基于响应面模型的永磁同步伺服电机优化研究

发布时间：2018-12-23 18:45

【摘要】：永磁同步伺服电机以其高的转矩密度以及紧凑的结构,在机床、机器人关节等传动装置的应用比较广泛。本文针对永磁同步伺服电机输出特性的优化,提出了将响应面模型与永磁同步伺服电机优化问题相结合的一种方法,并对其进行了研究。首先,概述了响应面模型算法的基本理论,结合具体数学模型给出了响应面模型建立的基本流程。之后对遗传算法的基本理论进行阐述,并结合具体数学模型给出了基于遗传算法的多目标优化流程。然后,针对永磁同步伺服电机的输出特性的优化问题,对永磁同步电机的转矩脉动进行了理论分析。考虑空载反电势的谐波含量对转矩脉动的影响较大,提出了基于抑制空载反电势谐波含量的结构优化策略,在此基础上对永磁同步伺服电机的空载反电势进行解析计算并与有限元结果进行对比。在得到空载反电势的解析表达后,利用遗传算法对反电势谐波进行了优化求解。其次,针对永磁同步伺服电机的齿槽转矩的抑制问题,对永磁同步电机的齿槽转矩进行了理论分析,并对结构优化后的电机模型下的齿槽转矩进行近似解析求解并找到影响齿槽转矩幅值的结构参数,通过建立响应面模型对其进行优化求解,给出了两台不同极槽配合下的永磁同步伺服电机的优化结果。最后,基于上述结果,分别用传统优化方法与响应面建模的方法对两台不同极槽配合的永磁同步伺服电机的空载反电势谐波抑制目标和齿槽转矩幅值抑制目标进行多目标优化,其中传统方法用实验和有限元做了对比,响应面建模方法用有限元结果做对比,二者均达到优化指标,通过对比优化效率表明了新方法的优势。
[Abstract]:With its high torque density and compact structure, permanent magnet synchronous servo motor is widely used in machine tools, robot joints and other transmission devices. Aiming at the optimization of the output characteristics of PMSM, a method combining the response surface model with the PMSM optimization problem is proposed and studied in this paper. Firstly, the basic theory of response surface model algorithm is summarized, and the basic flow of response surface model establishment is given in combination with specific mathematical model. Then the basic theory of genetic algorithm is expounded, and the multi-objective optimization flow based on genetic algorithm is given in combination with the specific mathematical model. Then, the torque ripple of PMSM is analyzed theoretically in order to optimize the output characteristics of PMSM. Considering that the harmonic content of no-load inverse EMF has a great influence on torque ripple, a structure optimization strategy based on suppressing the harmonic content of no-load anti-EMF is proposed. On this basis, the no-load inverse EMF of PMSM is calculated and compared with the finite element results. After the analytical expression of no-load inverse EMF is obtained, the inverse EMF harmonics are optimized by genetic algorithm. Secondly, aiming at the problem of reducing the slot torque of PMSM, the slot torque of PMSM is analyzed theoretically. The tooth groove torque under the optimized motor model is solved approximately and the structural parameters which affect the amplitude of the tooth slot torque are found. The response surface model is established to solve the problem. The optimization results of two permanent magnet synchronous servo motors with different polar grooves are given. Finally, based on the above results, the traditional optimization method and response surface modeling method are used to optimize the anti-EMF harmonic suppression target and the torque amplitude suppression target of two PMSM with different pole-grooves respectively. Among them, the traditional method is compared with the finite element method, the response surface modeling method is compared with the finite element method, both of them reach the optimization index, and the advantages of the new method are shown by comparing the optimization efficiency.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TM383.4

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