永磁同步电机-齿轮传动系统机电耦合动力学特性分析

doi:10.3901/JME.260553

机械工程学报 ›› 2026, Vol. 62 ›› Issue (15): 407-420.doi: 10.3901/JME.260553

• 机械动力学 • 上一篇

扫码分享

永磁同步电机-齿轮传动系统机电耦合动力学特性分析

范朔铭, 刘长钊, 杨聪, 吴南泽, 赵春光

重庆大学高端装备机械传动全国重点实验室重庆 400044

收稿日期:2025-08-01 修回日期:2025-12-20 发布日期:2026-10-13
作者简介:范朔铭，男，2000年出生。主要研究方向为电驱动系统机电复合传动技术。E-mail：fansmcq@qq.com;刘长钊(通信作者)，男，1990年出生，博士，副教授，博士研究生导师。主要研究方向为机电复合传动系统。E-mail：lczcq@qq.com
基金资助:
国家自然科学基金(52375040)和重庆市自然科学基金(CSTB2023NSCQ-MSX0085)资助项目。

Analysis of Electromechanical Coupling Dynamic Characteristics of Permanent Magnet Synchronous Motor Gear Transmission System

FAN Shuoming, LIU Changzhao, YANG Chong, WU Nanze, ZHAO Chunguang

State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044

Received:2025-08-01 Revised:2025-12-20 Published:2026-10-13

摘要/Abstract

摘要： 永磁同步电机-齿轮传动系统广泛应用于新能源汽车、机器人、风电领域，常处于变速变载等复杂工况下，且自身有着转矩脉动、机电耦合等特点，动力学问题复杂，因此有必要开展永磁同步电机-齿轮传动系统机电耦合动力学仿真与实验研究。首先，利用有限元法建立了电机模型，基于矢量控制原理建立了电机控制模型。随后，采用有限元-集中参数混合方法建立了齿轮传动系统动力学模型，并结合电机及控制模型，建立永磁同步电机-齿轮传动系统机电耦合动力学模型。最后，搭建永磁同步电机-齿轮传动系统动力学实验台，通过系统动态特性仿真与实验研究，验证了系统机电耦合动力学模型的正确性，并分析了不同波动频率、齿轮惯量、载波频率和轮齿故障影响下系统动态特性变化规律，揭示了永磁同步电机-齿轮传动系统机电耦合动力学机理。

关键词: 永磁同步电机, 齿轮传动系统, 机电耦合动力学, 动态响应

Abstract: Permanent magnet synchronous motor-gear transmission systems are widely used in new energy vehicles, robots, and wind power fields. They are often in complex working conditions such as variable speed and variable load, and have their own characteristics such as torque ripple and electromechanical coupling. And the dynamic problems are complex. Therefore, it is necessary to carry out simulation and experimental research on the electromechanical coupling dynamics of permanent magnet synchronous motor-gear transmission systems. Firstly, the motor model is established by using the finite element method, and the motor control model is established based on the principle of vector control. Subsequently, the dynamic model of the gear transmission system is established by using the finite element - concentrated parameter hybrid method. Combined with the motor and control model, the electromechanical coupling dynamic model of the permanent magnet synchronous motor - gear transmission system was established. Finally, a dynamic experimental platform for the gear transmission system of permanent magnet synchronous motors is built. Through the simulation and experimental research of the system's dynamic characteristics, the correctness of the electromechanical coupling dynamic model of the system is verified, and the variation laws of the system's dynamic characteristics under the influence of different fluctuation frequencies, gear inertia, carrier frequencies, and gear tooth faults are analyzed. The electromechanical coupling dynamic mechanism of the permanent magnet synchronous motor-gear transmission system has been revealed.

Key words: permanent magnet synchronous motor, gear transmission system, electromechanical coupling dynamics, dynamic response

中图分类号:

TH11

范朔铭, 刘长钊, 杨聪, 吴南泽, 赵春光. 永磁同步电机-齿轮传动系统机电耦合动力学特性分析[J]. 机械工程学报, 2026, 62(15): 407-420.

