A statorless speed regulating motor modeling method, system and device

Abstract

The present invention relates to the field of statorless speed-regulating motors and provides a method, system, and device for modeling statorless speed-regulating motors. The method comprises the following steps: establishing a mathematical model of a statorless speed-regulating motor in a three-phase relatively stationary coordinate system; converting the mathematical model of the statorless speed-regulating motor in the three-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in a two-phase relatively stationary coordinate system; converting the mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in a two-phase rotating coordinate system; and modeling the statorless speed-regulating motor based on the mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system. By establishing a new modeling method for statorless speed-regulating motors, the present invention accelerates the calculation speed and improves the calculation accuracy for motors with special structures having multiple rotors, when the requirements of coordinate transformation of a multi-rotor motor cannot be met during the process of establishing a mathematical model for theoretical analysis.

Description

Technical Field

[0001] The present invention relates to the field of statorless speed-regulating motors and provides a statorless speed-regulating motor modeling method, system and device. Background Art

[0002] A statorless speed-regulating motor has a permanent magnet outer rotor and an armature winding wound around its inner rotor. The inner and outer rotors rotate relative to each other. Attempts to model statorless speed-regulating motors in a traditional coordinate system have been made. Traditional methods cannot calculate the inverse of the magnetomotive force matrix, nor do they satisfy the principle of power invariance before and after coordinate transformation. Therefore, a new modeling approach suitable for statorless speed-regulating motors is needed. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a method, system and device for modeling a statorless speed-regulating motor, which achieves faster modeling speed and maintains unchanged power before and after coordinate transformation.

[0004] The present invention provides a modeling method for a statorless speed-regulating motor, comprising:

[0005] S1: Establish a mathematical model of a statorless speed regulating motor in a three-phase relatively stationary coordinate system;

[0006] S2: converting the mathematical model of the statorless speed-regulating motor in the three-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system;

[0007] S3: converting the mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system;

[0008] S4: Modeling the statorless speed-regulating motor according to the mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system.

[0009] According to a statorless speed regulating motor modeling method provided by the present invention, step S1 includes:

[0010] S11: Establish a three-phase relative stationary coordinate system ;

[0011] S12: According to the three-phase relative stationary coordinate system , establish the voltage equation of the inner rotor three-phase winding;

[0012] S12: According to the three-phase relative stationary coordinate system , establish the flux equation of the inner rotor three-phase winding;

[0013] S13: According to the three-phase relative stationary coordinate system , calculate the electrical angle of the outer rotor relative position and the magnetic flux of the inner rotor and outer rotor;

[0014] S14: Calculating the inner rotor winding inductance according to the magnetic flux of the inner rotor and the outer rotor;

[0015] S15: Based on the voltage equation of the inner rotor three-phase winding, the flux equation of the inner rotor three-phase winding, the electrical angle of the outer rotor relative position, the flux of the inner rotor and outer rotor, and the inductance of the inner rotor winding, a mathematical model of the statorless speed-regulating motor in a three-phase relatively stationary coordinate system is established:

[0016]

[0017] in, is the voltage of the first winding of the inner rotor, is the voltage of the second winding of the inner rotor, is the voltage of the inner rotor third winding, is the resistance of the inner rotor winding, is the current of the first winding of the inner rotor, is the current of the second winding of the inner rotor, is the current of the inner rotor third winding, is the inductance of the inner rotor winding; To find the time derivative, is the electrical angular velocity of the outer rotor relative to the inner rotor, is the magnetic flux of the outer rotor permanent magnet, is the angle between the outer rotor magnetic field axis and the first winding of the inner rotor.

