[0004] In view of this, the present application provides a method, device, electronic device and storage medium for determining the radial electromagnetic force of a motor to solve the problem that the radial electromagnetic force cannot be accurately calculated in the prior art.

[0005] To achieve the above objectives, this application provides the following technical solutions:

[0006] The first aspect of the present application discloses a method for determining radial electromagnetic force of a motor, comprising:

[0007] Collecting the vibration acceleration amplitude at the target position on the housing surface of the motor;

[0008] Based on a preset transfer function calculation formula, a transfer function from the stator tooth surface to the target position in the motor finite element model is calculated; the motor finite element model is a pre-constructed finite element model of the motor;

[0009] Based on a preset radial electromagnetic force calculation formula, the vibration acceleration amplitude and the transfer function, the radial electromagnetic force on the stator tooth surface of the motor is calculated.

[0010] Optionally, in the above method, the transfer function from the stator tooth surface to the target position in the motor finite element model is calculated based on a preset transfer function calculation formula, including:

[0011] Applying a unit amplitude uniform force of a preset frequency to the stator tooth surface of the motor finite element model to calculate the vibration acceleration amplitude of the target position;

[0012] The transfer function is calculated based on the transfer function calculation formula, the unit amplitude uniformly distributed force and the calculated vibration acceleration amplitude.

[0013] Optionally, in the above method, the process of constructing the motor finite element model includes:

[0014] Performing finite element analysis on the motor to construct an initial finite element model of the motor;

[0015] Performing modal correlation analysis on the initial finite element model and the motor to obtain a correlation value;

[0016] If the correlation value satisfies a preset condition, the initial finite element model is used as the motor finite element model;

[0017] If the correlation value does not meet the preset conditions, the parameters of the initial finite element model are adjusted, and the process returns to execute the modal correlation analysis between the initial finite element model and the motor to obtain the correlation value; until the correlation value meets the preset conditions, the initial finite element model is used as the motor finite element model.

[0018] Optionally, in the above method, performing modal correlation analysis on the initial finite element model and the motor to obtain a correlation value includes:

[0019] Performing modal simulation calculation on the initial finite element model to obtain modal calculation results;

[0020] Performing a modal test on the motor to obtain a modal test result;

[0021] Based on a preset correlation analysis formula, a correlation value between the modal calculation result and the modal test result is calculated.

[0022] The second aspect of the present application discloses a device for determining radial electromagnetic force of a motor, comprising:

[0023] A collection unit, used to collect the vibration acceleration amplitude at a target position on the housing surface of the motor;

[0024] A first calculation unit is used to calculate the transfer function from the stator tooth surface to the target position in the motor finite element model based on a preset transfer function calculation formula; the motor finite element model is a pre-constructed finite element model of the motor;

[0025] The second calculation unit is used to calculate the radial electromagnetic force of the stator tooth surface of the motor based on a preset radial electromagnetic force calculation formula, the vibration acceleration amplitude and the transfer function.

[0026] Optionally, in the above device, the first computing unit includes:

[0027] An applying subunit, used for applying a unit amplitude uniform force of a preset frequency to the stator tooth surface of the motor finite element model, and calculating the vibration acceleration amplitude of the target position;

[0028] The first calculation subunit is used to calculate the transfer function based on the transfer function calculation formula, the unit amplitude uniformly distributed force and the calculated vibration acceleration amplitude.

[0029] Optionally, in the above device, the first computing unit includes:

[0030] A construction subunit is used to perform finite element analysis on the motor and construct an initial finite element model of the motor;

[0031] An analysis subunit, used for performing modal correlation analysis between the initial finite element model and the motor to obtain a correlation value;

[0032] A determination subunit, configured to use the initial finite element model as the motor finite element model if the correlation value satisfies a preset condition;

[0033] The adjustment subunit is used to adjust the parameters of the initial finite element model if the correlation value does not meet the preset condition, and return to execute the modal correlation analysis of the initial finite element model and the motor to obtain the correlation value; until the correlation value meets the preset condition, the initial finite element model is used as the motor finite element model.

