CN110941927B - A method for calculating rotor dynamic eccentric displacement of permanent magnet synchronous motor - Google Patents
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Abstract
一种永磁同步电机转子动偏心位移计算方法，属于永磁同步电机检测技术领域。方法是：根据永磁同步电机的组成特点、结构参数以及电磁方案确定其本体结构仿真模型；根据永磁同步电机的实际制造工艺参数，通过有限元仿真得到永磁同步电机的三相自感互感波形；基于Simulink建立永磁同步电机SVPWM双闭环控制电路，仿真得到永磁同步电机的空载电流。建立转子动偏心位移仿真模型，根据步骤二仿真输出永磁同步电机的空载电流，根据最小二乘法拟合，得到不同转子动偏心位移对应的特征频率含量。根据电机实际结构参数尺寸建立电机仿真模型，得到批量空载电流特征频率含量，根据步骤五计算批量转子动偏心位移。本发明解决了目前永磁同步电机转子动偏心位移计算的问题。
A method for calculating the dynamic eccentric displacement of a permanent magnet synchronous motor rotor belongs to the technical field of permanent magnet synchronous motor detection. The method is: according to the composition characteristics, structural parameters and electromagnetic scheme of the permanent magnet synchronous motor to determine its body structure simulation model; according to the actual manufacturing process parameters of the permanent magnet synchronous motor, the three-phase self-inductance and mutual inductance of the permanent magnet synchronous motor are obtained through finite element simulation. Waveform; build a permanent magnet synchronous motor SVPWM double closed-loop control circuit based on Simulink, and simulate the no-load current of the permanent magnet synchronous motor. The rotor dynamic eccentric displacement simulation model is established, the no-load current of the permanent magnet synchronous motor is simulated and output according to step 2, and the characteristic frequency content corresponding to different rotor dynamic eccentric displacements is obtained according to the least square fitting. Establish a motor simulation model according to the actual structural parameters of the motor, obtain the characteristic frequency content of the batch no-load current, and calculate the dynamic eccentric displacement of the batch rotor according to step 5. The invention solves the problem of calculating the dynamic eccentric displacement of the rotor of the permanent magnet synchronous motor at present.
Description
Technical Field
The invention relates to a method for calculating the dynamic eccentric displacement of a rotor of a permanent magnet synchronous motor, and belongs to the technical field of permanent magnet synchronous motor detection.
Background
The production process links of the permanent magnet synchronous motor are numerous, wherein the coaxiality of a stator and a rotor is guaranteed by a tool in the stator and rotor assembly process, the rotor is inevitably moved eccentrically, and the moving eccentricity degree of the rotor is also influenced by the symmetry and consistency of the stator and the rotor. For the permanent magnet synchronous motor, due to the restriction of the manufacturing process level, the parameter dispersion and the assembly dispersion brought by the design, manufacture and assembly processes of the permanent magnet synchronous motor inevitably have certain difference among individuals of batch permanent magnet synchronous motors, and the difference aggravates the dynamic eccentricity degree of the rotor of the permanent magnet synchronous motor to a certain degree. The stator and rotor assembly process of the permanent magnet synchronous motor causes the rotor to have dynamic eccentricity of different degrees, the rotor dynamic eccentricity influences the uniformity of an air gap of the permanent magnet synchronous motor, and then characteristic harmonic waves which do not exist under ideal conditions appear in no-load current of the permanent magnet synchronous motor.
In the current research, it is generally considered that the displacement of the rotor dynamic eccentricity cannot be accurately measured after the permanent magnet synchronous motor is installed and operated, so that characteristic harmonics which do not exist in an ideal state are often required to be extracted from the no-load current of the permanent magnet synchronous motor, the degree of the rotor dynamic eccentricity is roughly estimated from the degree of the characteristic harmonics, and the influence of the dispersibility of structural parameters of the motor on the calculation of the rotor dynamic eccentricity displacement is ignored. However, with the development of finite element simulation, for the permanent magnet synchronous motor, the relationship between the dynamic eccentric displacement and the characteristic harmonic contained in the no-load current can be given by a simulation analysis method. Therefore, a simulation model of the permanent magnet synchronous motor is established by combining the structural characteristics and the operation principle of the permanent magnet synchronous motor, a mapping relation between the dynamic eccentric displacement of the rotor and the characteristic harmonic content is established by a least square function fitting method, the dynamic eccentric displacement calculation of the permanent magnet synchronous motor considering the dispersibility of the structural parameters of the motor is realized by taking the manufacturing process data of the permanent magnet synchronous motor as the basis and adopting finite element simulation and approximate modeling technologies, and a foundation is laid for further detecting the quality consistency of the permanent magnet synchronous motor.
