CN101882170A - Three-dimensional virtual brushless DC motor dynamic simulation method - Google Patents

Abstract

The invention relates to a three-dimensional virtual brushless DC motor dynamic simulation method, belonging to the technical field of computer aided design (CAD). The method comprises the following steps: a, establishing a mechanism model for a brushless DC motor; b, establishing a three-dimensional virtual reality scene model for the brushless DC motor, i.e. establishing the three-dimensional model of each part and load of the brushless DC motor, and converting the three-dimensional models into 3ds files and outputting the 3ds files; c, realizing the virtual reality scene; and d, realizing the interaction of virtual simulated programs. When the three-dimensional brushless DC motor of the invention carries out an interaction operation, the visualization is good; and when the brushless DC motor carries out the interaction, the invention can lead the motor design to reach the optimum performance by amending the motor design and operating parameters in the interaction process, and can be used for testing the design performance of the brushless DC motor in advance.

Description

Three-dimensional virtual brushless DC motor dynamic simulation method

Technical field

The present invention relates to a kind of dynamic emulation method, especially a kind of three-dimensional virtual brushless DC motor dynamic simulation method, specifically a kind of dynamic emulation method to the three-dimensional visualization virtual brushless DC motor belongs to the technical field of computer-aided design (CAD).

Background technology

In nearly decades, along with the raising of Computing ability, the Aided Design of computing machine has been carried out a large amount of research both at home and abroad, develop many outstanding computer aided design softwares.At present, in electromechanics trade, CAD software has been the indispensable aid of motor developer, and it has reduced designers' workload widely, and people are freed from troublesome calculation in the past.

Abroad, computer aided design software mainly contains the SolidWorks3D software of U.S. SolidWorks company exploitation, the Pro/Engineer software of U.S. parameter technology company (Parametic technology Corporation) exploitation, the AutoCAD software of U.S. autodesk, inc. exploitation, the UG software of EDS company exploitation, and they almost are indispensable instruments in the mechanical industry.Though aforementioned calculation machine Autocad is powerful, for the design of motor, their specific aim is not strong.

At home, Aided Design to motor has also been carried out a large amount of research, the Visual EMCAD software of Zhejiang University's exploitation that wherein representative is, this software have comprised that threephase asynchronous, monopole asynchronous motor, DC are electronic, the design of single phase series motor, brushless, permanently excited direct current motor and switched reluctance motor.Also the Aided Design of motor some researchs have been carried out in some enterprises at home, comprising the southern ox single phase series motivated motor design software of south, high and new technology industrial development zone, Ningbo ox motor technology company limited exploitation, southern ox outer rotor threephase asynchronous machine design software etc.Though they all are special software at the motor Aided Design, but the analysis result that is to use these Autocad gained all is the form with X-Y scheme and chart to be provided, therefore its intuitive and interactivity are limited, and it can not carry out dynamic simulation to motor in the time ruuning situation that drives load in advance; Can not carry out effective evaluation to the Aided Design motor properties, be unfavorable for the improvement of design of electrical motor, prolong the time of design of electrical motor, increase the cost of design of electrical motor.

Summary of the invention

The objective of the invention is to overcome the deficiencies in the prior art, a kind of three-dimensional virtual brushless DC motor dynamic simulation method is provided, it can carry out dynamic simulation to the situation of dc brushless motor, and is visual strong, can design the reliability height alternately.

According to technical scheme provided by the invention, described three-dimensional virtual brushless DC motor dynamic simulation method comprises the steps:

A, set up the mechanism model of dc brushless motor: comprise the type of size, rated speed, stator punching and the rotor punching of dc brushless motor, rated power, rated voltage and the rated current of dc brushless motor, described dc brushless motor mathematical model, drive load module and temperature variation model;

B, set up the three-dimension virtual reality model of place of dc brushless motor: set up the various piece of dc brushless motor and the three-dimensional model of load, and described three-dimensional model is converted to the output of 3ds file;

