A mine vernier motor topology construction method based on magnetic guide harmonic reconstruction

Abstract

The application belongs to the technical field of motor design, and discloses a mine vernier motor topology construction method based on magnetic conductance harmonic reconstruction. First, a mathematical representation model of torque density, power factor and torque fluctuation about the characteristic parameters of magnetic conductance harmonic is established to reveal the internal correlation mechanism. On this basis, by actively introducing new-order beneficial magnetic conductance harmonics in the initial magnetic conductance harmonic set, a comprehensive optimized target magnetic conductance harmonic set is constructed, and the amplitude and phase of each key magnetic conductance harmonic in the target magnetic conductance harmonic set are reconstructed to enhance the positive contribution to the average torque, suppress the torque ripple component and optimize the armature flux distribution, so that the collaborative improvement of high torque density, high power factor and low torque fluctuation is realized in the mine low-speed direct drive scene. The application breaks through the limitations of traditional forward design, realizes the reverse construction from the electromagnetic performance target to the topology structure, is easy to achieve global optimization, shortens the design cycle and reduces the development cost.

Description

Technical Field

[0001] This invention belongs to the field of motor design technology and relates to a method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction. It is particularly suitable for mining low-speed direct drive applications with high torque density, low torque ripple, and high power factor. Background Technology

[0002] Low-speed, high-torque direct-drive motors, by eliminating the need for faulty and maintenance-intensive mechanical gearboxes, significantly improve system reliability and transmission efficiency, and have become an important development direction for mining drive technology. Vernier permanent magnet motors, utilizing the principle of magnetic field modulation, possess low-speed, high-torque output characteristics, demonstrating great potential in this application scenario. However, directly applying traditional vernier motors to mining direct-drive applications still faces significant challenges. The core contradiction lies in the difficulty of synergistically optimizing key performance indicators such as torque density, power factor, and torque ripple. To improve torque density, increasing the air gap magnetic permeability modulation depth is often employed, but this leads to enhanced armature reaction and increased equivalent inductance of the motor, thus significantly reducing the power factor. A low power factor necessitates a larger capacity inverter, increasing system cost and size. Simultaneously, the air gap magnetic field of vernier motors contains a large number of non-operating subharmonics, which interact to generate abundant torque harmonic components. If the phase distribution of these torque components is unreasonable, they will synthesize significant torque ripple. For equipment such as mine conveyors and hoists, excessive torque fluctuations can cause mechanical vibration and noise, accelerate the wear of transmission components, and even affect the accuracy and stability of load control.

[0003] Furthermore, traditional design methods largely rely on parameter scanning and trial-and-error using the finite element method, a forward design process of "structure-performance," which has a long design cycle and high computational cost. Simultaneously, this method heavily depends on design experience, making it difficult to deeply understand and actively manipulate the contribution of different orders of magnetic permeability harmonics to overall performance. Most importantly, traditional methods are essentially based on a "structure determines performance" forward thinking, unable to deduce the optimal motor topology from the "desired performance target," thus making it difficult to achieve globally optimal performance. Therefore, existing technologies cannot provide a systematic design method to simultaneously meet the high-quality requirements of high torque density, high power factor, and low torque ripple for vernier motors in direct-drive mining applications. Therefore, there is an urgent need to propose an innovative design method based on deep electromagnetic interaction mechanisms, capable of actively shaping magnetic field waveforms and reversibly constructing motor topologies, to overcome the aforementioned technical bottlenecks and thus promote technological progress in high-end transmission equipment for mining. Summary of the Invention

[0004] The purpose of this invention is to propose a topology construction method for a mining vernier motor based on magnetic permeability harmonic reconstruction. This method first achieves synergistic optimization of high torque density, high power factor, and low torque ripple at the comprehensive performance level by accurately analyzing and modeling and actively reconstructing the characteristic parameters of beneficial magnetic permeability harmonics. Then, through a reverse design process, the optimized magnetic permeability distribution is inverted into a specific stator slot structure, thereby realizing a direct, efficient, and optimized design from electromagnetic performance targets to physical structure.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction includes the following steps:

[0007] Step 1. Based on the initial key structural parameters and winding connection form of the vernier motor, establish an analytical expression for the spatial distribution of air gap magnetic permeability; perform Fourier decomposition on the analytical expression to extract the set of initial magnetic permeability harmonic characteristic parameters;

[0008] Step 2. Under a given winding connection configuration, based on the functional expressions of average torque, torque ripple, and power factor with respect to the characteristic parameters of magnetic permeability harmonics, calculate the contribution coefficients of the initial magnetic permeability harmonics to the average torque, torque ripple, and power factor.

[0009] Step 3. Add multiple beneficial permeability harmonics of different orders. Incorporate the newly added beneficial permeability harmonics of different orders into the optimization variables together with the initial permeability harmonics to form the target permeability harmonic characteristic parameter set.

[0010] Step 4. Reconstruct and optimize the amplitude and phase of the target magnetic permeability harmonic characteristic parameters in the target magnetic permeability harmonic characteristic parameter set, so that the quality coefficient characterizing the overall performance of the motor reaches the maximum value, and obtain the optimal magnetic permeability harmonic characteristic parameter set;

[0011] Step 5. Perform Fourier series summation on the optimal permeability harmonic characteristic parameters to reconstruct the corresponding stator permeability spatial distribution function and plot its waveform. Based on the fact that the peaks of the permeability waveform are teeth and the troughs are slots, the corresponding stator tooth and slot distribution is obtained by inversion, thus completing the topology construction of the vernier motor.

