An Overview on Developments and Research of Limited Angle Torque Motor
Wang Mingjie1, Li Dawei1, Qu Ronghai1, Huang Lihao2
1. State Key Laboratory of Advanced Electromagnetic Engineering and Technology Huazhong University of Science and Technology Wuhan 430074 China; 2. AECC Aero Engine Control System Institute Wuxi 214063 China
Abstract A limited angle torque motor (LATM) can rotate around the axis within a certain angle without requiring additional mechanical devices. LATMs are often used as electrically powered actuators, which are applied to the direct drive control with a torque requirement of less than 1 kN·m within a limited angle. Compared with traditional hydraulic and pneumatic actuators, no piping or other transmission equipment is required. Compared with the traditional electrically powered actuator of the rotary motor with gearbox, LATM has no non-linearity problem caused by the transmission mechanism and has the advantages of simple structure, convenient control, high reliability, and high torque density. Therefore, LATMs are widely used in various application fields that require only a limited rotation angle. There are many different structures of LATM and various ways to classify them. At the same time, there are similarities in the working principles of serval main topologies that have been used so far. In this paper, the working principles of each main topology are introduced by evolving the DC motor into these topologies, which leads to the relationship between output torque and rotor angle, the characteristic of most interest in applications of LATM. Then, various LATM topologies and their characteristics are presented in detail. Among these topologies, the toroidal slotless LATM and equi-polar slot LATM are the two most widely used topologies and research focuses. The torque-angle characteristic of LATM has a constant torque range (CTR), where the output torque is proportional to the input current and independent of the speed and rotor position. Thus, it is the operating range of LATM. The magnitude of CTR and the maximum output torque in the range are the two most important static performance indicators of LATM. Since CTR is affected by the cogging torque, armature reaction, and nonlinearity of the ferromagnetic material, this paper presents the application of the equivalent magnetic circuit methods, the analytical methods, the finite element method, and the decision-making methods in LATM design. Moreover, this paper discusses how to suppress the torque ripple within CTR and how to further improve the magnitude of CTR and the maximum output torque in the range. Mathematical models and control methods are indispensable to achieving precise control of LATM. The linear mathematical model can be analogous to that of a DC motor. However, accurate nonlinear mathematical models must rely on the finite element method or experimental data. Thus, robust control methods are better for obtaining the desired dynamic performance. This paper presents the application of PID and improved PID control methods in LATM control, and the application of various modern control methods considering the effects of load disturbances, motor parameter variations, and nonlinearity of the torque-angle characteristic. According to the swing scanning and positioning functions of LATM, three typical application fields- imaging system, servo valve, and aircraft attitude-are detailed in this paper, and other applications are roughly introduced. With the development of science and technology, the study of new structures, optimization of the torque-angle characteristic, loss calculation, multi-physics field coupling analysis, and testing techniques will become the main development trend in LATM research. As researchers improve motor performance, LATM will have a broader application prospect.
Wang Mingjie,Li Dawei,Qu Ronghai等. An Overview on Developments and Research of Limited Angle Torque Motor[J]. Transactions of China Electrotechnical Society, 2023, 38(6): 1486-1505.
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2023, Vol. 38 
