Method for calculating asymmetric multiphase winding current of matrix motor and related device

Abstract

The invention discloses a matrix motor asymmetric multi-phase winding current calculation method and a related device, and belongs to the technical field of motors, and the method comprises the following steps: obtaining asymmetric multi-phase winding parameters of a matrix motor; constructing a winding magnetomotive force expression of the matrix motor based on the asymmetric multi-phase winding parameters of the matrix motor; solving a matrix motor winding magnetomotive force expression based on the optimization model to obtain an optimal current amplitude and a current phase angle of each phase winding; the optimization model comprises an objective function and constraint conditions; the target function is used for maximizing the amplitude of the winding magnetomotive force component in the same rotation direction as the synthetic winding magnetomotive force target; the constraint condition controls the winding magnetomotive force component opposite to the target rotation direction of the synthetic winding magnetomotive force to be zero. According to the invention, the technical problem of asymmetric counter electromotive force phase caused by asymmetric arrangement of the asymmetric structure and the winding of the matrix motor is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electric machines, and particularly relates to a matrix motor asymmetric multiphase winding current calculation method and related device. BACKGROUND

[0002] With the increasing demand for reliability, fault tolerance and high-performance control of motor systems, multiphase motor systems, especially multiphase motors with five phases, seven phases or even higher phase numbers, have been widely used in aerospace, ships and high-end industrial equipment fields. The matrix motor is a special multiphase motor, which has a set of armature windings on the stator and the rotor, and the total phase number is not less than four. And by arranging permanent magnets on the stator and the rotor, the entire motor can produce a matrix torque output, so it is simply called a matrix motor. In order to keep the phase number of the stator armature winding and the rotor armature winding consistent, an asymmetric structure layout is adopted, resulting in the characteristics of the motor winding being not completely symmetrical, such as the double three-phase winding motor disclosed in the Chinese patent application with the publication number CN120546306A and the double five-phase winding motor disclosed in the Chinese patent application with the publication number CN120546305A.

[0003] The characteristics of such asymmetric windings make the winding magnetic motive force asymmetrical, which further leads to the fact that the winding magnetic motive force synthesis method, current control strategy and fault-tolerant control algorithm based on the traditional symmetrical winding model cannot be directly applied, ultimately affecting the magnetic field symmetry of the motor, and further leading to electromagnetic torque fluctuation and motor loss increase, and even causing the control system to be unstable.

[0004] Therefore, there is an urgent need for a general current calculation method suitable for the asymmetric multiphase winding structure of the matrix motor, so as to realize the optimal synthesis and control of the winding magnetic motive force direction under the condition of uneven winding space distribution and inconsistent parameters of each phase, and ultimately improve the magnetic field utilization rate, control accuracy and fault tolerance of the matrix motor. SUMMARY

[0005] The application provides a matrix motor asymmetric multiphase winding current calculation method and related device, which realizes the optimal synthesis and control of the winding magnetic motive force direction, solves the technical problem of asymmetric back electromotive force phase caused by the asymmetric structure and winding arrangement of the matrix motor, and improves the magnetic field utilization rate, control accuracy and fault tolerance of the matrix motor.

[0006] In order to achieve the above purpose, the application adopts the following technical solutions: In a first aspect, the application provides a matrix motor asymmetric multiphase winding current calculation method, comprising the following steps: S1, obtaining the asymmetric multiphase winding parameters of the matrix motor; S2, constructing a matrix motor winding magnetomotive force expression based on parameters of an asymmetric multiphase winding of the matrix motor; S3, solving the matrix motor winding magnetomotive force expression based on an optimization model to obtain optimal current amplitude and current phase angle of each phase winding; the optimization model includes an objective function and a constraint condition; the objective function is used to maximize the amplitude of a winding magnetomotive force component in the same target rotating direction as the synthesized winding magnetomotive force; the constraint condition controls the winding magnetomotive force component in the opposite direction of the synthesized winding magnetomotive force target rotating direction to be zero; The multiphase winding of the matrix motor includes a stator winding and a rotor winding, and both the stator winding and the rotor winding are armature windings.

