Dual-sector permanent magnet synchronous motor sideband vibration suppression method and system based on pattern search

Abstract

The application provides a dual-sector permanent magnet synchronous motor sideband vibration suppression method and system based on pattern search, a sideband vibration model is established according to the side frequency electromagnetic force and a vibration transfer function; carrier phase shift angles of two sectors are iteratively searched respectively, a minimum value of a corresponding system sideband vibration peak value is found by searching the carrier phase difference between the sectors as an optimization target; the global optimal carrier phase shift angle is determined after the comparison process through parallel search, and the optimal carrier phase shift angle is finally output. The application utilizes the characteristics of the independence of the carrier phase of each sector of the dual-sector motor, optimizes the carrier phase shift angle, changes the spatial order of the high-frequency side frequency electromagnetic force, makes the natural frequency of the corresponding order far away from the frequency of the high-frequency side frequency electromagnetic force, and realizes the suppression of vibration; for different motor vibration characteristics and working conditions, the optimal target carrier phase shift angle can be iteratively searched through the pattern search algorithm, and the effective suppression of motor high-frequency vibration is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor vibration control, and in particular to a double-sector permanent magnet synchronous motor sideband vibration suppression method and system based on pattern search. BACKGROUND

[0002] Surface-mounted permanent magnet synchronous motors have been most widely used in high-power applications such as electric propulsion ships and multi-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 double-unit surface-mounted permanent magnet synchronous motor places each set of three-phase windings isolated at the neutral point in a space-separated unit and is powered by an independent inverter. Therefore, this topology has the advantages of uniform power distribution among units, 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 smaller than that of low-frequency current harmonics, it has attracted widespread attention and in-depth research because it can excite significant high-frequency vibration noise audible to the human ear, and is particularly critical in high-speed high-power applications where the switching frequency is limited.

[0004] The carrier phase independence of each sector in a double-sector surface-mounted permanent magnet synchronous motor has attracted attention due to its ability to direct suppress specific sideband vibration amplitudes. However, current carrier phase shifting techniques lack quantitative analysis of sideband electromagnetic force and sideband vibration, and the carrier phase shifting angle is dependent on manual experience setting, which is often set to a fixed value. Therefore, the sideband vibration suppression effect is difficult to evaluate, and it is impossible to ensure that the optimal vibration suppression is achieved for different motor vibration characteristics and operating conditions. SUMMARY

[0005] To overcome the shortcomings of the prior art, the present application provides a double-sector permanent magnet synchronous motor sideband vibration suppression method and system based on pattern search, which can effectively solve the technical problem of being difficult to ensure that the optimal vibration suppression is achieved for different motor vibration characteristics and operating conditions.

[0006] The technical solution of the present application is: a double-sector permanent magnet synchronous motor sideband vibration suppression method based on pattern search, comprising the following steps:

[0007] S1), establishing a sideband vibration model according to the sideband electromagnetic force and the vibration transfer function;

[0008] S2), iteratively searching the carrier phase shifting angle of each sector to find the carrier phase difference between the sectors find the corresponding system sideband vibration peak the minimum value is the optimization target;

[0009] S3), determining the global best carrier phase shift angle after the comparison process through parallel search, and finally outputting the best carrier phase shift angle.

[0010] As preferred, 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 the same in value as the sideband voltage harmonic angular frequency ω m,n ; represents the m r order modal sideband electromagnetic force;

[0013] represents the m r order modal vibration transfer function.

[0014] As preferred, in step S1), the bth 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 shown in equation (2):

[0015]

[0016] where θ is the mechanical angle of the motor, N t is the greatest common divisor of the motor pole pair number and slot number.

[0017] As preferred, in step S1), the vth order vibration transfer function is represented as:

[0018]

[0019] where Φ v is the mass center normalized modal shape vector of the vth order modal; ω v and ξ v are the natural frequency and damping ratio of the vth order, respectively; j represents the imaginary unit; ω represents the sideband vibration angular frequency, which is the same in value as the sideband voltage harmonic angular frequency ω m,n ; T represents the transpose operation.

[0020] As preferred, in step S1), the sideband electromagnetic force density σ s is calculated by using the Maxwell stress tensor method, i.e.:

[0021]

[0022] In the formula, u0 is the permeability of vacuum; b s is the air gap magnetic flux density; m is the carrier exponential variable, n is the sideband exponential variable; F v,1 (ω m,n ), F v,2 (ω m,n ) represent the stator armature magnetomotive forces of sectors 1 and 2, respectively; ω m,n F represents the sideband voltage harmonic angular frequency; mag Λ0(ω1,p) represents the fundamental 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.

