永磁转子偏转式三自由度电机磁场和转矩特性的计算与分析

摘要

The PM rotor multiple-DOF motors can realize multiple-DOF motion of output shaft and greatly simplify the mechanical structure while improving the response speed and positioning accuracy of transmission systems.Therefore,it has become a research hotspot at home and abroad in the motor field.This paper proposes a 3-DOF deflection type PM motor with butterfly shape rotor structure and builds its finite element model based on the finite element method.The magnetic field distribution of the motor are analyzed and calculated,then compared and validated with the results by analytical method.Based on the above,the spin rotation torque and deflection torque of this motor are calculated and analyzed.The results are also compared and analyzed with the magnetic field and torque of 3-DOF deflection type PM motor with drum shape rotor structure,which shows that the new structure can effectively enhance the flux density and torque magnitude of spin rotation,improve the deflection torque magnitude and its deflection range.Finally,the prototype is measured and the experiment results have been compared and validated with the results by finite element and analytical models.%永磁转子多自由度电机可实现输出轴的多自由度运动,简化电机机械系统的结构,提高传动系统的响应速度和定位精度,是国内外电机领域的一个研究热点.该文提出了一种蝶形永磁转子偏转式三自由度电机,基于有限元法建立了该电机的三维有限元模型,对电机转子磁场的分布进行了计算和分析,并与解析模型的计算结果进行了对比验证.在此基础上,计算并分析了该电机的自转转矩和偏转转矩,并与鼓形永磁转子偏转式三自由度电机的磁场和转矩进行对比分析,结果表明蝶形永磁转子偏转式三自由度电机可增大气隙磁通密度和自转转矩的幅值,有效改善和提高偏转转矩的幅值,并增加偏转运动的范围.最后,对样机进行了测试,并将实验结果与有限元及解析模型的计算结果进行了对比验证.