新型盘式横向磁通永磁无刷电机的结构原理及设计优化

doi:10.19595/j.cnki.1000-6753.tces.200401

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摘要伺服电机是工业机器人的执行驱动装置,目前普遍采用表贴式永磁同步电机,但是该类型电机的轴向绕组端部以及较高质量的转子无法进一步满足工业机器人小型化以及高动态性的要求。该文提出一种应用于工业机器人的新型盘式横向磁通永磁无刷电机（DTFM）,通过节省绕组轴向端部以及结合工业机器人的具体要求对电机内部空间进行合理设计,可以有效减小电机体积;另外,电机转子采用小体积、低质量的盘式结构可以提升电机的动态性能。首先,给出这一新型DTFM的结构和原理;其次,对DTFM的功率方程及主要尺寸进行理论推导,得到该种电机的初步设计方案,基于此,分析电机的结构参数变化对电机性能的影响;再次,提出一种新型优化方法——神经网络与多目标粒子群算法相结合的优化策略,对该种电机进行优化设计研究;最后,设计制作DTFM样机进行实验,验证电机性能的优越性。

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关键词 ：工业机器人, 横向磁通电机, 盘式电机, 软磁复合材料, 多目标优化

Abstract：As the executive device of industrial robots, servo motors generally adopt surface- mounted permanent magnet synchronous motors. However, the axial winding ends and higher-quality rotors of this type of motor cannot satisfy the requirements of miniaturization and high dynamics. In this paper, a novel disk-type transverse flux permanent magnet brushless motor (DTFM) applied to industrial robots is proposed. By eliminating the axial winding ends and designing inner space reasonably combined with the specific requirements of industrial robots, the volume of the motor can be effectively reduced. In addition, small volume and low-quality disk structure enhances the dynamic performance of the motor. First, the structure and principle of DTFM are introduced. Then, the power equation and the main dimensions of DTFM are deduced, and a set of preliminary design schemes are obtained. Furthermore, the influence of structure parameters on performance is analyzed, and a new multi-objective optimization strategy combining neural network and multi-objective particle swarm algorithm is used to optimize the DTFM. Finally, a prototype DTFM is manufactured and the superiority of the DTFM is verified through experiment.

Key words： Industrial robots transverse flux motor disk motor soft magnetic composite material multi-objective optimization

收稿日期: 2020-04-21

PACS:

TM351

基金资助:内蒙古自治区科技重大专项（2020ZD0014）资助

通讯作者: 徐衍亮男,1966年生,教授,博士生导师,研究方向为特种电机及其驱动控制。E-mail: xuyanliang@sdu.edu.cn

作者简介: 张文晶男,1995年生,博士研究生,研究方向为新型永磁无刷电机设计研发。E-mail: 1301824260@qq.com

引用本文:

张文晶, 徐衍亮, 李树才. 新型盘式横向磁通永磁无刷电机的结构原理及设计优化[J]. 电工技术学报, 2021, 36(14): 2979-2988. Zhang Wenjing, Xu Yanliang, Li Shucai. Structure Principle and Optimization of a Novel Disk Transverse Flux Permanent Magnet Brushless Motor. Transactions of China Electrotechnical Society, 2021, 36(14): 2979-2988.

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