《车用驱动电机原理与控制基础 第2版》 课件 钟再敏 Chapter 4 Entrainment Electromotive；Chapter 5 Three-phase AC Winding and Its Magnetic Field

Chapter4

EntrainmentElectromotiveForceandPrototypeMotorModel车用驱动电机原理与控制基础(第2版)PrincipleandControlFundamentalsofVehicleDriveMotors2

4.1RotatingReferenceFrameandEntrainmentElectromotiveForce3

RotatingReferenceFrameandRotationalTransformationofSpaceVector4RotatingReferenceFrameandRotationalTransformationofSpaceVectorFig.4-24StaticαβcoordinatesystemandarbitrarysynchronousrotatingDQcoordinatesystem

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EntrainmentMotionandtheInducedMotionalElectromotiveForce6

EntrainmentaccelerationEntrainmentMotionandtheInducedMotionalElectromotiveForce7Faraday’sReferenceFrameandEntrainmentElectromotiveForceAnalysisofmotioninthenon-inertialreferenceframeInmechanicalsystem:(Non-inertial)referenceframeandinertialforce.8Faraday’sReferenceFrameandEntrainmentElectromotiveForce[1]钟再敏,王业勤.电机模型中牵连运动及其动生电动势的数理表达[J].电机与控制应用,2023,50(1):30-34.

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Faraday’sReferenceFrameandEntrainmentElectromotiveForce10TheApplicationsofFaradayreferenceframes

114.2Four-coilPrototypeMotorModel

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Four-coilPrototypeMotorModel13Four-coilPrototypeMotorModel

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Four-coilPrototypeMotorModel15

AnyarbitraryMTrotatingcoordinatesystemFour-coilPrototypeMotorModel16

Four-coilPrototypeMotorModelAnyarbitraryMTrotatingcoordinatesystem17Closed-loopControlCharacteristicsofPrototypeMotorModel

18Closed-loopControlCharacteristicsofPrototypeMotorModel

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Closed-loopControlCharacteristicsofPrototypeMotorModel

20Closed-loopControlCharacteristicsofPrototypeMotorModel21

Closed-loopControlCharacteristicsofPrototypeMotorModel22

Closed-loopControlCharacteristicsofPrototypeMotorModel23TheSpaceVectorDiagramofthePrototypeMotorModelwithNon-salientPole

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TheSpaceVectorDiagramofthePrototypeMotorModelwithSalientPole254.3Input-OutputCharacteristicsoftheFour-coilPrototypeMotorModelClosed-loopControlCharacteristicsofPrototypeMotorModel

26PowerBalanceRelationshipofthePrototypeMotorModelThefigureaboveshowstherealpowerflowofthefour-coilmotormodel.Wedefinethepositivedirectionofpowerflowasfollows:Thedirectionofpowerflowisconsideredpositivewhenelectricalenergyfromthestator-sidepowersupplyistransferredtotheair-gapmagneticfield.Thedirectionofpowerflowisalsoconsideredpositivewhenelectricalenergyfromtherotor-sidepowersupplyistransferredtotheair-gapmagneticfield,resultinginthegenerationofelectromagnetictorqueandtheoutputofmechanicalpowerfromtherotor.

27RealPower

28ReactivePower

294.4AnalyzingtheDCMotorandTransformerbasedonthePrototypeMotorModelMultiphaseTransformerDCMotorSynchronousReluctanceMotorInductionMotorPermanentMagnetSynchronousMotorDoublyFedInductionGenerator30ImplementationofPrototypeMotorModel:DCMotor

Four-CoilPrototypeMotorModelofDCMotor31

ImplementationofPrototypeMotorModel:DCMotorFour-CoilPrototypeMotorModelofDCMotor32

ImplementationofPrototypeMotorModel:Two-phaseOrthogonalTransformerFour-CoilPrototypeMotorModelofTwo-phaseOrthogonalTransformerChapter4

EntrainmentElectromotiveForceandPrototypeMotorModel车用驱动电机原理与控制基础(第2版)PrincipleandControlFundamentalsofVehicleDriveMotorsChapter5

Three-phaseACWindingandItsMagneticField车用驱动电机原理与控制基础(第2版)PrincipleandControlFundamentalsofVehicleDriveMotors355.1BasicsofThree-phaseACCircuits

