多自由度球形感应电机的驱动控制策略

Driving control with a multi-degree-of-freedom spherical induction motor

为实现城市微型电动汽车全方位转向功能,对新型多自由度(multi-DOF)球形感应电机(SIM)驱动控制策略进行仿真。从SIM设计原理和结构特性出发,提出了一种多自由度驱动控制策略。分析SIM转矩输出情况;以球形转子偏转角度为依据,设定4个工作扇区;通过判断球形转子偏转角度所在扇区位置,来调整各定子工作状态;采用直接转矩控制策略,使各定子在球形转子上产生的转矩输出沿目标方向。结果表明:该SIM控制策略可实现2个自由度的旋转驱动控制,且转子无偏转角度限制,同时具有良好的动态特性和跟随性能。从而,验证了驱动控制策略的可行性和合理性。

A driving-control-strategy was simulated for a novel multi-degree-of-freedom(multi-DOF)sphericalinduction-motor(SIM)to make city-micro-electric-vehicles having omni-directional-steering-function.A multi-DOF driving control strategy was proposed on the base of the design principle and structural characteristics of SIM.Four working sectors were set by analyzing SIM torque output based on the deflection angle of the spherical rotor.The working state of stators was adjusted by judging the sector position where the spherical rotor located;and a direct torque control was adopted to make the torque output of stators on the spherical rotor along the target direction.The results show that this SIM control strategy can achieve rotation driving control at two degrees-of-freedom without any limitation of rotor deflection angle.Thanks for having appropriate dynamic characteristics and tracking performance of the proposed strategy,its reasonable feasibility is verified.