复合驱动式三自由度运动电机的电磁分析及结构优化

发布时间：2018-04-11 16:19

本文选题：永磁电机 + 复合驱动　；参考：《河北科技大学》2017年硕士论文

【摘要】：传统的多自由度运动电机大多采用机械轴承连接结构,在长期操作中材料的磨损可能会导致球面运动变得不稳定,对球面运动造成阻力,引起球面机体发热,这不仅会加速器件的老化,同时也使电机运行性能变差且易失控,针对上述问题,本文基于多自由度运动电机的运动特点,提出一种复合驱动式三自由度运动电机,该电机区别于传统电机的最大特点是在定转子之间注入液体油膜,这种新型结构可有效的减小运行中摩擦带来的损耗,延长电机的使用寿命,提高系统的控制精度与工作的灵活度。本论文主要将研究工作分为两部分,第一部分主要对本电机的电磁系统进行基础性地研究与分析。首先,介绍了电机的基本构造、结构参数及工作原理,利用ANSOFT有限元软件对电机三维建模,用三维有限元法对电机永磁体磁场及气隙磁密分布进行仿真并分析;其次建立电机的转矩模型,分析电机的大范围自转、偏转转矩及精细运动转矩特性,并制定本电机的通电控制策略;再利用数学方法对本电机进行解析建模,计算出电机的磁场分布情况。基于麦克斯韦张量法对电机转矩进行建模,得出转矩特性,将解析法和有限元法得到的计算结果进行对比验证。最后通过改变电机的结构参数研究转子及定子线圈对电机电磁系统及转矩特性造成的影响,为电机进行结构的优化设计奠定了基础。第二部分主要对电机本体的优化及新结构的探索做出具体研究。提出利用支持向量机建模的思想,建立样本空间,采用正交试验设计方法,建立了该电机的支持向量机模型。选择遗传算法对电机结构参数进行优化,给出优化数学模型,将优化目标设定为电机转矩,给出了优化结果,并与有限元法进行了对比验证。结合复合驱动方式的特点探索两类新结构电机,对其进行了基础性介绍与研究,给出了气隙磁场分布及转矩特性。
[Abstract]:The traditional multi-degree-of-freedom motion motor mostly adopts the mechanical bearing connection structure. The wear of the material in the long-term operation may lead to the spherical motion become unstable, cause resistance to the spherical motion, cause the spherical body to heat up.This will not only accelerate the aging of the device, but also make the motor run worse and lose control easily. In view of the above problems, based on the motion characteristics of the multi-degree-of-freedom motion motor, this paper proposes a compound drive three-degree-of-freedom motion motor.The main characteristic of this motor is to inject liquid oil film between stator and rotor. This new structure can effectively reduce the loss caused by friction in operation and prolong the service life of motor.Improve the control accuracy and flexibility of the system.This paper mainly divides the research work into two parts. The first part is the basic research and analysis of the electromagnetic system of the motor.Firstly, the basic structure, structure parameters and working principle of the motor are introduced. The 3D model of the motor is built by using ANSOFT finite element software, and the magnetic field and air-gap magnetic density distribution of the permanent magnet are simulated and analyzed by using the three-dimensional finite element method.Secondly, the torque model of the motor is established, and the characteristics of the wide range rotation, deflection torque and fine motion torque of the motor are analyzed, and the electrification control strategy of the motor is worked out, and then the mathematical method is used to model the motor analytically.The magnetic field distribution of the motor is calculated.Based on the Maxwell Zhang Liang method, the torque characteristics of the motor are obtained, and the results obtained by the analytic method and the finite element method are compared and verified.Finally, the influence of rotor and stator coil on the electromagnetic system and torque characteristics of the motor is studied by changing the structural parameters of the motor, which lays a foundation for the optimum design of the motor structure.The second part mainly studies the optimization of motor body and the exploration of new structure.The idea of modeling support vector machine (SVM) is used to establish the sample space and the orthogonal design method is used to establish the support vector machine model of the motor.Genetic algorithm is selected to optimize the structural parameters of the motor, and the optimization mathematical model is given. The optimization goal is set as the torque of the motor, and the optimization results are given, and compared with the finite element method (FEM).Combined with the characteristics of compound drive mode, two kinds of new structure motors are explored, and their basic introduction and research are carried out, and the distribution of air gap magnetic field and torque characteristics are given.
【学位授予单位】：河北科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM35

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