[0007] Further, S2 includes: Based on the parameters of the asymmetric multiphase winding of the matrix motor, the winding magnetomotive force expression generated by the asymmetric current flowing through each asymmetric winding is constructed, and the winding magnetomotive force expression generated by the asymmetric current flowing through each asymmetric winding is: ; Wherein, is the winding magnetomotive force generated by the i-th v phase winding, X is the electrical angle position, k wv is the winding coefficient of the i-th v phase winding, N v is the series number of turns of the i-th v phase winding, I v is the current amplitude of the i-th v phase winding, ω is the electrical angular velocity of the current, t is time, α v is the current phase angle of the i-th v phase winding, θ v is the phase angle of the winding function of the i-th v phase winding; The winding magnetomotive force generated by each phase winding is expressed as the superposition of two rotating winding magnetomotive force components, as shown in the following formula: ; Wherein, represents the clockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the i-th v phase winding, represents the counterclockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the i-th v phase winding; The clockwise rotating winding magnetic motive force component of the winding magnetic motive force generated by each phase winding is added to obtain a clockwise rotating winding magnetic motive force component of the matrix motor is: ; wherein, m is the total number of phase windings of the matrix motor, v is the phase number of the winding of the matrix motor; The clockwise rotating winding magnetic motive force component of the winding magnetic motive force generated by each phase winding is added to obtain a clockwise rotating winding magnetic motive force component of the matrix motor is: ; The clockwise rotating winding magnetic motive force component of the winding magnetic motive force generated by each phase winding is added to obtain a clockwise rotating winding magnetic motive force component of the matrix motor

[0008] Further, in S3, when the target rotating direction of the synthesized winding magnetic motive force is clockwise, the objective function is: , is the clockwise rotating winding magnetic motive force component; The constraint conditions include: Constraint condition 1: When there is a neutral point, wherein, is the counterclockwise rotating winding magnetic motive force component of the matrix motor; When there is no neutral point, and ; wherein, is the current of the v phase winding; Constraint condition 2: the current amplitude of the v phase winding I v and the current phase angle of the v phase winding α v range: wherein, is the maximum phase current, π is pi; When the target rotating direction of the synthesized winding magnetic motive force is counterclockwise, the objective function is: wherein; The constraint conditions include: Constraint condition 1: When there is a neutral point, ; When there is no neutral point, and ; Constraint 2: the first v Current amplitude of the phase winding I v and the second v Current phase angle of the phase winding α v The range is: .

[0009] Further, in S3, the optimal current amplitude and current phase angle of each phase winding are solved by using a numerical optimization algorithm.

[0010] Further, the asymmetric multi-phase winding parameters of the matrix motor are obtained by consulting design documents, measurement, parameter identification or fault diagnosis, etc.

[0011] In a second aspect, the present application provides a matrix motor asymmetric multi-phase winding current calculation device, comprising: The acquisition module is configured to obtain the asymmetric multi-phase winding parameters of the matrix motor. The winding magnetic motive force expression construction module is configured to construct a winding magnetic motive force expression of the matrix motor based on the asymmetric multi-phase winding parameters of the matrix motor. The solving module is configured to solve the winding magnetic motive force expression of the matrix motor based on the optimization model to obtain the optimal current amplitude and current phase angle of each phase winding; the optimization model includes an objective function and a constraint condition; the objective function is used to maximize the amplitude of the winding magnetic motive force component in the same direction as the target rotation direction of the synthesized winding magnetic motive force; and the constraint condition controls the winding magnetic motive force component in the opposite direction of the target rotation direction of the synthesized winding magnetic motive force to be zero. The multi-phase winding of the matrix motor includes a stator winding and a rotor winding, and both the stator winding and the rotor winding are armature windings.

[0012] In a third aspect, the present application provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and running on the processor; when the processor executes the computer program, the above-mentioned matrix motor asymmetric multi-phase winding current calculation method is realized.

[0013] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program; when the computer program is executed by a processor, the above-mentioned matrix motor asymmetric multi-phase winding current calculation method is realized.

[0014] In a fifth aspect, the present application provides a computer program product, which includes a computer program; when the computer program is executed by a processor, the above-mentioned matrix motor asymmetric multi-phase winding current calculation method is realized.