Disclosure of Invention
The invention aims to provide a method for calculating the dynamic eccentric displacement of a permanent magnet synchronous motor rotor by considering the dispersibility of structural parameters of the motor, so as to solve the problem that the influence of a manufacturing process on the dynamic eccentric displacement calculation of the rotor is not considered in the related research of the dynamic eccentric displacement calculation of the permanent magnet synchronous motor rotor at present.
The technical scheme adopted by the invention is as follows:
a method for calculating the dynamic eccentric displacement of a permanent magnet synchronous motor rotor comprises the following steps:
the method comprises the following steps: adopting Maxwell finite element simulation, and constructing the output characteristic of the permanent magnet synchronous motor and n bottom layer structure parameters p influencing the output characteristic of the permanent magnet synchronous motor according to the structure of the permanent magnet synchronous motori(i∈1,Λ,n)(n<Infinity) set P ═ P { [ P [ ]1,p2,L,pnA model relationship between;
step two: constructing an additional control circuit of the permanent magnet synchronous motor according to the SVPWM double closed-loop control principle of the permanent magnet synchronous motor to form a control system model;
step three: simulating a finite element model to obtain self-inductance and mutual-inductance values of the permanent magnet synchronous motor under corresponding structural parameters, and calculating to obtain a DQ inductance value, namely a quadrature-direct axis inductance value;
step four: substituting the DQ inductance value obtained by calculation in the third step into the control system model in the second step, outputting the no-load current of the permanent magnet synchronous motor by simulation in the second step, and constructing a model reflecting the no-load current of the permanent magnet synchronous motor and n (n < infinity) bottom layer structure parameter sets P and m (m < infinity, m < n) material attributes;
step five: carrying out simulation modeling on different rotor dynamic eccentric displacements, outputting the no-load current of the permanent magnet synchronous motor according to simulation in the second step, carrying out Fourier decomposition on the waveform of the no-load current in a steady state stage to obtain the no-load current characteristic frequency content of different rotor dynamic eccentric displacement models, and obtaining the characteristic evaluation frequency quantity corresponding to different rotor dynamic eccentric displacements according to a function obtained by least square fitting;
step six: and (4) establishing a motor simulation model according to the actual structural parameter size of the motor to obtain the characteristic frequency content of the batch no-load current, and estimating the dynamic eccentric displacement of the batch rotor according to the function obtained by fitting in the fifth step.
Compared with the prior art, the invention has the beneficial effects that:
(1) the method adopts a mode of combining finite element simulation and control circuit simulation, based on specific manufacturing structure parameters of the permanent magnet synchronous motor, can obtain the inductance value of the permanent magnet synchronous motor under corresponding size parameters through finite element simulation, establishes the relation between the motor structure parameters and no-load current through the inductance value of the permanent magnet synchronous motor, and solves the problem that the influence of parameter dispersibility on the no-load current cannot be considered in the conventional permanent magnet synchronous motor modeling method.
(2) The method simulates the no-load current of the permanent magnet synchronous motor, fully considers the influence of the starting position of the motor rotor on the no-load current, controls the starting position of the rotor and the on-off time of each tube in the inverter by a control circuit of the SVPWM control principle in a mode of combining finite element simulation and control system simulation, can control the starting positions of the rotors of a permanent magnet synchronous motor model to be consistent, and avoids the difference between the effective values of the no-load current of the permanent magnet synchronous motor caused by different starting positions of the rotors.
(3) Based on least square fitting, the functional relation between the no-load current characteristic frequency content and the rotor dynamic eccentric displacement is obtained, so that the rotor dynamic eccentric displacement of the permanent magnet synchronous motor can be calculated according to no-load current simulation and signal processing of the motor.
