机器人用外转子直驱永磁电机不同极槽配合的性能分析

Performance analysis of the different combinations of slots and poles of outer-rotor direct-drive permanent magnet motor

为了实现机器人微型化和节能的目标,高性能的直驱永磁电机成为机器人驱动系统的首选。对直驱永磁电机集中绕组的绕组因数解析式和极槽配合方式的选取原理进行分析。根据机器人用电机的技术要求,利用绕组因数解析式和极槽配合方式约束条件选择符合要求的组合,对比分析不同极槽配合方式下各次谐波绕组因数和幅值,得到谐波因数较好的几组极槽配合方式。在相同的结构尺寸和材料下,建立有限元仿真模型,解析空载状态下的气隙磁密和反电势,对比分析不同负载下的电磁转矩及其波动以及效率等电机性能,得到不同极槽配合方式对电机设计及其性能的影响。所得结果为外转子直驱永磁电机的进一步优化和机器人直驱控制系统的研究提供了重要的参考依据。

To achieve the goal of miniaturization and energy saving of the tobot,the high performance direct-drive permanent magnet motor has become the first choice of the robot drive system.The winding factor and the selection principle of the combinations of poles and slots for the concentrated windings of direct-drive permanent magnet motor were analyzed herein.According to the technical requirements of the robot for the motor,the winding factor analysis and the principle of combinations of poles and slots were chosen to select the required combinations of poles and slots,and the harmonic winding coefficients and amplitude values at different combinations of poles and slots were analyzed,and then several combinations of poles and slots with better harmonic coefficients were obtained.With the same structural parameters and materials,the finite element simulation model was established,the air gap magnetic density and the back EMF under no-load state were analyzed,and the performance of electromagnetic torque and its fluctuation as well as efficiency under different load were analyzed,and then,the influence of different combinations of poles and slots on the design and performance of the motor was obtained.The results provided an important reference for the further optimization of the outer-rotor direct-drive permanent magnet motor and the research of the robot direct-drive control system.