|
|
|
| Calculation and Analysis of Magnetic Field and Torque Characteristics for 3-DOF Deflection Type PM Motor |
| Li Zheng, Wang Qunjing2, Xue Zengtao1, Wang Qunjing2 |
1. School of Electrical Engineering Hebei University of Science and Technology Shijiazhuang 050018 China;
2. National Engineering Laboratory of Energy-Saving Motor & Control Technique AnhuiUniversity Hefei230601 China; |
|
|
|
|
Abstract The PM rotor multiple-DOF motors can realize multiple-DOF motion of output shaft and greatly simplify the mechanical structure while improving the response speed and positioning accuracy of transmission systems. Therefore, it has become a research hotspot at home and abroad in the motor field. This paper proposes a 3-DOF deflection type PM motor with butterfly shape rotor structure and builds its finite element model based on the finite element method. The magnetic field distribution of the motor are analyzed and calculated, then compared and validated with the results by analytical method. Based on the above, the spin rotation torque and deflection torque of this motor are calculated and analyzed. The results are also compared and analyzed with the magnetic field and torque of 3-DOF deflection type PM motor with drum shape rotor structure, which shows that the new structure can effectively enhance the flux density and torque magnitude of spin rotation, improve the deflection torque magnitude and its deflection range. Finally, the prototype is measured and the experiment results have been compared and validated with the results by finite element and analytical models.
|
|
Received: 21 July 2016
Published: 22 December 2017
|
|
|
|
|
|
[1] 李争, 王群京. 永磁多维球形电动机的研究与发展现状[J]. 微特电机, 2006, 34(10): 7-11.
Li Zheng, Wang Qunjing. The present research and development situation of permanent magnet spherical motor of multi-dimensions[J]. Small & Special Electrical Machines, 2006, 34(10): 7-11.
[2] 李争, 王咏涛, 葛荣亮, 等.永磁球形多自由度电机研究进展综述[J]. 微电机, 2011, 44(9): 66-70.
Li Zheng, Wang Yongtao, Ge Rongliang, et al. The summary and latest research of PM spherical M-DOF motor[J]. Micromotors, 2011, 44(9): 66-70.
[3] Wang J, Jewell G W, Howe D. Modeling of a novel spherical permanent magnet actuator[C]//IEEE International Conference on Robotics and Automation, Albuquerque, 1997: 1190-1195.
[4] Chirikjian S G, Stein D. Kinematic design and commutation of a spherical stepper motor[J]. IEEE Transactions on Mechatronics, 1999, 4(4): 342-353.
[5] Yan Liang, Chen I M, Lim C K. Magnetic field analysis of spherical actuators with iron stator[C]//IEEE Conferences on Robotics Automation and Mechatronics,Chengdu, China, 2008: 1050-1055.
[6] Oner Y. A permanent magnet spherical rotor design and three dimensional static magnetic analysis[J]. Sensors and Actuators, 2007, 137(2): 200-208.
[7] Dehez B, Galary G, Grenier D, et al. Development of a spherical induction motor with two degrees of freedom[J]. IEEE Transactions on Magnetics, 2006, 42(8): 2077-2089.
[8] Li Zheng. Analysis and control of novel deflection-type PM multi-DOF actuator[J]. Journal of Harbin Institute of Technology, 2013, 20(2): 99-105.
[9] 李争, 孙克军, 王群京, 等. 一种多自由度电机三维磁场分析及永磁体设计[J]. 电机与控制学报, 2012, 16(7): 65-71.
Li Zheng, Sun Kejun, Wang Qunjing, et al. 3D magnetic field analysis and permanent magnet design of a M-DOF motor[J]. Electric Machines and Control, 2012, 16(7): 65-71.
[10] IkejiriShohei, Hirata Katsuhro, Maeda Shuhei. Proposal of electromagnetic spherical actuator with 3-DOF[J]. Computation and Mathematics in Electrical and Electronic Engineering, 2010, 29(4):994-1003.
[11] Son H, Lee KM. Distributed multipole models for design and control of PM actuators and sensors[J]. IEEE/ASME Transactions on Mechatronics, 2008,12(2): 228-238.
[12] Xia Changliang, Li Hongfeng, Shi Tingna. 3-D magnetic field and torque analysis of a novel Halbach array permanent-magnet spherical motor[J]. IEEE Transactions on Magnetics, 2008, 44(8): 2016-2020.
[13] 司纪凯, 艾立旺, 谢璐佳, 等. 两自由度直驱感应电机电磁场分析和特性计算[J]. 电工技术学报, 2015, 30(14): 153-161.
Si Jikai, Ai Liwang, XieLujia, et al. Electromagnetic field analysis and characteristic calculation of direct drive induction motor with two degrees of freedom [J].Transactions of China Electrotechnical Society, 2015, 30(14): 153-161.
[14] 仇志坚, 李琛, 周晓燕, 等. 表贴式永磁电机转子偏心空载气隙磁场解析[J]. 电工技术学报, 2013, 28(3): 114-122.
QiuZhijian, Li Chen, Zhou Xiaoyan, et al. Analysis of air gap magnetic field of permanent magnet motor rotor with eccentric load[J].Transactions of China Electrotechnical Society, 2013, 28(3): 114-122.
[15] 刘光伟, 张凤阁, 魏瀚阳, 等. 外永磁转子爪机电机空载气隙磁场解析计算[J].电工技术学报, 2014, 29(1): 52-59.
Liu Guangwei, Zhang Fengge, Wei Hanyang, etal. Analytical calculation of the no-load air gap magnetic field of the motor of the outer permanent magnet rotor Claw Machine[J].Transactions of China ElectrotechnicalSociety, 2014, 29(1): 52-59.
[16] 王群京, 李争, 夏鲲, 等. 新型永磁球形步进电动机结构参数及转矩特性的计算与分析[J]. 中国电机工程学报, 2006, 26(10): 158-165.
Wang Qunjing, Li Zheng, Xia Kun, et al. Calculation and analysis on configuration parameters and toque characteristics of a novel spherical stepper motor[J]. Proceedings of the CSEE, 2006, 26(10): 158-165.
[17] 范文韬, 夏鲲, 季诺, 等. 永磁球形步进电机的结构研究与设计[J]. 电气自动化, 2010, 32(6): 73-76.
Fan Wentao, Xia Kun, Ji Nuo, et al. The research and design of a permanent magnet spherical stepper motor’s structure[J]. Electrical Automation, 2010, 32(6): 73-76.
[18] Li Zheng. Robust control of PM spherical stepper motor based on neural networks[J]. IEEE Transactions on Industrial Electronics, 2009, 56(8): 2945-2954.
[19] Li Zheng, Sun Huiqin,Wu Xueli, et al. Modeling and levitation control of a novel M-DOF actuator based on neural network[J]. International Journal of Applied Electromagnetics and Mechanics,2012,38(4): 217-230.
[20] 李洪凤, 沈彦波. 永磁球形电动机永磁体涡流损耗分析[J]. 电工技术学报, 2015, 30(12): 267-275.
Li Hongfeng, Shen Yanbo. Eddy current loss analysis of permanent magnet spherical motor[J].Transactions of China Electrotechnical Society, 2015, 30(12): 267-275. |
|
|
|
2017, Vol. 32 