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

[0024] S21) Initialize carrier phase shift angle Step length Mesh expansion factor γ, mesh contraction factor α, positive integer q;

[0025] S22) In the initial state, use step size Phase shift angle of the reference carrier Displacement is performed to obtain and This step is for exploration and movement;

[0026] S23) Calculate the reference carrier phase shift angle Corresponding sideband vibration peak and the current carrier phase shift angle and Corresponding sideband vibration peak and

[0027] S24), Introducing the benchmark value Y peak_update_1 and Y peak_update_2 As a reference value for pattern search, to determine Is it less than Y? peak_update_i ;

[0028] If not, change the current carrier phase shift angle. Assigned to the reference carrier phase shift angle Reduce 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 yes, execute step S25.

[0029] S25), if Then further determine whether there is to determine performing positive or negative displacement and used to update the current

[0030] if the reference is assigned to the current carrier phase shift angle and the step S23), the search step is reduced and determine the iteration end condition;

[0031] S26), calculate the function tolerance ρ, and update the reference value Y peak_update_i , further moving the mode, updating the reference carrier phase shift angle to expand the step size with the grid expansion factor γ determine whether the function tolerance ρ is less than ∈ or the iteration number exceeds N max , if yes, terminate the iterative search, and output the optimal carrier phase shift angle if not, continue the iterative search.

[0032] As preferred, in step S3), the search space is divided into multiple sub-regions, and the range of 0 to π / 2 is optimized iteratively optimize the range of π / 2 to π Use search movement and mode movement to perform iterative search, and select the solution that can make the objective function minimum as the global optimal carrier phase shift angle by comparing the two groups of candidate solutions and and output the minimum sideband vibration peak value

[0033] As preferred, the application further provides a dual-sector permanent magnet synchronous motor sideband vibration suppression system based on mode search, comprising:

[0034] The sideband vibration model establishing module is used to establish a sideband vibration model according to the side frequency electromagnetic force and the vibration transfer function;

[0035] The parallel search module is used to perform iterative search on the carrier phase shift angles of the two sectors, and search the carrier phase difference between the sectors find the minimum value of the corresponding system sideband vibration peak value as the optimization target; finally output the optimal carrier phase shift angle.

[0036] The application has the following beneficial effects:

[0037] 1. The application utilizes the characteristics of the independence of each sector carrier phase of the double-sector motor, and changes the spatial order of the high-frequency sideband electromagnetic force by optimizing the carrier phase shift (CPS) angle, so that the natural frequency of the corresponding order is far away from the frequency of the high-frequency sideband electromagnetic force, and the vibration is suppressed;

[0038] 2. The application does not depend on the special structure design of the motor such as the common slot winding, and only starts from the perspective of PWM modulation algorithm to suppress vibration without increasing hardware cost; for different motor vibration characteristics and working conditions, the optimal target carrier phase shift angle can be searched through the mode search algorithm, and the high-frequency vibration of the motor is effectively suppressed. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a flowchart of the method of the application;

[0040] Figure 2 is a schematic diagram of the change of the order of the sideband electromagnetic force with the phase difference between sectors in the embodiment of the application. DETAILED DESCRIPTION

[0041] The specific embodiments of the application will be further described below in combination with the drawings:

[0042] As shown in the drawings, the application provides a double-sector permanent magnet synchronous motor sideband vibration suppression method based on mode search, comprising the following steps: Figure 1 S1), establishing a sideband vibration model according to the sideband electromagnetic force and the vibration transfer function;

[0043] The expression of the sideband vibration model is:

[0044]

[0045]

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

[0047] represents the m r order modal vibration transfer function.

[0048] Wherein, the vth order sideband electromagnetic force F v (ω) is obtained by circularly integrating the sideband electromagnetic force density σ s , and its expression is shown as (2):

[0049] ​​

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

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

[0052]

[0053] In the formula, Φ v ω is the centroid-normalized mode shape vector of the v-th mode; v and ξ v These 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 related to the sideband voltage harmonic angular frequency ω. m,n Same; T represents transpose operation.

