机器人用外转子直驱永磁电机设计与性能分析
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摘要
直驱永磁电机以其转矩大、波动小、效率高和结构紧凑等优越性能,取代了传统伺服电机和减速器联合使用的驱动模式,成为机器人驱动系统的核心部件之一。根据工业机器人的运行工况和实际要求,设计了一台直驱高速并联机器人的27槽24极外转子永磁电机,分析该电机主要结构参数的选取,建立该电机的二维有限元仿真模型。在空载状态下,计算气隙磁密分布,分析空载反电势及其谐波含量和齿槽转矩;在额定转矩和最大转矩的工作状态下,对电磁转矩、效率、功率因数和力能指标等电机性能进行对比分析。仿真结果表明,该电机的性能指标误差均在6. 5%以内,验证了电机设计的合理性和实用性,可为电机参数的进一步优化设计提供依据,也可为机器人驱动系统的优化提供参考。
The direct-drive permanent magnet motor,with its advantages such as large torque,small fluctuation,high efficiency and compact structure,has replaced the driving mode used by the traditional servo motor and the reducer,and has become one of the core parts of the robot drive system. According to the operating conditions and requirements for industrial robots,a 27-slots 24-poles outer-rotor permanent magnet motor for directdrive high-speed parallel robot was designed. The selections of main structure parameters of the motor were introduced,and the two-dimensional finite element simulation model of the motor was established. Under no-load condition,the magnetic density distribution of the air gap was calculated,and the back EMF and its harmonic content and cogging torque were analyzed. Under the conditions of rated torque and maximum torque,the performances of electromagnetic torque,efficiency,power factor and force-energy index were analyzed and compared. The results showed that the performance index error of the motor was less than 6. 5%,which verified the rationality and practicability of the design of the motor. It provided the basis for further optimization design of the motor parameters and the reference for the optimization of robot drive system.
The direct-drive permanent magnet motor,with its advantages such as large torque,small fluctuation,high efficiency and compact structure,has replaced the driving mode used by the traditional servo motor and the reducer,and has become one of the core parts of the robot drive system. According to the operating conditions and requirements for industrial robots,a 27-slots 24-poles outer-rotor permanent magnet motor for directdrive high-speed parallel robot was designed. The selections of main structure parameters of the motor were introduced,and the two-dimensional finite element simulation model of the motor was established. Under no-load condition,the magnetic density distribution of the air gap was calculated,and the back EMF and its harmonic content and cogging torque were analyzed. Under the conditions of rated torque and maximum torque,the performances of electromagnetic torque,efficiency,power factor and force-energy index were analyzed and compared. The results showed that the performance index error of the motor was less than 6. 5%,which verified the rationality and practicability of the design of the motor. It provided the basis for further optimization design of the motor parameters and the reference for the optimization of robot drive system.
引文
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[14]马鑫,韩雪岩,贾建国,等.桥式起重机用细长型外转子永磁电机的研究设计[J].电工技术学报,2015,30(14):511-517.MA X,HAN X Y,JIA J G,et al. Research and design of slim outer rotor permanent magnet motor for bridge crane[J]. Transactions of China Electrotechnical Society,2015,30(14):511-517.
[15]耿伟伟,张卓然.新型外转子Halbach永磁阵列定子无铁心电机设计与分析[J].电工技术学报,2015,30(14):8-11.GENG W W,ZHANG Z R. Design and analysis of external rotor coreless permanent magnet motor with halbach magnet array[J]. Transactions of China Electrotechnical Society,2015,30(14):8-11.
[2] ZHANG J,FANG Y,HUANG X,et al. Design of inwheel permanent magnet synchronous motor with concentrated fractional-slot winding and winding switching technology[C]//International Conference on Electrical Machines and Systems(ICEMS),2013,Busan,South Korea. USA:IEEE,2014:1202-1206.
