Axial magnetic field motor noise suppression method and system

Abstract

The invention relates to an axial magnetic field motor noise suppression method and system. The method comprises the following steps: collecting current waveform, vibration spectrum and magnetic field distribution data in a motor operation state to construct a multi-dimensional operation state data set; performing synchronous coupling analysis on multi-dimensional operation state data in the operation state data set, and identifying harmonic component characteristics of a current waveform, resonant frequency characteristics of a vibration spectrum and spatial non-uniformity characteristics of magnetic field distribution to obtain a target characteristic set; constructing a dynamic suppression strategy set containing current waveform optimization, vibration frequency matching and magnetic field compensation strategies based on the target feature set; and generating a target phase compensation waveform parameter and a magnetic field adjustment instruction set according to the dynamic suppression strategy set, controlling an output current waveform according to the phase compensation waveform parameter, and correcting spatial magnetic field distribution according to the magnetic field adjustment instruction set so as to effectively suppress the operation noise of the axial magnetic field motor.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a method and system for suppressing noise of an axial magnetic field motor. Background Art

[0002] In the electric motor field, axial-field motors are widely used due to their unique structure and performance advantages. However, the noise generated by axial-field motors during operation remains a critical challenge that needs to be addressed. Existing motor noise suppression methods mostly address a single dimension, such as considering only the impact of the current waveform on noise or focusing solely on factors related to the vibration spectrum. These methods lack comprehensive consideration and collaborative analysis of multi-dimensional data on the motor's operating status. This one-sided approach fails to fully and deeply understand the root causes of motor noise, resulting in poor suppression effectiveness and difficulty meeting the stringent low-noise requirements of practical applications. Summary of the Invention

[0003] The purpose of the present invention is to provide a method and system for suppressing noise of an axial magnetic field motor, aiming to effectively reduce the operating noise of the axial magnetic field motor and improve its operating stability and reliability.

[0004] In order to achieve the above-mentioned object, a first aspect of an embodiment of the present disclosure provides a method for suppressing noise of an axial magnetic field motor, the method comprising: Collecting current waveform, vibration spectrum and magnetic field distribution data of the axial magnetic field motor in operation to construct a multi-dimensional operation status data set; performing synchronous coupling analysis processing on the multi-dimensional operating status data set to identify harmonic component characteristics in the current waveform data, resonant frequency characteristics in the vibration spectrum data, and spatial inhomogeneity characteristics in the magnetic field distribution data; Based on the harmonic component characteristics, the resonant frequency characteristics and the spatial inhomogeneity characteristics, a dynamic suppression strategy set is constructed, wherein the dynamic suppression strategy set includes a current waveform optimization strategy, a vibration frequency matching strategy and a magnetic field compensation strategy; generating initial phase compensation waveform parameters according to the dynamic suppression strategy set, and calling a preset harmonic suppression algorithm to iteratively optimize the initial phase compensation waveform parameters to generate optimized target current waveform parameters, wherein the iterative optimization includes amplitude suppression of harmonic components of a specified order in the initial phase compensation waveform parameters based on an amplitude attenuation coefficient, and phase cancellation of remaining harmonic components in the initial phase compensation waveform parameters based on a compensation phase angle; Based on the set of dynamic suppression strategies and the multi-level compensation coil excitation parameters, calculate the target current values and energization timings of each compensation coil in the magnetic field regulation device, and generate a set of magnetic field regulation instructions according to the target current values and the energization timings of each compensation coil; Input the target current waveform parameters into the current controller of the axial magnetic field motor to adjust the output current waveform, and send the set of magnetic field regulation instructions to the magnetic field regulation device of the axial magnetic field motor to correct the spatial magnetic field distribution.

[0005] In a second aspect of the embodiments of the present disclosure, there is provided an axial magnetic field motor noise suppression system, the system comprising: A first construction module configured to collect the current waveform, vibration spectrum and magnetic field distribution data of the axial magnetic field motor in the operating state, and construct a multi-dimensional operating state data set; An analysis module configured to perform synchronous coupling analysis processing on the multi-dimensional operating state data set, and identify the harmonic component characteristics in the current waveform data, the resonance frequency characteristics in the vibration spectrum data, and the spatial non-uniformity characteristics in the magnetic field distribution data; A second construction module configured to construct a set of dynamic suppression strategies based on the harmonic component characteristics, the resonance frequency characteristics and the spatial non-uniformity characteristics, the set of dynamic suppression strategies including a current waveform optimization strategy, a vibration frequency matching strategy and a magnetic field compensation strategy; A generation module configured to generate initial phase compensation waveform parameters according to the set of dynamic suppression strategies, and call a preset harmonic suppression algorithm to perform iterative optimization processing on the initial phase compensation waveform parameters to generate optimized target current waveform parameters, the iterative optimization processing including amplitude suppression of harmonic components of a specified number in the initial phase compensation waveform parameters based on an amplitude attenuation coefficient, and phase cancellation of the remaining harmonic components in the initial phase compensation waveform parameters based on a compensation phase angle; A calculation module configured to calculate the target current values and energization timings of each compensation coil in the magnetic field regulation device based on the multi-level compensation coil excitation parameters according to the set of dynamic suppression strategies, and generate a set of magnetic field regulation instructions according to the target current values and the energization timings of each compensation coil; A control module configured to input the target current waveform parameters into the current controller of the axial magnetic field motor to adjust the output current waveform, and send the set of magnetic field regulation instructions to the magnetic field regulation device of the axial magnetic field motor to correct the spatial magnetic field distribution.

[0006] In a third aspect of the embodiments of the present disclosure, there is provided an electronic device, comprising: A memory having a computer program stored thereon; A processor for executing the computer program in the memory to implement the steps of the method according to any one of the first aspect.

[0007] The present invention provides a method and a system for suppressing the noise of an axial magnetic field motor. Compared with the prior art, the following beneficial effects are achieved: By collecting multi-dimensional operation state data of the axial magnetic field motor and performing synchronous coupling analysis, it is possible to comprehensively and accurately identify the characteristics related to noise in multiple aspects such as current, vibration, and magnetic field. Based on these characteristics, a set of dynamic suppression strategies is constructed, and then a set of phase compensation waveform parameters and magnetic field adjustment instructions is generated, while adjusting the current waveform and the spatial magnetic field distribution. This all-round and collaborative noise suppression method fundamentally solves the drawbacks of the one-sided processing of traditional methods, greatly improves the noise suppression effect, effectively reduces the operating noise of the axial magnetic field motor, and improves its operating stability and reliability.

[0008] Other features and advantages of the present disclosure will be described in detail in the following specific implementation section. Brief Description of the Drawings

[0009] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the drawings: Figure 1 is a flowchart of a method for suppressing the noise of an axial magnetic field motor shown according to an embodiment of the specification.

[0010] Figure 2 is a block diagram of a system for suppressing the noise of an axial magnetic field motor shown according to an embodiment of the specification.

[0011] Figure 3 is a block diagram of a device for executing the method for suppressing the noise of an axial magnetic field motor shown according to an embodiment of the specification. Detailed Description of the Invention

[0012] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0013] The following will describe in detail the specific implementation of the present disclosure with reference to the drawings. It should be understood that the specific implementation described herein is only for explaining and understanding the present disclosure, and is not used to limit the present disclosure.

[0014] The present disclosure provides a method for suppressing the noise of an axial magnetic field motor, which is applied to a motor controller. Figure 1 It is a flowchart of a method for suppressing the noise of an axial magnetic field motor shown according to an embodiment. Specifically, the method includes: In step S11, collect the current waveform, vibration spectrum, and magnetic field distribution data of the axial magnetic field motor in the operating state, and construct a multi-dimensional operating state data set; Among them, the axial magnetic field motor is a type of motor in which the magnetic field direction is parallel to the axis direction of the motor, has unique structural characteristics and performance advantages, and is often applied to some occasions with special requirements for space size and power density.

[0015] Among them, current waveform: a graphical representation of the change of current over time, reflecting the change law of the magnitude and direction of the current over time, and the current waveforms have different characteristics under different working conditions. Vibration spectrum: decomposing the vibration signal into a set of different frequency components through methods such as Fourier transform, and each frequency component corresponds to an amplitude and a phase, which is used to analyze the causes and characteristics of vibration. Magnetic field distribution data: data describing the magnitude and direction of the magnetic field at different positions in space, which can be obtained through magnetic field measurement equipment and reflects the spatial characteristics of the magnetic field. Multi-dimensional operating state data set: a set formed by integrating various different types of operating state data (such as current, vibration, magnetic field distribution, etc.), which is used to comprehensively describe the operating state of the motor.

[0016] In the embodiment of the present disclosure, during the operation of the axial magnetic field motor, a current sensor is used to collect the current signal, and the analog current signal is converted into a digital signal through a data acquisition card to obtain the current waveform data; a vibration sensor is used to collect the vibration signal of the motor, and after being processed by the data acquisition card, the vibration spectrum data is obtained through methods such as Fourier transform; a magnetic field measurement device (such as a Hall sensor array) is used to measure the magnetic field intensity at different positions around the motor to obtain the magnetic field distribution data. These different types of data are integrated together to form a multi-dimensional operating state data set, which comprehensively reflects the operating state of the motor in different aspects.

[0017] In step S12, perform synchronous coupling analysis and processing on the multi-dimensional operating state data set to identify the harmonic component characteristics in the current waveform data, the resonance frequency characteristics in the vibration spectrum data, and the spatial non-uniformity characteristics in the magnetic field distribution data; Among them, synchronous coupling analysis and processing is to perform synchronous analysis on various different types of data in time and space, considering their mutual influence and correlation relationship to discover the hidden characteristics and laws in the data.

[0018] Among them, the harmonic component characteristics refer to the characteristics of each harmonic in the current waveform except the fundamental wave, including the order, amplitude, phase, etc. of the harmonics. Harmonics will affect the performance and stability of the motor. The resonance frequency characteristics refer to the frequency components in the vibration spectrum that are the same as or close to the natural frequency of the system. When the external excitation frequency is close to the resonance frequency, resonance will occur in the system, resulting in increased vibration. The spatial inhomogeneity characteristics refer to the characteristics that the magnitude and direction of the magnetic field vary at different positions in space in the magnetic field distribution data. This inhomogeneity will affect the performance and efficiency of the motor.