Drawings
FIG. 1 is a schematic diagram of a control system for a permanent magnet synchronous motor of a certain type;
FIG. 2 is a flow chart of a method for calculating the dynamic eccentric displacement of a rotor of a permanent magnet synchronous motor according to the present invention;
FIG. 3 is a Maxwell finite element simulation model diagram of a permanent magnet synchronous motor of a certain model;
FIG. 4 is a spatial vector diagram;
FIG. 5 is a schematic diagram of the synthesis of new vectors;
FIG. 6 is a simulation waveform diagram of no-load current of a permanent magnet synchronous motor of a certain type;
FIG. 7 is a graph of the rotor dynamic eccentric displacement and the characteristic frequency content fitting curve of a permanent magnet synchronous motor of a certain type.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows: the embodiment provides a method for calculating the dynamic eccentric displacement of a permanent magnet synchronous motor rotor, which comprises the steps of firstly determining a body structure simulation model according to the composition characteristics, structural parameters and an electromagnetic scheme of the permanent magnet synchronous motor; then, on the basis of actual manufacturing process parameter data of the permanent magnet synchronous motor, obtaining a three-phase self-inductance mutual inductance waveform of the permanent magnet synchronous motor through finite element simulation; meanwhile, a permanent magnet synchronous motor SVPWM double closed-loop control circuit is established based on Simulink; and finally, calculating the inductance value of the permanent magnet synchronous motor according to the Maxwell finite element simulation model, converting the inductance value to obtain the DQ inductance value of the permanent magnet synchronous motor, substituting the DQ inductance value into the Simulink control system simulation model, and simulating to obtain the no-load current of the permanent magnet synchronous motor. As shown in fig. 2, the specific steps are as follows:
the method comprises the following steps: adopting Maxwell finite element simulation, and constructing the output characteristic of the permanent magnet synchronous motor and n bottom layer structure parameters p influencing the output characteristic of the permanent magnet synchronous motor according to the structure of the permanent magnet synchronous motori(i∈1,Λ,n)(n<Infinity) set P ═ P { [ P [ ]1,p2,L,pnA model relationship between;
step two: and constructing an additional control circuit model of the permanent magnet synchronous motor according to the SVPWM double closed-loop control principle of the permanent magnet synchronous motor. In the step, a double closed loop structure for controlling speed and current is adopted in an SVPWM double closed loop control circuit of the permanent magnet synchronous motor to form a control system model, and the structure is shown in figure 1;
step three: simulating a finite element model to obtain self-inductance and mutual-inductance values of the permanent magnet synchronous motor under corresponding structural parameters, and calculating to obtain a DQ inductance value, namely a quadrature-direct axis inductance value; the specific calculation process is as follows:
the average values of three-phase self inductance and mutual inductance are respectively set as LsAnd MsCalculating to obtain the average value L of the motor inductance according to the formula (1)0
L0＝Ls+2Ms (1)
The average value L of the motor inductance obtained by the formula (1)0Substituting the formula (2) into the formula (2), and calculating according to the formula (2) to obtain the inductance value of the motor DQ:
Ld＝Lq＝1.5L0 (2)
wherein L isdIs a D-axis inductance, LqIs a Q-axis inductor, L0The average value of the inductance of the motor is obtained;
step four: substituting the DQ inductance value obtained by calculation in the third step into the SVPWM dual closed-loop control system model of the permanent magnet synchronous motor in the second step, and simulating and outputting the no-load current of the permanent magnet synchronous motor by the model in the second step to construct a model reflecting the no-load current of the permanent magnet synchronous motor and n (n < infinity) bottom layer structure parameter sets P and m (m < infinity, m < n) material attributes;
step five: carrying out simulation modeling on different rotor dynamic eccentric displacements, outputting the no-load current of the permanent magnet synchronous motor according to the simulation in the step two, carrying out Fourier decomposition on the waveform of the steady state of the no-load current to obtain the no-load current characteristic frequency content of different rotor dynamic eccentric displacement models, and obtaining a function shown in a formula (4) according to least square fitting,
f(x)＝-1.458×10^(-4)x2+0.01339x+0.01394 (4)
wherein x is the content of the characteristic frequency of the no-load current,
obtaining characteristic evaluation frequency quantities corresponding to different rotor dynamic eccentric displacements;
step six: and (4) establishing a motor simulation model according to the actual structural parameter size of the motor to obtain the characteristic frequency content of the no-load current in batches, and estimating the dynamic eccentric displacement of the rotor in batches according to the function obtained by fitting in the step five (the dynamic eccentric displacement can be calculated after substituting the characteristic frequency content of the no-load current in the fitting function).
