Three-dimensional anti-misalignment collaborative optimization design method for wireless excitation synchronous motor systems

Abstract

This invention discloses a three-dimensional anti-misalignment collaborative optimization design method for wirelessly excited synchronous motor systems, belonging to the technical field of wirelessly excited synchronous motor systems. The method includes: inputting system design requirements and constraints; establishing a magnetically coupled resonant wireless energy transmission link model to obtain the correspondence between the coupling coefficient and output power and efficiency; establishing an electromagnetic model of the electrically excited synchronous motor and its coupling relationship with the rotor excitation current to obtain a unified mapping between the coupling coefficient and the motor output power and system efficiency; establishing a three-dimensional misalignment model and calculating the maximum rate of change of the coupling coefficient as an anti-misalignment index; constructing a multi-objective collaborative optimization model with output power, system efficiency, and anti-misalignment capability as optimization objectives; performing optimization solutions and outputting magnetic coupler parameters and key motor parameters. This invention improves coupling stability under three-dimensional misalignment conditions while ensuring power and efficiency, effectively suppressing rotor excitation current and output power fluctuations, and improving system robustness.

Description

Technical Field

[0001] This invention relates to the field of wireless excitation synchronous motor system technology, and in particular to the fields of wireless power transfer (WPT), wireless excitation power supply for rotating electrical machines, electromagnetic design of electrically excited synchronous machines (EESM), and multi-objective optimization calculation methods. Specifically, it relates to a three-dimensional anti-misalignment collaborative optimization design method for wireless excitation synchronous motor systems. Background Technology

[0002] Electrically excited synchronous motors offer advantages such as adjustable magnetic flux, strong field weakening speed-up capability, high efficiency, and independence from rare-earth permanent magnets. However, traditional slip ring brush excitation methods suffer from frequent wear and maintenance, spark risks, and poor adaptability to enclosed environments. Magnetic coupling resonant wireless power transmission for rotor excitation power supply can achieve brushless operation and low maintenance. However, in rotating equipment, assembly tolerances and operational offsets are unavoidable between the transmitter and receiver. Common offsets include radial offset, axial offset, and tilt offset. Offsets cause changes in the coupling coefficient k, resulting in fluctuations in the receiver power and the rectified rotor excitation current. This, in turn, causes fluctuations in motor flux linkage, torque, and output power, affecting system stability.

[0003] Existing designs often optimize the WPT link and the motor separately, or only improve the anti-offset capability of the coil structure, ignoring the coupling constraint relationship between "wireless link - excitation load - motor output", making it difficult to obtain system-level optimization and ensure output stability under three-dimensional offset conditions.

[0004] To address the aforementioned issues, a three-dimensional anti-misalignment collaborative optimization design method for wireless excitation synchronous motor systems is urgently needed. This method aims to solve the problems associated with traditional methods and simultaneously achieve power, efficiency, and anti-misalignment robustness targets while meeting manufacturability and thermal constraints. Summary of the Invention

[0005] The purpose of this invention is to provide a three-dimensional anti-offset collaborative optimization design method for wireless excitation synchronous motor systems. While ensuring power and efficiency, it significantly improves coupling stability under three-dimensional offset conditions, effectively suppresses rotor excitation current and output power fluctuations, and improves system robustness.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A three-dimensional anti-misalignment collaborative optimization design method for a wireless excitation synchronous motor system includes: Step 1: Obtain system design requirements and constraints, where WPT adopts a circuit structure; Step 2: Establish a magnetically coupled resonant wireless power transmission link model and obtain the corresponding relationship between the coupling coefficient and the WPT output power, link efficiency, and equivalent output current on the excitation side; Step 3: Establish the electromagnetic model of the electrically excited synchronous motor and its coupling relationship with the rotor excitation current, and obtain the unified mapping relationship between the coupling coefficient and the motor output power and system efficiency; Step 4: Establish a three-dimensional offset model and calculate the anti-offset index. The three-dimensional offset model includes an offset domain consisting of radial offset, axial offset and tilt offset. Calculate the coupling coefficient distribution between the transmitting coil and the receiving coil within the offset domain, and calculate the rate of change and maximum value of the coupling coefficient based on the coupling coefficient under alignment conditions, using it as the anti-offset index. Step 5: Select the structural parameters of the magnetic coupler, the key structural parameters of the motor, and the excitation parameters as optimization variables. With the optimization objectives of improving the motor output power, improving the system efficiency, and reducing the rate of change of the maximum coupling coefficient, establish a multi-objective collaborative optimization model that includes geometric relationships, manufacturability, slot fill factor, current density, and performance thresholds. Step 6: Solve the multi-objective collaborative optimization model based on the optimization algorithm to obtain the Pareto solution set that satisfies the constraints, select the target scheme from it, and output the corresponding magnetic coupler parameters and key motor parameters.

