Vibration reduction method and device for electric vibration of permanent magnet motor

Abstract

The invention belongs to the technical field of permanent magnet motor design and manufacturing, and provides a vibration reduction method and device for electric vibration of a permanent magnet motor, and the corresponding method comprises the steps: obtaining the structure parameters of the permanent magnet motor; wherein the structural parameters comprise stator tooth width, notch depth, tooth crest shape and pole-arc coefficient; modifying the structural parameters according to a pre-generated first mapping relation, so that the sum of a first phase generated by radial force and a second phase generated by tangential force of the permanent magnet motor in a working state is minimum; the first mapping relation is used for representing the relation between the structure parameter and the sum of a first phase generated by the radial force and a second phase generated by the tangential force. According to the vibration reduction method for the electric vibration of the permanent magnet motor, the vibration reduction effect of the permanent magnet motor can be greatly improved.

Description

Technical Field

[0001] This application belongs to the field of permanent magnet motor design and manufacturing technology, especially the field of low-vibration permanent magnet motor structure design technology, specifically a method and device for reducing the electric vibration of a permanent magnet motor. Background Technology

[0002] In existing technologies, the design of motor vibration reduction structures only considers the influence of radial electromagnetic force on electromagnetic vibration, while ignoring the influence of tangential electromagnetic force. This results in limited vibration reduction effects in existing technologies. Existing technical solutions have analyzed the influence of radial electromagnetic force on motor vibration and proposed various low-motor vibration structures that reduce electromagnetic vibration from the perspective of reducing radial electromagnetic force. However, it is understandable that reducing electromagnetic vibration only from the perspective of radial electromagnetic force will lead to limited motor vibration reduction effects. Summary of the Invention

[0003] This invention addresses the aforementioned problems in the prior art by providing a method and apparatus for reducing the electromagnetic vibration of a permanent magnet motor, aiming to maximize the reduction effect on the electromagnetic vibration of the permanent magnet motor. Specifically, this invention provides the following technical solution:

[0004] In a first aspect, the present invention provides a method for reducing the electromagnetic vibration of a permanent magnet motor, the method comprising:

[0005] Obtain the structural parameters of the permanent magnet motor; wherein, the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient;

[0006] The structural parameters are modified according to the pre-generated first mapping relationship so that the sum of the first phase generated by the radial force and the second phase generated by the tangential force in the working state of the permanent magnet motor is minimized; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

[0007] In some embodiments of this application, modifying the structure parameters according to the pre-generated first mapping relationship includes:

[0008] According to the first mapping relationship, multiple triangular sub-serrations are opened at the tooth tip; the number of sub-serrations is determined by the first mapping relationship, and the first side of the triangle is parallel to the surface of the tooth tip;

[0009] The first angle between the radial direction of the tooth tip and the second side of the triangle is determined according to the first mapping relationship;

[0010] The second angle between the radial direction of the tooth tip and the third side of the triangle is determined based on the first mapping relationship.

[0011] In some embodiments of this application, the step of generating the first mapping relationship includes:

[0012] Multiple radial forces and multiple tangential forces of multiple permanent magnet motors with different structural parameters under the operating state were determined;

[0013] Determine the multiple first phases corresponding to the multiple radial forces;

[0014] Determine the multiple second phases corresponding to the multiple tangential forces;

[0015] The first mapping relationship is generated based on the different structural parameters, the plurality of first phases, and the plurality of second phases.

[0016] In some embodiments of this application, the steps of determining the radial force and the tangential force include:

[0017] Determine the radial magnetic field and tangential magnetic field generated by the permanent magnet and the stator armature winding current of the permanent magnet motor under the operating state;

[0018] The radial force and the tangential force are determined based on the radial magnetic field and the tangential magnetic field.

[0019] In some embodiments of this application, a method for reducing the electromagnetic vibration of a permanent magnet motor further includes:

[0020] Determine the electromagnetic vibration amplitude, electromagnetic vibration frequency, and electromagnetic vibration order of the permanent magnet motor caused by the plurality of radial forces and the plurality of tangential forces;

[0021] A second mapping relationship is generated based on multiple radial forces, multiple tangential forces, and multiple electromagnetic vibration amplitudes, electromagnetic vibration frequencies, and electromagnetic vibration orders; the second mapping relationship is used to characterize the relationship between the radial forces, the tangential forces, the electromagnetic vibration amplitudes, the electromagnetic vibration frequencies, and the electromagnetic vibration orders.

[0022] In some embodiments of this application, the step of determining the first phase includes:

[0023] The first electromagnetic vibration amplitude, the first electromagnetic vibration frequency, and the first electromagnetic vibration order are determined based on the radial force and the second mapping relationship.

[0024] The first phase is determined based on the first electromagnetic vibration amplitude, the first electromagnetic vibration frequency, and the first electromagnetic vibration order.

[0025] In some embodiments of this application, the step of determining the second phase includes:

[0026] The corresponding second electromagnetic vibration amplitude, second electromagnetic vibration frequency, and second electromagnetic vibration order are determined based on the tangential force and the second mapping relationship.

