Motor vibration noise optimization method and device, built-in permanent magnet synchronous motor and storage medium

Abstract

The invention discloses a motor vibration noise optimization method and device, a built-in permanent magnet synchronous motor and a storage medium, and relates to the technical field of motor control, and the method comprises the steps: obtaining an expected motor air gap flux density square corresponding to a target motor; determining optimized auxiliary slot parameters according to the current electromagnetic force density and the expected motor air gap flux density square; and setting a rotor auxiliary slot of the target motor based on the optimization auxiliary slot parameter, the rotor auxiliary slot being used for reducing the cogging torque of the target motor so as to optimize the vibration noise of the target motor. On the premise of not influencing the performance of the motor, the auxiliary slot parameter corresponding to the current motor is determined according to the current electromagnetic force density and the expected air gap flux density square, so that the aim of optimizing the vibration noise of the motor is fulfilled by simply forming the accurate auxiliary slot in the motor.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor vibration noise optimization method, device, built-in permanent magnet synchronous motor and storage medium. Background Art

[0002] In the field of motor design, vibration and noise issues have always been important challenges faced by engineers. Traditional solutions mainly rely on optimizing the design of motor structure, improving manufacturing processes, and adding vibration and noise reduction materials. Although these methods can alleviate vibration and noise problems to a certain extent, they are often accompanied by disadvantages such as increased costs, reduced motor efficiency, and increased size. It is difficult to achieve effective control of vibration and noise while ensuring motor performance.

[0003] To address this problem, a solution has been proposed to reduce motor vibration and noise by optimizing the motor's rotor structure. However, the disadvantage of this method is that the design and manufacturing of the special rotor structure is difficult, which may affect the performance of the motor.

[0004] Therefore, how to optimize the motor vibration noise at low cost without affecting the motor performance has become an urgent problem to be solved. Summary of the invention

[0005] The main purpose of this application is to provide a motor vibration noise optimization method, device, built-in permanent magnet synchronous motor and storage medium, aiming to solve the technical problem of how to optimize the motor vibration noise at low cost without affecting the motor performance.

[0006] To achieve the above objectives, the present application proposes a motor vibration noise optimization method, which includes:

[0007] Get the expected motor air gap magnetic flux square corresponding to the target motor;

[0008] Determine and optimize auxiliary slot parameters according to the current electromagnetic force density and the expected square of the motor air gap magnetic flux density;

[0009] A rotor auxiliary slot of the target motor is set based on the optimized auxiliary slot parameters, and the rotor auxiliary slot is used to reduce the cogging torque of the target motor to optimize the vibration noise of the target motor.

[0010] In one embodiment, the step of determining the optimized auxiliary slot parameters according to the current electromagnetic force density and the expected square of the motor air gap flux density comprises:

[0011] Determine the target order air gap flux square according to the expected motor air gap flux square;

[0012] The auxiliary slot parameters are optimized based on the current electromagnetic force density and the square of the target order air gap flux density.

[0013] In one embodiment, the step of determining the target order air gap flux square according to the expected motor air gap flux square comprises:

[0014] Performing frequency domain conversion on the expected air gap magnetic flux square of the motor to obtain an initial frequency domain air gap magnetic flux square;

[0015] Obtain the target time frequency corresponding to the target interference order;

[0016] A target order air gap flux square is determined based on the initial frequency domain air gap flux square value and the target time frequency.

[0017] In one embodiment, the optimized auxiliary slot parameters include auxiliary slot position parameters and auxiliary slot size parameters; the step of determining the optimized auxiliary slot parameters based on the current electromagnetic force density and the target order air gap magnetic flux square comprises:

[0018] Determine the auxiliary slot position parameters according to the current electromagnetic force density and the square of the target order air gap magnetic flux density;

[0019] Determine the air gap flux square of the slotted motor corresponding to the target motor based on the auxiliary slot position parameter;

[0020] The auxiliary slot size parameter is determined according to the square of the air gap flux density of the slotted motor and the auxiliary slot position parameter.

[0021] In one embodiment, the step of determining the auxiliary slot size parameter according to the air gap flux square of the slotted motor and the auxiliary slot position parameter comprises:

[0022] Perform frequency domain conversion on the square of the air gap magnetic flux of the slotted motor to obtain the square of the air gap magnetic flux in the slotted frequency domain;

[0023] Determine the target order slotted air gap flux density based on the slotted frequency domain air gap flux density square and the target order time frequency;

[0024] The auxiliary slot size parameters are determined according to the target order slot air gap flux density and the auxiliary slot position parameters.

[0025] In one embodiment, the step of determining the target order slotted air gap flux density based on the square of the slotted frequency domain air gap flux density and the target order time frequency comprises:

[0026] Simplifying the slotted frequency domain air gap magnetic flux square according to a preset position interval to obtain a simplified frequency domain air gap magnetic flux square;

[0027] The target order slotted air gap flux density is determined based on the simplified frequency domain air gap flux square and the target order time frequency.

[0028] In one embodiment, the step of determining the auxiliary slot size parameters according to the target order slot air gap flux density and the auxiliary slot position parameters comprises:

[0029] Performing a preset numerical optimization according to the target order slot air gap magnetic flux density;

[0030] The auxiliary groove size parameters are determined based on the numerical optimization result and the auxiliary groove position parameters.

