A method for calculating asymmetric multiphase winding current of a matrix motor and a related device

Abstract

The application discloses a kind of matrix motor asymmetric multiphase winding current calculation method and related device, belong to motor technical field, including the following steps: obtaining the asymmetric multiphase winding parameter of matrix motor;Based on the asymmetric multiphase winding parameter of matrix motor, construct matrix motor winding magnetomotive force expression;Based on optimization model, solve matrix motor winding magnetomotive force expression, obtain the optimal current amplitude and current phase angle of each phase winding;The optimization model includes objective function and constraint condition;The objective function is used to maximize the amplitude of winding magnetomotive force component with the same winding magnetomotive force target rotation direction as the synthesized winding magnetomotive force;The constraint condition controls the winding magnetomotive force component with the opposite winding magnetomotive force target rotation direction as the synthesized winding magnetomotive force to zero.The application solves the technical problem of the asymmetric phase of counter electromotive force caused by the asymmetric structure and winding asymmetric arrangement of matrix motor.

Description

Technical Field

[0001] This invention belongs to the field of motor technology, specifically relating to a method and related apparatus for calculating the current of asymmetrical multiphase windings in a matrix motor. Background Technology

[0002] With the increasing demands for reliability, fault tolerance, and high-performance control in motor systems, multiphase motor systems, especially those with five, seven, or even higher phase counts, have been widely used in aerospace, shipbuilding, and high-end industrial equipment. A matrix motor is a special type of multiphase motor, featuring armature windings on both the stator and rotor, with a total of at least four phases. By simultaneously arranging permanent magnets on both the stator and rotor, the entire motor can generate matrix-like torque output, hence the abbreviation "matrix motor." To maintain consistency in the number of phases between the stator and rotor armature windings, an asymmetrical structural layout is necessary, often resulting in incompletely symmetrical winding characteristics. Examples include a stator-rotor dual three-phase winding motor disclosed in Chinese patent application CN120546306A and a stator-rotor dual five-phase winding motor disclosed in Chinese patent application CN120546305A.

[0003] These asymmetric winding characteristics result in an asymmetric winding magnetomotive force, which makes it impossible to directly apply traditional winding magnetomotive force synthesis methods, current control strategies, and fault-tolerant control algorithms based on symmetric winding models. Ultimately, this affects the magnetic field symmetry of the motor, leading to electromagnetic torque fluctuations and increased motor losses, and even causing instability in the control system.

[0004] Therefore, there is an urgent need for a general current calculation method applicable to the asymmetric multiphase winding structure of matrix motors, so as to achieve optimal synthesis and control of the winding magnetomotive force direction under the conditions of uneven winding spatial distribution and inconsistent phase parameters, and ultimately improve the magnetic field utilization, control accuracy and fault tolerance of matrix motors. Summary of the Invention

[0005] This invention provides a method and related device for calculating the current of asymmetrical multiphase windings of a matrix motor, which realizes the optimal synthesis and control of the winding magnetomotive force direction, solves the technical problem of back EMF phase asymmetry caused by the asymmetrical structure and winding asymmetry arrangement of the matrix motor, and improves the magnetic field utilization, control accuracy and fault tolerance of the matrix motor.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a method for calculating the current of asymmetrical multiphase windings of a matrix motor, comprising the following steps:

[0008] S1. Obtain the parameters of the asymmetric multiphase winding of the matrix motor;

[0009] S2. Construct the magnetomotive force expression of the matrix motor winding based on the asymmetric multiphase winding parameters of the matrix motor;

[0010] S3. Solve the expression of the magnetomotive force of the matrix motor winding based on the optimization model to obtain the optimal current amplitude and current phase angle of each phase winding; the optimization model includes objective function and constraint conditions; the objective function is used to maximize the amplitude of the winding magnetomotive force component that is in the same direction of rotation as the target of the synthesized winding magnetomotive force; the constraint conditions control the winding magnetomotive force component that is in the opposite direction of rotation to the target of the synthesized winding magnetomotive force to zero;

[0011] The multiphase windings of a matrix motor include stator windings and rotor windings, both of which are armature windings.