[0034] Optionally, in the above-mentioned device, the analysis subunit comprises:

[0035] A second calculation subunit is used to perform modal simulation calculation on the initial finite element model to obtain a modal calculation result;

[0036] A testing subunit, used for performing a modal test on the motor to obtain a modal test result;

[0037] The third calculation subunit is used to calculate the correlation value between the modal calculation result and the modal test result based on a preset correlation analysis formula.

[0038] The third aspect of the present application discloses an electronic device, comprising:

[0039] one or more processors;

[0040] a storage device having one or more programs stored thereon;

[0041] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of the first aspects of the present application.

[0042] A fourth aspect of the present application discloses a computer storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method described in any one of the first aspects of the present application is implemented.

[0043] It can be seen from the above technical scheme that in a method for determining the radial electromagnetic force of a motor provided by the present application, the vibration acceleration amplitude of the target position on the surface of the motor shell is first collected. Then, based on the preset transfer function calculation formula, the transfer function from the stator tooth surface to the target position in the motor finite element model is calculated; the motor finite element model is a pre-constructed finite element model of the motor. Finally, based on the preset radial electromagnetic force calculation formula, the vibration acceleration amplitude and the transfer function, the radial electromagnetic force on the stator tooth surface of the motor is calculated. It can be seen that the present application is based on the vibration acceleration amplitude of the motor housing measured in the actual environment, taking into account the influence of factors such as current harmonics and rotor eccentricity, and then reversely calculates the radial electromagnetic force acting on the stator tooth surface of the motor, thereby improving the accuracy of identifying and calculating the radial electromagnetic force. The problem that the radial electromagnetic force cannot be accurately calculated in the prior art is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0045] Figure 1 This is a flow chart of a method for determining radial electromagnetic force of a motor disclosed in an embodiment of the present application;

[0046] Figure 2 A radial electromagnetic force density space-time curve diagram disclosed in another embodiment of the present application;

[0047] Figure 3 A radial electromagnetic force dense space-time order diagram disclosed in another embodiment of the present application;

[0048] Figure 4 A radial electromagnetic force wave shape diagram disclosed in another embodiment of the present application;

[0049] Figure 5 A flowchart of an implementation of a process for constructing a motor finite element model disclosed in another embodiment of the present application;

[0050] Figure 6 A modal correlation matrix diagram disclosed in another embodiment of the present application;

[0051] Figure 7 A schematic diagram of a device for determining radial electromagnetic force of a motor disclosed in another embodiment of the present application;

[0052] Figure 8 A schematic diagram of an electronic device disclosed in another embodiment of the present application. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] In this application, the terms "comprises", "comprising" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0055] Furthermore, in this document, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0056] From the background technology, it can be seen that in the prior art, the calculation of radial electromagnetic force is often based on the ideal sinusoidal current, ignoring the influence of current harmonics in the inverter output current in the actual environment and the influence of uneven air gap distribution caused by eccentricity of rotor components on the radial electromagnetic force, and the radial electromagnetic force cannot be accurately calculated.

[0057] In view of this, the present application provides a method, device, electronic device and storage medium for determining the radial electromagnetic force of a motor to solve the problem that the radial electromagnetic force cannot be accurately calculated in the prior art.

[0058] The present application embodiment provides a method for determining the radial electromagnetic force of a motor, such as Figure 1 As shown, specifically including:

[0059] S101 . Collecting the vibration acceleration amplitude at a target position on the housing surface of the motor.

[0060] It should be noted that permanent magnet synchronous motors are currently the most widely used in new energy vehicles. The vibration noise of motors can be divided into three categories according to their sources: motor electromagnetic vibration noise, motor mechanical structure vibration noise, and aerodynamic noise. Among them, electromagnetic vibration noise has the greatest impact on the overall vibration noise level of permanent magnet synchronous motors. The air gap magnetic field between the motor stator and rotor will generate radial electromagnetic force on the motor stator, which will cause the motor stator and motor housing to vibrate and generate noise. This is the biggest source of motor electromagnetic vibration noise.

[0061] For motors in actual operation, it is impossible to obtain the radial electromagnetic force acting on the stator tooth surface by direct measurement, while vibration and noise are relatively easy to obtain. At the same time, since noise testing is easily affected by the measurement environment, the vibration acceleration test on the motor housing surface is easy to implement and has a higher accuracy.

