基于齿冠偏心内凹结构的工业机器人用PMSM转矩波动抑制

Reducing Torque Ripple of a Permanent Magnet Motor Used in Industrial Robots Based on Structure of Eccentric and Concave Stator Tooth

为了优化工业机器人用36槽8极永磁同步电动机（PMSM）,提出了定子齿冠偏心内凹结构。该结构基于不等气隙的思想,利用有限元分析软件ANSYS Maxwell对采用该结构的PMSM进行建模仿真,研究了不同偏心距下电机的气隙磁场总谐波畸变率、反电动势总谐波畸变率以及转矩波动系数,并分析了偏心内凹结构对于齿槽转矩的影响。仿真实验结果表明,采用定子齿冠偏心内凹结构可以改善气隙磁通密度波形,有效抑制输出转矩的波动,并且降低了齿槽转矩的幅值。

In order to optimize the permanent magnet synchronous motor（PMSM） used in industrial robots with 36 slots and 8 poles, the structure of eccentric and concave stator tooth is proposed. This structure is based on the thinking of different air gap length, and the finite element analysis software ANSYS Maxwell is used to model and analyze the PMSM with the structure. The total harmonic distortion of the air gap magnetic field, the total harmonic distortion of the back EMF, the torque ripple coefficient under different eccentric distances are studied, and the influence of the structure of eccentric and concave stator tooth for cogging torque is analyzed. The simulation experiment results show that the structure of eccentric and concave stator tooth can effectively improve the air gap flux density waveform, and reduce output torque ripple and amplitude of cogging torque.