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 5, and the present embodiment performs no-load current simulation analysis considering structural parameter dispersibility for a certain type of permanent magnet synchronous motor, specifically includes the following steps:
the method comprises the following steps: establishing a Maxwell-based permanent magnet synchronous motor simulation model according to the structural parameters and material properties of the permanent magnet synchronous motor, and establishing a model relation of three-phase self-inductance and mutual inductance waveform (output characteristics) of the simulation model with respect to the inner diameter of a stator, the pole arc eccentricity of a magnetic shoe, the mass density of a silicon steel sheet, the eccentricity of a stator and a rotor, the diameter of a rotor shaft, the outer diameter of the stator, the phase resistance, the laminating coefficient, the residual magnetic induction strength, the height of the model and the outer diameter of the rotor (bottom layer structural parameters);
step two: according to the SVPWM double closed-loop control principle of the permanent magnet synchronous motor, as shown in fig. 1, an additional control circuit model of the permanent magnet synchronous motor is constructed to form a control system model. In the step, the SVPWM double closed-loop control circuit of the permanent magnet synchronous motor adopts a double closed-loop structure for controlling speed and current. The current loop consists of a current sensor and a controller and has the function of enabling the current of the motor winding to accurately track a current reference signal in real time; the speed loop is composed of a rotor position sensor and a controller and is used for enabling the rotor speed to track the rotating speed reference signal. The voltage given signal output by the double closed-loop regulator is used as an input signal of SVPWM, the switching time of 6 switching tubes in the inverter is calculated through SVPWM control, meanwhile, a conducting signal is input to the inverter, and the switching tubes in the inverter are triggered to be switched on and switched off, so that the stator current and the torque of the permanent magnet synchronous motor are regulated according to the requirement of a reference signal.
The SVPWM control principle can be described as: approximately equivalent to a certain space voltage vector V through the average vector of the inverter output phase voltagerefThe space voltage vector VrefWill rotate in space at a certain angular frequency, when it rotates to a certain section of hexagonal space voltage vector diagram, the system will select the needed vector in the basic voltage vector of the section, and then rotate toThe state corresponding to the vector drives the six power switch elements in the three-phase full bridge to act. When space voltage vector VrefWhen the voltage vector is rotated to the next small interval, the corresponding voltage vector of the corresponding interval is selected, and the power switch element is driven to act in the corresponding state. When space voltage vector VrefAfter the space rotates 360 degrees, the frequency converter can output sine wave voltage of one period.
The inverters have 8 operating states, namely 001, 010, 011, 100, 101, 110, 111 and 000. The space voltage vector is calculated by taking the phase voltage values of 6 nonzero switch states (001, 010, 011, 100, 101 and 110), 6 space voltage vectors can be obtained, and the whole space is divided into six sectors, as shown in fig. 4.
Taking sector I as an example, the vector sum of two adjacent effective voltages
And zero voltage vector
Synthesizing new vectors
As shown in fig. 5. The action times of the vectors are respectively T4、T6、T0、T7The expression for synthesizing the new vector is:
in the formula TPWMIs a PWM modulation period.
