关于永磁球形电动机轨迹规划研究

摘要

Permanent magnetic spherical motor trajectory planning means in the movement process of specified path,calculating the kinematic parameters and using suitable method to plan the trajectory of the movement to meet the requirements of smooth and continuous.At present,the motion control of the permanent magnet spherical motor does not involve the state variables such as velocity,acceleration and jerk;with the premise of considering the above state variables.According to Euler angles from the inverse kinematics,S curve plus and deceleration method,cubic spline method and non uniform rational B spline method were used respectively to interpolate permanent magnet spherical motor trajectory and simulate.The simulation results show that different trajectory planning methods have different characteristics,and can choose suitable trajectory planning method for different performance indexes.%永磁球形电动机轨迹规划是指在通过指定路径点的运动过程中,计算其运动学参数,利用合适的方法规划出运动轨迹,并满足运动平稳,轨迹平滑连续的要求.目前永磁球形电动机的运动控制并未对速度、加速度和冲击等状态变量进行规划.在考虑以上状态变量的前提下,根据运动学反解求出的欧拉角分别采用S曲线加减速法、三次样条法、非均匀有理B样条法插补对永磁球形电动机进行轨迹规划并进行仿真.仿真结果表明,对相同运动路径使用不同的轨迹规划方法得到的运动曲线有不同的特点,可以针对不同的性能指标选择合适的轨迹规划方法.