[0012] Furthermore, S2 includes:

[0013] Based on the asymmetrical multiphase winding parameters of the matrix motor, an expression for the winding magnetomotive force generated by applying an asymmetrical current to each phase of the asymmetrical winding is constructed. The expression for the winding magnetomotive force generated by applying an asymmetrical current to each phase of the asymmetrical winding is as follows: ;

[0014] 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 The current amplitude of the phase winding, 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;

[0015] The magnetomotive force generated by each phase winding can be expressed as the superposition of the magnetomotive force components of the two rotating windings, as shown in the following equation:

[0016] ;

[0017] in, Indicates the first v The clockwise rotating component of the magnetomotive force generated by the phase winding. Indicates the first v The counterclockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the phase winding;

[0018] The counterclockwise rotating winding magnetomotive force components generated by each phase winding are added together to obtain the counterclockwise rotating winding magnetomotive force component of the matrix motor. for:

[0019] ;

[0020] in, m is The total number of winding phases of a matrix motor. v is The number of winding phases in a matrix motor;

[0021] The clockwise rotating winding magnetomotive force components of the matrix motor are added together to obtain the clockwise rotating winding magnetomotive force component. for:

[0022] ;

[0023] The magnetomotive force (MOF) component of the counterclockwise rotating winding of the matrix motor and the magnetomotive force (MOF) component of the clockwise rotating winding of the matrix motor constitute the expression for the winding MOF of the matrix motor.

[0024] Furthermore, in S3, when the target rotation direction of the synthesized winding magnetomotive force is clockwise,

[0025] The objective function is: , This is the magnetomotive force component of the clockwise rotating winding;

[0026] The constraints include:

[0027] Constraint 1:

[0028] When there is a neutral point, ,in, This refers to the magnetomotive force component of the counterclockwise rotating winding of the matrix motor.

[0029] When there is no neutral point, and ;in, For the first v Current in the phase winding;

[0030] Constraint 2: v Phase winding current amplitude I v and the v Current phase angle of phase winding α v The range is: ,in, This is the maximum value of the phase current. π is Pi (π)

[0031] When the target rotation direction of the synthesized winding magnetomotive force is counterclockwise

[0032] The objective function is: ,in;

[0033] The constraints include:

[0034] Constraint 1:

[0035] When there is a neutral point, ;

[0036] When there is no neutral point, and ;

[0037] Constraint 2: v Phase winding current amplitude I v and the v Current phase angle of phase winding α v The range is: .

[0038] Furthermore, in S3, a numerical optimization algorithm is used to solve for the optimal current amplitude and current phase angle of each phase winding.

[0039] Furthermore, the parameters of the asymmetrical multiphase windings of the matrix motor are obtained through methods such as consulting design documents, measurement, parameter identification, or fault diagnosis.

[0040] Secondly, the present invention provides a matrix motor asymmetric multiphase winding current calculation device, comprising:

[0041] The acquisition module is used to obtain the parameters of the asymmetric multiphase windings of the matrix motor;

[0042] The winding magnetomotive force expression construction module is used to construct the winding magnetomotive force expression of the matrix motor based on the asymmetric multiphase winding parameters of the matrix motor.

[0043] The solution module is used to solve the expression of the magnetomotive force of the matrix motor windings based on the optimization model, and obtain the optimal current amplitude and current phase angle of each phase winding. The optimization model includes an objective function and constraints. The objective function is used to maximize the amplitude of the winding magnetomotive force component that is in the same direction of rotation as the target of the synthesized winding magnetomotive force. The constraints control the winding magnetomotive force component that is in the opposite direction of rotation to the target of the synthesized winding magnetomotive force to zero.

[0044] The multiphase windings of a matrix motor include stator windings and rotor windings, both of which are armature windings.

[0045] Thirdly, the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the above-described method for calculating the asymmetric multiphase winding current of a matrix motor.

[0046] Fourthly, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for calculating the asymmetric multiphase winding current of a matrix motor.

[0047] Fifthly, the present invention provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method for calculating the asymmetric multiphase winding current of a matrix motor.