[0019] In the embodiments of the present disclosure, synchronous coupling analysis and processing are performed on the multi-dimensional operating state data set, taking into account the mutual influence among current, vibration, and magnetic field. For the current waveform data, Fourier transform is used to decompose it into the fundamental wave and each harmonic, and characteristic parameters such as the order, amplitude, and phase of the harmonics are extracted as the harmonic component characteristics; for the vibration spectrum data, by analyzing the peak frequencies in the spectrum, it is judged whether there are frequency components close to the natural frequency of the system to determine the resonance frequency characteristics; for the magnetic field distribution data, by calculating the differences in magnetic field strengths at different positions, the inhomogeneous distribution of the magnetic field in space is analyzed, and the spatial inhomogeneity characteristics are extracted, such as the magnitude and change trend of the magnetic field gradient, etc.

[0020] In step S13, based on the harmonic component characteristics, the resonance frequency characteristics, and the spatial inhomogeneity characteristics, a set of dynamic suppression strategies is constructed. The set of dynamic suppression strategies includes a current waveform optimization strategy, a vibration frequency matching strategy, and a magnetic field compensation strategy; Among them, the set of dynamic suppression strategies is a set of strategies formulated for the harmonic component characteristics, resonance frequency characteristics, and spatial inhomogeneity characteristics to suppress the adverse effects. These strategies will be adjusted in real time according to the operating state of the motor. The current waveform optimization strategy: a strategy to improve the current quality, reduce the harmonic content, and improve the operating efficiency and stability of the motor by adjusting the parameters (such as amplitude, phase, frequency, etc.) of the current waveform. The vibration frequency matching strategy: a strategy to avoid the resonance frequency by adjusting the operating parameters of the motor or taking other measures to reduce the impact of resonance on the motor. The magnetic field compensation strategy: a strategy to compensate for the inhomogeneity in the magnetic field distribution by controlling the magnetic field adjustment device to make the magnetic field distribution more uniform and improve the performance of the motor.

[0021] In the embodiments of the present disclosure, corresponding dynamic suppression strategies are formulated based on the identified harmonic component characteristics, resonance frequency characteristics, and spatial non-uniformity characteristics. For the harmonic component characteristics, by adjusting the parameters of the current waveform, such as using a filtering algorithm or optimizing the control strategy, the harmonic content is reduced to form a current waveform optimization strategy; for the resonance frequency characteristics, by adjusting the operating frequency of the motor, changing the load characteristics, or increasing the damping, etc., the vibration frequency is made to avoid the resonance frequency to formulate a vibration frequency matching strategy; for the spatial non-uniformity characteristics, according to the magnetic field compensation principle, by controlling the compensation coil in the magnetic field regulation device, the non-uniform part in the magnetic field distribution is compensated to construct a magnetic field compensation strategy. These strategies are integrated together to form a set of dynamic suppression strategies.

[0022] In step S14, according to the set of dynamic suppression strategies, initial phase compensation waveform parameters are generated, and a preset harmonic suppression algorithm is called to perform iterative optimization processing on the initial phase compensation waveform parameters to generate optimized target current waveform parameters. The iterative optimization processing includes amplitude suppression of harmonic components with a specified number of times in the initial phase compensation waveform parameters based on the amplitude attenuation coefficient, and at the same time, phase cancellation of the remaining harmonic components in the initial phase compensation waveform parameters based on the compensation phase angle. In the embodiments of the present disclosure, according to the requirements in the set of dynamic suppression strategies, especially the demand for phase adjustment in the current waveform optimization strategy and the magnetic field compensation strategy, the initial phase compensation waveform parameters are calculated. For example, by analyzing the phase relationship between the harmonics and the magnetic field, the value of the current phase that needs to be adjusted is determined to optimize the synergistic effect of the current waveform and the magnetic field distribution. This parameter will be used to adjust the output current waveform of the current controller in the subsequent stage to make the current and the magnetic field reach a better matching state.

[0023] In the embodiments of the present disclosure, a preset harmonic suppression algorithm is called to perform iterative optimization processing based on the amplitude attenuation coefficients k_1, k_2, etc. and the compensation phase angles Δφ_1, Δφ_2, etc. in the set of phase compensation waveform parameters. For example, for harmonics with a specified number of times, such as the n_1th harmonic, its amplitude is suppressed according to the amplitude attenuation coefficient k_1, so that the amplitude of this harmonic is reduced.

[0024] At the same time, for the remaining harmonic components, phase cancellation operations are performed according to the corresponding compensation phase angles. Assume that in a certain iteration, for the n_2th harmonic, its phase is adjusted according to the compensation phase angle Δφ_2 so that part of its energy is cancelled out in phase with other harmonics. Through multiple such iterative processes, the harmonic components are gradually optimized, and finally optimized target current waveform parameters are generated. These parameters can more effectively suppress the harmonics in the current, improve the current waveform, and thus reduce the motor noise caused by harmonics.

[0025] In step S15, according to the dynamic suppression strategy set, based on the multi-stage compensation coil excitation parameters, calculate the target current values and energization timings of each compensation coil in the magnetic field regulation device, and generate a magnetic field regulation instruction set according to the target current values and the energization timings of each compensation coil; In the embodiments of the present disclosure, according to the dynamic suppression strategy set and based on the multi-stage compensation coil excitation parameters, the requirements of the magnetic field compensation strategy for each compensation coil are considered. Through the magnetic field analysis model and the compensation algorithm, calculate the target current values of each compensation coil in the magnetic field regulation device to generate the required compensation magnetic field to offset or weaken the inhomogeneity of the spatial magnetic field. At the same time, determine the energization timings of each compensation coil so that the compensation magnetic field can be applied in a certain time and space sequence to achieve effective magnetic field regulation. Integrate information such as the target current values and the energization timings together to generate a magnetic field regulation instruction set for controlling the operation of each compensation coil in the magnetic field regulation device.

[0026] In the embodiments of the present disclosure, according to the multi-stage compensation coil excitation parameters determined in the magnetic field compensation strategy, such as the excitation current magnitudes I_1, I_2, etc. of the compensation coils at different positions, calculate the target current values of each compensation coil in the magnetic field regulation device. For example, for a specific compensation coil, determine its target current value as I_target according to its position and excitation parameters. At the same time, consider the operating state of the motor and the magnetic field change situation to determine the energization timings of each compensation coil.

[0027] For example, at different stages t_1, t_2, etc. of the motor operation, different compensation coils are energized in a set order. Integrate these target current values and energization timing information to generate the coil control signals in the magnetic field regulation instruction set. This coil control signal can precisely control the operating states of each compensation coil in the magnetic field regulation device, making it generate a suitable reverse magnetic field to effectively correct the spatial magnetic field distribution and reduce the noise caused by the magnetic field inhomogeneity.

[0028] In the embodiments of the present disclosure, perform time synchronization calibration on the target current waveform parameters and the coil control signal to ensure that the cooperative operation timings of the current controller and the magnetic field regulation device meet the preset delay tolerance.

[0029] To ensure that the current controller and the magnetic field regulation device can work cooperatively, perform time synchronization calibration on the target current waveform parameters and the coil control signal. For example, set the preset delay tolerance as T_limit. Through detection and adjustment, make the current control operation corresponding to the target current waveform parameters and the magnetic field regulation operation corresponding to the coil control signal precisely match in time. Assume that at a certain moment t, the current controller adjusts the output current waveform according to the target current waveform parameters, and at the same time, the magnetic field regulation device controls the operation of the compensation coil according to the coil control signal.

[0030] Through time synchronization calibration, ensure that the delay time between the two is within the preset delay tolerance T_limit, avoid affecting the noise suppression effect due to inconsistent operation timings, ensure that the motor can operate stably and efficiently, and achieve the best noise suppression effect.

[0031] In step S16, input the target current waveform parameters into the current controller of the axial magnetic field motor to adjust the output current waveform, and send the magnetic field regulation instruction set to the magnetic field regulation device of the axial magnetic field motor to correct the spatial magnetic field distribution.

[0032] In the embodiment of the present disclosure, input the initial phase compensation waveform parameters into the current controller of the axial magnetic field motor. The current controller adjusts the phase and waveform of its output current according to these parameters, so that the output current waveform of the motor meets the optimization requirements, reduces the harmonic content, and improves the current quality. At the same time, send the magnetic field regulation instruction set to the magnetic field regulation device of the axial magnetic field motor. The magnetic field regulation device controls the current and energization states of each compensation coil according to the target current value and energization timing in the instruction set, so as to correct the spatial magnetic field distribution, make the magnetic field distribution more uniform, and improve the performance and stability of the motor.

[0033] The above technical solution can comprehensively and accurately identify the noise-related characteristics in multiple aspects such as current, vibration, and magnetic field by collecting multi-dimensional operation state data of the axial magnetic field motor and performing synchronous coupling analysis. Based on these characteristics, construct a dynamic suppression strategy set, and then generate phase compensation waveform parameters and a magnetic field regulation instruction set, while adjusting the current waveform and spatial magnetic field distribution. This all-round and collaborative noise suppression method fundamentally solves the drawbacks of the one-sided processing of traditional methods, greatly improves the noise suppression effect, effectively reduces the operation noise of the axial magnetic field motor, and improves its operation stability and reliability.

[0034] In a possible implementation manner, in step S13, constructing the dynamic suppression strategy set based on the harmonic component characteristics, the resonance frequency characteristics, and the spatial non-uniformity characteristics includes: In step S131, establish an association model between the harmonic component characteristics and the spatial non-uniformity characteristics, and generate a magnetic field compensation strategy through the association model to describe the enhancement effect of harmonic currents of a specific order on the radial magnetic field gradient; In the embodiment of the present disclosure, based on the electromagnetic principles of the motor and a large amount of experimental data, establish an association model between the harmonic component characteristics and the spatial non-uniformity characteristics. For a specific order of harmonics in the harmonic component characteristics, such as the nth harmonic, there is a set relationship between the characteristics of its harmonic current, such as the amplitude In and the phase θn, and the radial magnetic field gradient in the spatial non-uniformity characteristics.

