539 results about "Torque ripple" patented technology

The invention provides a permanent magnet motor and a variable-frequency scroll compressor, and relates to the technical field of scroll compressor design and manufacturing, and the permanent magnet motor comprises a stator iron core and a rotor iron core; the stator iron core comprises stator slots which are uniformly distributed along the circumference, copper windings are embedded in the slots, stator yokes which are uniformly distributed are arranged outside the bottom of each slot, each stator yoke is provided with an arc-shaped long slot, stator teeth are arranged between every two adjacent stator slots, and the tops of the stator teeth are sunken to form through-flow slots; the rotor core is internally provided with magnetic steel grooves which are uniformly distributed, two same first magnetic isolation grooves are arranged between two adjacent magnetic steel grooves, magnetic steel is arranged in the magnetic steel grooves, and the top of each magnetic steel is provided with two second magnetic isolation grooves which are symmetrically distributed. The outer side radius Rs1 of the stator core, the inner side radius Rs2 of the stator core and the axial length Lis of the stator core meet the following conditions: 1.282 < = Lis / (Rs1-Rs2) < = 2.778, and 34 < = Rs1-Rs2 < = 39 mm. The power density of the motor can be increased, the cost is reduced, the efficiency is improved, and the harmonic content is reduced so as to suppress torque ripple.

The invention discloses an electro-magnetic doubly salient motor torque ripple suppression method based on harmonic double closed-loop control, and the method comprises the steps: constructing the harmonic double closed-loop control of a torque ripple outer ring and a current harmonic inner ring in an electro-magnetic doubly salient motor current source type drive system of a multiplexing excitation winding; a torque pulsation outer ring observes electromagnetic torque through a model reference adaptive method, pulsation components of the torque pulsation outer ring are extracted in combination with an adaptive notch filter, and a current harmonic inner ring given value is output through closed-loop regulation; the current harmonic inner ring extracts harmonic current by constructing a harmonic space decoupling transformation matrix and combining with a rotating coordinate system of corresponding subharmonics, current harmonics counteracting torque pulsation of the electro-magnetic doubly salient motor are generated through closed-loop adjustment, and the output characteristic of the motor is improved. According to the method provided by the invention, the torque ripple amplitude can be suppressed in a closed-loop manner, the given value of the harmonic current can be automatically adjusted, specific current harmonic injection is realized, the output torque ripple of the electro-magnetic doubly salient motor is eliminated, and the problems that a traditional harmonic injection method is not matched under different operation conditions of the motor and depends on motor parameters are solved.

The invention discloses an open-phase self-fault-tolerant control method for a phase-shift-free dual three-phase permanent magnet synchronous motor. The method can automatically adjust a current distribution relation in the case of an open-phase fault and suppress torque pulsation in combination with neutral point voltage compensation. Comprising the following steps: driving two pairs of three-phase winding modules of the phase-shift-free DTP-PMSM in parallel by adopting two two-level three-phase voltage source inverters, and providing a mathematical model of the motor; current distribution is automatically adjusted; compensating the voltage of the neutral point, and calculating the offset of the fault module; the current is redistributed to suppress the torque ripple after the fault, and the secondary oblique wave component generated by the phase failure fault is eliminated; a current loop controller is improved through dead-beat predictive control; the speed ring controller is optimally designed into an improved sliding mode controller; an improved double-loop controller system is formed by combining improved sliding mode control and dead-beat prediction control, high-gain parameters are set to improve the dynamic response performance of the system, and a new self-fault-tolerant control system is formed.

The invention discloses an embedded motor torque ripple real-time compensation system based on deep learning, and relates to the technical field of motor control and artificial intelligence crossing, the system comprises a hardware data acquisition module, a signal feature extraction module, a deep learning compensation model module, an embedded real-time compensation module and a compensation effect verification module; a motor position and a current signal are acquired in real time through the hardware data acquisition module, dynamic analysis and multi-dimensional feature construction are performed on torque ripple related features by combining the signal feature extraction module, and the deep learning compensation model module learns a fluctuation rule in historical data by using a space-time sequence model to generate a high-precision compensation current. The model adapts to an embedded environment through lightweight design, real-time deployment and dynamic optimization of a compensation algorithm are achieved, compared with traditional PID control, the scheme can adapt to changes of motor operation conditions, the influence of torque fluctuation on system stability is reduced, and the smoothness and efficiency of motor operation are improved.

