Permanent magnet synchronous motor local demagnetization fault simulation method and system for motor simulator

Abstract

The invention discloses a local demagnetization fault simulation method and system of a permanent magnet synchronous motor for a motor simulator, and the method comprises the steps: calculating the change relation of the permanent magnet flux linkage of each phase winding of a stator along with the position angle of a rotor according to a given demagnetization condition in combination with the specific form of a motor stator winding; and then the relationships are substituted into an analytical model of the permanent magnet synchronous motor in a two-phase synchronous rotating coordinate system to obtain a mathematical model of the fault motor, and finally the mathematical model is embedded into a motor simulator to realize simulation of the local demagnetization fault of the permanent magnet synchronous motor. The method can be directly embedded into an existing motor simulator, is high in usability and low in calculation complexity, is compatible with a mathematical model of a fault-free motor, and can reflect the characteristics of a local demagnetization fault.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor fault simulation, and in particular relates to a method and system for simulating local demagnetization faults of a permanent magnet synchronous motor for a motor simulator. Background Art

[0002] Motor simulators are primarily used in testing motor drive systems. Their basic concept is to simulate motor port characteristics by using power electronic converters to solve the motor's mathematical model in real time and control the output voltage or current. To test motor drive system reliability, fault diagnosis, and fault-tolerant control, it's often necessary to operate the motor under fault conditions. Using an actual motor would likely require irreversible damage, making fault simulation with a motor simulator a more feasible option.

[0003] Currently, the industry has developed a variety of fault simulation methods for different motors. For example, mathematical models and control strategies exist for stator turn-to-turn short circuits and rotor squirrel cage faults in induction motors, as well as stator turn-to-turn short circuits and single-phase open circuits in permanent magnet synchronous motors. Local demagnetization of the rotor's permanent magnets is also a common fault in permanent magnet synchronous motors, but currently, no solutions exist for simulating this fault using motor simulators. Local demagnetization occurs when the magnetic field of one or more permanent magnets on the motor's rotor weakens, while the remaining permanent magnets remain normal. This fault is typically caused by asymmetric motor short circuits, local overheating, or damage to the magnets themselves. With the increasing application of permanent magnet synchronous motors in applications such as electric vehicles, simulation of local demagnetization faults has become increasingly necessary.

[0004] The mathematical model of the motor is the prerequisite and key to fault simulation. Among existing mathematical models describing local demagnetization faults in permanent magnet synchronous motors, the most commonly used is the finite element model. This model obtains the electromagnetic field distribution in the motor through meshing and discretization, resulting in very high accuracy. However, it also places high demands on storage space and computing performance, with calculation times typically measured in hours or days. In motor simulators, the motor's mathematical model typically needs to be solved in real time within a digital controller such as a microcontroller or microprocessor, which has very limited storage space and computing performance. This means that the finite element model cannot be directly used in motor simulators.

[0005] To address the high computational complexity of finite element models, the industry has also used analytical models to describe local demagnetization faults in permanent magnet synchronous motors, such as equivalent magnetic circuit models and reluctance network models. While these analytical models are computationally less complex than finite element models, they are still difficult to solve in real time. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to address the deficiencies in the above-mentioned prior art and provide a method and system for simulating local demagnetization faults of permanent magnet synchronous motors for motor simulators, so as to solve the technical problems in the prior art of the lack of a local demagnetization fault simulation method for permanent magnet synchronous motors suitable for motor simulators and the high computational complexity of the existing mathematical model of local demagnetization faults.

[0007] The present invention adopts the following technical solutions: A method for simulating a local demagnetization fault of a permanent magnet synchronous motor using a motor simulator comprises the following steps: For stator without fault a Permanent magnet flux of phase winding Decompose to obtain the permanent magnet magnetic flux The positive component of and negative components and rotor position angle Functional relationship expression of ; Adjust the stator separately when there is no fault a Positive component of the permanent magnet flux of the phase winding and negative components The amplitude of the stator is obtained when there is a fault a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a Permanent magnet flux of phase winding ; Increase the stator when there is a fault a Permanent magnet flux of phase winding and rotor position angle The angle of the rotor position in the functional expression of , get the stator when there is a fault b Harmony c Permanent magnet flux of phase winding 、 and rotor position angle Functional relationship expression of ; The permanent magnet flux of the stator three-phase winding will be 、 and Transformation to obtain the permanent magnet flux in the two-phase synchronous rotating coordinate system 、 , and then substitute it into the mathematical model of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system to obtain the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor; The complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor is embedded in the motor simulator to realize the simulation of the local demagnetization fault of the permanent magnet synchronous motor.

[0008] Preferably, the pole pairs are used n p and the permanent magnet flux amplitude Calculated stator without fault a Permanent magnet flux of phase winding and rotor position angle Functional relationship expression of .

[0009] Preferably, when there is no fault, when the stator a Permanent magnet flux of phase winding and rotor position angle When the sine function relationship is satisfied, ; When there is no fault, the stator a Permanent magnet flux of phase winding and rotor position angle When the cosine function relationship is satisfied, .

[0010] Preferably, the stator is a Permanent magnet flux of phase winding Decompose the permanent magnet magnetic flux Decompose into positive components and negative components , , whose value is always positive, , whose value is always negative; and satisfy .

[0011] Preferably, the stator is faulty. a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a Permanent magnet flux of phase winding The details are as follows: When the demagnetized permanent magnet rotates to the stator a When the phase winding is within the angular range, the permanent magnet flux amplitude of the phase winding is reduced to the normal value. times, if at this time a The direction of the permanent magnet flux of the phase winding is positive, then , if at this time a The direction of the permanent magnet flux of the phase winding is negative, then ; When the permanent magnet demagnetizes and leaves the stator a After the phase winding is in the angular range, the permanent magnet flux amplitude of the phase winding returns to normal. 、 ; Through the positive component and negative components The superposition of the stator when there is a fault a Permanent magnet flux of phase winding ,Right now .