[0015] Compared with the prior art, the present application has at least the following beneficial technical effects: The application relates to a kind of matrix motor asymmetric multiphase winding current calculation method, when using the method to calculate winding current driven matrix motor, eliminate the winding magnetic motive force component opposite to the target rotating direction of the synthesized winding magnetic motive force, only remaining clockwise rotating component, so that matrix motor can generate complete circular winding magnetic motive force, especially suitable for the time-space distribution characteristics modeling and optimization analysis of each phase magnetic potential in multiphase winding.The method solves the problem of asymmetric phase of back electromotive force caused by asymmetric structure and winding arrangement of matrix motor, which makes winding unable to form complete circular winding magnetic motive force when traditional symmetric current is passed through.The method establishes the magnetic potential expression of each phase winding excited by asymmetric current in asymmetric position, and realizes the superposition of each phase magnetic potential by using mathematical synthesis, so as to accurately analyze the total magnetic potential variation characteristics, and provide theoretical basis for structure optimization and control method construction of matrix motor. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A matrix motor asymmetric multiphase winding current calculation method flow chart is provided for the application. Figure 2 A matrix motor asymmetric multiphase winding current calculation device schematic diagram is provided for the application. Figure 3 A non-symmetric stator-rotor double three-phase matrix motor structure schematic diagram of an embodiment of the application is provided. Figure 4 A back electromotive force waveform diagram of the asymmetric rotor winding of an embodiment of the application is provided. Figure 5 A torque waveform comparison diagram of the rotor winding of the matrix motor of an embodiment of the application is provided.

[0017] Wherein: 1, stator; 1-1, stator tooth; 1-2, stator winding; 1-3, stator permanent magnet; 1-4, stator yoke; 2, rotor; 2-1, normal tooth of rotor; 2-2, split tooth of rotor; 2-3, rotor winding; 2-4, rotor permanent magnet; 2-5, rotor yoke; 3, air gap. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the application more clear and explicit, the following will be further described in detail in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application, that is, the described embodiments are only a part of the embodiments of the application, but not all the embodiments.

[0019] The detailed description of embodiments of the application provided in the following accompanying drawings is not intended to limit the scope of the application of claim, but only to represent a selected embodiment of the application. Based on the drawings and embodiments of the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0020] The application will be described in detail below with reference to the accompanying drawings.

[0021] Reference Figure 1 , the application provides a matrix motor asymmetric multi-phase winding current calculation method, comprising the following steps: Step S1: determine the asymmetric multi-phase winding parameters of the matrix motor; The controller reads and initializes the asymmetric multi-phase winding parameters of the matrix motor, and the asymmetric multi-phase winding parameters of the matrix motor include: The total number of phases of the winding of the matrix motor m ( m≥ 4); The number of series turns of each phase winding N 1、 N 2…… N v …… N m ; total m ; N v The number of series turns of the first phase winding v ; v =1,2… m ; The phase angle of the winding function of each phase winding θ 1、 θ 2…… θ v …… θ m ; total m ; θ v The phase angle of the winding function of the first phase winding v ; The winding coefficient of each phase winding k w1 、 k w2 …… k wv …… k wm ; total m ; k wv The winding coefficient of the first phase winding v ; Whether the winding has a neutral point.

[0022] wherein, N 1、 N 2… N v … N m may be equal, or not equal; θ 1、 θ 2… θ v … θ m may be equal, or not equal; k w1 , k w2 … k wv … k wm may be equal, or not equal; but at least two phase windings meet any one of the following conditions: series turns are not equal, phase angles of winding functions are inconsistent, or winding coefficients are not equal. The asymmetric multiphase winding parameters of the matrix motor determined in this step can be obtained by consulting design documents, measurement, parameter identification, or fault diagnosis, etc.

[0023] Step S2: Constructing the expression of the winding magnetomotive force of the matrix motor; Based on the known asymmetric multiphase winding parameters of the matrix motor, the expression of the clockwise rotating winding magnetomotive force component generated by the multiphase winding and the expression of the counterclockwise rotating winding magnetomotive force component are constructed.