[0031] In addition, to achieve the above purpose, the present application also proposes a motor vibration noise optimization device, the motor vibration noise optimization device comprising:

[0032] An air gap magnetic flux monitoring module is used to obtain the expected motor air gap magnetic flux square corresponding to the target motor;

[0033] A parameter determination module, used for determining and optimizing auxiliary slot parameters according to the current electromagnetic force density and the expected square of the motor air gap magnetic flux density;

[0034] The auxiliary slot setting module is used to set the rotor auxiliary slot of the target motor based on the optimized auxiliary slot parameters, and the rotor auxiliary slot is used to reduce the cogging torque of the target motor to optimize the vibration noise of the target motor.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a built-in permanent magnet synchronous motor, which includes a rotor core, and a plurality of auxiliary slots are arranged in the circumferential direction of the rotor core, and the auxiliary slots are arranged on the periphery of the permanent magnet between the direct axis and the quadrature axis of the rotor core, and the auxiliary slots are determined according to the motor vibration and noise optimization method as described above.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, on which a motor vibration noise optimization program is stored. When the motor vibration noise optimization program is executed by a processor, the steps of the motor vibration noise optimization method as described above are implemented.

[0037] The present application provides a method, device, built-in permanent magnet synchronous motor and storage medium for optimizing motor vibration noise. The method includes: obtaining the expected motor air gap magnetic flux square corresponding to the target motor; determining the optimized auxiliary slot parameters according to the current electromagnetic force density and the expected motor air gap magnetic flux square; setting the rotor auxiliary slot of the target motor based on the optimized auxiliary slot parameters, and the rotor auxiliary slot is used to reduce the cogging torque of the target motor to optimize the vibration noise of the target motor. Under the premise of not affecting the performance of the motor, the present application determines the auxiliary slot parameters corresponding to the current motor according to the current electromagnetic force density and the expected air gap magnetic flux square, so as to achieve the purpose of optimizing the motor vibration noise by simply opening precise auxiliary slots on the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] Figure 1 This is a first flow chart of the first embodiment of the motor vibration noise optimization method of the present application;

[0041] Figure 2 A schematic diagram of the expected square distribution of the motor air gap magnetic flux density of the first embodiment of the motor vibration noise optimization method of the present application;

[0042] Figure 3 This is a second flow chart of the first embodiment of the motor vibration noise optimization method of the present application;

[0043] Figure 4 This is a third flow chart of the first embodiment of the motor vibration noise optimization method of the present application;

[0044] Figure 5 This is a schematic diagram of the first process of the second embodiment of the motor vibration noise optimization method of the present application;

[0045] Figure 6 A schematic diagram of the motor auxiliary slot arrangement of the second embodiment of the motor vibration noise optimization method of the present application;

[0046] Figure 7 A schematic diagram of the square distribution of air gap magnetic flux density of a slotted motor according to the second embodiment of the motor vibration noise optimization method of the present application;

[0047] Figure 8A second flow chart of the second embodiment of the motor vibration noise optimization method of the present application;

[0048] Fig. 9 This is a schematic diagram of the operation simulation results of the second embodiment of the motor vibration noise optimization method of the present application;

[0049] Fig.10 This is a schematic diagram of the module structure of the motor vibration noise optimization device according to an embodiment of the present application.

[0050] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0052] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0053] The main solution of this application is: to obtain the expected motor air gap magnetic flux square corresponding to the target motor; to determine the optimized auxiliary slot parameters according to the current electromagnetic force density and the expected motor air gap magnetic flux square; to set the rotor auxiliary slot of the target motor based on the optimized auxiliary slot parameters, and the rotor auxiliary slot is used to reduce the cogging torque of the target motor to optimize the vibration noise of the target motor.

[0054] At present, a solution has been proposed to reduce vibration and noise by optimizing the rotor structure of the motor. This can reduce the cogging torque by improving the tooth shape and distribution of the rotor, thereby reducing the vibration and noise of the motor. However, the disadvantage of this method is that the design and manufacture of the special rotor structure is difficult, which may affect the performance of the motor.

[0055] In order to optimize the vibration noise of the motor without affecting the performance of the motor, the present application can pre-establish the analytical relationship between the auxiliary slot position and dimensional parameters of the built-in permanent magnet synchronous motor and the square value of the air gap flux density and the electromagnetic force density of the motor's tooth slot order. By real-time monitoring the electromagnetic force density of the motor, the auxiliary slot position, slot width and depth with the optimal tooth slot order on the motor rotor can be quickly obtained based on the expected square value of the motor air gap flux density and the monitored current electromagnetic force density.