C, realization virtual reality scenario: the simulation calculating program module of setting up dc brushless motor according to the mechanism model of dc brushless motor among the step a, described simulation calculating program module reads the information of setting up database in advance, mechanism model to dc brushless motor carries out simulation calculation, and the simulation calculation result of output dc brushless motor; Described database comprises the parameter of some dc brushless motor mechanism models and the running environment parameter of dc brushless motor;

D, realize the mutual of virtual emulation program: the 3ds file that generates among the read step b, and generate corresponding three-dimensional dc brushless motor figure; Described three-dimensional dc brushless motor figure utilizes step c simulation calculation result to drive, and described three-dimensional dc brushless motor is carried out interactive operation, and utilizes output device that the operation of three-dimensional dc brushless motor is dynamically represented.

The mathematical model of dc brushless motor is among the described step a,

$\left[\begin{array}{c}{U}_1\\ U_2\\ U_3\end{array}\right]=\left[\begin{array}{ccc}{R}_s& 0& 0\\ 0& R_s& 0\\ 0& 0& R_s\end{array}\right]\left[\begin{array}{c}{i}_1\\ i_2\\ i_3\end{array}\right]+\left[\begin{array}{ccc}L-M& 0& 0\\ 0& L-M& 0\\ 0& 0& L-M\end{array}\right]p\left[\begin{array}{c}{i}_1\\ i_2\\ i_3\end{array}\right]+\left[\begin{array}{c}{e}_1\\ e_2\\ e_3\end{array}\right];$

Wherein, U ₁, U ₂, U ₃Be respectively threephase stator phase winding voltage, i ₁, i ₂, i ₃Be respectively threephase stator phase winding electric current, L is the self-induction of every phase winding, and M is the mutual inductance between any two phase windings, e ₁, e ₂, e ₃Be respectively threephase stator phase winding electromotive force, p is a differentiating operator; R _sResistance for arbitrary stator winding.

The mathematical model of driven by Brush-Less DC motor load is among the described step a,

$T_e-T_L-\mathrm{B\ω}=J\frac{\mathrm{d\ω}}{\mathrm{dt}};$

Wherein, T _eBe the electromagnetic torque of dc brushless motor output, T _LBe load torque, B is a ratio of damping, and ω is the dc brushless motor angular velocity of rotation, and J is a moment of inertia.

The temperature variation model of dc brushless motor is among the described step a,

θ＝θ ₀+(θ _∞-θ ₀)(1-e ^-tT)；

Wherein, θ is the temperature rise of thermal objects surface for surrounding medium, θ ₀Be the initial temperature rise of thermal objects, θ _∞Be heat up temperature after stable of thermal objects, T is a heating time constant.

Advantage of the present invention: during described three-dimensional dc brushless motor interactive operation, visual voltinism is good; By the scheme that adopts multi-windows to show to described reciprocal process, can effectively monitor dc brushless motor internal operation state, load operation conditions simultaneously, be convenient to the running status of dc brushless motor is effectively analyzed, improved the efficient of design of electrical motor.When dc brushless motor is mutual, can the design and the operational factor of motor be revised, can make the design of motor reach optimum performance, can test the dc brushless motor performance of design in advance by in the interactive operation process.

Description of drawings

Fig. 1 is the process flow diagram of dynamic simulation of the present invention.

Fig. 2 is the equivalent circuit diagram of described dc brushless motor.

The synoptic diagram that Fig. 3 adopts multi-windows to show during for interactive operation.

Embodiment

The invention will be further described below in conjunction with concrete drawings and Examples.

As shown in Figure 1: for dc brushless motor being carried out the process flow diagram of three dimension dynamic simulation.Described dc brushless motor carries out three dimension dynamic simulation and comprises the steps:

A, set up the mechanism model of dc brushless motor: comprise the type of size, rated speed, stator punching and the rotor punching of dc brushless motor, rated power, rated voltage and the rated current of dc brushless motor, described dc brushless motor mathematical model, drive load module and temperature variation model;