[0018] According to a statorless speed regulating motor modeling method provided by the present invention, step S2 includes:

[0019] S21: Establishing a two-phase relative stationary coordinate system ;

[0020] S22: According to the basic principle of coordinate transformation, the mathematical model of the statorless speed regulating motor in the three-phase relatively stationary coordinate system is transferred to the two-phase relatively stationary coordinate system. The current transfer formula is obtained:

[0021]

[0022] in, For the The equivalent current of the shaft, For the The equivalent current of the shaft, is the number of turns of the inner rotor three-phase winding, is the equivalent number of turns of two phases of the inner rotor three-phase winding relative to the stationary coordinate system;

[0023] S23: Introducing zero axis current , the current transcription formula becomes the second current transcription formula:

[0024] ,

[0025] in, is the coefficient to be determined;

[0026] Define the transformation matrix from the three-phase relative stationary coordinate system to the two-phase relative stationary coordinate system :

[0027]

[0028] S24: After calculation, the transformation matrix from the three-phase relative stationary coordinate system to the two-phase relative stationary coordinate system is:

[0029]

[0030] S25: The mathematical model of the statorless speed regulating motor in the three-phase relatively stationary coordinate system is transformed into the mathematical model of the statorless speed regulating motor in the two-phase relatively stationary coordinate system:

[0031]

[0032]

[0033] in, For the The equivalent magnetic flux of the shaft, For the The equivalent magnetic flux of the shaft, is the zero axis flux, is the flux linkage of the first winding of the inner rotor, is the flux linkage of the second winding of the inner rotor, is the flux linkage of the inner rotor third winding, For the The equivalent voltage of the shaft, For the The equivalent voltage of the shaft, is the zero axis voltage.

[0034] According to a statorless speed regulating motor modeling method provided by the present invention, step S24 includes:

[0035] S241: Calculation The transposed matrix of :

[0036]

[0037] in, Represents matrix transpose;

[0038] S242: Calculation The inverse matrix of :

[0039] ;

[0040] S243: According to the principle that power remains unchanged before and after coordinate transformation, we can obtain:

[0041]

[0042] Further calculation yields:

[0043]

[0044] .

[0045] According to a statorless speed regulating motor modeling method provided by the present invention, step S3 includes:

[0046] S31: Establishing a two-phase rotating coordinate system ;

[0047] S32: According to the basic principle of coordinate transformation, the current conversion formula is converted into a two-phase rotating coordinate system. The third transcription formula is obtained:

[0048]

[0049] in, For the The equivalent current of the shaft, For the The equivalent current of the shaft, is the equivalent number of turns of the inner rotor three-phase winding in the two-phase rotating coordinate system;

[0050] S33: Define the transformation matrix from the two-phase relative stationary coordinate system to the two-phase rotating coordinate system :

[0051] ;

[0052] S34: The transformation matrix from the three-phase relative stationary coordinate system to the two-phase rotating coordinate system is obtained through calculation :

[0053] ;

[0054] S35: Convert the mathematical model of the statorless speed regulating motor in the two-phase relatively stationary coordinate system into the mathematical model of the statorless speed regulating motor in the two-phase rotating coordinate system:

[0055]

[0056]

[0057]

[0058] in, For the The equivalent magnetic flux of the shaft, For the The equivalent magnetic flux of the shaft, For the The equivalent inductance of the shaft, For the The equivalent inductance of the shaft, For the The equivalent voltage of the shaft, For the Equivalent voltage of the shaft.

[0059] According to a statorless speed regulating motor modeling method provided by the present invention, step S34 includes:

[0060] S341: Due to is an orthogonal matrix, so ,

[0061] ;

[0062] S342: Transformation matrix from three-phase relative stationary coordinate system to two-phase rotating coordinate system

[0063] .

[0064] According to a statorless speed regulating motor modeling method provided by the present invention, step S4 includes:

[0065] S41: The power of the three-phase winding of the statorless speed regulating motor is:

[0066]

[0067] in, is the motor power, is the number of pole pairs of the motor;

[0068] S42: Calculate the electromagnetic torque of the statorless speed-regulating motor:

[0069]

[0070] in, is the electromagnetic torque of the motor;

[0071] S43: Due to the existence of a stator-less speed regulating motor , so the electromagnetic torque of the motor is:

[0072]

[0073] Therefore, by controlling the The equivalent current of the shaft can be used to control the electromagnetic torque of the motor.