[0012] Preferably, the positive component is reduced each time and negative components When the amplitude is and negative components Start and end at their respective zero points.

[0013] Preferably, there will be a fault in the stator a Permanent magnet flux of phase winding and rotor position angle The rotor position angle in the functional expression of Increase by 120° and 240° respectively.

[0014] Preferably, the permanent magnet flux of the stator three-phase winding is 、 and Perform Clarke transform and Park transform.

[0015] Preferably, the stator resistance per phase is determined R s ,stator d 、 q Shaft inductance L d 、 L q , moment of inertia J , viscous friction coefficient B , pole pair number n p , permanent magnet flux amplitude , the position of the permanent magnet where demagnetization occurs, and the demagnetization rate ,The complete mathematical model of the local demagnetization fault of permanent magnet synchronous motor is as follows:

[0016] in, i d 、 i q For stator d 、 q Shaft current; u d 、 u q For stator d 、 q Shaft voltage;e d 、 e q For stator winding d 、 q Axis back EMF; is the electrical angular velocity of the rotor; is the mechanical angular velocity of the rotor; T e is the electromagnetic torque of the motor; T m is the mechanical load torque of the motor.

[0017] In a second aspect, an embodiment of the present invention provides a permanent magnet synchronous motor local demagnetization fault simulation system for a motor simulator, comprising: Decompose the module and check the stator when there is no fault. a Permanent magnet flux of phase winding Decompose to obtain the permanent magnet magnetic flux The positive component of and negative components and rotor position angle Functional relationship expression of ; Amplitude adjustment module, respectively adjust the stator when there is no fault a Positive component of the permanent magnet flux of the phase winding and negative components The amplitude of the stator is obtained when there is a fault a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a The permanent magnet flux linkage of the phase winding; Angle module, respectively, increases the stator when there is a fault a Permanent magnet flux of phase winding and rotor position angle The angle of the rotor position in the functional expression of , get the stator when there is a fault b Harmony c Permanent magnet flux of phase winding 、 and rotor position angle Functional relationship expression of ; Output module, which will generate the permanent magnet flux of the stator three-phase winding when there is a fault 、 and Transformation to obtain the permanent magnet flux in the two-phase synchronous rotating coordinate system 、 , and then substitute it into the mathematical model of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system to obtain the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor; The embedding module embeds the complete mathematical model of the permanent magnet synchronous motor local demagnetization fault into the motor simulator to realize the simulation of the permanent magnet synchronous motor local demagnetization fault.

[0018] In a third aspect, a computer device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for simulating local demagnetization fault of a permanent magnet synchronous motor for the motor simulator are implemented.

[0019] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, comprising a computer program, which, when executed by a processor, implements the steps of the method for simulating local demagnetization fault of a permanent magnet synchronous motor using the above-mentioned motor simulator.

[0020] In a fifth aspect, a chip comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for simulating local demagnetization fault of a permanent magnet synchronous motor used in the above-mentioned motor simulator are implemented.

[0021] In a sixth aspect, an embodiment of the present invention provides an electronic device, comprising a computer program, which, when executed by the electronic device, implements the steps of the method for simulating local demagnetization fault of a permanent magnet synchronous motor using the above-mentioned motor simulator.

[0022] Compared with the prior art, the present invention has at least the following beneficial effects: A method for simulating local demagnetization faults in permanent magnet synchronous motors for motor simulators is proposed. Based on a given demagnetization situation and the specific form of the motor stator winding, the relationship between the permanent magnet flux linkage of each phase winding of the stator and the rotor position angle is calculated. These relationships are then substituted into the permanent magnet synchronous motor in a two-phase synchronous rotating coordinate system ( dq The mathematical model of the faulty motor is obtained from the analytical model in the coordinate system, and finally the model is embedded in the motor simulator to simulate the local demagnetization fault of the permanent magnet synchronous motor.

[0023] Furthermore, among the faulty motor structure and parameters provided by the user, parameters related to magnetic characteristics and fault information will be used to calculate the relationship between the permanent magnet flux linkage of each phase winding of the stator and the rotor position angle, and the remaining parameters will be used to establish a complete mathematical model of the faulty motor.

[0024] Furthermore, write the stator when there is no fault a Permanent magnet flux of phase winding and rotor position angle This will serve as the basis for the subsequent calculation of the stator winding permanent magnet flux linkage under local demagnetization faults. In fact, the flux linkage in the stator winding consists of two parts, namely the flux linkage generated by the rotor permanent magnet and the flux linkage generated by the stator current. The demagnetization fault will only have a direct impact on the former, while the latter will also be indirectly affected, but this impact can be reflected in the subsequent mathematical model, so here only the permanent magnet flux linkage needs to be considered. In addition, the reason why the three-phase stationary coordinate system ( abc coordinate system) instead of directly in dq The permanent magnet flux of the stator winding is calculated in the coordinate system because abc The coordinate system is more natural and intuitive, easy to understand and calculate, and then, you can easily get it by just rotating the coordinate transformation. dq Permanent magnet flux linkage of stator winding in the coordinate system.

[0025] Furthermore, the stator will be a Permanent magnet flux of phase winding Decompose into positive components and negative components The rotor of a permanent magnet synchronous motor has two types of permanent magnets: north-pole and south-pole. Their magnetic fields have opposite directions, resulting in opposite flux linkages in the stator winding. If the north-pole permanent magnet produces a positive component of flux linkage, the south-pole permanent magnet will produce a negative component of flux linkage, and vice versa. The specific correspondence is related to the winding direction of the motor's stator winding. Therefore, decomposing the stator winding's permanent magnet flux linkage into positive and negative components can separate the effects of the north-pole and south-pole permanent magnets, simplifying subsequent flux linkage calculations.

