CN105844026B - The method for determining permanent-magnetism linear motor operating current and time based on Taguchi's method - Google Patents
The method for determining permanent-magnetism linear motor operating current and time based on Taguchi's method Download PDFInfo
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Abstract
The invention discloses a kind of methods for determining permanent-magnetism linear motor operating current and time based on Taguchi's method, carry out temperature rise and cooling test to experiment electric motor in the case where environmental condition is constant first;Then, stable temperature rise and cooling procedure of the experiment electric motor under different current densities are calculated with the finite element method of Coupled Electromagnetic-Thermal, and compare emulation and test result, temperature rise and the cooling curve of the motor are drawn out if consistent, it is consistent with experimental result until emulating if inconsistent modify simulation parameter according to experimental result.Finally determine the motor in different current densities, different runing times, the temperature under different cooling times according to the temperature rise of determining motor and cooling curve, and mental arithmetic method in application field show that selected current of electric density, runing time, the actual temperature rise of engineering that is best suitable under cooling time are combined to get optimum combination out.
Description
Technical field
The present invention relates to the permanent magnetism under a kind of determining continuous duty of linear motor design and motor utilization efficiency part
When linear motor is applied under periodic duty, the method for the selection of operating current and working time.
Background technique
The continuous improvement of requirement in terms of with minimizing to motor, being efficient and energy saving, permanent-magnetism linear motor is with its knot
The advantages of structure is simple, and power density is big, high-efficient and accurate positioning is in numerically-controlled machine tool, emission system and vertical-horizontal lifting system
In be widely used.
It for energy conservation and improves efficiency, it is sometimes necessary to the motor application run under continuous duty in short-term or all
Under phase duty.According to the characteristics of the motor feels hot, the motor for selecting a continuous duty to run makes the rated power of the motor
Greater than the bearing power of short time duty operation, then motor can just reach highest after running 3~4 times of heating time constant
The temperature rise of permission, but the time of short-term operation is usually very short, such motor would not be fully utilized in fever, therefore handle
The motor application to work under continuous duty in short-term or when periodic duty, needing the fever feature according to motor, restore by heat
The characteristics of time etc., reasonably selects the power of motor run under continuous duty, determines that the electric current of motor under short time duty is close
Degree, cyclic duration factor etc..
Taguchi's method is a kind of method of experimental design, which is the warp using Probability Theory and Math Statistics as theoretical basis
Experimental program is formulated scientifically so as to the mathematical theory and method that are effectively statisticallyd analyze to experimental data in Ji ground.Its base
This thought is that Britain statistician R.A.Fisher is proposed when carrying out farmland experiment.He has found in an experiment, environmental condition
It is difficult to strict control, random error is very important, therefore proposes reasonably arrange experimental program, and experimental data is made to have conjunction
Suitable mathematical model, to reduce the influence of random error, to improve the precision and reliability of experimental result, the present invention is with motor
Current density, working time and cooling time be impact factor, realizing one kind using the thought can quickly determine continuously
The method that linear motor under duty applies working time and cooling time when under intermittent periodic duty.
Summary of the invention
Technical problem: permanent-magnetism linear motor operating current and time are determined based on Taguchi's method the present invention provides a kind of
Method, when can determine that the permanent-magnetism linear motor under continuous duty is applied under periodic duty, when operating current is with work
Between and cooling time selection, to avoid motor temperature rise excessively high.