[0035] Among them, when measuring the change of the amplitude In of the nth harmonic current under different working conditions through experiments, the change of the radial magnetic field gradient ▽B_r(x, y, z) is measured, and a large number of data points (In, ▽B_r(x, y, z)) are collected. Using these data, a functional relationship M(In, θn, ▽B_r(x, y, z)) is established by means of data fitting or theoretical derivation. This functional relationship is the required correlation model, which can accurately describe the enhancement effect of harmonic current of a specific order on the radial magnetic field gradient, and provides a basis for further analyzing the relationship between magnetic field inhomogeneity and harmonics.

[0036] In the embodiments of the present disclosure, for harmonic components, characteristic parameters such as the frequency, amplitude, and phase of harmonics of different orders are extracted from the power signal by means of signal analysis (such as Fourier transform, etc.). These parameters can comprehensively describe the composition and characteristics of harmonic components.

[0037] For the spatial inhomogeneity characteristics, with the help of magnetic field measurement devices (such as Hall sensor arrays, etc.), multi-point magnetic field measurements are carried out within a specific spatial range to obtain the data of the magnetic field strength at different positions in space, and then the inhomogeneous distribution of the magnetic field in the radial direction and other directions is analyzed, such as characteristics of the magnitude and change trend of the magnetic field gradient.

[0038] Furthermore, by using data analysis and modeling methods (such as regression analysis, neural network, etc.), with the harmonic component characteristics as input variables and the spatial inhomogeneity characteristics as output variables, a correlation model between the two is established. This model learns the internal law between harmonics and magnetic field inhomogeneity from a large number of actual measurement data, and establishes a mathematical relationship between the two, and can predict the corresponding spatial inhomogeneity characteristics according to the given harmonic component characteristics.

[0039] In the embodiments of the present disclosure, based on the constructed correlation model, by inputting the characteristic parameters related to the harmonic current of a specific order, the model outputs the corresponding spatial inhomogeneity characteristics at this time, and focuses on the change of the radial magnetic field gradient. By analyzing the output results of the model, the enhancement effect of the harmonic current of a specific order on the radial magnetic field gradient is clarified, that is, information such as how this harmonic current causes the radial magnetic field gradient to increase and the degree of increase.

[0040] According to the analysis results of the enhancement effect of the harmonic current of a specific order on the radial magnetic field gradient, a corresponding magnetic field compensation strategy is formulated. The core goal of the compensation strategy is to offset or weaken this enhancement effect so that the radial magnetic field gradient returns to the ideal state or within the range required by the system. For example, if a specific harmonic current causes the radial magnetic field gradient to increase in a certain area, the compensation strategy may include arranging compensation coils near this area and precisely controlling parameters such as the current magnitude and direction of the compensation coils so that the magnetic field generated by them can cancel out the abnormal magnetic field caused by the harmonic current, thereby achieving effective compensation of the magnetic field.

[0041] In step S132, according to the correlation model, calculate the magnetic field distortion coefficient corresponding to the harmonic order. When the magnetic field distortion coefficient exceeds a preset threshold, trigger the priority adjustment instruction in the magnetic field compensation strategy to generate a current waveform optimization strategy for preferentially suppressing the current component corresponding to the harmonic of this order. In the embodiment of the present disclosure, based on the established correlation model M(In, θn, ▽B_r(x, y, z)), for each harmonic, calculate its corresponding magnetic field distortion coefficient. Assume that for the nth harmonic, through the functional relationship in the correlation model, combined with the currently measured harmonic current amplitude In and phase θn, and the radial magnetic field gradient ▽B_r(x, y, z), calculate the magnetic field distortion coefficient Dn. Preset a threshold MaxD for the magnetic field distortion coefficient.

[0042] Among them, when the calculated magnetic field distortion coefficient Dn exceeds MaxD, it indicates that this harmonic has a greater impact on the magnetic field distortion. At this time, trigger the priority adjustment instruction in the magnetic field compensation strategy. This instruction will change the execution priority of the magnetic field compensation strategy and preferentially suppress the current component corresponding to the harmonic of this order. For example, when adjusting the current waveform, increase the amplitude attenuation coefficient of this harmonic or more precisely adjust its compensation phase angle to preferentially reduce the impact of this harmonic on the magnetic field non-uniformity, thereby effectively improving the motor magnetic field distribution and reducing the noise generated by magnetic field distortion.

[0043] In step S133, according to the frequency-domain energy distribution, determine the high-frequency noise bandwidth in the vibration spectrum data. When there is an overlapping region between the high-frequency noise bandwidth and the harmonic electromagnetic excitation frequency in the harmonic component characteristics, generate a bandwidth expansion instruction in the vibration frequency matching strategy to disperse the resonance energy and obtain the vibration frequency matching strategy.

[0044] In the embodiment of the present disclosure, analyze the frequency-domain energy distribution E(f) of the vibration spectrum data to determine the high-frequency noise bandwidth therein. For example, by setting an energy threshold Eth, in the frequency-domain energy distribution E(f), find a continuous frequency range [f_start, f_end] with an energy value greater than Eth and a relatively high frequency. This frequency range is the high-frequency noise bandwidth. For the harmonic electromagnetic excitation frequencies in the harmonic component characteristics, such as f_e1, f_e2, etc. When it is found that the high-frequency noise bandwidth [f_start, f_end] overlaps with a certain harmonic electromagnetic excitation frequency f_en, it means that energy may be concentrated due to resonance, generating relatively large noise.

[0045] At this time, a bandwidth expansion instruction in the vibration frequency matching strategy is generated. This instruction aims to disperse the resonance energy by adjusting the driving frequency of the motor to fluctuate within a set range, so as to avoid the concentration of energy in the overlapping area and cause strong resonance. For example, by controlling the driving frequency of the motor to fluctuate within the range of [f_d - Δf, f_d + Δf], where f_d is the current driving frequency and Δf is a fluctuation range parameter determined according to the high-frequency noise bandwidth and the motor characteristics, to achieve the purpose of dispersing the resonance energy and reducing the noise.

[0046] In a possible implementation manner, in step S133, the method of generating the bandwidth expansion instruction in the vibration frequency matching strategy according to the resonance frequency characteristic to disperse the resonance energy to obtain the vibration frequency matching strategy includes: In step S1331, according to the resonance frequency characteristic, a random frequency fine-tuning signal is injected into the speed control loop of the axial magnetic field motor, so that the driving frequency fluctuates randomly within a preset range to destroy the resonance condition; In the embodiment of the present disclosure, a random frequency fine-tuning signal is introduced into the speed control loop of the axial magnetic field motor. The frequency of this signal is set as f_random, and its fluctuation range is within a preset range, which is set as [Δf_min, Δf_max]. This random frequency fine-tuning signal is generated by a dedicated signal generation device, and the frequency f_random of this signal randomly changes between [Δf_min, Δf_max].

[0047] Furthermore, this random frequency fine-tuning signal is superimposed on the driving frequency f_d of the motor, so that the actual driving frequency of the motor becomes f_d + f_random. Since f_random changes randomly, the driving frequency fluctuates randomly within a dynamic range. The resonance condition usually requires the driving frequency to be precisely matched with a certain specific frequency. By this random fluctuation, this precise matching condition is destroyed, so as to avoid the motor from resonating at a specific frequency and reduce the noise generated by resonance.

[0048] In step S1332, according to the width of the high-frequency noise bandwidth, the fluctuation amplitude of the random frequency fine-tuning signal is adjusted to ensure that the fluctuation range of the driving frequency covers the overlapping area of the high-frequency noise bandwidth; In the embodiment of the present disclosure, the width of the high-frequency noise bandwidth is Δf_noise = f_end - f_start. According to this width, the fluctuation amplitude of the random frequency fine-tuning signal is adjusted. If the high-frequency noise bandwidth is wide, that is, Δf_noise is large, in order to ensure that the fluctuation range of the driving frequency can cover the overlapping area of the high-frequency noise bandwidth and the harmonic electromagnetic excitation frequency, it is necessary to increase the fluctuation amplitude of the random frequency fine-tuning signal.

[0049] For example, through an adjustment algorithm, according to the magnitude of Δf_noise, a suitable fluctuation amplitude adjustment amount ΔA is calculated, so that the fluctuation range of the random frequency fine-tuning signal is adjusted from [Δf_min, Δf_max] to [Δf_min + ΔA, Δf_max + ΔA]. In this way, the fluctuation range of the driving frequency f_d + f_random can effectively cover the overlapping region, further disperse the resonance energy, and reduce the noise risk caused by resonance.

[0050] In step S1333, the change of the vibration spectrum after injecting the random frequency fine-tuning signal is monitored in real time. When it is detected that the energy amplitude ratio of the main resonance frequency point decreases, a vibration frequency matching strategy of locking the current fluctuation amplitude as the optimal parameter and stopping the frequency fine-tuning is obtained.

[0051] In the embodiment of the present disclosure, after injecting the random frequency fine-tuning signal, the change of the vibration spectrum is monitored in real time by using a vibration spectrum monitoring device. The change of the energy amplitude ratio of the main resonance frequency point f_m1 is focused on. Let the energy amplitude at the main resonance frequency point f_m1 be E_m1, the total energy in the entire vibration spectrum be E_total, and the energy amplitude ratio be R = E_m1 / E_total. With the action of the random frequency fine-tuning signal, the vibration spectrum will change, and R will also change accordingly.

[0052] When it is detected that R decreases, it indicates that the effect of dispersing the resonance energy by the random frequency fine-tuning signal has been achieved. At this time, the fluctuation amplitude of the current random frequency fine-tuning signal is locked and used as the optimal parameter. This means that the current fluctuation amplitude can effectively destroy the resonance condition and reduce the energy concentration degree of the main resonance frequency point. At the same time, the frequency fine-tuning is stopped, and the motor is maintained to operate under the current optimized driving frequency fluctuation state to maintain a good noise suppression effect and ensure the stable and low-noise operation of the axial magnetic field motor of the large ventilation system.