According to the parameter designing of early stage, obtain the key dimension parameter of dc brushless motor to dc brushless motor; In the design of dc brushless motor, as long as size comprises armature diameter D _aWith armature core effective length L _a, these two parameters have been determined appearance profile, weight and the Master Cost of dc brushless motor, with the technical performance index of motor substantial connection are arranged.Under the rated power and rotating speed of given dc brushless motor, armature diameter D _aWith armature core effective length L _aThe relation that meets with electromagnetism is as follows,

$D_a^2{L}_a=\frac{6.1\×{10}^7}{B_{\mathrm{\δ}}{\mathrm{A\α}}_i}\·\frac{P^{\′}}{n_N};---\left(1\right)$

D _aBe armature diameter (cm), L _aBe armature core length (cm), n _NBe rated speed (r/min) that A is electric load (A/cm), B _δFor magnetic loading is motor gas-gap magnetic close (T), α _iBe permanent magnet polar arc coefficient, P ' is electromagnetic power (VA).

Rated speed n when described dc brushless motor _NAfter determining, by

Know that the number of poles p of described dc brushless motor can determine that also wherein f is the frequency of electrical network, the frequency of Chinese electrical network is 50Hz.The magnetic structure form of dc brushless motor is relevant with selected permanent magnetic material, decides according to concrete application requirements.The rotor structure form of dc brushless motor mainly contains salient mounting formula, embedded, three kinds of citation forms of built-in type.

According to the structure of dc brushless motor, the modeling of motor should comprise modeling motor case, rotor, rotating shaft, rotor punching, assembly such as armature winding fan.Dc brushless motor structurally is divided into two classes: internal rotor DC Brushless Motor, stator outside, permanent magnet is interior; Outer rotor dc brushless motor, stator are interior, and permanent magnet outside.External rotor brushless DC motor is made up of 3 parts: motor body, rotor-position sensor, electronic commutation circuit.The common AC/DC motor of texture ratio of external-rotor-type square wave permanent magnetic motor more simple, its excitation is produced by the permanent magnet that is bonded in rotor surface.Should select grooved (or groove, slotless are arranged) when the user designs earlier, select rotor structure (inside and outside rotor) again, and then carry out the detail parameters design.

Suppose that dc brushless motor is operated in two and is conducted under star three-phase six states, counter potential waveform is that flat-top width is the trapezoidal wave of 120 ° of electrical angles; Motor magnetic circuit in the course of the work is unsaturated, disregards eddy current and magnetic hysteresis loss, and three phase windings are symmetry fully, and air-gap field is a square wave, and stator current, rotor field distribute all symmetrical, and armature winding is in the even continuous distribution of stator inner surface.

If U ₁, U ₂, U ₃Be stator phase winding voltage; i ₁, i ₂, i ₃Be stator phase winding electric current; e ₁, e ₂, e ₃Be stator phase winding electromotive force; L is the self-induction of every phase winding; M is the mutual inductance between per two phase windings; δ is a differentiating operator, δ=d/dt, and then the balance of voltage equation of three phase windings can be expressed as:

$\left[\begin{array}{c}{U}_1\\ U_2\\ U_3\end{array}\right]=\left[\begin{array}{ccc}{R}_s& 0& 0\\ 0& R_s& 0\\ 0& 0& R_s\end{array}\right]\left[\begin{array}{c}{i}_1\\ i_2\\ i_3\end{array}\right]+\left[\begin{array}{ccc}L& M& M\\ M& L& M\\ M& M& L\end{array}\right]\mathrm{\δ}\·\left[\begin{array}{c}{i}_1\\ i_2\\ i_3\end{array}\right]+\left[\begin{array}{c}{e}_1\\ e_2\\ e_3\end{array}\right];---\left(2\right)$

When the voltage of three phase windings is Y-connection, and when not having center line, then have:

i ₁+i ₂+i ₃＝0 (3)

And

Mi ₂+Mi ₃＝-Mi ₁ (4)

With formula (3) and (4) formula substitution (2) formula, can obtain voltage equation and be:

$\left[\begin{array}{c}{U}_1\\ U_2\\ U_3\end{array}\right]=\left[\begin{array}{ccc}{R}_s& 0& 0\\ 0& R_s& 0\\ 0& 0& R_s\end{array}\right]\left[\begin{array}{c}{i}_1\\ i_2\\ i_3\end{array}\right]+\left[\begin{array}{ccc}L-M& 0& 0\\ 0& L-M& 0\\ 0& 0& L-M\end{array}\right]\mathrm{\δ}\left[\begin{array}{c}{i}_1\\ i_2\\ i_3\end{array}\right]+\left[\begin{array}{c}{e}_1\\ e_2\\ e_3\end{array}\right]---\left(5\right)$

Can draw the equivalent electrical circuit of motor by formula (5) formula, as shown in Figure 2.

The electromagnetic torque of dc brushless motor is produced by the magnetic field interaction that electric current in the stator winding and rotor magnetic steel produce.Therefore, the electromagnetic torque equation can be expressed as:

$T_e=\frac{1}{\mathrm{\ω}}(e_1{i}_1+e_2{i}_2+e_3{i}_3)---\left(6\right)$

If T _LBe load torque; J is the moment of inertia of motor; ω is the angular velocity of rotation of dc brushless motor, and then the mechanical motion equation can be expressed as:

$T_e-T_L-\mathrm{B\ω}=J\frac{\mathrm{d\ω}}{\mathrm{dt}}---\left(7\right)$

In general, motor has various mechanical loads, as household electrical appliance such as sound-track engraving apparatus, VCD machine etc.Motor can be divided into forms such as making load is dilatory, lifting, rotation to the load acting.

Enumerate motor driving system model emulation commonly used, i.e. a crane lifting system below.If load is the object that needs rotate, and require to have certain rotating speed, dc brushless motor just needs the output rotating torques so.Hoisting gear with crane is an example, and its mathematical model is: the hoisting gear of crane is straight-line working mechanism, and establishing its steel cable pulling force is F, and the weight that promotes object is G, at the uniform velocity rises or descends with speed v.The steel cable pulling force reflects a torque T on motor shaft _LWe are constant with delivering power, do not consider that power transmission loss converts.Have

T _LΩ＝Fv

Motor angular velocity Ω (rad/s) is converted into r/min, Ω=2 π n/60 then, then following formula becomes

$T_L=9.55\frac{\mathrm{Fv}}{n}$

F is working mechanism's linear function power (N), and v is weight pulling speed (m/s), T _LFor power F conversion is the resistive torque (Nm) on the motor shaft, 9.55 is the unit conversion coefficient.

The hoisting gear of crane belongs to the constant torque load characteristic, i.e. load torque T _LIrrelevant with rotation speed n, when rotation speed change, T is changeed in load _LIt is constant that square keeps; Can access dc brushless motor by formula (7) and drive the mathematical model that load promotes object.

Any one efficiency of motor all can not be 100%, and motor always some power attenuation is converted into heat, if therefore motor rotation and drive load after, motor will generate heat, the temperature of motor itself will raise, and cause the intensification of motor.Owing to bearing temperatures such as the enameled wire in the motor, insulation course, commutator are limited, if the temperature of motor liter is too high, the critical piece in the motor will damage even burn, and is therefore extremely important in design of electrical motor and production to the measurement of electric machine temperature rise.

The temperature variation model of described dc brushless motor: supposition dc brushless motor heating part is even object, adopts a kind of heating computing method commonly used, considers the energy equilibrium of dt time internal heat generation object, has

Qdt＝Cdθ+αSθdt (8)

Q is the heat that even object is produced in the unit interval, and C is the thermal capacity of object, and α is the coefficient of heat transfer on thermal objects surface, and S is the surface area of heater, and θ is the temperature rise of body surface for surrounding medium.

When the object heating reached stable state, object reached stable temperature rise θ _∞Temperature rise no longer changes, Cd θ=0, and the substitution following formula,

Qdt＝αSθ _∞dt (9)

${\mathrm{\θ}}_{\∞}=\frac{Q}{\mathrm{\αS}}---\left(10\right)$

If solve unstable problem of temperature rise, equation (8) is found the solution

θ＝θ ₀+(θ _∞-θ ₀)(1-e ^-tT) (11)

θ ₀Be the initial temperature rise of object,

Heating time constant for even thermal objects.

