Multi-stator multi-rotor motor frequency conversion and duty ratio adjustment method and system

Abstract

The invention discloses a multi-stator multi-rotor motor frequency conversion and duty ratio adjustment method and system, and relates to the field of motor frequency conversion and duty ratio adjustment, and the method comprises the steps: synchronously detecting multiple items of data of each stator, the multiple items of data at least comprising a dynamic adaptive proportionality coefficient, an air gap flux density parameter, a magnetic field coupling item and a dynamic response item; the actual torque is calculated through multiple items of data of each stator; calculating an average torque through the actual torque, and comparing the difference between the actual torque of each stator and the average torque; if the actual torque of the stator is larger than the average torque, the corresponding drive is adjusted to reduce the output; if the actual torque of the stator is smaller than the average torque, the corresponding driving lifting output is adjusted, the winding sets are accurately controlled to generate the average electromagnetic torque, the system stability is maintained, the average stress of a transmission shaft is ensured, the motor load fluctuation is coped, the working condition of the load can be adapted, and the torque calculation precision and the dynamic response capability are improved.

Description

Technical Field

[0001] This invention relates to the field of motor frequency conversion and duty cycle adjustment, and in particular to a method and system for frequency conversion and duty cycle adjustment of multi-stator and multi-rotor motors. Background Technology

[0002] Multi-stator, multi-rotor structures are widely used in hub motors for new energy vehicles (requiring independent drive of multiple rotors, such as BYD's "four-motor technology"), industrial servo systems (multi-axis synchronous control, such as Estun robots), and aerospace micromotors (for high-reliability torque balancing). The traditional formula (e.g., T = K·I) is used. 2 Under complex operating conditions, torque calculation errors exceeding 20% ​​can lead to equipment vibration and shortened lifespan (e.g., a new energy vehicle was recalled due to eccentric noise from the wheel hub motor, according to industry statistics in 2024). Summary of the Invention

[0003] In view of the above-mentioned shortcomings in the field of motor frequency conversion and duty cycle adjustment, the present invention provides a method and system for frequency conversion and duty cycle adjustment of multi-stator and multi-rotor motors. By precisely controlling the average electromagnetic torque generated by each winding group, the system maintains stability, ensures average force on the drive shaft, copes with motor load fluctuations, adapts to load conditions, and improves torque calculation accuracy and dynamic response capability.

[0004] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0005] A method for frequency conversion and duty cycle adjustment of a multi-stator multi-rotor motor, applied to the structure and corresponding drive of a multi-stator multi-rotor motor, includes the following steps:

[0006] Simultaneously detect multiple data points for each stator, including at least the dynamic adaptive proportional coefficient, air gap magnetic flux density parameter, magnetic field coupling term, and dynamic response term.

[0007] The actual torque is calculated using multiple data points for each stator.

[0008] The average torque is calculated from the actual torque, and the difference between the actual torque and the average torque of each stator is compared.

[0009] If the actual torque of the stator is greater than the average torque, the corresponding drive is adjusted to reduce the output; if the actual torque of the stator is less than the average torque, the corresponding drive is adjusted to increase the output.

[0010] According to one aspect of the present invention, the synchronous detection of multiple data points for each stator includes setting an initial scaling factor K0 and a magnetic field coupling coefficient C between the nth stator and the mth stator. nm Where m is set as the adjacent stator number of the nth stator, and the current I flowing through the nth stator is detected. nThe dynamic compensation factor f(T) of the nth stator tn ,R In The air gap magnetic flux density B of the nth stator and its corresponding rotor 9n Dynamic response coefficient K_d and current change rate ΔI of the nth stator n / Δt.

[0011] According to one aspect of the invention, the actual torque is set to T. n The formula for calculating the actual torque is set as T. n =[K0*f(T tn ,R In )*B 9n ]*I n 2 +∑(C nm *I m 2 )+K_d*(ΔI n / Δt).

[0012] According to one aspect of the present invention, the K0*f(T) tn ,R In ) constitutes the dynamic adaptive scaling factor, where T tn and R In Constituting state parameters, T tn To detect the obtained coil temperature, R In The measured coil resistance.

[0013] According to one aspect of the invention, the ∑(C nm *I m 2 This constitutes a magnetic field coupling term, which is used to cancel magnetic field interference between adjacent stators.

[0014] According to one aspect of the invention, the K_d*(ΔI) n / Δt) constitutes a dynamic response term, which is used to track sudden load changes.

[0015] According to one aspect of the invention, the air gap magnetic flux density B 9n It is used to correct the problem of uneven air gap caused by rotor eccentricity.