[0012] Furthermore, based on the method for constructing the topology of a mine vernier motor based on magnetic permeability harmonic reconstruction, this invention also proposes a corresponding topology construction system for a mine vernier motor based on magnetic permeability harmonic reconstruction, the technical solution of which is as follows:

[0013] A topology construction system for a mining vernier motor based on magnetic permeability harmonic reconstruction includes the following modules:

[0014] The stator magnetic permeability distribution modeling and harmonic characteristic parameter extraction module is used to establish an analytical expression for the spatial distribution of air gap magnetic permeability based on the initial key structural parameters and winding connection form of the vernier motor, and to perform Fourier decomposition on the analytical expression to extract the initial set of magnetic permeability harmonic characteristic parameters.

[0015] The correlation model construction module is used to calculate the contribution coefficients of the initial magnetic permeability harmonics to the average torque, torque ripple, and power factor under a given winding connection configuration, based on the functional expressions of the average torque, torque ripple, and power factor with respect to the characteristic parameters of the magnetic permeability harmonics.

[0016] The target permeability harmonic set setting module is used to add multiple orders of beneficial permeability harmonics. The added multiple orders of beneficial permeability harmonics are included together with the initial permeability harmonics in the optimization variables to form the target permeability harmonic characteristic parameter set.

[0017] The multi-objective reconstruction and optimization module for magnetic permeation harmonics is used to reconstruct and optimize the amplitude and phase of the target magnetic permeation harmonics, so that the quality coefficient characterizing the overall performance of the motor reaches the maximum value, and the optimal set of magnetic permeation harmonic characteristic parameters is obtained.

[0018] The module for reverse topology construction is used to reconstruct the corresponding stator magnetic permeability spatial distribution function and plot its waveform by summing the optimal set of magnetic permeability harmonic characteristic parameters through Fourier series, and then invert the corresponding stator slot distribution to complete the topology construction of the vernier motor.

[0019] Furthermore, based on the method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction, this invention also proposes a computer device, which includes a memory and one or more processors. Executable code is stored in the memory. When the processor executes the executable code, it is used to implement the aforementioned method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction.

[0020] Furthermore, based on the aforementioned method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction, this invention also proposes a computer-readable storage medium storing a program. When executed by a processor, this program is used to implement the steps of the aforementioned method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction.

[0021] Furthermore, based on the above-mentioned method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction, this invention also proposes a vernier motor designed based on the above-mentioned method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction.

[0022] The present invention has the following advantages:

[0023] As described above, this invention discloses a topology construction method for a high-quality vernier motor for mining applications based on magnetic permeability harmonic reconstruction. This method uses magnetic permeability harmonics as a bridge to construct mathematical representations of the torque density, power factor, and torque fluctuation of a vernier permanent magnet motor with respect to the amplitude, phase, and order of the magnetic permeability harmonics, profoundly revealing the intrinsic relationship between key structural parameters and overall performance. By actively reconstructing the amplitude and phase of key magnetic permeability harmonics in the target magnetic permeability harmonic set, this method enhances harmonics with high positive contributions to average torque while synergistically controlling magnetic permeability harmonics that significantly affect torque fluctuation. It also optimizes magnetic permeability harmonics that are sensitive to armature flux linkage but have a smaller impact on average torque, thereby effectively suppressing torque fluctuation and improving the power factor while ensuring high average torque. This method achieves synergistic optimization of high torque density, high power factor, and low torque fluctuation, enabling the motor to possess excellent overall performance in low-speed direct-drive scenarios in mining applications. Meanwhile, this invention breaks through the limitations of traditional forward design, realizing the reverse derivation from "desired performance" to "optimal structure". The design process is scientific and direct, and it is easy to achieve global optimization. It greatly reduces the dependence on finite element simulation and the number of blind trial and error, shortens the design cycle and reduces development costs. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating the overall process of constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction in this embodiment of the invention.

[0025] Figure 2 This is a schematic diagram of the initial structure of the vernier motor before magnetic harmonic reconstruction in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the spatial distribution waveform of the magnetic permeation of the vernier motor before magnetic permeation harmonic reconstruction in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the topology of the vernier motor after magnetic permeability harmonic reconstruction in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the spatial distribution waveform of the magnetic permeation of the vernier motor after magnetic permeation harmonic reconstruction in an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram comparing the amplitude and phase of the magnetic permeability harmonics before and after reconstruction in an embodiment of the present invention;

[0030] Wherein: 1-stator core, 2-winding, 3-permanent magnet, 4-rotor core, 5-magnetic permeability corresponding to motor teeth, 6-magnetic permeability corresponding to motor slots. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0032] Example 1

[0033] This embodiment 1 describes a method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction. This method includes the following steps:

[0034] Step 1. Based on the initial key structural parameters and winding connection form of the vernier motor, establish an analytical expression for the spatial distribution of air gap magnetic permeability; perform Fourier decomposition on the analytical expression to extract the set of initial magnetic permeability harmonic characteristic parameters.