[0027] The second phase is determined based on the second electromagnetic vibration amplitude, the second electromagnetic vibration frequency, and the second electromagnetic vibration order.

[0028] Secondly, the present invention provides a vibration damping device for the electric vibration of a permanent magnet motor, the device comprising:

[0029] The structural parameter acquisition module is used to acquire the structural parameters of the permanent magnet motor; wherein, the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient;

[0030] The structural parameter modification module is used to modify the structural parameters according to a pre-generated first mapping relationship, so as to minimize the sum of the first phase generated by the radial force and the second phase generated by the tangential force when the permanent magnet motor is in operation; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

[0031] In some embodiments of this application, the structural parameter modification module includes:

[0032] A sub-serration opening unit is used to open a plurality of triangular sub-serrations on the tooth tip according to the first mapping relationship; the number of the sub-serrations is determined by the first mapping relationship, and the first side of the triangle is parallel to the surface of the tooth tip;

[0033] The first angle determining unit is used to determine the first angle between the radial direction of the tooth tip and the second side of the triangle according to the first mapping relationship;

[0034] The second angle determining unit is used to determine a second angle between the radial direction of the tooth tip and the third side of the triangle according to the first mapping relationship.

[0035] In some embodiments of this application, a vibration damping device for the electric vibration of a permanent magnet motor further includes:

[0036] A first mapping relationship generation module is used to generate the first mapping relationship; the first mapping relationship generation module includes:

[0037] The force determination unit is used to determine multiple radial forces and multiple tangential forces of multiple permanent magnet motors with different structural parameters under the operating state.

[0038] The first phase determination unit is used to determine the multiple first phases corresponding to the multiple radial forces;

[0039] The second phase determination unit is used to determine the multiple second phases corresponding to the multiple tangential forces;

[0040] The first mapping relationship generation unit is used to generate the first mapping relationship based on the different structural parameters, the plurality of first phases, and the plurality of second phases.

[0041] In some embodiments of this application, the force determination unit includes:

[0042] The magnetic field determination unit is used to determine the radial magnetic field and tangential magnetic field generated by the permanent magnet and the stator armature winding current of the permanent magnet motor in the working state.

[0043] The force determination subunit is used to determine the radial force and the tangential force based on the radial magnetic field and the tangential magnetic field.

[0044] In some embodiments of this application, a vibration damping device for the electric vibration of a permanent magnet motor further includes:

[0045] The vibration parameter determination module is used to determine the electromagnetic vibration amplitude, electromagnetic vibration frequency, and electromagnetic vibration order of the permanent magnet motor caused by the plurality of radial forces and the plurality of tangential forces.

[0046] The second mapping relationship generation module is used to generate a second mapping relationship based on multiple radial forces, multiple tangential forces, and multiple electromagnetic vibration amplitudes, electromagnetic vibration frequencies, and electromagnetic vibration orders; the second mapping relationship is used to characterize the relationship between the radial forces, the tangential forces, the electromagnetic vibration amplitudes, the electromagnetic vibration frequencies, and the electromagnetic vibration orders.

[0047] In some embodiments of this application, the first phase determination unit includes:

[0048] The first vibration parameter determination unit is used to determine the corresponding first electromagnetic vibration amplitude, first electromagnetic vibration frequency and first electromagnetic vibration order based on the radial force and the second mapping relationship.

[0049] The first phase determination subunit is used to determine the first phase based on the first electromagnetic vibration amplitude, the first electromagnetic vibration frequency, and the first electromagnetic vibration order.

[0050] In some embodiments of this application, the second phase determination unit includes:

[0051] The second vibration parameter determination unit is used to determine the corresponding second electromagnetic vibration amplitude, second electromagnetic vibration frequency and second electromagnetic vibration order based on the tangential force and the second mapping relationship.

[0052] The second phase determination subunit is used to determine the second phase based on the second electromagnetic vibration amplitude, the second electromagnetic vibration frequency, and the second electromagnetic vibration order.

[0053] Thirdly, the present invention provides a computer program product, including a computer program / instructions, which, when executed by a processor, implements the steps of a method for reducing the electric vibration of a permanent magnet motor.

[0054] Fourthly, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a method for reducing the electric vibration of a permanent magnet motor.

[0055] Fifthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a vibration reduction method for an electric vibration of a permanent magnet motor.

