基于转矩分配的永磁球形电机通电策略分析-analysis of energization strategy of permanent magnet spherical motor based on torque distribution.docxVIP

ABSTRACTTraditional multi-DOF motion is driven through a large number of complex implementations composed of multiple independent motors. Thus a high precision, multi-degree of freedom, servo controlled motors highly favored people. Spherical motor can simplify the system structure and improve the response speed and stability, which has very broad prospect. This paper analyzes the spherical motor development status and trends, and on the basic, relevant research is carried out on a new kind of spherical motor.This paper describes the structure and parameters of permanent magnet spherical motor, and then establishes a finite element model of the motor. The motor torque characteristics are simulated to obtain the torque distribution of stator windings in rotor sphere. Dynamic model of permanent magnet spherical motor is established, and the computation torque method is used to decouple the dynamic model. Considering the uncertainties, this paper adds compensation term to improve the robustness of the permanent magnet spherical motor.This paper presents an electrifying strategy based on torque share method. In order to obtain control current of the stator winding, it requires to solving the generalized inverse of the torque matrix of high dimensional, which increases the computational burden of the control system. The target torque is decomposed into the rotation torque and the tilting torque, and the torque share function is determined by rotation torque distributions. Using torque share strategy to assign the rotation torque, and the torque of each phase is secondary distributed to get the control current of rotation movement by inverting op. On this basic, the control windings of tilt motion are determined by planning the stator sphere, which solves low-dimensional inverse matrix to obtain control current of tilting motion, and reduce the computational burden. Based on the above analysis, the control system of permanent magnet spherical motor is established for thr