[0007] Furthermore, in step 1, the circuit structure of the WPT adopts a series-series structure, and its circuit model is as follows: ; In the formula, U s This represents the effective value of the output voltage of the WPT circuit inverter. L tx , C tx , R tx These are the transmitting coil inductance, compensation capacitor, and equivalent resistance, respectively. L rx , C rx , R rx These are the receiving coil inductance, compensation capacitor, and equivalent resistance, respectively. R eq The equivalent resistance is calculated based on the rectification and excitation load at the receiving end. I tx For the transmitting coil current, I rx To receive the coil current; When the system operates in a resonant state, the transmitting end and the receiving end satisfy the following resonance conditions respectively: .

[0008] Furthermore, in step 2, a magnetically coupled resonant wireless power transmission link model is established to obtain the corresponding relationship between the coupling coefficient and the WPT output power, link efficiency, and equivalent output current on the excitation side, specifically: Let the mutual inductance between the transmitting coil TX and the receiving coil RX be... M The coupling coefficient is k ,get: ; The coupling circuit relationship is calculated at the resonant point, and the equivalent input impedance is obtained as follows: ; In the formula, ω is the angular frequency, which is: ; f It is frequency; The output power of the WPT, i.e., the power entering the excitation winding, is calculated as follows: ; Link efficiency is expressed as: ; In the formula, , To Perform real part extraction; According to the above formula, the rotor excitation current I rt Represented as: .

[0009] Furthermore, in step 3, an electromagnetic model of the electrically excited synchronous motor and its coupling relationship with the rotor excitation current are established, and a unified mapping relationship between the coupling coefficient and the motor output power and system efficiency is obtained, specifically: Based on the stator and rotor structural parameters and operating conditions, the excitation flux linkage of the electrically excited synchronous motor is established. ψ rt The relationship between the rotor excitation current and the rotor excitation current is: ; In the formula, k rt The proportionality coefficient of the flux linkage from the excitation winding to the rotor is given. According to the law of power conservation, the WPT output power at the receiving end is approximately equal to the excitation power. P f ,get: ; Motor electromagnetic torque T e Represented as: ; In the formula, p For extreme logarithms, L d , L q They are respectively d shaft and q Shaft inductor, i d , i q They are respectively d shaft and q shaft current; Input power to the motor P in and output power P EESM out Represented as: ; In the formula, n This is the rated speed of the motor. U st It is the effective value of the phase voltage of the motor stator winding. I st It is the effective value of the phase current of the motor stator winding. f The motor power factor; System efficiency is defined as: ; because I rt and k There are coupling constraints, for P EESMout and or sys Rewrite it as a function of the design variable x and the offset state, as follows: .

[0010] Further, in step 4, a three-dimensional offset model is established and an anti-offset index is calculated. The three-dimensional offset model includes an offset domain consisting of radial offset, axial offset, and tilt offset. Within the offset domain, the coupling coefficient distribution between the transmitting coil and the receiving coil is calculated, and the rate of change and maximum value of the coupling coefficient are calculated based on the coupling coefficient under alignment conditions. These are used as the anti-offset index, specifically: Define the 3D offset variable as radial offset. d r Axial offset d z With tilt offset d θ Based on its definition, the offset domain Ω is: ; In the formula, d rmax and d zmax For the gap of the coupler coil g c 0.8 times, that is d rmax =0.8 g c , d zmax =0.8 g c The tilt angle offset range is taken as follows d θmax =15°; Define the coupling coefficient distribution k ( δr , δz , d θ ) and alignment coupling coefficient k 0 represents: ; ; Calculate the rate of change of coupling coefficient Δ k and its maximum value Δ k max They are respectively: ; .