[0056] As described above, embodiments of the present invention provide a method and apparatus for reducing the electric vibration of a permanent magnet motor. The method for reducing the electric vibration of a permanent magnet motor includes: first, obtaining the structural parameters of the permanent magnet motor; wherein, the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient; then, modifying the structural parameters according to a pre-generated first mapping relationship, so as to minimize the sum of the first phase generated by the radial force and the second phase generated by the tangential force in the working state of the permanent magnet motor; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

[0057] This invention optimizes the vibration reduction structure of a motor by considering the phase relationship between the electromagnetic vibrations generated by tangential force and those generated by radial force, and performs synergistic optimization of the motor structure under the action of the tangential and radial force systems. This allows for the design of a low-vibration and low-noise motor that takes into account the synergistic action of radial and tangential forces. Compared with existing methods, this application has a superior vibration reduction effect on the electromagnetic vibration of permanent magnet motors. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 A flowchart illustrating a method for reducing the electric vibration of a permanent magnet motor, provided in an embodiment of the present invention. Figure 1 ;

[0060] Figure 2 A flowchart illustrating step 200 provided for an embodiment of the present invention;

[0061] Figure 3 This is a schematic diagram of the tooth tip shape in the prior art;

[0062] Figure 4 A schematic diagram of the tooth tip shape provided for an embodiment of the present invention;

[0063] Figure 5 A flowchart illustrating a method for reducing the electric vibration of a permanent magnet motor, provided in an embodiment of the present invention. Figure 2 ;

[0064] Figure 6 A flowchart illustrating step 300 provided for an embodiment of the present invention;

[0065] Figure 7 A flowchart illustrating step 301 provided for an embodiment of the present invention;

[0066] Figure 8 A flowchart illustrating a method for reducing the electric vibration of a permanent magnet motor, provided in an embodiment of the present invention. Figure 3 ;

[0067] Figure 9 A flowchart illustrating step 302 provided in an embodiment of the present invention;

[0068] Figure 10 A flowchart illustrating step 303 provided in an embodiment of the present invention;

[0069] Figure 11 A flowchart illustrating a method for reducing the electric vibration of a permanent magnet motor, provided as a specific application example of the present invention;

[0070] Figure 12 A mind map illustrating a vibration reduction method for an electric motor of a permanent magnet motor, provided as a specific application example of the present invention.

[0071] Figure 13 A schematic diagram of the relationship between tangential and radial electromagnetic forces under different phase relationships (phase difference 180 degrees) is provided for specific application examples of the present invention.

[0072] Figure 14 A schematic diagram of the relationship between tangential and radial electromagnetic forces under different phase relationships (phase difference 0 degrees) is provided for specific application examples of the present invention.

[0073] Figure 15 A schematic diagram of the relationship between tangential and radial electromagnetic forces under different phase relationships (phase difference 45 degrees) is provided for specific application examples of the present invention.

[0074] Figure 16 A schematic diagram of the relationship between tangential and radial electromagnetic forces under different phase relationships (phase difference 135 degrees) is provided for specific application examples of the present invention.

[0075] Figure 17 This is a schematic diagram of the structure of a vibration damping device for an electric motor according to an embodiment of the present invention. Figure 1 ;

[0076] Figure 18 This is a schematic diagram of the structure parameter modification module 20 in an embodiment of the present invention;

[0077] Figure 19 This is a schematic diagram of the structure of a vibration damping device for an electric motor according to an embodiment of the present invention. Figure 2 ;

[0078] Figure 20 This is a schematic diagram of the structure of the first mapping relationship generation module 30 in an embodiment of the present invention;

[0079] Figure 21 This is a schematic diagram of the force determination unit 30a in an embodiment of the present invention;

[0080] Figure 22 This is a schematic diagram of the structure of a vibration damping device for an electric motor according to an embodiment of the present invention. Figure 3 ;

[0081] Figure 23 This is a schematic diagram of the structure of the first phase determination unit 30b in an embodiment of the present invention;

[0082] Figure 24 This is a schematic diagram of the structure of the second phase determination unit 30c in an embodiment of the present invention;

[0083] Figure 25 This is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. Detailed Implementation

[0084] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0085] 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, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0086] It should be noted that the terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses. Without conflict, the embodiments and features in the embodiments of this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0087] Electromagnetic vibration is the main source of vibration in permanent magnet motors, and the main excitation sources of electromagnetic vibration consist of radial and tangential electromagnetic forces. However, current motor vibration reduction structure designs only consider the influence of radial electromagnetic forces on electromagnetic vibration, neglecting the influence of tangential electromagnetic forces, resulting in limited effectiveness of current motor vibration reduction structure designs. Based on this, embodiments of the present invention provide a specific implementation method for reducing the electromagnetic vibration of a permanent magnet motor, see [link to implementation details]. Figure 1 The method includes:

[0088] Step 100: Obtain the structural parameters of the permanent magnet motor; wherein, the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient;

[0089] Step 200: Modify the structural parameters according to the pre-generated first mapping relationship so that the sum of the first phase generated by the radial force and the second phase generated by the tangential force in the working state of the permanent magnet motor is minimized; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

[0090] As described above, embodiments of the present invention provide a method for reducing the electric vibration of a permanent magnet motor, comprising: first, obtaining the structural parameters of the permanent magnet motor; wherein the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient; then, modifying the structural parameters according to a pre-generated first mapping relationship to minimize the sum of the first phase generated by the radial force and the second phase generated by the tangential force in the working state of the permanent magnet motor; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

[0091] The present invention provides a method for reducing the electric vibration of a permanent magnet motor, which can significantly improve the vibration reduction effect of the permanent magnet motor.

