Li Zheng, Liu Lingqi
School of Electrical Engineering, Hebei University of Science and Technology, Shijiazhuang, China.
Sci Prog. 2020 Jan-Mar;103(1):36850419874213. doi: 10.1177/0036850419874213. Epub 2019 Sep 27.
This article proposes a conceptual model of a new type permanent magnet 3-degree-of-freedom motor. Its structure consists of an internal rotation module and a peripheral deflection module. It can be driven independently to achieve high-speed rotation and precise tilting of the motor. The 3-degree-of-freedom movement of the motor in space is achieved by the synchronous operation of the rotation and the deflection. In order to explore the loss problem caused by the temperature rise problem in the actual operation of the motor, the eddy current loss and core loss inside the permanent magnet of the motor are analyzed by theoretical formula and finite element method, respectively. Based on the static magnetic field, the gas flux density of two types of rotor permanent magnets in different coordinate systems is analyzed. The motor's rotation and deflection torque characteristics are calculated using the principle of virtual displacement method. Using the auxiliary technology of the virtual prototype, according to the actual situation of the motor, the corresponding motion hinges and driving forms are summarized, and the control strategies of rotation, deflection, and rotation and deflection simultaneously are planned. The trajectory of the motor is described by observing the selected points. For the motor from product design to prototype testing and to the final processing assembly, a solid theoretical foundation is laid for the proposed work.
本文提出了一种新型永磁三自由度电机的概念模型。其结构由内部旋转模块和外围偏转模块组成。它可以独立驱动，实现电机的高速旋转和精确倾斜。电机在空间中的三自由度运动是通过旋转和偏转的同步运行来实现的。为了探究电机实际运行中因温度升高问题导致的损耗问题，分别采用理论公式和有限元方法对电机永磁体内的涡流损耗和铁心损耗进行了分析。基于静磁场，分析了两种类型转子永磁体在不同坐标系下的气隙磁通密度。利用虚位移法原理计算了电机的旋转和偏转转矩特性。利用虚拟样机辅助技术，根据电机实际情况，总结了相应的运动铰链和驱动形式，并规划了旋转、偏转以及旋转和偏转同时进行的控制策略。通过观察所选点来描述电机的轨迹。对于从产品设计到原型测试再到最终加工装配的电机，为所提出的工作奠定了坚实的理论基础。