FAN Shuoming, LIU Changzhao, YANG Chong, WU Nanze, ZHAO Chunguang. Analysis of Electromechanical Coupling Dynamic Characteristics of Permanent Magnet Synchronous Motor Gear Transmission System[J]. Journal of Mechanical Engineering, 2026, 62(15): 407-420.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260553

http://www.cjmenet.com.cn/CN/Y2026/V62/I15/407

参考文献

[1] KUBUR M，KAHRAMAN A，ZINIET D，et al. Dynamic analysis of a multi-shaft helical gear transmission by finite elements：Model and experiment[J]. Journal of Vibration and Acoustics，2004，126(3)：398-406.
[2] WANG Q，MA H，KONG X，et al. A distributed dynamic mesh model of a helical gear pair with tooth profile errors[J]. Journal of Central South University，2018，25(2)：287-303.
[3] YE J，WEI J，ZHANG A，et al. Theoretical and experimental study on the dynamic behavior of spur gear transmission system during hovering maneuver flights[J]. Mechanical Systems and Signal Processing，2024，212：111296.
[4] KIM T J，HWANG S M，PARK N G. Analysis of vibration for permanent magnet motors considering mechanical and magnetic coupling effects[J]. IEEE Transactions on Magnetics，2000，36(4)：1346-1350.
[5] GUSTAVSSON R，AIDANPÄÄ J. The influence of nonlinear magnetic pull on hydropower generator rotors[J]. Journal of Sound and Vibration，2006，297(3-5)：551-562.
[6] CALLEECHARAN Y，AIDANPÄÄ J. Stability analysis of an hydropower generator subjected to unbalanced magnetic pull[J]. IET Science Measurement & Technology，2011，5(6)：231-243.
[7] XIANG C，LIU F，LIU H，et al. Nonlinear dynamic behaviors of permanent magnet synchronous motors in electric vehicles caused by unbalanced magnetic pull[J]. Journal of Sound and Vibration，2016，371：277-294.
[8] XU Y，LI Z，LAI X，Computational model for investigating the influence of unbalanced magnetic pull on the radial vibration of large hydro-turbine generators[J]. Journal of Vibration and Acoustics，2012，134(5).
[9] WU B，SUN W，LI Z，et al. Circular whirling and stability due to unbalanced magnetic pull and eccentric force[J]. Journal of Sound and Vibration，2011，330(21)：4949-4954.
[10] 左曙光，张耀丹，阎礁，等.考虑定子各向异性的永磁同步电机振动噪声优化[J]. 西安交通大学学报，2017，51(5)：60-68. ZUO Shuguang，ZHANG Yaodan，YAN Jiao，et al. Optimization of vibration and noise in permanent magnet synchronous motor considering stator anisotropy[J]. Journal of Xi’an Jiaotong University，2017，51(5)：60-68.
[11] LIU C，QIN D，LIAO Y. Electromechanical dynamic analysis for the cutting transmission system of the unmanned long-wall shearer under variable speed process[J]. Journal of Vibroengineering，2017，19(5)：3191-3206.
[12] WANG Y，LIU C，LIAO Y. Electromechanical dynamic analysis for the DTC induction motor driving system of the unmanned long-wall shearer drum[J]. Cluster Computing，2019，22(S6)：13325-13336.
[13] WANG Y，LIU C，LIAO Y. Electromechanical dynamic simulation and experiment for multi-stage gear transmission system with planetary gears[J]. Cluster Computing，2019，22(S2)：3031-3041.
[14] YI Y，QIN D，LIU C，Investigation of electromechanical coupling vibration characteristics of an electric drive
multistage gear system[J]. Mechanism and Machine Theory，2018，121：446-459.
[15] 王秀和. 电机学[M]. 北京：机械工业出版社，2018. WANG Xiuhe. Motor engineering[M]. Beijing：China Machine Press，2018.
[16] 王艾萌. 新能源汽车新型电机的设计及弱磁控制[M]. 北京：机械工业出版社，2013. WANG Aimeng. A novel pm machine design and flux-weakening control for renewable energy vehicle[M]. Beijing：China Machine Press，2013.
[17] LIU C，YANG C，ZHAO Y，et al. Dynamic modeling and analysis of high-speed flexible planetary gear transmission systems[J]. Alexandria Engineering Journal，2023，80：444-464.
[18] YANG H，SHI W，CHEN Z，et al. An improved analytical method for mesh stiffness calculation of helical gear pair considering time-varying backlash[J]. Mechanical Systems and Signal Processing，2022，170：108882.
[19] 刘文，李锐，张晋红，等. 斜齿轮时变啮合刚度算法修正及影响因素研究[J]. 湖南大学学报，2018，45(2)：10-15. LIU Wen，LI Rui，ZHANG Jinhong，et al. Study on correction algorithm of time-varying mesh stiffness of helical gears and its influencing factors[J]. Journal of Hunan University，2018，45(2)：10-15.