[0024] The winding magnetomotive force of the matrix motor m When the current of the phase winding is passed, the winding magnetomotive force is generated in the air gap 3. When the current of the phase winding is passed m When the current form of the phase winding is direct current, the winding magnetomotive force generated by the first v phase winding The expression is as follows: (1) wherein, i v I1 represents the direct current amplitude of the first v phase winding, X φ represents the electrical angle position.

[0025] When the current form of the winding is alternating current, the expression of the current v of the first phase winding is: (2) wherein, I v I1 represents the current amplitude of the first v phase winding,ω electrical angular velocity of current, t representing time, α v representing the first v current phase angle of the phase winding.

[0026] Therefore, the winding magnetomotive force generated by each phase winding becomes a space-time function, and its expression is: (3) wherein, is the winding magnetomotive force generated by the first v phase winding; The formula (3) is transformed by a trigonometric identity, and the winding magnetomotive force generated by each phase winding can be represented as the superposition of two rotating winding magnetomotive force components, as shown in formula (4): (4) wherein, represents the clockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the first v phase winding, represents the counterclockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the first v phase winding.

[0027] The counterclockwise rotating winding magnetomotive force components of the winding magnetomotive force generated by each phase winding are added to obtain the expression of the counterclockwise rotating winding magnetomotive force component of the matrix motor as shown in formula (5): (5) The clockwise rotating winding magnetomotive force components of the winding magnetomotive force generated by each phase winding are added to obtain the expression of the clockwise rotating winding magnetomotive force component of the matrix motor as shown in formula (6): (6) Formula (5) and formula (6) constitute the winding magnetomotive force expression of the matrix motor.

[0028] Step S3: constructing an optimization model, the optimization model including an optimization objective and a constraint condition; In order to make the matrix motor run stably, the synthesized winding magnetomotive force is preferably a single-direction rotating circular winding magnetomotive force, so the current amplitude and current phase angle of each phase winding should be optimized to make the winding magnetomotive force rotating waves generated between different windings have good phase coordination.

[0029] Therefore, let , which means that no matter X and t ​​How to take value, finally all phase winding generated winding magnetic motive force's anticlockwise rotation component all equals to 0, only leave clockwise direction's rotation component.This application further proposes, under the condition of given winding parameter and energization, by adjusting the current phase angle of each phase winding, while maximizing the amplitude of clockwise rotating winding magnetic motive force component, so that the same current produces as large winding magnetic motive force as possible or the same winding magnetic motive force required current is minimum, further reduce the copper loss of matrix motor, improve the efficiency of matrix motor.The expression of maximizing the amplitude of clockwise rotating winding magnetic motive force component is shown in formula (7): (7) According to the above required optimization target, the objective function and constraint conditions are as follows: Objective function: maximize the amplitude of clockwise rotating winding magnetic motive force component: ; Constraint condition 1: the anticlockwise rotating winding magnetic motive force component is always zero (with neutral point): ; Constraint condition 2: the anticlockwise rotating winding magnetic motive force component is always zero (without neutral point): And ; Constraint condition 3: the current amplitude of the first v Phase winding I v And the current phase angle of the first v Phase winding α v Range: , wherein, The maximum phase current, π Is the ratio of circumference to diameter.

[0030] Step S4: solve the winding magnetic motive force expression of matrix motor to get the optimal current control parameter; According to the above optimization model, the winding magnetic motive force expression of matrix motor is solved by numerical algorithm, and the current control parameter of matrix motor, i.e. the current amplitude and current phase angle of each phase winding, is obtained. Since the current amplitude and phase angle of each phase winding are continuous and derivable, numerical optimization method is used to solve the winding magnetic motive force expression of matrix motor. Numerical optimization method includes but is not limited to steepest descent method, variable scale method, Newton method, quasi-Newton method, interior point method and other nonlinear programming algorithms.

[0031] Numerical optimization algorithm needs to be iterated and verified whether it meets the requirements of objective function and constraint condition.

[0032] Step S5: verify the solution result; Verify whether the final output result meets the requirements of objective function and constraint condition.

[0033] If yes, go to step 6; If no, return to step 4 to solve again; Step S6: output the optimal current control parameters of each phase winding; The optimal current amplitude and current phase angle of each phase winding obtained by solving are output. Further, the optimal current control parameters obtained by solving can be sent to the matrix motor control system for driving each phase winding, so as to form the desired synthesized winding magnetic motive force.

