基于等效电流模型的永磁多自由度电机位置检测方法的研究∗

摘要

The structure model and the operation principle of a new type of PM deflection type three-degree-of-freedom (3-DOF) motors were introduced. A new modeling method of the magnetic field of permanent magnet was proposed and the rotor position detection method was referred. The equivalent current model of the mentioned PM could be obtained based on Ampere’s molecular current hypothesis and the Biot-Savart’s law. A set of Hall sensors would be used here to get the magnetic field information. The modeling method of the magnetic field has been verified by simulation and error comparison with the Polynomial Approximation has been conducted. Simulation results and comparison showed the feasibility of this new method for further research.%提出了一种新的永磁体磁场建模方法及三自由度电机转子的位置检测方法。根据分子环流假说和毕奥萨伐尔定律将圆鼓形永磁体等效为相应的电流模型，从而得到永磁体的静磁场，再经过一定的坐标变换，将静磁场变为运动的旋转磁场，并通过一组霍尔传感器获得永磁体的实时位置。通过对永磁体的磁场建模进行仿真验证，并且与多项式近似法进行误差的对比，从而验证方法的可靠性。