[0053] In a possible implementation manner, in step S13, the dynamic suppression strategy set is constructed based on the harmonic component characteristics, the resonance frequency characteristics, and the spatial non-uniformity characteristics, including: In step S1301, according to the first matching degree between the harmonic electromagnetic excitation frequency in the harmonic component characteristics and the main resonance frequency point in the resonance frequency characteristics, a frequency offset instruction in the vibration frequency matching strategy is generated, and the frequency offset instruction is used to adjust the driving frequency of the axial magnetic field motor to deviate from the main resonance frequency point; In the embodiments of the present disclosure, the first matching degrees between the known harmonic electromagnetic excitation frequencies \(f_{e1}\), \(f_{e2}\), etc. and the main resonance frequency point \(f_{m1}\) are \(M_1\), \(M_2\), etc. When the first matching degree \(M_i\) is relatively high, it indicates that the harmonic electromagnetic excitation frequency is close to the main resonance frequency point, and resonance is likely to be triggered, thereby generating relatively large noise. At this time, according to this matching degree information, a frequency offset command in the vibration frequency matching strategy is generated. For example, if \(M_1\) is relatively high, a frequency offset amount \(\Delta f_1\) is calculated through a set algorithm, so that the driving frequency \(f_d\) is adjusted from the current value to \(f_d+\Delta f_1\) or \(f_d - \Delta f_1\), thereby deviating the driving frequency from the main resonance frequency point \(f_{m1}\), avoiding an increase in noise caused by resonance, and ensuring that the motor can operate stably and with low noise.

[0054] In step S1302, according to the superposition analysis result of the harmonic phase offset and the axial magnetic field offset, a set of phase compensation waveform parameters in the current waveform optimization strategy is determined, and the set of phase compensation waveform parameters includes the compensation phase angle and amplitude attenuation coefficient of each harmonic. In the embodiments of the present disclosure, a superposition analysis is performed on the harmonic phase offsets \(\varphi_1\), \(\varphi_2\), etc. and the axial magnetic field offset \(\Delta B_a\). For example, considering the harmonic phase offset \(\varphi_1\) and the axial magnetic field offset \(\Delta B_a\) corresponding to the harmonic order \(n_1\), through a certain analysis method, which may be a calculation based on electromagnetic principles or a statistical analysis of experimental data, the compensation phase angles \(\Delta\varphi_1\), \(\Delta\varphi_2\), etc. and amplitude attenuation coefficients \(k_1\), \(k_2\), etc. corresponding to each harmonic are determined. These compensation phase angles and amplitude attenuation coefficients together constitute a set of phase compensation waveform parameters in the current waveform optimization strategy. When the motor is running, the current waveform is adjusted according to these parameters. For example, for the \(n_1\)th harmonic, its phase is adjusted according to the compensation phase angle \(\Delta\varphi_1\), and its amplitude is reduced according to the amplitude attenuation coefficient \(k_1\), thereby optimizing the current waveform and reducing the noise caused by harmonics and magnetic field non-uniformity.

[0055] In step S1303, according to the radial magnetic field gradient distribution map and the axial magnetic field offset, multi-level compensation coil excitation parameters in the magnetic field compensation strategy are generated, and the multi-level compensation coil excitation parameters are used to control the magnetic field regulating device to generate a reverse magnetic field to offset the spatial non-uniformity. In the embodiments of the present disclosure, based on the radial magnetic field gradient distribution map ▽B_r(x, y, z) and the axial magnetic field offset ΔB_a, multi-level compensation coil excitation parameters in the magnetic field compensation strategy are generated. For example, according to the magnitude and direction of the gradient values at different positions in the radial magnetic field gradient distribution map, and the situation of the axial magnetic field offset, the magnitudes I_1, I_2, etc. and directions of the excitation currents of the multi-level compensation coils at different positions are determined. These excitation parameters can enable the magnetic field regulating device to generate a reverse magnetic field, the gradient direction of which is opposite to the gradient direction in the radial magnetic field gradient distribution map, and the amplitude is adjusted according to the actual situation to cancel the spatial inhomogeneity of the magnetic field.

[0056] For example, at a certain position, according to the radial magnetic field gradient value ▽B_r(x_0, y_0, z_0), the excitation current I_0 required for the compensation coil at this position is calculated, so that the generated reverse magnetic field can effectively compensate for the magnetic field inhomogeneity at this position, thereby optimizing the magnetic field distribution of the motor and reducing the noise generated due to magnetic field inhomogeneity.

[0057] In step S1304, according to the frequency offset instruction, the phase compensation waveform parameter set, and the multi-level compensation coil excitation parameters, a dynamic suppression strategy set is constructed.

[0058] Among them, the frequency offset instruction indicates the specific requirements for adjusting the system frequency, which may be due to external interference, system performance optimization requirements, etc., and provides the direction and target for frequency adjustment for the dynamic suppression strategy.

[0059] The phase compensation waveform parameter set contains a series of waveform parameters for phase compensation. These parameters define the characteristics of different phase compensation waveforms, such as the shape, amplitude, frequency, etc. of the waveform, and are an important basis for constructing a compensation strategy to adjust the phase relationship.

[0060] The multi-level compensation coil excitation parameters can give the parameters required to excite the multi-level compensation coils, such as current magnitude, voltage value, excitation frequency, etc. By reasonably setting these parameters, the compensation coils can be controlled to generate a specific magnetic field, thereby achieving suppression in aspects such as electromagnetic interference.

[0061] Then, based on the above input elements, a dynamic suppression strategy set is constructed: according to the frequency offset instruction, the operating frequency of the motor is determined to eliminate or reduce the adverse effects brought by the frequency offset. For example, precise control of the frequency is achieved by changing the power supply output frequency, adjusting the parameters of the oscillation circuit, etc.

[0062] Using the phase compensation waveform parameter set, corresponding phase compensation waveforms are generated and applied to the parts of the system that require phase adjustment, so that the phase relationship of each part of the system reaches an ideal state, reducing interference and errors caused by the phase difference.

[0063] According to the excitation parameters of the multi-stage compensation coils, precisely control the excitation state of each compensation coil so that they generate an appropriate magnetic field to cancel or weaken the interference magnetic field in the system, and achieve dynamic suppression of electromagnetic interference.

[0064] Finally, integrate and optimize the above various strategies to form a complete set of dynamic suppression strategies. Each strategy in this set cooperates and works together, and can dynamically adjust the frequency, phase, and excitation of the multi-stage compensation coils according to the real-time state and interference situation of the system, so as to effectively suppress various interferences and ensure the stable and reliable operation of the motor.

[0065] In a possible implementation manner, in step S12, the performing synchronous coupling analysis processing on the multi-dimensional operation state data set to identify the harmonic component characteristics in the current waveform data, the resonance frequency characteristics in the vibration spectrum data, and the spatial inhomogeneity characteristics in the magnetic field distribution data includes: In step S121, perform time-frequency decomposition processing on the current waveform data, and extract the fundamental wave amplitude, harmonic order, and harmonic phase offset in the harmonic component characteristics; In the embodiments of the present disclosure, the set time-frequency decomposition algorithm is used to process the current waveform data. For example, a time-frequency decomposition method suitable for the current characteristics of the motor is adopted to analyze the current waveform in two dimensions of time and frequency. After processing, the fundamental wave component and each harmonic component can be clearly distinguished.

[0066] Assume that the obtained fundamental wave amplitude is A_0, which represents the amplitude of the main energy component in the current waveform. At the same time, identify the harmonic orders, such as n_1, n_2, n_3, etc., which reflect the components in the current with different frequency multiples of the fundamental wave frequency. And obtain the corresponding harmonic phase offsets φ_1, φ_2, φ_3, etc., which reflect the phase differences of each harmonic relative to the fundamental wave. These fundamental wave amplitude, harmonic order, and harmonic phase offset together constitute the harmonic component characteristics of the current waveform data.

[0067] In step S122, perform peak detection processing on the vibration spectrum data, and determine the main resonance frequency point, secondary resonance frequency point, and the energy amplitude ratio of the corresponding frequency in the resonance frequency characteristics; In the embodiments of the present disclosure, a dedicated peak detection algorithm is used to analyze the vibration spectrum data. In the vibration spectrum data E(f), frequency points with relatively prominent energy amplitudes are searched for. For example, after detection, the main resonance frequency point is determined to be f_m1, which is the frequency point where the motor vibration energy is most concentrated and plays a dominant role in the vibration state of the motor. At the same time, secondary resonance frequency points f_s1, f_s2, etc. are identified. Although the energy amplitudes of these secondary resonance frequency points are relatively smaller than that of the main resonance frequency point, they also have a certain impact on the motor vibration. And the energy amplitude ratio corresponding to the frequency is calculated. For example, the energy amplitude at the main resonance frequency point f_m1 is E_m1, and the energy amplitude at the secondary resonance frequency point f_s1 is E_s1. The energy amplitude ratio can be expressed as E_s1 / E_m1, etc.

[0068] It can be explained that these main resonance frequency points, secondary resonance frequency points, and the energy amplitude ratios corresponding to the frequencies constitute the resonance frequency characteristics of the vibration spectrum data, which helps to understand the frequency characteristics of the motor vibration and the influence of the resonance phenomenon on the motor operation, and provides a basis for formulating a vibration frequency matching strategy in the future.

[0069] In step S123, a spatial gradient calculation process is performed on the magnetic field distribution data to generate a radial magnetic field gradient distribution map and an axial magnetic field offset in the spatial inhomogeneity characteristics. In the embodiments of the present disclosure, for the magnetic field distribution data, a spatial gradient calculation method is used to analyze the spatial variation of the magnetic field. Based on the radial magnetic flux density B_r and axial magnetic flux density B_a data measured in the air gap region, the radial magnetic field gradient is calculated.

[0070] For example, the radial magnetic field gradient values ▽B_r(x, y, z) are calculated at different positions (x_1, y_1, z_1), (x_2, y_2, z_2), etc. The variation of these gradient values with the spatial position forms a radial magnetic field gradient distribution map. At the same time, the axial magnetic field offset ΔB_a is determined, which reflects the deviation degree of the axial magnetic field from the ideal uniform distribution state. The radial magnetic field gradient distribution map and the axial magnetic field offset together characterize the spatial inhomogeneity characteristics of the magnetic field distribution data, which is crucial for understanding the spatial characteristics of the motor magnetic field and formulating a magnetic field compensation strategy.