[0056] Specifically, the present application determines the auxiliary slot parameters corresponding to the current motor according to the current electromagnetic force density and the expected air gap magnetic density square through the analytical relationship between the pre-determined auxiliary slot parameters (including position and size parameters) of the built-in permanent magnet synchronous motor and the square value of the air gap magnetic density of the tooth slot order and the electromagnetic force density, thereby opening auxiliary slots on the motor based on the auxiliary slot parameters to optimize the tooth slot torque of the motor and thereby reduce the vibration noise of the motor. Therefore, the present application can simply open precise auxiliary slots on the motor based on the electromagnetic force density and the square of the air gap magnetic density without affecting the performance of the motor, thereby reducing the electromagnetic force of the motor in the tooth slot order, thereby reducing the tooth slot torque and thereby achieving the purpose of optimizing the vibration noise of the motor.

[0057] It should be noted that the execution subject of this embodiment can be a motor vibration and noise optimization system, or a computing service device with data processing, network communication, program running functions and motor simulation optimization functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a motor vibration and noise optimization device that can achieve the above functions, etc. This embodiment does not specifically limit this. The following takes the motor vibration and noise optimization device (referred to as the optimization device) as the execution subject as an example to illustrate this embodiment and the following embodiments.

[0058] It should be understood that in this embodiment, in order to optimize the vibration noise of the motor without affecting the performance of the motor, the present application can pre-establish the analytical relationship between the auxiliary slot position and size parameters of the built-in permanent magnet synchronous motor and the square value of the air gap magnetic density and the electromagnetic force density of the motor. When actually optimizing the vibration noise of the motor, it is only necessary to monitor the electromagnetic force density of the motor in real time to obtain the current electromagnetic force density, and then quickly obtain the optimal auxiliary slot parameters corresponding to the optimal tooth slot order on the motor rotor in combination with the expected motor air gap magnetic density square. Based on the optimized auxiliary slot parameters, an auxiliary slot is opened on the motor rotor to optimize the tooth slot torque of the motor, thereby reducing the vibration noise of the motor.

[0059] It can be understood that the radial force F of a single stator tooth of the motor r It can be expressed as:

[0060] F r =p r A s =p r r g θ s L stk ; (1)

[0061] Among them, A s is the area of ​​the stator teeth, r g is the radius of the air gap, θ s is the electrical angle of the stator teeth, L stkis the stack length, and its radial electromagnetic force density component p has a significant impact on vibration noise r , which can be expressed according to the Maxwell tensor as:

[0062]

[0063] Among them B r and B t They represent radial and tangential air gap flux densities respectively. Generally, the tangential flux density is ignored and radial B is used. r Indicates air gap magnetic flux B g , so formula (2) can be simplified to:

[0064]

[0065] Therefore, from Formula 3, we can know that the square of the air gap flux density is proportional to the electromagnetic force density, so the square of the air gap flux density reflects the characteristics of the electromagnetic force density. g It can be expressed as a function of the magnetomotive force f(θ, t) and the permeance Λ(θ, t). The magnetomotive force and permeance are both functions of the time t and the rotor space angle θ. At this time, we can obtain:

[0066] B g (θ,t)=f(θ,t).Λ(θ,t); (4)

[0067] Instead of the zero-order subspace force wave stator displacement d m≠0 for:

[0068]

[0069] In the formula, R i is the inner diameter of the stator teeth, E is the elastic modulus of the stator core, R y is the average inner diameter of the gear yoke, T y is the stator thickness, M M≠0 It is a non-zero-order spatial force wave.

[0070] Therefore, from equations (1), (3) and (5), we can know that:

[0071]

[0072] That is, the vibration displacement d of the motor is proportional to the electromagnetic force F g , F g Proportional to the square of the air gap flux density

[0073] Therefore, by designing a reasonable The vibration displacement of the motor can be reduced, thereby reducing the vibration noise of the motor. The present application can achieve a reasonable air gap magnetic density square of the motor by slotting, thereby reducing the electromagnetic force, thereby achieving the effect of reducing the vibration displacement of the motor and optimizing the vibration noise.

[0074] Based on this, the embodiment of the present application provides a method for optimizing motor vibration noise, referring to Figure 1 , Figure 1 This is a first flow chart of the first embodiment of the motor vibration noise optimization method of the present application.

[0075] In this embodiment, the motor vibration noise optimization method includes steps S10 to S30:

[0076] Step S10, obtaining the expected motor air gap magnetic flux square corresponding to the target motor;

[0077] Step S20, determining and optimizing auxiliary slot parameters according to the current electromagnetic force density and the expected square of the motor air gap magnetic flux density;

[0078] Step S30 , setting a rotor auxiliary slot of the target motor based on the optimized auxiliary slot parameters, wherein the rotor auxiliary slot is used to reduce the cogging torque of the target motor to optimize the vibration noise of the target motor.

[0079] It can be understood that the above-mentioned expected air gap flux square of the motor can be the ideal air gap flux square value of the motor determined according to the slotless theory, which can be used For ease of understanding, Figure 2 Take this as an example to illustrate: Figure 2 Schematic diagram of the expected square distribution of the motor air gap flux density of the first embodiment of the motor vibration noise optimization method of the present application.

[0080] Figure 2 The ideal air gap flux density square of a single pole in an interior permanent magnet synchronous motor is specifically shown in The waveform shows a step distribution with θ, and Figure 2 The rotor position is aligned with the d-axis as the 0 angle, β is the rotor angle close to the sudden change of the magnetic flux density of the motor d-axis, and α is the rotor angle close to the sudden change of the magnetic flux density of the motor q-axis. A and B are the electromagnetic force density amplitudes corresponding to the target motor determined after measurement.

