A COMPUTER-SIMULATED ENVIRONMENT FOR MODELING AND DYNAMIC-BEHAVIOR-ANALYSIS OF SPECIAL BRUSHLESS MOTORS FOR MECHATRONIC MOBILE ROBOTICS SYSTEMS

摘要

A computer-simulated environment for design and analysis of outrunners brushless motors and its validation by measuring the main parameters in real motors is presented. The simulation environment is based on two complementary models for design and analysis. These models allow obtaining the main constants that govern the behavior of a brushless motor. The first is a concentrated parameters model for the design and analysis Brushless outrunners Motors. This model is used for the main physical characteristics of the motor under design or its overall performance in case of analysis. The second model is based on 2D Electromagnetic Finite Element Analysis (FEA) on a CAD, of the motor under study. This analysis includes obtaining Torque and Speed constants (Kt and Kv), Torque Ripple, Cogging Torque, Back-Electromotive Force (BEMF), Optimal phase commutation point, among others. The iterative process that achieves the desired performance characteristics is described. This process has been tested in several prototypes which ensure optimum motor design for the desired application. Last but not less, the work include one validation method, with physical measuring of real dynamic behavior and the main motor constants (Kt, Kv, BEMF) in three real motors and comparison with the values obtained in the simulation environment. The three motors used for validation have significantly different power, torque and size. So we confirm the validity of the models in a high range of use. In this way, simulation environment will be use as central stages of Deming continuous improvement cycle, Plan-Do-Check, Act, in that case for better design of special brushless motors for mechatronic mobile robot's systems and exoskeletons.