[0062] When the motor is actually working, the vibration acceleration amplitude at a target position on the motor housing surface is collected by an acceleration sensor installed on the motor housing surface, wherein the target position is a preset measuring point position.

[0063] S102, based on a preset transfer function calculation formula, calculate and obtain a transfer function from the stator tooth surface to the target position in the motor finite element model; the motor finite element model is a pre-constructed finite element model of the motor.

[0064] It should be noted that since the radial electromagnetic force distribution acts on the entire stator tooth surface, it is impossible to directly obtain the transfer function from all positions of the stator tooth surface to the housing measurement point through testing. Therefore, a finite element model of the motor is pre-built, and the transfer function from the stator tooth surface to the housing surface is obtained through finite element model simulation calculation.

[0065] Since the vibration of the motor is mainly distributed in some specific frequency orders, these orders are usually even multiples of the fundamental frequency of the current, which is the same as the frequency components contained in the electromagnetic force. Therefore, the vibration response of the motor housing is shown in Formula 1:

[0066]

[0067] The radial electromagnetic force acting on the stator tooth surface is is the angle and time t, such as Figure 2 So when the radial electromagnetic force is decomposed into two dimensions by Fourier, in addition to the frequency order, it also includes the concept of spatial order, such as Figure 3 As shown. The vibration amplitude caused by the electromagnetic force is inversely proportional to the fourth power of the spatial order, so usually only the electromagnetic force of spatial order 0 is considered. The shape of the electromagnetic force space wave is as follows Figure 4 The vibration of the motor housing is mainly caused by the radial electromagnetic force of the 0th order in space, and the amplitude of the radial electromagnetic force of the 0th order in space is the same at different positions. Therefore, it is assumed here that the amplitude of the radial electromagnetic force acting on different positions of the stator tooth surface is the same, so the above formula 1 can be rewritten as formula 2:

[0068]

[0069] in, is the vibration acceleration amplitude of a certain measuring point on the motor housing surface, is the transfer function from different positions of the motor stator tooth surface to the housing measurement point, is the radial electromagnetic force amplitude at different positions on the motor stator tooth surface.

[0070] From formula 2, we can get the transfer function calculation formula:

[0071]

[0072] According to the transfer function calculation formula, a unit force is applied to the finite element model, and the transfer function can be obtained through simulation calculation. And the transfer function is used as the transfer function from the stator tooth surface of the motor to the motor housing.

[0073] Optionally, in another embodiment of the present application, an implementation of step S102 may include:

[0074] A unit amplitude uniform force of a preset frequency is applied to the stator tooth surface of the motor finite element model, and the vibration acceleration amplitude at the target position is calculated.

[0075] The transfer function is calculated based on the transfer function calculation formula, the unit amplitude uniformly distributed force and the calculated vibration acceleration amplitude.

[0076] It should be noted that a frequency of The unit amplitude uniform force is then calculated using the motor finite element model to obtain the vibration acceleration amplitude at the target position. Since the amplitude of the uniform force is 1, the vibration acceleration amplitude at this time is equal to the transfer function, thus obtaining the transfer function.

[0077] Optionally, in another embodiment of the present application, an implementation of step S102 is as follows: Figure 5 As shown, it may include:

[0078] S501. Perform finite element analysis on the motor and construct an initial finite element model of the motor.

[0079] It should be noted that the finite element analysis method is used to perform finite element analysis on the motor to construct an initial finite element model of the motor.

[0080] S502: Perform modal correlation analysis on the initial finite element model and the motor to obtain a correlation value.

[0081] It should be noted that in order to ensure the accuracy of the motor finite element model, the initial finite element model and the motor are subjected to modal correlation analysis to obtain correlation values. Through correlation analysis, a modal correlation matrix diagram can be obtained, such as Figure 6 As shown in the figure, the horizontal and vertical axes represent the modal orders obtained from the test and simulation, and 0 to 1 represent the correlation values. Figure 6 It can be seen that the values ​​in the modal correlation matrix are mainly concentrated on the diagonal, and the values ​​in the rest are very small, which is related to the orthogonality of the structural modal vibration shape. The closer the correlation value is to 1, the better the correlation between the two, indicating the same order mode, and the closer the motor finite element model is to the actual motor structure.