[0092] In step 100, the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient. These structural parameters can all affect the radial and tangential forces of the permanent magnet motor. Specifically: the stator tooth width refers to the width of the iron core portion between adjacent stator slots. Too narrow a tooth width can easily lead to magnetic saturation and increase iron losses; too wide a tooth width reduces the slot area and restricts the winding space. The slot depth refers to the vertical distance from the inner circle of the stator to the bottom of the slot, affecting the structure of the slot area. A deeper slot can reduce cogging torque and eddy current losses. Too deep a slot may lead to increased leakage flux or a decrease in stator stiffness. The tooth tip is the part of the stator tooth near the air gap, and its shape includes flat top, arc shape, or trapezoidal shape. The pole arc coefficient is the ratio of the permanent magnet pole arc width to the pole pitch.

[0093] For step 200, firstly, the radial and tangential forces acting on the lower teeth of the permanent magnet motor with different motor structural parameters are calculated. Then, the variation laws of the amplitude, frequency, and order of the electromagnetic vibration caused by the radial and tangential forces are analyzed. Based on the phase relationship (first mapping relationship) of the electromagnetic vibrations generated by the two forces, the structural parameters of the permanent magnet motor are adjusted to perform coordinated design of the radial and tangential forces while ensuring other motor performance. This allows the electromagnetic vibrations generated by the optimized tangential force and the radial force to cancel each other out, thereby minimizing the total electromagnetic vibration of the motor and improving the overall performance of the motor.

[0094] In some embodiments of this application, see Figure 2 Step 200, modifying the structural parameters according to the pre-generated first mapping relationship, includes:

[0095] Step 201: According to the first mapping relationship, multiple triangular sub-serrations are opened at the tooth tip; the number of sub-serrations is determined by the first mapping relationship, and the first side of the triangle is parallel to the surface of the tooth tip;

[0096] See Figure 3 It shows the existing tooth tip shape, then see Figure 4 ( Figure 4 (Taking four serrations as an example, but this application is not limited to this), in such cases... Figure 3 Based on the tooth tip shown, multiple sub-tooths are made, each sub-tooth being a triangle, with the triangles of the side sub-tooths being different from those of the middle sub-tooths.

[0097] Step 202: Determine the first angle between the radial direction of the tooth tip and the second side of the triangle according to the first mapping relationship;

[0098] Step 203: Determine the second angle between the radial direction of the tooth tip and the third side of the triangle according to the first mapping relationship.

[0099] See Figure 3 as well as Figure 4 In steps 202 and 203, when a sawtooth structure is used, the tangential force on the teeth is increased by F. t1 F t2 F t3 F t8 In this way, by adjusting the angles α and β between the hypotenuse and the radial side of the sawtooth structure, the amplitude and phase of the radial and tangential forces on the stator teeth can be adjusted. Finally, by optimizing the two angles, the electromagnetic vibration generated by the tangential force is made to be out of phase with the electromagnetic vibration generated by the radial force, thereby minimizing the total electromagnetic vibration value of the motor.

[0100] In some embodiments of this application, see Figure 5 A method for reducing the electromagnetic vibration of a permanent magnet motor further includes:

[0101] Step 300: Generate the first mapping relationship; then, see... Figure 6 Step 300 includes:

[0102] Step 301: Determine multiple radial forces and multiple tangential forces of multiple permanent magnet motors with different structural parameters under the operating state;

[0103] Step 302: Determine the multiple first phases corresponding to the multiple radial forces;

[0104] Step 303: Determine the multiple second phases corresponding to the multiple tangential forces;

[0105] Step 304: Generate the first mapping relationship based on the different structural parameters, the plurality of first phases, and the plurality of second phases.

[0106] It is understandable that the first mapping relationship is a database of relationships between the first and second phases generated by multiple permanent magnet motors with different structural parameters (stator tooth width, slot depth, tooth tip shape, and pole arc coefficient) in their working state.

[0107] In some embodiments of this application, see Figure 7 The steps for determining the radial force and the tangential force include:

[0108] Step 3011: Determine the radial magnetic field and tangential magnetic field generated by the permanent magnet and the stator armature winding current of the permanent magnet motor in the operating state;

[0109] Step 3012: Determine the radial force and the tangential force based on the radial magnetic field and the tangential magnetic field.

[0110] It is understandable that the radial and tangential electromagnetic forces of the motor teeth are Maxwell stresses formed by the magnetic field acting on the stator teeth.

[0111] In some embodiments of this application, see Figure 8 A method for reducing the electromagnetic vibration of a permanent magnet motor further includes:

[0112] Step 400: Determine the electromagnetic vibration amplitude, electromagnetic vibration frequency, and electromagnetic vibration order of the permanent magnet motor caused by the plurality of radial forces and the plurality of tangential forces.

