Double-sector permanent magnet synchronous motor sideband vibration suppression method and system based on mode search

Abstract

The invention provides a double-sector permanent magnet synchronous motor sideband vibration suppression method and system based on mode search. A sideband vibration model is established according to side frequency electromagnetic force and a vibration transfer function; carrying out iterative search on the carrier phase shift angles of the two sectors, and finding the minimum value of the corresponding system sideband vibration peak value as an optimization target by searching the carrier phase difference between the sectors; and through parallel search, determining a global optimal carrier phase shift angle after a comparison process, and finally outputting the optimal carrier phase shift angle. The characteristic of independence of carrier phases of all sectors of a double-sector motor is utilized, the carrier phase deviation angle is optimized, the space order of high-frequency side-frequency electromagnetic force is changed, the inherent frequency of the corresponding order is made to be away from the frequency of the high-frequency side-frequency electromagnetic force, and vibration suppression is achieved; and for different motor vibration characteristics and working conditions, an optimal target carrier phase shift angle can be iteratively searched through a mode search algorithm, and effective suppression of high-frequency vibration of the motor is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of motor vibration control, and in particular to a method and system for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search. Background Art

[0002] Surface-mounted permanent magnet synchronous motors have been widely used in high-power applications such as electric propulsion ships and more-electric aircraft due to their simple structure, high efficiency, high power density, and simple control. Among various surface-mounted permanent magnet synchronous motor topologies, the dual-unit surface-mounted permanent magnet synchronous motor places each set of neutral-point-isolated three-phase windings in spatially separated units and is powered by independent inverters. Therefore, this topology has significant advantages such as uniform sharing of unit power, excellent fault tolerance, simple control characteristics, and high power density, and has become one of the preferred solutions for high-power motor topologies.

[0003] Pulse width modulation inevitably generates current harmonics near the switching frequency and its multiples, which in turn causes high-frequency vibration. Although the amplitude of high-frequency vibration is relatively small compared to low-frequency current harmonics, it has received extensive attention and in-depth research because it can excite significant high-frequency vibration noise audible to the human ear, and it is particularly critical in application scenarios with limited switching frequencies such as high-speed and high-power.

[0004] Taking advantage of the carrier phase independence in each sector of the dual-sector surface-mounted permanent magnet synchronous motor, the carrier phase-shifting technique has received attention because it can directionally suppress the amplitude of specific sideband vibrations. However, the current carrier phase-shifting technique lacks quantitative analysis of sideband electromagnetic forces and sideband vibrations, and its carrier phase-shifting angle depends on manual experience tuning and is often set to a fixed value. Therefore, it is difficult to evaluate the sideband vibration suppression effect, and it is impossible to ensure optimal vibration suppression for different motor vibration characteristics and operating conditions. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a method and system for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search, which can effectively solve the technical problem that it is difficult to ensure optimal vibration suppression for different motor vibration characteristics and operating conditions.

[0006] The technical solution of the present invention is as follows: A method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search includes the following steps:

[0007] S1), Establish a sideband vibration model based on sideband electromagnetic force and vibration transfer function;

[0008] S2), Iteratively search for the carrier phase-shift angles of the two sectors respectively, and find the corresponding system sideband vibration peak value by searching for the carrier phase difference between the sectors ​ The minimum value of is the optimization target;

[0009] S3), through parallel search, determine the global optimal carrier phase shift angle after the comparison process, and finally output the optimal carrier phase shift angle.

[0010] Preferably, in step S1), the expression of the sideband vibration model is:

[0011]

[0012] Where Y(ω) represents the sideband vibration amplitude; m r represents the order; ω represents the sideband vibration angular frequency, which is numerically the same as the sideband voltage harmonic angular frequency ω m,n same; Indicates m r The sideband electromagnetic force of the first mode;

[0013] Indicates m r The vibration transfer function of the first mode.

[0014] As a preferred embodiment, in step S1), the b-th order sideband electromagnetic force F v (ω) through the side-frequency electromagnetic force density σ s By performing circular integration, we can obtain the expression as shown in formula (2):

[0015]

[0016] Where θ is the mechanical angle of the motor, N t It is the greatest common divisor of the number of motor pole pairs and the number of slots.