The invention discloses a stator double-permanent-magnet flux reverse motor, and belongs to the technical field of motors. The motor comprises a stator, a rotor, tangential permanent magnets, Halbach array permanent magnets and windings, the stator is of a double-salient-pole structure formed by combining T-shaped stator iron core blocks. The rotor and the stator are coaxially assembled, and an air gap is reserved between the rotor and the stator. The tangential permanent magnets are installed between the stator iron core blocks and magnetized in the tangential direction, and the adjacent directions are opposite. The Halbach permanent magnets are arranged at the openings of the stator slots, so that the Halbach permanent magnets have a magnetism gathering effect and can provide relatively high air gap flux density; the winding adopts a double-layer centralized design and is embedded into a stator slot; the tangential permanent magnets and the Halbach permanent magnets form a parallel magnetic circuit, and the air gap flux density and the torque density are improved through magnetic field superposition; the number of winding pole pairs meets a specific formula, and the motor structure can be optimized through a finite element method. Compared with a traditional motor, the motor has higher air gap flux density, no-load back electromotive force and torque, lower torque pulsation and a higher power factor, and the electromagnetic performance and the operation stability are remarkably improved.

The invention relates to an anti-interference speed control method for a permanent magnet synchronous motor, in particular to the technical field of electrical engineering, and effectively solves the problem that the control performance of the permanent magnet synchronous motor is degraded due to model parameter drift and external load sudden change under complex working conditions. According to the method, the high robustness of sliding mode control and the rolling optimization characteristic of model prediction control are creatively fused, and an adaptive observer is introduced to estimate the system state and lumped disturbance online, so that the real-time feedforward compensation and active suppression of parameter uncertainty and disturbance are realized; according to the method, the dynamic response speed and the steady-state precision of the system are remarkably improved, the rotating speed fluctuation and the torque ripple are effectively inhibited, meanwhile, controller parameters are adaptively adjusted through an intelligent learning mechanism, the stability and the adaptability in long-term operation are ensured, and the method is suitable for large-scale popularization and application. The limitation that a traditional control strategy depends on an accurate model and the disturbance boundary is unknown is overcome fundamentally, and high-performance and high-robustness speed control is achieved.

The invention discloses a permanent magnet synchronous motor extremely-low-speed robust position sensorless control method, device and system. The method comprises the following steps: performing ESO current-disturbance observation on dq-axis current values, voltage reference values and rotor position information at a k moment to obtain an observation current and a q-axis disturbance observation value at a k + 1 moment; the dq-axis current value, the observation current and the dq-axis current reference value at the k moment are observed through a rotor position observer, and the position and the rotating speed of a motor rotor at the k + 1 moment are obtained; adopting a feed-forward compensation method to obtain a q-axis voltage feed-forward value at the k + 1 moment according to the q-axis disturbance observation value at the k + 1 moment and the rotating speed of the motor at the k + 1 moment; and dynamically adjusting a q-axis voltage feed-forward value according to the position of the motor rotor at the k + 1 moment and the q-axis disturbance observation value, and realizing effective suppression of the torque ripple in the low-speed region. According to the method, the robustness and the anti-interference capability of a low-speed region are enhanced while the steady-state performance and the dynamic response of the system are improved.

The invention relates to the technical field of motor control, discloses a direct current brushless motor control method and system based on current prediction, and aims to solve the problems of large torque ripple, low efficiency and poor stability caused by current loop lag in the prior art. The method comprises the following steps: acquiring a motor operation state signal in real time; determining a sector and an electrical angular velocity based on the rotor position and the rotational speed; inputting related parameters into the mixed current prediction model to obtain a three-phase current prediction value of the next period; a prediction error is calculated in combination with a current instruction, and an optimal voltage vector enabling a cost function to be minimum is solved through a model prediction control algorithm; and finally, a space vector pulse width modulation signal is generated to drive an inverter. According to the method, advanced control is realized by fusing a physical model and a data-driven prediction mechanism, the torque ripple is remarkably reduced, and the energy efficiency and robustness are improved.