[0113] Step 500: Generate a second mapping relationship based on the multiple radial forces, the multiple tangential forces, and the multiple electromagnetic vibration amplitudes, electromagnetic vibration frequencies, and electromagnetic vibration orders; the second mapping relationship is used to characterize the relationship between the radial forces, the tangential forces, the electromagnetic vibration amplitudes, the electromagnetic vibration frequencies, and the electromagnetic vibration orders.

[0114] Specifically, the vibration of the iron core caused by the tangential force and radial force of the tooth is obtained through the electro-magnetic-structural multi-physics joint simulation of the permanent magnet motor, and the variation law of the electromagnetic vibration amplitude, frequency and order caused by the two is further analyzed.

[0115] In some embodiments of this application, see Figure 9 The step of determining the first phase includes:

[0116] Step 3021: Determine the corresponding first electromagnetic vibration amplitude, first electromagnetic vibration frequency, and first electromagnetic vibration order based on the radial force and the second mapping relationship;

[0117] Step 3022: Determine the first phase based on the first electromagnetic vibration amplitude, the first electromagnetic vibration frequency, and the first electromagnetic vibration order.

[0118] In some embodiments of this application, see Figure 10 The step of determining the first phase includes:

[0119] Step 3031: Determine the corresponding first electromagnetic vibration amplitude, first electromagnetic vibration frequency, and first electromagnetic vibration order based on the radial force and the second mapping relationship;

[0120] Step 3032: Determine the first phase based on the first electromagnetic vibration amplitude, the first electromagnetic vibration frequency, and the first electromagnetic vibration order.

[0121] In some embodiments of this application, in order to significantly improve the vibration reduction effect of permanent magnet motors, the present invention also proposes a novel sawtooth tooth structure, such as... Figure 4 As shown. Unlike Figure 3 The proposed tooth structure, unlike the ordinary tooth tip shape, features several serrated structures on the tooth tip. This structure has two advantages over the ordinary structure:

[0122] 1) From the perspective of vibration generated by radial force on the tooth: taking four serrated teeth as an example, Figure 4 China F n1 and F n2 Let F be the normal force F acting on the edge of a sawtooth-structured stator core tooth. r1 and F r2 These represent two normal forces F. n1 and F n2 The radial component of the force, F t1 and F t2 These represent two normal forces F. n1 and F n2 The tangential component of the force F. t9 and F t10 The forces are applied tangentially at the stator slot openings. Thus, the radial components of the electromagnetic excitation force acting on the stator core teeth are Fr1 and F... r2 Instead of the F in ordinary teeth n1 and F n2 Therefore, the radial force in the iron core teeth will decrease, which means that vibration and noise will be reduced.

[0123] 2) From the perspective of vibration generated by the combined action of radial and tangential forces on the teeth: When a sawtooth structure is used, the tangential force on the teeth increases by F. t1 F t2 F t3 F t8 In this way, by adjusting the angles α and β between the hypotenuse and radial sides of the sawtooth structure, the amplitude and phase of the radial and tangential forces on the stator teeth can be adjusted. Finally, by optimizing the two angles, the electromagnetic vibration generated by the tangential force is made to be out of phase with the electromagnetic vibration generated by the radial force, thereby minimizing the total electromagnetic vibration of the motor. These two advantages combined will further reduce the electromagnetic vibration of the permanent magnet motor.

[0124] As described above, this invention provides a method for reducing the electromagnetic vibration of a permanent magnet motor. Based on the principle that a tangential force of module r can excite the same r-order vibration mode as a radial force of module r, the method utilizes the phase relationship between the electromagnetic vibrations generated by the tangential force and those generated by the radial force to study vibration reduction. The method for optimizing the motor structure under the action of the tangential and radial force systems includes: [The text abruptly ends here, so the translation stops as well.] a Groove depth h b Starting with motor structural parameters such as tooth tip shape and pole arc coefficient, a multi-physics coupling simulation method is used to design a low-vibration permanent magnet motor considering the combined effect of tangential and radial forces.

[0125] To further illustrate the solution, this invention also provides a specific application example of a vibration reduction method for the electrodynamic vibration of a permanent magnet motor, see [link to relevant documentation]. Figure 11 as well as Figure 12 The process includes the following steps.

[0126] S1: Calculate the radial and tangential forces on the teeth of the permanent magnet motor under different motor structural parameters.

[0127] S2: Analyze the variation patterns of electromagnetic vibration amplitude, frequency, and order caused by radial and tangential forces.

[0128] From stator tooth width t a Groove depth h b Starting with motor structural parameters such as tooth tip shape and pole arc coefficient, a low-vibration permanent magnet motor considering the combined effect of tangential and radial forces is simulated using a multi-physics field coupling simulation method.

[0129] S3: Adjust the structural parameters of the motor according to the phase relationship of the electromagnetic vibrations generated by the radial force and the tangential force.

[0130] Specifically, while ensuring other motor performance, a coordinated design of radial and tangential forces is implemented, so that the electromagnetic vibrations generated by the optimized tangential force and the radial force can cancel each other out, thereby minimizing the total electromagnetic vibration of the motor and improving the overall performance of the motor.