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

[0055] As a preferred embodiment, the sideband electromagnetic force density σ s The calculation is performed using Maxwell's stress tensor method, i.e.:

[0056]

[0057] In the formula, u0 is the permeability of vacuum; b s is the air gap magnetic flux density; m is the carrier exponential variable, n is the sideband exponential variable; F v,1 (ω m,n ), F v,2 (ω m,n ) represent the stator armature magnetomotive forces of sectors 1 and 2, respectively; ω m,n ω represents the angular frequency of the sideband voltage harmonics. m,n =mω s +nω1, where ω s ω1 represents the fundamental angular frequency, where F represents the switching angular frequency. mag Λ0(ω1,p) represents the fundamental 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.

[0058] In this embodiment, given that the radial force is much greater than the tangential force, the radial sideband electromagnetic force acting on the stator tooth surface is dominant. This force can be calculated using the air gap magnetomotive force and air gap permeability. The stator armature magnetomotive force F... v,k (ω m,n The fundamental magnetomotive force F of the permanent magnet magInteracting in the air gap, the unit electromagnetic force wave is generated.

[0059] where Fk(v) is the stator armature MMF of sector k caused by the sideband harmonics v,k (ω m,n ) is expressed as:

[0060]

[0061] where N is the number of series turns per phase, v is the spatial order of the stator armature MMF, k wv is the winding factor of the vth harmonic, and are the amplitudes of the con and incon sideband current harmonics respectively, N t is the greatest common divisor of the pole pair number and slot number 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 +1 is the forward direction and -1 is the reverse direction; and are the initial phase angles of the con and incon sideband current harmonics of sector k respectively.

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

[0063] Therefore, the amplitudes of the con and incon sideband current harmonics in the embodiment are and which are obtained by the following formula:

[0064]

[0065] where G1(ω), G2(ω), G3(ω) represent impedance coefficients; is the rotating space vector of the voltage; is the rotating space vector with the same amplitude and opposite phase compared with ; ω m,nωb represents the fundamental voltage harmonic angular frequency; m is a carrier index variable, and n is a sideband index variable; and respectively represent the initial phase angle of the consistent sideband current harmonic and the inconsistent sideband current harmonic of sector k; s n represents a sine term of the rotating direction of the sideband harmonic current, and when the value is 1, it represents that the rotating direction of the current harmonic is consistent with that of the voltage harmonic, and when the value is -1, it represents that the rotating direction of the current harmonic is opposite to that of the voltage harmonic; j represents an imaginary unit; and t represents the time elapsed from the initial phase.

[0066] In the embodiment, the basic magnetic motive force F mag of the permanent magnet PM has an expression as follows:

[0067]

[0068] In the expression, B mag is the amplitude of the basic magnetic motive force F mag , p is the pole pair number of the motor, represents the initial phase angle of the signal, wherein δ is the torque angle of the motor, and ω1 represents the fundamental angular frequency.

[0069] In the embodiment, the eddy current reaction in the permanent magnet significantly affects the air gap permeance at a high frequency, resulting in that the air gap permeance Λ0(ω, v) changes with the excitation frequency. Assuming that the air gap flux density b s is a linear superposition of the armature reaction field and the permanent magnet field, the air gap flux density b s can be expressed as:

[0070]

[0071] In the expression, F v,1 (ω m,n ) and F v,2 (ω m,n ) respectively represent the stator armature magnetic motive force of sector 1 and sector 2, Λ0(ω, v) represents the air gap permeance, and is related to the excitation frequency and the spatial order of the stator magnetic motive force. The influence of the stator slot is minimal and can be ignored.

[0072] In the embodiment, the tangential flux density can be ignored due to the small tangential flux density amplitude, 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, because the interaction amplitude between the sideband armature fields is small, and therefore the sideband electromagnetic force density σ s,k of the kth sector can be expressed as:

[0073]

[0074] In the expression, N represents the number of turns in series per phase; kwv is the winding factor of the vth harmonic; B mag is the amplitude of the fundamental frequency component of the back EMF; mag is the amplitude of the fundamental frequency component of the current; and are the current amplitudes of the synchronous con and asynchronous incon components, respectively; N t is the greatest common divisor of the number of pole pairs and the number of slots; s n,v is the rotation direction of the current armature reaction field, where +1 is the forward direction and -1 is the reverse direction; ω n,n represents the sideband voltage harmonic angular frequency when both the carrier index variable and the side frequency index variable are n; and are the initial phase angles of the synchronous and asynchronous components of sector k, respectively; represents the initial phase angle of the signal, where δ is the torque angle of the motor.

[0075] The zeroth-order side frequency electromagnetic force is determined by the pth-order sideband armature magnetic field, and the lowest non-zero order number is determined by the winding arrangement.