[0048] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0049] This invention relates to a method for calculating the current of asymmetrical multiphase windings in a matrix motor. When calculating the windings of a current-driven matrix motor, this method eliminates the winding magnetomotive force (MOMF) component that rotates in the opposite direction to the target direction of the synthesized winding MOMF, leaving only the clockwise rotation component. This allows the matrix motor to generate a completely circular winding MOMF, making it particularly suitable for modeling and optimizing the spatiotemporal distribution characteristics of the MOMF in multiphase windings. This method solves the problem of back EMF phase asymmetry caused by the asymmetrical structure and winding arrangement of the matrix motor, which prevents the formation of a completely circular winding MOMF when a conventional symmetrical current is applied to the windings. By establishing expressions for the MOMF generated by asymmetrical current excitation at asymmetrical positions of each phase winding and using mathematical synthesis to achieve the superposition of the phase MOMFs, the method accurately analyzes the characteristics of the total MOMF change, providing a theoretical basis for the construction of matrix motor structure optimization and control methods. Attached Figure Description

[0050] Figure 1 A flowchart of a method for calculating the asymmetric multiphase winding current of a matrix motor provided by the present invention;

[0051] Figure 2 A schematic diagram of an asymmetric multiphase winding current calculation device for a matrix motor provided by the present invention;

[0052] Figure 3 This is a schematic diagram of an asymmetric stator-rotor dual three-phase matrix motor structure according to an embodiment of the present invention;

[0053] Figure 4 The back EMF waveform of an asymmetric rotor winding according to an embodiment of the present invention is shown.

[0054] Figure 5This is a comparison diagram of torque waveforms when different currents are applied to the rotor windings of a matrix motor according to an embodiment of the present invention.

[0055] Among them: 1. Stator; 1-1. Stator teeth; 1-2. Stator winding; 1-3. Stator permanent magnet; 1-4. Stator yoke; 2. Rotor; 2-1. Normal rotor teeth; 2-2. Split rotor teeth; 2-3. Rotor winding; 2-4. Rotor permanent magnet; 2-5. Rotor yoke; 3. Air gap. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the present invention clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention; that is, the described embodiments are only a part of the embodiments of the present invention, and not all of them.

[0057] The detailed description of the embodiments of the present invention provided in the following figures is not intended to limit the scope of the claimed invention, but merely to illustrate one selected embodiment of the invention. All other embodiments obtained by those skilled in the art based on the figures and embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0058] The present invention will now be described in detail with reference to the accompanying drawings.

[0059] refer to Figure 1 This invention provides a method for calculating the current of asymmetrical multiphase windings in a matrix motor, comprising the following steps:

[0060] Step S1: Determine the asymmetric multiphase winding parameters of the matrix motor;

[0061] The controller reads and initializes the asymmetrical multiphase winding parameters of the matrix motor. These parameters include:

[0062] Total number of winding phases of a matrix motor m ( m≥ 4);

[0063] Number of turns in series for each phase winding N 1. N 2…… N v ... N m ;common m indivual; N v For the first v Number of series turns of the phase winding v =1,2… m ;

[0064] Phase angle of the winding function of each phase winding θ 1. θ 2…… θ v ... θ m ;common m indivual; θ v Indicates the first v The phase angle of the winding function of the phase winding;

[0065] Winding coefficients of each phase winding k w1 , k w2 ... k wv ... k wm ;common m indivual; k wv For the first v The winding factor of the phase winding;

[0066] Does the winding have a neutral point?

[0067] in, N 1. N 2…… N v ... N m They can be equal, or they can be unequal; θ 1. θ 2…… θ v ... θ m They can be equal, or they can be unequal; k w1 , k w2 ... k wv ... k wm They can be equal or unequal; but at least two phase windings must satisfy any one of the following conditions: the number of turns in series is not equal, the phase angles of the winding functions are not consistent, or the winding coefficients are not equal.

[0068] The asymmetrical multiphase winding parameters of the matrix motor determined in this step can be obtained by consulting design documents, measurement, parameter identification, or fault diagnosis.

[0069] Step S2: Construct the expression for the magnetomotive force of the matrix motor windings;

[0070] Based on the known parameters of the asymmetric multiphase winding of the matrix motor, expressions for the clockwise rotating winding magnetomotive force component and the counterclockwise rotating winding magnetomotive force component generated by the multiphase winding are constructed.