[0074] The present invention also provides a statorless speed regulating motor modeling system, comprising:

[0075] Model building module: establishes a mathematical model of a statorless speed-regulating motor in a three-phase relatively stationary coordinate system; converts the mathematical model of the statorless speed-regulating motor in the three-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in a two-phase relatively stationary coordinate system; and converts the mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in a two-phase rotating coordinate system;

[0076] Adjusting the motor module: Modeling the statorless speed-regulating motor according to the mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system.

[0077] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-described statorless speed regulating motor modeling methods are implemented.

[0078] The present invention provides a method, system and device for modeling a statorless speed-regulating motor. By establishing a new modeling method for a statorless speed-regulating motor, the present invention accelerates the calculation speed and improves the calculation accuracy when establishing a mathematical model for a special structure motor with multiple rotors to conduct theoretical analysis, when the traditional coordinate system cannot meet the requirements of the coordinate transformation of the multi-rotor motor.

[0079] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0081] Figure 1 This is a flow chart of a statorless speed regulation motor modeling method provided by the present invention.

[0082] Figure 2 The three-phase relatively stationary coordinate system provided by the present invention Schematic diagram of .

[0083] Figure 3 The two-phase relative stationary coordinate system provided by the present invention Schematic diagram of .

[0084] Figure 4 The two-phase rotating coordinate system provided by the present invention Schematic diagram of .

[0085] Figure 5 This is a block diagram of a statorless speed-regulating motor modeling system provided by the present invention.

[0086] Figure 6 This is a schematic structural diagram of the electronic device provided by the present invention.

[0087] Reference numerals:

[0088] 101. Model building module; 102. Motor adjustment module; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. DETAILED DESCRIPTION

[0089] To make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Obviously, the embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0091] The following combination Figures 1 to 6 The present invention is described.

[0092] Example

[0093] like Figure 1As shown, an embodiment of the present invention provides a modeling method for a statorless speed-regulating motor, comprising:

[0094] S1: Establish a mathematical model of a statorless speed regulating motor in a three-phase relatively stationary coordinate system;

[0095] S2: converting the mathematical model of the statorless speed-regulating motor in the three-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system;

[0096] S3: converting the mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system;

[0097] S4: Modeling the statorless speed-regulating motor according to the mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system.

[0098] Specifically, step S1 includes:

[0099] S11: Establish a three-phase relative stationary coordinate system ,in, Axis and The axis angle is , Axis and The axis angle is , Axis and The axis angle is

[0100] like Figure 2 As shown, Figure 2 The three-phase relatively stationary coordinate system provided by the present invention Schematic diagram of is the electrical angular velocity of the outer rotor, is the electrical angular velocity of the inner rotor.

[0101] S12: According to the three-phase relative stationary coordinate system , establish the flux equation of the inner rotor three-phase winding:

[0102]

[0103] in, is the self-inductance of the first winding of the inner rotor, is the mutual inductance between the first and second windings of the inner rotor, is the mutual inductance between the first and third windings of the inner rotor, is the mutual inductance between the second winding and the first winding of the inner rotor, is the self-inductance of the inner rotor second winding, is the mutual inductance between the second and third windings of the inner rotor, is the mutual inductance between the third winding and the first winding of the inner rotor, is the mutual inductance between the third winding and the second winding of the inner rotor, is the self-inductance of the inner rotor third winding, is the flux linkage between the first winding of the inner rotor and the outer rotor, is the flux linkage between the second winding of the inner rotor and the outer rotor, is the magnetic flux linkage between the inner rotor tertiary winding and the outer rotor.