[0081] It is easy to understand that Figure 2 This is the distribution diagram of the square value of the air gap flux density under ideal conditions. In fact, the distribution of the square value of the air gap flux density is actually fluctuating due to disturbances of various orders, and it is the order disturbance that causes vibration noise in the motor. Therefore, this application needs to eliminate the noise or peak value of a specific order at the sudden change of the square value of the air gap flux density (or electromagnetic force). The elimination method can be to slot the target motor according to the optimization of the auxiliary slot parameters so that the square value of the air gap flux density can be distributed according to the ideal air gap when the motor is actually running.

[0082] In one possible implementation, refer to Figure 3 , Figure 3This is a second flow chart of the first embodiment of the motor vibration noise optimization method of the present application. In this embodiment, step S20 may include steps A1 to A2:

[0083] Step A1, determining the target order air gap flux square according to the expected motor air gap flux square;

[0084] Step A2, determining and optimizing auxiliary slot parameters based on the current electromagnetic force density and the square of the target order air gap flux density.

[0085] It can be understood that, in this embodiment, the above rotor angle α and / or β may be the auxiliary slot parameters that need to be determined and optimized in this embodiment, and this embodiment needs to establish an analytical relationship between the square value of the order magnetic flux density that significantly affects the vibration noise of the motor and the auxiliary slot position, and the order that significantly affects the vibration noise of the motor may be the cogging order, that is, the above target order. Therefore, this embodiment needs to optimize the auxiliary slot parameters so that the square of the air gap magnetic flux density drops sharply according to the ideal situation at the cogging order, or even drops to zero, so as to avoid the influence of the motor cogging torque on the target motor.

[0086] In one possible implementation, refer to Figure 4 , Figure 4 This is a third flow chart of the first embodiment of the motor vibration noise optimization method of the present application. In this embodiment, step A1 may include steps A11 to A13:

[0087] Step A11, performing frequency domain conversion on the expected air gap magnetic flux square of the motor to obtain an initial frequency domain air gap magnetic flux square;

[0088] Understandably, Figure 2 The distribution shown in is the relationship between the square of the air gap flux density and the spatial angle, and this embodiment needs to determine the square of the air gap flux density under the tooth slot order and then optimize it. Therefore, this embodiment can convert the expected square of the air gap flux density of the motor into the frequency domain to obtain the analytical relationship between the square of the flux density value and the position angles α and β in the frequency domain.

[0089] Specifically, After Fourier transform to frequency domain, we can obtain:

[0090]

[0091] Among them, the specific expression of the first term is as follows:

[0092]

[0093] Combined with Euler's formula e jx =cos(x)+j sin(x), equation (8) can be converted to:

[0094]

[0095] Similarly, the specific expression of the latter term in formula (7) is as follows:

[0096]

[0097] Therefore, by combining equation (9) and equation (10), we can get the square waveform of the air gap flux density in the frequency domain, which is

[0098]

[0099] Step A12, obtaining the target time frequency corresponding to the target interference order;

[0100] It can be understood that the motor cogging order is the order that is more likely to cause vibration and noise problems, and its time order O can be expressed as:

[0101]

[0102] Where S represents the number of stator teeth, p represents the number of pole pairs, and LCM represents the least common multiple.

[0103] Assuming that the target motor is a 48-slot motor with 4 pairs of poles, the time frequency corresponding to the slot order, that is, the above target time frequency, can be: f = 12nfe. Among them, fe is the fundamental frequency, n is a natural number 1, 2, 3, etc., and automotive motors usually use n as 1 or 2.

[0104] Step A13, determining a target order air gap flux square based on the initial frequency domain air gap flux square value and the target time frequency.

[0105] It is easy to understand that by combining the initial frequency domain air gap flux square of formula (11) and the target time frequency determined by formula (12), the square value of the flux corresponding to the slot order in the frequency domain can be obtained, that is, the expression of the square of the air gap flux of the above target order, as shown below:

[0106]

[0107] From formula (13), we can know that based on the current electromagnetic force density A and B, and the square of the target order air gap magnetic flux density That is, the optimized auxiliary tank parameters α and / or β can be determined.

[0108] It is easy to understand that formula (13) reflects the analytical relationship between the optimized auxiliary slot parameters and the square value of the air gap flux density of the tooth slot order and the electromagnetic force density. Therefore, in this embodiment, the optimization device can determine the auxiliary slot parameters corresponding to the current motor according to the current electromagnetic force density and the expected air gap flux density square, so as to open an auxiliary slot on the motor based on the auxiliary slot parameters to optimize the tooth slot torque of the motor, thereby reducing the vibration noise of the motor. Therefore, in this embodiment, under the premise of not affecting the performance of the motor, based on the electromagnetic force density and the square of the air gap flux density, the electromagnetic force of the motor in the tooth slot order can be reduced, thereby reducing the tooth slot torque, and then achieving the purpose of optimizing the vibration noise of the motor.