[0026] Furthermore, according to the stator winding distribution and connection mode, the position of the permanent magnet where demagnetization occurs and the demagnetization rate , respectively and The amplitude of the stator is adjusted to obtain the stator a Positive component of the permanent magnet flux of the phase winding and negative components This is the key step in establishing the local demagnetization fault model. a When the phase winding is within the angular range, if the direction of the magnetic flux generated by the permanent magnet is positive, then a The amplitude of the positive component of the phase flux is reduced to the normal value. times, otherwise the amplitude of the negative component is reduced to the normal value. times; when the demagnetized permanent magnet leaves the stator a After the phase winding is in the angle range, the flux amplitude returns to normal. and Adding them together gives the stator fault a Permanent magnet flux of phase winding In this way, the stator winding permanent magnet flux linkage reflecting local demagnetization faults can be easily derived by simply combining the distribution and connection method of the motor stator winding, providing a simple modeling method for some situations where the accuracy requirements are not particularly high.

[0027] Further, in In the expression of Increase 120° and 240° respectively to get the stator when there is a fault b Harmony c Permanent magnet flux of phase winding 、 This is achieved by using the symmetry of the three-phase windings of the motor stator in spatial distribution. You can directly obtain b Harmony c The permanent magnet flux linkage of the phase winding can be calculated without repeating the calculation process in steps S2 to S4, which further reduces the amount of calculation.

[0028] Further, yes 、 and Perform Clarke transform and Park transform to obtain dq Permanent magnet flux in the coordinate system 、 The derivation of the above steps is based on abc In order to compare the obtained stator winding permanent magnet flux linkage under local demagnetization fault with the existing permanent magnet synchronous motor dq The mathematical model under the coordinate system is combined and the rotation coordinate transformation is performed. abc The magnetic flux in the coordinate system is transformed to dq Coordinate system.

[0029] Further, 、 Substitute the permanent magnet synchronous motor into dq The mathematical model of the permanent magnet synchronous motor in the coordinate system is obtained. dq The mathematical model in the coordinate system is a simple analytical model consisting of a set of differential equations and is often used in existing motor simulators. Therefore, it is only necessary to convert the above derivation into 、 Substitute the permanent magnet synchronous motor into dqThe mathematical model of the local demagnetization fault in the coordinate system can be obtained. In addition, if the flux linkage when there is no fault is substituted into the mathematical model, the mathematical model of the fault-free motor can also be obtained. Therefore, the mathematical model of the local demagnetization fault established above is well compatible with the mathematical model of the fault-free motor.

[0030] Furthermore, the complete mathematical model of the local demagnetization fault in a permanent magnet synchronous motor is embedded in the motor simulator, ultimately enabling simulation of the local demagnetization fault in the permanent magnet synchronous motor. Leveraging existing model discretization methods, the mathematical model of the local demagnetization fault can be easily integrated with the motor simulator, enabling model embedding and ultimately fault simulation.

[0031] It can be understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0032] In summary, the method for simulating local demagnetization fault of permanent magnet synchronous motor provided by the present invention uses the simplest and most commonly used permanent magnet synchronous motor dq The analytical model in the coordinate system can be directly embedded in the existing motor simulator by simply modifying the permanent magnet flux through steps such as flux decomposition, amplitude adjustment and coordinate transformation. It has high ease of use, low computational complexity, is compatible with the mathematical model of fault-free motors, and can reflect the characteristics of local demagnetization faults.

[0033] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 This is a flow chart of a method for simulating local demagnetization faults of a permanent magnet synchronous motor according to the present invention; Figure 2 Schematic diagram of the structure of the 24-slot 8-pole permanent magnet synchronous motor used in Example 1; Figure 3 For example 1 when there is no fault and when there is a fault a A graph showing the change in flux linkage of the permanent magnets in the phase windings as a function of rotor position; Figure 4 This is the simulation result diagram of Example 1; Figure 5 This is a schematic diagram of the structure of the 9-slot 8-pole permanent magnet synchronous motor used in Example 2; Figure 6 For example 2 when there is no fault and when there is a fault a A graph showing the change in flux linkage of the permanent magnets in the phase windings as a function of rotor position; Figure 7 This is the simulation result diagram of Example 2; Figure 8 A schematic diagram of a computer device provided in accordance with an embodiment of the present invention; Figure 9 The present invention is a block diagram of an electronic device according to an embodiment of the present invention.

[0036] Among them, 60. Computer device; 61. Processor; 62. Memory; 63. Computer program; 600. Electronic device; 610. Processing unit; 620. Storage unit; 6201. Random access memory unit; 6202. Cache memory unit; 6203. Read-only memory unit; 6204. Program / Utility; 6205. Program module; 630. Bus; 640. Display unit; 650. Input / output interface; 660. Network adapter; 700. External device. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0038] In the description of the present invention, it is to be understood that the terms “include” and “comprise” indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0039] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0040] It should be further understood that the term "and / or" as used in the present specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0041] It should be understood that although the terms "first," "second," and "third" may be used to describe preset ranges in embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are merely used to distinguish one preset range from another. For example, without departing from the scope of embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0042] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0043] The accompanying drawings illustrate various schematic diagrams of structures according to embodiments disclosed herein. These figures are not drawn to scale; for clarity, some details are exaggerated and some details may be omitted. The shapes of the various regions and layers shown in the figures, as well as their relative sizes and positional relationships, are merely exemplary and may deviate in practice due to manufacturing tolerances or technical limitations. Those skilled in the art may design regions / layers with different shapes, sizes, and relative positions as needed.