[0104] S13: When the outer rotor rotates relative to the inner rotor, the electrical angle formula of the outer rotor's relative position is:

[0105]

[0106] in, is the angle between the outer rotor magnetic field axis and the first winding of the inner rotor, is the electrical angular velocity of the outer rotor relative to the inner rotor, For time, for The relative position angle of the outer rotor at time

[0107] It can be expressed as:

[0108]

[0109] in, is the magnetic flux of the outer rotor permanent magnet.

[0110] S14: Since the air gap geometry of the statorless speed regulating motor does not follow Therefore, the self-inductance of the inner rotor winding remains constant:

[0111]

[0112] in, It is the self-inductance component caused by the fundamental air gap flux in space. It is an additional component caused by the leakage flux of the armature winding.

[0113] Since the interphase mutual inductance of the inner rotor winding is caused solely by the fundamental air gap flux, the phase angle difference is The air gap mutual inductance between two identical coils (mutual inductance caused by the fundamental air gap flux in space) is equal to the air gap component of their self-inductance (self-inductance component caused by the air gap flux) multiplied by Since the phase difference between the three-phase windings of the inner rotor is 120° electrical angle, and , so the mutual inductance between the three-phase windings of the inner rotor is equal and can be expressed as:

[0114]

[0115] Since the inner rotor current is a three-phase symmetrical alternating current:

[0116]

[0117] therefore:

[0118]

[0119]

[0120]

[0121] definition:

[0122]

[0123] in, is the inductance of the inner rotor winding.

[0124] S15: Establish a mathematical model of a statorless speed regulating motor in a three-phase relatively stationary coordinate system:

[0125] .

[0126] It can be seen that the mathematical model of the statorless speed-regulating motor in the three-phase relatively stationary coordinate system is complex and difficult to solve directly. Coordinate transformation is required to convert the differential equation with variable coefficients into a differential equation with constant coefficients. Before and after the transformation, the magnetomotive force in the two coordinate systems should be the same and the power should remain unchanged.

[0127] Specifically, step S2 includes:

[0128] S21: Establishing a two-phase relative stationary coordinate system :

[0129] like Figure 3 As shown, the two-phase relative stationary coordinate system provided by the present invention Schematic diagram of . Among them, Axis and Axis coincidence, Axis and The axis angle is , Axis and The axis angle is .

[0130] S22: According to the basic principle of coordinate transformation, the mathematical model of the statorless speed regulating motor in the three-phase relatively stationary coordinate system is transferred to the two-phase relatively stationary coordinate system. The current transfer formula is obtained:

[0131]

[0132] Translated into a matrix:

[0133]

[0134] in, For the The equivalent current of the shaft, For the The equivalent current of the shaft, is the number of turns of the inner rotor three-phase winding, is the equivalent number of turns of two phases of the inner rotor three-phase winding relative to the stationary coordinate system.

[0135] Since the current transfer formula is not a square matrix, the inverse matrix cannot be obtained, so the zero axis is introduced. The zero axis is perpendicular to Axis and Axis, forming Coordinate system.

[0136] S23: Introducing zero axis current , the current transcription formula becomes the second current transcription formula:

[0137] ,

[0138] in, is the undetermined coefficient.

[0139] Define the transformation matrix from the three-phase relative stationary coordinate system to the two-phase relative stationary coordinate system :

[0140]

[0141] S24: After calculation, the transformation matrix from the three-phase relative stationary coordinate system to the two-phase relative stationary coordinate system is:

[0142]

[0143] Among them, S241: calculation The transposed matrix of :

[0144]

[0145] in, Represents matrix transpose;

[0146] S242: Calculation The inverse matrix of :

[0147] ;

[0148] S243: According to the principle that power remains unchanged before and after coordinate transformation, we can obtain:

[0149]

[0150] Further calculations yield:

[0151]

[0152] .