Technical solution: the method for the invention that permanent-magnetism linear motor operating current and time are determined based on Taguchi's method, packet
Include following steps:
1) it in the case where environment temperature, wind speed are constant, is moved reciprocatingly using driver control linear motor, uses multichannel
Temperature measuring device records the temperature at motor each moment under different current densities, according to measured temperature value, until half of motor small
When in temperature rise be no more than 2 degrees Celsius when, this be motor temperature rise process, the temperature recorded at this time be steady temperature value;Then
It cuts off the power, continues to record motor temperature, be no more than 5 degrees Celsius until motor temperature is differed with environment temperature, this is motor
Cooling procedure;
2) electromagnetism is carried out to motor with finite element method and electromagnetic consumable is calculated, then according to the electromagnetic consumable, imitative
True parameter calculates stable temperature rise of the experiment electric motor under different current densities with the finite element method of Coupled Electromagnetic-Thermal
And each moment temperature value in cooling procedure, it is described;
3) the simulated temperature value of the experimental temperature value of the step 1) and step 2), if same time interval is imitative
True value and the root-mean-square error of experiment value then draw out temperature of the motor under different current densities less than 5% with simulation result
Liter and cooling chart, otherwise according to return step 2 after experimental result amendment simulation parameter);
4) according to the requirement of motor duty and the temperature characteristic of motor, electricity is selected in the temperature rise and cooling chart
Runing time of the machine under different current densities and parameter cooling time;
5) it according to the runing time under the different current densities selected in the step 4), cooling time, is done a sum orally using field
Method obtains the current density for meeting motor duty and motor temperature rise characteristic, runing time, optimum combination cooling time.
Further, in the method for the present invention, the simulation parameter in the step (2) is the equivalent of motor groove portion mixing material
Pair between thermal coefficient, the thermal coefficient of motor other parts homogenous material, the thermal parameter of motor each section, motor and environment
Flow coefficient.
Further, in the method for the present invention, the Equivalent Thermal Conductivities of the motor groove portion mixing material are based on Gasar
The method of porous material calculation of thermal conductivity does Equivalent to the windings section of linear motor, then according to thermal resistance
Method, the machine winding part Equivalent Thermal Conductivities that Equivalent Calculation goes out.
Further, the root-mean-square error of simulation value and experiment value is according to the following formula in the method for the present invention, in the step 3)
It calculates:
Wherein σ is root-mean-square error, XrFor experiment value, XfFor simulation value, n is interval after motor temperature rise reaches steady state time
The temperature data group number that same time is read respectively, every group of data are made of corresponding simulation value with experiment value.
Further, in the method for the present invention, the amendment simulation parameter in the step 3) is to count respectively according to the following formula
Calculate revised convection coefficient and Equivalent Thermal Conductivities:
The calculation formula of convection coefficient are as follows:
H=Nuλ/δ
Wherein, h is convection coefficient, and λ is thermal coefficient, and δ is characteristic length, NuIt is nusselt number, Nu=C (GrLPr)2, C is
Empirical coefficient, GrLIt is grashof number, PrIt is Prandtl constant;
The Equivalent Thermal Conductivities of motor groove portion mixing material are as follows:
Wherein, β is correction factor, λeq、λcop、λena、λexpRespectively the Equivalent Thermal Conductivities of windings section, copper it is thermally conductive
Coefficient, the thermal coefficient of enameled wire, epoxy resin thermal coefficient, L is the radical length of slot, d, d1、d2Respectively equivalent unit
Copper part thickness, the copper thickness that adds the thickness of enameled wire, copper that enameled wire is added to add epoxy resin total.
When the method for the present invention can determine that the permanent-magnetism linear motor under continuous duty is applied under periodic duty, work
The selection of electric current and working time and heat recovery time.The side that this method passes through calculating and experimental verification to Coupled Electromagnetic-Thermal
Method, fitting obtains motor temperature rise curve and heat recovery time curve under different current densities, then according to the two curves
Selection, which reaches motor, to be allowed the time n (n >=2) of maximum temperaturerise a and temperature is made to be reduced to the time required for some value,
And the temperature under every kind of ageing and current density combination is provided, is finally obtained with Taguchi's method setting target elements optimal
Combination.
The present invention is based on emulation and the temperature under current densities different when running under experimental study linear motor continuous duty
Rise and the parameters such as corresponding cooling time work in the influence of the temperature rise under periodic duty to the motor, then determine one group most
Excellent combination.In short, the present invention can according to experimental data easily and fast determine continuous work permanent-magnetism linear motor apply with
Current density when periodic duty, work and cooling time.