[0044] The present invention provides a method for simulating local demagnetization faults of permanent magnet synchronous motors for motor simulators. According to a given demagnetization situation and in combination with the specific form of the motor stator winding, the relationship between the permanent magnet flux linkage of each phase winding of the stator and the rotor position angle is calculated, and then these relationships are substituted into the permanent magnet synchronous motor in a two-phase synchronous rotating coordinate system ( dq The fault simulation method provided by the present invention uses the simplest and most commonly used permanent magnet synchronous motor dq The analytical model in the coordinate system can be directly embedded in the existing motor simulator by simply modifying the permanent magnet flux through steps such as flux decomposition, amplitude adjustment and coordinate transformation. It has high ease of use, low computational complexity, is compatible with the mathematical model of fault-free motors, and can reflect the characteristics of local demagnetization faults.

[0045] Example 1 See also Figure 1 The present invention provides a method for simulating local demagnetization fault of a permanent magnet synchronous motor using a motor simulator, comprising the following steps: S1. The user gives the structure and parameters of the faulty motor and obtains the stator winding distribution and connection mode, and the stator resistance per phase. R s ,stator d 、 q Shaft inductance L d 、 L q , moment of inertia J , viscous friction coefficient B , pole pair number n p , permanent magnet flux amplitude , the position of the permanent magnet where demagnetization occurs, and the demagnetization rate ; The user specifies the structure and related parameters of the faulty motor, including the stator winding distribution and connection method, the number of pole pairs, n p , permanent magnet flux amplitude , the position of the permanent magnet where demagnetization occurs and the demagnetization rate It is used to calculate the relationship between the permanent magnet flux of each phase winding of the stator and the rotor position angle, and the remaining parameters will be used to establish a complete mathematical model of the faulty motor. The minimum value is 0, indicating that no demagnetization occurs; the maximum value is 1, indicating that one or several permanent magnets on the rotor are completely demagnetized.

[0046] S2. Using pole pairs n p and the permanent magnet flux amplitude Calculate and get the stator when there is no fault a Permanent magnet flux of phase winding and rotor position angle Functional relationship expression of ; When there is no fault, the permanent magnet flux of the permanent magnet synchronous motor is distributed in space according to the sinusoidal law, so and The relationship between them satisfies the sinusoidal function, and the magnetic flux changes repeatedly every time the rotor rotates one circle. n p cycles. Therefore, The expression is expressed as .

[0047] It is worth noting that the zero point definition of the rotor position angle is different. and It is also possible that the cosine function relationship is satisfied between them, that is, However, the two cases only differ in phase by 90° and there is no essential difference. Therefore, the following calculation is based on the sinusoidal function relationship.

[0048] S3, stator when there is no fault a Permanent magnet flux of phase winding Decompose it and get The positive component of and negative components and rotor position angle Functional relationship expression of ; Will Decompose into positive components and negative components ,in , its value is always positive, and , its value is always negative. Obviously, and In form it is still The sine function of , that is to say Can be and Obtained by superposition.

[0049] S4. According to the stator winding distribution and connection method, the position of the permanent magnet where demagnetization occurs and the demagnetization rate , respectively for the stator when there is no fault a Positive component of the permanent magnet flux of the phase winding and negative components The amplitude of the stator is adjusted to obtain the stator a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a Permanent magnet flux of phase winding ; As the rotor rotates, the demagnetized permanent magnet rotates to the stator. a When the phase winding is within the angular range, the permanent magnet flux amplitude of the phase winding is reduced to the normal value. times, specifically, if at this time a The direction of the permanent magnet flux of the phase winding is positive, then , on the contrary, if at this time a The direction of the permanent magnet flux of the phase winding is negative, then When the demagnetized permanent magnet leaves the stator a After the phase winding is in the angular range, the permanent magnet flux amplitude of the phase winding returns to normal, then 、 The specific angle range needs to be determined by the distribution and connection method of the motor stator winding. It is worth noting that in order to ensure that the permanent magnet flux of the stator winding changes continuously with the rotor position, each time the and The amplitudes of should start and end at their respective zero points. Finally, by and The superposition of the stator when there is a fault is obtained. a Permanent magnet flux of phase winding ,Right now . Note that here we get 、 and Also function.

[0050] S5. Stator in case of fault a Permanent magnet flux of phase winding and rotor position angle In the functional relationship expression of Increase 120° and 240° respectively to get the stator when there is a fault b Harmony c Permanent magnet flux of phase winding 、 and rotor position angle Functional relationship expression of ; Since the stator windings of the three-phase AC motor are symmetrically distributed in space and the phases are 120 degrees apart, the stator windings will be b Harmony c Permanent magnet flux of phase winding 、 , there is no need to derive again, and you can directly use the one obtained in step S4 , among which Just increase by 120° and 240° respectively.

[0051] S6, the permanent magnet flux of the stator three-phase winding when there is a fault 、 and Perform Clarke transformation and Park transformation to obtain the two-phase synchronous rotating coordinate system ( dq Permanent magnet flux in the coordinate system) 、 ; The above calculation 、 and The process is in the three-phase stationary coordinate system ( abc coordinate system), this is because abc The coordinate system is more natural and intuitive, which is convenient for calculating the magnetic flux of permanent magnets. abc The mathematical model of the motor in the coordinate system has the characteristics of nonlinearity and strong coupling, so it is usually subjected to Clarke transformation and Park transformation to obtain the more commonly used in motor simulators. dq Mathematical model in coordinate system.

[0052] S7, will dq Permanent magnet flux in the coordinate system 、 Substitute the permanent magnet synchronous motor into dq The mathematical model in the coordinate system is used to obtain the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor; Permanent magnet synchronous motor dq The mathematical model in the coordinate system consists of the following set of equations:

[0053] in, i d 、 i q For stator d 、 q Shaft current; u d 、 u q For stator d 、 q Shaft voltage; e d 、 e q For stator winding d 、 q Axis back EMF; is the electrical angular velocity of the rotor; is the mechanical angular velocity of the rotor; T e is the electromagnetic torque of the motor; T m is the mechanical load torque of the motor. The meanings and values of the remaining parameters have been explained in step S1.