[0131] There are several ways to adjust the structural parameters of a motor, such as... Figure 4 As shown. Unlike Figure 3 The proposed tooth structure, unlike the ordinary tooth tip shape, features several serrated structures on the tooth tip. This structure has two advantages over the ordinary structure:

[0132] 1) From the perspective of vibration generated by radial force on the tooth: taking four serrated teeth as an example, Figure 4 China F n1 and F n2 F represents the normal force F acting on the edge of a stator core tooth with a sawtooth structure.r1 and F r2 These represent the two normal forces F. n1 and F n2 The radial component of the force, F t1 and F t2 These represent the two normal forces F. n1 and F n2 The tangential component of the force F. t9 and F t10 The forces are applied tangentially at the stator slot openings. Thus, the radial component of the electromagnetic excitation force acting on a single sawtooth tooth of the stator core becomes F... n1 and F n2 The normal direction component F obtained from the decomposition r1 and F r2 Instead of the F in ordinary teeth n1 and F n2 This process causes the radial force in the iron core teeth to change from F n1 and F n2 Change to F r1 and F r2 This achieves the goal of reducing the radial force on it, which means that vibration and noise will be reduced.

[0133] 2) From the perspective of vibration generated by the combined action of radial and tangential forces on the teeth: When a sawtooth structure is used, the tangential force on the teeth increases by F. t1 F t2 F t3 F t8 In this way, by adjusting the angles α and β between the hypotenuse and the radial side of the sawtooth structure, the amplitude and phase of the radial and tangential forces on the stator teeth can be adjusted. Finally, by optimizing the two angles, the electromagnetic vibration generated by the tangential force is made to be out of phase with the electromagnetic vibration generated by the radial force, thereby minimizing the total electromagnetic vibration value of the motor.

[0134] The combined effect of the above two advantages ((1) and (2)) will further reduce the electromagnetic vibration of the permanent magnet motor.

[0135] The vibration reduction effect of the present invention can be achieved by Figure 13 , Figure 14 , Figure 15 as well as Figure 16 As shown, when the electromagnetic vibrations generated by the tangential force and the radial force are out of phase by different angles, their vibration reduction effects are different. When the phase difference is 0°, the amplitude of the vibration excited by the resultant force is 2A. m When the phase difference is 180°, the amplitude of the vibration excited by the combined force is 0, and the vibrations they excited cancel each other out; when the phase difference is 45°, the amplitude of the vibration excited by the combined force is The vibration is amplified; when the phase difference is 135°, the amplitude of the vibration excited by the combined force is The vibration is reduced. Therefore, by appropriately adjusting the phase of the electromagnetic vibration generated by the tangential force and the electromagnetic vibration generated by the radial force, the vibration of the motor can be effectively reduced.

[0136] The structural parameter optimization design scheme for the permanent magnet motor provided in this application is as follows: Figure 12 As shown. The permanent magnet motor propulsion system employs speed / torque control. The structural optimization design of the permanent magnet synchronous motor involves adjusting the stator tooth width t. a Groove depth h b Starting with motor structural parameters such as tooth tip shape and pole arc coefficient, the radial and tangential magnetic fields generated by the permanent magnet and stator armature winding current during this process are calculated. Then, the radial and tangential forces of the stator teeth are calculated. Subsequently, the core vibration caused by the tangential and radial forces is obtained through multiphysics simulation of electro-magnetism and structure. The variation laws of the amplitude, frequency, and order of the electromagnetic vibration caused by these two forces are analyzed. Based on the phase relationship of the electromagnetic vibrations generated by these two forces, it is determined whether the vibration has been effectively reduced to the maximum extent. Further, a prototype is manufactured to test whether the motor vibration meets the standards. Then, the motor structural parameters are continuously adjusted, and the radial and tangential forces are designed in a coordinated manner so that the electromagnetic vibrations generated by the optimized tangential force and the radial force can cancel each other out, thus reducing the motor vibration to the maximum extent. Finally, the optimized minimum vibration motor structural parameters are output.

[0137] The present invention also provides a method for reducing the electromagnetic vibration of a permanent magnet motor, which has the following advantages over the prior art: the electromagnetic vibration generated by the optimized tangential force and the electromagnetic vibration generated by the radial force can be canceled out, and the radial force in the iron core teeth after adopting the sawtooth tooth structure proposed in the present invention will be reduced, further reducing the radial vibration generated by the radial force, thereby minimizing the total electromagnetic vibration of the motor.