[0076] S2), respectively, the carrier phase shift angle of the two sectors is iteratively searched, and the carrier phase difference between the sectors is searched to find the corresponding system sideband vibration peak whose minimum value is the optimization target; specifically comprising the following steps:

[0077] S21), the carrier phase shift angle is initialized with a step size , a grid expansion factor γ, a grid contraction factor α, and a positive integer q;

[0078] S22), in the initial state, the reference carrier phase shift angle is shifted by a step size to obtain and This step is an exploratory movement;

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

[0080] S24), the reference values Y peak_update_1 and Y peak_update_2 are introduced as reference values for pattern search, and it is determined whether Y peak_update_i is less than Y

[0081] If not, the corresponding current carrier phase shift angle assigning the reference carrier phase shift angle reducing the search step size and determining whether the function tolerance p and the iteration number meet the condition or reach the upper limit, if not, returning to step S21); if yes, executing step S25);

[0082] S25), if further determining whether there is to determine the reference carrier phase shift angle performing positive or negative displacement and used to update

[0083] if assigning the reference carrier phase shift angle to the current carrier phase shift angle and synchronizing with step S23), reducing the search step size and determining the iteration end condition;

[0084] S26), calculating the function tolerance and updating the reference value Y peak_update_i , further performing pattern movement, updating the reference carrier phase shift angle to expand the step size by the grid expansion factor γ introducing the function tolerance threshold ∈, used to measure whether the pattern movement of Y peak_update_i converges, i.e., whether it reaches the peak value. Determining whether the function tolerance p is less than ∈ or the iteration number exceeds N max , if yes, terminating the iteration search and outputting the best carrier phase shift angle if not, continuing the iteration search.

[0085] S3), determining the global best carrier phase shift angle after the comparison process through parallel search, and finally outputting the best carrier phase shift angle.

[0086] This embodiment divides the search space into multiple sub-regions, optimizes iteratively optimizes in the range of π / 2 to π iterative search using search movement and pattern movement, by comparing the two groups of candidate solutions, selecting the solution that makes the objective function reach the minimum value as the global best carrier phase shift angle and and outputting the smallest sideband vibration peak value

[0087] Embodiment 2

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

[0089] a sideband vibration model establishing module, configured to establish a sideband vibration model according to the sideband electromagnetic force and the vibration transfer function;

[0090] a parallel search module, configured to perform iterative search on the carrier phase shift angles of the two sectors, and search the carrier phase difference between the sectors to find the minimum value of the corresponding system sideband vibration peak value as an optimization target; and finally output the optimal carrier phase shift angle.

[0091] wherein the expression of the sideband vibration model is:

[0092]

[0093] In the formula, Y(ω) represents the sideband vibration amplitude; m r represents the order; ω represents the sideband vibration angular frequency, which is the same in value as the sideband voltage harmonic angular frequency ω m,n ; represents the m r order modal sideband electromagnetic force;

[0094] represents the m r order modal vibration transfer function.

[0095] wherein the bth 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 shown in formula (2):

[0096]

[0097] In the formula, θ is the mechanical angle of the motor, N t is the greatest common divisor of the pole pair number and the slot number of the motor.

[0098] The vibration transfer function of the vth order is represented as:

[0099]

[0100] In the formula, Φ v is the mass center normalized modal shape vector of the vth order modal; ω v and ξ v are the natural frequency and the damping ratio of the vth order, respectively; j represents the imaginary unit; ω represents the sideband vibration angular frequency, which is the same in value as the sideband voltage harmonic angular frequency ω m,n ; and T represents the transposition operation.

[0101] The parallel search module acquires the optimal carrier phase shift angle, and specifically includes the following steps:

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

[0103] S22), in the initial state, use step size to shift the reference carrier phase shift angle to obtain and This step is to explore movement;

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

[0105] S24), introduce reference value Y peak_update_1 and Y peak_uodate_2 as the reference value of pattern search, judge whether it is less than Y peak_update_i ;

[0106] If not, assign the corresponding current carrier phase shift angle to the reference carrier phase shift angle reduce the exploration step size and judge whether the function tolerance ρ and the iteration number meet the conditions or reach the upper limit, if not, return to step S21); if yes, execute step S25);

[0107] S25), if further judge whether there is to determine the reference carrier phase shift angle to make positive or negative displacement and used to update

[0108] If , assign the reference carrier phase shift angle to the current carrier phase shift angle and synchronize step S23), reduce the exploration step size and judge the iteration end condition;

[0109] S26), calculate the function tolerance and update the reference value Y peak_update_i , further move the pattern, update the reference carrier phase shift angle to expand the step size introduce the function tolerance threshold ∈, which is used to measure Ypeak_update_i whether the mode movement converges, i.e. whether a peak is reached. Determine whether the tolerance of the judging function p is less than e or the number of iterations exceeds N max , if yes, terminate the iterative search and output the optimal carrier phase shift angle if no, continue the iterative search.

