机器人关节永磁同步电机结构多目标优化  

Multi-objective Optimization of Permanent Magnet Synchronous Motor Structure for Robot Joints

作　　者：黎荣健 肖曙红[1] 洪伟林 张岩 LI Rongjian;XIAO Shuhong;HONG Weilin;ZHANG Yan(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《机床与液压》2024年第12期85-90,共6页Machine Tool & Hydraulics

摘　　要：为提高机器人关节用无框永磁同步电机效率、减小齿槽转矩和转矩脉动,通过能量法推导出电机齿槽转矩解析式,确定影响电机转矩性能的4个重要参数:气隙长度、永磁体厚度、永磁体极弧系数、定子槽口宽度,并使用有限元方法分析各个参数对齿槽转矩的影响。基于响应面方法和多目标遗传算法,建立响应面回归模型,以提高电机效率和降低齿槽转矩为目标,得到永磁同步电机的帕累托前沿。最后根据约束条件和设计目标选择最优解,并利用有限元分析对初始方案和优化后方案进行对比分析。结果表明:该多目标优化方法可以设计出兼顾高效率和低齿槽转矩的目标电机。In order to improve the efficiency of the frameless permanent magnet synchronous motor for robot joints and reduce the cogging torque and torque ripple,the analytical formula of the motor cogging torque was obtained by the energy method.Four important parameters,such as air gap length,permanent magnet thickness,permanent magnet pole arc coefficient,and stator slot width,which affected the torque performance of the motor were determined.The influence of each parameter on the cogging torque was analyzed by the finite element method.Based on the response surface method and multi-objective genetic algorithm,the response surface regression model was established to improve the motor efficiency and reduce the cogging torque,and the Pareto front of the permanent magnet synchronous motor was obtained.Fianlly,the optimal solution was selected according to the constraints and design objectives,and the initial scheme and the optimized scheme were compared and analyzed by finite element analysis.The results show that the multi-objective optimization method can be used to design the target motor with both high efficiency and low cogging torque.

关 键 词：机器人关节电机 多目标优化 齿槽转矩 有限元分析 

分 类 号：TH122[机械工程—机械设计及理论] TM351[电气工程—电机]