摘要
能够做直线、旋转或螺旋运动的两自由度驱动器在机械工具和机器人等领域有可观的应用价值。本文提出一种具有新型结构的两自由度直驱感应电机并针对该电机镀铜铁磁空心动子特殊结构及多运动形式加剧转子电磁场分析的复杂性,采用简化三维电磁场分析的等效平板模型,利用Maxwell方程组建立电机三维电磁场约束方程并求解气隙、转子铜层和钢层的电磁场量;利用电磁场计算结果和介质表面阻抗的概念计算电机转子参数,采用等效复数磁导率考虑铁磁材料非线性磁化影响。对比分析电机等效电路模型和有限元模型的特性计算结果,表明所述两自由度电机等效电路的合理性以及采用等效平板模型简化分析的可行性。
Two degrees of freedom（2-DOF） actuators capable of producing pure rotary motion, pure linear motion, or helical motion has a considerable application in mechanical tools and robotics etc. A new 2-DOF direct drive induction motor with hallow ferromagnetic mover coated with copper sheet was proposed in this paper. The equivalent plate model was adopted to simplify the complex electromagnetic analysis. The 3-D electromagnetic governing equations were established to calculate the electro-magnetic field quantities of air-gap, copper and steel of the rotor using Maxwell equations. The surface impedance of the medium was adopted to obtain rotor parameters according to the results of electro-magnetic field calculation. Compared the performance calculation results of equivalent circuit model with finite element mothod, the rationality and feasibility of the equivalent circuit model as well as the equivalent plate model was verified.
出处
《电工技术学报》
EI
CSCD
北大核心
2015年第14期153-160,共8页
Transactions of China Electrotechnical Society
基金
国家自然科学基金(51277054,U1361109)
河南理工大学创新团队(T2015-2)资助项目
关键词
两自由度感应电机
等效平板模型
三维电磁场
等效电路
有限元法
2-DOF induction motor
equivalent plate model
3-D electro-magnetic field
equivalent circuit model
finite element method