The invention relates to the technical field of motor control, and particularly provides a control method and system suitable for a one-way running motor of a two-wheeled electric vehicle. The method aims to solve the problems of unstable motor operation and insufficient reliability caused by torque pulsation in the prior art. The method comprises the following steps: executing off-line identification of motor parameters to obtain initialized parameters; multi-source operation state signals are collected, and a vehicle working condition judgment result is obtained through fusion analysis; performing fault diagnosis and grading evaluation to form a fault-tolerant instruction; dynamic dead zone compensation and self-adaptive overmodulation are implemented by combining the parameters and the working conditions, and an optimization control instruction is output; generating a PWM driving signal through space vector modulation; and responding to the fault-tolerant instruction, and fusing a sensorless algorithm and a health sensor signal to realize degraded operation. According to the invention, the smoothness and efficiency of motor operation and the fault-tolerant capability of the system are effectively improved.

The invention is suitable for the technical field of permanent magnet synchronous motor performance improvement, and provides a motor multi-objective optimization method and system based on an improved dung beetle optimization algorithm, and the method comprises the steps: building a mathematical model of the torque ripple and dynamic response capability of a motor, and determining initial design parameters which affect the torque ripple and dynamic response capability; according to the simulation data of the stator skewed slot of the motor, determining an optimal angle meeting a first constraint condition so as to establish a motor model; based on the motor model, motor structure parameters influencing the initial design parameter sensitivity are analyzed, and the obtained motor structure parameters include the stator outer diameter, the permanent magnet thickness, the tooth width and the air gap length; according to the invention, research is carried out from the angle of a stator skewed slot, and an optimal angle with large torque pulsation reduction and small dynamic response capability reduction is obtained; the initial design parameters are subjected to sensitivity analysis to obtain structure parameters, algorithm optimization is carried out after fitting, and multi-objective optimization of the motor is achieved.

The invention provides a magnetic field controllable axial magnetic flux permanent magnet motor, an assembly tool and an assembly method. A single-stator / double-rotor structure is adopted. The stator comprises Ps I-shaped stator iron cores, Ps flat wire coils and a stator bracket; mounting grooves which are distributed along the circumferential direction of the stator bracket and are used for mounting the stator units are formed in the stator bracket; and a water channel is formed in the stator bracket between two adjacent mounting grooves. Each rotor comprises Pr fan-shaped neodymium iron boron permanent magnets, Pr permanent magnet clamp springs and a rotor iron core. The stator and the rotor are coaxially installed through the connecting assembly. The motor provided by the invention adopts a variable-phase-number design, the loading capacity is flexible to adjust, the fault tolerance performance is good, and the reliability is high; due to the double-rotor axial topology, the structure is compact, and the torque pulsation is small; the water channel is large in heat exchange area, high in heat exchange efficiency and good in heat dissipation performance; the stator and the rotor are assembled in a progressive coaxial mode, assembling is safe and convenient, and air gap uniformity is good.

The invention relates to the field of motor structure design and optimization, and discloses a cogging torque and torque ripple optimization method for a permanent magnet motor for a vehicle. The method comprises the steps that based on an electromagnetic scheme, a geometric boundary and a term dictionary, a parameterized geometric prototype containing four symmetric semi-arc auxiliary grooves is constructed, and a design variable set structure is generated; converting the structure into a target evaluation interface structure containing a target item and a constraint item; an improved adaptive particle swarm algorithm is combined with finite element rapid check and a new iteration function to carry out optimization solution, and an updated candidate group structure is generated; and finally, optimal parameters are screened through Pareto sorting and robustness recheck, and an engineering configuration structure is generated. According to the method, through systematic parameter modeling, an efficient collaborative optimization algorithm and simulation evaluation, the optimization efficiency and reliability are remarkably improved, the cogging torque and the torque ripple of the motor are effectively reduced, and meanwhile, the process feasibility and the performance robustness of a design scheme are ensured.

A torque ripple reduction method for a synchronous electric motor of a vehicle includes obtaining, by a control system, look-up tables (LUTs) that each include harmonic currents that satisfy a constrained objective function for phase current magnitude for the synchronous electric motor, based on a requested motor torque, determining, by the control system and using the LUTs, a plurality of currents including fundamental direct and quadrature currents and 6th order and 12th order harmonic quadrature currents, determining, by the control system, direct and quadrature voltages for the synchronous electric motor based on the plurality of currents including injection of the 6th and 12th order harmonic quadrature currents, and controlling, by the control system, the synchronous electric motor based on the determined direct and quadrature voltages to at least one of reduce torque ripples and increase efficiency of the synchronous electric motor.

