基于三角形(△)组合线圈的永磁球形电机转矩特性与通电策略分析
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摘要
为了减少永磁球形电机轨迹跟踪过程中的控制电流计算量,提出一种基于三角形(△)组合线圈的通电策略。首先,通过Maxwell软件,利用叠加原理建立基于单个定子线圈的电磁转矩模型;然后,对比分析不同组合线圈自旋和倾斜运动的静态电磁转矩,确立△组合线圈的电磁转矩方程;同时,通过电流-转矩表达式,获得定子线圈的控制电流;最后,通过仿真计算和实验验证该方案的可行性。实验结果表明相对于单个线圈的独立控制,基于△组合线圈的通电策略在电机运动范围内无运动奇点,显著减少了控制电流的计算量。
In order to reduce the amount of control current calculation in the trajectory tracking of permanent magnet spherical motor(PMSM),an electrifying strategy based on the triangular combination coils is proposed.Firstly,by the Maxwell electromagnetic analysis software,the static electromagnetic torque model of single coil was established based on the superposition principle.Then,the static electromagnetic torque of different combination coil spin and tilt motions was compared,and then the electromagnetic torque equation based on triangular combination coils was established.At the same time,the control currents of the stator coils were obtained by the current-torque expression.Finally,the feasibility of the proposed scheme was verified by the simulation and experimental results.Compared with the independent control method of a single coil,this electrifying strategy based on the triangular combination coils has no motion singularity in the motion range,which significantly reduces the computation amount of control current.
In order to reduce the amount of control current calculation in the trajectory tracking of permanent magnet spherical motor(PMSM),an electrifying strategy based on the triangular combination coils is proposed.Firstly,by the Maxwell electromagnetic analysis software,the static electromagnetic torque model of single coil was established based on the superposition principle.Then,the static electromagnetic torque of different combination coil spin and tilt motions was compared,and then the electromagnetic torque equation based on triangular combination coils was established.At the same time,the control currents of the stator coils were obtained by the current-torque expression.Finally,the feasibility of the proposed scheme was verified by the simulation and experimental results.Compared with the independent control method of a single coil,this electrifying strategy based on the triangular combination coils has no motion singularity in the motion range,which significantly reduces the computation amount of control current.
引文
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[14]Gofuku A,Yu Y,Yano T,Kasashima N.Driving technique of electromagnets to rotate spherical motors based on torque map[C]//2016 International Symposium on Power Electronics,Electrical Drives,Automation and Motion(SPEEDAM),Anacapri,Italy2016:861-865.
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[16]郭辰.永磁球形电动机动力学解耦控制及通电策略研究[D].天津:天津大学,2010.
[17]朱叶盛,章国宝,黄永明.基于PWM的开关磁阻电机直接瞬时转矩控制[J].电工技术学报,2017,32(7):31-39.Zhu Yesheng,Zhang Guobao,Huang Yongming.PWM-based direct instantaneous torque control of switched reluctance machine[J].Transactions of China Electrotechnical Society,2017,32(7):31-39.
[18]Qian Zhe,Wang Qunjing,Ju Lufeng,et al.Torque modeling and control algorithm of a permanent magnetic spherical motor[C]//International Conference on Electrical Machines and Systems(ICEMS),Tokyo,Japan,2009:944-949.
[19]Yan Liang,Chen I Ming,Lim C K,et al.Design and analysis of a permanent magnet spherical actuator[J].IEEE/ASME Transactions on Mechatronics,2008,13(2):239-248.
[2]李争,伦青青,薛增涛,等.永磁转子偏转式三自由度电机磁场和转矩特性的计算与分析[J].电工技术学报,2017,32(23):81-90.Li Zheng,Lun Qingqing,Xue Zhengtao,et al.Calculation and analysis of magnetic field and torque characteristics for 3-DOF deflection type pm motor[J].Transactions of China Electrotechnical Society,2017,32(23):81-90.
[3]Yan Liang,Liu Delong,Jiao Zongxia,et al.Magnetic field modeling based on geometrical equivalence principle for spherical actuator with cylindrical shaped magnet poles[J].Aerospace Science&Technology,2016,49:17-25.