According to the process, when the sector where the space voltage vector is located is judged, the on-off time of the switching tube can be calculated, and therefore each IGBT in the inverter is triggered according to a given sequence;
step three: obtaining self-inductance and mutual inductance values of the permanent magnet synchronous motor under corresponding structural parameters through finite element model simulation, calculating according to a formula (2) to obtain a DQ inductance value,i.e., quadrature-direct axis inductance value. In the step, the three-phase self-inductance can be obtained by deriving the waveform value of the three-phase self-inductance mutual inductance obtained by simulation and then calculating
And three-phase mutual inductance
Then calculating the average values of three-phase self inductance and mutual inductance to be L respectivelysAnd Ms. Calculating to obtain the average value L of the motor inductance according to the formula (1)0，
L0＝Ls+2Ms (1)
The average value L of the motor inductance obtained by the formula (1)0Substituting the formula (2) into the formula (2), and calculating according to the formula (2) to obtain the inductance value of the motor DQ:
Ld＝Lq＝1.5L0 (2)
wherein L isdIs a D-axis inductance, LqIs a Q-axis inductor, L0The average value of the inductance of the motor is obtained;
step four: substituting the DQ inductance value obtained by calculation in the third step into the SVPWM dual closed-loop control system model of the permanent magnet synchronous motor in the second step, and simulating and outputting the no-load current of the permanent magnet synchronous motor by the model in the second step to construct a model reflecting the relation between the no-load current of the permanent magnet synchronous motor and n (n < infinity) bottom layer structure parameter sets P and m (m < infinity, m < n) material attributes;
step five, carrying out simulation modeling on different rotor dynamic eccentric displacements, outputting the no-load current of the permanent magnet synchronous motor according to the simulation of the step two, carrying out Fourier decomposition on the waveform of the no-load current in a steady state stage to obtain the no-load current characteristic frequency content of different rotor dynamic eccentric displacement models, and obtaining the characteristic evaluation frequency quantity corresponding to different rotor dynamic eccentric displacements according to a function obtained by least square fitting, wherein the content of each subharmonic corresponding to different eccentric displacements is shown in table 1:
TABLE 1
Since the motor no-load current with the fundamental frequency of 166.7Hz normally contains 6k ± 1, where k is 1,2.3.. subharmonic, 833Hz (5 f) other than the fundamental wave in table 1 above (see table 1)s) And 1167Hz (7 f)s) All the harmonics are normally contained, and the characteristic harmonic caused by eccentricity is 233Hz (namely 1.4 f)e) And taking the corresponding harmonic component as a characteristic value for calculating the dynamic eccentric displacement. As can be seen from the above table 1, as the eccentric displacement of the motor increases, the amplitude of the no-load current increases, and the harmonic content at 233Hz increases.
According to the least square method, fitting is carried out on harmonic amplitudes contained in 233Hz under different eccentric displacements, a fitting function is obtained as shown in formula (4), and a fitting waveform is shown in FIG. 7:
f(x)＝-1.458×10^(-4)x2+0.01339x+0.01394 (4)
wherein x is the content of the characteristic frequency of the no-load current;
and step six, establishing a motor simulation model according to the actual structural parameter size of the motor to obtain the characteristic frequency content of the batch no-load current, and estimating the dynamic eccentric displacement of the batch rotor according to the function obtained by fitting in the step five. For example, the harmonic content at 233Hz is 25A, and the rotor dynamic eccentric displacement is calculated to be about 0.257565mm according to the formula in the step five.
FIG. 1 is a schematic diagram of a control system of a permanent magnet synchronous motor of a certain type, wherein nrefFor a given speed, n is the motor feedback speed, PI is the controller, iSqrefGiven value of quadrature axis current, iSdrefFor setting the value of the direct-axis current, thetaeIs the rotor angle, V, of an electric machineSqrefGiven value of quadrature axis voltage, VSdrefIs a straight-axis voltage given value, dq is a rectangular coordinate system, alpha beta is a rotating coordinate, Park-1For inverse park transformation, VSαrefGiven value V of alpha axis voltage under rotating coordinate systemSβrefAs a rotating coordinateSet value of beta axis voltage under system, VDCIs a direct voltage, VaFor phase voltage of motor A, VbFor the phase voltage of B phase of motor, VcFor the motor C phase voltage, Park is Park transformation, iSqAnd iSdThe motor is a quadrature-direct axis current; i.e. iSαAnd iSβIs alpha beta current under the rotating coordinate of the motor,
the control system of the permanent magnet synchronous motor realizes vector control on the system by controlling current, current and rotating speed in output signals of the motor form a double closed loop structure by feedback, voltage given signals are output through two comparison links and input into the SVPWM module, and the SVPWM controls the magnitude and frequency of the output current of the inverter by controlling the on-off time and switching frequency of 6 switching tubes of the inverter, so that the magnitude and frequency of the output current of the inverter are changed along with the change of the rotating speed and load of a rotor.
Fig. 3 is a finite element simulation model of a permanent magnet synchronous motor of a certain model, the simulated permanent magnet synchronous motor model is established according to an actual motor structure and is a 10-pole 12-slot motor, and materials are assigned to the simulation model according to the actual motor structure attributes to obtain the simulated permanent magnet synchronous motor model.