[0153] S25: The mathematical model of the statorless speed regulating motor in the three-phase relatively stationary coordinate system is transformed into the mathematical model of the statorless speed regulating motor in the two-phase relatively stationary coordinate system:

[0154]

[0155]

[0156] in, For the The equivalent magnetic flux of the shaft, For the The equivalent magnetic flux of the shaft, is the zero axis flux, For the The equivalent voltage of the shaft, For the The equivalent voltage of the shaft, is the zero axis voltage.

[0157] The flux equation and voltage equation of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system are still differential equations with variable coefficients, which are complex to solve and require the transformation of the rotating coordinate system to solve.

[0158] Specifically, step S3 includes:

[0159] S31: Establishing a two-phase rotating coordinate system ,like Figure 4 As shown, Figure 4 The two-phase rotating coordinate system provided by the present invention Schematic diagram, where Axis advance axis , two-phase rotating coordinate system Relative two-phase relatively stationary coordinate system by The electrical angular velocity rotates, the two-phase rotating coordinate system Relative to space The electrical angular velocity rotates, that is The system speed is the same as the outer rotor speed.

[0160] S32: According to the basic principle of coordinate transformation, the current conversion formula is converted into a two-phase rotating coordinate system. The third transcription formula is obtained:

[0161]

[0162] in, For the The equivalent current of the shaft, For the The equivalent current of the shaft, is the equivalent number of turns of the inner rotor three-phase winding in the two-phase rotating coordinate system;

[0163] S33: Define the transformation matrix from the two-phase relative stationary coordinate system to the two-phase rotating coordinate system :

[0164] ;

[0165] S34: The transformation matrix from the three-phase relative stationary coordinate system to the two-phase rotating coordinate system is obtained through calculation :

[0166] ;

[0167] S35: Convert the mathematical model of the statorless speed regulating motor in the two-phase relatively stationary coordinate system into the mathematical model of the statorless speed regulating motor in the two-phase rotating coordinate system:

[0168]

[0169]

[0170]

[0171] in, For the The equivalent magnetic flux of the shaft, For the The equivalent magnetic flux of the shaft, For the The equivalent inductance of the shaft, For the The equivalent inductance of the shaft, For the The equivalent voltage of the shaft, For the Equivalent voltage of the shaft.

[0172] Specifically, step S4 includes:

[0173] S41: The power of the three-phase winding of the statorless speed regulating motor is:

[0174]

[0175] in, is the motor power, is the number of pole pairs of the motor;

[0176] S42: Calculate the electromagnetic torque of the statorless speed-regulating motor:

[0177]

[0178] in, is the electromagnetic torque of the motor;

[0179] S43: Due to the existence of a stator-less speed regulating motor , so the electromagnetic torque of the motor is:

[0180]

[0181] Therefore, by controlling the The equivalent current of the shaft can be used to control the electromagnetic torque of the motor.

[0182] The present invention aims to solve the problem that the statorless speed regulating motor cannot establish a mathematical model in the traditional coordinate system. The concept of "rotating relative coordinate system" is proposed. The "three-phase relatively stationary coordinate system" is established on the inner rotor of the statorless speed regulating motor. That is, the coordinate system is stationary relative to the inner rotor and is at the electrical angular velocity of the inner rotor relative to space. Rotation, because the outer rotor of the statorless speed regulating motor is The electrical angular velocity of the outer rotor rotates relative to the space, so the outer rotor is relative to the "three-phase relative stationary coordinate system" on the inner rotor at The electrical angular velocity rotates, and It is exactly the electric angular velocity of the rotating magnetic field formed by the winding current on the inner rotor. If the "two-phase rotating coordinate system" is established on the outer rotor, the decoupling between the windings can be achieved, thereby completing the transformation of the nonlinear unsteady system of the statorless speed regulation motor into a linear steady system, which facilitates the establishment of its mathematical model.

[0183] The present invention derives the three-phase relative stationary coordinate system to the two-phase relative stationary coordinate system , two-phase relative stationary coordinate system to two-phase rotating coordinate system , and the three-phase relative stationary coordinate system to the two-phase rotating coordinate system When mathematical modeling is required for a special structure motor with multiple rotors, it is possible to consider establishing a rotating relative coordinate system on one of the rotors and performing coordinate transformation in this coordinate system to facilitate the establishment of a mathematical model of the multi-rotor motor.