The utility model has the advantages that compared with prior art, the present invention having the advantage that
(1) for the calculating of motor groove portion Equivalent Thermal Conductivities, already present research method is based on winding layers equivalent model,
Need according to motor groove portion geometrical model, layers of material Equivalent Calculation, finally solved using thermo network, solution procedure it is complicated and
Precision is poor.And the present invention is based on the methods of Gasar porous material calculation of thermal conductivity to establish model solution, this Method Modeling
It is junior unit modeling originally complicated model partition, the Equivalent Thermal Conductivities of entire model is gone out by model of element analysis and solution
Calculating.Model simplification and calculating are simple and easy, can effectively calculate the thermal coefficient of motor groove portion.The calculation method passes through reality
It tests and is verified.
(2) for the selection of the motor under intermittent duty, most method needs to be counted according to the cyclic duration factor time
The loss of electric machine (generating heat) is calculated, it is larger to calculate complicated and error.And based on field mouthful statistical method, it is only necessary in the base of experiment
Combination is optimized to emulation the data obtained on plinth, so that it may obtain different current densities, runing time and cooling time
The maximum temperaturerise of motor under combination avoids that the simulation analysis under experiment and each combination must be carried out, saves time and resource.
Detailed description of the invention
Fig. 1 groove portion equivalent physical model, Fig. 1 a are groove portion model, and Fig. 1 b is the model of element of groove portion;
Fig. 2 groove portion equivalent thermal resistance model;
Temperature rise curve under Fig. 3 linear motor difference current density;
Cooling curve under Fig. 4 linear motor difference current density;
Fig. 5 Taguchi's method solving result figure.
Fig. 6 is the method for the present invention flow chart.
Specific embodiment
Below with reference to embodiment and Figure of description, the present invention is further illustrated.
(1) temperature rise and cooling test are carried out to experiment electric motor in the case where environmental condition is constant;
Laboratory apparatus includes a linear motor, oscillograph, driver, computer, multi way temperature tester, temperature sensor
Deng.Experimentation are as follows: in the case where guaranteeing that environmental condition is constant, moved back and forth with driver driving linear motor, and with showing
The current density of motor is constant during wave device test run;By the temperature sensor being embedded at motor different location, with more
Road temperature measuring device is separately recorded under different current densities, temperature of the motor from each setting moment for starting to stable temperature rise
Value.
The purpose of experiment is to facilitate application simulation data assessment to verify the reasonability that each parameter calculates when emulation solves
The performance of motor, therefore need to adjust Emulation of Electrical Machinery parameter by the result of experiment in this process.The motor of drafting
Temperature rise and cooling curve are as shown in Figure 3 and Figure 4.Selection is in figure with 5A/mm263 DEG C of steady temperature of work are as highest work temperature
Degree, can read 6A/mm2、7A/mm2、8A/mm2It time required for reaching 63 DEG C under current density, then according to fig. 2 can be with
The temperature of motor after reading different cooling times.
(2) stabilization of the experiment electric motor under different current densities is calculated with the finite element method of Coupled Electromagnetic-Thermal
Temperature rise and cooling procedure;
Coupled Electromagnetic-Thermal emulation is carried out using the finite element model of motor, each thermal parameter in model includes composition electricity
The thermal coefficient of the various homogenous materials of machine, the calculating and various free convections of the thermal coefficient of the composite materials such as groove portion and layer
Flow the calculation method of convection boundary condition.This kind of material can be found in difference by consulting reference materials for various single materials
At a temperature of Thermal Parameter, but for mixing groove portion fill part by many kinds of substance, need according to thermal conduction study, motor
Relevant knowledge is calculated.Here the calculation method of the Equivalent Thermal Conductivities of linear motor windings section is provided:
Based on the method for Gasar porous material calculation of thermal conductivity, the windings section of linear motor is done equivalent model point
Analysis, then according to the method for thermal resistance, Equivalent Calculation goes out the Equivalent Thermal Conductivities of machine winding part, the equivalent model of windings section
And equivalent thermal resistance is as depicted in figs. 1 and 2.The calculation formula of Equivalent Thermal Conductivities are as follows:
Wherein, β is correction factor, λeq、λcop、λena、λexpRespectively the Equivalent Thermal Conductivities of windings section, copper it is thermally conductive
Coefficient, the thermal coefficient of enameled wire, epoxy resin thermal coefficient.L is the radical length of slot, d, d1、d2As shown in Fig. 1 (b),
The respectively thickness of the copper part of equivalent unit, copper add the thickness of enameled wire, the thickness that copper adds enameled wire to add epoxy resin total.Portion
Divide the calculated result of thermal coefficient as shown in table 1.