Fig. 4 is a space vector diagram, i.e., a phase voltage quality superposition diagram.
FIG. 5 is a diagram of the resultant new vector illustrating the modulation period TPWMThe principle of calculation of (1). Where θ is the rotor position angle.
Fig. 6 is a simulation waveform diagram of the no-load current of a permanent magnet synchronous motor of a certain model, wherein three waveforms represent three-phase currents of the motor in no-load.
Fig. 7 is a fitting curve diagram of rotor dynamic eccentric displacement and characteristic frequency content of a permanent magnet synchronous motor of a certain model, and when a no-load current harmonic content value is obtained in each simulation, a corresponding rotor dynamic eccentric displacement can be obtained by substituting a fitting function.
Claims (4)
1. A method for calculating the dynamic eccentric displacement of a permanent magnet synchronous motor rotor is characterized by comprising the following steps:
the method comprises the following steps:adopting Maxwell finite element simulation, and constructing the output characteristic of the permanent magnet synchronous motor and n bottom layer structure parameters p influencing the output characteristic of the permanent magnet synchronous motor according to the structure of the permanent magnet synchronous motoriSet of (P) { P }1,p2,...,pnA model relationship between i ∈ 1, …, n, n < ∞;
step two: constructing an additional control circuit of the permanent magnet synchronous motor according to the SVPWM double closed-loop control principle of the permanent magnet synchronous motor to form a control system model;
step three: simulating by a finite element model to obtain self-inductance and mutual-inductance values of the permanent magnet synchronous motor under corresponding structural parameters, and calculating to obtain a DQ (quadrature-direct axis) inductance value;
step four: substituting the DQ quadrature-direct axis inductance value obtained by calculation in the third step into the control system model in the second step, outputting the no-load current of the permanent magnet synchronous motor by simulation in the second step, and constructing a model reflecting the no-load current of the permanent magnet synchronous motor, n bottom layer structure parameter sets P and m material attributes, wherein n & lt infinity, m & lt infinity, and m & lt n;
step five: carrying out simulation modeling on different rotor dynamic eccentric displacements, outputting the no-load current of the permanent magnet synchronous motor according to simulation in the second step, carrying out Fourier decomposition on the waveform of the no-load current in a steady state stage to obtain the no-load current characteristic frequency content of different rotor dynamic eccentric displacement models, and obtaining the characteristic frequency quantity corresponding to different rotor dynamic eccentric displacements according to a function obtained by least square fitting;
step six: and (4) establishing a motor simulation model according to the actual structural parameter size of the motor to obtain the characteristic frequency content of the batch no-load current, and estimating the dynamic eccentric displacement of the batch rotor according to the function obtained by fitting in the fifth step.
2. The method for calculating the dynamic eccentric displacement of the rotor of the permanent magnet synchronous motor according to claim 1, wherein in the second step: the SVPWM double-closed-loop control circuit of the permanent magnet synchronous motor adopts a double-closed-loop structure for controlling speed and current, and the controller controls the amplitude and frequency of the stator current of the permanent magnet synchronous motor by controlling the on-off time of each IGBT tube in the inverter.
3. The method for calculating the rotor dynamic eccentric displacement of the permanent magnet synchronous motor according to claim 1 is characterized by comprising the following steps: the average values of three-phase self inductance and mutual inductance are respectively set as LsAnd MsCalculating to obtain the average value L of the motor inductance according to the formula (1)0
L0＝LS+2MS (1)
The average value L of the motor inductance obtained by the formula (1)0Substituting into the formula (2), calculating according to the formula (2) to obtain the inductance value of the quadrature-direct axis of the motor DQ:
Ld＝Lq＝1.5L0 (2)
wherein L isdIs a D-axis inductance, LqIs a Q-axis inductor, L0Is the average value of the inductance of the motor.
4. The method for calculating the dynamic eccentric displacement of the rotor of the permanent magnet synchronous motor according to claim 1, characterized in that in the fifth step: fitting the obtained function according to a least square method as shown in a formula (4);
f(x)＝-1.458×10^(-4)x2+0.01339x+0.01394 (4)
wherein x is the characteristic frequency content of the no-load current.
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