[0184] like Figure 5 As shown, the embodiment of the present invention further includes a statorless speed regulating motor modeling system, including:

[0185] Model building module 101: establishing a mathematical model of a statorless speed-regulating motor in a three-phase relatively stationary coordinate system; converting the mathematical model of the statorless speed-regulating motor in the three-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in a two-phase relatively stationary coordinate system; and converting the mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in a two-phase rotating coordinate system.

[0186] The motor adjustment module 102 is used to model the statorless speed-regulating motor according to the mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system.

[0187] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call logic instructions in the memory 830 to execute a statorless speed regulating motor modeling method, the method comprising: S1: establishing a statorless speed regulating motor mathematical model in a three-phase relatively stationary coordinate system;

[0188] S2: converting the mathematical model of the statorless speed-regulating motor in the three-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system;

[0189] S3: converting the mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system;

[0190] S4: Modeling the statorless speed-regulating motor according to the mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system.

[0191] Furthermore, the logic instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0192] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

[0193] It should be noted that the embodiments of the present disclosure can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, such code is provided on a programmable memory or a data carrier such as an optical or electronic signal carrier.

[0194] In addition, although the operations of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that these operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flow chart can change the order of execution. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps. It should also be noted that the features and functions of two or more devices according to the present disclosure can be embodied in one device. Conversely, the features and functions of a device described above can be further divided into being embodied by multiple devices.