[0071] Matrix motor m When current is applied to the phase winding, a winding magnetomotive force is generated in air gap 3. m When the current in the phase winding is DC, the first v The winding magnetomotive force generated by the phase winding The expression is as follows:

[0072] (1)

[0073] in, i v Indicates the first v DC current amplitude of phase winding, X Indicates the electrical angle position.

[0074] When the current flowing through the winding is alternating current, the first v Phase winding current The expression is:

[0075] (2)

[0076] in, I v Indicates the first v The current amplitude of the phase winding, ω Represents the electric angular velocity of the current. t Indicates time, α v Indicates the first v The phase angle of the current in the phase winding.

[0077] Therefore, the winding magnetomotive force generated by each phase winding becomes a spacetime function, and its expression is:

[0078] (3)

[0079] in, For the first v The winding magnetomotive force generated by the phase winding;

[0080] By performing trigonometric identity transformations on formula (3), the winding magnetomotive force generated by each phase winding can be expressed as the superposition of the magnetomotive force components of the two rotating windings, as shown in formula (4):

[0081] (4)

[0082] in, Indicates the first vThe clockwise rotating component of the magnetomotive force generated by the phase winding. Indicates the first v The counterclockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the phase winding.

[0083] The counterclockwise rotating winding magnetomotive force components generated by each phase winding are added together to obtain the counterclockwise rotating winding magnetomotive force component of the matrix motor. The expression is shown in formula (5):

[0084] (5)

[0085] The clockwise rotating winding magnetomotive force components of the matrix motor are added together to obtain the clockwise rotating winding magnetomotive force component. The expression is shown in formula (6):

[0086] (6)

[0087] Formulas (5) and (6) together form the expression for the magnetomotive force of the matrix motor winding.

[0088] Step S3: Construct an optimization model, which includes the optimization objective and constraints;

[0089] To ensure stable operation of the matrix motor, the synthesized winding magnetomotive force should ideally be a circular winding magnetomotive force rotating in one direction. Therefore, the current amplitude and current phase angle of each phase winding should be optimized to ensure good phase coordination of the rotating waves of the winding magnetomotive force generated between different windings.

[0090] Therefore, let This means that regardless X and t The value is determined such that the counterclockwise rotation component of the magnetomotive force generated by all phase windings is equal to 0, leaving only the clockwise rotation component. This invention further proposes that, given the winding parameters and energizing conditions, by adjusting the current phase angle of each phase winding, the amplitude of the clockwise rotating winding magnetomotive force component is maximized, thereby generating the largest possible winding magnetomotive force with the same current or minimizing the current required to generate the same winding magnetomotive force, thus reducing the copper loss of the matrix motor and improving its efficiency. The expression for maximizing the amplitude of the clockwise rotating winding magnetomotive force component is shown in formula (7):

[0091] (7)

[0092] Based on the optimization objectives described above, the objective function and constraints are designed as follows:

[0093] Objective function: Maximize the magnitude of the clockwise rotating winding magnetomotive force component. ;

[0094] Constraint 1: The magnetomotive force component of the counterclockwise rotating winding is always zero (there is a neutral point): ;

[0095] Constraint 2: The magnetomotive force component of the counterclockwise rotating winding is always zero (no neutral point): and ;

[0096] Constraint 3: v Phase winding current amplitude I v and the v Current phase angle of phase winding α v scope: ,in, Maximum phase current π Pi is the mathematical constant of a circle.

[0097] Step S4: Solve for the magnetomotive force expression of the matrix motor windings to obtain the optimal current control parameters;

[0098] Based on the above optimization model, a numerical algorithm is used to solve the magnetomotive force expression of the matrix motor windings, obtaining the current control parameters of the matrix motor, namely the current amplitude and phase angle of each phase winding. Since the current amplitude and phase angle of each phase winding are continuously differentiable, a numerical optimization method is used to solve the magnetomotive force expression of the matrix motor windings. Numerical optimization methods include, but are not limited to, the steepest descent method, the variable metric method, Newton's method, quasi-Newton's method, interior-point method, and other nonlinear programming algorithms.

[0099] Numerical optimization algorithms require continuous iteration and verification to ensure that the objective function and constraints are met.

[0100] Step S5: Verify the solution results;

[0101] Verify whether the final output meets the requirements of the objective function and constraints.