[0011] Further, in step 5, the optimization variable x is: ; In the formula, N tx The number of turns in the TX coil, with a value ranging from 10 to 10. N tx ≤20; N rx The number of turns of the RX coil, with a value ranging from 10 to... N rx ≤20; D tmax The diameter of the ferrite on the TX side, with a value ranging from 60 mm to... D tmax ≤90 mm; D rmax The diameter of the ferrite on the RX side, with a value ranging from 40 mm to... D rmax ≤70 mm; k 1 is the proportionality coefficient, with a value ranging from 0.5 to... k1≤0.9; k s1 This is a scaling factor, with a value range of 0.6 ≤ k s1 ≤0.9; k b1 This is a scaling factor, with a value range of 0.3 ≤ k b1 ≤0.6; k s2 This is a scaling factor, with a value range of 0.3 ≤ k s2 ≤0.6; W s The width of the pole shoe, with a value ranging from 30 mm to... W s ≤45 mm; D b This is the inner diameter, with a range of 40 mm ≤ D b ≤50mm; N st The number of turns in the stator winding, with a value ranging from 30 to 100. N st ≤60; N rt This refers to the number of turns in the rotor excitation winding, with a value ranging from 60 to... N rt ≤100; k rt For rotor slot fill factor, satisfying 0 < k rt <0.7; k st For stator slot full coverage, satisfying 0 < k st <0.7; I rt This is the rotor excitation current, with a value range of 3A ≤ I rt ≤5A.

[0012] Furthermore, in step 5, the geometric relationships and manufacturability constraints are specifically as follows: Define the critical dimension constraints of the coupler as follows: ; Establish the geometric constraints as follows: ; In the formula, D ro The outer diameter of the rotor. k s1 , k b1 , ks2 As a scale factor, W b , H s , H b It is an intermediate geometric quantity.

[0013] Furthermore, in step 5, the multi-objective collaborative optimization model specifically refers to: Construct a system-level three-objective optimization problem, which can be uniformly represented in minimization form as follows: ; in: ; Set the performance threshold constraint as follows: ; The feasible region is formed by combining the slot fill factor, current density, and geometric constraints.

[0014] In summary, the beneficial technical effects of the present invention are as follows: This invention explicitly introduces a unified model. k ( d r , d z , d θ ) and Δ k max Furthermore, within the feasible domain constrained by relevant geometry, thermal design, and manufacturability constraints, system-level collaborative optimization can be performed. Following the complete process of "modeling-calculation-optimization-output parameters," the magnetic coupler parameters and key motor parameters that meet the performance thresholds can be directly calculated, ensuring that the output power and system efficiency meet the requirements. At the same time, the rate of change of the coupling coefficient under the maximum offset condition is controlled within a predetermined range, thereby reducing rotor excitation current fluctuations and motor output fluctuations, and improving the stability and robustness of the wireless excitation synchronous motor system under three-dimensional offset conditions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the method flow of the present invention; Figure 2 A schematic diagram defining the 3D offset; Figure 3 This is a schematic diagram of the structural parameters corresponding to the geometric constraints; Figure 4 Before optimization k follow d r , d z Diagram illustrating the changes; Figure 5For optimization k follow d r , d z Diagram illustrating the changes; Figure 6 Before and after optimization I rt follow k Diagram illustrating the changes; Figure 7 Before and after optimization P EESM out Comparison diagram; Figure 8 Before and after optimization or sys Comparison diagram; Figure 9 This is a schematic diagram of the system structure of an electrically excited synchronous motor and a magnetically coupled resonant device. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0017] like Figure 1 As shown, this invention provides a three-dimensional anti-misalignment cooperative optimization design method for a wireless excitation synchronous motor system, comprising: Step 1: Obtain system design requirements and constraints. WPT adopts a circuit structure. The constraints include coupler installation space constraints, motor structure size constraints, slot fill factor constraints, current density constraints, and three-dimensional offset range. Step 2: Establish a magnetically coupled resonant wireless power transmission link model and obtain the corresponding relationship between the coupling coefficient and the WPT output power, link efficiency, and equivalent output current on the excitation side; Step 3: Establish the electromagnetic model of the electrically excited synchronous motor and its coupling relationship with the rotor excitation current, and obtain the unified mapping relationship between the coupling coefficient and the motor output power and system efficiency; Step 4: Establish a three-dimensional offset model and calculate the anti-offset index. The three-dimensional offset model includes an offset domain consisting of radial offset, axial offset and tilt offset. Calculate the coupling coefficient distribution between the transmitting coil and the receiving coil within the offset domain, and calculate the rate of change and maximum value of the coupling coefficient based on the coupling coefficient under alignment conditions, using it as the anti-offset index. Step 5: Select the structural parameters of the magnetic coupler, the key structural parameters of the motor, and the excitation parameters as optimization variables. With the optimization objectives of improving the motor output power, improving the system efficiency, and reducing the rate of change of the maximum coupling coefficient, establish a multi-objective collaborative optimization model that includes geometric relationships, manufacturability, slot fill factor, current density, and performance thresholds. Step 6: Solve the multi-objective collaborative optimization model based on the optimization algorithm to obtain the Pareto solution set that satisfies the constraints, select the target scheme from it, and output the corresponding magnetic coupler parameters and key motor parameters.