[0034] Further, the optimal current control parameters obtained by solving can be sent to the performance calculation module for calculating torque, loss and / or efficiency, etc.

[0035] Further, if the target rotation direction of the synthesized winding magnetic motive force is counterclockwise, the clockwise rotating winding magnetic motive force component constraint in step S3 is exchanged with the counterclockwise rotating winding magnetic motive force component constraint, that is, the clockwise rotating winding magnetic motive force component is always zero and the counterclockwise rotating winding magnetic motive force component is maximum.

[0036] Wherein, the multi-phase winding includes four-phase, six-phase, ten-phase and any multi-phase winding. The method is suitable for the matrix motor system to realize accurate control and reliable operation under the condition of winding magnetic motive force asymmetry caused by winding asymmetrical arrangement.

[0037] The following is a specific embodiment, it is necessary to explain that these embodiments are the preferred examples of the present application, for the person skilled in the art to understand the present application, but the present application is not limited to these embodiments.

[0038] Embodiment 1 Figure 3 It is a schematic diagram of an asymmetric double three-phase matrix motor structure. The asymmetric double three-phase matrix motor includes a stator 1, a rotor 2 and an air gap 3. There is an air gap 3 between the stator 1 and the rotor 2, and the stator 1 and the rotor 2 can move relative to each other. Among them, the stator 1 includes stator teeth 1-1, stator windings 1-2, stator permanent magnets 1-3 and a stator yoke 1-4. The stator teeth 1-1 are uniformly distributed, and the stator windings 1-2 are three-phase windings wound on the stator teeth 1-1. Adjacent stator teeth 1-1 form stator slots, and stator permanent magnets 1-3 are placed at the slot opening position of the stator slot near the air gap 3, between the stator teeth 1-1.

[0039] The rotor 2 includes rotor teeth, rotor permanent magnets 2-4 and a rotor yoke 2-5. Adjacent rotor teeth form rotor slots, and rotor permanent magnets 2-4 are placed at the slot opening position of the rotor slot near the air gap 3, between the rotor teeth. The number of stator permanent magnets 1-3 is equal to the number of stator teeth 1-1, and the number of rotor permanent magnets 2-4 is equal to the number of rotor teeth.

[0040] The rotor teeth are divided into rotor split teeth 2-2 and normal teeth 2-1, every two rotor normal teeth 2-1 and one rotor split tooth 2-2 form a group of rotor teeth, and four groups of rotor teeth are arranged in sequence and uniformly distributed in the circumferential direction; the rotor winding 2-3 is also a three-phase winding and is wound on the rotor teeth. Therefore, part of the rotor winding 2-3 is placed between the split tooth 2-2 and the normal tooth 2-1, and the other rotor winding 2-3 is placed between two normal teeth 2-1, which is the reason for the space asymmetric winding.

[0041] It needs to be declared that since the stator winding of this embodiment is a symmetric winding, the normal symmetric current is input into the stator winding, so only the calculation process of the rotor asymmetric winding is shown below, but the calculation method is not limited to the rotor winding. When the stator winding is also an asymmetric winding, the calculation also needs to be performed.

[0042] The current calculation method of the asymmetric three-phase winding of the asymmetric double three-phase matrix motor includes the following steps: Step S1: determining the asymmetric multi-phase winding parameters of the matrix motor; Figure 4 The counter electromotive force waveform of the asymmetric rotor winding 2-3 is given. The phase difference between the rotor three-phase windings is not 120 degrees. The phase difference between the A-phase winding and the B-phase winding is 135 degrees, the phase difference between the A-phase winding and the C-phase winding is 135 degrees, and the phase difference between the B-phase winding and the C-phase winding is 90 degrees. In this actual case, the winding coefficient and the series turns of the rotor A, B, and C three-phase windings are consistent.

[0043] The total number of phases is 6, and the rotor three-phase winding is 3; The series turns of each phase winding: the series turns of the A-phase winding N A The series turns of the B-phase winding N B The series turns of the C-phase winding N C In this embodiment, N A , N B , N C The values of the winding functions of the A-phase winding, the B-phase winding, and the C-phase winding are the same, and are represented by N .