[0109] The present embodiment provides a method for optimizing motor vibration noise, the method comprising: obtaining the expected motor air gap magnetic flux square corresponding to the target motor; performing frequency domain conversion on the expected motor air gap magnetic flux square to obtain the initial frequency domain air gap magnetic flux square; obtaining the target time frequency corresponding to the target interference order; determining the target order air gap magnetic flux square based on the initial frequency domain air gap magnetic flux square value and the target time frequency; and determining the optimized auxiliary slot parameters based on the current electromagnetic force density and the target order air gap magnetic flux square. The rotor auxiliary slot of the target motor is set based on the optimized auxiliary slot parameters, and the rotor auxiliary slot is used to reduce the cogging torque of the target motor to optimize the vibration noise of the target motor. The present embodiment can determine the auxiliary slot parameters corresponding to the current motor according to the current electromagnetic force density and the expected air gap magnetic flux square, so as to open the auxiliary slot on the motor based on the auxiliary slot parameters to optimize the cogging torque of the motor, thereby reducing the vibration noise of the motor. Therefore, the present embodiment can simply open an accurate auxiliary slot on the motor based on the electromagnetic force density and the air gap magnetic flux square without affecting the performance of the motor, thereby reducing the electromagnetic force of the motor at the cogging order, thereby reducing the cogging torque, and then achieving the purpose of optimizing the vibration noise of the motor.

[0110] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be repeated later.

[0111] It is easy to understand that the position, width and depth of the auxiliary slot on the motor will affect the size of the cogging torque. Therefore, this embodiment needs to find the most suitable auxiliary slot parameters to effectively eliminate the electromagnetic force of the motor in the cogging order. Figure 5 , Figure 5 This is a first flow chart of the second embodiment of the motor vibration noise optimization method of the present application. In this embodiment, the optimized auxiliary slot parameters include auxiliary slot position parameters and auxiliary slot size parameters; step A2 includes steps B1 to B3:

[0112] Step B1, determining the auxiliary slot position parameters according to the current electromagnetic force density and the square of the target order air gap magnetic flux density;

[0113] It should be noted that, from formula (13), the relationship between the auxiliary slot position parameters, that is, the above-mentioned rotation angles α and β and the square of the target order air gap flux density can be simplified as follows:

[0114]

[0115] Therefore, this embodiment can try to simplify formula (14) so ​​that the 12nfe harmonic is only related to α or β, so as to quickly determine the auxiliary slot position. Therefore, this embodiment can make:

[0116] sin(2π12nf e β)-sin(2π12nf e α)=0;(15)

[0117] That is, sin(2π12nf e β)=sin(2π12nf e α), at this time, the relationship between α and β can be expressed as:

[0118]

[0119] Where m is a natural number. Therefore, combining formulas (13) and (16), we can obtain:

[0120]

[0121] It should be understood that when simplified to only one unknown quantity α, the relationship between α and the square of the target order air gap flux density is determined. Therefore, this embodiment can determine the auxiliary slot position parameters by directly monitoring the change of the square of the target order air gap flux density, that is, the center position of the auxiliary slot can be located at the sudden change of the square of the target order air gap flux density.

[0122] Specifically, combined Figure 2 It can be seen that when the square of the target order air gap flux density has the first numerical mutation, the corresponding rotation angle value may be β. When the numerical mutation occurs again, the corresponding rotation angle value may be α. Among them, the sine function value corresponding to α is small, and the amplitude of the radial force of the order opened near α is the smallest. That is, in this embodiment, based on the optimization of the auxiliary slot parameters, it can be determined that the auxiliary slot is opened at a position where the rotation angle of the permanent magnet periphery close to the q-axis is [β, α], but α corresponds to the optimal slot position. The specific slot setting can be as follows Figure 6 As stated, Figure 6 This is a schematic diagram of the motor auxiliary slot arrangement according to the second embodiment of the motor vibration noise optimization method of the present application.

[0123] Step B2, determining the air gap magnetic flux square of the slotted motor corresponding to the target motor based on the auxiliary slot position parameters;

[0124] It is easy to understand that Figure 6 It can be seen that after preliminarily determining the opening position of the auxiliary slot, that is, the slot rotation angle, this embodiment needs to further determine the auxiliary slot width and depth that can accurately eliminate the cogging torque. Therefore, this embodiment can determine the air gap flux square distribution corresponding to the slotted motor under ideal conditions based on the determined auxiliary slot parameter position, that is, the air gap flux square of the slotted motor, which can be expressed as For ease of understanding, Figure 7 Take this as an example to illustrate. Figure 7 Schematic diagram of the square distribution of air gap magnetic flux density of a slotted motor according to the second embodiment of the motor vibration noise optimization method of the present application. Figure 7 The ideal air gap flux square waveform of a single magnetic pole in a built-in permanent magnet synchronous motor after the auxiliary slot is opened is specifically shown in FIG. 1 , and the length and depth of the auxiliary slot can be w and b respectively, where w and b are the auxiliary slot size parameters mentioned above. The opening effect can be shown as follows: Figure 6 In addition, Figure 7 Where δ is the magnetic flux density value related to the auxiliary groove depth, and is positively correlated with the auxiliary groove depth b.

