平动式啮合电机理论与控制研究

发布时间：2018-03-27 20:30

本文选题：平动式啮合电机　切入点：动态特性　出处：《北京邮电大学》2014年博士论文

【摘要】：为了满足机器人对驱动装置的特殊需求,本文提出了一种新型结构和驱动原理的电机,即平动式啮合电机。平动式啮合电机是一种将电机本体和传动变速机构集成为一体的新型驱动装置,它通过电机定、转子间磁阻的变化将电能转化为机械动能。本文首先对课题研究意义进行了阐述；然后对机器人驱动电机研究现状和平动式啮合电机的基本工作原理和结构进行了介绍；针对当前已有的几种类型的平动式啮合电机存在的问题,提出了一种新型的平动式啮合电机结构,并对电机的磁极机构、平动约束机构和齿轮传动机构等进行了设计和分析仿真。本文建立了新型平动式啮合电机的等效磁路结构模型,并采用有限元方法建立了新型平动式啮合电机的三维有限元模型；分析仿真了电机磁极磁场的分布和特性；通过获得的不同转角下的磁化曲线簇和磁场力特性,建立了电机磁参数库；建立了新型平动式啮合电机的动态特性分析模型；利用电机磁参数库,在已建立的电机模型的基础上,采用解析方法分析了新型平动式啮合电机的动态特性。平动式啮合电机的结构和工作原理决定了该电机具有很强的非线性特性,其动态特性与传统的旋转式电机有着明显的不同。因此,本文为了解决平动式啮合电机系统控制的可靠性和稳定性,提出了将人工智能方法引入其控制系统的设计中。本文设计了一种基于神经网络的平动式啮合电机无位置传感器控制算法,以电机绕组电流和磁链作为神经网络系统的输入,转子位置作为神经网络系统的输出,通过训练确定神经网络系统的结构参数,建立了适合平动式啮合电机的神经网络系统；然后用训练好的神经网络在线估计电机转子位置,取代电机控制系统中的有位置传感器,简化了电机控制系统结构,提高了电机系统运行的可靠性。本文设计了一个模糊PID控制器,采用模糊逻辑方法对PID控制器参数进行实时自适应整定,实现了对平动式啮合电机的非线性控制。基于对平动式啮合电机的理论设计与分析仿真结果,本文研制了电机的原理样机,并研发了专用的电机驱动控制系统。平动式啮合电机的电机本体和传动变速机构高度集成,提高了电机的功率密度；减少了传动的中间环节,提高了传动效率,增加了电机驱动系统的可靠性；专用的驱动控制系统可有效降低电机的转矩脉动。原理样机试验表明新型平动式啮合电机的输出扭矩、功率密度、动态性能和转化效率都较先前的平动式啮合电机有了较大提升。本文的研究内容和试验结果可为今后的平动式啮合电机的优化设计提供一定的参考价值。
[Abstract]:In order to meet the special requirements of the robot for the drive device, this paper presents a new structure and driving principle of the motor. The translational meshing motor is a new type of driving device which integrates the motor body with the transmission speed changing mechanism, and it is fixed by the motor. The change of magnetoresistive between rotors transforms electric energy into mechanical kinetic energy. In this paper, the significance of the research is described, and then the basic working principle and structure of the robot driven motor and its structure are introduced. In view of the existing problems of several types of translational meshing motor, a new type of translational meshing motor structure is proposed, and the pole mechanism of the motor is analyzed. The translational constraint mechanism and gear transmission mechanism are designed and simulated. In this paper, the equivalent magnetic circuit structure model of a new type of translational meshing motor is established, and the three-dimensional finite element model of a new type of translational meshing motor is established by using the finite element method, and the distribution and characteristics of the magnetic field of the motor are analyzed and simulated. Through the magnetization curve cluster and magnetic field force characteristics obtained at different rotation angles, the magnetic parameter library of the motor is established, the dynamic characteristic analysis model of a new type of translational meshing motor is established, and the motor magnetic parameter library is used to analyze the dynamic characteristics of the motor. Based on the established motor model, the dynamic characteristics of a new type of translational meshing motor are analyzed by analytical method. The structure and working principle of the translational meshing motor determine that the motor has very strong nonlinear characteristics, and its dynamic characteristics are obviously different from the traditional rotary motor. In order to solve the problem of the reliability and stability of the control of the translational meshing motor system, This paper introduces artificial intelligence method into the design of its control system. In this paper, a position sensorless control algorithm for translational meshing motor based on neural network is designed. The windings current and flux chain of the motor are used as the input of the neural network system. The rotor position is used as the output of the neural network system, the structure parameters of the neural network system are determined by training, and the neural network system suitable for the translational meshing motor is established, and then the rotor position of the motor is estimated online by the trained neural network. Instead of the position sensor in the motor control system, the structure of the motor control system is simplified and the reliability of the motor system is improved. A fuzzy PID controller is designed in this paper. The fuzzy logic method is used to adjust the parameters of the PID controller in real time and the nonlinear control of the translational meshing motor is realized. Based on the theoretical design and simulation results of the translational meshing motor, the principle prototype of the motor is developed, and a special motor drive control system is developed. The power density of the motor is increased, the intermediate link of the transmission is reduced, the transmission efficiency is improved, and the reliability of the motor driving system is increased. The special drive control system can effectively reduce the torque ripple of the motor. The principle prototype test shows that the output torque and power density of the new type of translational meshing motor can be effectively reduced. The dynamic performance and conversion efficiency have been greatly improved compared with the previous translational meshing motor. The research contents and experimental results in this paper can provide some reference value for the optimization design of the translational meshing motor in the future.
【学位授予单位】：北京邮电大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TP242;TM301.2

【相似文献】