[0018] Furthermore, this invention provides a schematic diagram of the system structure of an electrically excited synchronous motor and a magnetically coupled resonant device, as shown in the figure. Figure 9 As shown in the figure, the above method will be explained in detail later.

[0019] In step 1, the system design requirements and constraints are obtained, specifically as follows: The circuit structure of the magnetically coupled resonant WPT is determined, and the operating frequency of the input wireless excitation link is specified. f The inverter high-frequency voltage amplitude range Us, the motor rated speed n, the target output power threshold and the target system efficiency threshold are input, along with the coupler installation space constraints, motor structural size constraints, slot fill factor constraints, current density constraints and three-dimensional offset range Ω, to provide unified boundary conditions for subsequent model establishment and optimization solution; The circuit structure of the WPT adopts a series-series structure, and its circuit model is as follows: ; In the formula, U s This represents the effective value of the output voltage of the WPT circuit inverter. L tx , C tx , R tx These are the transmitting coil inductance, compensation capacitor, and equivalent resistance, respectively. L rx , C rx , R rx These are the receiving coil inductance, compensation capacitor, and equivalent resistance, respectively. R eq The equivalent resistance is calculated based on the rectification and excitation load at the receiving end. I tx For the transmitting coil current, I rx To receive the coil current.

[0020] When the system operates in a resonant state, the transmitting end and the receiving end satisfy the following resonance conditions respectively: .

[0021] In step 2, a magnetically coupled resonant wireless power transmission link model is established, and the corresponding relationships between the coupling coefficient and the WPT output power, link efficiency, and equivalent output current on the excitation side are obtained, specifically: Let the mutual inductance between the transmitting coil (TX) and the receiving coil (RX) be... M The coupling coefficient is k ,get: ; The coupling circuit relationship is calculated at the resonant point, and the equivalent input impedance is obtained as follows: ; In the formula, ω is the angular frequency, which is: ; f It is frequency; The output power of the WPT, i.e., the power entering the excitation winding, is calculated as follows: ; Link efficiency is expressed as: ; In the formula, , To Perform real part extraction; According to the above formula, the rotor excitation current I rt Represented as: ; Therefore, it can be seen that k The changes will directly cause P WPT , or WPT , I rt The changes in [the excitation power supply] affect the stability of the excitation power supply under offset conditions.

