基于三角形（△）组合线圈的永磁球形电机转矩特性与通电策略分析

doi:10.19595/j.cnki.1000-6753.tces.180587

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摘要为了减少永磁球形电机轨迹跟踪过程中的控制电流计算量,提出一种基于三角形（△）组合线圈的通电策略。首先,通过Maxwell软件,利用叠加原理建立基于单个定子线圈的电磁转矩模型;然后,对比分析不同组合线圈自旋和倾斜运动的静态电磁转矩,确立△组合线圈的电磁转矩方程;同时,通过电流-转矩表达式,获得定子线圈的控制电流;最后,通过仿真计算和实验验证该方案的可行性。实验结果表明相对于单个线圈的独立控制,基于△组合线圈的通电策略在电机运动范围内无运动奇点,显著减少了控制电流的计算量。

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关键词 ：永磁球形电机, 组合线圈, 电磁转矩建模, 通电策略, 运动奇点

Abstract：In order to reduce the amount of control current calculation in the trajectory tracking of permanent magnet spherical motor (PMSM), an electrifying strategy based on the triangular combination coils is proposed. Firstly, by the Maxwell electromagnetic analysis software, the static electromagnetic torque model of single coil was established based on the superposition principle. Then, the static electromagnetic torque of different combination coil spin and tilt motions was compared, and then the electromagnetic torque equation based on triangular combination coils was established. At the same time, the control currents of the stator coils were obtained by the current-torque expression. Finally, the feasibility of the proposed scheme was verified by the simulation and experimental results. Compared with the independent control method of a single coil, this electrifying strategy based on the triangular combination coils has no motion singularity in the motion range, which significantly reduces the computation amount of control current.

Key words： Permanent magnet spherical motor combination coils electromagnetic torque modeling electrifying strategy motion singularity

收稿日期: 2018-04-11 出版日期: 2019-05-05

PACS:

TM351

基金资助:国家自然科学基金（51637001、51307001）,安徽省教育厅自然科学研究重点项目（KJ2017A001）,安徽大学青年骨干教师培养项目（J01005126）和安徽大学引进人才项目（02303203（32030049））资助

通讯作者: 过希文男,1983年生,副教授,硕士生导师,研究方向为电机系统及其控制,电磁场理论与应用。E-mail: xwguo2008@126.com

作者简介: 李绅男,1992年生,硕士研究生,研究方向为球形电机轨迹规划、电磁场分析与控制。E-mail: listentoy@163.com

引用本文:

过希文, 李绅, 王群京, 周睿, 文彦. 基于三角形（△）组合线圈的永磁球形电机转矩特性与通电策略分析[J]. 电工技术学报, 2019, 34(8): 1607-1615. Guo Xiwen, Li Shen, Wang Qunjing, Zhou Rui, Wen Yan. Analysis of Torque Characteristics and Electrifying Strategy of Permanent Magnet Spherical Motor Based on Triangular Combination Coils. Transactions of China Electrotechnical Society, 2019, 34(8): 1607-1615.

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