基于D-H参数的磁阻式球形电机动力学建模  

Dynamic Modeling of Reluctance Spherical Motor Based on D-H Parameter

作　　者：李瑞英 李国丽[2,3] 鞠鲁峰[1,4] 王群京 LI Ruiying;LI Guoli;JU Lufeng;WANG Qunjing(School of Electrical Engineering and Automation,Anhui University,Hefei 230601;National Engineering Laboratory of Energy-Saving Motor&Control Technology,Anhui University,Hefei 230601;Anhui Key Laboratory of Industrial Energy-Saving and Safety,Anhui University,Hefei 230601;Anhui Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control,Anhui University,Hefei 230601)

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实验室,合肥230601 [3]安徽大学工业节电与用电安全安徽省重点实验室,合肥230601 [4]安徽大学工业节电与电能质量控制安徽省级协同创新中心,合肥230601

出　　处：《电气工程学报》2024年第1期150-158,共9页Journal of Electrical Engineering

基　　金：国家自然科学基金(51637001);安徽省自然科学基金面上(1908085ME168)资助项目。

摘　　要：三自由度球形电机的动力学模型是对转子运动过程的数学描述,在球形电机的闭环控制中用于计算转子从当前位置运动到期望位置时所需要的驱动转矩。以计算磁阻式球形电机驱动转矩为目标,提出一种动力学方程的建模方法。针对磁阻式球形电机的运动特征,将球形转子等效为三个串联旋转关节,推导出磁阻式球形电机基于D-H参数的动力学方程,再对方程中的未知参数进行辨识,最终模型的预测结果与仿真结果有较高的拟合度,试验验证了该模型在设定运动工况下的可靠性,为磁阻式球形电机驱动控制提供了理论基础。Dynamic model of 3-DOF spherical motor is a mathematical description of the rotor motion process.In the closed-loop control of spherical motor,it is used to calculate the drive torque required when the rotor moves from the current position to the desired position.Aiming at calculating the driving torque of reluctance spherical motor,a dynamic equation modeling method is proposed.According to the motion characteristics of reluctance spherical motor,the spherical rotor is equivalent to three rotary joints in series.The dynamics equation of reluctance spherical motor is derived based on D-H parameters.Then,the unknown parameters in the equation are identified.The prediction results of the final model agree well with the test data.Finally,the reliability of the model under a specific motion is verified by experiments,which provides a theoretical basis for the drive control of reluctance spherical motor.

关 键 词：磁阻式球形电机 D-H参数 动力学模型 机器人 参数辨识 

分 类 号：TM351[电气工程—电机]