[0035] The initial key structural parameters of a vernier motor, including the number of stator slots. Number of permanent magnet pole pairs in rotor Modulation of tooth count Number of armature winding pole pairs Effective air gap length Stator slot width and slot spacing And so on. Under the constraints of vernier motor design specifications, determine key topology parameters (stator slot width). Slot spacing Effective air gap length ) and slot pole matching (number of stator slots) Number of permanent magnet pole pairs in rotor Number of armature winding pole pairs The winding connection methods include the number of winding pole pairs, coil span, single or double layers, etc. Different connection methods result in different winding coefficients.

[0036] Based on the stator tooth slot distribution, an analytical expression for the spatial distribution of air gap magnetic permeability is constructed using Fourier poles, as follows:

[0037] .

[0038] in Indicates spatial location, Indicates the air gap permeability with respect to spatial position The parsing expression. This is the 0th permeability harmonic. For the first Secondary magnetic permeability harmonics; Indicates phase, =0 or =π. To modulate the number of teeth, , Let the 0th magnetic permeability harmonic be... phase =0, when the first When the phase of the secondary permeability harmonic is the same as that of the fundamental wave =0, otherwise =π. Extracted set of stator initial permeability harmonic characteristic parameters:

[0039] .

[0040] in The order of the initial magnetic permeability harmonics. , The first The amplitude and phase of the secondary magnetic permeability harmonic.

[0041] Step 2. Under the given winding connection configuration, based on the functional expressions of average torque, torque ripple, and power factor with respect to the characteristic parameters of magnetic permeability harmonics, calculate the contribution coefficients of the initial magnetic permeability harmonics to the average torque, torque ripple, and power factor.

[0042] This invention derives the average torque based on the magnetomotive force-permeability method. Torque fluctuation Power factor Functional expression for the characteristic parameters of magnetic permeability harmonics:

[0043] ;

[0044] ;

[0045] .

[0046] Through the above functional relationships, we can quantitatively analyze the magnitude and sign of the contribution of each magnetic permeability harmonic to the average torque, its influence on torque fluctuations, and its influence on the power factor.

[0047] Step 2.1. First, construct the average torque. Regarding the order of magnetic permeability harmonics Magnetic permeability harmonic amplitude and phase Functional relationship As shown below:

[0048] .

[0049] in For the first The contribution coefficient of secondary magnetic permeability harmonics to the average torque is determined by the air gap radius of the motor. axial length Number of turns per phase in series Amplitude of the fundamental wave of permanent magnet magnetomotive force Armature current amplitude And its sign is determined by the winding factor, and its relationship with the winding factor and phase. Decide; Indicates the number of pole pairs of the rotor permanent magnet. Indicates the first Winding coefficients of the second harmonic Indicates the first The winding coefficient of the subharmonic; To modulate the number of teeth, This represents the average torque component generated by the vth magnetic permeability harmonic; For the first Secondary permeability harmonic amplitude .

[0050] As can be seen from the above formula, there are a total of v torque components generated by the magnetic permeability harmonics. The average torque contribution coefficient is... A positive value indicates that the v-th magnetic permeability harmonic generates a positive average torque, while a negative value indicates that it generates a negative average torque; the average torque contribution coefficient. A larger value indicates a greater weight of the v-th order permeability harmonic on the average torque. Therefore, adding a new permeability harmonic order... It can generate new This increases the number of average torque components. Further reconstructing the amplitude and phase of the magnetic permeation harmonics allows each high-weighted magnetic permeation harmonic to generate a positive average torque component and maximizes the total average torque, thereby revealing the upper limit of torque density of the vernier motor under electromagnetic load, material, and volume constraints.

[0051] Step 2.2. Constructing Torque Ripple Regarding the order of magnetic permeability harmonics Magnetic permeability harmonic amplitude and phase Functional relationship As shown below:

[0052] ;

[0053] .

[0054] in This represents the amplitude of the nth harmonic of the permanent magnet. Represents the nth P r Winding coefficients of the second harmonic This indicates the harmonic order of the magnetomotive force of a permanent magnet. , , Indicates the first Winding coefficients of the second harmonic This indicates the phase of the v-th permeability harmonic. Indicates mechanical angular velocity; Indicates time, in seconds; This represents the torque fluctuation component generated by the v-th magnetic permeability harmonic. This represents the contribution coefficient of the v-th magnetic permeability harmonic to torque ripple; , They represent The maximum and minimum values.

[0055] Torque ripple contribution coefficient A positive value indicates that the v-th magnetic permeability harmonic generates a positive torque ripple component, while a negative value indicates that a negative torque ripple component is generated; torque ripple contribution coefficient. A larger value indicates a greater weight of the v-th order magnetic permeability harmonic on torque ripple. Therefore, adding a new order of magnetic permeability harmonics... And cause it to generate a new torque ripple component. It is used to counteract the torque fluctuations generated by the initial magnetic permeability harmonics; the amplitude and phase of the magnetic permeability harmonics are further reconstructed so that the torque fluctuation components generated by each magnetic permeability harmonic cancel each other out, thereby reducing the total torque fluctuations.

[0056] Step 2.3. Construct the power factor PF with respect to the magnetic permeability harmonic order Magnetic permeability harmonic amplitude and phase Functional relationship Neglecting leakage flux and windings, the power factor PF is expressed as follows:

[0057] .

[0058] in The magnetic flux linkage generated by the magnetomotive force of the permanent magnet, and its relationship with the magnetic permeability harmonics are expressed as follows:

[0059] .