[0138] Based on the same inventive concept, this application also provides a vibration damping device for the electric vibration of a permanent magnet motor, which can be used to implement the method described in the above embodiments, as shown in the following embodiments. Since the principle of the vibration damping device for the electric vibration of a permanent magnet motor is similar to that of the vibration damping method for the electric vibration of a permanent magnet motor, the implementation of the vibration damping device for the electric vibration of a permanent magnet motor can refer to the implementation of the vibration damping method for the electric vibration of a permanent magnet motor, and repeated details will not be elaborated further. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0139] The embodiments of the present invention provide a specific implementation of a vibration damping device for a permanent magnet motor capable of realizing a vibration damping method for the electric vibration of a permanent magnet motor. See [link to specific implementation details]. Figure 17 A vibration damping device for the electric vibration of a permanent magnet motor specifically includes the following components:

[0140] The structural parameter acquisition module 10 is used to acquire the structural parameters of the permanent magnet motor; wherein, the structural parameters include: stator tooth width, slot depth, tooth tip shape and pole arc coefficient;

[0141] The structural parameter modification module 20 is used to modify the structural parameters according to the pre-generated first mapping relationship, so as to minimize the sum of the first phase generated by the radial force and the second phase generated by the tangential force when the permanent magnet motor is in operation; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

[0142] In some embodiments of this application, see Figure 18 The structural parameter modification module 20 includes:

[0143] The sub-serration opening unit 20a is used to open a plurality of triangular sub-serrations on the tooth tip according to the first mapping relationship; the number of the sub-serrations is determined by the first mapping relationship, and the first side of the triangle is parallel to the surface of the tooth tip;

[0144] The first angle determining unit 20b is used to determine the first angle between the radial direction of the tooth tip and the second side of the triangle according to the first mapping relationship;

[0145] The second angle determining unit 20c is used to determine a second angle between the radial direction of the tooth tip and the third side of the triangle according to the first mapping relationship.

[0146] In some embodiments of this application, see Figure 19 A vibration damping device for the electric vibration of a permanent magnet motor further includes:

[0147] First mapping relationship generation module 30, used to generate the first mapping relationship; see also Figure 20 The first mapping relationship generation module 30 includes:

[0148] Force determination unit 30a is used to determine multiple radial forces and multiple tangential forces of multiple permanent magnet motors with different structural parameters under the operating state;

[0149] The first phase determination unit 30b is used to determine the multiple first phases corresponding to the multiple radial forces;

[0150] The second phase determination unit 30c is used to determine the multiple second phases corresponding to the multiple tangential forces;

[0151] The first mapping relationship generation unit 30d is used to generate the first mapping relationship based on the different structural parameters, the plurality of first phases and the plurality of second phases.

[0152] In some embodiments of this application, see Figure 21 The force determination unit 30a includes:

[0153] The magnetic field determination unit 30a1 is used to determine the radial magnetic field and tangential magnetic field generated by the permanent magnet and the stator armature winding current of the permanent magnet motor in the working state.

[0154] Force determination subunit 30a2 is used to determine the radial force and the tangential force based on the radial magnetic field and the tangential magnetic field.

[0155] In some embodiments of this application, see Figure 22 A vibration damping device for the electric vibration of a permanent magnet motor further includes:

[0156] The vibration parameter determination module 40 is used to determine the electromagnetic vibration amplitude, electromagnetic vibration frequency and electromagnetic vibration order of the permanent magnet motor caused by the plurality of radial forces and the plurality of tangential forces.

[0157] The second mapping relationship generation module 50 is used to generate a second mapping relationship based on multiple radial forces, multiple tangential forces, and multiple electromagnetic vibration amplitudes, electromagnetic vibration frequencies, and electromagnetic vibration orders; the second mapping relationship is used to characterize the relationship between the radial forces, the tangential forces, the electromagnetic vibration amplitudes, the electromagnetic vibration frequencies, and the electromagnetic vibration orders.

[0158] In some embodiments of this application, see Figure 23 The first phase determination unit 30b includes:

[0159] The first vibration parameter determination unit 30b1 is used to determine the corresponding first electromagnetic vibration amplitude, first electromagnetic vibration frequency and first electromagnetic vibration order according to the radial force and the second mapping relationship.

[0160] The first phase determination subunit 30b2 is used to determine the first phase based on the first electromagnetic vibration amplitude, the first electromagnetic vibration frequency, and the first electromagnetic vibration order.

[0161] In some embodiments of this application, see Figure 24 The second phase determination unit 30c includes:

[0162] The second vibration parameter determination unit 30c1 is used to determine the corresponding second electromagnetic vibration amplitude, second electromagnetic vibration frequency and second electromagnetic vibration order according to the tangential force and the second mapping relationship.

[0163] The second phase determination subunit 30c2 is used to determine the second phase based on the second electromagnetic vibration amplitude, the second electromagnetic vibration frequency, and the second electromagnetic vibration order.

[0164] The embodiments of this application also provide a specific implementation of an electronic device capable of implementing all steps in the vibration reduction method for the permanent magnet motor described in the above embodiments. See [link to implementation details]. Figure 25 The electronic devices specifically include the following:

[0165] Processor 1201, memory 1202, communications interface 1203, and bus 1204;

[0166] The processor 1201, memory 1202, and communication interface 1203 communicate with each other via bus 1204; the communication interface 1203 is used to realize information transmission between server-side devices, power measurement devices, and user-side devices and other related devices.