[0022] In step 3, the electromagnetic model of the electrically excited synchronous motor and its coupling relationship with the rotor excitation current are established, and a unified mapping relationship between the coupling coefficient and the motor output power and system efficiency is obtained, specifically: Based on the stator and rotor structural parameters and operating conditions, the excitation flux linkage of the electrically excited synchronous motor is established. ψ rt The relationship between the rotor excitation current and the rotor excitation current is: ; In the formula, krt The proportionality coefficient of the flux linkage from the excitation winding to the rotor is given. According to the law of power conservation, the WPT output power at the receiving end is approximately equal to the excitation power. P f ,get: ; Motor electromagnetic torque T e Represented as: ; In the formula, p For extreme logarithms, L d , L q They are respectively d shaft and q Shaft inductor, i d , i q They are respectively d shaft and q shaft current; Input power to the motor P in and output power P EESM out Represented as: ; In the formula, n This is the rated speed of the motor. U st It is the effective value of the phase voltage of the motor stator winding. I st It is the effective value of the phase current of the motor stator winding. f The motor power factor; System efficiency is defined as: ; because I rt and k There are coupling constraints, for P EESMout and or sys Rewrite it as a function of the design variable x and the offset state, as follows: .

[0023] In step 4, a three-dimensional offset model is established and the anti-offset index is calculated. The three-dimensional offset model includes an offset domain consisting of radial offset, axial offset, and tilt offset. Within the offset domain, the coupling coefficient distribution between the transmitting coil and the receiving coil is calculated. Based on the coupling coefficient under alignment conditions, the rate of change and maximum value of the coupling coefficient are calculated and used as the anti-offset index. Specifically: like Figure 2 As shown, the three-dimensional offset variable is defined as radial offset. d r Axial offset d z With tilt offset d θ Based on its definition, the offset domain Ω is: ; The present invention provides one embodiment, d rmax and d zmax For the gap of the coupler coil g c 0.8 times, that is d rmax =0.8 g c , d zmax =0.8 g c The tilt angle offset range is taken as follows d θmax =15°; Define the coupling coefficient distribution k ( δr , δz , d θ ) and alignment coupling coefficient k 0 represents: ; ; Calculate the rate of change of coupling coefficient Δ k and its maximum value Δ k max They are respectively: ; ; This indicator can be used as both an optimization target and a constraint to ensure that the system maintains stable coupling under the maximum offset condition, thereby suppressing fluctuations in rotor excitation current and output power.

[0024] In step 5, the collaborative optimization design variables are defined as a 15-dimensional vector: ; Its preferred definition is as follows: ; In the formula, the meaning and range of values ​​for each variable are preferably as follows: N tx The number of turns in the TX coil, with a value ranging from 10 to 10. N tx ≤20; N rx The number of turns of the RX coil, with a value ranging from 10 to... N rx ≤20; D tmax The diameter of the ferrite (or equivalent coil magnetic structure) on the TX side, with a value ranging from 60 mm to... D tmax ≤90 mm; D rmax The diameter of the ferrite on the RX side, with a value ranging from 40 mm to... D rmax ≤70 mm; k 1 is the proportionality coefficient, with a value ranging from 0.5 to... k 1≤0.9; k s1 This is a scaling factor, with a value range of 0.6 ≤ k s1 ≤0.9; k b1 This is a scaling factor, with a value range of 0.3 ≤ k b1 ≤0.6; k s2 This is a scaling factor, with a value range of 0.3 ≤ k s2 ≤0.6; W s The width of the pole shoe, with a value ranging from 30 mm to... W s ≤45 mm; D b This is the inner diameter, with a range of 40 mm ≤ D b ≤50 mm; N st The number of turns in the stator winding, with a value ranging from 30 to 100. N st ≤60; N rt This refers to the number of turns in the rotor excitation winding, with a value ranging from 60 to... N rt ≤100; k rt For rotor slot fill factor, satisfying 0 <k rt <0.7; k st For stator slot full coverage, satisfying 0 < k st <0.7; I rt This is the rotor excitation current, with a value range of 3A ≤ I rt ≤5A; Additionally, the current density is set as a hard constraint: rotor current density J r <5A / mm 2 Stator current density J t <5A / mm 2 In this invention, J r , J t Preferred parameters are used as constraints rather than optimization variables to ensure thermal design and manufacturability.