[0054] The result obtained in step S6 、 Substituting this into the set of equations, we can obtain the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor.

[0055] S8. Embed the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor into the motor simulator to realize the simulation of the local demagnetization fault of the permanent magnet synchronous motor.

[0056] The mathematical model of the permanent magnet synchronous motor is essentially a set of differential equations. To solve them in real time in a motor simulator, these equations need to be discretized and embedded into the simulator's digital controller. Currently, numerous methods for model discretization exist, and they have been applied in practical motor simulators. Therefore, these existing methods can be directly leveraged to embed a local demagnetization fault model for a permanent magnet synchronous motor. The present method is not limited to a specific method for discretizing and embedding the fault model.

[0057] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Accordingly, various aspects of the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, collectively referred to herein as "circuits," "modules," or "platforms."

[0058] Example 2 The present invention provides a permanent magnet synchronous motor local demagnetization fault simulation system for a motor simulator, which can be used to implement the above-mentioned permanent magnet synchronous motor local demagnetization fault simulation method for a motor simulator. Specifically, the permanent magnet synchronous motor local demagnetization fault simulation system for a motor simulator includes a decomposition module, an amplitude adjustment module, an angle module, an output module and an embedded module.

[0059] in, Decompose the module and check the stator when there is no fault. a Permanent magnet flux of phase winding Decompose to obtain the permanent magnet magnetic flux The positive component of and negative components and rotor position angle Functional relationship expression of ; Amplitude adjustment module, respectively adjust the stator when there is no fault a Positive component of the permanent magnet flux of the phase winding and negative components The amplitude of the stator is obtained when there is a fault a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a The permanent magnet flux linkage of the phase winding; Angle module, respectively, increases the stator when there is a fault a Permanent magnet flux of phase winding and rotor position angle The angle of the rotor position in the functional expression of , get the stator when there is a fault b Harmony cPermanent magnet flux of phase winding 、 and rotor position angle Functional relationship expression of ; Output module, which will generate the permanent magnet flux of the stator three-phase winding when there is a fault 、 and Transformation to obtain the permanent magnet flux in the two-phase synchronous rotating coordinate system 、 , and then substitute it into the mathematical model of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system to obtain the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor; The embedding module embeds the complete mathematical model of the permanent magnet synchronous motor local demagnetization fault into the motor simulator to realize the simulation of the permanent magnet synchronous motor local demagnetization fault.

[0060] Example 3 The present invention provides a terminal device, which includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or may be other general-purpose processors, graphics processing units (GPUs), tensor processing units (TPUs), digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions to implement corresponding method processes or corresponding functions; the processor described in the embodiment of the present invention can be used for the operation of a method for simulating local demagnetization faults of permanent magnet synchronous motors for motor simulators, including: For stator without fault a Permanent magnet flux of phase winding Decompose to obtain the permanent magnet magnetic flux The positive component of and negative components and rotor position angle Functional expression of the relationship; respectively adjust the stator when there is no fault aPositive component of the permanent magnet flux of the phase winding and negative components The amplitude of the stator is obtained when there is a fault a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a Permanent magnet flux of phase winding ; Increase the stator when there is a fault a Permanent magnet flux of phase winding and rotor position angle The angle of the rotor position in the functional expression of , get the stator when there is a fault b Harmony c Permanent magnet flux of phase winding 、 and rotor position angle Functional expression of the relationship between the permanent magnet flux of the stator three-phase winding when there is a fault 、 and Transformation to obtain the permanent magnet flux in the two-phase synchronous rotating coordinate system 、 , and then substitute the mathematical model of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system to obtain the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor; the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor is embedded in the motor simulator to realize the simulation of the local demagnetization fault of the permanent magnet synchronous motor.

[0061] See also Figure 8 The terminal device is a computer device. The computer device 60 of this embodiment includes: a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and executable by the processor 61. When the computer program 63 is executed by the processor 61, it implements the method for simulating local demagnetization faults of a permanent magnet synchronous motor for a motor simulator in the embodiment. To avoid repetition, the details are not described here. Alternatively, when the computer program 63 is executed by the processor 61, it implements the functions of each model / unit in the system for simulating local demagnetization faults of a permanent magnet synchronous motor for a motor simulator in the embodiment. To avoid repetition, the details are not described here.

[0062] The computer device 60 may be a desktop computer, a notebook computer, a PDA, a cloud server, or other computing devices. The computer device 60 may include, but is not limited to, a processor 61 and a memory 62. It will be understood by those skilled in the art that Figure 8This is merely an example of the computer device 60 and does not constitute a limitation of the computer device 60 . The computer device 60 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device may also include input and output devices, network access devices, buses, etc.

[0063] The processor 61 may be a central processing unit (CPU), or other general-purpose processors, a graphics processing unit (GPU), a tensor processing unit (TPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0064] The memory 62 may be an internal storage unit of the computer device 60, such as a hard disk or memory of the computer device 60. The memory 62 may also be an external storage device of the computer device 60, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 60.

[0065] Furthermore, the memory 62 may include both an internal storage unit of the computer device 60 and an external storage device. The memory 62 is used to store computer programs and other programs and data required by the computer device. The memory 62 may also be used to temporarily store data that has been output or is about to be output.

[0066] See also Figure 9 The terminal device is an electronic device 600, which is implemented as a general-purpose computing device. The components of the electronic device may include, but are not limited to, at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), and a display unit 640.