[0195] Although the present disclosure has been described with reference to several specific embodiments, it should be understood that the present disclosure is not limited to the specific embodiments disclosed. The present disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A modeling method for a statorless speed-regulating motor, characterized in that: include: S1: Establishing a mathematical model of a statorless speed regulating motor in a three-phase relatively stationary coordinate system. Step S1 includes: S11: Establish a three-phase relative stationary coordinate system ; S12: According to the three-phase relative stationary coordinate system , establish the voltage equation of the inner rotor three-phase winding; S12: According to the three-phase relative stationary coordinate system , establish the flux equation of the inner rotor three-phase winding; S13: According to the three-phase relative stationary coordinate system , calculate the electrical angle of the outer rotor relative position and the magnetic flux of the inner rotor and outer rotor; S14: Calculating the inner rotor winding inductance according to the magnetic flux of the inner rotor and the outer rotor; S15: Based on the voltage equation of the inner rotor three-phase winding, the flux equation of the inner rotor three-phase winding, the electrical angle of the outer rotor relative position, the flux of the inner rotor and outer rotor, and the inductance of the inner rotor winding, a mathematical model of the statorless speed-regulating motor in a three-phase relatively stationary coordinate system is established: in, is the voltage of the first winding of the inner rotor, is the voltage of the second winding of the inner rotor, is the voltage of the inner rotor third winding, is the resistance of the inner rotor winding, is the current of the first winding of the inner rotor, is the current of the second winding of the inner rotor, is the current of the inner rotor third winding, is the inductance of the inner rotor winding; To find the time derivative, is the electrical angular velocity of the outer rotor relative to the inner rotor, is the magnetic flux of the outer rotor permanent magnet, is the angle between the outer rotor magnetic field axis and the inner rotor first winding; S2: converting the mathematical model of the statorless speed-regulating motor in the three-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system; Step S2 includes: S21: Establishing a two-phase relative stationary coordinate system : S22: According to the basic principle of coordinate transformation, the mathematical model of the statorless speed regulating motor in the three-phase relatively stationary coordinate system is transferred to the two-phase relatively stationary coordinate system. The current transfer formula is obtained: in, For the The equivalent current of the shaft, For the The equivalent current of the shaft, is the number of turns of the inner rotor three-phase winding, is the equivalent number of turns of two phases of the inner rotor three-phase winding relative to the stationary coordinate system; S23: Introducing zero axis current , the current transcription formula becomes the second current transcription formula: ， in, is the coefficient to be determined; Define the transformation matrix from the three-phase relative stationary coordinate system to the two-phase relative stationary coordinate system : S24: After calculation, the transformation matrix from the three-phase relative stationary coordinate system to the two-phase relative stationary coordinate system is: ； Step S24 includes: S241: Calculation The transposed matrix of : in, Represents matrix transpose; S242: Calculation The inverse matrix of : ； S243: According to the principle that power remains unchanged before and after coordinate transformation, we can obtain: Further calculation yields: ； S25: The mathematical model of the statorless speed regulating motor in the three-phase relatively stationary coordinate system is transformed into the mathematical model of the statorless speed regulating motor in the two-phase relatively stationary coordinate system: in, For the The equivalent magnetic flux of the shaft, For the The equivalent magnetic flux of the shaft, is the zero axis flux, is the flux linkage of the first winding of the inner rotor, is the flux linkage of the second winding of the inner rotor, is the flux linkage of the inner rotor third winding, For the The equivalent voltage of the shaft, For the The equivalent voltage of the shaft, is the zero axis voltage; S3: Converting the mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system; including: S31: Establishing a two-phase rotating coordinate system ; S32: According to the basic principle of coordinate transformation, the current conversion formula is converted into a two-phase rotating coordinate system. The third transcription formula is obtained: in, For the The equivalent current of the shaft, For the The equivalent current of the shaft, is the equivalent number of turns of the inner rotor three-phase winding in the two-phase rotating coordinate system; S33: Define the transformation matrix from the two-phase relative stationary coordinate system to the two-phase rotating coordinate system : ； S34: The transformation matrix from the three-phase relative stationary coordinate system to the two-phase rotating coordinate system is obtained through calculation : Step S34 includes: S341: Due to is an orthogonal matrix, so , ； S342: Transformation matrix from three-phase relative stationary coordinate system to two-phase rotating coordinate system ； S35: Convert the mathematical model of the statorless speed regulating motor in the two-phase relatively stationary coordinate system into the mathematical model of the statorless speed regulating motor in the two-phase rotating coordinate system: in, For the The equivalent magnetic flux of the shaft, For the The equivalent magnetic flux of the shaft, For the The equivalent inductance of the shaft, For the The equivalent inductance of the shaft, For the The equivalent voltage of the shaft, For the Equivalent voltage of the shaft; S4: Modeling the statorless speed-regulating motor according to the mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system.

2. A statorless speed regulating motor modeling method according to claim 1, characterized in that: Step S4 includes: S41: The power of the three-phase winding of the statorless speed regulating motor is: in, is the motor power, is the number of pole pairs of the motor; S42: Calculate the electromagnetic torque of the statorless speed-regulating motor: in, is the electromagnetic torque of the motor; S43: Due to the existence of a stator-less speed regulating motor , so the electromagnetic torque of the motor is: Therefore, by controlling the The equivalent current of the shaft can be used to control the electromagnetic torque of the motor.

3. A statorless speed regulating motor modeling system, used to execute a statorless speed regulating motor modeling method according to any one of claims 1 to 2, characterized in that: include: Model building module: establishes a mathematical model of a statorless speed-regulating motor in a three-phase relatively stationary coordinate system; converts the mathematical model of the statorless speed-regulating motor in the three-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in a two-phase relatively stationary coordinate system; and converts the mathematical model of the statorless speed-regulating motor in the two-phase relatively stationary coordinate system into a mathematical model of the statorless speed-regulating motor in a two-phase rotating coordinate system; Adjusting the motor module: Modeling the statorless speed-regulating motor according to the mathematical model of the statorless speed-regulating motor in the two-phase rotating coordinate system.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the statorless speed-regulating motor modeling method according to any one of claims 1 to 2 are implemented.

Images