[0060] in Indicates the length of the motor core. Indicates the first Winding coefficients of the second harmonic Indicates the first Winding coefficients of the second harmonic Indicates the first The size of the permanent magnet flux linkage generated by the secondary magnetic permeability harmonics. This represents the contribution coefficient of the v-th magnetic permeability harmonic to the magnetic flux linkage of the permanent magnet.

[0061] Permanent magnet flux contribution coefficient A positive value indicates that the v-th permeability harmonic generates a positive permanent magnet flux linkage component, while a negative value indicates that a negative permanent magnet flux linkage component is generated; permanent magnet flux linkage contribution coefficient. A larger value indicates a greater weight of the v-th order permeability harmonic on the permanent magnet flux linkage. Therefore, adding a new permeability harmonic order... And make it produce positive This can increase the number of permanent magnet flux components; further reconstruct the amplitude and phase of the magnetic permeation harmonics, so that each magnetic permeation harmonic generates a positive permanent magnet flux component and the total permanent magnet flux reaches its maximum, thereby effectively improving the power factor.

[0062] The magnetic flux linkage generated by the armature magnetomotive force, and its relationship with the magnetic permeability harmonics are expressed as follows:

[0063] .

[0064] in Indicates the first Secondary armature magnetomotive force harmonic amplitude The harmonic order of the armature magnetomotive force. Indicates the first Second harmonic winding coefficient Indicates the first Winding coefficients of the second harmonic This represents the magnitude of the armature flux linkage generated by the v-th permeability harmonic. This represents the contribution coefficient of the v-th magnetic permeability harmonic to the armature flux linkage.

[0065] Armature flux contribution coefficient A positive value indicates that the v-th permeability harmonic produces a positive armature flux linkage component, while a negative value indicates that a negative armature flux linkage component is produced; armature flux linkage contribution coefficient. A larger value indicates a greater weight of the v-th order permeability harmonic on the armature flux linkage. Therefore, adding a new permeability harmonic order... and cause it to generate new This can increase the number of armature flux components; further reconstruct the amplitude and phase of the permeability harmonics, thereby reducing the armature flux generated by each permeability harmonic and thus effectively improving the power factor.

[0066] Therefore, the power factor is expressed as:

[0067] .

[0068] Based on the functional expressions of average torque, torque ripple, and power factor with respect to the characteristic parameters of magnetic permeability harmonics, this invention calculates the contribution coefficients of initial and newly added magnetic permeability harmonics to average torque, torque ripple, and power factor. This allows for the analysis of the sign and magnitude of each contribution coefficient, which serves as the basis for the reconstruction and optimization of the characteristic parameters of magnetic permeability harmonics described below.

[0069] Step 3. Add multiple beneficial permeability harmonics of different orders. Incorporate the newly added beneficial permeability harmonics of different orders into the optimization variables together with the initial permeability harmonics to form the target permeability harmonic characteristic parameter set Λ_target.

[0070] The newly added magnetic permeability harmonic order The following equations must be satisfied:

[0071] .

[0072] Considering the symmetry of the motor structure, It should be an integer multiple of the number of motor phases. The amplitude of the newly added order permeability harmonic. Preset to a small initial value, phase Random settings; This indicates that it does not belong to the initial magnetic permeability harmonics.

[0073] Based on the magnitude and sign of the contribution coefficients of magnetic permeability harmonics to average torque, torque ripple, and power factor, this invention can identify the weights of different orders of magnetic permeability harmonics on average torque, torque ripple, and power factor. On the basis of the initial magnetic permeability harmonics, multiple beneficial magnetic permeability harmonics of different orders are added to form a target magnetic permeability harmonic set, which can increase the number of high-weight components that generate average torque, introduce high-weight components that weaken torque ripple, and increase the reduced high-weight components that act on armature flux linkage, thereby achieving a comprehensive improvement in average torque, torque ripple, and power factor.

[0074] Step 4. Reconstruct and optimize the amplitude and phase of the target magnetic permeability harmonic characteristic parameters in the target magnetic permeability harmonic characteristic parameter set, so that the quality coefficient characterizing the overall performance of the motor reaches the maximum value, and obtain the optimal magnetic permeability harmonic characteristic parameter set.

[0075] Weighting coefficients for average torque, torque ripple, and power factor are set according to the motor application scenario. , , ,in The quality coefficient Q is used as the optimization objective, and the formula is as follows:

[0076] .

[0077] In heavy-duty mining scenarios, for example, it can be set to... , , The values ​​are 0.7, 0.15, and 0.15, respectively.

[0078] Then, the characteristic parameters of the magnetic permeability harmonics are reconstructed and optimized to maximize the quality coefficient, thereby obtaining the optimal set of magnetic permeability harmonic characteristic parameters. .

[0079] The amplitude and phase of the target magnetic permeability harmonic characteristic parameters are reconstructed and optimized using the following strategy:

[0080] The phase of the high-weighted magnetic permeation harmonics that generate a negative average torque contribution coefficient in the target magnetic permeation harmonics is reconstructed to produce a positive average torque. The amplitude of the high-weighted magnetic permeation harmonics that generate a positive average torque contribution coefficient in the target magnetic permeation harmonics is also reconstructed to maximize the total average torque. The amplitude and phase of the high-weighted magnetic permeation harmonics that have a large impact on torque fluctuations but a small impact on average torque are reconstructed to reduce the total torque fluctuations while having a small impact on average torque. The amplitude and phase of the high-weighted magnetic permeation harmonics that have a large impact on armature flux linkages but a small impact on average torque are also reconstructed to improve the power factor while having a small impact on average torque.