[0067] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps according to various exemplary embodiments of the present invention described in the above method section of this specification. For example, the processing unit 610 can perform the following steps: Figure 1 Follow the steps shown in .

[0068] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0069] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0070] Bus 630 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0071] The electronic device 600 may also communicate with one or more external devices 700 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., a router, a modem). Such communication may occur via an input / output interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., a local area network, a wide area network, and / or a public network, such as the Internet) via a network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0072] Example 4 The present invention also provides a storage medium, specifically a computer-readable storage medium. The computer-readable storage medium is a memory device in a terminal device, used to store programs and data. It is understood that the computer-readable storage medium herein may include both the built-in storage medium in the terminal device and, of course, the extended storage medium supported by the terminal device. It may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. The computer-readable storage medium provides storage space that stores the terminal's operating system. Furthermore, the storage space also stores one or more instructions suitable for being loaded and executed by a processor. These instructions may be one or more computer programs (including program code). It should be noted that more specific examples of the computer-readable storage medium herein include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0073] Computer-readable storage media also include data signals propagated in baseband or as part of a carrier wave, which carry readable program code. Such propagated data signals can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium can also be any readable medium other than a readable storage medium, which can send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the readable storage medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, radio frequency, etc., or any suitable combination of the above.

[0074] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, and the like, as well as conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network or a wide area network, or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0075] The processor may load and execute one or more instructions stored in a computer-readable storage medium to implement the corresponding steps of the method for simulating a local demagnetization fault of a permanent magnet synchronous motor for a motor simulator in the above-mentioned embodiment; the processor may load and execute the following steps: For stator without fault a Permanent magnet flux of phase winding Decompose to obtain the permanent magnet magnetic flux The positive component of and negative components and rotor position angle Functional expression of the relationship; respectively adjust the stator when there is no fault a Positive component of the permanent magnet flux of the phase winding and negative components The amplitude of the stator is obtained when there is a fault a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a Permanent magnet flux of phase winding ; Increase the stator when there is a fault a Permanent magnet flux of phase winding and rotor position angle The angle of the rotor position in the functional expression of , get the stator when there is a fault b Harmony c Permanent magnet flux of phase winding 、 and rotor position angle Functional expression of the relationship between the permanent magnet flux of the stator three-phase winding when there is a fault 、 and Transformation to obtain the permanent magnet flux in the two-phase synchronous rotating coordinate system 、 , and then substitute the mathematical model of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system to obtain the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor; the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor is embedded in the motor simulator to realize the simulation of the local demagnetization fault of the permanent magnet synchronous motor.

[0076] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0077] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0078] The technical solution of the present invention is described clearly and completely below in conjunction with two specific embodiments.

[0079] In Example 1, the structure and related parameters of the faulty permanent magnet synchronous motor are: three-phase 24-slot 8-pole integer-slot distributed winding, number of pole pairs n p =4, permanent magnet flux amplitude =0.2 Wb, the permanent magnet No. 1 (N pole) on the rotor is demagnetized, the demagnetization rate =0.4. The structural diagram of the motor is shown in Figure 2 As shown. Therefore, when there is no fault, the stator a Permanent magnet flux of phase winding and rotor position angle The functional relationship can be expressed as (according to the sine function relationship):

[0080] Afterwards, Decompose into positive components and negative components , respectively:

[0081]

[0082] Next, it is necessary to determine the stator winding distribution and connection method, the position of the permanent magnet where demagnetization occurs, and the demagnetization rate. ,right and The amplitude of is adjusted to obtain and See Figure 2 In this example, the motor stator is a 24-slot 8-pole integer-slot distributed winding. For clarity, only the aPhase winding connections, b Harmony c The phase winding is similar to this, that is, each phase winding consists of 8 conductors and 4 coils connected in series. Since the specific winding direction of the coil is unknown, it is assumed that the N-pole permanent magnet is connected to a When the coils of each phase are aligned, the direction of the magnetic flux of that phase is positive.

[0083] First consider a The positive component of the permanent magnet flux of the phase winding. Figure 2 It is not difficult to see that no matter what position the rotor rotates to, a There is only one coil in the four phases that will be linked to the permanent magnet No. 1 that is demagnetized, which means that at any time a The flux amplitude of the permanent magnet in only one of the four coils will decrease due to demagnetization. a The total permanent magnet flux is equal to the sum of the permanent magnet flux of the four coils, so a The magnitude of the positive component of the permanent magnet flux in the phase winding will decrease at any rotor position angle. a The negative component of the phase winding permanent magnet flux is generated only by the S-pole permanent magnet, and in this example, all S-pole permanent magnets are not demagnetized. a The amplitude of the negative component of the permanent magnet flux of the phase winding is not affected. Based on the above analysis, we can get and The expression:

[0084]

[0085] Subsequently, by and Add up to get the stator when there is a fault a Permanent magnet flux of phase winding , we can get:

[0086] Figure 3 (a) and Figure 3 (b) are given respectively 、 、 as well as 、 、 The curve changes with the rotor position to more intuitively demonstrate the above derivation results. The dotted lines in the figure are the amplitudes of the positive and negative components of the permanent magnet flux.

[0087] Next, In the expression Add 120° and 240° respectively, and we get and The expression:

[0088]

[0089] Finally, through 、 and The simulation of a motor's partial demagnetization fault can be achieved by performing coordinate transformation, establishing a mathematical fault model, and embedding a motor simulator. Because the methods involved in these steps are relatively common, they will not be described in detail here. Figure 4 The final motor fault simulation results obtained through simulation are given, and the curves of the rotor position angle, permanent magnet flux, back electromotive force, stator current, electromagnetic torque and speed changing with time are displayed. It can be seen that although the local demagnetization fault is asymmetric, this asymmetry is not reflected in the permanent magnet flux and other variables in the symmetrically distributed integer-slot distributed winding.

