摘要
介绍了一种新型永磁三自由度电机的结构组成,采用混合驱动式将电机分为外部自转模块和内部偏转模块,各有一套控制策略能够分别独立运行。为了验证所设计混合驱动型电机的结构适用性和运行可靠性,规划电机自转运行的启动加速、平稳匀速、制动减速三个时段的控制策略。当自转转速稳定且符合期望要求时,通过给四列互成90°的集中式定子绕组通以三相工频交流电,启动内部偏转模块,通过自转和偏转的协同控制,实现三自由度运动。以输出轴末端原点作为标记点,观测电机的空间运行轨迹,实时监测电机运行时三个轴向的旋转角度,定义传感器判断发生动作,简化了控制机理。将电机的十字支撑杆与环形外壳作为柔性体,采用刚柔耦合系统的动力学仿真,以此分析电机自转、偏转时输出轴偏心状况。
The structure of new permanent magnet three-degree-of-freedom motor is introduced.The motor is divided into external rotation module and internal deflection module by hybrid drive.Each control strategy can be operated independently.In order to verify structural applicability and operational reliability of this designed hybrid drive motor,the control strategy of start-up acceleration,smooth uniform speed and brake deceleration of motor rotation operation is planned.When rotation speed is stable and meets expected requirements,the internal deflection module is activated by three-phase power frequency alternating current to the four columns of 90-degree concentrated stator windings,and the three-degree-of-freedom motion is realized by the coordinated control of the rotation and deflection.Taking the origin of the output shaft as marking point,observe the spatial running track of the motor,monitor the three axial rotation angles of the motor in real time,define the sensor to determine the action,and simplify the control mechanism.The cross support rod of the motor and the annular casing are used as flexible bodies,and dynamic simulation of rigid-flexible coupling system is used to analyze output shaft eccentricity.
出处
《日用电器》
2018年第11期37-42,共6页
ELECTRICAL APPLIANCES
基金
国家自然科学基金资助项目(51577048
51637001
51877070)
河北省自然科学基金资助项目(E2018208155)
河北省留学人员科技活动项目择优资助项目(C2015003044)
河北省高等学校科学技术研究重点项目(ZD2018228)
河北省级研究生创新资助项目(CXZZSS2018085)
高节能电机及控制技术国家地方联合工程实验室开放课题基金资助项目(KFKT201804)
关键词
三自由度电机
运行轨迹
刚柔耦合系统
three-degree-of-freedom motor
running trajectory
rigid-flexible coupling system