[0082] S503: If the correlation value meets a preset condition, the initial finite element model is used as the motor finite element model.

[0083] It should be noted that if the correlation value meets a preset condition, the initial finite element model is used as the motor finite element model. The condition is set according to actual conditions, for example, the condition is that the correlation value is greater than 0.9.

[0084] S504. If the correlation value does not meet the preset conditions, adjust the parameters of the initial finite element model, and return to perform modal correlation analysis on the initial finite element model and the motor to obtain the correlation value; until the correlation value meets the preset conditions, the initial finite element model is used as the motor finite element model.

[0085] It should be noted that if the correlation value does not meet the preset conditions, it means that the correlation between the initial finite element model and the structural mode is not high. Therefore, the material properties and other parameters of the initial finite element model are adjusted, and the process returns to step S502 for correlation analysis until the correlation value meets the preset conditions. The initial finite element model is used as the motor finite element model.

[0086] Optionally, in another embodiment of the present application, an implementation of step S502 may include:

[0087] Perform modal simulation calculation on the initial finite element model to obtain modal calculation results.

[0088] Perform modal test on the motor and obtain modal test results.

[0089] Based on the preset correlation analysis formula, the correlation value between the modal calculation results and the modal test results is calculated.

[0090] It should be noted that the initial finite element model is first subjected to modal simulation calculation to obtain the modal calculation results. Then the motor is subjected to modal testing to obtain the modal test results. For example, the motor and its components are subjected to modal testing, an excitation load is applied to the motor structure using a force hammer, and the vibration response of the motor structure is measured using a vibration sensor. The transfer function relationship between multiple measuring points is obtained by moving the force hammer to obtain the modal test results of the motor. Based on the preset correlation analysis formula, the correlation value between the modal calculation results and the modal test results is calculated. The correlation analysis formula is as follows:

[0091]

[0092] in, Modal test results representing the structural modes of the motor, represents the modal calculation results of the initial finite element model, " represents the conjugate transpose. The finite element model is calibrated by modal testing to improve the accuracy of the finite element model.

[0093] S103, based on a preset radial electromagnetic force calculation formula, vibration acceleration amplitude and transfer function, calculate and obtain the radial electromagnetic force of the stator tooth surface of the motor.

[0094] It should be noted that the radial electromagnetic force calculation formula can be obtained from formula 2:

[0095]

[0096] After obtaining the vibration acceleration amplitude and transfer function, the radial electromagnetic force acting on the stator tooth surface of the motor at the corresponding order can be calculated according to the formula, providing load input for subsequent NVH analysis and optimization of the drive motor. This method avoids the influence of the test environment on the measurement data and improves the accuracy of the identification calculation.

[0097] In a method for determining the radial electromagnetic force of a motor provided by the present application, the vibration acceleration amplitude of the target position on the surface of the motor housing is first collected. Then, based on the preset transfer function calculation formula, the transfer function from the stator tooth surface to the target position in the motor finite element model is calculated; the motor finite element model is a pre-constructed finite element model of the motor. Finally, based on the preset radial electromagnetic force calculation formula, the vibration acceleration amplitude and the transfer function, the radial electromagnetic force on the stator tooth surface of the motor is calculated. It can be seen that the present application is based on the vibration acceleration amplitude of the motor housing measured in an actual environment, taking into account the influence of factors such as current harmonics and rotor eccentricity, and then reversely calculates the radial electromagnetic force acting on the stator tooth surface of the motor, thereby improving the accuracy of identifying and calculating the radial electromagnetic force. The problem that the radial electromagnetic force cannot be accurately calculated in the prior art is solved.

[0098] Another embodiment of the present application also provides a device for determining the radial electromagnetic force of a motor, such as Figure 7 As shown, including:

[0099] The collecting unit 701 is used to collect the vibration acceleration amplitude at a target position on the housing surface of the motor.