[0017] Preferably, in step S1), the vibration transfer function of the vth order is expressed as:

[0018]

[0019] In the formula, Φ v is the centroid normalized mode shape vector of the vth mode; ω v and v are the vth-order natural frequency and damping ratio respectively; j represents the imaginary unit; ω represents the sideband vibration angular frequency, which is numerically the same as the sideband voltage harmonic angular frequency ω m,n Same; T represents the transpose operation.

[0020] Preferably, in step S1), the sideband electromagnetic force density σ s The calculation is done using the Maxwell stress tensor method, namely:

[0021]

[0022] In the formula, u 0 is the magnetic permeability of vacuum; b s is the air gap magnetic flux density; m is the carrier index variable, n is the sideband index variable; F v,1 (ω m,n ), F v,2 (ω m,n ) represent the stator armature magnetomotive force of the first and second sectors respectively; ω m,n Indicates the angular frequency of the sideband voltage harmonics; F mag represents the basic magnetomotive force of the permanent magnet PM; 0 (ω 1 ,p) is the air gap permeability; ω 1 represents the fundamental angular frequency; p is the number of pole pairs of the motor; θ is the mechanical angle of the motor.

[0023] Preferably, in step S2), the system sideband vibration peak is selected The minimum value of is the optimization target, which includes the following steps:

[0024] S21), initialize the carrier phase shift angle Step Length Grid expansion factor γ, grid contraction factor α, positive integer q;

[0025] S22), in the initial state, use the step size Phase shift angle to reference carrier Shift it to get and This step is exploratory movement;

[0026] S23), calculate the reference carrier phase shift angle The corresponding sideband vibration peak And the current carrier phase shift angle and The corresponding sideband vibration peak and

[0027] S24), introduce reference value Y peak_update_1 and Y peak_update_2 As a reference value for pattern search, judge Is it less than Y peak_update_i ;

[0028] If not, shift the current carrier phase by an angle Assign a phase shift angle to the reference carrier Reduce the exploration step size And determine whether the function tolerance ρ and the number of iterations meet the conditions or reach the upper limit. If not, return to step S21); if so, execute step S25);

[0029] S25) If Then further determine whether there is To determine Perform positive or negative displacement And used to update the current

[0030] like The reference Assign a value to the current carrier phase shift angle Same as step S23), reduce the exploration step length And determine the iteration end condition;

[0031] S26), calculate the function tolerance ρ, and update the reference value Y peak_update_i , further perform mode shift and update the reference carrier phase shift angle Expand the step size by the grid expansion factor γ Determine whether the function tolerance ρ is less than ∈ or the number of iterations exceeds N max If yes, terminate the iterative search and output the optimal carrier phase shift angle If not, continue the iterative search.

[0032] Preferably, in step S3), the search space is divided into multiple sub-areas, and the optimization is performed in the range of 0 to π / 2. Iterate optimization in the range of π / 2 to π Use exploration move and pattern move to perform iterative search, and by comparing the two sets of candidate solutions, select the solution that can minimize the objective function as the global optimal carrier phase shift angle. and And output the smallest sideband vibration peak

[0033] Preferably, the present invention further provides a dual-sector permanent magnet synchronous motor sideband vibration suppression system based on pattern search, comprising:

[0034] A sideband vibration model building module is used to build a sideband vibration model based on the sideband electromagnetic force and the vibration transfer function;

[0035] The parallel search module is used to iteratively search the carrier phase shift angle of the two sectors by searching the carrier phase difference between the sectors. Find the corresponding system sideband vibration peak The minimum value of is the optimization target; the optimal carrier phase shift angle is finally output.

[0036] The beneficial effects of the present invention are:

[0037] 1. The present invention utilizes the characteristic of the carrier phase independence of each sector of the dual-sector motor, optimizes the carrier phase shift (CPS) angle, changes the spatial order of the high-frequency sideband electromagnetic force, and makes the natural frequency of the corresponding order far away from the frequency of the high-frequency sideband electromagnetic force, thereby achieving vibration suppression.