[0081] Specifically, according to the optimization strategy, the increase in average torque is achieved by reconstructing the average torque contribution coefficient in each magnetic permeability harmonic. The phase of the magnetic permeation harmonics with negative and large values ​​is reversed to generate a positive torque component; the amplitude of the magnetic permeation harmonics with positive and large contribution coefficients is reconstructed to increase the total average torque; to reduce torque fluctuations, the contribution coefficients of each magnetic permeation harmonic to torque fluctuations are used. and the average torque contribution coefficient The focus is on reconstructing and optimizing the permeability harmonics, which have a significant impact on torque ripple but a small impact on average torque. This allows high-weight torque ripple components to cancel each other out, achieving a reduction in total torque ripple while minimizing their impact on average torque. For power factor improvement, the contribution coefficients of each permeability harmonic to armature flux linkage are considered. The focus is on reconstructing and optimizing the permeability harmonics that have a significant impact on armature flux linkage but a small impact on average torque, thereby reducing the high-weight electromagnetic flux linkage components and achieving an improvement in power factor with minimal impact on average torque.

[0082] Define the reconstructed magnetic permeability harmonic amplitude as (j represents the reconstructed harmonic order of the magnetic permeability). The reconstructed permeability harmonic amplitudes should not exceed the upper and lower limits of the air gap permeability amplitude, and the peaks and troughs of the reconstructed total permeability waveform should not exceed the upper and lower limits of the air gap permeability amplitude, i.e., satisfy the following constraints:

[0083] .

[0084] in This represents the upper limit of the air gap permeability amplitude. This represents the lower limit of the air gap permeability amplitude. The permeability of free space, The air gap length of the motor. For the depth of the groove, This represents the amplitude of the 0th permeability harmonic after reconstruction. This represents the amplitude of the j-th magnetic permeability harmonic after reconstruction, where j is the order of the reconstructed magnetic permeability harmonic. Indicates the number of modulation teeth. Indicates spatial location, This represents the phase of the j-th magnetic permeability harmonic after reconstruction.

[0085] The optimization objective of this embodiment is to maximize the quality coefficient Q, i.e., to solve for the given external dimensions of the motor (i.e., the stator outer diameter and the core length). Optimization variables include .in and The amplitude and phase of the initial magnetic permeability harmonic. and The amplitude and phase of the newly added magnetic permeability harmonics.

[0086] The optimal set of magnetic permeability harmonic characteristic parameters obtained through reconstruction and optimization. .

[0087] Step 5. Perform Fourier series summation on the optimal permeability harmonic characteristic parameters to reconstruct the corresponding stator permeability spatial distribution function and plot its waveform. Based on the fact that the peaks of the permeability waveform are teeth and the troughs are slots, the corresponding stator tooth and slot distribution is obtained by inversion, thus completing the topology construction of the vernier motor.

[0088] The optimal set of magnetic permeability harmonic characteristic parameters Λ_optimized from step 4 is summed using Fourier series to reconstruct the optimal spatial distribution waveform function of the magnetic permeability. The formula is expressed as follows:

[0089] ;

[0090] in This represents the amplitude of the 0th permeability harmonic after reconstruction. This represents the amplitude of the j-th magnetic permeability harmonic after reconstruction, where j is the order of the reconstructed magnetic permeability harmonic. Indicates the number of modulation teeth. Indicates spatial location, This represents the phase of the j-th permeability harmonic after reconstruction. Plot the optimal permeability spatial distribution waveform function. Based on the fact that the peaks in the magnetic permeation waveform are teeth and the troughs are slots, the corresponding stator tooth and slot distribution is obtained by inversion, thereby completing the topology construction of the vernier motor.

[0091] According to the motor topology construction method proposed in this invention, it is possible to achieve comprehensive performance optimization design of any vernier permanent magnet motor under specific performance indicators and outer diameter volume constraints. The following is an illustration using a 6-slot vernier permanent magnet motor as a design case.

[0092] Figure 2 The initial structure of the vernier motor before magnetic harmonic reconstruction. The stator side employs a parallel tooth structure, with a modulation tooth count... With the number of stator slots Same; the armature winding adopts a double-layer concentrated winding form; the permanent magnets are arranged in an NSNS pattern and are attached to the outer surface of the rotor core.

[0093] Figure 3 A schematic diagram of the spatial distribution waveform of the magnetic permeability of a vernier motor before magnetic permeability harmonic reconstruction.

[0094] Based on the proposed magnetic permeability harmonic reconstruction design method, and according to the optimization objective of maximizing the quality coefficient that characterizes the comprehensive performance of average torque, torque ripple, and power factor, a vernier motor topology after magnetic permeability harmonic reconstruction is formed, such as... Figure 4 As shown, compared to the initial structure, the stator side has formed a main tooth plus auxiliary tooth arrangement, and the tooth shape is irregular.

[0095] Figure 5 This is a schematic diagram of the spatial distribution waveform of the magnetic permeability of the vernier motor after magnetic permeability harmonic reconstruction. (Comparison) Figure 3 and Figure 5 It is easy to see that the magnetic permeability distribution of the vernier motor changes significantly before and after magnetic permeability harmonic reconstruction.