[0044] The phase angle of the winding function of each phase winding: the phase angle of the winding function of the A-phase winding is 0, the phase angle of the winding function of the B-phase winding is 3π / 4, and the phase angle of the winding function of the C-phase winding is -3π / 4; The winding coefficient of each phase winding: the winding coefficient of the A-phase winding k wA The winding coefficient of the B-phase windingk wB , the winding factor of C-phase winding k wC ; in the embodiment, the winding factor of C-phase winding k wA , k wB , k wC , the winding factor of C-phase winding k w is the same as that of A-phase winding.

[0045] Whether the winding has a neutral point: no neutral point.

[0046] Step S2: constructing the matrix motor winding magnetomotive force expression; When the three-phase winding of the matrix motor is passed through the current, the winding magnetomotive force is generated in the air gap 3. When the current passed through the three-phase winding is direct current, the winding magnetomotive force generated by the rotor A-phase winding , the winding magnetomotive force generated by the B-phase winding and the winding magnetomotive force generated by the C-phase winding are respectively: (8) When the current passed through the three-phase winding is alternating current, the current of the A-phase winding , , The expressions are respectively: (9) wherein, I A , I B , I C respectively represent the current amplitude of the A-phase winding, the B-phase winding and the C-phase winding, ω represent the electrical angular velocity of the current, t represent the time, α A , α B , α C represent the phase angle of the current of the A-phase winding, the B-phase winding and the C-phase winding.

[0047] Therefore, the winding magnetomotive force generated by the A-phase winding, the B-phase winding and the C-phase winding becomes a space-time function, and the expression is: (10) wherein, is the winding magnetomotive force generated by the A-phase winding; is the winding magnetomotive force generated by the B-phase winding; is the winding magnetomotive force generated by the C-phase winding.

[0048] According to the product and difference formulas in the trigonometric identity transformation, formula (10) is transformed into formula (11), and the winding magnetomotive force generated by each phase rotor winding can be expressed as the superposition of two rotating winding magnetomotive force components: (11) wherein, represents the clockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the A-phase winding, represents the clockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the B-phase winding, represents the clockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the C-phase winding, represents the counterclockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the A-phase winding, represents the counterclockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the B-phase winding, represents the counterclockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the C-phase winding.

[0049] The counterclockwise rotating winding magnetomotive force components of the winding magnetomotive force generated by each phase winding are added to obtain: (12) The clockwise rotating winding magnetomotive force components of the winding magnetomotive force generated by each phase winding are added to obtain: (13) Formula (12) and formula (13) constitute the winding magnetomotive force expression of the matrix motor.

[0050] Step 3: Construct an optimization model, the optimization model including an optimization objective and constraint conditions; In order to maximize the clockwise rotating winding magnetomotive force amplitude, the optimization objective and constraint conditions are: Optimization objective: maximize the clockwise rotating winding magnetomotive force component amplitude: ; Constraint condition: the counterclockwise rotating winding magnetomotive force component is always zero (no neutral point): and ; Constraint condition: The range of the current amplitude and current phase angle of each phase winding is: A-phase winding: ; B-phase winding: ; C-phase winding: ; Step S4: Solve the optimal current control parameters; According to the constraint conditions, the formula (12) and the formula (13) are solved to obtain the following solutions: (14) (15) That is, the current of the rotor A, B and C three-phase winding constructed by the method i A ( t )、 i B ( t )、 i C ( t ) expression is: (16) In order to illustrate the effect of the method, four different currents are respectively input into the matrix motor A, B and C three-phase rotor winding.

[0051] Current #1, the current phase angle is consistent with the back EMF phase angle, and the current #1 expression is as follows: (17) Current #2, the phase angle difference of the three-phase current is consistent, which is a standard symmetrical three-phase current, and the current #2 expression is as follows: (18) Current #3, the current phase angle is consistent with the current phase angle obtained by the construction method proposed in the application, but the amplitude is not adjusted, and the current #3 expression is as follows: (19) The current #4 expression is the current constructed by the application.