[0102] If satisfied, proceed to step 6;

[0103] If the conditions are not met, return to step 4 and solve again;

[0104] Step S6: Output the optimal current control parameters for each phase winding;

[0105] The solution outputs the optimal current amplitude and current phase angle for each phase winding. Furthermore, the optimal current control parameters can be sent to the matrix motor control system to drive each phase winding, thereby generating the desired composite winding magnetomotive force.

[0106] Furthermore, the optimal current control parameters obtained from the solution can be sent to the performance calculation module for calculating torque, losses, and / or efficiency, etc.

[0107] Furthermore, if the target rotation direction of the synthesized winding magnetomotive force is counterclockwise, then the constraints on the clockwise rotating winding magnetomotive force component and the counterclockwise rotating winding magnetomotive force component in step S3 are interchanged, that is, the clockwise rotating winding magnetomotive force component is always zero, and the counterclockwise rotating winding magnetomotive force component is the maximum.

[0108] The multiphase windings include four-phase, six-phase, ten-phase, and arbitrary multiphase windings. This method is applicable to matrix motor systems under conditions of winding magnetomotive force asymmetry caused by asymmetrical winding arrangement, achieving precise control and reliable operation.

[0109] The following is a specific embodiment. It should be noted that these embodiments are preferred examples of the present invention and are intended for those skilled in the art to understand the present invention. However, the present invention is not limited to these embodiments.

[0110] Example 1

[0111] Figure 3 This is a schematic diagram of an asymmetric double three-phase matrix motor. The asymmetric double three-phase matrix motor includes a stator 1, a rotor 2, and an air gap 3. An air gap 3 exists between the stator 1 and the rotor 2, allowing relative movement between 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 evenly distributed, and the stator windings 1-2 are three-phase windings wound around the stator teeth 1-1. Stator slots are formed between adjacent stator teeth 1-1, and the stator permanent magnets 1-3 are placed in the slots near the openings of the air gap 3, located between the stator teeth 1-1.

[0112] The rotor 2 includes rotor teeth, rotor permanent magnets 2-4, and rotor yoke 2-5. Rotor slots are formed between adjacent rotor teeth, and rotor permanent magnets 2-4 are placed near the slot openings of 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.

[0113] The rotor teeth are divided into split rotor teeth 2-2 and normal teeth 2-1. Every two normal rotor teeth 2-1 and one split rotor tooth 2-2 form a group of rotor teeth, and the four groups of rotor teeth are arranged sequentially and evenly distributed circumferentially. The rotor winding 2-3 is also a three-phase winding, wound on the rotor teeth. Therefore, some rotor windings 2-3 are placed between split rotor teeth 2-2 and normal teeth 2-1, while other rotor windings 2-3 are placed between two normal teeth 2-1, which is the reason for the spatially asymmetrical winding.

[0114] It should be noted that since the stator winding in this embodiment is a symmetrical winding, it is sufficient to pass a normal symmetrical current through the stator winding. Therefore, the following only shows the calculation process for the rotor asymmetrical winding. However, this calculation method is not limited to the rotor winding. When the stator winding is also asymmetrical, calculation is also required.

[0115] The method for calculating the current of the asymmetrical three-phase windings of the aforementioned asymmetrical dual-three-phase matrix motor includes the following steps:

[0116] Step S1: Determine the asymmetric multiphase winding parameters of the matrix motor;

[0117] Figure 4 The back EMF waveform of the asymmetrical rotor winding 2-3 is given. The phase difference between the three rotor windings is not the conventional 120-degree phase difference. The phase difference between phase A and phase B is 135 degrees, the phase difference between phase A and phase C is 135 degrees, and the phase difference between phase B and phase C is 90 degrees. In this practical case, the winding coefficients and the number of turns in series for the rotor's three-phase windings (A, B, and C) are consistent.

[0118] The total number of phases is 6, and the rotor has 3 three-phase windings;

[0119] Number of series turns in each phase winding: Number of series turns in phase A winding N A Number of series turns of phase B winding N B Number of series turns of phase C winding N C In this embodiment, N A , N B , N C The values ​​are the same, use N express.

