两自由度直驱电机的研究现状及发展

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摘要两自由度直驱电机具有直接驱动的特点,即不需要中间传动机构即直接驱动负载作直线、旋转或螺旋运动,大大减小设备体积,显著提高效率。两自由度直驱电机在需要复杂运动的动力系统如数控机床、机器人、雕刻机、汽车生产线、搅拌机、球形阀等设备中,具有非常广阔的应用前景,受到学术界和工业界的广泛关注。目前典型的两自由度直驱电机大都属于感应电机、永磁电机或磁阻电机类型。设计理论采用“场化路”的解析法或有限元法,建立数学模型以及求解电磁场方程分析。本文通过参考国内外最新文献,分析了两自由度直驱电机的设计理论、控制方法和应用技术等方面的研究现状及发展概况,针对现有两自由度电机技术,提出一种新型的两自由度直驱感应电机(2-DOF DAIM)拓扑结构,阐述其工作原理及优点,讨论了未来两自由度直驱电机的发展方向。

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	司纪凯
	司萌
	封海潮
	许孝卓

关键词 ：两自由度, 直驱电机, 设计理论, 控制方法, 研究现状

Abstract：Direct drive motors with two degrees of freedom have the characteristic of direct driving, that means this kind of motor can drive loads to do motions with two degrees of freedom directly (pure linear, pure rotary or helical motion), so the volume of devices could be reduced greatly, and the efficiency could be risen remarkably. Direct drive motors with two degrees of freedom are widely applied in dynamical systems that require complicated motions such as NC machine tool, robot, carving machine, car production line, agitator, spherical valve, etc. It has a good prospect of application, and this kind of motor has become a hot topic in the field of academic community and industry. Currently, typical kinds of direct drive motor with two degrees of freedom are mainly based on the principles of induction motor, permanent magnet motor or reluctance motor. Most of the design theories adopt finite element method, mathematical model and solving electromagnetic field equations to analyze. This paper analyzes the research status of design theories, control methods and application of motor with two degrees of freedom by referring the latest domestic and foreign literatures, and surveys the development situation of motor with two degrees of freedom, and discusses the development direction in the future in accordance with the current status of the technology of motor with two degrees of freedom.

Key words： Two degrees of freedom direct drive motor design theory control method research status

收稿日期: 2011-08-03 出版日期: 2013-11-28

PACS:

TM351

基金资助:我国对多自由度电动机的研究始于20世纪80年代后期,起步虽然较晚,但国家有关部门非常重视,863计划和国家自然科学基金都资助过多自由度电动机方面的研究。西北工业大学、华中理工大学、哈尔滨工业大学和浙江大学等高校在认真总结国外研究成果的基础上,研制出了各自的多自由度电动机样机,并对有关问题进行了较为深入的研究。

作者简介: 司纪凯男，1973年生，博士，硕士生导师，研究方向为特种电机理论及应用。司萌男，1987年生，硕士研究生，研究方向为特种电机设计及电磁场研究。

引用本文:

司纪凯, 司萌, 封海潮, 许孝卓. 两自由度直驱电机的研究现状及发展[J]. 电工技术学报, 2013, 28(2): 97-107. Si Jikai, Si Meng, Feng Haichao, Xu Xiaozhuo. Research Status and Development of Two-Degree-of-Freedom Direct Drive Motor. Transactions of China Electrotechnical Society, 2013, 28(2): 97-107.

链接本文:

http://dgjsxb.ces-transaction.com/CN/Y2013/V28/I2/97

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