[0090] In Example 2, the faulty permanent magnet synchronous motor uses a three-phase 9-slot 8-pole fractional slot concentrated winding, and the remaining parameters and fault information are the same as those in Example 1. The structural diagram of the motor is shown in Figure 5 Therefore, 、 、 The expressions are exactly the same as in Example 1.

[0091] Next, 、 The amplitude of is adjusted to obtain and See Figure 5 In this example, the motor stator is a 9-slot 8-pole fractional slot concentrated winding, and each phase winding consists of 3 concentrated coils connected in series. a The three coils of the phase are called No. 1, No. 2 and No. 3 from top to bottom, and the winding direction of No. 2 coil is opposite to that of No. 1 and No. 3 coils. According to symmetry, when the N pole or S pole permanent magnet is aligned with No. 2 coil, a The permanent magnet flux of the phase winding just reaches its peak value, and it is assumed that the flux direction is positive when the S-pole permanent magnet is aligned with coil No. 2.

[0092] First consider a The positive component of the permanent magnet flux of the phase winding. When the 2nd, 4th, 6th or 8th permanent magnet (S pole) is aligned with the 2nd coil, a The flux linkage of the phase permanent magnets is positive. When the No. 8 or No. 2 permanent magnet is aligned with the No. 2 coil, the demagnetized No. 1 permanent magnet will also be aligned with the No. aPhase winding turn chain, at this time a The amplitude of the positive component of the permanent magnet flux of the phase winding will decrease, and the corresponding rotor angle range is or When the No. 4 or No. 6 permanent magnet is aligned with the No. 2 coil, the No. 1 permanent magnet will not align with the No. a Phase winding turn chain, at this time a The amplitude of the positive component of the permanent magnet flux of the phase winding remains unchanged, and the corresponding rotor angle range is From this we can get The expression is:

[0093] Then consider a The negative component of the permanent magnet flux of the phase winding. When the permanent magnet No. 1, 3, 5 or 7 (N pole) is aligned with the No. 2 coil, a The flux linkage of the phase permanent magnet is negative, and when the demagnetized permanent magnet No. 1 aligns itself with the No. 2 coil, a The amplitude of the negative component of the permanent magnet flux of the phase winding decreases, and the corresponding rotor angle range is When permanent magnet No. 3, 5 or 7 is aligned with coil No. 2, permanent magnet No. 1 will not align with coil No. a Phase winding turn chain, at this time a The amplitude of the negative component of the permanent magnet flux of the phase winding remains unchanged, and the corresponding rotor angle range is or From this we can get The expression is:

[0094] It is worth mentioning that in order to ensure and In order to ensure the continuity of the flux linkage, the flux linkage amplitude should be changed at the zero point of each of them. In this example, in the 8-pole motor, if the flux linkage and the rotor angle satisfy the sinusoidal function relationship, then The zero point is 3 / 8,7 / 8、11 / 8 and 15 / 8, The zero point of / 8,5 / 8,9 / 8 and 13 / 8.

[0095] Subsequently, by and Add together to get , we can get:

[0096] Figure 6 (a) and Figure 6 (b) are given respectively 、 、 as well as 、 、 The curve changes with the rotor position to more intuitively demonstrate the above derivation results. The dotted lines in the figure are the amplitudes of the positive and negative components of the permanent magnet flux.

[0097] The subsequent steps are exactly the same as in Example 1, including calculating b Harmony c The permanent magnet flux linkage of each phase, coordinate transformation, establishment of fault mathematical model and embedding of motor simulator will not be described in detail here. Figure 7 The final motor fault simulation results obtained through simulation are presented. It can be seen that in the spatially asymmetric fractional-slot concentrated winding, local demagnetization faults cause imbalances in the three-phase flux, back EMF, and stator current. When the demagnetized permanent magnet rotates within the angular range of a certain phase winding, the flux and back EMF amplitudes of that phase decrease, and the electromagnetic torque and speed of the motor also exhibit significant pulsation. This proves the effectiveness of the proposed method.

[0098] In summary, the present invention provides a method and system for simulating local demagnetization faults of a permanent magnet synchronous motor for a motor simulator. By calculating the relationship between the permanent magnet flux linkage of each phase winding of the stator and the rotor position angle, these relationships are substituted into the permanent magnet synchronous motor in a two-phase synchronous rotating coordinate system ( dq The mathematical model of the faulty motor is obtained from the analytical model in the coordinate system, and finally the model is embedded in the motor simulator to simulate the local demagnetization fault of the permanent magnet synchronous motor. The present invention has the following advantages: 1. High ease of use. The method of the present invention does not require detailed structural parameters of the faulty motor. The user only needs to provide basic information such as stator winding form, demagnetization rate and electrical parameters; 2. Low computational complexity. The key to the method of the present invention lies in the calculation of the permanent magnet flux linkage, which only requires adjusting the flux linkage amplitude within different angle ranges, without the need for other complex algorithms; 3. Good compatibility. The mathematical model of the faulty motor established by the method of the present invention is commonly used in motor simulators. dq The analytical model in the coordinate system is well compatible with the fault-free motor model and can be easily applied to existing motor simulators; 4. High accuracy. The method of the present invention can accurately reflect the influence of local demagnetization fault on the magnetic flux of permanent magnet synchronous motor under different stator winding forms. If implemented on a motor simulator, it can also reflect the influence on other parameters such as stator current, back electromotive force, electromagnetic torque, speed, etc.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0100] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0101] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0102] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, and can be electrical, mechanical, or other forms.

