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19920159ElectricMachinesandControlVol.19No.9Sep．2015130011。。。DOI10．15938/j．emc．2015．09．014TM306A1007－449X201509－0095－08AnalysisandtestfortorquerippleofpermanentmagnetsynchronousmotorforelectricvehicleWANGSi-boZHAOHui-chaoLIZhi-yuWANGXiao-xuElectricVehicleDeptFAWＲ＆DCenterChangchun130011ChinaAbstractThecharacteristicofpowertraintorsionalvibrationwasstudiedinanelectricvehiclethemathe-maticalequationofpowertraintorsionalvibrationwasbuiltandthereasonwasthattheelectricvehiclepowertrainresonateswithmotor’storquerippleinlowspeedcondition．Thenthemodeloftorquerippleduetonon-sinusoidalmagneticfielddistributionwasbuiltandtheordersandfrequenciesoftorquerip-pleinPMSMpermanentmagnetsynchronousmotorwereanalyzed．Accordingtotherelationshipbe-tweenthetorsionalvibrationinlow-speedoftheelectricvehicleandthefrequencyofmotortorquerippleforthesituationthattherewerefewliteraturesonanalyzingthetorquerippleandtestmethodofPMSMinelectricvehiclesadynamictorquerippletestbenchwasbuilt．Thecorrectnessofthetorqueripplefre-quencyanalysisisverifiedbytesting．Meanwhileinordertomakeuptheamplitudeandphasedistortioncausedbythedynamictestanewlocked-rotorstaticmethodfortorquerippletestwasproposed．Itpro-videsanaccuratemeansoftestingandevaluationforthetorquerippleofPMSMinelectricvehicles．Keywordselectricvehiclepowertraintorsionalvibrationpermanentmagnetsynchronousmotortorquerippletorquerippletest2014－06－25－JS－3081986—1977—1986—1986—。0。PMSM、。1－45－12。13。。。。14。15。16、PWM。FEA。17、、。18。。。1、、、。P2E400LH7P2P2。1Fig．1AnelectricvehicledrivesystemtopologyP2、、、、、、。。691919。1P2、。JEM·θ¨EM=TEM－DEMn2·θ¨EM－Cswn2·θEM－θrad·n－Dswn2θ·EM－θ·rad·nJvehn2·θ¨rad·n=Cswn2θEM－θrad·n－Dveh·θ·radn+Dswn2θ·EM－θ·rad·n－Tvehn。1JEMJvehDswCswTEMTvehDEMDvehn。TEMHCUJEM·θEM·s2=TEM－DEMn2·θEM·s－Cswn2·θEM－nθradJveh·θrad·s2=CswθEMn－θ()rad－Dveh－θrad－TvehTw=CswθEMn－θ()radθ·EM=ωEMθ·rad=ωveh。22、、3Gωs=ωEMsTEMsGaccs=avehsTEMs=Csw·n·s·ＲtTEMs}。3TEMs=n2·JEM·Jveh·s3+n2·JEM·Dveh+n·Jveh·DEM·s2+n2Csw·JEM+n·DEM·Dveh+Csw·Jveh·s+n·Csw·DEM+Csw·DvehωEMs=n2·Jveh·s2+n2·Dveh·s+n2·Csw。2Fig．2Transmissionmodeldiagram。33GωsGaccs。JSMJvehCswJveh240kg/mJEM0.122kg/m14.46200N·m/rad。8Hz12Hz。3GωsGaccsFig．3MotorspeedtransferfunctionGωsandvehicleaccelerationtransferfunctionGaccs799P2、、10Hz。2。。20。123456。MT-PAIdIdIq。T=32·p·ψfIq+Ld－LqIdIq4ψFLddLqq4Tr=32·p·ΔψfIq+ΔLdqIdIq+Tcogθ5TcogΔψfΔLdqdq。Tcog。。dq21Lddiddt=－Ｒsid+ωLqiq+ud－fhqθωLddiqdt=－Ｒsiq－ωLqid－ωψf+uq－fhdθωTm=32·p·idψ^dθ－idψ^qθ[]。6idψ^dθ－idψ^qθ[]dqψ^dθψ^qθ22ψ^dθ=ψd+ψdharm=ψd+fhdθψ^qθ=ψq+ψqharm=ψq+fhdθid=ψd－ψ1Ldiq=ψqLq。