The invention discloses a high-speed brushless direct current motor torque ripple suppression method, device and equipment and a storage medium, and belongs to the technical field of motor control. The method comprises three steps of adaptive harmonic suppression processing, phase compensation angle calculation and dynamic phase compensation. According to the invention, the center frequency is dynamically adjusted through the adaptive harmonic wave notch filter, the dominant harmonic component is inhibited in real time, and in combination with cascade delay signal elimination, 6k fixed subharmonics are filtered through the CDSC filter, so that a fundamental wave current signal is obtained; park transformation is carried out on the fundamental wave current based on an FOC algorithm, a PI controller is utilized to generate a phase delay angle according to a d-axis current error, and then a reference current compensation module dynamically compensates a current reference value to ensure phase synchronization of phase current and back electromotive force. Compared with the prior art, additional hardware equipment is not needed, and the torque ripple of the BLDC is reduced.

The invention discloses a motor adaptive harmonic suppression system and method fused with LSTM prediction, and belongs to the technical field of power electronic control. Comprising a harmonic feature extraction module, a trapezoidal angle prediction module, an integral adjustment module and a trapezoidal voltage compensation module. The harmonic feature extraction module converts the three-phase current into dq-axis current; the trapezoidal angle prediction module establishes a model for predicting an optimal initial trapezoidal angle based on a long short-term memory neural network according to the d-axis harmonic current, the motor rotating speed and the bus voltage; the integral adjusting module adjusts a trapezoidal angle on line by inputting a harmonic error; and the trapezoidal voltage compensation module is used for modulating trapezoidal compensation voltage and outputting compensation voltage required by an alpha axis and compensation voltage required by a beta axis. According to the invention, prediction of the long-short-term memory neural network and online adjustment of the trapezoidal angle and modulation of the trapezoidal compensation voltage of the integrator are fused, the harmonic current of the permanent synchronous motor control system can be effectively inhibited, the torque ripple of the motor is reduced, and the performance of the motor is improved.

The invention discloses a current prediction control method and device for a permanent magnet motor, and the method achieves the real-time prediction of a voltage error caused by a dead zone and other non-ideal factors through the powerful nonlinear fitting capability of a feedforward neural network in combination with the learning of historical current time sequence characteristics. And the prediction error is further fed forward and compensated to a future current prediction model to improve the accuracy of current prediction, so that the cost function evaluation is more accurate, the optimal voltage vector is selected, and the steady-state current error and the low-speed torque ripple are effectively inhibited. In this way, precise control over the current of the motor is achieved, and the control precision and operation stability of the driving system are comprehensively improved.

The invention relates to the technical field of motor control, and discloses a multi-objective optimization synchronous reluctance motor vector control system, which comprises a multi-objective optimization algorithm module. According to the invention, through the multi-objective optimization algorithm module, an improved NSGA-II and PSO combined algorithm is used to collaboratively optimize multi-objective functions such as motor efficiency, torque ripple and dynamic response, so that the comprehensive performance of the motor is remarkably improved, and the requirements of complex scenes are met; the parameter online adjustment module adaptively adjusts controller parameters in real time based on a fuzzy control strategy, the stability and adaptability of the system are enhanced, and the stability of each operation stage of the motor is guaranteed; the current decoupling control module introduces a feedforward decoupling link to eliminate current coupling, and combines signal processing and control algorithm to execute anti-interference measures of the module, so that the current control precision and the system reliability are improved; the compatibility interface and the self-learning and optimization module realize remote monitoring and parameter setting, and can realize self-learning optimization according to operation data, expand application scenes and meet user change requirements.

The invention discloses a multi-target intelligent optimization efficient control method for a cascaded multilevel electric drive system, and the method comprises the steps: constructing a motor broadband domain loss model and a converter loss model, and obtaining an electric drive system loss model after unifying current variables; deriving a motor torque ripple model taking a specific secondary current harmonic component as a component based on a magnetic field modulation principle; establishing an electric drive system loss multi-objective optimization model which takes a fundamental current angle and a specific harmonic current component as two-dimensional optimization variables and takes torque ripple performance into account; and performing particle optimization configuration in the two-dimensional optimization variables of the fundamental current angle and the specific harmonic current component by applying a particle swarm algorithm, solving the multi-objective optimization model, and obtaining the optimal fundamental current angle and the optimal harmonic current component setting. According to the method, the multi-target and multi-dimensional complex problem of the electric drive system is solved by adopting the particle swarm optimization, global optimization can be carried out from the multi-control-dimension angle, and the defect that a traditional optimization algorithm is converged to a local optimal point is overcome.