[0038] 2. The present invention does not rely on special structural designs of motors such as co-slot windings. It only starts from the perspective of the PWM modulation algorithm to suppress vibration without increasing hardware costs. For different motor vibration characteristics and operating conditions, the optimal target carrier phase shift angle can be iteratively searched through the pattern search algorithm to effectively suppress the high-frequency vibration of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic flow diagram of the method of the present invention;

[0040] Figure 2 is a schematic diagram showing the change of the sideband electromagnetic force order with the phase difference between sectors in the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0041] The following further describes the specific embodiments of the present invention with reference to the drawings:

[0042] As Figure 1 shown, the present invention provides a sideband vibration suppression method for a dual-sector permanent magnet synchronous motor based on pattern search, including the following steps:

[0043] S1). Establish a sideband vibration model according to the sideband electromagnetic force and the vibration transfer function;

[0044] The expression of the sideband vibration model is:

[0045]

[0046] In the formula, Y(ω) represents the sideband vibration amplitude; m r represents the order; ω represents the sideband vibration angular frequency, which is numerically the same as the sideband voltage harmonic angular frequency ω m,n ; represents the sideband electromagnetic force of the m r th order mode;

[0047] represents the vibration transfer function of the m r th order mode.

[0048] Among them, the vth order sideband electromagnetic force F v (ω) is obtained by performing a circular integral on the sideband electromagnetic force density σ s , and its expression is as shown in (2):

[0049]

[0050] In the formula, θ is the mechanical angle of the motor, and N t is the greatest common divisor of the number of motor pole pairs and the number of slots.

[0051] The vibration transfer function of the v-th order is expressed as:

[0052]

[0053] In the formula, Φ v is the centroid-normalized modal shape vector of the v-th order mode; ω v and ξ v are the natural frequency and damping ratio of the v-th order respectively; j represents the imaginary unit; ω represents the sideband vibration angular frequency, which is numerically the same as the sideband voltage harmonic angular frequency ω m,n ; T represents the transpose operation.

[0054] In this embodiment, the damping ratio of the v-th order is: ξ v = 6.975×10 -7 ω v -0.001.

[0055] As an optimization of this embodiment, the sideband electromagnetic force density σ s is calculated by using the Maxwell stress tensor method, that is:

[0056]

[0057] In the formula, u 0 is the magnetic permeability of vacuum; b s is the air-gap magnetic flux density; m is the carrier index variable, and n is the sideband index variable; F v,1 (ω m,n ), F v,2 (ω m,n ) respectively represent the stator armature magnetomotive forces of the 1st and 2nd sectors; ω m,n represents the sideband voltage harmonic angular frequency; ω m,n = mω s + nω 1 , where ω s represents the switching angular frequency, and ω 1 represents the fundamental angular frequency; F mag represents the fundamental magnetomotive force of the permanent magnet PM; Λ 0 (ω 1 , p) is the air-gap permeance; ω 1 represents the fundamental angular frequency; p is the number of motor pole pairs; θ is the mechanical angle of the motor.

[0058] In this embodiment, considering that the radial force is much greater than the tangential force, the radial sideband electromagnetic force acting on the surface of the stator teeth dominates and can be calculated through the air-gap magnetomotive force and air-gap permeance. The stator armature magnetomotive force F v,k (ω m,n ) interacts with the fundamental magnetomotive force F mag of the permanent magnet in the air gap, generating a unit electromagnetic force wave.

[0059] Among them, the expression of the stator armature magnetomotive force F v,k (ω m,n ) of sector k caused by the sideband harmonics is as follows:

[0060]

[0061] In the formula, N is the number of turns in series per phase, v is the space order of the stator armature magnetomotive force, k wv represents the winding coefficient of the v-th harmonic, and are the amplitudes of the consistent con sideband current harmonic and the inconsistent incon sideband current harmonic respectively, N t is the greatest common divisor of the number of poles and slots of the motor, θ is the mechanical angle of the motor, s n,v is the rotation direction of the current armature reaction field, where the forward direction is +1 and the reverse direction is -1; and are the initial phase angles of the consistent sideband current harmonic and the inconsistent sideband current harmonic of sector k respectively.

[0062] For the current rotating space vector of the sideband voltage harmonic angular frequency ω m,n , according to the phase sequence relationship of the sideband voltage harmonics, it can be expressed as the synthesis of the vector with the consistent rotation direction and and the with the inconsistent rotation direction. When CPS is introduced into the double-sector SPMSM system, due to the asymmetric magnetic coupling characteristics, the three-phase current harmonics become asymmetric; the asymmetric magnetic coupling in the double-sector SPMSM leads to an unexpected phase difference between the two sectors and an increase in the sideband current harmonics under CPS. For there is an additional phase difference between the two sectors, and this phase difference varies with the CPS angle.