永磁同步电机-齿轮传动系统机电耦合动力学特性分析

Analysis of Electromechanical Coupling Dynamic Characteristics of Permanent Magnet Synchronous Motor Gear Transmission System

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	徐园平, 郑安, 周瑾, 金超武, 凌阳熠, 李亚宁. 风冷式高速磁悬浮永磁同步电机多场耦合与传热特性研究[J]. 机械工程学报, 2026, 62(9): 145-154.
[2]	李东洁, 梁雨, 姚钢, 高伟达, 荣伟彬, 杨柳, 张宇. 脑胶质瘤放化疗微腔囊结构设计及其剂量分布与动态响应研究[J]. 机械工程学报, 2026, 62(7): 405-417.
[3]	吴锦辉, 陈永昶, 吴亚男, 郝会乾, 袁翔, 陶友瑞. 数字孪生驱动的反射面天线运行状态监测与虚拟调试方法[J]. 机械工程学报, 2026, 62(5): 263-273.
[4]	李乃鹏, 张涛, 雷亚国, 李响, 杨彬, 江金泽. 数字孪生模型驱动的永磁同步电机偏心故障定量诊断方法[J]. 机械工程学报, 2026, 62(14): 59-71.
[5]	余欣, 申子翰, 孙韵韵, 巫世晶, 刘胜. 时变工况激励下动态响应-润滑状态耦合的风机齿轮系统动力学特性研究[J]. 机械工程学报, 2026, 62(12): 33-46.
[6]	朱本然, 潮群, 王忠睿, 刘成良. 边云协同下数字孪生驱动的齿轮传动系统在线监测技术[J]. 机械工程学报, 2026, 62(12): 87-97.
[7]	钟麒, 车洋洋, 徐恩光, 毛永鑫, 王军, 何贤剑, 杨华勇. 高速开关阀电磁滞后特性研究及动态响应优化[J]. 机械工程学报, 2026, 62(10): 362-374.
[8]	莫帅, 李亚鑫, 柏代鑫, 陈素姣, 姚博炜, 施文爱, 彭南江, 张伟. 考虑随机点蚀分布的非圆行星传动系统啮合刚度[J]. 机械工程学报, 2025, 61(23): 1-10.
[9]	童水光, 江一波, 杨鲜苗, 童哲铭. 齿轮传动系统动力学性能设计研究与应用进展[J]. 机械工程学报, 2025, 61(11): 140-161.
[10]	孙瑞辉, 徐兵, 张军辉, 苏琦. 基于功率键合图的多路阀一阶灵敏度分析[J]. 机械工程学报, 2025, 61(10): 414-426.
[11]	赵嗣芳, 宋强, 王明生, 赖武轩. 基于特征重构深度置信网络的车用电机复合故障定位研究[J]. 机械工程学报, 2024, 60(6): 91-103.
[12]	姚静, 杨帅, 殷航, 王运昌, 王文静, 丘铭军. 基于阀芯位移软测量的数字阀智能驱动方法研究[J]. 机械工程学报, 2024, 60(4): 155-166.
[13]	张新彤, 张成明, 李立毅, 傅鹏睿. 电推进用高效轻质永磁同步电机的设计方法[J]. 机械工程学报, 2023, 59(8): 181-195.
[14]	张冰鑫, 刘侃, 李跃, 胡伟, 黄庆, 陈泳丹. 基于累积误差补偿的永磁同步电机低速插值控制策略^*[J]. 电气工程学报, 2023, 18(3): 145-153.
[15]	张荣芸, 王朕, 时培成, 赵林峰, 刘亚铭, 张斌. 基于分数阶全局滑模与Elman神经网络磁链观测的PMSM转矩脉动抑制研究^*[J]. 电气工程学报, 2023, 18(3): 154-163.