[0016] According to one aspect of the invention, the adjustment of the corresponding drive to reduce the output includes reducing I. n Or slow down ΔI n / Δt, which makes the actual torque approach the average torque.

[0017] According to one aspect of the present invention, the adjustment of the corresponding drive boost output includes increasing I. n Or adapt ΔI n / Δt, which makes the actual torque approach the average torque.

[0018] A frequency conversion and duty cycle adjustment system for a multi-stator, multi-rotor motor includes the following modules:

[0019] The stator module includes multiple stators and corresponding multiple rotors;

[0020] The drive module includes a drive connected to each stator;

[0021] The collection module is used to detect multiple data points for each stator, including at least the dynamic adaptive proportional coefficient, air gap magnetic flux density parameter, magnetic field coupling term, and dynamic response term.

[0022] The main chip circuit module calculates the actual torque using multiple data points for each stator, calculates the average torque using the actual torque, and compares the difference between the actual torque and the average torque for each stator. If the actual torque of the stator is greater than the average torque, the corresponding drive is adjusted to reduce the output; if the actual torque of the stator is less than the average torque, the corresponding drive is adjusted to increase the output.

[0023] The advantages of this invention include: synchronously detecting multiple data points for each stator, including at least a dynamic adaptive proportional coefficient, air gap magnetic flux density parameter, magnetic field coupling term, and dynamic response term; calculating the actual torque using these multiple data points for each stator; calculating the average torque using the actual torque and comparing the difference between the actual torque and the average torque for each stator; if the actual torque of the stator is greater than the average torque, adjusting the corresponding drive to reduce output; if the actual torque of the stator is less than the average torque, adjusting the corresponding drive to increase output, precisely controlling the average electromagnetic torque generated by each winding group, maintaining system stability, ensuring average force on the drive shaft, coping with motor load fluctuations, adapting to load conditions, and improving torque calculation accuracy and dynamic response capability. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of the frequency conversion and duty cycle adjustment method and system for a multi-stator multi-rotor motor according to the present invention.

[0026] Figure 2 This is a system structure diagram of a method and system for frequency conversion and duty cycle adjustment of a multi-stator multi-rotor motor according to the present invention. Detailed Implementation

[0027] 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, and 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.

[0028] Example 1:

[0029] like Figure 1 As shown, a method for frequency conversion and duty cycle adjustment of a multi-stator multi-rotor motor is applied to a connected multi-stator multi-rotor motor structure, corresponding drive, detection and acquisition device, and main chip circuit, including the following steps:

[0030] S1: Simultaneously detect multiple data points for each stator, including at least the dynamic adaptive proportional coefficient, air gap magnetic flux density parameter, magnetic field coupling term, and dynamic response term.

[0031] Set n to the stator number, configure a current detection module, acquire the current through the current detection module, and set the current I. n Let B be the current flowing through the nth stator. Set an initial proportional coefficient K0, which is an inherent parameter of the stator motor hardware, determined by factors such as the number of coil turns and the magnetic circuit material. Install a Hall sensor in the gap between the stator and rotor. Detect the air gap magnetic flux density using the Hall sensor to correct for the influence of air gap unevenness on torque. Set the air gap magnetic flux density between the nth stator and its corresponding rotor to B. 9n The larger the air gap, the more B 9n The smaller the value, the better. Set the magnetic field coupling coefficient C between the nth stator and the mth stator. nm Let m be the adjacent stator number of the nth stator, and let C be the magnetic field coupling coefficient. nm Calibration is based on the motor structure design. The temperature of each stator coil is measured in real time using temperature sensors, and the temperature of the nth stator coil is set to T. tn The resistance of each stator coil is detected in real time by a resistance detection module, and the coil resistance of the nth stator is set to R. In The temperature T of the coil of the nth stator tn and the coil resistance R of the nth stator In Set the dynamic compensation factor of the nth stator to f(T) tn R In This reflects the impact of environmental and hardware conditions. A dynamic response parameter K_d is set, calibrated based on stator motor load inertia, fluctuation frequency, and other operating conditions, to adapt to load fluctuations. The sampling data from the current detection module is continuously calculated by the data sampling and calculation unit to obtain the current change rate ΔI of the nth stator. n / Δt, the rate of change of the reaction load.

[0032] S2: Calculate the actual torque using multiple data points from each stator.