The calculating of convection boundary condition can be calculated according to the correlation model and calculation formula of thermal conduction study.
(3) compare emulation with experiment as a result, temperature rise and the cooling curve of the motor are drawn out if consistent, if emulation
As a result not identical as experimental result, then according to the thermally conductive system for the windings section for influencing heat dissipation capacity in analysis of experimental results simulation model
Number, between motor gas-gap and the convection coefficient between motor and environment.Then simulation comparison again, until simulation result and experiment are tied
The root-mean-square value of fruit is less than 5%.
The calculation formula of convection coefficient are as follows:
H=Nuλ/δ
Wherein, h is convection coefficient, and λ is thermal coefficient, and δ is characteristic length, NuIt is nusselt number, Nu=C(GrLPr)2, C is
Empirical coefficient, GrLIt is grashof number, PrIt is Prandtl constant;
The Equivalent Thermal Conductivities of windings section are as follows:
Wherein, β is correction factor, λeq、λcop、λena、λexpRespectively the Equivalent Thermal Conductivities of windings section, copper it is thermally conductive
Coefficient, the thermal coefficient of enameled wire, epoxy resin thermal coefficient.L is the radical length of slot, d, d1、d2As shown in Fig. 1 (b),
The respectively thickness of the copper part of equivalent unit, copper add the thickness of enameled wire, the thickness that copper adds enameled wire to add epoxy resin total.
(4) determine the motor in different current densities, different operations according to the temperature rise of determining motor and cooling curve
Between, the temperature under different cooling time
Data shown in table 2 can be listed according to Fig. 3 and Fig. 4, are determined under each current density, runing time, cooling time
The temperature of motor.
(5) selected current of electric density, runing time, the lowest temperature rise group under cooling time are obtained using Taguchi's method
It closes to get optimum combination out.
Using the field mouthful calculation method of Minitab software, select temperature for objective function, it is current density, runing time, cold
But the time is the factor, carries out data statistic analysis to gained table, and acquired results are as shown in figure 5, current density (often put down by peace in figure
Square millimeter), runing time (second) and the abscissa for referring respectively to corresponding figure cooling time (second), electric current as seen from the figure
Density is 5A/mm2One working time 1200s of lower operation, cooling time 1500s period after motor temperature it is minimum, electric current
Density is 8A/mm2Lower operation 3100s, the temperature highest of cooling 800s.
The thermal coefficient of 1 some materials of table
Material | Thermal coefficient (watt/ meter Du) at 20 degrees Celsius |
Silicon steel sheet | 66.1 |
Groove portion equivalent material | 0.172 |
Permanent magnet | 8.949 |
Air | 0.0217 |
Temperature of 2 motor of table under different current densities, different runing time and cooling time parameter
Above-described embodiment is only the preferred embodiment of the present invention, in actual application, is worked when long according to motor
The temperature rise and current density feature of system, when technical staff only needs to measure certain runing time and cooling under different current densities
Between under temperature rise, then with minitab software Taguchi's method both it can be concluded that one group of optimal combination.Therefore this kind
Method can efficiently determine the operating scheme of motor, improve motor operation efficiency.In addition to this, when electric machine structure optimizes,
If a certain target is affected by several factors, can also be solved to obtain the result of an optimization with Taguchi's method.
