柔性平动式啮合电机动态分析与转矩控制  

Dynamic analysis and torque control of translational meshing motor integrated with compliant mechanism

作　　者：李瑞华[1] 魏世民[1] 廖启征[1] 倪振松[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《电机与控制学报》2009年第3期408-413,418,共7页Electric Machines and Control

基　　金：教育部博士点基金项目(20050013006);国家"八六三"专项课题(2007AA04Z211)

摘　　要：介绍了一种柔性机构平动式啮合电机结构和运行原理,该电机利用4组磁极间的磁场力驱动转子在柔性机构约束下绕定子轴线做圆周平动,进而直接带动摆线机构输出低速大扭矩。针对该电机特点,依据磁共能原理,采用动态分析方法建立了电机的磁场和转矩特性模型,分别运用解析方法和有限元方法计算了电机的电感特性;结合直接转矩控制原理推导出了柔性平动式啮合电机的转矩控制算法。设计了物理样机和控制系统,通过仿真和物理样机实验证明了直接转矩控制较开关控制方法降低了电机的振动,控制转速波动在10%以内。理论分析和实验结果均表明该转矩控制方法具有较高的可行性和实用性。The structural and operational principle of a novel translational meshing motor was presented which consists of four magnetic poles who translated the electrical energy into the mechanical energy to drive the rotor. Under the driving of magnetic force and restricton of the compliant mechanism, the rotor was constrained to move by circle translation and drives the cycloid machine to output big torque through the output shaft. According to the features of the motor, dynamic analysis method was applied to establish the mathematic model of magnetic field and torque characteristics utilizing the magnetic coenergy prineipie, and the inductance was calculated through analytical and finite element method. Based on the direct torque control principle, the torque control algorithm of translational meshing motor was derived. The prototype and control system was obtained, and the torque control method can decrease the vibration simulation and prototype experiments testify that direct effectively, and restrict the rotational speed fluctuation within ten percent. Theoretical analysis and experimental result show that this torque control method is feasible and practical.

关 键 词：平动式啮合电动机 柔性机构 有限元方法 动态分析 转矩控制 

分 类 号：TM302[电气工程—电机] TM359.9