[0096] Further analysis of the amplitude and phase of the magnetic permeability harmonics before and after reconstruction, such as... Figure 6 As shown. By Figure 6 As can be seen, the amplitude and phase of the magnetic permeability harmonics of each order have been reconstructed, which will be analyzed in detail below.

[0097] Based on the relationship between magnetic permeability harmonics and average torque, torque ripple, and power factor, we can analyze and conclude that:

[0098] 1. In this example, the 0th, 2nd, 3rd, and 4th permeability harmonics have a higher weight in influencing the average torque. After reconstructing the permeability harmonics, the amplitudes of the 0th, 2nd, 3rd, and 4th permeability harmonics increase, while the amplitude of the 1st permeability harmonic decreases, thereby enhancing their corresponding torque contribution values. Furthermore, the phases of the 2nd, 3rd, and 4th permeability harmonics are adjusted so that the torques they generate are superimposed in the same direction, thus maximizing the average torque.

[0099] 2. In this example, the 0th, 4th, 5th, 6th, and 7th permeability harmonics have a higher weight in influencing torque ripple. After reconstructing the permeability harmonics, the amplitudes of the 4th, 5th, and 7th permeability harmonics increase, and the phases of the 4th and 5th permeability harmonics are reversed. At the same time, the amplitude of the 6th permeability harmonic is reduced, thereby achieving the effect of reducing torque ripple with a relatively small impact on the average torque.

[0100] 3. In this example, the 0th, 1st, and 2nd permeability harmonics have a higher weight in affecting the power factor. After the permeability harmonics are reconstructed, the amplitude of the 1st permeability harmonic is significantly reduced, which reduces the increase of armature flux and has little impact on the average torque, thus improving the power factor.

[0101] The mining vernier motor topology construction method based on magnetic permeability harmonic reconstruction proposed in this invention can start from the essential mechanism of electromagnetic performance improvement, realize the synergistic optimization of high torque density, high power factor and low torque fluctuation, and further reverse-engineer the optimal topology structure to match it, thereby simultaneously completing the performance improvement and structural innovation of high-quality vernier motors.

[0102] Example 2

[0103] This embodiment 2 describes a mining vernier motor topology construction system based on magnetic permeability harmonic reconstruction. This system is based on the same inventive concept as the mining vernier motor topology construction method based on magnetic permeability harmonic reconstruction in embodiment 1 above.

[0104] A topology construction system for a mining vernier motor based on magnetic permeability harmonic reconstruction includes the following modules:

[0105] The stator magnetic permeability distribution modeling and harmonic characteristic parameter extraction module is used to establish an analytical expression for the spatial distribution of air gap magnetic permeability based on the initial key structural parameters and winding connection form of the vernier motor, and to perform Fourier decomposition on the analytical expression to extract the initial set of magnetic permeability harmonic characteristic parameters.

[0106] The correlation model construction module is used to calculate the contribution coefficients of the initial magnetic permeability harmonics to the average torque, torque ripple, and power factor under a given winding connection configuration, based on the functional expressions of the average torque, torque ripple, and power factor with respect to the characteristic parameters of the magnetic permeability harmonics.

[0107] The target permeability harmonic set setting module is used to add multiple orders of beneficial permeability harmonics. The added multiple orders of beneficial permeability harmonics are included together with the initial permeability harmonics in the optimization variables to form the target permeability harmonic characteristic parameter set.

[0108] The multi-objective reconstruction and optimization module for magnetic permeation harmonics is used to reconstruct and optimize the amplitude and phase of the target magnetic permeation harmonics, so that the quality coefficient characterizing the overall performance of the motor reaches the maximum value, and the optimal set of magnetic permeation harmonic characteristic parameters is obtained.

[0109] The module for reverse topology construction is used to reconstruct the corresponding stator magnetic permeability spatial distribution function and plot its waveform by summing the optimal set of magnetic permeability harmonic characteristic parameters through Fourier series, and then invert the corresponding stator slot distribution to complete the topology construction of the vernier motor.

[0110] In the mining vernier motor topology construction system based on magnetic permeability harmonic reconstruction in this embodiment 2, the implementation process of the functions and roles of each functional module is detailed in the implementation process of the corresponding steps of the method in the above embodiment 1, and will not be repeated here.

[0111] Example 3

[0112] This embodiment 3 describes a computer device. The computer device includes a memory and one or more processors. Executable code is stored in the memory. When the processor executes the executable code, it implements the steps of the mining vernier motor topology construction method based on magnetic permeability harmonic reconstruction described in embodiment 1 above.

[0113] In this embodiment, the computer device can be any device or apparatus with data processing capabilities, and will not be described in detail here.

[0114] Example 4

[0115] This embodiment 4 describes a computer-readable storage medium storing a program that, when executed by a processor, is used to implement the steps of the mining vernier motor topology construction method based on magnetic permeability harmonic reconstruction in embodiment 1 above.

[0116] The computer-readable storage medium can be an internal storage unit of any device or apparatus with data processing capabilities, such as a hard disk or memory, or an external storage device of any device with data processing capabilities, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc.

[0117] Example 5

[0118] This embodiment 5 describes a mining vernier motor, which is designed using the mining vernier motor topology construction method based on magnetic permeability harmonic reconstruction as described in embodiment 1 above.

[0119] The mining vernier motor designed using the above method can achieve a comprehensive improvement in overall performance, including high torque density, high power factor, and low torque ripple, in mining low-speed direct drive scenarios. It is especially suitable for mining low-speed direct drive applications with high torque density, low torque ripple, and high power factor.

