一种新型永磁球形步进电动机的研究

Research on a novel permanent magnet spherical stepper motor

针对国际上新提出的一种永磁球形结构步进电动机进行了研究.首先运用积分方程法和三维有限元法进行了磁场计算,在此基础上应用麦氏张量法和虚位移法对其转矩特性进行求解,获得了电机的矩角特性,并通过不同的方法对比验证了计算结果的正确性.同时提出一种基于加权无向图的运动控制算法,通过对路径进行搜索,实现了对电机通电状态的有效控制,达到了沿着期望运动轨迹运动的目的.在对电机及其滑轨支架位置检测系统进行运动学分析的基础上,对电机实际步进运动过程和编码器输出进行了仿真研究,结果显示出了位置检测系统和控制算法的有效性.

computation is tested by comparison with other methods. A motion control algorithm based on the weighted graph is presented, by which the path planning can be completed and the spherical motor can be controlled to achieve the expected trajectory. On the basis of the kinematic analysis of the rotor with the gimbal guideway, simulations of actual stepping motions and the outputs of orientation detection system are carried out. Results show the validity of the orientation detection system and the motion control algorithm.