[0125] Step B3, determining the auxiliary slot size parameters according to the square of the air gap flux density of the slotted motor and the auxiliary slot position parameters.

[0126] It is easy to understand that this embodiment needs to optimize the air gap flux square of the motor after slotting at the tooth slot order. Therefore, this embodiment can also convert the air gap flux square of the slotted motor into the frequency domain to obtain the analytical relationship between the square flux value of the slotted motor in the frequency domain and the auxiliary slot position parameters and the auxiliary slot size parameters.

[0127] In one possible implementation, refer to Figure 8 , Figure 8 This is a second flow chart of the second embodiment of the motor vibration noise optimization method of the present application. In this embodiment, step B3 may include steps B31 to B33:

[0128] Step B31, performing frequency domain conversion on the air gap magnetic flux square of the slotted motor to obtain the slotted air gap magnetic flux square in frequency domain;

[0129] Step B32, determining a target order slotted air gap flux density based on the square of the slotted frequency domain air gap flux density and the target order time frequency;

[0130] It should be noted that Figure 7 The waveform in the above figure, that is, the square of the air gap flux density of the slotted motor, is converted to the frequency domain, and the square of the air gap flux density in the slotted frequency domain can be obtained, which is expressed as follows:

[0131]

[0132] In a feasible implementation manner, in this embodiment, step B32 may include steps C1 to C2:

[0133] Step C1, simplifying the slotted frequency domain air gap magnetic flux square according to a preset position interval to obtain a simplified frequency domain air gap magnetic flux square;

[0134] Step C2, determining a target order slotted air gap flux density based on the simplified frequency domain air gap flux square and the target order time frequency.

[0135] It should be understood that the above-mentioned preset position interval can be the angle interval between α and β represented by formula (16), that is, in this embodiment, the values ​​of formula m and n can be pre-set natural numbers. Therefore, in order to reduce the difficulty of subsequent analysis, this embodiment can simplify formula (18) in combination with formula (16) and express it as follows:

[0136]

[0137] Furthermore, since the auxiliary slot width is very small, it can be considered that cosw≈1, and the corresponding expression of the square of the air gap magnetic flux in the simplified frequency domain can be expressed as follows:

[0138]

[0139] Therefore, by substituting the target order time frequency into formula (20), the square of the air gap flux density of the corresponding order of the cogging torque when the auxiliary slot is opened can be obtained in the frequency domain, that is, the expression corresponding to the target order slot air gap flux density can be expressed as:

[0140]

[0141] Step B33, determining the auxiliary slot size parameters according to the target order slot air gap flux density and the auxiliary slot position parameters.

[0142] In a feasible implementation manner, in this embodiment, step B33 may include steps D1 to D2:

[0143] Step D1, performing a preset numerical optimization according to the target order slot air gap magnetic flux density;

[0144] Step D2, determining the auxiliary groove size parameters based on the numerical optimization result and the auxiliary groove position parameters.

[0145] It can be understood that after preliminary simplification, there are only three unknowns left in formula (21), the auxiliary slot position angle α, the auxiliary slot width w and the magnetic flux square parameter δ related to the auxiliary slot depth b. Among them, the auxiliary slot position parameter has been determined by the above method, and the other unknown parameter δ∝b, δ can generally take the value (0.1-0.6)B, and b can be determined.

[0146] In addition, the purpose of opening the auxiliary slot in this embodiment is to eliminate the cogging order disturbance. Therefore, this embodiment can perform preset numerical optimization on the target order slot air gap flux density to obtain the minimum value of the air gap flux density corresponding to the cogging order after the target motor opens the auxiliary slot, that is, to find Thus based on And the determined α is used to obtain w, thereby obtaining the auxiliary groove width w and the auxiliary groove depth b.

[0147] It is easy to understand that, considering the manufacturing and design tolerances, the auxiliary groove position α angle, auxiliary groove width w and b design values ​​are within the range of ±5% of the calculated values ​​in this case, and are all considered to be in compliance with the analytical calculations in this case.

[0148] In addition, this embodiment can also perform motor operation simulation experiments based on the proposed motor vibration optimization method, and the experimental results can be shown as follows: Fig. 9 As shown, Fig. 9 This is a schematic diagram of the operation simulation results of the second embodiment of the motor vibration noise optimization method of this application. Fig. 9 It can be seen that the method proposed in this embodiment can significantly reduce the cogging order excitation of the motor, thereby achieving the effect of effectively improving the vibration noise of the motor.

[0149] In this embodiment, based on the analytical relationship between the auxiliary slot position, dimensional parameters and the square value of the air gap magnetic flux of the slot order and the electromagnetic force density in the built-in permanent magnet synchronous motor, the auxiliary slot position, slot width and depth that are optimal for the slot torque and vibration noise can be quickly obtained, thereby effectively reducing the motor slot order disturbance and reducing the motor vibration noise at a low cost.

