基于改进天牛须算法的永磁电机过载转矩分析

Overload Torque Analysis of Permanent Magnet Motor Based on Improved Beetle Antennae Search Algorithm

定子铁心饱和以及电枢反应等因素极大地影响永磁无刷直流电机(BLDC)的过载能力,无法满足足式机器人运动时的转矩需求。因此,设计一台具有高过载能力的减速电机。从电机关键结构参数出发,分析极槽配合、齿槽宽度以及磁钢厚度对BLDC过载转矩的影响;进一步利用有限元及响应面法构建过载转矩和转矩波动的优化模型,并采用改进天牛须算法进行多目标优化设计;对比优化前、后电机的电磁性能和过载输出转矩,并分析行星减速器结构对电机影响。最后,根据电磁设计进行样机研制,并进行转矩转速试验。结果表明:优化后平均过载转矩从1.99 N·m增加到2.05 N·m,转矩脉动从6.78%降低到6.34%,减小了0.44%,电机过载输出性能更好,且样机实验与仿真结果相接近,验证了所提方法的合理性。

Factors such as stator core saturation and armature reaction greatly affect the overload capacity of permanent magnet brushless DC motors(BLDC),which cannot meet the torque demand of foot-type robots in motion.A geared motor with high overload capacity was designed.From the key structural parameters of the motor,the effects of pole-slot fit,tooth-slot width and magnet thickness on the overload torque of the BLDC were analyzed;further,the finite element and response surface method were used to construct the optimization model of overload torque and torque fluctuation,and the improved beetle antennae search algorithm was used to carry out the multi-objective optimization design;the electromagnetic performance of the motor and the overload output torque before and after the optimization were compared and the effect of the planetary reducer structure on the motor was analyzed.Finally,to the prototype was developed according to the electromagnetic design,the torque speed test was conducted.The results show that the average overload torque increases from 1.99 N·m to 2.05 N·m after optimization,the torque pulsation decreases from 6.78%to 6.34%,which is reduced by 0.44%,and the motor overload output performance is better;the prototype experiments results are close to the simulation results,which verifies the reasonableness of the proposed method.