[4]庞圣钊,皇甫宜耿,郭亮,等.基于Lyapunov间接法分析的恒功率负载电源变换器稳定控制策略[J].电工技术学报,2017,32(14):146-154.Pang Shengzhao,Huangfu Yigeng,Guo Liang,et al.A novel wide stability control strategy of constant power load power converter based on the analysis of Lyapunov indirect method[J].Transactions of China Electrotechnical Society,2017,32(14):146-154.
[5]李争,张璐,王群京,等.基于响应面法的永磁转子偏转式三自由度电动机结构参数的优化设计[J].电工技术学报,2015,30(13):134-142.Li Zheng,Zhang Lu,Wang Qunjing,et al.Optimal design of structure parameters of three-DOFdeflection type PM motor based on response surface methodology[J].Transactions of China Electrotechnical Society,2015,30(13):134-142.
[6]张红强,章兢,周少武,等.未知动态复杂环境下群机器人协同多层围捕[J].电工技术学报,2015,30(17):140-153.Zhang Hongqiang,Zhang Jing,Zhou Shaowu,et al.Cooperative multilayer hunting by swarm robots in unknown dynamic complex environments[J].Transactions of China Electrotechnical Society,2015,30(17):140-153.
[7]Yan Liang,Chen I Ming,Yang Guilin,et al.Analytical and experimental investigation on the magnetic field and torque of a permanent magnet spherical actuator[J].IEEE Transactions on Mechatronics2006,11(4):409-419.
[8]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.
[9]Son H,Lee K M.Open-loop controller design and dynamic characteristics of a spherical wheel motor[J].IEEE Transactions on Industrial Electronics,2010,57(10):3475-3482.
[10]Bhatia A,Kumagai M,Hollis R.Six-stator spherical induction motor for balancing mobile robots[C]//2015 IEEE International Conference on Robotics and Automation(ICRA),Seattle,WA,USA,2015:226-231.
[11]Leroy E,Lozada J,Hafez M.A curved ultrasonic actuator optimized for spherical motors:design and experiments[J].Ultrasonics,2014,54(6):1610-1619.
[12]王群京,陈丽霞,吴立建,等.基于加权无向图的永磁球形步进电机运动控制[J].中国电机工程学报,2005,25(9):130-134.Wang Qunjing,Chen Lixia,Wu Lijian,et al.The control of a permanent magnet spherical stepper motor based on weighted graph[J].Proceedings of the CSEE,2005,25(9):130-134.
[13]Bai K,Lee K M.Direct Field-feedback control of a ball-joint-like permanent-magnet spherical motor[J].IEEE/ASME Transactions on Mechatronics,2014,19(3):975-986.
[14]Gofuku A,Yu Y,Yano T,Kasashima N.Driving technique of electromagnets to rotate spherical motors based on torque map[C]//2016 International Symposium on Power Electronics,Electrical Drives,Automation and Motion(SPEEDAM),Anacapri,Italy2016:861-865.
[15]Takahara K,Hirata K,Niguchi N,et al.Evaluation method for multi-degree-of-freedom spherical actuators under power control[J].IEEE Transactions on Magnetics,2017,53(11):1-5.
[16]郭辰.永磁球形电动机动力学解耦控制及通电策略研究[D].天津:天津大学,2010.
[17]朱叶盛,章国宝,黄永明.基于PWM的开关磁阻电机直接瞬时转矩控制[J].电工技术学报,2017,32(7):31-39.Zhu Yesheng,Zhang Guobao,Huang Yongming.PWM-based direct instantaneous torque control of switched reluctance machine[J].Transactions of China Electrotechnical Society,2017,32(7):31-39.
[18]Qian Zhe,Wang Qunjing,Ju Lufeng,et al.Torque modeling and control algorithm of a permanent magnetic spherical motor[C]//International Conference on Electrical Machines and Systems(ICEMS),Tokyo,Japan,2009:944-949.
[19]Yan Liang,Chen I Ming,Lim C K,et al.Design and analysis of a permanent magnet spherical actuator[J].IEEE/ASME Transactions on Mechatronics,2008,13(2):239-248.