Claims (4)
1. a kind of method for determining permanent-magnetism linear motor operating current and time based on Taguchi's method, which is characterized in that this method
The following steps are included:
1) it in the case where environment temperature, wind speed are constant, is moved reciprocatingly using driver control linear motor, uses multi way temperature
Tester records the temperature at motor each moment under different current densities, according to measured temperature value, until in motor half an hour
Temperature rise be no more than 2 degrees Celsius when, this be motor temperature rise process, the temperature recorded at this time be steady temperature value;Then it cuts off
Power supply continues to record motor temperature, is no more than 5 degrees Celsius until motor temperature is differed with environment temperature, this is the cooling of motor
Process;
2) electromagnetism is carried out to motor with finite element method and electromagnetic consumable is calculated, then joined according to the electromagnetic consumable, emulation
Number calculates stable temperature rise of the experiment electric motor under different current densities and cold with the finite element method of Coupled Electromagnetic-Thermal
But each moment temperature value during, the simulation parameter be the Equivalent Thermal Conductivities of motor groove portion mixing material, motor other
Convection coefficient between the thermal coefficient of part homogenous material, motor and environment;
3) when each in the stable temperature rise and cooling procedure that the experimental temperature value of the step 1) and step 2) are calculated
Temperature value is carved, if the root-mean-square error of the simulation value at same time interval and experiment value is drawn less than 5% with simulation result
Temperature rise and cooling chart of the motor under different current densities out returns after otherwise correcting simulation parameter according to experimental result
Step 2);
4) according to the requirement of motor duty and the temperature characteristic of motor, selection motor exists in the temperature rise and cooling chart
Runing time and parameter cooling time under different current densities;
5) it according to the runing time under the different current densities selected in the step 4), cooling time, is obtained using field mental arithmetic method
Meet the current density, runing time, optimum combination cooling time of motor duty and motor temperature rise characteristic out.
2. the method for determining permanent-magnetism linear motor operating current and time based on Taguchi's method according to claim 1, special
Sign is: the Equivalent Thermal Conductivities of the motor groove portion mixing material are based on Gasar porous material calculation of thermal conductivity
Method does Equivalent to the windings section of linear motor, then according to the method for thermal resistance, motor that Equivalent Calculation goes out around
Group part Equivalent Thermal Conductivities.
3. the method according to claim 1 or claim 2 that permanent-magnetism linear motor operating current and time are determined based on Taguchi's method,
Be characterized in that: the root-mean-square error of simulation value and experiment value calculates according to the following formula in the step 3):
Wherein σ is root-mean-square error, XrFor experiment value, XfFor simulation value, n is after motor temperature rise reaches steady state time, to be spaced identical
The temperature data group number that time reads respectively, every group of data are made of corresponding simulation value with experiment value.
4. the method according to claim 1 or claim 2 that permanent-magnetism linear motor operating current and time are determined based on Taguchi's method,
Be characterized in that: the amendment simulation parameter in the step 3) is to calculate separately revised convection coefficient according to the following formula and wait
Imitate thermal coefficient:
The calculation formula of convection coefficient are as follows:
H=Nuλ/δ
Wherein, h is convection coefficient, and λ is thermal coefficient, and δ is characteristic length, NuIt is nusselt number, Nu=C (GrLPr)2, C is experience
Coefficient, GrLIt is grashof number, PrIt is Prandtl constant;
The Equivalent Thermal Conductivities of motor groove portion mixing material are as follows:
Wherein, β is correction factor, λeq、λcop、λena、λexpRespectively the Equivalent Thermal Conductivities of windings section, copper thermal coefficient,
The thermal coefficient of the thermal coefficient of enameled wire, epoxy resin, L is the radical length of slot, d, d1、d2The respectively copper of equivalent unit
The thickness that partial thickness, copper add the thickness of enameled wire, copper that enameled wire is added to add epoxy resin total.
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CN110390157B (en) * | 2019-07-18 | 2021-01-15 | 浙江大学 | Doubly salient hybrid excitation generator optimization design method based on Taguchi method |
CN112434450B (en) * | 2020-10-23 | 2022-09-27 | 中国人民解放军海军工程大学 | Linear motor joint optimization design method based on Matlab and Maxwell |
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