[0071] In step S124, the harmonic electromagnetic excitation frequency is obtained by multiplying the harmonic order in the harmonic component characteristics by the fundamental frequency, and is associated and mapped with the main resonance frequency point in the resonance frequency characteristics to determine the first matching degree between the harmonic electromagnetic excitation frequency and the main resonance frequency point. In the embodiments of the present disclosure, the harmonic orders in the known harmonic component characteristics are \(n_1\), \(n_2\), etc., and the fundamental frequency is assumed to be \(f_0\). The harmonic electromagnetic excitation frequencies \(f_{e1}\), \(f_{e2}\), etc. are obtained by calculating \(n_1\times f_0\), \(n_2\times f_0\), etc. These harmonic electromagnetic excitation frequencies are associated and mapped with the main resonance frequency point \(f_{m1}\) in the resonance frequency characteristics.

[0072] For example, by comparing the difference between \(f_{e1}\) and \(f_{m1}\), a certain quantization method is used to determine the first matching degree \(M_1\) between them. If \(f_{e1}\) and \(f_{m1}\) are very close, then the first matching degree \(M_1\) is relatively high, indicating that this harmonic electromagnetic excitation frequency has a strong correlation with the main resonance frequency point. This correlation is of great guiding significance for formulating subsequent vibration frequency matching strategies and adjusting the motor drive frequency to avoid resonance.

[0073] In step S125, a dynamic association model is established between the harmonic phase offset in the harmonic component characteristics and the axial magnetic field offset in the magnetic field distribution data. The modulation effect of the harmonic phase on the magnetic field distribution is calculated through the dynamic association model, and the initial phase adjustment amount in the phase compensation waveform parameter set is determined based on the modulation effect.

[0074] In the embodiments of the present disclosure, based on the electromagnetic characteristic theory and actual operation data of the motor, a dynamic association model is established between the harmonic phase offsets \(\varphi_1\), \(\varphi_2\), etc. and the axial magnetic field offset \(\Delta B_a\). For example, this model may be a functional relationship fitted based on a series of experimental data, or a theoretical model derived according to the principles of electromagnetism. Through this dynamic association model, by inputting the harmonic phase offset \(\varphi_i\), the modulation effect value \(M_{ei}\) of the harmonic phase on the magnetic field distribution is calculated.

[0075] Furthermore, based on these modulation effect values, the initial phase adjustment amount \(\Delta\theta_0\) in the phase compensation waveform parameter set is determined. For example, if the modulation effect value \(M_{e1}\) is relatively large, indicating that this harmonic phase has a greater impact on the magnetic field distribution, then correspondingly, the initial phase adjustment amount \(\Delta\theta_0\) will also be adjusted significantly according to the model calculation results, thereby providing a basis for adjusting the current waveform to suppress magnetic field non-uniformity and noise in the subsequent process.

[0076] In a possible implementation manner, in step S16, the inputting the target current waveform parameters into the current controller of the axial magnetic field motor to adjust the output current waveform includes: In step S161, according to the target current waveform parameters, the PWM modulation signal of the current controller is reconstructed so that the harmonic components of the output current waveform meet the preset amplitude threshold and phase symmetry conditions; In the embodiments of the present disclosure, in the scenario of an axial magnetic field motor for an AGV (Automated Guided Vehicle) unmanned vehicle, for example, the target current waveform parameters include amplitude adjustment parameters for each harmonic, such as A1, A2, etc., and phase adjustment parameters, such as θ1, θ2, etc. The PWM modulation signal of the current controller is usually composed of a series of pulses, and the characteristics of these pulses, such as duty cycle and frequency, determine the shape of the output current waveform.

[0077] First, consider the amplitude aspect. The preset amplitude threshold is set as MaxA. For each harmonic, such as the nth harmonic, its amplitude in the target current waveform parameters is An. It is necessary to adjust the duty cycle of the PWM modulation signal to change the amplitude of this harmonic in the output current waveform. Assume that the period of the PWM modulation signal is T, the high-level duration is t, and the duty cycle D = t / T. Through a certain correspondence, such as establishing a functional relationship F(An, D), where An is the amplitude of the nth harmonic in the target current waveform parameters and D is the duty cycle of the PWM modulation signal. This functional relationship is obtained through a series of experiments or theoretical derivations based on the electromagnetic characteristics of the motor. By adjusting the duty cycle D, the amplitude of the nth harmonic in the output current waveform is made to meet the requirement of not exceeding the preset amplitude threshold MaxA.

[0078] Next, look at the phase aspect. The preset phase symmetry condition requires that each harmonic satisfies a set phase relationship. Assume that for the mth harmonic and the nth harmonic, their phases in the target current waveform parameters are θm and θn respectively, and the phase symmetry condition to be satisfied is a certain functional relationship G(θm, θn) = 0. This condition is also achieved by adjusting the PWM modulation signal. For example, the starting phase of the PWM modulation signal affects the phase of the harmonics in the output current waveform. By changing the starting phase β of the PWM modulation signal, another functional relationship H(β, θm, θn) is established, so that by adjusting β, the phases of the mth harmonic and the nth harmonic can satisfy the phase symmetry condition G(θm, θn) = 0.

[0079] In actual operation, continuously adjust parameters such as the duty cycle and starting phase of the PWM modulation signal, comprehensively consider the amplitude and phase requirements, and finally make the harmonic components of the output current waveform meet the preset amplitude threshold and phase symmetry condition, thereby optimizing the current waveform and reducing the motor noise caused by harmonics.

[0080] In step S162, the actual harmonic content of the output current waveform is monitored in real time. When it is detected that the actual harmonic content exceeds the amplitude threshold, the compensation phase angle and the amplitude attenuation coefficient are dynamically adjusted to generate updated target current waveform parameters; In the embodiments of the present disclosure, during the continuous operation of the motor, a dedicated harmonic detection device is used to monitor the actual harmonic content of the output current waveform in real time. The harmonic detection device can analyze the output current waveform to obtain the actual amplitude and phase information of each harmonic. Let the actual amplitude of the nth harmonic detected be An_real, and the actual phase be θn_real.

[0081] When the actual amplitude An_real of a certain harmonic is detected to exceed the preset amplitude threshold MaxA, it is necessary to dynamically adjust the compensation phase angle and the amplitude attenuation coefficient. Suppose the original compensation phase angle corresponding to the nth harmonic is θn_c, and the amplitude attenuation coefficient is kn. For the amplitude attenuation coefficient kn, an adjustment rule can be used. For example, when An_real > MaxA, the amplitude attenuation coefficient is increased by a set ratio α, that is, the new amplitude attenuation coefficient kn_new = kn * (1 + α), where α is a proportional parameter determined according to the motor characteristics and experiments. For the compensation phase angle θn_c, according to the difference between the actual phase θn_real and the target phase (determined by the phase symmetry condition), the adjustment amount Δθn is determined through a phase adjustment algorithm. For example, by calculating the difference between the actual phase and the target phase, and then calculating the adjustment amount Δθn through a functional relationship, the new compensation phase angle θn_c_new = θn_c + Δθn.

[0082] Further, the adjusted compensation phase angle θn_c_new and the amplitude attenuation coefficient kn_new are substituted into the calculation of the target current waveform parameters to generate updated target current waveform parameters. These updated parameters take into account the actual harmonic conditions of the current output waveform, aiming to further optimize the current waveform so that the harmonic content meets the preset requirements again and continuously reduce the motor operation noise.

[0083] In step S163, the updated target current waveform parameters are fed back to the harmonic suppression algorithm for secondary optimization processing until the actual harmonic content is stabilized within the range of the amplitude threshold.

[0084] In the embodiments of the present disclosure, the updated target current waveform parameters are input into the preset harmonic suppression algorithm again. After receiving the new parameters, the harmonic suppression algorithm will re-analyze and optimize the current waveform.

[0085] First, the algorithm will re - perform the amplitude suppression and phase cancellation operations on each harmonic according to the new compensation phase angle and amplitude attenuation coefficient. For example, for a certain harmonic, its amplitude is suppressed again according to the new amplitude attenuation coefficient \(k_{n\_new}\), and its phase is adjusted again according to the new compensation phase angle \(\theta_{n\_c\_new}\). In this process, the algorithm comprehensively considers the mutual influence among harmonics because the adjustment of the fundamental harmonic may have a chain reaction on other harmonics.

[0086] After the secondary optimization process, the harmonic content of the output current waveform is calculated again. If the actual harmonic content still exceeds the amplitude threshold at this time, the algorithm will adjust the compensation phase angle and amplitude attenuation coefficient again according to the exceeding situation, generate a new round of target current waveform parameters, and then repeat the above - mentioned secondary optimization process. In this way, each optimization process adjusts the current waveform more precisely, making the actual harmonic content gradually approach and finally stabilize within the range of the amplitude threshold. Through this continuous feedback and optimization mechanism, it is ensured that the output current waveform of the axial - field motor always maintains a state of low harmonic content, effectively suppressing the noise during the motor operation and ensuring the stable operation of the axial - field motor.

[0087] In a possible implementation manner, in step S11, the method of collecting the current waveform, vibration spectrum and magnetic - field distribution data of the axial - field motor in the operating state and constructing a multi - dimensional operating - state data set includes: In step S111, high - precision current sensors are deployed in the three - phase winding circuit of the axial - field motor to collect the instantaneous current values and phase information in the current - waveform data at a preset sampling frequency. In the embodiments of the present disclosure, in order to accurately collect the current - waveform data of, for example, the motor of an AGV autonomous vehicle, high - precision current sensors are carefully deployed in the three - phase winding circuit of the axial - field motor. For example, the preset sampling frequency is set as \(F_{s1}\), which is determined by comprehensively considering the motor operating characteristics and the data - acquisition accuracy requirements. During the motor operation, the sensors keep working. At a certain moment \(t1\), the instantaneous current values collected in the three - phase windings are \(I_{a1}\), \(I_{b1}\), \(I_{c1}\) respectively, and the corresponding phase information \(\theta_{a1}\), \(\theta_{b1}\), \(\theta_{c1}\) is obtained at the same time. These data reflect the specific state of the three - phase current of the motor at this moment and are an important basis for subsequent analysis of the motor operating condition.