[0025] In step 5, the geometric relationships and manufacturability constraints are specifically as follows: To ensure the manufacturability and installability of the magnetic coupler, the critical dimensional constraints of the coupler are defined as follows: ; like Figure 3 As shown, to ensure the manufacturability of the rotor magnetic pole structure, geometric constraints are established (based on the rotor outer diameter). D ro Taking the extreme shoe parameters as an example, and... k s1 , k b1 , k s2 As a scaling factor, it is: ; In the formula, D ro The outer diameter of the rotor. k s1 , k b1 , k s2 As a scale factor, W b , H s , H b These are intermediate geometric quantities used to ensure the rotor magnetic pole structure relationship holds and to avoid unmanufacturable geometric combinations. This set of constraints ensures that the motor geometric parameters remain within the realizable domain during the optimization iteration process.

[0026] In step 5, the multi-objective collaborative optimization model is specifically as follows: Construct a system-level three-objective optimization problem, which can be uniformly represented in minimization form as follows: ; in: ; The above notation represents improving output power and efficiency under alignment conditions, while minimizing the coupling rate of change in the three-dimensional offset domain. Alternatively, it can be... P EESMout and or sys The objective is defined as the worst value within the offset domain to achieve robust optimization, but this invention includes at least the above three objective definitions.

[0027] To meet engineering performance requirements, performance threshold constraints are set as follows: ; The feasible region is formed by combining the slot fill factor, current density, and geometric constraints.

[0028] In step 6, the multi-objective collaborative optimization model is solved based on the optimization algorithm to obtain the Pareto solution set that satisfies the constraints. The target scheme is then selected from this set, and the corresponding magnetic coupler parameters and key motor parameters are output. Specifically: This invention employs a multi-objective evolutionary algorithm to solve the aforementioned high-dimensional coupled optimization problem, preferably using the NSGA-III algorithm. Let the population size be N and the maximum number of iterations be G. First, N candidate parameter vectors satisfying the constraints are generated. x i Then, for each candidate parameter vector, calculate the alignment condition according to steps 2-3. P EESM out ( x i )and thesys ( x i ), and calculate Δ in the offset domain Ω according to step 4. k max ( x i Individuals that violate constraints such as slot fill factor, current density, geometric relations, or performance thresholds are penalized or directly eliminated, so that the iterative solution set gradually converges to a manufacturable and realizable Pareto front.

[0029] NSGA-III maintains Pareto solution diversity through a reference point mechanism, making it suitable for optimization problems with three or more objectives. After solving, the final solution is determined from the Pareto solution set according to engineering preferences, and the corresponding 15-dimensional optimization variable values ​​are output as system design parameters, thus obtaining the optimized magnetic coupler parameters and key motor parameters. These output parameters can be further used to generate prototype design inputs, conduct electromagnetic simulation verification, and perform experimental validation.

[0030] This invention provides an embodiment to illustrate the above method: System design specifications: High-frequency square wave voltage U s =0-30V, WPT operating frequency f =85kHz, rated motor speed n=1500r / min. The motor structure and initial performance can be taken as follows: stator outer diameter... D so =145mm, stator inner diameter D si =80mm, rotor outer diameter D ro =79mm, number of slots Q=18, number of pole pairs p=4, axial length L l =105mm, initial rated output power approximately 1970W, initial system efficiency approximately 88.5%. Step 1 inputs design requirements and constraints; steps 2-4 establish a unified model and an offset model; step 5 constructs a co-optimization problem; and step 6 uses NSGA-III to solve the 15-dimensional variable x, ultimately obtaining a Pareto solution set that satisfies power, efficiency, and offset robustness constraints. From this set, an optimal set of magnetic coupler parameters and key motor parameters are selected as engineering implementation parameters. Specific parameters are as follows: Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown.

[0031] Embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may 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.

[0032] 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 one One or more processes and / or boxes Figure one A device that provides the functions specified in one or more boxes.

[0033] 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 one One or more processes and / or boxes Figure one The function specified in one or more boxes.

[0034] 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 one One or more processes and / or boxes Figure one The steps of the function specified in one or more boxes.

[0035] Contents not described in detail in this specification are prior art known to those skilled in the art. It is hereby indicated that the above description is intended to help those skilled in the art understand this invention, but does not limit the scope of protection of this invention. Any equivalent substitutions, modifications, improvements, or simplifications of the above descriptions that do not depart from the essential content of this invention fall within the scope of protection of this invention.

