三相对称绕组的多自由度磁性致动器设计  

Design of multi-DOF magnetic actuator with three-phase symmetrical winding

作　　者：鄢圣华 徐赐军 王永奉 余峰 YAN Shenghua;XU Cijun;WANG Yongfeng;YU Feng(School of Mechanical and Electrical Engineering,Hubei Polytechnic University,Huangshi 435003,China)

机构地区：[1]湖北理工学院机电工程学院,湖北黄石435003

出　　处：《传感器与微系统》2023年第8期73-77,共5页Transducer and Microsystem Technologies

基　　金：湖北省自然科学基金—黄石联合资助项目(2022CFD004);湖北省教育厅科学技术研究项目(D20224503)。

摘　　要：针对基于机械弹簧的多自由度致动器存在系统复杂、运动精度低的问题,设计了一种采用铁氧体永磁体的新型谐振致动器。首先,所提致动器的基本结构主要包括1个定子、1个动子和1个三相对称绕组,其中动子部分包括6个永磁铁氧体和1个动铁芯;其次,对磁阻特性和推力特性进行了理论研究;然后,在动力学模型分析的基础上,提出了无需位置传感器的运动估计方法;最后,通过有限元分析验证了所提致动器的特性,并与样机上的测量结果进行了比较。研究结果表明:样机的磁阻力误差和力常数误差分别仅为6%和2%,且在无机械弹簧的条件下产生相对于移动距离的对中力,从而可以在X-Y平面上实现各种可控的高精度谐振运动。所提致动器有效降低了系统成本和复杂性,可用于需要精确受控运动的机械领域,在微型机器人、医疗设备和光学仪器等。Aiming at the problems of complex system and low motion precision of multi-degree-of-freedom(multi-DOF)actuator based on mechanical spring,a new type of resonant actuator using ferrite permanent magnet is designed.Firstly,the basic structure of the proposed actuator mainly includes a stator,a rotor and a three-phase symmetrical winding,in which the rotor part includes six permanent magnets ferrite and a moving iron core.Secondly,the reluctance characteristics and thrust characteristics are studied theoretically.Then,based on the analysis of dynamic model,a motion estimation method without position sensor is proposed.Finally,the characteristics of the proposed actuator are verified by finite element analysis and compared with the measured results on the prototype.The research results show that the magnetic resistance error and force constant error of the prototype are only 6%and 2%respectively,and the centering force relative to the moving distance is generated without mechanical spring,so that various controllable and high-precision resonant motions can be realized on the X-Y plane.The proposed actuator effectively reduces the cost and complexity of the system,and can be used in mechanical fields that need accurately controlled motion,such as micro-robots,medical equipment and optical instruments.

关 键 词：致动器 多自由度 磁阻力 三相对称绕组 永磁铁氧体 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置] TN712[自动化与计算机技术—控制科学与工程]