The present invention discloses a modeling method for a permanent magnet synchronous motor based on the d-axis magnetic network method, which relates to the technical field of permanent magnet synchronous motor modeling. It solves the technical problems of the small applicable range of the prior art and the inability to accurately diagnose faults and quantitatively evaluate the degree of faults in permanent magnet synchronous motors. By calculating the magnetomotive force of the permanent magnet, the armature magnetomotive force, and each magnetic resistance on the d-axis magnetic circuit through the size parameters and material parameters of the motor body, the present invention provides an accurate analysis method for the demagnetization fault, eccentricity fault, inter-turn short circuit and open circuit fault of the permanent magnet synchronous motor, and can effectively analyze the fault type and the degree of the fault of the motor. The modeling method using the d-axis magnetic circuit effectively avoids the influence of the q-axis current. In the d-axis magnetic network, the torque ripple will not affect the rotation result, which not only reduces the analysis difficulty, but also improves the robustness of the system, and has a wider applicable range.

To provide a rotary electric machine to which a three-phase current is supplied from an inverter, capable of reducing electric sixth and twelfth torque ripples, and enhancing a redundancy.SOLUTION: Both of a three-phase current supplied from a first inverter and a third inverter and a three-phase current supplied from a second inverter and a fourth inverter have a predetermined current phase difference, respectively. A first coil body (Ua, Va, and Wa) of each phase is formed so that a first stator winding or a third stator winding is wound to first teeth. A second coil body (Ub, Vb, and Wb) of each phase is formed by a second stator winding or a fourth stator winding to second teeth. A third coil body (Uc, Vc, and Wc) of each phase is formed by winding any one phase of the three phases of the first stator winding and the third stator winding, and one phase of the three phases of the second stator winding or the fourth stator winding to the third teeth.SELECTED DRAWING: Figure 10

The invention discloses a permanent magnet synchronous motor model prediction control method based on multi-target Pareto optimum, which comprises the following steps: measuring two-phase current, motor rotating speed and rotor position of a permanent magnet synchronous motor, converting the two-phase current into d-axis current and q-axis current according to the rotor position, and converting an alternative voltage vector of an inverter into d-axis voltage and q-axis voltage at the same time; inputting the d-axis current, the q-axis current, the d-axis voltage, the q-axis voltage and the rotating speed of the motor into a current prediction model of the permanent magnet synchronous motor, and predicting a future current state value; establishing a multi-target optimization model including torque ripple, current total harmonic distortion, switching frequency and power loss, calculating by using a multi-target particle swarm algorithm in combination with non-dominated sorting and congestion distance to obtain a Pareto optimal solution set, obtaining an optimal weight factor, and automatically adjusting target weights according to motor operation states under different operation conditions; and constructing a cost function based on the optimal weight factor, and selecting a voltage vector enabling the cost function to be minimum as optimal control output.

The invention provides a rotor punching sheet, a rotor iron core, a rotor, a motor and an air conditioner, the rotor punching sheet is provided with more than two magnetic pole forming areas corresponding to rotor magnetic poles, and each magnetic pole forming area is internally provided with a magnetic steel groove which is arranged on a q axis and extends along the radial direction; the rotor punching sheet is provided with a first magnetic barrier groove located on the d axis between every two adjacent magnetic steel grooves. Wherein first magnetic bridges are formed between the first magnetic barrier grooves and the adjacent magnetic steel grooves on the two sides, and the width of each first magnetic bridge is gradually increased in the radial outward direction of the rotor punching sheet. According to the technical scheme of the invention, the magnetic lines of force can be gradually drawn close to the d axis from the two sides of the d axis, and the sinusoidal property of the magnetic flux in the air gap is better, so that the torque pulsation of the tangential motor can be reduced.

