机器人用外转子直驱永磁电机不同极槽配合的性能分析
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摘要
为了实现机器人微型化和节能的目标,高性能的直驱永磁电机成为机器人驱动系统的首选。对直驱永磁电机集中绕组的绕组因数解析式和极槽配合方式的选取原理进行分析。根据机器人用电机的技术要求,利用绕组因数解析式和极槽配合方式约束条件选择符合要求的组合,对比分析不同极槽配合方式下各次谐波绕组因数和幅值,得到谐波因数较好的几组极槽配合方式。在相同的结构尺寸和材料下,建立有限元仿真模型,解析空载状态下的气隙磁密和反电势,对比分析不同负载下的电磁转矩及其波动以及效率等电机性能,得到不同极槽配合方式对电机设计及其性能的影响。所得结果为外转子直驱永磁电机的进一步优化和机器人直驱控制系统的研究提供了重要的参考依据。
To achieve the goal of miniaturization and energy saving of the tobot,the high performance direct-drive permanent magnet motor has become the first choice of the robot drive system.The winding factor and the selection principle of the combinations of poles and slots for the concentrated windings of direct-drive permanent magnet motor were analyzed herein.According to the technical requirements of the robot for the motor,the winding factor analysis and the principle of combinations of poles and slots were chosen to select the required combinations of poles and slots,and the harmonic winding coefficients and amplitude values at different combinations of poles and slots were analyzed,and then several combinations of poles and slots with better harmonic coefficients were obtained.With the same structural parameters and materials,the finite element simulation model was established,the air gap magnetic density and the back EMF under no-load state were analyzed,and the performance of electromagnetic torque and its fluctuation as well as efficiency under different load were analyzed,and then,the influence of different combinations of poles and slots on the design and performance of the motor was obtained.The results provided an important reference for the further optimization of the outer-rotor direct-drive permanent magnet motor and the research of the robot direct-drive control system.
To achieve the goal of miniaturization and energy saving of the tobot,the high performance direct-drive permanent magnet motor has become the first choice of the robot drive system.The winding factor and the selection principle of the combinations of poles and slots for the concentrated windings of direct-drive permanent magnet motor were analyzed herein.According to the technical requirements of the robot for the motor,the winding factor analysis and the principle of combinations of poles and slots were chosen to select the required combinations of poles and slots,and the harmonic winding coefficients and amplitude values at different combinations of poles and slots were analyzed,and then several combinations of poles and slots with better harmonic coefficients were obtained.With the same structural parameters and materials,the finite element simulation model was established,the air gap magnetic density and the back EMF under no-load state were analyzed,and the performance of electromagnetic torque and its fluctuation as well as efficiency under different load were analyzed,and then,the influence of different combinations of poles and slots on the design and performance of the motor was obtained.The results provided an important reference for the further optimization of the outer-rotor direct-drive permanent magnet motor and the research of the robot direct-drive control system.
引文
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[12] ZHU Z Q,WU D,GE X.Investigation of voltage distortion in fractional slot interior permanent magnet machines having different slot and pole number combinations[J].IEEE Transactions on Energy Conversion,2016,31(3):1192-1201.
[13] GE X,ZHU Z Q.Sensitivity of manufacturing tolerances on cogging torque in interior permanent magnet machines with different slot/pole number[J].IEEE Transactions on Industry Applications,2017,53(4):3557-3567.
[14] 石有计.低速大转矩多极永磁电机齿槽转矩削弱的有效方式[J].电气技术,2012(6):52-55.SHI Y J.Effective ways to weaken cogging torque of low speed high torque multi-pole PMSM[J].Electrical Engineering,2012(6):52-55.
[2] 曹翼,李光耀.不同极槽配合永磁伺服电机的电磁性能分析和比较[J].电机与控制应用,2015,(11):21-25.CAO Y,LI G Y.Different pole / slot with permanent magnet servo motor electromagnetic performance analysis and comparison[J].Electric Machines & Control Application,2015,(11):21-25.
[3] CHOI J,PARK Y,JANG S.Experimental verification and electromagnetic analysis for performance of interior PM motor according to slot/pole number combination[J].IEEE Transactions on Magnetics,2012,48(2):987-990.
[4] SARABI R A,NASIRI-GHEIDARI Z,TOOTOONCHIAN F,et al.Analysis of winding configurations and slot-pole combinations in fractional-slots resolvers[J].IEEE Sensors Journal,2017,14(17):4420-4428.
[5] KIM D Y,PARK M R,SIM J H,et al.Advanced method of selecting number of poles and slots for low frequency vibration reduction of traction motor for elevator[J].IEEE/ASME Transactions on Mechatronics,2017,22(4):1554-1562.
[6] PONOMAREV P,LINDH P,PYRHONEN J.Effect of slot-and-pole combination on the leakage inductance and the performance of tooth-coil permanent-magnet synchronous machines[J].IEEE Transactions on Industrial Electronics,2013,60(10):4310-4317.
[7] WU F,ZHENG P,CHENG L M,et al.Analysis and experimental evaluation of harmonic leakage inductance for polyphase PM machines having close slot and pole combinations[J].IEEE Transactions on Magnetics,2015,51(11):1-4.
[8] DENG W Z,ZUO S G,LIN F,et al.Influence of pole and slot combinations on vibration and noise in external rotor axial flux in-wheel motors[J].IET Electric Power Applications,2017,4(11):586-594.
[9] ZHU Z Q,WU L J,MOHD J M L.Influence of pole and slot number combinations on cogging torque in permanent-magnet machines with static and rotating eccentricities[J].IEEE Transactions on Industry Applications,2014,50(5):3265-3277.
[10] SOUISSI A,ABDENNADHER I,MASMOUDI A,et al.Feature investigation of a T-LPMSM following the selection of its slot-pole combination[J].IEEE Transactions on Industry Applications,2017,53(2):1009-1017.
[11] ZHU Z Q,MOHD J M L,WU L J.Influence of slot and pole number combinations on unbalanced magnetic force in PM machines with diametrically asymmetric windings[J].IEEE Transactions on Industry Applications,2013,49(1):19-30.
[12] ZHU Z Q,WU D,GE X.Investigation of voltage distortion in fractional slot interior permanent magnet machines having different slot and pole number combinations[J].IEEE Transactions on Energy Conversion,2016,31(3):1192-1201.
[13] GE X,ZHU Z Q.Sensitivity of manufacturing tolerances on cogging torque in interior permanent magnet machines with different slot/pole number[J].IEEE Transactions on Industry Applications,2017,53(4):3557-3567.
[14] 石有计.低速大转矩多极永磁电机齿槽转矩削弱的有效方式[J].电气技术,2012(6):52-55.SHI Y J.Effective ways to weaken cogging torque of low speed high torque multi-pole PMSM[J].Electrical Engineering,2012(6):52-55.