[0033] Based on the above parameter data, the actual torque of the nth stator is set to T. n The following can be obtained by calculation using the electromagnetic torque formula:

[0034] T n =[K0*f(T tn ,R In )*B 9n ]*I n 2 +∑(C nm *I m 2 )+K_d*(ΔI n / Δt)

[0035] Wherein, K0*f(T tn ,R In This constitutes a dynamic adaptive proportional coefficient, which is applied when the coil temperature T... tn When the resistance is increased, the torque is decreased; when the coil resistance R... In When the torque is increased, the torque is reduced. By correcting the influence of coil temperature and coil aging on the torque, the overall proportional coefficient is dynamically adjusted according to the hardware status.

[0036] Among them, air gap magnetic flux density B 9n When the air gap increases, the torque is reduced, thus reducing the torque under the same current. This is used to correct the air gap unevenness caused by rotor eccentricity and ensure that the torque calculation closely matches the actual magnetic flux density.

[0037] Where, ∑(C nm *I m 2 This constitutes a magnetic field coupling term, used to cancel the magnetic field interference between adjacent stators, such as the magnetic flux density superposition of the magnetic field of stator 1 on stator 2, to avoid torque calculation deviation caused by coupling.

[0038] Wherein, K_d*(ΔI n / Δt) constitutes the dynamic response term, used to track sudden load changes, such as a sudden increase in load, ΔI n / Δt is positive, dynamically compensating for torque, reducing adjustment lag, and improving resistance to load fluctuations.

[0039] S3: Calculate the average torque using the actual torque and compare the difference between the actual torque and the average torque for each stator.

[0040] Let the average torque be T and the total number of stators be z, then the formula for the average torque can be obtained as follows:

[0041] T = (T1 + T2 + T3 + ... + T)z ) / z

[0042] S4: If the actual torque of the stator is greater than the average torque, adjust the corresponding drive to reduce the output; if the actual torque of the stator is less than the average torque, adjust the corresponding drive to increase the output.

[0043] The main chip circuit sends commands to each drive module, and controls the circuit by adjusting the frequency and duty cycle. The adjustment is based on dynamic torque difference instead of static current.

[0044] Among them, if the T of a certain stator n If the value is greater than T, then adjust the corresponding driver to reduce the output and decrease I. n Or slow down ΔI n / Δt, so that T n Approaching T.

[0045] Among them, if the T of a certain stator n If T < T, then adjust the corresponding drive to boost the output and increase I. n Or adapt ΔI n / Δt, so that T n Approaching T.

[0046] Ultimately achieve all T n Fluctuations around the target T ensure stable average torque.

[0047] The advantages of this invention include: synchronously detecting multiple data points for each stator, including at least a dynamic adaptive proportional coefficient, air gap magnetic flux density parameter, magnetic field coupling term, and dynamic response term; calculating the actual torque using these multiple data points for each stator; calculating the average torque using the actual torque and comparing the difference between the actual torque and the average torque for each stator; if the actual torque of the stator is greater than the average torque, adjusting the corresponding drive to reduce output; if the actual torque of the stator is less than the average torque, adjusting the corresponding drive to increase output, precisely controlling the average electromagnetic torque generated by each winding group, maintaining system stability, ensuring average force on the drive shaft, coping with motor load fluctuations, adapting to load conditions, and improving torque calculation accuracy and dynamic response capability.

[0048] Example 2:

[0049] A frequency conversion and duty cycle adjustment system for a multi-stator, multi-rotor motor is provided, based on the frequency conversion and duty cycle adjustment method for a multi-stator, multi-rotor motor as described in Embodiment 1. It includes the following modules:

[0050] The stator module includes multiple stators and corresponding multiple rotors;

[0051] The drive module includes a drive connected to each stator;

[0052] The collection module is used to detect multiple data points for each stator, including at least the dynamic adaptive proportional coefficient, air gap magnetic flux density parameter, magnetic field coupling term, and dynamic response term.

[0053] The main chip circuit module calculates the actual torque using multiple data points for each stator, calculates the average torque using the actual torque, and compares the difference between the actual torque and the average torque for each stator. If the actual torque of the stator is greater than the average torque, the corresponding drive is adjusted to reduce the output; if the actual torque of the stator is less than the average torque, the corresponding drive is adjusted to increase the output.

[0054] The data collection module also includes: a temperature sensor for real-time acquisition of the temperature of each stator coil to provide temperature data for the dynamic compensation factor; a resistance detection module for real-time detection of the resistance of each stator coil to provide resistance data for the dynamic compensation factor; a Hall sensor installed in the gap between the stator and rotor to detect the air gap magnetic flux density and correct the influence of air gap unevenness on torque; and a data sampling and calculation unit for continuous calculation of the sampling data from the current detection module, outputting the current change rate to support the dynamic response term.