[0100] The first calculation unit 702 is used to calculate the transfer function from the stator tooth surface to the target position in the motor finite element model based on a preset transfer function calculation formula; the motor finite element model is a pre-constructed finite element model of the motor.

[0101] The second calculation unit 703 is used to calculate the radial electromagnetic force of the stator tooth surface of the motor based on a preset radial electromagnetic force calculation formula, vibration acceleration amplitude and transfer function.

[0102] In this embodiment, the specific execution process of the acquisition unit 701, the first calculation unit 702, and the second calculation unit 703 can be found in the corresponding Figure 1 The content of the method embodiment will not be repeated here.

[0103] In a device for determining the radial electromagnetic force of a motor provided by the present application, first, the acquisition unit 701 acquires the vibration acceleration amplitude of the target position on the surface of the motor housing. Then, the first calculation unit 702 calculates the transfer function from the stator tooth surface to the target position in the motor finite element model based on the preset transfer function calculation formula; the motor finite element model is a pre-constructed finite element model of the motor. Finally, the second calculation unit 703 calculates the radial electromagnetic force on the stator tooth surface of the motor based on the preset radial electromagnetic force calculation formula, the vibration acceleration amplitude and the transfer function. It can be seen that the present application is based on the vibration acceleration amplitude of the motor housing measured in the actual environment, taking into account the influence of factors such as current harmonics and rotor eccentricity, and then reversely calculates the radial electromagnetic force acting on the stator tooth surface of the motor, thereby improving the accuracy of identifying and calculating the radial electromagnetic force. The problem that the radial electromagnetic force cannot be accurately calculated in the prior art is solved.

[0104] Optionally, in another embodiment of the present application, an implementation of the first calculation unit 702 may include:

[0105] The applying subunit is used to apply a unit amplitude uniform force of a preset frequency to the stator tooth surface of the motor finite element model, and calculate the vibration acceleration amplitude at the target position.

[0106] The first calculation subunit is used to calculate the transfer function based on the transfer function calculation formula, the unit amplitude uniformly distributed force and the calculated vibration acceleration amplitude.

[0107] In this embodiment, the specific execution process of the applying subunit and the first calculating subunit can be found in the corresponding method embodiments described above, and will not be repeated here.

[0108] Optionally, in another embodiment of the present application, an implementation of the first calculation unit 702 may include:

[0109] Construct subunits for finite element analysis of the motor and construct an initial finite element model of the motor.

[0110] The analysis subunit is used to perform modal correlation analysis between the initial finite element model and the motor to obtain correlation values.

[0111] A subunit is determined, which is used to use the initial finite element model as the motor finite element model if the correlation value meets a preset condition.

[0112] The adjustment subunit is used to adjust the parameters of the initial finite element model if the correlation value does not meet the preset conditions, and return to execute the modal correlation analysis between the initial finite element model and the motor to obtain the correlation value; until the correlation value meets the preset conditions, the initial finite element model is used as the motor finite element model.

[0113] In this embodiment, the specific execution process of the construction subunit, the modal test subunit, the analysis subunit, the determination subunit, and the adjustment subunit can be referred to in the corresponding Figure 5 The content of the method embodiment will not be repeated here.

[0114] Optionally, in another embodiment of the present application, an implementation of the above-mentioned analysis subunit may include:

[0115] The second calculation subunit is used to perform modal simulation calculation on the initial finite element model to obtain modal calculation results.

[0116] The test subunit is used to perform modal test on the motor and obtain modal test results.

[0117] The third calculation subunit is used to calculate the correlation value between the modal calculation result and the modal test result based on a preset correlation analysis formula.

[0118] In this embodiment, the specific execution process of the second computing subunit, the testing subunit, and the third computing subunit can be found in the corresponding method embodiments described above, and will not be repeated here.

[0119] Another embodiment of the application also provides an electronic device, such as Figure 8 As shown, specifically including:

[0120] One or more processors 801.

[0121] The storage device 802 stores one or more programs.

[0122] When one or more programs are executed by one or more processors 801 , the one or more processors 801 implement any one of the methods in the above embodiments.

[0123] Another embodiment of the present application further provides a computer storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, any one of the methods in the above embodiments is implemented.