365.2TypicalACWindingStructure5.2.1ClassificationandMainDesignParametersofACWindingTypically,conductorsmadeofsurface-insulatedcopperarefirstwoundintomulti-turncoils,alsoknownascoilelements.Thesecoilsarethenplacedinsuitableslotsonthestator.Acoilconsistsofmultipleturnsofconductor,andtheportionembeddedinthecoreslotsiscalledtheeffectivesegment,whiletheportionsonbothsidesofthecorearecalledtheendportions.Thenumberofslotsspannedbyacoilelementiscalledthecoilpitch,denotedby𝑦.Basedonsinglecoilelement,coilsfromthesamephaseunderthesamemagneticpolearefirstconnected(inseries),andthencoilsfromthesamephasebutunderdifferentmagneticpolesareconnected(eitherinseriesorinparallel)toformaphasewinding.Intermsofthenumberofphases,ACwindingscanbedividedintosingle-phaseandmulti-phasewindings.

Generally,𝑚isusedtorepresentthenumberofphasesofthemotorstatorwinding.Accordingtothenumberofslotsperpoleperphase,itcanbedividedintointegerslotandfractionalslotwindings.Accordingtothenumberoflayersintheslot,itisdividedintosingle-layeranddouble-layerwindings.Accordingtothepitchofthecoil,itcanbedividedintoconcentratedwindinganddistributedwinding.Windingscanalsobeclassifiedintolapwindingandwavewindingbasedontheirwindingmethods.375.2.1ClassificationandMainDesignParametersofACWindingNameSymbolFormulaexpressionDefinitionPhasenumber

Thenumberofphasesofthestatoroutputterminals.Numberofpolepairs

Motormagneticfieldpolepairsnumberofslots

TotalnumberofstatorslotsCoilpitch

ThenumberofslotsspannedbythecoilelementNumberofparallelpathsThenumberofparallelbranchesperphasewindingPoledistanceNumberofstatorslotsper(rotor)magneticpoleNumberofslotsperpoleperphaseSlotareaoccupiedbyeachphaseundereachpoleSlotpitchangleSpatialelectricalangledifferencebetweentwoadjacentslotsThenumberofslotsinthestatorisrepresentedby𝑍,where𝑍isaninteger.Obviously,thenumberofslotsinthestatordeterminestheresolutionofthewindingspatialdiscretization.Therefore,thegeometricdimensionsofthewindingcanbeexpressedbythenumberofslots.Forexample,thecoilpitch𝑦representsthenumberofslotsspannedbythetwoeffectivesegmentofacoilelement,whichmustbeaninteger.Thegeometricparametersoftherotorareindependentlysetfromthestator,whichmeansthatthegeometricparametersoftherotormaynotbeintegermultiplesofthenumberofslots.Thisispermissible,andinsuchcases,fractionalmultiplesofthenumberofslotsareusedforrepresentation.Onecrucialdesignvariableisthepolepitch𝜏,whichreferstothenumberofstatorslotscorrespondingtoeachmagneticpole(oftherotor).

Thecombinationofthenumberofpolesontherotorandthenumberofslotsonthestatorhasasignificantimpactonthemotor'sperformance.Thisiscommonlyreferredtoasthe“pole-slotcombinationproblem”.38

5.2.1ClassificationandMainDesignParametersofACWinding39

5.2.1ClassificationandMainDesignParametersofACWinding405.2.2TheDesignofThree-phaseDistributedWindingNameSymbolValuePhasenumber3Numberofpolepairs1Numberofslots6Coilpitch3Polepitch3Numberofslotsperpoleperphase1Slotpitchangle60°Parameterstablefora3-phase,1-pair-pole,6-slotsingle-layerdistributedstatorwindingFig.4-46-slotsingle-layerwindingwiringdiagramandwindingexpansiondiagram(m=3,Z=6,p=1,q=1,y=6)PhasebandAZBXCYSlotnumber123456Table:Slotallocationforeachphaseband(60-degreephaseband)41

5.2.2TheDesignofThree-phaseDistributedWindingFig.4-46-slotsingle-layerwindingwiringdiagramandwindingexpansiondiagram(m=3,Z=6,p=1,q=1,y=6)42

5.2.2TheDesignofThree-phaseDistributedWindingPhasebandAZBXCYSlotnumber1,23,45,67,89,1011,12Table:Slotallocationforeachphaseband(60-degreephaseband)435.2.2TheDesignofThree-phaseDistributedWinding

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Fig4-7Slotelectromotiveforcestardiagramofthree-phasedouble-layerwinding5.2.2TheDesignofThree-phaseDistributedWinding45

phasebandAZBXCY1，2，34，5，67，8，910，11，1213，14，1516，17，1819，20，2122，23，2425，26，2728，29，3031，32，3334，35，365.2.2TheDesignofThree-phaseDistributedWindingTable:Slotallocationforeachphaseband(60-degreephaseband)465.2.2TheDesignofThree-phaseDistributedWinding