[0063] Therefore, in this embodiment, the amplitudes and of the consistent con sideband current harmonic and the inconsistent incon sideband current harmonic are obtained through the following formula:

[0064]

[0065] In the formula, G 1(ω), G 2 (ω), G 3 (ω) represents the impedance coefficient; is the rotating space vector of voltage; is the rotating space vector with the same amplitude and opposite phase compared to ω; m,n represents the sideband voltage harmonic angular frequency; m is the carrier index variable, and n is the sideband frequency index variable; and are respectively the initial phase angles of the consistent sideband current harmonic and the inconsistent sideband current harmonic in sector k; s n represents the sine term of the rotating direction of the sideband harmonic current. When the value is 1, it means that the current harmonic rotates in the same direction as the voltage harmonic, and when it is -1, it means that the current harmonic rotates in the opposite direction to the voltage harmonic; j represents the imaginary unit; t represents the time elapsed from the initial phase.

[0066] In this embodiment, the fundamental magnetomotive force F of the permanent magnet PM mag has the following expression:

[0067]

[0068] In the formula, B mag is the amplitude of the fundamental magnetomotive force F mag , p is the number of pole pairs of the motor, represents the initial phase angle of the signal, where δ is the torque angle of the motor, ω 1 represents the fundamental angular frequency.

[0069] In this embodiment, the eddy current reaction in the permanent magnet significantly affects the air-gap permeance at high frequencies, resulting in the air-gap permeance Λ 0 (ω, v) varying with the excitation frequency. Assuming that the air-gap magnetic flux density b s across all sectors is the linear superposition of the armature reaction field and the permanent magnet field, then the air-gap magnetic flux density b s can be expressed as:

[0070]

[0071] In the formula, F v,1 (ω m,n ) and F v,2 (ω m,n ) respectively represent the stator armature magnetomotive forces of sector 1 and sector 2, Λ 0 (ω, v) represents the air-gap permeance, and is related to the excitation frequency and the spatial order of the stator magnetomotive force. The influence of the stator slots is minimal and can therefore be ignored.

[0072] In this embodiment, since the tangential magnetic flux density amplitude is small, the tangential magnetic flux density can be neglected, and it is assumed that the sideband vibration is completely generated by the interaction between the sideband armature reaction field and the basic permanent magnet field. This is because the interaction amplitude between the sideband armature magnetic fields is small. Therefore, the sideband electromagnetic force density σ of the k-th sector s,k can be expressed as:

[0073]

[0074] where N represents the number of turns in series per phase; k wv is the winding coefficient representing the v-th harmonic; B mag is the amplitude of F mag ; and are the current amplitude values of the synchronous con and asynchronous incon components respectively; N t is the greatest common divisor of the number of poles and slots of the motor; s n,v is the rotation direction of the current armature reaction field, where the forward direction is +1 and the reverse direction is -1; ω n,n represents the sideband voltage harmonic angular frequency when both the carrier index variable and the sideband index variable are n; and are the initial phase angles of the synchronous and asynchronous components of the k-th sector respectively; represents the initial phase angle of the signal, where δ is the torque angle of the motor.

[0075] The zero-order sideband electromagnetic force is determined by the p-order sideband armature magnetic field, while the lowest non-zero order is determined by the winding arrangement.

[0076] S2) Iteratively search for the carrier phase shift angles of the two sectors respectively, and find the corresponding system sideband vibration peak by searching for the carrier phase difference between the sectors with the minimum value as the optimization objective; specifically, it includes the following steps:

[0077] S21) Initialize the carrier phase shift angle step size grid expansion factor γ, grid contraction factor α, positive integer q;

[0078] S22) In the initial state, use the step size to displace the reference carrier phase shift angle to obtain and This step is the exploration movement;

[0079] S23) Calculate the sideband vibration peak corresponding to the reference carrier phase shift angle and the current carrier phase shift angle and The corresponding sideband vibration peak and

[0080] S24), introduce reference value Y peak_update_1 and Y peak_update_2 As a reference value for pattern search, judge Is it less than Y peak_update_i ;

[0081] If not, the corresponding current carrier phase shift angle Assign a phase shift angle to the reference carrier Reduce the exploration step size And determine whether the function tolerance ρ and the number of iterations meet the conditions or reach the upper limit. If not, return to step S21); if so, execute step S25);

[0082] S25) If Then further determine whether there is To determine the reference carrier phase shift angle Perform positive or negative displacement And used to update

[0083] like The reference carrier is phase shifted by Assign a value to the current carrier phase shift angle Same as step S23), reduce the exploration step length And determine the iteration end condition;

[0084] S26), calculation function tolerance And update the reference value Y peak_update_i , further perform mode shift and update the reference carrier phase shift angle Expand the step size by the grid expansion factor γ Introduce function tolerance threshold ∈ to measure Y peak_update_i Whether the mode movement converges, that is, whether it reaches the peak. Whether the function tolerance ρ is less than ∈ or the number of iterations exceeds N max If yes, terminate the iterative search and output the optimal carrier phase shift angle If not, continue the iterative search.