Claims

1. A three-dimensional anti-misalignment collaborative optimization design method for wireless excitation synchronous motor systems, characterized in that, include: Step 1: Obtain system design requirements and constraints, where WPT adopts a circuit structure; Step 2: Establish a magnetically coupled resonant wireless power transmission link model and obtain the corresponding relationship between the coupling coefficient and the WPT output power, link efficiency, and equivalent output current on the excitation side; Step 3: Establish the electromagnetic model of the electrically excited synchronous motor and its coupling relationship with the rotor excitation current, and obtain the unified mapping relationship between the coupling coefficient and the motor output power and system efficiency; Step 4: Establish a three-dimensional offset model and calculate the anti-offset index. The three-dimensional offset model includes an offset domain consisting of radial offset, axial offset and tilt offset. Calculate the coupling coefficient distribution between the transmitting coil and the receiving coil within the offset domain, and calculate the rate of change and maximum value of the coupling coefficient based on the coupling coefficient under alignment conditions, using it as the anti-offset index. Step 5: Select the structural parameters of the magnetic coupler, the key structural parameters of the motor, and the excitation parameters as optimization variables. With the optimization objectives of improving the motor output power, improving the system efficiency, and reducing the rate of change of the maximum coupling coefficient, establish a multi-objective collaborative optimization model that includes geometric relationships, manufacturability, slot fill factor, current density, and performance thresholds. Step 6: Solve the multi-objective collaborative optimization model based on the optimization algorithm to obtain the Pareto solution set that satisfies the constraints, select the target scheme from it, and output the corresponding magnetic coupler parameters and key motor parameters.

