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  

Analysis of Torque Characteristics and Electrifying Strategy of Permanent Magnet Spherical Motor Based on Triangular Combination Coils

作　　者：过希文[1,2,3] 李绅 王群京 周睿[1,2,3] 文彦[1,2] Guo Xiwen;Li Shen;Wang Qunjing;Zhou Rui;Wen Yan(School of Electrical Engineering and Automation Anhui University Hefei 230601 China;National Engineering Laboratory of Energy-Saving Motor & Control Technology Anhui University Hefei 230601 China;Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control Anhui University Hefei 230601 China)

机构地区：[1]安徽大学电气工程与自动化学院,合肥230601 [2]安徽大学高节能电机及控制技术国家地方联合工程实验室,合肥230601 [3]安徽大学工业节电与电能质量控制协同创新中心,合肥230601

出　　处：《电工技术学报》2019年第8期1607-1615,共9页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(51637001;51307001);安徽省教育厅自然科学研究重点项目(KJ2017A001);安徽大学青年骨干教师培养项目(J01005126);安徽大学引进人才项目(02303203(32030049))资助

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 reducesthe computation amount of control current.

关 键 词：永磁球形电机 组合线圈 电磁转矩建模 通电策略 运动奇点 

分 类 号：TM351[电气工程—电机]