[0124] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0125] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0126] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining radial electromagnetic force of a motor, characterized in that: include: Collecting the vibration acceleration amplitude at the target position on the housing surface of the motor; Based on a preset transfer function calculation formula, a transfer function from the stator tooth surface to the target position in the motor finite element model is calculated; wherein the motor finite element model is a finite element model constructed by performing finite element analysis on the motor in advance, and the motor finite element model is used to characterize the motor structure of the motor; The radial electromagnetic force of the stator tooth surface of the motor is calculated based on a preset radial electromagnetic force calculation formula, the collected vibration acceleration amplitude and the transfer function; The transfer function from the stator tooth surface to the target position in the motor finite element model is calculated based on a preset transfer function calculation formula, including: Applying a unit amplitude uniform force of a preset frequency to the stator tooth surface of the motor finite element model to calculate the vibration acceleration amplitude of the target position; The transfer function is calculated based on the transfer function calculation formula, the unit amplitude uniformly distributed force and the calculated vibration acceleration amplitude.

2. The method according to claim 1, characterized in that The process of constructing the motor finite element model includes: Performing finite element analysis on the motor to construct an initial finite element model of the motor; Performing modal correlation analysis on the initial finite element model and the motor to obtain a correlation value; If the correlation value satisfies a preset condition, the initial finite element model is used as the motor finite element model; If the correlation value does not meet the preset conditions, the parameters of the initial finite element model are adjusted, and the process returns to execute the modal correlation analysis between the initial finite element model and the motor to obtain the correlation value; until the correlation value meets the preset conditions, the initial finite element model is used as the motor finite element model.

3. The method according to claim 2, characterized in that The performing modal correlation analysis on the initial finite element model and the motor to obtain a correlation value includes: Performing modal simulation calculation on the initial finite element model to obtain modal calculation results; Performing a modal test on the motor to obtain a modal test result; Based on a preset correlation analysis formula, a correlation value between the modal calculation result and the modal test result is calculated.

4. A device for determining radial electromagnetic force of a motor, characterized in that: include: A collection unit, used to collect the vibration acceleration amplitude at a target position on the housing surface of the motor; A first calculation unit is used to calculate the transfer function from the stator tooth surface to the target position in the motor finite element model based on a preset transfer function calculation formula; wherein the motor finite element model is a finite element model constructed by performing finite element analysis on the motor in advance, and the motor finite element model is used to characterize the motor structure of the motor; A second calculation unit is used to calculate the radial electromagnetic force of the stator tooth surface of the motor based on a preset radial electromagnetic force calculation formula, the collected vibration acceleration amplitude and the transfer function; Wherein, the first computing unit includes: An applying subunit, used for applying a unit amplitude uniform force of a preset frequency to the stator tooth surface of the motor finite element model, and calculating the vibration acceleration amplitude of the target position; The first calculation subunit is used to calculate the transfer function based on the transfer function calculation formula, the unit amplitude uniformly distributed force and the calculated vibration acceleration amplitude.

5. The device according to claim 4, characterized in that The first computing unit comprises: A construction subunit is used to perform finite element analysis on the motor and construct an initial finite element model of the motor; An analysis subunit, used for performing modal correlation analysis between the initial finite element model and the motor to obtain a correlation value; A determination subunit, configured to use the initial finite element model as the motor finite element model if the correlation value satisfies a preset condition; The adjustment subunit is used to adjust the parameters of the initial finite element model if the correlation value does not meet the preset condition, and return to execute the modal correlation analysis of the initial finite element model and the motor to obtain the correlation value; until the correlation value meets the preset condition, the initial finite element model is used as the motor finite element model.

6. The device according to claim 5, characterized in that The analysis subunit comprises: A second calculation subunit is used to perform modal simulation calculation on the initial finite element model to obtain a modal calculation result; A testing subunit, used for performing a modal test on the motor to obtain a modal test result; The third calculation subunit is used to calculate the correlation value between the modal calculation result and the modal test result based on a preset correlation analysis formula.

7. An electronic device, characterized in that: include: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method according to any one of claims 1 to 3.

8. A computer storage medium, characterized in that: A computer program is stored thereon, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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