[0052] Figure 5 The torque waveforms of the matrix motor rotor winding after inputting four currents are given, and it can be seen from Figure 5 that the current constructed by the application can realize smaller torque ripple and larger average torque.

[0053] Referring to Figure 2 , the application provides a matrix motor asymmetric multiphase winding current calculation device, comprising: An acquisition module is configured to acquire asymmetric multiphase winding parameters of a matrix motor. A winding magnetic motive force expression construction module is configured to construct a winding magnetic motive force expression of the matrix motor based on the asymmetric multiphase winding parameters of the matrix motor. The solving module is configured to solve the winding magnetic motive force expression of the matrix motor based on the optimization model to obtain the optimal current amplitude and current phase angle of each phase winding; the optimization model comprises an objective function and a constraint condition; the objective function is configured to maximize the amplitude of the winding magnetic motive force component in the same target rotating direction as the synthesized winding magnetic motive force; and the constraint condition is configured to control the winding magnetic motive force component in the opposite direction of the target rotating direction of the synthesized winding magnetic motive force to be zero. The multi-phase winding of the matrix motor comprises a stator winding and a rotor winding, and both the stator winding and the rotor winding are armature windings.

[0054] The application further provides a computer device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the matrix motor asymmetric multi-phase winding current calculation method when executing the computer program, the memory can comprise a memory, for example, a high-speed random memory, and can also comprise a non-volatile memory, for example, at least one disk memory; the processor, the network interface and the memory are connected to each other through an internal bus, which can be an industry standard architecture bus, a peripheral component interconnect standard bus, an extended industry standard structure bus, etc., and the bus can be divided into an address bus, a data bus and a control bus. The memory is used to store programs, specifically, the programs can comprise program codes, and the program codes comprise computer operation instructions. The memory can comprise a memory and a non-volatile memory, and provide instructions and data for the processor.

[0055] The application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the matrix motor asymmetric multi-phase winding current calculation method when executed by a processor, specifically, the computer readable storage medium comprises but is not limited to, for example, a volatile memory and / or a non-volatile memory. The volatile memory can comprise a random memory and / or a cache memory, etc. The non-volatile memory can comprise a read-only memory, a hard disk, a flash memory, an optical disk, a magnetic disk, etc.

[0056] The application further provides a computer program product, which comprises a computer program, and the computer program implements the steps of the above-mentioned matrix motor asymmetric multi-phase winding current calculation method when executed by a processor.

[0057] Those skilled in the art will appreciate that embodiments of the application can be devised for a method, a system, or a computer program product. Accordingly, the present application can be embodied in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage etc.) embodying computer readable program code.

[0058] The present application is described in reference to the flowchart and / or block diagram of the method, apparatus (system) and computer program product according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and a combination of flows 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure One one or more flows and / or blocks Figure One means for carrying out the function specified in the flowchart block or blocks.

[0059] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart and / or block diagram block or blocks. Figure One one or more flows and / or blocks Figure One means for carrying out the function specified in the flowchart block or blocks.

[0060] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure One one or more flows and / or blocks Figure One means for carrying out the function specified in the flowchart block or blocks.

[0061] Finally, it should be noted that the above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit it. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced, and any modification or replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the present application.

Claims

1. A method for calculating asymmetric multiphase winding currents of a matrix motor, characterized by, The method comprises the following steps: S1, obtaining asymmetric multi-phase winding parameters of a matrix motor; S2, constructing a matrix motor winding magnetomotive force expression based on the asymmetric multi-phase winding parameters of the matrix motor; S3, solving the matrix motor winding magnetomotive force expression based on an optimization model to obtain optimal current amplitudes and current phase angles of each phase winding; the optimization model comprises an objective function and a constraint condition; The objective function is used to maximize the amplitude of the winding magnetomotive force component in the same direction as the target rotation direction of the synthesized winding magnetomotive force; the constraint condition controls the winding magnetomotive force component in the opposite direction of the target rotation direction of the synthesized winding magnetomotive force to be zero; The multi-phase winding of the matrix motor comprises a stator winding and a rotor winding, and both the stator winding and the rotor winding are armature windings.