[3] BIANCHI N,PRE M D,GREZZANI G,et al. Design considerations on fractional-slot fault-tolerant synchronous motors[C]//IEEE International Conference on Electric Machines and Drives,2005,San Antonio,TX,USA. USA:IEEE,2005:902-909.
[4] SARIGIANNIDIS A G,BENIAKAR M E,KAKOSIMOS P E,et al. Fault tolerant design of fractional slot winding permanent magnet aerospace actuator[J]. IEEE Transactions on Transportation Electrification,2016,2(3):380-390.
[5] FAN Y,CHEN S Y,TAN C,et al. Design and investigation of a new outer-rotor IPM motor for EV and HEV in-wheel propulsion[C]//19th International Conference on Electrical Machines and Systems(ICEMS),2016,Chiba,Japan. USA:IEEE,2017:1-4.
[6] HUANG Y K,ZHU Z C,LIN H Y,et al. Development of high torque low speed fractional-slot concentrated windings PMSM for traction application[C]//IEEE Vehicle Power and Propulsion Conference(VPPC),2016,Hangzhou,China. USA:IEEE,2016:1-6.
[7] XU Y L,SON Y Y. Fractional-slot low speed large torque permanent magnet brushless motors[C]//4th IEEE Conference on Industrial Electronics and Applications,2009,Xi'an,China. USA:IEEE,2009:3565-3569.
[8]李芳玲,杨俊华,王秋晶,等.直驱式外转子永磁同步风力发电机的设计与分析[J].微特电机,2014,42(12):9-12.LI F L,YANG J H,WANG Q J,et al. Design and analysis of out rotor direct driver permanent magnet wind generator[J]. Small and Special Electrical Machines,2014,42(12):9-12.
[9]杨国龙,黄开胜,赖文海,等.小型电动车用外转子永磁同步电动机的设计与分析[J].微电机,2015,48(10):11-14.YANG G L,HUANG K S,LAI W H,et al. Design and analysis of small electric vehicles with outer rotor permanent magnet synchronous motor[J]. Micromotors,2015,48(10):11-14.
[10] REIS K,BINDER A. Development of a permanent magnet outer rotor direct drive for use in wheel-hub drives[C]//International Conference on Electrical Machines(ICEM),2014,Berlin,Germany. USA:IEEE,2014:2424-2430.
[11] WU D M,FEI W Z,LUK P C. Design optimizations of outer-rotor permanent magnet synchronous machines with fractional-slot and concentrated-winding configurations in lightweight electric vehicles[C]//6th International Conference on Power Electronics Systems and Applications(PESA),2015,Hong Kong,China. USA:IEEE,2016:1-8.
[12] BODEA M S,SUMION A,LIVADARU L,et al. Fractional slot permanent magnet machine with outer rotor[C]//International Conference and Exposition on Electrical and Power Engineering(EPE),2016,Iasi,Romania. USA:IEEE,2016:256-260.
[13]李红梅,姚宏洋.定子叠片式外转子横向磁通永磁电机设计[J].电工技术学报,2014:29(s1):103-107.LI H M,YAO H Y. Design of an outer transverse flux permanent magnet motor with laminated stator[J].Transactions of China Electrotechnical Society,2014,29(s1):103-107.
[14]马鑫,韩雪岩,贾建国,等.桥式起重机用细长型外转子永磁电机的研究设计[J].电工技术学报,2015,30(14):511-517.MA X,HAN X Y,JIA J G,et al. Research and design of slim outer rotor permanent magnet motor for bridge crane[J]. Transactions of China Electrotechnical Society,2015,30(14):511-517.
[15]耿伟伟,张卓然.新型外转子Halbach永磁阵列定子无铁心电机设计与分析[J].电工技术学报,2015,30(14):8-11.GENG W W,ZHANG Z R. Design and analysis of external rotor coreless permanent magnet motor with halbach magnet array[J]. Transactions of China Electrotechnical Society,2015,30(14):8-11.