[0085] S3), through parallel search, determine the global optimal carrier phase shift angle after the comparison process, and finally output the optimal carrier phase shift angle.

[0086] In this embodiment, the search space is divided into multiple sub-regions, and the optimization is performed in the range of 0 to π / 2. Iterate optimization in the range of π / 2 to π Use exploration move and pattern move to perform iterative search, and by comparing the two sets of candidate solutions, select the solution that can minimize the objective function as the global optimal carrier phase shift angle. and And output the smallest sideband vibration peak

[0087] Example 2

[0088] This embodiment provides a dual-sector permanent magnet synchronous motor sideband vibration suppression system based on pattern search, including:

[0089] A sideband vibration model building module is used to build a sideband vibration model based on the sideband electromagnetic force and the vibration transfer function;

[0090] The parallel search module is used to iteratively search the carrier phase shift angle of the two sectors by searching the carrier phase difference between the sectors. Find the corresponding system sideband vibration peak The minimum value of is the optimization target; the optimal carrier phase shift angle is finally output.

[0091] Wherein, the expression of the sideband vibration model is:

[0092]

[0093] Where Y(ω) represents the sideband vibration amplitude; m r represents the order; ω represents the sideband vibration angular frequency, which is numerically the same as the sideband voltage harmonic angular frequency ω m,n same; Indicates m r The side-frequency electromagnetic force of the first-order mode;

[0094] Indicates m r The vibration transfer function of the first mode.

[0095] Among them, the b-order sideband electromagnetic force F v (ω) through the side-frequency electromagnetic force density σ s By performing circular integration, we can obtain the expression shown in (2):

[0096]

[0097] Where θ is the mechanical angle of the motor, N t It is the greatest common divisor of the number of motor pole pairs and the number of slots.

[0098] The v-th order vibration transfer function is expressed as:

[0099]

[0100] In the formula, Φv is the centroid normalized mode shape vector of the vth mode; ω v and v are the vth-order natural frequency and damping ratio respectively; j represents the imaginary unit; ω represents the sideband vibration angular frequency, which is numerically the same as the sideband voltage harmonic angular frequency ω m,n Same; T represents the transpose operation.

[0101] The parallel search module obtains the optimal carrier phase shift angle specifically including the following steps:

[0102] S21), initialize the carrier phase shift angle Step Length Grid expansion factor γ, grid contraction factor α, positive integer q;

[0103] S22), in the initial state, use the step size Phase shift angle to reference carrier Shift it to get and This step is exploratory movement;

[0104] S23), calculate the reference carrier phase shift angle The corresponding sideband vibration peak And the current carrier phase shift angle and The corresponding sideband vibration peak and

[0105] S24), introduce reference value Y peak_update_1 and Y peak_uodate_2 As a reference value for pattern search, judge Is it less than Y peak_update_i ;

[0106] If not, the corresponding current carrier phase shift angle Assign a phase shift angle to the reference carrier Reduce the exploration step size And determine whether the function tolerance ρ and the number of iterations meet the conditions or reach the upper limit. If not, return to step S21); if so, execute step S25);

[0107] S25) If Then further determine whether there is To determine the reference carrier phase shift angle Perform positive or negative displacement And used to update

[0108] like The reference carrier is phase shifted by Assign a value to the current carrier phase shift angle Same as step S23), reduce the exploration step length And determine the iteration end condition;

[0109] S26), calculation function tolerance And update the reference value Y peak_update_i , further perform mode shift and update the reference carrier phase shift angle Expand the step size by the grid expansion factor γ Introduce function tolerance threshold ∈ to measure Y peak_update_i Whether the mode movement converges, that is, whether it reaches the peak. Whether the function tolerance ρ is less than ∈ or the number of iterations exceeds N max If yes, terminate the iterative search and output the optimal carrier phase shift angle If not, continue the iterative search.