[0103] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0104] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0105] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0106] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0107] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0108] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0109] The above content is only for explaining the technical idea of the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A method for simulating local demagnetization fault of a permanent magnet synchronous motor using a motor simulator, characterized in that: The following steps are involved: For stator without fault a Permanent magnet flux of phase winding Decompose to obtain the permanent magnet magnetic flux The positive component of and negative components and rotor position angle Functional relationship expression of ; Adjust the stator separately when there is no fault a Positive component of the permanent magnet flux of the phase winding and negative components The amplitude of the stator is obtained when there is a fault a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a Permanent magnet flux of phase winding ; Increase the stator when there is a fault a Permanent magnet flux of phase winding and rotor position angle The angle of the rotor position in the functional expression of , get the stator when there is a fault b Harmony c Permanent magnet flux of phase winding 、 and rotor position angle Functional relationship expression of ; The permanent magnet flux of the stator three-phase winding will be 、 and Transformation to obtain the permanent magnet flux in the two-phase synchronous rotating coordinate system 、 , and then substitute it into the mathematical model of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system to obtain the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor; The complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor is embedded in the motor simulator to realize the simulation of the local demagnetization fault of the permanent magnet synchronous motor.

2. The method for simulating local demagnetization fault of a permanent magnet synchronous motor for a motor simulator according to claim 1, characterized in that: Using pole pairs n p and the permanent magnet flux amplitude Calculated stator without fault a Permanent magnet flux of phase winding and rotor position angle Functional relationship expression of .

3. The method for simulating local demagnetization fault of a permanent magnet synchronous motor for a motor simulator according to claim 2, characterized in that: When there is no fault, the stator a Permanent magnet flux of phase winding and rotor position angle When the sine function relationship is satisfied, ; When there is no fault, the stator a Permanent magnet flux of phase winding and rotor position angle When the cosine function relationship is satisfied, .

4. The method for simulating local demagnetization fault of a permanent magnet synchronous motor for a motor simulator according to claim 1, characterized in that: For stator without fault a Permanent magnet flux of phase winding Decompose the permanent magnet magnetic flux Decompose into positive components and negative components , , whose value is always positive, , whose value is always negative; and satisfy .

5. The method for simulating local demagnetization fault of a permanent magnet synchronous motor for a motor simulator according to claim 1, characterized in that: Get the stator when there is a fault a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a Permanent magnet flux of phase winding The details are as follows: When the demagnetized permanent magnet rotates to the stator a When the phase winding is within the angular range, the permanent magnet flux amplitude of the phase winding is reduced to the normal value. times, if at this time a The direction of the permanent magnet flux of the phase winding is positive, then , if at this time a The direction of the permanent magnet flux of the phase winding is negative, then ; When the permanent magnet demagnetizes and leaves the stator a After the phase winding is in the angular range, the permanent magnet flux amplitude of the phase winding returns to normal. 、 ; Through the positive component and negative components The superposition of the stator when there is a fault a Permanent magnet flux of phase winding ,Right now .

6. The method for simulating local demagnetization fault of a permanent magnet synchronous motor for a motor simulator according to claim 5, characterized in that: Each time the positive component is reduced and negative components When the amplitude is and negative components Start and end at their respective zero points.

7. The method for simulating local demagnetization fault of a permanent magnet synchronous motor for a motor simulator according to claim 1, characterized in that: There will be a fault in the stator a Permanent magnet flux of phase winding and rotor position angle The rotor position angle in the functional expression of Increase by 120° and 240° respectively.

8. The method for simulating local demagnetization fault of a permanent magnet synchronous motor for a motor simulator according to claim 1, characterized in that: The permanent magnet flux of the stator three-phase winding when there is a fault 、 and Perform Clarke transform and Park transform.

9. The method for simulating local demagnetization fault of a permanent magnet synchronous motor for a motor simulator according to claim 1, characterized in that: Determine the stator resistance per phase R s ,stator d 、 q Shaft inductance L d 、 L q , moment of inertia J , viscous friction coefficient B , pole pair number n p , permanent magnet flux amplitude , the position of the permanent magnet where demagnetization occurs, and the demagnetization rate ,The complete mathematical model of the local demagnetization fault of permanent magnet synchronous motor is as follows: in, i d 、 i q For stator d 、 q Shaft current; u d 、 u q For stator d 、 q Shaft voltage; e d 、 e q For stator winding d 、 q Axis back EMF; is the electrical angular velocity of the rotor; is the mechanical angular velocity of the rotor; T e is the electromagnetic torque of the motor; T m is the mechanical load torque of the motor.

10. A permanent magnet synchronous motor local demagnetization fault simulation system for a motor simulator, characterized in that: include: Decompose the module and check the stator when there is no fault. a Permanent magnet flux of phase winding Decompose to obtain the permanent magnet magnetic flux The positive component of and negative components and rotor position angle Functional relationship expression of ; Amplitude adjustment module, respectively adjust the stator when there is no fault a Positive component of the permanent magnet flux of the phase winding and negative components The amplitude of the stator is obtained when there is a fault a Positive component of the permanent magnet flux of the phase winding and negative components , and stator failure a The permanent magnet flux linkage of the phase winding; Angle module, respectively, increases the stator when there is a fault a Permanent magnet flux of phase winding and rotor position angle The angle of the rotor position in the functional expression of , get the stator when there is a fault b Harmony c Permanent magnet flux of phase winding 、 and rotor position angle Functional relationship expression of ; Output module, which will generate the permanent magnet flux of the stator three-phase winding when there is a fault 、 and Transformation to obtain the permanent magnet flux in the two-phase synchronous rotating coordinate system 、 , and then substitute it into the mathematical model of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system to obtain the complete mathematical model of the local demagnetization fault of the permanent magnet synchronous motor; The embedding module embeds the complete mathematical model of the permanent magnet synchronous motor local demagnetization fault into the motor simulator to realize the simulation of the permanent magnet synchronous motor local demagnetization fault.

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