电工技术学报  2023, Vol. 38 Issue (19): 5141-5151    DOI: 10.19595/j.cnki.1000-6753.tces.230335
电机及其系统 |
基于无人配送车辆运行工况的交替极游标轮毂电机优化设计
樊英, 陈秋蒴, 陈俊磊, 雷宇通
东南大学电气工程学院 南京 210096
Optimization Design of Consequent Pole Vernier Wheel Motor Based on Operating Conditions of Unmanned Delivery Vehicles
Fan Ying, Chen Qiushuo, Chen Junlei, Lei Yutong
School of Electrical Engineering Southeast University Nanjing 210096 China
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摘要 针对无人配送车用低速大转矩电机驱动系统的多工况运行需求,结合前期针对不等Halbach交替极游标轮毂电机的研究,提出一种基于电机整体运行工况的优化框架。该电机采用磁场调制原理与不等Halbach阵列拓扑,具备强聚磁特性以及高输出性能,但存在转矩脉动、成本高、损耗较大等问题。并且传统基于额定点的多目标优化方式,难以在全工况域满足车辆性能需求。因此结合所提出的优化框架,针对电机成本、效率、转矩脉动进行参数寻优,以满足全工况需求。为提升优化速度,利用聚类分析选出代表性工作点,并基于灵敏度分析建立高敏参数响应面模型,结合非支配排序遗传算法(NSGA-Ⅱ)确定全局全工况下的最优解。最后,基于优化后的参数制作样机并进行实验验证,以证明所提出电机和方法的可行性与准确性。
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樊英
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关键词 轮毂电机磁场调制聚类分析多目标优化遗传算法    
Abstract:Aiming at the multiple operating conditions of the low speed and high torque motor drive system for unmanned delivery vehicles, combined with practical goals such as reducing manufacturing costs and increasing magnetic gathering capacity, a consequent pole unequal Halbach vernier wheel motor (CPUHVWM) is adopted to meet the performance requirements. However, there are problems such as torque ripple, high cost, and high loss that require optimization.The optimization methods can be divided into two main types.The first method is based on finite element method (FEM), which has low computational efficiency and focuses on single-objective optimization, making it difficult to find a global optimal solution. The other is algorithm optimization, which mainly establishes the relationship between structural parameters and objective functions and performs optimization processing through algorithms. The large number of operating points makes it challenging for single point based optimization techniques to fully satisfy vehicle performance requirements. This paper introduces an optimization framework that is predicated upon comprehensive operational conditions.The optimization goals center around reducing the motor costs, minimizing torque ripple, and enhancing efficiency, all while accounting for potential permanent magnet demagnetization and limitations in DC bus voltage.
Due to the large number of motor driving operating points, the motor operation stages are divided into frequent start and stop, low speed climbing, low speed cruising, medium speed cruising, and high speed cruising.Utilizing K-means clustering analysis, the centroid of each data cluster is ascertained, and the weight of the region is assigned, thereby ensuring that each operating point is duly considered in the subsequent optimization design.After that, combined with redundancy design, the performance parameters required for the final motor were selected, and the operating principle of the motor and the selection of pole slot ratio were analyzed.
To ensure the effectiveness of subsequent motor parameter optimization, the current distribution scheme within the voltage and current limit circles and the demagnetization of the PMs are analyzed, respectively. It can be seen that in this current distribution scheme, the impact on the PMs is not significant, and it is in the reversible demagnetization region. Therefore, in subsequent optimization, only the limitation of bus voltage on output performance needs to be considered.
The motor parameters are divided into high-sensitivity regions and low-sensitivity regions. Only the high-sensitivity parameters are modeled using regression models, and a polynomial function is constructed. Subsequently, non-dominated sorting genetic algorithm-Ⅱ (NSGA-Ⅱ) is adopted to simultaneously optimize the three objectives, facilitate Pareto-front creation via multiple iterations, and establish evaluation functions grounded on the prescribed weight coefficients in order to attain the optimal solution.After comparison, it is found that after optimization, compared with the initial parameters, the torque ripple at the rated point can be reduced by 37.5%, the efficiency can be increased by 7.7%, and the effective material cost can be reduced by 16.8%.
Finally, a 2 kW prototype is made for performance test. Compared with FEM, the experimental back EMF is 7.8% lower, and its THD is about 2.9% higher. At the rated current, the measured output torque is 42.2 Nm, which is 5.5% lower than FEM, and the efficiency is 87.3%, which is 3.4% lower than FEM.The above errors are mainly caused by the processing or assembly of parts and components, and the errors are within an acceptable range.
The following conclusions can be drawn from the simulation analysis: (1) The structural parameters of the motor can be comprehensively and quickly optimized through the proposed optimization framework. Considering the limitations of maximum bus voltage and demagnetization of PMs, respectively, the effectiveness and rationality of the results are ensured. (2) Cluster analysis of operating points can reduce the time and cost of subsequent finite element calculations. (3) RSM is combined with the NSGA-Ⅱ algorithm optimization to quickly and accurately optimize parameters while decreasing the possibility of entering local optima.
Key wordsWheel motor    magnetic field modulation    cluster analysis    multi-objective optimization    genetic algorithm   
收稿日期: 2023-02-08     
PACS: TM351  
基金资助:国家自然科学基金重大项目(51991382)和国家自然科学基金(62173086)资助
通讯作者: 樊 英 女,1970年生,教授,博士生导师,研究方向为电动汽车驱动控制、新型永磁电机设计分析与控制、新能源发电。E-mail:vickifan@seu.edu.cn   
作者简介: 陈秋蒴 男,1993年生,博士研究生,研究方向为游标电机设计与控制。E-mail:chenqiushuo@seu.edu.cn
引用本文:   
樊英, 陈秋蒴, 陈俊磊, 雷宇通. 基于无人配送车辆运行工况的交替极游标轮毂电机优化设计[J]. 电工技术学报, 2023, 38(19): 5141-5151. Fan Ying, Chen Qiushuo, Chen Junlei, Lei Yutong. Optimization Design of Consequent Pole Vernier Wheel Motor Based on Operating Conditions of Unmanned Delivery Vehicles. Transactions of China Electrotechnical Society, 2023, 38(19): 5141-5151.
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