The invention discloses a rotor punching sheet and a rotor structure of a low-harmonic permanent magnet motor, and the rotor punching sheet comprises a rotor punching sheet body, each magnetic pole unit is symmetrically provided with a first V-shaped magnetic steel groove and a second V-shaped magnetic steel groove, and the first V-shaped magnetic steel groove is located between a shaft hole and the second V-shaped magnetic steel groove; a first auxiliary groove, a second auxiliary groove and a third auxiliary groove are formed in the outer circle of the rotor, and the auxiliary grooves in the unit magnetic poles are symmetrically distributed about the d-axis center line. The first auxiliary groove is located between the q-axis center line and the first V-shaped magnetic steel groove, the second auxiliary groove is located between the first V-shaped magnetic steel groove and the second V-shaped magnetic steel groove, and the third auxiliary groove is located between the second V-shaped magnetic steel groove and the d-axis center line. Three pairs of auxiliary grooves are formed in the outer circle of the rotor, and by reasonably designing the topological structure of the double-V-shaped rotor and the shapes and the positions of the auxiliary grooves of the rotor, the distribution of an air-gap magnetic field is optimized, the magnetic field harmonic waves of the motor are weakened, the cogging torque and the torque pulsation of the motor are reduced, and the vibration noise of the motor is improved.

The invention discloses a torque ripple suppression method and control device based on compensation current negative feedback control, and the method comprises the steps: employing negative feedback control, and enabling a compensation current generation part to generate compensation current; back electromotive force is speculated according to an IPM motor voltage equation; harmonic components are separated from the d-axis counter electromotive force and the q-axis counter electromotive force; respectively calculating the magnetic flux harmonic amplitudes and phases of q-axis and d-axis magnetic steel; amplitude instructions and phase instructions of d-axis and q-axis compensation currents are calculated; separating the amplitude and the phase of a harmonic component from the d-axis actual current and the q-axis actual current; enabling the amplitude and phase of the current harmonic component to respectively follow the corresponding amplitude instruction and phase instruction through negative feedback control; and the output of the negative feedback control is injected into q-axis and d-axis current instructions, so that the torque ripple suppression control of the motor is realized. Through compensation current negative feedback control, the amplitude and phase of the harmonic content of the magnetic flux of the magnetic steel are automatically extracted, and the amplitude instruction and phase instruction of the compensation current are automatically generated.

The invention discloses a model-free predictive control harmonic and torque ripple suppression method for a permanent magnet synchronous motor. The method comprises the following steps: sampling physical information of the permanent magnet synchronous motor; performing Clarke transformation on the obtained three-phase current, and performing Park transformation by applying the sampled rotor position to obtain actual current under the dq axis; according to the obtained dq-axis actual current and the motor winding voltage, updating an ESO-based hyper-local model after forward Euler method discrete transformation; calculating a control voltage by applying a traditional dead-beat current control method through a disturbance update value obtained through calculation; and carrying out inverse Park conversion on the deadbeat control voltage obtained after calculation, then carrying out traditional SVPWM modulation to obtain a three-phase PWM waveform, and inputting the three-phase PWM waveform into a driver to control the permanent magnet synchronous motor. According to the method, current ripples and torque ripples of model-free predictive control of the permanent magnet synchronous motor can be remarkably reduced, high-frequency harmonics in the operation process of the motor can be remarkably reduced, and the calculation burden is reduced.

The invention discloses a model prediction control method for a low-common-mode-voltage dual three-phase motor with improved steady-state performance, and belongs to the technical field of dual three-phase permanent magnet synchronous motor control. The method comprises the following steps: firstly, suppressing harmonic current by synthesizing virtual voltage vectors with a specific duty ratio, and synthesizing a candidate output voltage vector by using two adjacent virtual voltage vectors according to a predefined duty ratio; designing a value function without a weight coefficient to select an optimal voltage vector; designing a dual duty ratio technology to calculate the duty ratios of the two virtual voltage vectors for synthesizing the optimal voltage vector; a specific switching sequence in which virtual zero vectors are arranged on two sides and in the middle of a control period is designed, and the switching sequence is generated by using a phase-shifting carrier method. According to the invention, the common-mode voltage can be effectively reduced without adding any hardware circuit, the current harmonic wave and the torque ripple are obviously reduced by expanding the modulation range, the steady-state performance of the system is improved, and the method is suitable for a dual three-phase motor driving system with high requirements on performance and reliability.