[0120] Of course, the above description is only a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. It should be noted that any equivalent substitutions or obvious modifications made by those skilled in the art under the guidance of this specification fall within the scope of this specification and should be protected by the present invention.

Claims

1. A method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction, characterized in that, Includes the following steps: Step 1. Based on the initial key structural parameters and winding connection form of the vernier motor, establish an analytical expression for the spatial distribution of air gap magnetic permeability; perform Fourier decomposition on the analytical expression to extract the set of initial magnetic permeability harmonic characteristic parameters; Step 2. Under a given winding connection configuration, based on the functional expressions of average torque, torque ripple, and power factor with respect to the characteristic parameters of magnetic permeability harmonics, calculate the contribution coefficients of the initial magnetic permeability harmonics to the average torque, torque ripple, and power factor. In step 2, the average torque is constructed. Regarding the order of magnetic permeability harmonics Magnetic permeability harmonic amplitude and phase Functional relationship As shown below: ； in For the first The contribution coefficient of secondary magnetic permeability harmonics to the average torque is determined by the air gap radius of the motor. axial length Number of turns per phase in series Amplitude of the fundamental wave of permanent magnet magnetomotive force Armature current amplitude And its sign is determined by the winding factor, and its relationship with the winding factor and phase. Decide; Indicates the number of pole pairs of the rotor permanent magnet. Indicates the first Winding coefficients of the second harmonic Indicates the first The winding coefficient of the subharmonic; To modulate the number of teeth, This represents the average torque component generated by the vth magnetic permeability harmonic; For the first Secondary permeability harmonic amplitude ; Step 3. Add multiple beneficial permeability harmonics of different orders. Incorporate the newly added beneficial permeability harmonics of different orders into the optimization variables together with the initial permeability harmonics to form the target permeability harmonic characteristic parameter set. Newly added magnetic permeability harmonic order The following equations must be satisfied: ； in The number of pole pairs in the armature winding. This represents the number of pole pairs of the rotor permanent magnet. The number of stator slots Let be the number of modulation teeth, i be a natural number, and & denote AND; considering the symmetry of the motor structure, It is an integer multiple of the number of phases of the motor; the amplitude of the newly added order permeability harmonic. Preset to an initial value, phase Random settings; This indicates that it does not belong to the initial magnetic permeability harmonics; Step 4. Reconstruct and optimize the amplitude and phase of the target magnetic permeability harmonic characteristic parameters in the target magnetic permeability harmonic characteristic parameter set, so that the quality coefficient characterizing the overall performance of the motor reaches the maximum value, and obtain the optimal magnetic permeability harmonic characteristic parameter set; Step 5. Perform Fourier series summation on the optimal permeability harmonic characteristic parameters to reconstruct the corresponding stator permeability spatial distribution function and plot its waveform. Based on the fact that the peaks of the permeability waveform are teeth and the troughs are slots, the corresponding stator tooth and slot distribution is obtained by inversion, thereby completing the topology construction of the vernier motor. In step 5, the reconstructed magnetic permeability harmonic characteristic parameters from step 4 are summed using a Fourier series to reconstruct the optimal magnetic permeability spatial distribution waveform function, expressed by the following formula: ； in This represents the amplitude of the 0th permeability harmonic after reconstruction. Represents the reconstructed first... Secondary permeability harmonic amplitude The reconstructed permeability harmonic order. Indicates the number of modulation teeth. Indicates spatial location, Represents the reconstructed first... Phase of secondary permeability harmonics; plot the optimal permeability spatial distribution waveform function. Based on the fact that the peaks in the magnetic permeation waveform are teeth and the troughs are slots, the corresponding stator tooth and slot distribution is obtained by inversion, thereby completing the topology construction of the vernier motor.

2. The method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction according to claim 1, characterized in that, In step 1, the analytical expression for the spatial distribution of air gap magnetic permeability is constructed using Fourier poles: ； in Indicates spatial location, Indicates the air gap permeability with respect to spatial position The parsing expression; For the first Secondary magnetic permeability harmonics To modulate the number of teeth; Indicate phase; let the 0th magnetic permeability harmonic be... phase When the first When the phase of the secondary permeability harmonic is the same as that of the fundamental wave Conversely ; Extracted initial magnetic permeability harmonic characteristic parameter set : ； in The order of the initial magnetic permeability harmonics. , The first The amplitude and phase of the secondary magnetic permeability harmonic.

3. The method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction according to claim 1, characterized in that, In step 2, torque ripple is constructed. Regarding the order of magnetic permeability harmonics Magnetic permeability harmonic amplitude and phase Functional relationship As shown below: ； ； in The air gap radius of the motor is... axial length The number of turns in series per phase. The armature current amplitude, For the first Secondary permeability harmonic amplitude ; This represents the amplitude of the nth harmonic of the permanent magnet. Represents the nth P r Winding coefficients of the second harmonic Indicates the number of pole pairs of the rotor permanent magnet. This indicates the harmonic order of the magnetomotive force of a permanent magnet. , , Indicates the first Winding coefficients of the second harmonic To modulate the number of teeth, Indicates the first Secondary permeability harmonic phase Indicates mechanical angular velocity; Indicates time, in seconds; This represents the torque fluctuation component generated by the v-th magnetic permeability harmonic. This represents the contribution coefficient of the v-th magnetic permeability harmonic to torque ripple; , They represent The maximum and minimum values.