[0167] The processor 1201 is used to call the computer program in the memory 1202. When the processor executes the computer program, it implements all the steps in the vibration reduction method for the permanent magnet motor in the above embodiment. For example, when the processor executes the computer program, it implements the following steps:

[0168] Step 100: Obtain the structural parameters of the permanent magnet motor; wherein, the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient;

[0169] Step 200: Modify the structural parameters according to the pre-generated first mapping relationship so that the sum of the first phase generated by the radial force and the second phase generated by the tangential force in the working state of the permanent magnet motor is minimized; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

[0170] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the vibration reduction method for the permanent magnet motor described in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the vibration reduction method for the permanent magnet motor described in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0171] Step 100: Obtain the structural parameters of the permanent magnet motor; wherein, the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient;

[0172] Step 200: Modify the structural parameters according to the pre-generated first mapping relationship so that the sum of the first phase generated by the radial force and the second phase generated by the tangential force in the working state of the permanent magnet motor is minimized; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

[0173] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0174] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0175] While this application provides method operation steps as shown in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the method can be executed in the order shown in the embodiments or drawings or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0176] 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 1A device that provides the functions specified in one or more boxes.

[0177] 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.

[0178] 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.

[0179] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A method for reducing the electromagnetic vibration of a permanent magnet motor, characterized in that, include: Obtain the structural parameters of the permanent magnet motor; wherein, the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient; The structural parameters are modified according to the pre-generated first mapping relationship so that the sum of the first phase generated by the radial force and the second phase generated by the tangential force in the working state of the permanent magnet motor is minimized; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

2. The vibration reduction method according to claim 1, characterized in that, Modifying the structural parameters according to the pre-generated first mapping relationship includes: According to the first mapping relationship, multiple triangular sub-serrations are opened at the tooth tip; the number of sub-serrations is determined by the first mapping relationship, and the first side of the triangle is parallel to the surface of the tooth tip; The first angle between the radial direction of the tooth tip and the second side of the triangle is determined according to the first mapping relationship; The radial direction of the tooth tip is determined based on the first mapping relationship, and is related to the third side of the triangle.

3. The vibration reduction method according to claim 1, characterized in that, The steps for generating the first mapping relationship include: Multiple radial forces and multiple tangential forces of multiple permanent magnet motors with different structural parameters under the operating state were determined; Determine the multiple first phases corresponding to the multiple radial forces; Determine the multiple second phases corresponding to the multiple tangential forces; The first mapping relationship is generated based on the different structural parameters, the plurality of first phases, and the plurality of second phases.

4. The vibration reduction method according to claim 3, characterized in that, The steps of determining the radial force and the tangential force include: Determine the radial magnetic field and tangential magnetic field generated by the permanent magnet and the stator armature winding current of the permanent magnet motor under the operating state; The radial force and the tangential force are determined based on the radial magnetic field and the tangential magnetic field.

5. The vibration reduction method according to claim 3, characterized in that, Also includes: Determine the electromagnetic vibration amplitude, electromagnetic vibration frequency, and electromagnetic vibration order of the permanent magnet motor caused by the plurality of radial forces and the plurality of tangential forces; A second mapping relationship is generated based on multiple radial forces, multiple tangential forces, and multiple electromagnetic vibration amplitudes, electromagnetic vibration frequencies, and electromagnetic vibration orders; The second mapping relationship is used to characterize the relationship between the radial force, the tangential force, the electromagnetic vibration amplitude, the electromagnetic vibration frequency, and the electromagnetic vibration order.

6. The vibration reduction method according to claim 5, characterized in that, The steps for determining the first phase include: The first electromagnetic vibration amplitude, the first electromagnetic vibration frequency, and the first electromagnetic vibration order are determined based on the radial force and the second mapping relationship. The first phase is determined based on the first electromagnetic vibration amplitude, the first electromagnetic vibration frequency, and the first electromagnetic vibration order.

7. The vibration reduction method according to claim 5, characterized in that, The steps for determining the second phase include: The corresponding second electromagnetic vibration amplitude, second electromagnetic vibration frequency, and second electromagnetic vibration order are determined based on the tangential force and the second mapping relationship. The second phase is determined based on the second electromagnetic vibration amplitude, the second electromagnetic vibration frequency, and the second electromagnetic vibration order.

8. A vibration damping device for the electric vibration of a permanent magnet motor, characterized in that, include: The structural parameter acquisition module is used to acquire the structural parameters of the permanent magnet motor; wherein, the structural parameters include: stator tooth width, slot depth, tooth tip shape, and pole arc coefficient; The structural parameter modification module is used to modify the structural parameters according to a pre-generated first mapping relationship, so as to minimize the sum of the first phase generated by the radial force and the second phase generated by the tangential force when the permanent magnet motor is in operation; the first mapping relationship is used to characterize the relationship between the structural parameters and the sum of the first phase generated by the radial force and the second phase generated by the tangential force.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the vibration reduction method for the electric vibration of the permanent magnet motor according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the vibration reduction method for the electric vibration of the permanent magnet motor as described in any one of claims 1 to 7.

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