2. The three-dimensional anti-misalignment collaborative optimization design method for a wireless excitation synchronous motor system according to claim 1, characterized in that, In step 1, the circuit structure of the WPT adopts a series-series structure, and its circuit model is as follows: ； In the formula, U s This represents the effective value of the output voltage of the WPT circuit inverter. L tx , C tx , R tx These are the transmitting coil inductance, compensation capacitor, and equivalent resistance, respectively. L rx , C rx , R rx These are the receiving coil inductance, compensation capacitor, and equivalent resistance, respectively. R eq The equivalent resistance is calculated based on the rectification and excitation load at the receiving end. I tx For the transmitting coil current, I rx To receive the coil current; When the system operates in a resonant state, the transmitting end and the receiving end satisfy the following resonance conditions respectively: 。 3. The three-dimensional anti-misalignment collaborative optimization design method for a wireless excitation synchronous motor system according to claim 2, characterized in that, In step 2, a magnetically coupled resonant wireless power transmission link model is established, and the corresponding relationships between the coupling coefficient and the WPT output power, link efficiency, and equivalent output current on the excitation side are obtained, specifically: The mutual inductance between the transmitting coil TX and the receiving coil RX is M The coupling coefficient is k ,get: ； The coupling circuit relationship is calculated at the resonant point, and the equivalent input impedance is obtained as follows: ； In the formula, ω is the angular frequency, which is: ； f It is frequency; The output power of the WPT, i.e., the power entering the excitation winding, is calculated as follows: ； Link efficiency is expressed as: ； In the formula, , To Perform real part extraction; According to the above formula, the rotor excitation current I rt Represented as: 。 4. The three-dimensional anti-misalignment collaborative optimization design method for a wireless excitation synchronous motor system according to claim 3, characterized in that, In step 3, the electromagnetic model of the electrically excited synchronous motor and its coupling relationship with the rotor excitation current are established, and a unified mapping relationship between the coupling coefficient and the motor output power and system efficiency is obtained, specifically: Based on the stator and rotor structural parameters and operating conditions, the excitation flux linkage of the electrically excited synchronous motor is established. ψ rt The relationship between the rotor excitation current and the rotor excitation current is: ； In the formula, k rt The proportionality coefficient of the flux linkage from the excitation winding to the rotor is given. According to the law of power conservation, the WPT output power at the receiving end is approximately equal to the excitation power. P f ,get: ； Motor electromagnetic torque T e Represented as: ； In the formula, p For extreme logarithms, L d , L q They are respectively d shaft and q Shaft inductor, i d , i q They are respectively d shaft and q shaft current; Input power to the motor P in and output power P EESM out Represented as: ； In the formula, n This is the rated speed of the motor. U st It is the effective value of the phase voltage of the motor stator winding. I st It is the effective value of the phase current of the motor stator winding. φ The motor power factor; System efficiency is defined as: ； because I rt and k There are coupling constraints, for P EESMout and η sys Rewrite it as a function of the design variable x and the offset state, as follows: 。 5. The three-dimensional anti-misalignment collaborative optimization design method for a wireless excitation synchronous motor system according to claim 4, characterized in that, In step 4, a three-dimensional offset model is established and the anti-offset index is calculated. The three-dimensional offset model includes an offset domain consisting of radial offset, axial offset, and tilt offset. Within the offset domain, the coupling coefficient distribution between the transmitting coil and the receiving coil is calculated. Based on the coupling coefficient under alignment conditions, the rate of change and maximum value of the coupling coefficient are calculated and used as the anti-offset index. Specifically: Define the 3D offset variable as radial offset. δ r Axial offset δ z With tilt offset δ θ Based on its definition, the offset domain Ω is: ； In the formula, δ r max and δ z max For the gap of the coupler coil g c 0.8 times, that is δ r max =0.8 g c , δ z max =0.8 g c The tilt angle offset range is taken as follows δ θ max =15°; Define the coupling coefficient distribution k ( δr , δz , δ θ ) and alignment coupling coefficient k 0 represents: ； ； Calculate the rate of change of coupling coefficient Δ k and its maximum value Δ k max They are respectively: ； 。 6. The three-dimensional anti-misalignment collaborative optimization design method for a wireless excitation synchronous motor system according to claim 5, characterized in that, In step 5, the optimization variable x is: ； In the formula, N tx The number of turns in the TX coil, with a value ranging from 10 to 10. N tx ≤20; N rx The number of turns of the RX coil, with a value ranging from 10 to... N rx ≤20; D tmax The diameter of the ferrite on the TX side, with a value ranging from 60 mm to... D tmax ≤90 mm; D rmax The diameter of the ferrite on the RX side, with a value ranging from 40 mm to... D rmax ≤70 mm; k 1 is the proportionality coefficient, with a value ranging from 0.5 to... k 1≤0.9; k s1 This is a scaling factor, with a value range of 0.6 ≤ k s1 ≤0.9; k b1 This is a scaling factor, with a value range of 0.3 ≤ k b1 ≤0.6; k s2 This is a scaling factor, with a value range of 0.3 ≤ k s2 ≤0.6; W s The width of the pole shoe, with a value ranging from 30 mm to... W s ≤45 mm; D b This is the inner diameter, with a range of 40 mm ≤ D b ≤50mm; N st The number of turns in the stator winding, with a value ranging from 30 to 100. N st ≤60; N rt This refers to the number of turns in the rotor excitation winding, with a value ranging from 60 to... N rt ≤100; k rt For rotor slot fill factor, satisfying 0 < k rt <0.7; k st For stator slot full coverage, satisfying 0 < k st <0.7; I rt This is the rotor excitation current, with a value range of 3A ≤ I rt ≤5A.

7. The three-dimensional anti-misalignment collaborative optimization design method for a wireless excitation synchronous motor system according to claim 6, characterized in that, In step 5, the geometric relationships and manufacturability constraints are specifically as follows: Define the critical dimension constraints of the coupler as follows: ； Establish the geometric constraints as follows: ； In the formula, D ro The outer diameter of the rotor. k s1 , k b1 , k s2 As a scale factor, W b , H s , H b It is an intermediate geometric quantity.

8. The three-dimensional anti-misalignment collaborative optimization design method for a wireless excitation synchronous motor system according to claim 7, characterized in that, In step 5, the multi-objective collaborative optimization model is specifically as follows: Construct a system-level three-objective optimization problem, which can be uniformly represented in minimization form as follows: ； in: ； Set the performance threshold constraint as follows: ； The feasible region is formed by combining the slot fill factor, current density, and geometric constraints.

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