[0120] Phase angles of the winding functions of each phase winding: The phase angle of the winding function of phase A winding is 0, the phase angle of the winding function of phase B winding is 3π / 4, and the phase angle of the winding function of phase C winding is -3π / 4.

[0121] Winding factors for each phase winding: Winding factor for phase A winding k wA The winding coefficient of phase B winding k wB The winding coefficient of phase C winding k wC In this embodiment, k wA , k wB , kwC The values ​​are the same, use k w express.

[0122] Does the winding have a neutral point? No neutral point.

[0123] Step S2: Construct the expression for the magnetomotive force of the matrix motor windings;

[0124] When current flows through the three-phase windings of the matrix motor, a winding magnetomotive force is generated in air gap 3. When the current flowing through the three-phase windings is direct current, the winding magnetomotive force generated by the rotor A-phase winding... The winding magnetomotive force generated by the B-phase winding The winding magnetomotive force generated by the C-phase winding They are respectively:

[0125] (8)

[0126] When the current flowing through the three-phase windings is alternating current, the currents in the three-phase windings A, B, and C are... , , The expressions are as follows:

[0127] (9)

[0128] in, I A , I B , I C These represent the current amplitudes of the three-phase windings A, B, and C, respectively. ω Represents the electric angular velocity of the current. t Indicates time, α A , α B , α C This represents the current phase angle of the three-phase windings A, B, and C.

[0129] Therefore, the magnetomotive force generated by the three-phase windings A, B, and C becomes a spacetime function, and its expression is:

[0130] (10)

[0131] in, The winding magnetomotive force generated by the A-phase winding; The winding magnetomotive force generated by the B-phase winding; This refers to the winding magnetomotive force generated by the C-phase winding.

[0132] Equation (10) is transformed into Equation (11) using the product-to-sum formula in trigonometric identities. The magnetomotive force generated by each phase rotor winding can be expressed as the superposition of the magnetomotive force components of the two rotating windings:

[0133] (11)

[0134] in, This represents the clockwise rotating component of the magnetomotive force generated by the A-phase winding. This represents the clockwise rotating component of the magnetomotive force generated by the B-phase winding. This represents the clockwise component of the magnetomotive force generated by the C-phase winding. This represents the counterclockwise rotating component of the magnetomotive force generated by the A-phase winding. This represents the counterclockwise rotating component of the magnetomotive force generated by the B-phase winding. This represents the counterclockwise rotating winding magnetomotive force component of the winding magnetomotive force generated by the C-phase winding.

[0135] Adding the counterclockwise rotating winding magnetomotive force components of the winding magnetomotive force generated by each phase winding, we get:

[0136] (12)

[0137] Adding the clockwise rotating winding magnetomotive force components of the winding magnetomotive force generated by each phase winding, we get:

[0138] (13)

[0139] Formulas (12) and (13) together form the expression for the magnetomotive force of the matrix motor winding.

[0140] Step 3: Construct an optimization model, which includes the optimization objective and constraints;

[0141] To maximize the magnetomotive force amplitude of the clockwise rotating winding, the optimization objective and constraints are as follows:

[0142] Optimization objective: Maximize the amplitude of the clockwise rotating winding magnetomotive force component. ;

[0143] Constraints: The magnetomotive force component of the counterclockwise rotating winding is always zero (no neutral point): and ;

[0144] Constraints:

[0145] The ranges of current amplitude and current phase angle for each phase winding are as follows:

[0146] Phase A winding: ;

[0147] Phase B winding: ;

[0148] C-phase winding: ;

[0149] Step S4: Solve for the optimal current control parameters;

[0150] Solving equations (12) and (13) based on the constraints, we obtain the following solution:

[0151] (14)

[0152] (15)

[0153] That is, the current in the three-phase windings A, B, and C of the rotor. i A ( t ), i B ( t ), i C ( t The expression is:

[0154] (16)

[0155] To illustrate the effectiveness of this method, four different currents were applied to the three-phase rotor windings A, B, and C of the matrix motor.