B, set up the three-dimension virtual reality model of place of dc brushless motor: set up the various piece of dc brushless motor and the three-dimensional model of load, and described three-dimensional model is converted to the output of 3ds file;

Utilize existing 3 d modeling software such as 3DMAX, Pro/Engineer, Solidworks etc. to set up the three-dimensional model of each ingredient of dc brushless motor, and the load module of dc brushless motor set up corresponding three-dimensional model, obtain the three-dimension virtual reality scene of dc brushless motor; Derive the 3ds file of described three-dimensional reality scene by above-mentioned 3 d modeling software.The 3ds file of corresponding output, we can set up corresponding model bank and model base management system, and model base management system carries out storage, inquiry, management and the maintenance to output model; Can store the dc brushless motor of different designs in the model bank, carry out same management, provide necessary replenishing the design of follow-up dc brushless motor and emulation by model base management system.

C, realization virtual reality scenario: the simulation calculating program module of setting up dc brushless motor according to the mechanism model of dc brushless motor among the step a, described simulation calculating program module reads the information of setting up database in advance, mechanism model to dc brushless motor carries out simulation calculation, and the simulation calculation result of output dc brushless motor; Described database comprises the parameter of some dc brushless motor mechanism models and the running environment parameter of dc brushless motor;

Adopt object-oriented programming language C++, mathematical model according to the dc brushless motor that obtains among the step a, the temperature variation model of the mathematical model of driven by Brush-Less DC motor load and dc brushless motor, utilize the C++ programming language to above-mentioned each mathematical model establishment computing simulated program, set up the simulation calculating program module of dc brushless motor.Set up the database of dc brushless motor running state parameter, the a large amount of dc brushless motor environment operational factors of input in database, the simulation calculating program module is by the environment operational factor in the reading database, realization is exported the emulation technology result of dc brushless motor to the simulation calculation of dc brushless motor.

D, realize the mutual of virtual emulation program: the 3ds file that generates among the read step b, and generate corresponding three-dimensional dc brushless motor figure; Described three-dimensional dc brushless motor figure utilizes step c simulation calculation result to drive, and described three-dimensional dc brushless motor is carried out interactive operation, and utilizes output device that the operation of three-dimensional dc brushless motor is dynamically represented;

Utilize Object-oriented Programming Design language C++ to write the program module that reads the 3ds file earlier, extract the model data of three-dimensional brshless DC motor; Read the model data that the C++ programming is extracted by OpenGL (Open Graphics Library) image software interface again, reconstruct dc brushless motor in OpenGL image software interface, generate corresponding three-dimensional dc brushless motor figure, by among the read step c to the simulation architecture of dc brushless motor, realization drives the three-dimensional dc brushless motor graphic file in the OpenGL graphics software interface, make the running status of three-dimensional dc brushless motor corresponding in the OpenGL graphics software interface, utilize OpenGL graphics software interface can also realize the interactive operation of user motor emulation in correspondence; Described OpenGL graphics software interface also has output interface, utilizes output device that the running status of three-dimensional dc brushless motor is dynamically represented.

In OpenGL graphics software interface, can also arrange the scene of carrying out that reads the three-dimensional dc brushless motor figure that the 3ds file generates.When utilizing OpenGL graphics software interface that dc brushless motor is carried out the scene layout, dc brushless motor surface and carrier surface adopt the method for texture to join in the scene, select 2 for use ⁿThe bmp picture of size is as texture, and wherein n is a pixel count; Select suitable mapping point again, realize texture is carried out on dc brushless motor surface and carrier surface; Be the scene lighting at last, in OpenGL graphics software interface, open the illumination function of scene.

Interaction technique is to set up the fundamental sum sixty-four dollar question that virtual experimental will solve, alternately not only can be to user's presentation information, allow the user to transmit some control informations simultaneously, can come the operation of control program such as the user by peripheral hardwares such as keyboard, mouses to program.