[0150] This embodiment discloses the optimization of auxiliary slot parameters including auxiliary slot position parameters and auxiliary slot size parameters; this embodiment determines the auxiliary slot position parameters according to the current electromagnetic force density and the target order air gap flux square; determines the slotted motor air gap flux square corresponding to the target motor based on the auxiliary slot position parameters; performs frequency domain conversion on the slotted motor air gap flux square to obtain the slotted frequency domain air gap flux square; simplifies the slotted frequency domain air gap flux square according to the preset position interval to obtain the simplified frequency domain air gap flux square; determines the target order slotted air gap flux based on the simplified frequency domain air gap flux square and the target order time frequency; performs preset numerical optimization according to the target order slotted air gap flux; determines the auxiliary slot size parameters based on the numerical optimization results and the auxiliary slot position parameters. This embodiment can quickly obtain the auxiliary slot position, slot width and depth with the best cogging torque and vibration noise based on the analytical relationship between the auxiliary slot position and size parameters and the cogging order air gap flux square value and electromagnetic force density in the built-in permanent magnet synchronous motor, thereby effectively reducing the motor cogging order disturbance and reducing the motor vibration noise at a low cost.

[0151] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the motor vibration noise optimization method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0152] This application also provides a motor vibration noise optimization device, please refer to Fig.10 , Fig.10 This is a schematic diagram of the module structure of the motor vibration noise optimization device in the embodiment of the present application. In this embodiment, the motor vibration noise optimization device includes:

[0153] The air gap magnetic flux monitoring module T1 is used to obtain the expected motor air gap magnetic flux square corresponding to the target motor;

[0154] A parameter determination module T2, used for determining and optimizing auxiliary slot parameters according to the current electromagnetic force density and the expected square of the motor air gap magnetic flux density;

[0155] The auxiliary slot setting module T3 is used to set the rotor auxiliary slot of the target motor based on the optimized auxiliary slot parameters, and the rotor auxiliary slot is used to reduce the cogging torque of the target motor to optimize the vibration noise of the target motor.

[0156] In a feasible manner, in this embodiment, the parameter determination module T2 is further used to determine the target order air gap flux square according to the expected motor air gap flux square;

[0157] The parameter determination module T2 is further used to determine the optimized auxiliary slot parameters based on the current electromagnetic force density and the square of the target order air gap flux density.

[0158] In a feasible manner, in this embodiment, the parameter determination module T2 is further used to perform frequency domain conversion on the expected air gap magnetic flux square of the motor to obtain an initial frequency domain air gap magnetic flux square;

[0159] The parameter determination module T2 is also used to obtain the target time frequency corresponding to the target interference order;

[0160] The parameter determination module T2 is further used to determine the target order air gap magnetic flux square based on the initial frequency domain air gap magnetic flux square value and the target time frequency.

[0161] In a feasible manner, in this embodiment, the optimized auxiliary slot parameters include auxiliary slot position parameters and auxiliary slot size parameters; the parameter determination module T2 is further used to determine the auxiliary slot position parameters according to the current electromagnetic force density and the square of the target order air gap magnetic flux density;

[0162] The parameter determination module T2 is further used to determine the air gap magnetic flux square of the slotted motor corresponding to the target motor based on the auxiliary slot position parameter;

[0163] The parameter determination module T2 is further used to determine the auxiliary slot size parameter according to the square of the air gap flux density of the slotted motor and the auxiliary slot position parameter.

[0164] In a feasible manner, in this embodiment, the parameter determination module T2 is further used to perform frequency domain conversion on the air gap magnetic flux square of the slotted motor to obtain the slotted frequency domain air gap magnetic flux square;

[0165] The parameter determination module T2 is further used to determine the target order slotted air gap flux density based on the square of the slotted frequency domain air gap flux density and the target order time frequency;

[0166] The parameter determination module T2 is further used to determine the auxiliary slot size parameter according to the target order slot air gap flux density and the auxiliary slot position parameter.

[0167] In a feasible manner, in this embodiment, the parameter determination module T2 is further used to simplify the slotted frequency domain air gap magnetic flux square according to the preset position interval to obtain a simplified frequency domain air gap magnetic flux square;

[0168] The parameter determination module T2 is further used to determine the target order slotted air gap flux density based on the simplified frequency domain air gap flux square and the target order time frequency.

[0169] In a feasible manner, in this embodiment, the parameter determination module T2 is further used to perform preset numerical optimization according to the target order slot air gap magnetic density;

[0170] The parameter determination module T2 is further used to determine the auxiliary groove size parameters based on the numerical optimization result and the auxiliary groove position parameters.

[0171] The motor vibration noise optimization device provided by the present application adopts the motor vibration noise optimization method in the above embodiment, which can solve the technical problem of motor vibration noise optimization. Compared with the prior art, the beneficial effects of the motor vibration noise optimization device provided by the present application are the same as the beneficial effects of the motor vibration noise optimization method provided by the above embodiment, and other technical features in the motor vibration noise optimization device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0172] The present application provides a built-in permanent magnet synchronous motor, the motor includes a rotor core, the rotor core is provided with a plurality of auxiliary slots in the circumferential direction, the auxiliary slots are provided on the outer periphery of the permanent magnet between the direct axis and the quadrature axis of the rotor core, and the auxiliary slots are determined according to the motor vibration noise optimization method provided in the above embodiment. Specifically, the setting angle, setting width and setting depth of the auxiliary slots are determined according to the motor vibration noise optimization method provided in the above embodiment, and the specific slotting effect can be as follows Figure 6 shown.