Connectionof12coilsinthephaseAwinding(onebranch)Connectionof12coilsinthephaseAwinding(twobranches)47Oncetheslotnumbersaredetermined,wiringandconnectionscanbemadebasedonthecoilpitch.TakingthephaseAwindingasanexample,solidlinesrepresentthesegmentsoftheupperlayercoils,anddashedlinesrepresentthesegmentsofthelowerlayercoils,andeachcoiliscomposedofonesolidandonedashedline.Thecoilnumberisindicatedbytheslotnumberoftheupperlayersegment,markedatthetopofthecoil.Inthisdesign,acoilpitchof𝑦=8ischosenforthewinding,withapolepitch𝜏=9.Since𝑦<𝜏,itisashort-pitchwinding.Thecoilswithineachpolephasegroupareconnectedinseries.Coilgroups1,2,3,andcoilgroups10,11,12areconnectedinseriestoformtheA1andX1phasebandsunderthefirstpairofmagneticpoles.Twocoilgroupsareconnectedinanti-directiontoformthefirstbranch(polephasegroup).Coilgroups19,20,21,andcoilgroups28,29,30areconnectedinseriestoformtheA2andX2phasebandsunderthesecondpairofmagneticpoles.Thetwophasebandsareconnectedinanti-directiontoformthesecondbranch.Fig.4-8ExpandedviewofthephaseAwindinginthethree-phasedouble-layeredwinding(Z=36,p=2,m=3,y=8,twopole-phaseisconnectedinseries)5.2.2TheDesignofThree-phaseDistributedWindingFig.4-12Thepole-phasegroupcomposedoffull-pitchcoilswith𝑞=3hasthreecoilsdistributedsuccessivelyinthreeadjacentslots,formingafull-pitchdistributedwinding.Byaddingtherectangularmagnetomotiveforcewavesproducedbyeachwhole-pitchcoilpointbypoint,thecompositemagnetomotiveforceofthispole-phasegroupcanbeobtained.Thecompositemagneticfluxwaveformisastaircasewaveform.485.3.1MagnetomotiveForceofSingle-phaseWinding

49ElectromotiveForceofSinusoidalCurrent-excitedSingle-phaseWindingFig.4-11electromotiveforceofsinglecoilFull-pitchandshort-pitchcoil

50a)Themagneticfieldgeneratedbythefull-pitchcoil

5.3.1MagnetomotiveForceofSingle-phaseWindingb)WavefunctionofmagnetomotiveforceforfullpitchcoilFig.4-11Themagnetomotiveforceofsingle-phasecoil

515.3.2The(Pulsating)MagnetomotiveForceofaSingle-phaseWindingUnderCosineCurrentExcitation52Fig.4-13Thefundamentalpulsatingmagnetomotiveforcewave(standingwave)ofasingle-phasewindingatdifferentinstants

5.3.2The(Pulsating)MagnetomotiveForceofaSingle-phaseWindingUnderCosineCurrentExcitation53Fig.4-14Spatialdistributionofharmonicmagnetomotiveforce

5.3.2The(Pulsating)MagnetomotiveForceofaSingle-phaseWindingUnderCosineCurrentExcitation54Three-phaseWindingsandTheirCompositeMagnetomotiveForce55Three-phaseWindingsandTheirCompositeMagnetomotiveForce56Three-phaseWindingsandTheirCompositeMagnetomotiveForce575.3TheMagnetomotiveForceofSymmetricalThree-phaseWindingExcitedbySymmetricalThree-phaseCurrent585.3TheMagnetomotiveForceofSymmetricalThree-phaseWindingExcitedbySymmetricalThree-phaseCurrent

Fig.4-15Statorwindingsoftwo-polethree-phaseACmotors

595.3.3TheSpaceVectorExpressionofPlanarRotatingMagnetomotiveForce

Fig.4-19Shaftcoilanditsschematicdiagram,correspondingspacevectordrawingmethod60Thecurrentvectorsofthestatorandrotorareequivalenttothe“axiscoil”.5.3.3TheSpaceVectorExpressionofPlanarRotatingMagnetomotiveForce615.3.3TheSpaceVectorExpressionofPlanarRotatingMagnetomotiveForce

625.4StatorVoltage,Current,andFluxLinka