In three-dimensional DC brushless motor system dummy emulation system, can regard as the interactive operation of virtual brushless DC motor and load it is carried out translation, rotation, convergent-divergent, the combination of symmetry operation, the user can be from arbitrarily angled electric rotating machine, be convenient to observe the ruuning situation of electric system like this, the user also can adjust the size of motor by some parameter of input motor, as changing the motor stator external diameter, the size of diameter of stator bore, perhaps the user can change the magnitude of voltage of motor input, computing by simulated program, with the operation of the virtual motor of data-driven that obtains, with the situation of change of testing of electric motors running status.

In OpenGL graphics software interface, set transformation matrix

$\mathrm{\Φ}=\left[\begin{array}{cccc}g& 0& 0& 0\\ 0& h& 0& 0\\ 0& 0& j& 0\\ 0& 0& 0& k\end{array}\right],$

Wherein, the effect of element g, h, j and k is to make space multistory produce part or population proportion conversion on the principal diagonal.

(i), local proportion conversion

Utilize element g, h on the principal diagonal, the conversion of j control ratio in transformation matrix Ф, element k=1 on last principal diagonal makes that all the other elements are zero, then any three-dimensional point in space (local proportion z) is transformed to for x, y,

$[x,y,z,1]\left[\begin{array}{cccc}g& 0& 0& 0\\ 0& h& 0& 0\\ 0& 0& j& 0\\ 0& 0& 0& 1\end{array}\right]=\left[\begin{array}{cccc}\mathrm{gx}& \mathrm{hy}& \mathrm{jz}& 1\end{array}\right]=\left[\begin{array}{cccc}{x}^{\′}& y^{\′}& z^{\′}& 1\end{array}\right]$

Be x '=gx, y '=hy, z '=jz.Hence one can see that, spatial point (x, y, z) coordinate respectively in proportion coefficient g, h, j carry out conversion, whole three-dimensional dc brushless motor figure is amplified in proportion or dwindle.

(ii), full scale conversion

The full scale transformation matrix is $\mathrm{\Φ}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& k\end{array}\right]$

$[x,y,z,1]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& k\end{array}\right]\left[\begin{array}{cccc}x& y& z& k\end{array}\right]=\left[\begin{array}{cccc}x/k& y/k& z/k& 1\end{array}\right]=\left[\begin{array}{cccc}{x}^{\′}& y^{\′}& z^{\′}& 1\end{array}\right]$

Be x '=x/k, y '=y/k, z '=z/k, hence one can see that:

When k＞1, then three-dimensional dc brushless motor all directions scaled down;

When 0＜k＜1, then three-dimensional dc brushless motor all directions equal proportion is amplified.

(iii), D translation conversion

Translation transformation is to make three-dimensional dc brushless motor at spatial translation one segment distance, and the shape and the size of described three-dimensional dc brushless motor remain unchanged.(transformation matrix z) is the space any point for x, y

$\mathrm{\Φ}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ l& m& n& 1\end{array}\right]$

$[x,y,z,1]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ l& m& n& 1\end{array}\right]=\left[\begin{array}{cccc}x+l& y+m& z+n& 1\end{array}\right]=\left[\begin{array}{cccc}{x}^{\′}& y^{\′}& z^{\′}& 1\end{array}\right]$

Be x '=x+l, y '=y+m, z '=z+n; L, m, n are respectively along x, y, the axial translational movement of z, described l, m, the positive negative indication of n the translation direction of space any point.

(iv), three-dimensional symmetry transformation

In the simplest symmetry transformation of three dimensions is the conversion that is symmetrical in coordinate plane.The space is during a bit to the conversion of xOy coordinate surface, point (x, y) coordinate is constant, only changes the sign of z.Therefore, its transformation matrix is

${\mathrm{\Φ}}_{\mathrm{xOy}}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& -1& 0\\ 0& 0& 0& 1\end{array}\right]$

In like manner, be respectively to the symmetry transformation matrix of xOz coordinate with to the symmetry transformation matrix of yOz coordinate surface