The invention discloses a permanent magnet synchronous motor double-inertia system model-free fast integration terminal sliding mode control method and system based on an enhanced fast terminal sliding mode extended disturbance observer, and the adopted model-free fast integration terminal sliding mode control method based on the enhanced fast terminal sliding mode extended disturbance observer is used. Compared with traditional PI control and a model-free sliding-mode controller based on an extended sliding-mode observer, the method can effectively improve the response speed and control precision under parameter perturbation and external disturbance, reduces the dependence of the controller on a system model, is more suitable for nonlinear systems such as a permanent magnet synchronous motor double-inertia system, and has a wide application prospect. Meanwhile, the total disturbance of the system is estimated by adopting an enhanced fast terminal sliding mode extended disturbance observer, so that the robustness of the method is enhanced, and the anti-interference capability of the permanent magnet synchronous motor system is effectively improved; according to the method, current harmonics and torque ripples generated by parameter perturbation and external disturbance can be effectively suppressed, and the overall control performance of the double-inertia system is further improved.

The invention discloses a stator assembly, a motor and electrical equipment, the stator assembly comprises a stator yoke part and a plurality of first stator teeth and a plurality of second stator teeth which are alternately arranged on the periphery of the stator yoke part at intervals along the circumferential direction, each first stator tooth comprises a first tooth part and a first tooth crest, and each second stator tooth comprises a second tooth part and a second tooth crest, the minimum tooth width W1 of the first tooth part, the minimum tooth surface width W2 of the first tooth crest, the minimum tooth width W3 of the second tooth part, the minimum tooth surface width W4 of the first tooth crest, the minimum distance L1 between two adjacent first tooth crests and the minimum distance L2 between the adjacent first tooth crest and second tooth crest meet the following conditions: (L1 / L2) * (W1 / W3) * (W2 / W4) is more than 10 and less than 40, W1 is more than W3, and W2 is more than W4; at least one side of the first tooth crest along the circumferential direction is provided with a first groove, and the notch of the first groove is opposite to the stator yoke part. According to the stator assembly provided by the invention, the back electromotive force of the motor can be maximized, and the performance of a torque current line curve is better, so that the output capability and efficiency of the motor are improved, and the cogging torque and the torque pulsation can be reduced.

The invention relates to an electromechanical coupling characteristic-based electric drive system double-layer active torsional vibration suppression method, which belongs to the technical field of electric automobile motors and comprises the following steps of S1, establishing a permanent magnet synchronous motor mathematical model, an electric drive system helical gear pair kinetic model and a gear transmission lumped parameter model; s2, establishing an upper-layer state feedback control method based on pole assignment, including establishing a transmission system dynamic state space equation, a state observer and a state feedback controller; and S3, establishing a lower torsional vibration suppression method based on active-disturbance-rejection control. According to the invention, voltage deviation generated by nonlinearity of the inverter is compensated, and current harmonics and torque fluctuation are reduced; according to the invention, the damping ratio at the pole corresponding to the inherent frequency which easily causes resonance is improved, the low-frequency torsional vibration is reduced, and the time for reaching the steady state is shortened; according to the invention, current harmonics and torque ripples are reduced, and high-frequency torsional vibration of an electric drive system is reduced.

The purpose of the present invention is to provide: a rotor for a rotary electric machine, the rotor being capable of reducing torque ripple while suppressing a decrease in maximum torque; and a rotary electric machine. This rotor 3 comprises a rotor core 31 having: magnets; magnet insertion holes into which the magnets are inserted; and flux barriers provided around the magnets. The magnets include: first magnets 32; and second magnets 33 that are arranged in roughly a V-shape inwardly of the first magnets 32 in the radial direction. The flux barriers include: first flux barriers 34a that face the side surfaces 33a of the second magnets 33 at the outer sides thereof in the radial direction; and second flux barriers 34b that are arranged outwardly of the first flux barriers 34a in the radial direction. Each second flux barrier 34b comprises: a first side 34b1 which follows an outer peripheral surface tangent line TL of the rotor core 31; and a second side 34b2 which is located inwardly of the first side 34b1 in the radial direction and of which at least a part is formed along a side 34a1 of the first flux barrier 34a at the outer side thereof in the radial direction.