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

[0111] Embodiment 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] Stator slots 12 Poles 10 Rated power 916W Rated rotational speed 1500 rpm Rated torque 5.8 N*m Resistance 51.2 mΩ Rated current 13.65A Flux linkage 0.0204 Wb

[0115] In this embodiment, due to the complex structure of the motor and the influence of assembly conditions on the accuracy of finite element analysis (FEA) results, a hammer test method is used to test the research motor. Then, the LMS SCADAS data acquisition system with built-in software is used to synthesize the vibration and force signals of all test points 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 double-sector surface-mounted permanent magnet synchronous motor (SPMSM), the comparison between the calculated results and the finite element analysis (FEA) simulation results under different CPS angles is carried out under the rated condition, i.e. the switching frequency is 5 kHz and the DC bus voltage is 40 V. Compared with the sideband electromagnetic force without CPS, when the phase difference of inter-sector force is as expected, the sideband electromagnetic force is obviously dispersed to adjacent orders, and the sideband electromagnetic force generated by inconsistent components 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 is known from Embodiment 1 that the main current harmonics are located at frequencies f s ± 2f1, f s ± 4f1, 2f s ± f1, and 2f s ± 5f1; where f s represents the carrier frequency, and f1 is the fundamental frequency; the electromagnetic force in a single sector is mainly concentrated at the following frequencies: f s ± f1, f s ± 3f1, f s ± 5f1, 2f s , 2f s ± 2f1, 2f s ± 4f1, and 2fs ±6f1, which correspond to 0th, 2nd and 4th order under carrier phase shift (CPS). The spatial orders of the whole motor's sideband electromagnetic force are changed by the carrier phase shift (CPS) angle, which can be obtained by performing a fast Fourier transform (FFT) on equation (4). As Figure 2 The variation of each order sideband electromagnetic force amplitude with respect to the original 0th order sideband electromagnetic force versus the inter-sector phase difference is shown. In Figure 2 It can be seen in Fig. 6 that, under CPS, the original 0th order sideband electromagnetic force is converted into the adjacent order forces, and a complete conversion occurs when the phase difference is equal to 180°.

[0117] The foregoing embodiments and descriptions described in the specification are only to illustrate the principles and best modes of the present application, and various changes and improvements can be made to the present application without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. A method for suppressing sideband vibration of a dual three-phase winding permanent magnet synchronous motor based on pattern search, characterized in that, Includes the following steps: S1) Establish a sideband vibration model based on the sideband electromagnetic force and vibration transfer function; S2) Iteratively search the carrier phase shift angle of each of the two three-phase windings to find the carrier phase difference between the three-phase windings. Find the corresponding system sideband vibration peak value The minimum value is the optimization objective; S3) Through parallel search, the globally optimal carrier phase shift angle is determined after the comparison process, and the optimal carrier phase shift angle is finally output.

2. The method for suppressing sideband vibration of a dual three-phase winding permanent magnet synchronous motor based on pattern search according to claim 1, characterized in that: In step S1), the expression for the sideband vibration model is: ；（1） In the formula, Indicates the amplitude of sideband vibration; Indicates the order; This represents the angular frequency of the sideband vibration, which is numerically related to the angular frequency of the sideband voltage harmonics. same; express Sideband electromagnetic force of first mode; express The vibration transfer function of the first mode.

3. The method for suppressing sideband vibration of a dual three-phase winding permanent magnet synchronous motor based on pattern search according to claim 2, characterized in that: In step S1), the first First-order sideband electromagnetic force By analyzing the sideband electromagnetic force density By performing circular integrals, its expression is shown in equation (2): （2） In the formula, For the mechanical angle of the motor, It is the greatest common divisor of the number of pole pairs and the number of slots of the motor.

4. The method for suppressing sideband vibration of a dual three-phase winding permanent magnet synchronous motor based on pattern search according to claim 2, characterized in that: In step S1), the first The vibration transfer function of order one is expressed as: In the formula, It is the first The centroid-normalized modal shape vector of the first mode; and They are the first The natural frequency and damping ratio of the first order; Represents the imaginary unit; This represents the angular frequency of the sideband vibration, which is numerically related to the angular frequency of the sideband voltage harmonics. same; This indicates the transpose operation.