${\mathrm{\Φ}}_{\mathrm{xOz}}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& -1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]$ ${\mathrm{\Φ}}_{\mathrm{yOz}}=\left[\begin{array}{cccc}-1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]$

(v), three-dimensional rotation conversion

The three-dimensional rotation conversion is meant that space multistory rotates the γ angle around coordinate axis, and is positive and negative definite by the right-hand rule.Size and shape three-dimensional before and after the rotational transform do not change, and just variation has taken place the relative original position in locus.When three-dimensional dc brushless motor during around the rotation of a certain coordinate axis, each point is constant in this axial coordinate value on the three-dimensional dc brushless motor, and this coordinate axis the coordinate figure on the coordinate surface formed of other vertical two coordinate axis be equivalent to the rotational transform of a two dimension.Object can be rotated around x axle, y axle and z axle, thereby obtains corresponding rotational transform matrix; The rotational transform matrix that obtains relative z axle is

${\mathrm{\Φ}}_z=\left[\begin{array}{cccc}\cos \mathrm{\γ}& \sin \mathrm{\γ}& 0& 0\\ -\sin \mathrm{\γ}& \cos \mathrm{\γ}& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]$

(z) the rotational transform result of z axle is relatively for x, y more arbitrarily in the space

[x?y?z?1]·Ф _z＝[xcosγ-ysinγxsinγ+ycosγz?1]＝[x′y′z′1]

Be x '=xcos γ-ysin γ, y '=xsin γ+ycos γ, z '=z;

The space rotational transform matrix of a bit relative x axle arbitrarily is

${\mathrm{\Φ}}_x=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& \cos \mathrm{\γ}& \sin \mathrm{\γ}& 0\\ 0& -\sin \mathrm{\γ}& \cos \mathrm{\γ}& 0\\ 0& 0& 0& 1\end{array}\right];,$

(z) the rotational transform result of x axle is relatively for x, y more arbitrarily in the space

[x?y?z?1]·Ф _x＝[xycosγ-zsinγ?ysinγ+zcosγ?1]＝[x′y′z′1]

Be x '=x, y '=ycos γ-zsin γ, z '=ysin γ+zcos γ;

The space rotational transform matrix of a bit relative y axle arbitrarily is

${\mathrm{\Φ}}_y=\left[\begin{array}{cccc}\cos \mathrm{\γ}& 0& -\sin \mathrm{\γ}& 0\\ 0& 1& 0& 0\\ \sin \mathrm{\γ}& 0& \cos \mathrm{\γ}& 0\\ 0& 0& 0& 1\end{array}\right]$

(z) the rotational transform result of y axle is relatively for x, y more arbitrarily in the space

[x?y?z?1]·Ф _y＝[xcosγ+zsinγy-xsinγ+zsinγ1]＝[x′y′z′1]

Be x '=xcos γ+zsin γ, y '=y, z '=-xsin γ+zsin λ.

By above-mentioned mutual transformation matrix is set, when in OpenGL graphics software interface, three-dimensional brush DC being exchanged, can access the three-dimensional dc brushless motor of corresponding mutual conversion in OpenGL graphics software interface; Carry out Simulation drive by the three-dimensional dc brushless motor of simulation calculation result after, and dynamically represent by the running status of output device to three-dimensional dc brushless motor to above-mentioned mutual conversion.

Utilize OpenGL graphics software interface to three-dimensional dc brushless motor dynamic simulation system in, adopt orthogonal projection that dc brushless motor and load are mapped directly on the screen, final like this image reflection be the actual size of object.Adopt the multi-windows displaying scheme in addition, the viewing area is divided into 4 parts, the content that the demonstration of each part is different, as shown in Figure 3, first is used for showing the ruuning situation of motor and load integral body, and second portion is used for showing the operation conditions of motor internal, ruuning situation as rotor, third part is the parameter input window, is used for adjusting the parameter of motor, makes motor reach best operational effect.The 4th part is the parameter output window, as the temperature rise that shows motor with virtual temperature indicator, rotating speed of motor etc.