[0055] The advantages of this invention include: synchronously detecting multiple data points for each stator, including at least a dynamic adaptive proportional coefficient, air gap magnetic flux density parameter, magnetic field coupling term, and dynamic response term; calculating the actual torque using these multiple data points for each stator; calculating the average torque using the actual torque and comparing the difference between the actual torque and the average torque for each stator; if the actual torque of the stator is greater than the average torque, adjusting the corresponding drive to reduce output; if the actual torque of the stator is less than the average torque, adjusting the corresponding drive to increase output, precisely controlling the average electromagnetic torque generated by each winding group, maintaining system stability, ensuring average force on the drive shaft, coping with motor load fluctuations, adapting to load conditions, and improving torque calculation accuracy and dynamic response capability.

[0056] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for variable frequency and duty cycle adjustment of a multi-stator multi-rotor motor, applied to a multi-stator multi-rotor motor structure and corresponding driving, characterized in that, The method comprises the following steps: Synchronously detecting multiple data of each stator, the multiple data at least including dynamic adaptive proportional coefficient, air gap flux parameter, magnetic field coupling term and dynamic response term; Calculating actual torque through the multiple data of each stator; Calculating average torque through the actual torque, and comparing the difference between the actual torque of each stator and the average torque; If the actual torque of the stator is greater than the average torque, adjusting the corresponding drive to reduce the output; if the actual torque of the stator is less than the average torque, adjusting the corresponding drive to increase the output.

2. The method of claim 1, wherein, The synchronous detection of each stator multiple data, including setting initial proportion coefficient K0 and the magnetic field coupling coefficient C of the n th stator and the m th stator nm , detect the circulating current I of the n th stator n , the dynamic compensation factor f (T tn , R In ) of the n th stator, the air gap magnetic density B 9n of the n th stator and the corresponding rotor, the dynamic response coefficient K_d and the current change rate ΔI n / Δt of the n th stator.

3. The method of claim 2, wherein, The actual torque is set to T n , and a calculation formula of the actual torque is set to T n = [K0 * f (T tn , R In ) * B 9n ] * I n 2 + ∑ (C nm * I m 2 ) + K_d * (ΔI n / Δt).

4. The method of claim 3, wherein, K0*f(T tn ,R In ) constitutes a dynamic adaptive scaling factor, wherein T tn and R In constitute state parameters, T tn is a detected coil temperature, and R In is a detected coil resistance.

5. The method of claim 3, wherein the variable frequency and duty cycle adjustment of the multi-stator multi-rotor motor is performed by a microcontroller. The ∑(C nm I m 2 ) constitutes a magnetic field coupling term, which is used to counteract the magnetic field interference of the adjacent stator.

6. The method of claim 3, wherein the variable frequency and duty cycle adjustment of the multi-stator multi-rotor motor is performed by a microcontroller. The K_d*(ΔI n / Δt) constitutes a dynamic response term that tracks load transients.

7. The method of claim 2, wherein the variable frequency and duty cycle adjustment is performed by a plurality of stator and rotor motors. The air-gap magnetic flux density B 9n For correcting the air-gap unevenness caused by rotor eccentricity.

8. The multi-stator multi-rotor motor variable frequency and duty ratio adjustment method according to any one of claims 1 to 7, characterized by, The adjustment corresponds to a drive reduction in output, including a decrease in I n or a slowing of ΔI n / Δt, such that the actual torque approaches the average torque.

9. The multi-stator multi-rotor motor variable frequency and duty ratio adjustment method according to any one of claims 1 to 7, characterized by, The adjustment corresponds to driving the boost output, including increasing I n or adapting ΔI n / Δt, so that the actual torque approaches the average torque.

10. A multi-stator multi-rotor motor variable frequency and duty ratio adjustment system based on the multi-stator multi-rotor motor variable frequency and duty ratio adjustment method of claim 1, characterized in that, The method comprises the following modules: Stator module, comprising multiple stators and corresponding multiple rotors; Drive module, comprising a drive connected with each stator; Collection module, used for detecting multiple data of each stator, the multiple data at least including dynamic adaptive proportional coefficient, air gap flux parameter, magnetic field coupling term and dynamic response term; Main chip circuit module, calculating actual torque through the multiple data of each stator, calculating average torque through the actual torque, comparing the difference between the actual torque of each stator and the average torque, if the actual torque of the stator is greater than the average torque, adjusting the corresponding drive to reduce the output; if the actual torque of the stator is less than the average torque, adjusting the corresponding drive to increase the output.

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