[0088] In step S112, a vibration - acceleration sensor array is installed on the surface of the stator housing of the axial - field motor, and the time - domain vibration signal and frequency - domain energy distribution in the vibration - spectrum data are obtained through a spectrum analyzer. In an embodiment of the present disclosure, a vibration acceleration sensor array is installed on the surface of the stator housing according to a set layout. The layout of this array is designed based on the motor structure and vibration propagation characteristics to ensure that the vibration information generated during the operation of the motor can be comprehensively and accurately captured. The signals collected by the sensors are analyzed by a spectrum analyzer.

[0089] For example, within a certain period of time, a time-domain vibration signal V(t) is obtained. It is a multi-dimensional signal that changes with time and contains the vibration conditions of different parts of the motor at different times. After spectrum analysis, a frequency-domain energy distribution E(f) is obtained, where f represents frequency, and E(f) is a function of frequency, representing the distribution of vibration energy at each frequency point. For example, the energy value at frequency f1 is E1, and the energy value at f2 is E2, etc. These energy values constitute the multi-dimensional frequency-domain energy distribution result, reflecting the concentration degree and distribution characteristics of the motor vibration energy at different frequencies.

[0090] In step S113, a Hall sensor matrix is arranged in the air-gap region of the axial magnetic field motor to measure the radial magnetic flux density and axial magnetic flux density in the magnetic field distribution data; In an embodiment of the present disclosure, a matrix composed of multiple Hall sensors is arranged in the air-gap region. These Hall sensors are arranged according to a set geometric rule to achieve accurate measurement of the magnetic field in the air-gap region. During the operation of the motor, for example, at a certain position and moment, the Hall sensor matrix measures the radial magnetic flux density B_r1 and the axial magnetic flux density B_a1. As the motor rotates and the operating state changes, a series of radial magnetic flux density and axial magnetic flux density data will be obtained at different positions and moments.

[0091] In step S114, timestamp alignment processing is performed on the instantaneous current value, the time-domain vibration signal, and the radial magnetic flux density to ensure the time synchronization of the multi-dimensional operating state data set; In an embodiment of the present disclosure, the collected instantaneous current value, time-domain vibration signal, and radial magnetic flux density come from different types of sensors. In order to accurately perform comprehensive analysis on these data, timestamp alignment processing is required. Specifically, each data point is marked with its corresponding precise time information. For example, the current data point I_a1 is marked with time t1, the vibration signal data point V(t1) is marked with time t1, and the radial magnetic flux density data point B_r1 is also marked with time t1. In this way, the data collected by different sensors can be made to correspond one by one in the time dimension, ensuring the accuracy of subsequent synchronous coupling analysis.

[0092] In step S115, the aligned multi-dimensional operating state data set is normalized to eliminate the amplitude deviation caused by the sensor range difference, and the multi-dimensional operating state data set is obtained.

[0093] In the embodiments of the present disclosure, since the ranges of different sensors are different. For example, the range of the current sensor is [I_min, I_max], the range of the vibration acceleration sensor is [V_min, V_max], and the range of the Hall sensor is [B_min, B_max]. This will result in differences in the magnitudes of the collected data, which is not conducive to direct analysis and comparison. Therefore, the aligned multi-dimensional operating state data set is normalized. For the current data, the formula (I - I_min) / (I_max - I_min) is used for normalization, and the collected current value I is converted into a normalized value I_norm between 0 and 1. For the vibration data V, the formula (V - V_min) / (V_max - V_min) is used for normalization to obtain the normalized vibration value V_norm. For the magnetic field data B, it is normalized to B_norm through the formula (B - B_min) / (B_max - B_min). After such normalization processing, the amplitude deviation caused by the sensor range difference is eliminated, making the multi-dimensional operating state data set comparable in amplitude and laying a foundation for subsequent synchronous coupling analysis.

[0094] In a possible implementation manner, in step S16, the sending the magnetic field adjustment instruction set to the magnetic field adjustment device of the axial magnetic field motor to correct the spatial magnetic field distribution includes: In step S1601, according to the multi-stage compensation coil excitation parameters, the auxiliary compensation coil in the magnetic field adjustment device is activated; In step S1602, according to the radial magnetic field gradient distribution diagram and the axial magnetic field offset in the magnetic field distribution data, a reverse compensation magnetic field synchronized with the rotating main magnetic field space of the axial magnetic field motor is generated, and the gradient direction and amplitude of the reverse compensation magnetic field are opposite to the spatial non-uniformity characteristics; In the embodiments of the present disclosure, the magnetic field adjustment instruction set includes multi-stage compensation coil excitation parameters, such as the excitation current magnitudes I1, I2, etc. and direction information of the compensation coils at different positions. According to these parameters, the auxiliary compensation coil in the magnetic field adjustment device is activated. Based on the radial magnetic field gradient distribution diagram ▽B_r(x, y, z) and the axial magnetic field offset ΔB_a, a reverse compensation magnetic field is designed.

[0095] For each position (x, y, z), according to the direction of the radial magnetic field gradient ▽B_r(x, y, z) at this position, it is determined that the gradient direction of the reverse magnetic field generated by the compensation coil is opposite to it. According to the magnitude of the gradient and the axial magnetic field offset ΔB_a, the amplitude of the reverse magnetic field that the compensation coil needs to generate at this position is calculated.

[0096] For example, based on a calculation relationship of electromagnetic principles, by combining the magnetic field parameters at the current position and the characteristic parameters of the compensation coil, the magnitude I(x, y, z) of the excitation current of the compensation coil at this position is calculated, so that the reverse magnetic field generated by the compensation coil can effectively cancel the spatial inhomogeneity of the magnetic field after being superimposed with the main magnetic field at this position. Moreover, by controlling the energization timing of the compensation coil and other means, it is ensured that the generated reverse compensation magnetic field is spatially synchronized with the rotating main magnetic field of the axial magnetic field motor, thereby optimizing the magnetic field distribution and reducing the noise generated by the magnetic field inhomogeneity.

[0097] In step S1603, the radial magnetic flux density change in the air gap region is detected in real time. When it is detected that the gradient distribution of the radial magnetic flux density does not reach the preset uniformity, the excitation current of the auxiliary compensation coil is increased until the preset uniformity is satisfied. In the embodiments of the present disclosure, a detection device arranged in the air gap region is used to detect the change of the radial magnetic flux density in real time. The detected radial magnetic flux density data is analyzed to calculate its gradient distribution. A uniformity standard, denoted as the U standard, is preset to measure whether the gradient distribution of the radial magnetic flux density is uniform. When it is detected that the actual gradient distribution of the radial magnetic flux density does not reach the U standard, it indicates that the magnetic field inhomogeneity still exists and the excitation current of the auxiliary compensation coil needs to be further adjusted.

[0098] For example, the excitation current of the auxiliary compensation coil is increased by a fixed increment ΔI. After each increment, the change of the radial magnetic flux density in the air gap region is detected again, and its gradient distribution is calculated again to determine whether the preset uniformity U standard is reached. Repeat this process until the gradient distribution of the radial magnetic flux density satisfies the preset uniformity U standard. In this way, the magnetic field regulation effect is continuously optimized, the magnetic field distribution inside the motor is made more uniform, and the noise caused by the magnetic field inhomogeneity is further reduced.

[0099] In step S1604, during the change of the rotational speed of the axial magnetic field motor, the energization timing of the auxiliary compensation coil is dynamically adjusted to match the phase shift of the rotating magnetic field, ensuring the spatial synchronism between the compensation magnetic field and the main magnetic field.

[0100] In the embodiments of the present disclosure, when the rotational speed of the axial magnetic field motor changes, the phase of its rotating magnetic field will also shift accordingly. In order to ensure that the spatial synchronism between the compensation magnetic field and the main magnetic field is always maintained well, the energization timing of the auxiliary compensation coil needs to be dynamically adjusted.

[0101] For example, by monitoring the change in the motor speed, assuming the current speed is ω1, based on the structural parameters and electromagnetic characteristics of the motor, the phase offset Δθ1 of the rotating magnetic field at this speed is calculated. Then, according to this phase offset, the energization start time and energization duration of the auxiliary compensation coil and other energization timing parameters are adjusted. By establishing a functional relationship related to the speed and phase offset, the energization timing can be accurately adjusted in real time according to the speed change, ensuring that during the motor speed change process, the compensation magnetic field can be spatially synchronized with the main magnetic field, maintaining the effectiveness of magnetic field regulation, continuously reducing the motor operation noise, and ensuring the stable operation of the large ventilation system.

[0102] The embodiment of the present disclosure also provides an axial magnetic field motor noise suppression system. Refer to Figure 2 as shown, the system includes: A first construction module 210, configured to collect the current waveform, vibration spectrum, and magnetic field distribution data of the axial magnetic field motor in the operating state, and construct a multi-dimensional operating state data set; An analysis module 220, configured to perform synchronous coupling analysis processing on the multi-dimensional operating state data set, and identify the harmonic component characteristics in the current waveform data, the resonance frequency characteristics in the vibration spectrum data, and the spatial non-uniformity characteristics in the magnetic field distribution data; A second construction module 230, configured to construct a dynamic suppression strategy set based on the harmonic component characteristics, the resonance frequency characteristics, and the spatial non-uniformity characteristics. The dynamic suppression strategy set includes a current waveform optimization strategy, a vibration frequency matching strategy, and a magnetic field compensation strategy; A generation module 240, configured to generate initial phase compensation waveform parameters according to the dynamic suppression strategy set, and call a preset harmonic suppression algorithm to perform iterative optimization processing on the initial phase compensation waveform parameters to generate optimized target current waveform parameters. The iterative optimization processing includes amplitude suppression of the harmonic components of a specified order in the initial phase compensation waveform parameters based on an amplitude attenuation coefficient, and phase cancellation of the remaining harmonic components in the initial phase compensation waveform parameters based on a compensation phase angle; A calculation module 250, configured to calculate the target current values and energization timings of each compensation coil in the magnetic field regulation device according to the dynamic suppression strategy set based on the multi-stage compensation coil excitation parameters, and generate a magnetic field regulation instruction set according to the target current values and the energization timings of each compensation coil; A control module 260, configured to input the target current waveform parameters into the current controller of the axial magnetic field motor to adjust the output current waveform, and send the magnetic field regulation instruction set to the magnetic field regulation device of the axial magnetic field motor to correct the spatial magnetic field distribution.

