超磁致伸缩谐波电机致动器磁路设计方法

Magnetic Circuit Design Method for Actuator of Giant Magnetostrictive Harmonic Motor

普通谐波齿轮传动需电机和波发生器输入并传递动力,存在惯性大、高速响应差等问题,提出一种由超磁致伸缩材料驱动的有源谐波电机。通过建立等效磁路分析了不同结构下致动器的磁场特性,提出了一种漏磁低、空间利用率高的圆片状全封闭的磁路布局。建立了偏置磁场和驱动磁场强度的数学模型,提出了永磁和线圈的结构、尺寸等参数的设计理论和方法,并结合详实的参数实现致动器磁路设计。利用ANSYS有限元工具对偏置和驱动磁场特性仿真分析,并采用特斯拉计测量了线圈和超磁致伸缩材料棒的磁感应强度。实测结果与理论值及仿真值均较吻合,证明了仿真分析的准确性和磁场设计的合理性,为后续研究奠定了基础。

An active harmonic motor driven by giant magnetostrictive material was proposed to solve the phenomenon that the power of general harmonic gear drive needs to be input and transferred by motor and wave generator,which being large inertia and poor response.By establishing equivalent magnetic circuits,the magnetic field characteristics of the actuator with different structures were analyzed,and a circular and completely closed magnetic circuit with low magnetic flux leakage and high space utilization ratio was proposed.The mathematical model of bias magnetic field and driving magnetic field intensity were established,and the design theory and method of the structure or size of permanent magnet and coil were presented,meanwhile,the magnetic circuit design of actuator was realized by combining the detailed parameters.The magnetic field characteristics of bias and driving magnetic field were simulated and analyzed in ANSYS,and then the magnetic flux density of coil and giant magnetostrictive material rod was measured by Tesla meter,whose results were in good agreement with the theoretical values and the simulation values.It proves the accuracy of the simulation analysis and the rationality of the magnetic field design,which lays a foundation for further research.