摘要
基于差动驱动和转向的轮式移动机器人,文章根据基本物理定律,由电机磁路结构推导出了瓦片形永磁体径向励磁的模型,进一步从影响硬件的极数、槽数、组分、排列等设置进行考虑,结合轮式移动机器人的实质指标要求提出可行性方案。该方案通过计算验证,在不变换硬件的情况下改用无刷电动机绕组使机器人增强起动力,结果具有实用价值。
Based on the wheeled mobile robot with differential drive and steering, this paper derives a radial excitation model of tile permanent magnet from the magnetic circuit structure of motor according to the basic physics law, further considers the number of poles, slot number, component, arrangement and so on which influenced the hardware, puts forward to a feasible scheme according to the real index requirements of wheeled mobile robot. The scheme is verified by calculation, the brushless motor winding is used to enhance the power of the robot without changing the hardware, and the results are of practical value.
出处
《江苏科技信息》
2017年第34期40-41,共2页
Jiangsu Science and Technology Information