[0103] In a possible implementation, the second construction module 230 is configured to: Establish an association model between the harmonic component feature and the spatial inhomogeneity feature, and generate a magnetic field compensation strategy for describing the enhancement effect of harmonic current of a specific order on the radial magnetic field gradient through the association model; Calculate the magnetic field distortion coefficient corresponding to the harmonic order according to the association model. When the magnetic field distortion coefficient exceeds a preset threshold, trigger a priority adjustment instruction in the magnetic field compensation strategy to generate a current waveform optimization strategy for preferentially suppressing the current component corresponding to this order of harmonics; Determine the high-frequency noise bandwidth in the vibration spectrum data according to the frequency-domain energy distribution. When there is an overlapping region between the high-frequency noise bandwidth and the harmonic electromagnetic excitation frequency in the harmonic component feature, generate a bandwidth expansion instruction in the vibration frequency matching strategy to disperse the resonance energy according to the resonance frequency feature, and obtain the vibration frequency matching strategy.

[0104] In a possible implementation, the second construction module 230 is configured to: Inject a random frequency fine-tuning signal into the speed control loop of the axial magnetic field motor according to the resonance frequency feature, so that the driving frequency fluctuates randomly within a preset range to destroy the resonance condition; Adjust the fluctuation amplitude of the random frequency fine-tuning signal according to the width of the high-frequency noise bandwidth to ensure that the fluctuation range of the driving frequency covers the overlapping region of the high-frequency noise bandwidth; Real-time monitor the change of the vibration spectrum after injecting the random frequency fine-tuning signal. When it is detected that the energy amplitude ratio of the main resonance frequency point decreases, obtain the vibration frequency matching strategy of locking the current fluctuation amplitude as the optimal parameter and stopping the frequency fine-tuning.

[0105] In a possible implementation, the second construction module 230 is configured to: Generate a frequency offset instruction in the vibration frequency matching strategy according to the first matching degree between the harmonic electromagnetic excitation frequency in the harmonic component feature and the main resonance frequency point in the resonance frequency feature. The frequency offset instruction is used to adjust the driving frequency of the axial magnetic field motor to deviate from the main resonance frequency point; Determine the set of phase compensation waveform parameters in the current waveform optimization strategy according to the superposition analysis result of the harmonic phase offset and the axial magnetic field offset. The set of phase compensation waveform parameters includes the compensation phase angle and amplitude attenuation coefficient of each harmonic; Generate the multi-level compensation coil excitation parameters in the magnetic field compensation strategy according to the radial magnetic field gradient distribution map and the axial magnetic field offset, where the multi-level compensation coil excitation parameters are used to control the magnetic field adjustment device to generate a reverse magnetic field to cancel the spatial non-uniformity; Construct a dynamic suppression strategy set according to the frequency offset instruction, the phase compensation waveform parameter set, and the multi-level compensation coil excitation parameters.

[0106] In a possible implementation manner, the analysis module 220 is configured to: Perform time-frequency decomposition processing on the current waveform data, and extract the fundamental wave amplitude, harmonic order, and harmonic phase offset in the harmonic component characteristics; Perform peak detection processing on the vibration spectrum data, and determine the main resonance frequency point, secondary resonance frequency point, and the energy amplitude ratio of the corresponding frequency in the resonance frequency characteristics; Perform spatial gradient calculation processing on the magnetic field distribution data, and generate a radial magnetic field gradient distribution map and an axial magnetic field offset in the spatial non-uniformity characteristics; Multiply the harmonic order in the harmonic component characteristics by the fundamental wave frequency to obtain the harmonic electromagnetic excitation frequency, and perform correlation mapping with the main resonance frequency point in the resonance frequency characteristics to determine the first matching degree between the harmonic electromagnetic excitation frequency and the main resonance frequency point; Establish a dynamic correlation model between the harmonic phase offset in the harmonic component characteristics and the axial magnetic field offset in the magnetic field distribution data, calculate the modulation effect of the harmonic phase on the magnetic field distribution through the dynamic correlation model, and determine the initial phase adjustment amount in the phase compensation waveform parameter set based on the modulation effect.

[0107] In a possible implementation manner, the control module 260 is configured to: Reconstruct the PWM modulation signal of the current controller according to the target current waveform parameters, so that the harmonic components of the output current waveform meet the preset amplitude threshold and phase symmetry conditions; Real-time monitor the actual harmonic content of the output current waveform. When it is detected that the actual harmonic content exceeds the amplitude threshold, dynamically adjust the compensation phase angle and amplitude attenuation coefficient to generate updated target current waveform parameters; Feed the updated target current waveform parameters back to the harmonic suppression algorithm for secondary optimization processing until the actual harmonic content is stable within the range of the amplitude threshold.

[0108] In a possible implementation manner, the first construction module 210 is configured to: Deploy a high-precision current sensor in the three-phase winding circuit of the axial magnetic field motor to collect the instantaneous current value and phase information in the current waveform data at a preset sampling frequency; Install an array of vibration acceleration sensors on the surface of the stator housing of the axial magnetic field motor, and obtain the time-domain vibration signal and frequency-domain energy distribution in the vibration spectrum data through a spectrum analyzer; Arrange a Hall sensor matrix in the air gap region of the axial magnetic field motor to measure the radial magnetic flux density and axial magnetic flux density in the magnetic field distribution data; Perform timestamp alignment processing on the instantaneous current value, the time-domain vibration signal, and the radial magnetic flux density to ensure the time synchronization of the multi-dimensional operating state data set; Perform normalization processing on the aligned multi-dimensional operating state data set to eliminate the amplitude deviation caused by the difference in the sensor range, and obtain the multi-dimensional operating state data set.

[0109] In a possible implementation manner, the control module 260 is configured to: Activate the auxiliary compensation coil in the magnetic field regulation device according to the multi-stage compensation coil excitation parameters; Generate a reverse compensation magnetic field that is spatially synchronized with the rotating main magnetic field of the axial magnetic field motor according to the radial magnetic field gradient distribution map and the axial magnetic field offset in the magnetic field distribution data, and the gradient direction and amplitude of the reverse compensation magnetic field are opposite to the spatial non-uniformity characteristics; Real-time detect the change in the radial magnetic flux density in the air gap region. When it is detected that the gradient distribution of the radial magnetic flux density does not reach the preset uniformity, increase the excitation current of the auxiliary compensation coil until the preset uniformity is satisfied; During the process of the change in the rotational speed of the axial magnetic field motor, dynamically adjust the energization timing of the auxiliary compensation coil to match the phase shift of the rotating magnetic field, and ensure the spatial synchronization between the compensation magnetic field and the main magnetic field.

[0110] The embodiments of the present disclosure further provide an electronic device, including: A memory, on which a computer program is stored; A processor, configured to execute the computer program in the memory to implement the steps of the method described in any one of the foregoing embodiments.

[0111] Figure 3The axial magnetic field motor noise suppression device 100 shown in the figure includes: a processor 1001 and a memory 1003. Among them, the processor 1001 and the memory 1003 are connected, such as through a bus 1002. Optionally, the axial magnetic field motor noise suppression device 100 may further include a communication component 1004, and the communication component 1004 can be used for data interaction between the device 100 and other devices, such as data sending and / or data receiving, etc. It should be noted that in actual scheduling, the communication component 1004 is not limited to one, and the structure of the axial magnetic field motor noise suppression device 100 does not constitute a limitation to the embodiments of the present application.

[0112] The processor 1001 can be a CPU (Central Processing Unit, central processor), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application-specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure of the present application. The processor 1001 can also be a combination that realizes computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0113] The bus 1002 may include a path for transmitting information between the above components. The bus 1002 can be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture, extended industry standard architecture) bus, etc. The bus 1002 can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 3 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0114] The memory 1003 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store program code and can be read by a computer, without limitation herein.

[0115] The memory 1003 is used to store program codes for executing the embodiments of the present disclosure, and the execution is controlled by the processor 1001. The processor 1001 is used to execute the program codes stored in the memory 1003 to implement the steps shown in the embodiment of the axial magnetic field motor noise suppression method.

[0116] The embodiment of the present disclosure further provides a computer-readable storage medium having program code stored thereon. When the program code is executed by a processor, the steps and corresponding contents of the aforementioned embodiment of the method for suppressing noise of an axial magnetic field motor can be implemented.

[0117] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, various changes, modifications, replacements and variations can be made to these embodiments, and these changes, modifications, replacements and variations all fall within the scope of protection of the present disclosure.

[0118] It should also be noted that the various specific technical features described in the above specific embodiments may be combined in any suitable manner, unless there is any contradiction, and these combinations shall also be considered as the contents disclosed in this disclosure. To avoid unnecessary repetition, this disclosure will not further describe various possible combinations. The technical scope of this application is not limited to the contents of the specification and must be determined based on the scope of the claims.

Claims

1. A method for suppressing the noise of an axial magnetic field motor, characterized in that, The method includes: Collecting the current waveform, vibration spectrum and magnetic field distribution data of the axial magnetic field motor in the operating state, and constructing a multi-dimensional operating state data set; Performing synchronous coupling analysis and processing on the multi-dimensional operating state data set to identify the harmonic component characteristics in the current waveform data, the resonance frequency characteristics in the vibration spectrum data, and the spatial non-uniformity characteristics in the magnetic field distribution data; Based on the harmonic component characteristics, the resonance frequency characteristics and the spatial non-uniformity characteristics, constructing a dynamic suppression strategy set, where the dynamic suppression strategy set includes a current waveform optimization strategy, a vibration frequency matching strategy and a magnetic field compensation strategy; According to the dynamic suppression strategy set, generating initial phase compensation waveform parameters, and invoking a preset harmonic suppression algorithm to perform iterative optimization processing on the initial phase compensation waveform parameters to generate optimized target current waveform parameters. The iterative optimization processing includes amplitude suppression of the harmonic components of a specified order in the initial phase compensation waveform parameters based on the amplitude attenuation coefficient, and phase cancellation of the remaining harmonic components in the initial phase compensation waveform parameters based on the compensation phase angle; According to the dynamic suppression strategy set, based on the multi-stage compensation coil excitation parameters, calculating the target current values and energization timings of each compensation coil in the magnetic field regulating device, and generating a magnetic field regulation instruction set according to the target current values and the energization timings of each compensation coil; Inputting the target current waveform parameters into the current controller of the axial magnetic field motor to adjust the output current waveform, and sending the magnetic field regulation instruction set to the magnetic field regulating device of the axial magnetic field motor to correct the spatial magnetic field distribution.