[0110] Through parallel search, the global optimal carrier phase shift angle is determined after the comparison process, and the optimal carrier phase shift angle is finally output.

[0111] Example 3

[0112] In this embodiment, the main parameters of the motor are shown in Table 1;

[0113] Table 1: Main parameters of the motor

[0114] Number of stator slots 12 Number of poles 10 Rated power 916W Rated speed 1500 rpm Rated torque 5.8 N*m Resistance value 51.2 mΩ Rated current 13.65A Magnetic flux linkage 0.0204 Wb

[0115] In this embodiment, since the complex structure and assembly conditions of the motor affect the accuracy of the finite element analysis (FEA) results, a hammer test method is used to test the research motor. Afterwards, the vibration and force signals of all test points are synthesized using the LMS SCADAS data acquisition system with built-in software to obtain the frequency response function (FRF) to extract the modal parameters. In order to verify the analytical model of the sideband electromagnetic force of the dual-sector surface mounted permanent magnet synchronous motor (SPMSM), under rated conditions, that is, when the switching frequency is 5kHz and the DC bus voltage is 40V, the calculation results are compared with the finite element analysis (FEA) simulation results at different CPS angles. Compared with the sideband electromagnetic force without CPS, when the phase difference between the sectors is When the sideband electromagnetic force is significantly dispersed to the adjacent order as expected, and the sideband electromagnetic force generated by the inconsistent component is not significant. The finite element analysis results confirm the accuracy of the analytical model, so that the calculated sideband electromagnetic force can be used for subsequent vibration synthesis.

[0116] In this embodiment, it can be known from Example 1 that the main current harmonics are located at a frequency of f s ±2f 1 ,fs ±4f 1 ,2f s ±f 1 , and 2f s ±5f 1 ; where f s represents the carrier frequency, f 1 is the fundamental frequency; the electromagnetic force in a single sector is mainly concentrated at the following frequencies: f s ±f 1 ,f s ±3f 1 ,f s ±5f 1 ,2f s ,2f s ±2f 1 ,2f s ±4f 1 , and 2f s ±6f 1 , which correspond to the 0th, 2nd and 4th orders under the carrier phase shift (CPS). The spatial order of the sideband electromagnetic force of the entire motor is changed by the carrier phase shift (CPS) angle and can be obtained by performing a fast Fourier transform (FFT) on equation (4). Figure 2 The change of the amplitude of each order sideband electromagnetic force relative to the original 0th order sideband electromagnetic force with the phase difference between sectors is shown. Figure 2 It can be seen that under CPS, the original 0th-order sideband electromagnetic force is converted into the adjacent-order force, and when the phase difference is equal to 180°, complete conversion occurs.

[0117] The above embodiments and descriptions are only for illustrating the principles and best embodiments of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, all of which fall within the scope of the present invention to be protected.

Claims

1. A method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search, characterized in that: The steps include: S1), establishing a sideband vibration model based on the sideband electromagnetic force and vibration transfer function; S2), iteratively search the carrier phase shift angles of the two sectors respectively, by searching the carrier phase difference between the sectors Find the corresponding system sideband vibration peak The minimum value of is the optimization target; S3), through parallel search, determine the global optimal carrier phase shift angle after the comparison process, and finally output the optimal carrier phase shift angle.

2. The method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search according to claim 1, characterized in that: In step S1), the expression of the sideband vibration model is: Where Y(ω) represents the sideband vibration amplitude; m r represents the order; ω represents the sideband vibration angular frequency, which is numerically the same as the sideband voltage harmonic angular frequency ω m,n same; Indicates m r The sideband electromagnetic force of the first mode; Indicates m r The vibration transfer function of the first mode.

3. The method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search according to claim 2 is characterized in that: In step S1), the vth order sideband electromagnetic force F v (ω) through the side-frequency electromagnetic force density σ s By performing circular integration, we can obtain the expression as shown in formula (2): Where θ is the mechanical angle of the motor, N t It is the greatest common divisor of the number of motor pole pairs and the number of slots.

4. The method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search according to claim 2 is characterized in that: In step S1), the vibration transfer function of the vth order is expressed as: In the formula, Φ v is the centroid normalized mode shape vector of the vth mode; v v and v are the vth-order natural frequency and damping ratio respectively; j represents the imaginary unit; ω represents the sideband vibration angular frequency, which is numerically the same as the sideband voltage harmonic angular frequency ω m,n Same; T represents the transpose operation.