4. The method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction according to claim 1, characterized in that, In step 2, the power factor PF is constructed with respect to the magnetic permeability harmonic order. Magnetic permeability harmonic amplitude and phase Functional relationship ; Neglecting leakage flux and windings, the expression for the power factor PF is: ； in The magnetic flux linkage generated by the magnetomotive force of the permanent magnet, and its relationship with the magnetic permeability harmonics are expressed as follows: ； in For the air gap radius of the motor, Indicates the length of the motor core. The number of turns in series per phase. This represents the fundamental amplitude of the magnetomotive force of the permanent magnet. Indicates the first Winding coefficients of the second harmonic Indicates the number of pole pairs of the rotor permanent magnet. The armature current amplitude, For the first Secondary magnetic permeability harmonics , Indicates the first Winding coefficients of the second harmonic To modulate the number of teeth, Indicates the first The size of the permanent magnet flux linkage generated by the secondary magnetic permeability harmonics. This represents the contribution coefficient of the v-th magnetic permeability harmonic to the magnetic flux linkage of the permanent magnet; The magnetic flux linkage generated by the armature magnetomotive force, and its relationship with the magnetic permeability harmonics are expressed as follows: ； in Indicates the first Secondary armature magnetomotive force harmonic amplitude The harmonic order of the armature magnetomotive force. Indicates the first Second harmonic winding coefficient Indicates the first Winding coefficients of the second harmonic This represents the magnitude of the armature flux linkage generated by the v-th permeability harmonic. This represents the contribution coefficient of the v-th magnetic permeability harmonic to the armature flux linkage; Therefore, the power factor is expressed as: 。 5. The method for constructing the topology of a mining vernier motor based on magnetic permeability harmonic reconstruction according to claim 1, characterized in that, Step 4 specifically involves: Weighting coefficients for average torque, torque ripple, and power factor are set according to the motor application scenario. , , , The quality coefficient Q is formed by the following formula: ； in , , These represent the average torque, torque ripple, and power factor generated by the initial magnetic permeability harmonics, respectively. , , These represent the average torque, torque ripple, and power factor generated by the magnetic permeability harmonics after reconstruction and optimization. The characteristic parameters of the target magnetic permeability harmonics are reconstructed and optimized; The reconstruction and optimization strategies are as follows: Reconstruct the phase of the high-weighted magnetic permeation harmonics that generate a negative average torque contribution coefficient in the target magnetic permeation harmonics to produce a positive average torque; reconstruct the amplitude of the high-weighted magnetic permeation harmonics that generate a positive average torque contribution coefficient in the target magnetic permeation harmonics to maximize the total average torque; reconstruct the amplitude and phase of the high-weighted magnetic permeation harmonics that have a large impact on torque fluctuations but a small impact on average torque to reduce total torque fluctuations; reconstruct the amplitude and phase of the high-weighted magnetic permeation harmonics that have a large impact on armature flux linkages but a small impact on average torque to improve the power factor. The optimization objective is to maximize the quality coefficient Q given the fixed external dimensions of the motor, namely the stator outer diameter and the core length, thereby obtaining the optimal set of magnetic permeability harmonic characteristic parameters. ; Where j is the order of the reconstructed magnetic permeability harmonic; , This represents the amplitude and phase of the reconstructed j-th magnetic permeability harmonic.

6. A mining vernier motor topology construction system based on magnetic permeability harmonic reconstruction for implementing the mining vernier motor topology construction method based on magnetic permeability harmonic reconstruction as described in claim 1, characterized in that, The mining vernier motor topology construction system based on magnetic permeability harmonic reconstruction includes the following modules: The stator magnetic permeability distribution modeling and harmonic characteristic parameter extraction module is used to establish an analytical expression for the spatial distribution of air gap magnetic permeability based on the initial key structural parameters and winding connection form of the vernier motor, and to perform Fourier decomposition on the analytical expression to extract the initial set of magnetic permeability harmonic characteristic parameters. The correlation model construction module is used to calculate the contribution coefficients of the initial magnetic permeability harmonics to the average torque, torque ripple, and power factor under a given winding connection configuration, based on the functional expressions of the average torque, torque ripple, and power factor with respect to the characteristic parameters of the magnetic permeability harmonics. The target permeability harmonic set setting module is used to add multiple orders of beneficial permeability harmonics. The added multiple orders of beneficial permeability harmonics are included together with the initial permeability harmonics in the optimization variables to form the target permeability harmonic characteristic parameter set. The multi-objective reconstruction and optimization module for magnetic permeation harmonics is used to reconstruct and optimize the amplitude and phase of the target magnetic permeation harmonics, so that the quality coefficient characterizing the overall performance of the motor reaches the maximum value, and the optimal set of magnetic permeation harmonic characteristic parameters is obtained. The module for reverse topology construction is used to reconstruct the corresponding stator magnetic permeability spatial distribution function and plot its waveform by summing the optimal set of magnetic permeability harmonic characteristic parameters through Fourier series, and then invert the corresponding stator slot distribution to complete the topology construction of the vernier motor.

7. A vernier motor for mining, characterized in that, The mining vernier motor is designed using the mining vernier motor topology construction method based on magnetic permeability harmonic reconstruction as described in any one of claims 1 to 5.

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