动磁钢式磁悬浮平面电机的设计与建模研究

发布时间：2018-06-09 01:06

本文选题：磁悬浮平面电机 + 结构设计　；参考：《哈尔滨工业大学》2014年硕士论文

【摘要】：磁悬浮平面电机是多自由度机电驱动器中的一种，它在xy平面上运动，相当于多个直线电机复合叠加后的效果，磁悬浮平面电机最大的优点是定子和动子之间不需要电缆连接，而是由磁铁阵列下面通电的线圈阵列，给动子提供水平和垂直方向的驱动力。本文设计方案为动磁钢式人字形（HPPA）磁悬浮平面电机，文中完成了磁铁和线圈等相关材料的选型，给出了磁悬浮平面电机的详细设计步骤，本文这种方案成功避免了当线圈阵列通入电流时，受电磁力的作用而相互运动的影响，在此基础之上给出了磁悬浮平面电机的详细设计图纸，并由solidworks软件给出了它的三维效果图。其次，对于动磁钢式二维Halbach阵列，本文给出了其理论推导过程，并利用电磁学分析软件ANSYS/Emag模块对该设计方案的单边性和正弦性等相关特性加以验证，这为接下来的磁悬浮平面电机的理论分析奠定了基础。接下来，本文给出了当单个线圈通电后受电磁力的理论推导过程，，在对磁悬浮平面电机特性进行合理的假设基础之上，基于模式力的概念建立了磁悬浮平面电机动力学模型，并给出了其解耦动力学方程。在本文最后一章，首先介绍了欧拉角的概念，在结合磁悬浮平面电机质量，转动惯量等相关特性情况下，以及考虑不确定因素k k1k情形下，在此基础上列写出了单自由度动力学状态方程。在多自由度运动中，首先设定了6个状态变量，接下来对电磁力进行线性化，最终给出了基于小信号模型的状态空间方程。
[Abstract]:The maglev plane motor is one of the electromechanical actuators with multiple degrees of freedom. It moves on the XY plane and is equivalent to the effect of multiple linear motors after composite superposition. The biggest advantage of the magnetic levitation plane motor is that no cable connection is required between the stator and the actuator. Instead, the coil array, which is electrified under the magnet array, provides horizontal and vertical driving force for the actuator. In this paper, the magnetic levitation plane motor is designed in the form of a moving magnetic steel herringbone (HPPA). The selection of magnets and coils and other related materials is completed in this paper. The detailed design steps of the magnetic levitation plane motor are given. This scheme successfully avoids the influence of the electromagnetic force on each other when the coil array enters the current. On this basis, the detailed design drawings of the magnetic levitation plane motor are given, and the three-dimensional effect diagram of the magnetic levitation plane motor is given by solidworks software. Secondly, the theoretical derivation process of the dynamic magnetic steel two-dimensional Halbach array is given in this paper. The electromagnetic analysis software ANSYS- Emag module is used to verify the one-sided and sinusoidal characteristics of the design, which lays a foundation for the theoretical analysis of the maglev plane motor. In this paper, the theoretical derivation process of electromagnetic force is given when a single coil is electrified. Based on the reasonable assumption of the characteristics of the magnetic levitation plane motor, the dynamic model of the magnetic levitation plane motor is established based on the concept of mode force. In the last chapter of this paper, the concept of Euler angle is introduced, which is based on the mass and moment of inertia of the maglev plane motor, and the uncertain factor k k 1k is considered. On this basis, the dynamic state equation of single degree of freedom is presented. In the motion of multiple degrees of freedom, six state variables are first set, then the electromagnetic force is linearized, and finally the state space equation based on the small signal model is given.
【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】：2014
【分类号】：TM302

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