5. The method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search according to claim 3 is characterized in that: In step S1), the sideband electromagnetic force density σ s The calculation is done using the Maxwell stress tensor method, namely: Where u0 is the magnetic permeability of vacuum; b s is the air gap magnetic flux density; m is the carrier index variable, n is the sideband index variable; F v,1 (ω m,n ), F v,2 (ω m,n ) represent the stator armature magnetomotive force of the first and second sectors respectively; ω m,n Indicates the angular frequency of the sideband voltage harmonics; F mag represents the basic magnetomotive force of the permanent magnet PM; Λ0(ω1,p) is the air gap permeability; ω1 represents the fundamental angular frequency; p is the number of pole pairs of the motor; θ is the mechanical angle of the motor.

6. The method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search according to claim 5 is characterized in that: The stator armature magnetomotive force F of sector k caused by side frequency harmonics v,k (ω m,n ) is: Where N is the number of series turns per phase, v is the spatial order of the stator magnetomotive force, k wv represents the winding coefficient of the vth order harmonic, and are the amplitudes of the consistent con sideband current harmonics and the inconsistent incon sideband current harmonics, N t is the greatest common divisor of the number of motor pole pairs and the number of slots, θ is the mechanical angle of the motor, s n,v is the direction of rotation of the current armature reaction field, where positive is +1 and reverse is -1; and are the initial phase angles of the consistent sideband current harmonics and the inconsistent sideband current harmonics of sector k respectively.

7. The method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search according to claim 6 is characterized in that: The basic magnetomotive force F of the permanent magnet PM is mag The expression is: In the formula, B mag is the basic magnetomotive force F mag The amplitude of, p is the number of pole pairs of the motor, represents the initial phase angle of the signal, where δ is the torque angle of the motor and ω1 represents the fundamental angular frequency.

8. The method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search according to claim 7, characterized in that: The eddy current reaction in the permanent magnet affects the air gap permeability at high frequencies, causing the air gap permeability Λ0(ω,v) to vary with the excitation frequency. Assuming that the air gap flux density b across all sectors is s is the linear superposition of the armature reaction field and the permanent magnet field, then the air gap flux density b s It is expressed as: In the formula, F v,1 (ω m,n ) and F v,2 (ω m,n ) represent the stator armature magnetomotive force of sector 1 and sector 2 respectively, Λ0(ω,v) represents the air gap permeability and is related to the excitation frequency and the spatial order of the stator magnetomotive force.

9. The method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search according to claim 1, characterized in that: In step S2), the system sideband vibration peak is selected The minimum value of is the optimization target, which includes the following steps: S21), initialize the carrier phase shift angle Step Length Grid expansion factor γ, grid contraction factor α, positive integer q; S22), in the initial state, use the step size Phase shift angle to reference carrier Shift it to get and This step is exploratory movement; S23), calculate the reference carrier phase shift angle The corresponding sideband vibration peak And the current carrier phase shift angle and The corresponding sideband vibration peak and S24), introduce reference value Y peak_update_1 and Y peak_update_2 As a reference value for pattern search, judge Is it less than Y peak_update_i ; If not, shift the current carrier phase by an angle Assign a phase shift angle to the reference carrier Reduce the exploration step size And determine whether the function tolerance ρ and the number of iterations meet the conditions or reach the upper limit. If not, return to step S21); if so, execute step S25); S25) If Then further determine whether there is To determine Move in positive or negative direction And used to update the current like The reference Assign a value to the current carrier phase shift angle Same as step S23), reduce the exploration step length And determine the iteration end condition; S26), calculate the function tolerance ρ, and update the reference value Y peak_update_i , further perform mode shift and update the reference carrier phase shift angle Expand the step size by the grid expansion factor γ Determine whether the function tolerance ρ is less than ∈ or the number of iterations exceeds N max If yes, terminate the iterative search and output the optimal carrier phase shift angle If not, continue the iterative search.

10. The method for suppressing sideband vibration of a dual-sector permanent magnet synchronous motor based on pattern search according to claim 9, characterized in that: In step S3), the search space is divided into multiple sub-regions and optimized in the range of 0 to π / 2. Iterate optimization in the range of π / 2 to π Use exploration move and pattern move to perform iterative search, and by comparing the two sets of candidate solutions, select the solution that can minimize the objective function as the global optimal carrier phase shift angle. and And output the smallest sideband vibration peak

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