2. The axial magnetic field motor noise suppression method according to claim 1, wherein The constructing a dynamic suppression strategy set based on the harmonic component characteristics, the resonance frequency characteristics and the spatial non-uniformity characteristics includes: Establishing a correlation model between the harmonic component characteristics and the spatial non-uniformity characteristics, and generating a magnetic field compensation strategy through the correlation model to describe the enhancement effect of harmonic current of a specific order on the radial magnetic field gradient; Calculating the magnetic field distortion coefficient corresponding to the harmonic order according to the correlation model. When the magnetic field distortion coefficient exceeds a preset threshold, triggering a priority adjustment instruction in the magnetic field compensation strategy to generate a current waveform optimization strategy for preferentially suppressing the current components corresponding to the harmonic of this order; Determining the high-frequency noise bandwidth in the vibration spectrum data according to the frequency domain energy distribution. When there is an overlapping region between the high-frequency noise bandwidth and the harmonic electromagnetic excitation frequency in the harmonic component characteristics, generating a bandwidth expansion instruction in the vibration frequency matching strategy according to the resonance frequency characteristics to disperse the resonance energy, and obtaining the vibration frequency matching strategy.

3. The axial magnetic field motor noise suppression method according to claim 2, characterized in that, The generating a bandwidth expansion instruction in the vibration frequency matching strategy according to the resonance frequency characteristics to disperse the resonance energy and obtaining the vibration frequency matching strategy includes: According to the resonance frequency characteristics, injecting a random frequency fine-tuning signal into the speed control loop of the axial magnetic field motor to make the drive frequency randomly fluctuate within a preset range to break the resonance condition; Adjust the fluctuation amplitude of the random frequency fine-tuning signal according to the width of the high-frequency noise bandwidth, ensuring that the fluctuation range of the driving frequency covers the overlapping region of the high-frequency noise bandwidth; Monitor the change of the vibration spectrum in real time after injecting the random frequency fine-tuning signal. When it is detected that the energy amplitude ratio of the main resonance frequency point decreases, obtain the vibration frequency matching strategy of locking the current fluctuation amplitude as the optimal parameter and stopping the frequency fine-tuning.

4. The axial magnetic field motor noise suppression method according to claim 1, characterized in that Based on the harmonic component characteristics, the resonance frequency characteristics, and the spatial inhomogeneity characteristics, construct a set of dynamic suppression strategies, including: Generate a frequency offset command in the vibration frequency matching strategy according to the first matching degree between the harmonic electromagnetic excitation frequency in the harmonic component characteristics and the main resonance frequency point in the resonance frequency characteristics. The frequency offset command is used to adjust the driving frequency of the axial magnetic field motor to deviate from the main resonance frequency point; Determine the set of phase compensation waveform parameters in the current waveform optimization strategy according to the superposition analysis result of the harmonic phase offset and the axial magnetic field offset. The set of phase compensation waveform parameters includes the compensation phase angle and amplitude attenuation coefficient of each harmonic; Generate the multi-level compensation coil excitation parameters in the magnetic field compensation strategy according to the radial magnetic field gradient distribution map and the axial magnetic field offset. The multi-level compensation coil excitation parameters are used to control the magnetic field adjustment device to generate a reverse magnetic field to offset the spatial inhomogeneity; Construct a set of dynamic suppression strategies according to the frequency offset command, the set of phase compensation waveform parameters, and the multi-level compensation coil excitation parameters.

5. The axial magnetic field motor noise suppression method according to claim 1, characterized in that Perform synchronous coupling analysis and processing on the multi-dimensional operating state data set to identify the harmonic component characteristics in the current waveform data, the resonance frequency characteristics in the vibration spectrum data, and the spatial inhomogeneity characteristics in the magnetic field distribution data, including: Perform time-frequency decomposition processing on the current waveform data to extract the fundamental wave amplitude, harmonic order, and harmonic phase offset in the harmonic component characteristics; Perform peak detection processing on the vibration spectrum data to determine the main resonance frequency point, secondary resonance frequency point, and energy amplitude ratio of the corresponding frequency in the resonance frequency characteristics; Perform spatial gradient calculation processing on the magnetic field distribution data to generate the radial magnetic field gradient distribution map and the axial magnetic field offset in the spatial inhomogeneity characteristics; Multiply the harmonic order in the harmonic component characteristics by the fundamental wave frequency to obtain the harmonic electromagnetic excitation frequency, and perform an association mapping with the main resonance frequency point in the resonance frequency characteristics to determine the first matching degree between the harmonic electromagnetic excitation frequency and the main resonance frequency point; Establish a dynamic association model between the harmonic phase offset in the harmonic component characteristics and the axial magnetic field offset in the magnetic field distribution data, calculate the modulation effect of the harmonic phase on the magnetic field distribution through the dynamic association model, and determine the initial phase adjustment amount in the set of phase compensation waveform parameters based on the modulation effect.

6. The axial magnetic field motor noise suppression method according to claim 1, wherein Input the target current waveform parameters into the current controller of the axial magnetic field motor to adjust the output current waveform, including: Reconstruct the PWM modulation signal of the current controller according to the target current waveform parameters, so that the harmonic components of the output current waveform meet the preset amplitude threshold and phase symmetry conditions; Monitor the actual harmonic content of the output current waveform in real time. When it is detected that the actual harmonic content exceeds the amplitude threshold, dynamically adjust the compensation phase angle and amplitude attenuation coefficient to generate updated target current waveform parameters; Feed back the updated target current waveform parameters to the harmonic suppression algorithm for secondary optimization processing until the actual harmonic content is stabilized within the range of the amplitude threshold.

7. The axial magnetic field motor noise suppression method according to claim 1, characterized in that Collect the current waveform, vibration spectrum and magnetic field distribution data of the axial magnetic field motor in the operating state, and construct a multi-dimensional operating state data set, including: Deploy high-precision current sensors in the three-phase winding circuit of the axial magnetic field motor, and collect the instantaneous current values and phase information in the current waveform data at a preset sampling frequency; Install a vibration acceleration sensor array on the stator housing surface of the axial magnetic field motor, and obtain the time-domain vibration signal and frequency-domain energy distribution in the vibration spectrum data through a spectrum analyzer; Arrange a Hall sensor matrix in the air gap region of the axial magnetic field motor to measure the radial magnetic flux density and axial magnetic flux density in the magnetic field distribution data; Perform timestamp alignment processing on the instantaneous current value, the time-domain vibration signal and the radial magnetic flux density to ensure the time synchronization of the multi-dimensional operating state data set; Perform normalization processing on the aligned multi-dimensional operating state data set to eliminate the amplitude deviation caused by the sensor range difference, and obtain the multi-dimensional operating state data set.

8. The axial magnetic field motor noise suppression method according to any one of claims 1-7, characterized in that, Send the magnetic field adjustment instruction set to the magnetic field adjustment device of the axial magnetic field motor to correct the spatial magnetic field distribution, including: Activate the auxiliary compensation coil in the magnetic field adjustment device according to the multi-stage compensation coil excitation parameters; Generate a reverse compensation magnetic field that is spatially synchronized with the rotating main magnetic field of the axial magnetic field motor according to the radial magnetic field gradient distribution map and axial magnetic field offset in the magnetic field distribution data, and the gradient direction and amplitude of the reverse compensation magnetic field are opposite to the spatial non-uniformity characteristics; Detect the change of the radial magnetic flux density in the air gap region in real time. When it is detected that the gradient distribution of the radial magnetic flux density does not reach the preset uniformity, increase the excitation current of the auxiliary compensation coil until the preset uniformity is satisfied; During the speed change of the axial magnetic field motor, dynamically adjust the energization timing of the auxiliary compensation coil to match the phase shift of the rotating magnetic field, and ensure the spatial synchronization between the compensation magnetic field and the main magnetic field.

9. An axial magnetic field motor noise suppression system, characterized in that, The system includes: A first construction module configured to collect the current waveform, vibration spectrum and magnetic field distribution data of the axial magnetic field motor in the operating state, and construct a multi-dimensional operating state data set; An analysis module configured to perform synchronous coupling analysis processing on the multi-dimensional operating state data set, and identify the harmonic component characteristics in the current waveform data, the resonance frequency characteristics in the vibration spectrum data, and the spatial non-uniformity characteristics in the magnetic field distribution data; A second construction module, configured to construct a set of dynamic suppression strategies based on the harmonic component characteristics, the resonance frequency characteristics, and the spatial inhomogeneity characteristics, the set of dynamic suppression strategies including a current waveform optimization strategy, a vibration frequency matching strategy, and a magnetic field compensation strategy; A generation module, configured to generate initial phase compensation waveform parameters according to the set of dynamic suppression strategies, and call a preset harmonic suppression algorithm to perform iterative optimization processing on the initial phase compensation waveform parameters to generate optimized target current waveform parameters, the iterative optimization processing including amplitude suppression of harmonic components of a specified order in the initial phase compensation waveform parameters based on an amplitude attenuation coefficient, and phase cancellation of the remaining harmonic components in the initial phase compensation waveform parameters based on a compensation phase angle; A calculation module, configured to calculate target current values and energization timings of respective compensation coils in a magnetic field adjustment device based on multi-stage compensation coil excitation parameters according to the set of dynamic suppression strategies, and generate a set of magnetic field adjustment instructions according to the target current values and the energization timings of the respective compensation coils; A control module, configured to input the target current waveform parameters into a current controller of the axial magnetic field motor to adjust an output current waveform, and send the set of magnetic field adjustment instructions to a magnetic field adjustment device of the axial magnetic field motor to correct a spatial magnetic field distribution.

10. An electronic device, characterized in that, Comprising: A memory, on which a computer program is stored; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1-8.

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