感应式球形电机结构设计与参数分析

Structure Design and Parameter Analysis of Spherical Induction Motor

针对目前多自由度电机结构复杂,控制难度高的问题,提出一种新型多自由度球形感应电机。该电机由三个空间对称分布的弧面定子驱动球形转子实现多自由度运行。首先,介绍了电机的基本结构和运行原理并对根据直线感应电机的设计理对电机主要参数进行计算;然后,建立Ansoft/Maxwell有限元仿真模型对电机进行稳态磁场仿真;同时对电机在不同转子参数以及不同激励时的稳态运行特性进行分析,为这类电机的优化设计与运动控制提供依据。结果表明:在额定激励下,感应式球形电机单个定子可产生1Nm的稳态转矩,稳定转速可达350r/min,满足多自由度运行要求。

A new type of induction spherical motor was designed aiming at the problem of complex structure and high control difficulty of multi-degree-of-freedom motor.This spherical rotor is driven by three symmetrically distributed cambered stators to realize multi-DOF operation.This paper firstly introduced the basic structure and operation principle of the motor.The main dimension parameters of the motor were calculated based on the design theory of linear induction motor.Then,finite element simulation model was carried out using Ansoft/Maxwell to simulate the steady-state magnetic field.Meanwhile,the steady-state operation characteristics of the motor under different rotor parameters and different excitation were analyzed,which provided the basis for the optimal design and motion control of the motor.The results show that under the rated excitation,the single stator of the induction spherical motor can generate 1N·m stable torque,and the stable speed can reach 350r/min,which meets the requirements of multi-freedom operation.