自主潜航器推进用磁场调制分数槽永磁电机的优化控制策略综述

doi:10.12382/bgxb.2025.0649

摘要/Abstract

摘要：

磁场调制分数槽电机利用磁场调制效应取消了传统电力推进中的齿轮箱结构，简化了电力推进系统结构，降低了系统的机械噪声，且具有的功率密度大、转矩密度高等优势而适用于自主式潜航器电力推进领域。磁场调制电机可利用多个励磁磁密谐波协同工作，显著提升电机的转矩密度，但类型电机同时会调制出部分低次电枢磁密谐波，导致磁场调制类电机功率因数低、谐波损耗大以及转矩脉动大等问题，对自主式潜航器的隐身性和工作效率产生了负面影响。将从电机优化控制层面，重点介绍转矩脉动抑制、提高功率因数以及效率优化的控制策略。最后对此类电机在新能源发电、舰船推进和电动汽车上应用的技术现状进行总结，并讨论该类电机在自主式潜航器上应用的关键技术和发展方向。

关键词: 自主式潜航器, 磁场调制效应, 分数槽, 谐波抑制, 优化控制

Abstract:

Magnetic field-modulated fractional-slot permanent magnet motor utilizes the magnetic field modulation effect to eliminate the need for the gearbox structure in traditional electric propulsion system，which simplifies the electric propulsion system architecture and reduces mechanical noise.Furthermore，magnetic field -modulated fractional-slot permanent magnet motor is particularly suitable for the electric propulsion of AUVs due to their high power density and high torque density.Magnetic field -modulated fractional-slot permanent magnet motor can utilize multiple harmonic components of the excitation magnetic flux density to work cooperatively，significantly enhancing the motor’s torque density.However，this type of motor simultaneously modulates certain low-order harmonic components of the armature magnetic flux density.This leads to the issues such as low power factor，high harmonic losses，and significant torque ripple in magnetic field-modulated motors，negatively impacting the stealth capabilities and operational efficiency of AUVs.This paper focuses on the control strategies for torque ripple suppression，power factor improvement，and efficiency optimization from the perspective of motor optimization control.Finally，the current state of technology regarding the application of such motors in new energy power generation is summarized，marine propulsion，and electric vehicles，followed by a discussion on the key technologies and future development directions for their application in AUVs.

Key words: autonomous underwater vehicle, flux modulation effect, fractional slot, harmonic suppression, optimized control

姚宇杰, 乔鸣忠, 吴波, 孙路成, 王康宁. 自主潜航器推进用磁场调制分数槽永磁电机的优化控制策略综述[J]. 兵工学报, 2025, 46(S1): 250649-.

YAO Yujie, QIAO Mingzhong, WU Bo, SUN Lucheng, WANG Kangning. A Review on Optimal Control Strategies for Magnetic Field-modulated Fractional-slot Permanent Magnet Motors in Autonomous Underwater Vehicle[J]. Acta Armamentarii, 2025, 46(S1): 250649-.

图/表 25

表1 永磁电机与磁场调制电机性能对比

Table 1 Performance comparison table between permanent magnet motor and magnetic field modulation motor

电机类型	功率密度	效率	振动噪声
永磁电机	较高	全工况较高	较高
磁场调制永磁电机	高	宽转速范围高	低

图1 AUV电力推进系统构造

Fig.1 Schematic diagram of AUV electric propulsion system

表2 FOC与DTC性能对比

Table 2 Performance comparison table between FOC and DTC

控制策略	转矩动态响应	转矩脉动
FOC	较快	小
DTC	快	大

图2 转矩脉动优化控制分类

Fig.2 Classification diagram of torque ripple optimized control

图3 电流环与转速环PIR设计框图

Fig.3 Design block diagram of cascaded PIR controllers for current and speed loops

图4 PMSM伺服系统模型预测控制总体结构

Fig.4 Multilayer architecture diagram of model predictive control for PMSM servo systems

图5 模型预测控制

Fig.5 Schematic diagram of model predictive control

图6 以谐波为导向的转矩脉动抑制控制技术分类

Fig.6 Taxonomy of harmonic-oriented torque ripple suppression control techniques

图7 混合励磁永磁游标电机A+、A-相位的反电动势波形和FFT分析

Fig.7 Back-EMF waveforms and FFT analysis of phase A+/A- in hybrid-excited permanent magnet vernier motor

图8 混合励磁永磁游标电机驱动器谐波电流抑制控制策略

Fig.8 Control structure of harmonic current suppression with active compensation for HE-VPM drives

图9 谐波注入电流控制流程

Fig.9 Harmonic injection current control flowchart

图10 调制电机自抗扰迭代学习控制调速系统

Fig.10 Modulated motor speed regulation system with active disturbance rejection iterative learning control

图11 ILC-ADRC策略

Fig.11 Block diagram of ILC-ADRC strategy

表3 转矩脉动优化控制策略性能对比

Table 3 Torque ripple optimization control strategy performance comparison table

特征	方法
特征	转矩补偿法	谐波优化控制	自抗扰迭代学习控制
动态响应速度	快	中	慢
复杂度	中等	高	高
参数敏感性	高	中	高
优点	实时性强，实现简单	针对性强，谐波抑制效果显著	抗干扰能力强，精度高
缺点	依赖模型和观测器，鲁棒性低	依赖模型和观测器，鲁棒性低	需要多次迭代，存储和计算资源需求高
适用场景	工业伺服系统、电动汽车驱动等实时性要求高的场合	PMSM的齿槽转矩抑制、电力推进系统的低谐波控制等	机械臂驱动、高精度转台等控制精度要求高的场景

图12 表贴式游标永磁电机相量图

Fig.12 Block diagram of ILC-ADRC strategy

图13 单位功率因数弱磁控制

Fig.13 Block diagram of field-weakening control with unity power factor

图14 基于飞跨电容开绕组磁场调制直线永磁电机系统拓扑

Fig.14 Topology of a magnetic-field-modulated linear permanent magnet motor system based on flying-capacitor open-winding

图15 电机效率优化控制策略分类

Fig.15 Classification of efficiency-optimized control strategies for electric motors

图16 MTPAFOC系统

Fig.16 Block diagram of MTPA vector control system

图17 磁场调制永磁电机基于损耗模型控制系统

Fig.17 Block diagram of the efficiency-optimized control system based on loss model for magnetically modulated permanent magnet motors

图18 基于最小损耗模型的在线搜索控制

Fig.18 Block diagram of online search control based on minimum loss model

表4 电机效率优化控制算法比较

Table 4 Comparison of efficiency-optimized control algorithms for electric motors

性能	算法
性能	MTPA	LMC	搜索控制
精度受模型影响度	高	高	低
对参数依赖度	低	高	低
算法复杂度	简单	复杂	复杂
优点	有效降低铜耗	全局效率优化	全局效率优化
缺点	部分效率优化	参数依赖度高	仅适用于稳态

图19 网侧风电控制系统

Fig.19 Grid-side wind power control system

图20 磁场调制轮毂电机内部结构

Fig.20 Internal structure diagram of a magnetically modulated in-wheel motor

图21 磁场调制轮毂电机实物

Fig.21 Actual product photo of a magnetically modulated in-wheel motor

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