2. The method of claim 1, wherein, The S2 comprises: Based on the asymmetric multi-phase winding parameters of the matrix motor, a winding magnetomotive force expression generated by passing an asymmetric current into each asymmetric winding is constructed, and the winding magnetomotive force expression generated by passing an asymmetric current into each asymmetric winding is as follows: ； in, For the first v The winding magnetomotive force generated by the phase winding. X The electrical angle position, k wv For the first v The winding coefficient of the phase winding, N v For the first v Number of series turns of the phase winding I v For the first v Phase winding current amplitude, ω Let be the electric angular velocity of the current. t For time, α v For the first v The current phase angle of the phase winding, θ v For the first v The phase angle of the winding function of the phase winding; The winding magnetomotive force generated by each phase winding is expressed as the superposition of two rotating winding magnetomotive force components, as shown in the following formula: ； wherein, denotes the clockwise rotating component of the winding magnetomotive force generated by the phase winding, v denotes the clockwise rotating component of the winding magnetomotive force generated by the phase winding, denotes the clockwise rotating component of the winding magnetomotive force generated by the phase winding, v denotes the counterclockwise rotating component of the winding magnetomotive force generated by the phase winding; The counterclockwise rotating winding magnetic motive force component of the winding magnetic motive force generated by each phase winding is added to obtain the counterclockwise rotating winding magnetic motive force component of the matrix motor is: ； wherein, m is total number of phases of the winding of the matrix motor, v is number of phases of the winding of the matrix motor; The clockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by each phase winding is added to obtain the clockwise rotating winding magnetomotive force component of the matrix motor is: ； The matrix motor counterclockwise rotating winding magnetomotive force component and the matrix motor clockwise rotating winding magnetomotive force component constitute the matrix motor winding magnetomotive force expression.

3. The method of claim 1, wherein, In the S3, when the target rotation direction of the synthesized winding magnetomotive force is clockwise, The objective function is: , is the clockwise rotating winding magnetomotive force component; The constraint condition comprises: Constraint condition 1: With neutral point, wherein, is the matrix motor counter-clockwise rotating winding magnetomotive force component; Without neutral point, and ; wherein, is the first v current of the phase winding; Constraint 2: The v Current amplitude of the phase winding I v and the v Current phase angle of the phase winding α v ranging from: wherein, is the maximum phase current, π is pi; When the target rotation direction of the synthesized winding magnetomotive force is counterclockwise, The objective function is: where; The constraint condition comprises: Constraint condition 1: With neutral point, ; Without neutral point, and ; Constraint 2: The v Current amplitude of the phase winding I v and the v Current phase angle of the phase winding α v ranging from: .

4. The method of claim 1, wherein, In the S3, a numerical optimization algorithm is used to solve the optimal current amplitudes and current phase angles of each phase winding.

5. The method of claim 1, wherein, The asymmetric multi-phase winding parameters of the matrix motor are obtained by consulting design documents, measurement, parameter identification or fault diagnosis, etc.

6. A device for calculating asymmetric multiphase winding currents of a matrix motor, characterized by Comprise: The acquisition module is used to obtain the asymmetric multi-phase winding parameters of the matrix motor; The winding magnetomotive force expression construction module is used to construct a matrix motor winding magnetomotive force expression based on the asymmetric multi-phase winding parameters of the matrix motor; The solving module is used to solve the matrix motor winding magnetomotive force expression based on an optimization model to obtain optimal current amplitudes and current phase angles of each phase winding; the optimization model comprises an objective function and a constraint condition; The objective function is used to maximize the amplitude of the winding magnetomotive force component in the same direction as the target rotation direction of the synthesized winding magnetomotive force; the constraint condition controls the winding magnetomotive force component in the opposite direction of the target rotation direction of the synthesized winding magnetomotive force to be zero; The multi-phase winding of the matrix motor comprises a stator winding and a rotor winding, and both the stator winding and the rotor winding are armature windings.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, The processor executes the computer program to realize the matrix motor asymmetric multi-phase winding current calculation method in any one of claims 1 to 5.

8. A computer readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to realize the matrix motor asymmetric multi-phase winding current calculation method in any one of claims 1 to 5.

9. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is executed by the processor to realize the matrix motor asymmetric multi-phase winding current calculation method in any one of claims 1 to 5.

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