[0156] Current #1, the phase angle of the current is the same as the phase angle of the back EMF, and the expression for current #1 is as follows:

[0157] (17)

[0158] Current #2, the phase angle difference of the three-phase current is the same, which is a standard symmetrical three-phase current. The expression for current #2 is as follows:

[0159] (18)

[0160] Current #3 has the same phase angle as the current obtained by the construction method proposed in this invention, but the amplitude has not been adjusted. The expression for current #3 is as follows:

[0161] (19)

[0162] The current expression #4 is the current constructed in this invention.

[0163] Figure 5 The torque waveforms of the matrix motor rotor windings after four different currents are applied are given. Figure 5 As can be seen, the current constructed using this invention can achieve smaller torque ripple and larger average torque.

[0164] Reference Figure 2 This invention provides a matrix motor asymmetric multiphase winding current calculation device, comprising:

[0165] The acquisition module is used to obtain the parameters of the asymmetric multiphase windings of the matrix motor;

[0166] The winding magnetomotive force expression construction module is used to construct the winding magnetomotive force expression of the matrix motor based on the asymmetric multiphase winding parameters of the matrix motor.

[0167] The solution module is used to solve the expression of the magnetomotive force of the matrix motor windings based on the optimization model, and obtain the optimal current amplitude and current phase angle of each phase winding. The optimization model includes an objective function and constraints. The objective function is used to maximize the amplitude of the winding magnetomotive force component that is in the same direction of rotation as the target of the synthesized winding magnetomotive force. The constraints control the winding magnetomotive force component that is in the opposite direction of rotation to the target of the synthesized winding magnetomotive force to zero.

[0168] The multiphase windings of a matrix motor include stator windings and rotor windings, both of which are armature windings.

[0169] This invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of a method for calculating the current of an asymmetrical multiphase winding of a matrix motor. The memory may include main memory, such as high-speed random access memory, or it may also include non-volatile memory, such as at least one disk storage device. The processor, network interface, and memory are interconnected via an internal bus, which may be an industry-standard architecture bus, a peripheral component interconnection standard bus, an extended industry-standard architecture bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory is used to store the program; specifically, the program may include program code, which includes computer operation instructions. The memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0170] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a method for calculating the current of an asymmetrical multiphase winding of a matrix motor. Specifically, the computer-readable storage medium includes, but is not limited to, volatile memory and / or non-volatile memory. The volatile memory may include random access memory and / or cache memory, etc. The non-volatile memory may include read-only memory, hard disk, flash memory, optical disk, magnetic disk, etc.

[0171] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the above-described method for calculating the asymmetric multiphase winding current of a matrix motor.

[0172] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, etc.) containing computer-usable program code.

[0173] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, 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, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0174] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0175] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0176] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for calculating asymmetric multiphase winding currents of a matrix motor, characterized by, The method comprises the following steps: S1, acquiring 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 a winding magnetomotive force component in the same direction as a target rotation direction of a synthesized winding magnetomotive force; and the constraint condition controls a winding magnetomotive force component in the opposite direction to 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 parameters of the asymmetric multi-phase windings of the matrix motor, an expression of the winding magnetomotive force generated by the asymmetric current flowing through the asymmetric windings is constructed, and the expression of the winding magnetomotive force generated by the asymmetric current flowing through the asymmetric windings is: ; 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 The current amplitude of the phase winding, 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 the total number of phases of the winding of the matrix motor, v is is the 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, X is the electrical angular position, and t is time. 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 number of phases of the matrix motor; m is the total number of phases of the winding of the matrix motor; and v is the current of the phase winding, m is the total number of phases of the winding of the matrix motor; 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, The maximum value of the 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 ranges 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 acquired by consulting design documents, measurement, parameter identification or fault diagnosis.

6. A device for calculating asymmetric multiphase winding currents of a matrix motor, characterized by Comprise: An acquisition module configured to acquire asymmetric multi-phase winding parameters of a matrix motor; A winding magnetomotive force expression construction module configured to construct a matrix motor winding magnetomotive force expression based on the asymmetric multi-phase winding parameters of the matrix motor; A solving module configured 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 a winding magnetomotive force component in the same direction as a target rotation direction of a synthesized winding magnetomotive force; and the constraint condition controls a winding magnetomotive force component in the opposite direction to 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 implement 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 implement 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 implement the matrix motor asymmetric multi-phase winding current calculation method in any one of claims 1 to 5.

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