7fhdθ=∑∞k=1ψh6k－1+ψh6k+1·cos6kθfhqθ=∑∞k=1－ψh6k－1+ψh6k+1·sin6kθ}。8fhdθfhqθdqψhnn。dqid=i1sinφeliq=－i1cosφel}。9φelLd、Lq。T=32pψ1iq+Ld－Lqidiq+idfhqθ－iqqfhdθ10T=－32pi1cosφelψ1+Ld－Lqi1sinφel+i1∑∞k=1ψh6k+1+ψh6k－12－4ψh6k+1ψh6k－1sin2φ槡el·sin6kθ+arctanψh6k－1+ψh6k－1ψh6k+1－ψn6k－1ctanφ()[]el。11ψ132pψ1iq32pLd－Lq×8919idiqi∑∞k=1ψh6k+1+ψh6k－12－4ψh6k+1ψh6k－1sin2φ槡el·sin6kθ+arctanψh6k+1+ψh6k－1ψh6k+1－ψh6k－1ctanφ()[]el。116n6n6nfefen=123……∞。φelMTPAfe。3。。12。4。4Fig．4Thestructurefothetorquefluctuationdetectionsystem122030.05mm4163845。TWs=Ksθms－θls+sDsθms－θlsJmθms2=Tes－TWsJlθls2=TWs－Tls}。12Gtests=TWsTes=1s2JmKs+Jl+JmJl。13、135180°。JlJl+Jm。5GtestsFig．5Bodeplotsofthetorquerippledynamictestingtransferfunction469990.5720。A、B、C。6Fig．6Staticlocked－rotordevice4P21030100Nm。。120、240、300、360r/min。7120、240、300、360r/min8120、240、300、360r/min。7120r/min240r/min16300r/min360r/min。84FFT6fe36nfen=1。412fe、18feFFT300r/min12fe600Hz0.1N·m。4FFT160～170Hz。240、300、360r/min240、300、360Hz120Hz240Hz180°4160～170Hz。、。7100N·mFig．7Underdifferentspeed100N·mtorquerippletestcurve100N·m。910～3606612、18FFT。5N·m120r/min0011910N·m。。8100N·mFig．8Underdifferentspeed100N·mtorquerippletestspectrum。MTPA。9100N·mFig．9Staticlockedrotortestthree-phasecurrentandrotorpositionanglecorrespondingto100N·mtorquerippletestcurve5126nMTPA34。1STAMENKOVICIJOVANOVICDVUKOSAVICS．Torquerip-pleverificationinPMmachinesC//TheInternationalConfer-enceonComputerasaTool-EUＲOCONNov21－242005Bel-gradeYugoslavia．200521497－1500．2ZHUZQWULJXIAZP．Anaccuratesubdomainmodelformagneticfieldcomputationinslottedsurface-mountedpermanent-magnetmachinesJ．IEEETransactionsonMagnetics20104641100－1115．3．J．20072229－14．WUMaogangZHAOＲongxiang．Analysisoftorqueripplesofvector-controlledpermanentmagnetsynchronousmotorsJ．TransactionsofChinaElectrotechnicalSocoety20072229－14．10194NGBHＲAHMANMFLOWTSetal．Aninvestigationintotheeffectsofmachineparametersontorquepulsationsinabrush-lessDCdriveC//14thAnnualConferenceofIndustrialElec-tronicsSocietyOct24－281988Singapore．19883749－754．5HUNGJYDINGZ．DesignofcurrentstoreducetorquerippleinbrushlesspermanentmagnetmotorsJ．IEEEProceedingsBE-lectricPowerApplications19931404260－266．6HOLTZJSPＲINGONL．Identificationandcompensationoftorquerippleinhigh-precisionpermanentmagnetmotordrivesJ．IEEETransactionsonIndustrialElectronics1996432309－320．7QIANWXUJXPANDASK．Periodictorqueripplesminimi-zationinPMSMusinglearningvariablestructurecontrolbasedonatorqueobserverC//The29thAnnualConferenceoftheIEEEIn-dustrialElectronicsSocietyNov2－62003Sin