During three-dimensional dc brushless motor interactive operation of the present invention, visual voltinism is good; By the scheme that adopts multi-windows to show to described reciprocal process, can effectively monitor dc brushless motor internal operation state, load operation conditions simultaneously, be convenient to the running status of dc brushless motor is effectively analyzed, improved the efficient of design of electrical motor.When dc brushless motor is mutual, can the design and the operational factor of motor be revised, can make the design of motor reach optimum performance, can test the dc brushless motor performance of design in advance by in the interactive operation process.

Claims (4)

1. a three-dimensional virtual brushless DC motor dynamic simulation method is characterized in that, described dynamic emulation method comprises the steps:

(a), set up the mechanism model of dc brushless motor: the mathematical model, driving load module and the temperature variation model that comprise the type of size, rated speed, stator punching and the rotor punching of dc brushless motor, rated power, rated voltage and the rated current of dc brushless motor, described dc brushless motor;

(b), set up the three-dimension virtual reality model of place of dc brushless motor: set up the various piece of dc brushless motor and the three-dimensional model of load, and described three-dimensional model is converted to the output of 3ds file;

(c), realize virtual reality scenario: the simulation calculating program module of setting up dc brushless motor according to the mechanism model of dc brushless motor in the step (a), described simulation calculating program module reads the information of setting up database in advance, mechanism model to dc brushless motor carries out simulation calculation, and the simulation calculation result of output dc brushless motor; Described database comprises the parameter of some dc brushless motor mechanism models and the running environment parameter of dc brushless motor;

(d), realize the mutual of virtual emulation program: the 3ds file that generates in the read step (b), and the corresponding three-dimensional dc brushless motor figure of generation; Described three-dimensional dc brushless motor figure utilizes step (c) simulation calculation result to drive, and described three-dimensional dc brushless motor is carried out interactive operation, and utilizes output device that the operation of three-dimensional dc brushless motor is dynamically represented.

2. three-dimensional virtual brushless DC motor dynamic simulation method according to claim 1 is characterized in that: the mathematical model of dc brushless motor is in the described step (a),

$\left[\begin{array}{c}{U}_1\\ U_2\\ U_3\end{array}\right]=\left[\begin{array}{ccc}{R}_s& 0& 0\\ 0& R_s& 0\\ 0& 0& R_s\end{array}\right]\left[\begin{array}{c}{i}_1\\ i_2\\ i_3\end{array}\right]+\left[\begin{array}{ccc}L-M& 0& 0\\ 0& L-M& 0\\ 0& 0& L-M\end{array}\right]p\left[\begin{array}{c}{i}_1\\ i_2\\ i_3\end{array}\right]+\left[\begin{array}{c}{e}_1\\ e_2\\ e_3\end{array}\right];$

Wherein, U ₁, U ₂, U ₃Be respectively threephase stator phase winding voltage, i ₁, i ₂, i ₃Be respectively threephase stator phase winding electric current, L is the self-induction of every phase winding, and M is the mutual inductance between any two phase windings, e ₁, e ₂, e ₃Be respectively threephase stator phase winding electromotive force, p is a differentiating operator; R _sResistance for arbitrary stator winding.

3. three-dimensional virtual brushless DC motor dynamic simulation method according to claim 1 is characterized in that: the mathematical model of driven by Brush-Less DC motor load is in the described step (a),

$T_e-T_L-\mathrm{B\ω}=J\frac{\mathrm{d\ω}}{\mathrm{dt}};$

Wherein, T _eBe the electromagnetic torque of dc brushless motor output, T _LBe load torque, B is a ratio of damping, and ω is the dc brushless motor angular velocity of rotation, and J is a moment of inertia.

4. three-dimensional virtual brushless DC motor dynamic simulation method according to claim 1 is characterized in that: the temperature variation model of dc brushless motor is in the described step (a),

θ＝θ ₀+(θ _∞-θ ₀)(1-e ^-tT)；

Wherein, θ is the temperature rise of thermal objects surface for surrounding medium, θ ₀Be the initial temperature rise of thermal objects, θ _∞Be heat up temperature after stable of thermal objects, T is a heating time constant.

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