5. The method for suppressing sideband vibration of a dual three-phase winding permanent magnet synchronous motor based on pattern search according to claim 3, characterized in that: In step S1), the sideband electromagnetic force density The calculation is performed using Maxwell's stress tensor method, i.e.: （4） In the formula, It is the permeability of vacuum; For air gap magnetic flux density; For carrier exponent variable, For the sideband exponential variable; , These represent the stator armature magnetomotive forces of the first and second three-phase windings, respectively; Indicates the angular frequency of the sideband voltage harmonics; This represents the fundamental magnetomotive force of a permanent magnet PM; For air gap permeability; Indicates the fundamental angular frequency; This represents the number of pole pairs of the motor. This refers to the mechanical angle of the motor.

6. The method for suppressing sideband vibration of a dual three-phase winding permanent magnet synchronous motor based on pattern search according to claim 5, characterized in that: Three-phase windings caused by side-frequency harmonics stator armature magnetomotive force The expression is: （5） In the formula, It is the number of turns in series per phase. It is the spatial order of the stator magnetomotive force. Indicates the first The winding coefficient of the first harmonic, and Consistency con Sideband current harmonics and inconsistencies incon The amplitude of the sideband current harmonics, It is the greatest common divisor of the number of pole pairs and the number of slots of the motor. For the mechanical angle of the motor, It is the direction of rotation of the current armature reaction field, where the positive direction is... The reverse is ; and They are three-phase windings The initial phase angle of the consistent sideband current harmonics and the inconsistent sideband current harmonics.

7. The method for suppressing sideband vibration of a dual three-phase winding permanent magnet synchronous motor based on pattern search according to claim 6, characterized in that: The fundamental magnetomotive force of the permanent magnet PM The expression is: （8） In the formula, It is the fundamental magnetomotive force amplitude, It is the number of pole pairs of the motor. , represents the initial phase angle of the signal, where It is the torque angle of the motor. This represents the fundamental angular frequency.

8. The method for suppressing sideband vibration of a dual three-phase winding permanent magnet synchronous motor based on pattern search according to claim 7, characterized in that: Eddy current reactions in permanent magnets affect air gap permeability at high frequencies, leading to changes in air gap permeability. As the excitation frequency changes, assume the air gap magnetic flux density across all three-phase windings varies. If it is a linear superposition of the armature reaction field and the permanent magnet field, then the air gap magnetic flux density Represented as: （9） In the formula, and These represent the stator armature magnetomotive forces of three-phase winding 1 and three-phase winding 2, respectively. It 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 three-phase winding permanent magnet synchronous motor based on pattern search according to claim 1, characterized in that: In step S2), the peak value of the system sideband vibration is selected. The optimization objective is to find the minimum value of , which includes the following steps: S21) Initialize carrier phase shift angle Step length Grid expansion factor Grid shrinkage factor , positive integer ; S22) In the initial state, use step size Phase shift angle of the reference carrier Displacement is performed to obtain and This step is for exploration and movement; S23) Calculate the reference carrier phase shift angle Corresponding sideband vibration peak and the current carrier phase shift angle and Corresponding sideband vibration peak and ; S24) Introducing a benchmark value and As a reference value for pattern search, to determine Is it less than ; If not, change the current carrier phase shift angle. Assigned to the reference carrier phase shift angle Reduce the exploration step size And determine the function tolerance. Check if the number of iterations meets the condition or reaches the upper limit; if not, return to step S21); if so, proceed to step S25). S25), if Then further determine whether there is To determine Perform positive or negative displacement And used to update the current ; like Then the reference Assigned to the current carrier phase shift angle (and in step S23), reduce the exploration step size. And determine the iteration termination condition; S26) Calculate the tolerance of the function and update the reference values. Further mode shifting is performed to update the reference carrier phase shift angle. With grid expansion factor Expanding step size Determine the tolerance of the function. Is it less than Or whether the number of iterations exceeds If so, 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 three-phase winding 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, from 0 to... Optimization within range ;exist arrive Iterative optimization within range Iterative search is performed using exploratory and pattern-based moves. By comparing these two sets of candidate solutions, the solution that minimizes the objective function is selected as the globally optimal carrier phase shift angle. and It also outputs the minimum sideband vibration peak value. .

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