[0173] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0174] The present application provides a storage medium having computer-readable program instructions (ie, a motor vibration and noise optimization program) stored thereon, wherein the computer-readable program instructions are used to execute the motor vibration and noise optimization method in the above-mentioned embodiment.

[0175] The storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0176] The above-mentioned storage medium may be included in the motor vibration and noise optimization device; or it may exist independently without being assembled into the motor vibration and noise optimization device.

[0177] The storage medium carries one or more programs. When the one or more programs are executed by the motor vibration and noise optimization device, the motor vibration and noise optimization device performs motor vibration and noise optimization.

[0178] The motor vibration noise optimization program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, through the Internet using an Internet service provider).

[0179] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and motor vibration noise optimization program product according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0180] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0181] The above are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A motor vibration noise optimization method, characterized in that: The method comprises: Get the expected motor air gap magnetic flux square corresponding to the target motor; Determine and optimize auxiliary slot parameters according to the current electromagnetic force density and the expected square of the motor air gap magnetic flux density; A rotor auxiliary slot of the target motor is set based on the optimized auxiliary slot parameters, and the rotor auxiliary slot is used to reduce the cogging torque of the target motor to optimize the vibration noise of the target motor.

2. The motor vibration noise optimization method according to claim 1, characterized in that: The step of determining and optimizing auxiliary slot parameters according to the current electromagnetic force density and the expected square of the motor air gap magnetic flux density comprises: Determine the target order air gap flux square according to the expected motor air gap flux square; The auxiliary slot parameters are optimized based on the current electromagnetic force density and the square of the target order air gap flux density.

3. The motor vibration noise optimization method according to claim 2, characterized in that: The step of determining the target order air gap flux square according to the expected motor air gap flux square comprises: Performing frequency domain conversion on the expected air gap magnetic flux square of the motor to obtain an initial frequency domain air gap magnetic flux square; Obtain the target time frequency corresponding to the target interference order; A target order air gap flux square is determined based on the initial frequency domain air gap flux square value and the target time frequency.

4. The motor vibration noise optimization method according to claim 2, characterized in that: The optimized auxiliary slot parameters include auxiliary slot position parameters and auxiliary slot size parameters; The step of determining and optimizing auxiliary slot parameters based on the current electromagnetic force density and the square of the target order air gap flux density comprises: Determine the auxiliary slot position parameters according to the current electromagnetic force density and the square of the target order air gap magnetic flux density; Determine the air gap flux square of the slotted motor corresponding to the target motor based on the auxiliary slot position parameter; The auxiliary slot size parameter is determined according to the square of the air gap flux density of the slotted motor and the auxiliary slot position parameter.

5. The motor vibration noise optimization method according to claim 4, characterized in that: The step of determining the auxiliary slot size parameter according to the air gap flux square of the slotted motor and the auxiliary slot position parameter comprises: Perform frequency domain conversion on the square of the air gap magnetic flux of the slotted motor to obtain the square of the air gap magnetic flux in the slotted frequency domain; Determine the target order slotted air gap flux density based on the slotted frequency domain air gap flux density square and the target order time frequency; The auxiliary slot size parameters are determined according to the target order slot air gap flux density and the auxiliary slot position parameters.

6. The motor vibration noise optimization method according to claim 5, characterized in that: The step of determining the target order slotted air gap flux density based on the slotted frequency domain air gap flux square and the target order time frequency comprises: Simplifying the slotted frequency domain air gap magnetic flux square according to a preset position interval to obtain a simplified frequency domain air gap magnetic flux square; The target order slotted air gap flux density is determined based on the simplified frequency domain air gap flux square and the target order time frequency.

7. The motor vibration noise optimization method according to claim 5, characterized in that: The step of determining the auxiliary slot size parameters according to the target order slot air gap flux density and the auxiliary slot position parameters comprises: Performing a preset numerical optimization according to the target order slot air gap magnetic flux density; The auxiliary groove size parameters are determined based on the numerical optimization result and the auxiliary groove position parameters.

8. A motor vibration noise optimization device, characterized in that: The device comprises: An air gap magnetic flux monitoring module is used to obtain the expected motor air gap magnetic flux square corresponding to the target motor; A parameter determination module, used for determining and optimizing auxiliary slot parameters according to the current electromagnetic force density and the expected square of the motor air gap magnetic flux density; The auxiliary slot setting module is used to set the rotor auxiliary slot of the target motor based on the optimized auxiliary slot parameters, and the rotor auxiliary slot is used to reduce the cogging torque of the target motor to optimize the vibration noise of the target motor.

9. A built-in permanent magnet synchronous motor, characterized in that: The motor comprises a rotor core, a plurality of auxiliary slots are arranged in the circumferential direction of the rotor core, the auxiliary slots are arranged on the periphery of the permanent magnets between the direct axis and the quadrature axis of the rotor core, and the auxiliary slots are determined according to the method described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a motor vibration and noise optimization program, and when the motor vibration and noise optimization program is executed by the processor, the steps of the motor vibration and noise optimization method according to any one of claims 1 to 7 are implemented.

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