本文選題：平動式嚙合電機　切入點：動態(tài)特性　出處：《北京郵電大學》2014年博士論文

【摘要】：為了滿足機器人對驅(qū)動裝置的特殊需求,本文提出了一種新型結(jié)構(gòu)和驅(qū)動原理的電機,即平動式嚙合電機。平動式嚙合電機是一種將電機本體和傳動變速機構(gòu)集成為一體的新型驅(qū)動裝置,它通過電機定、轉(zhuǎn)子間磁阻的變化將電能轉(zhuǎn)化為機械動能。本文首先對課題研究意義進行了闡述；然后對機器人驅(qū)動電機研究現(xiàn)狀和平動式嚙合電機的基本工作原理和結(jié)構(gòu)進行了介紹；針對當前已有的幾種類型的平動式嚙合電機存在的問題,提出了一種新型的平動式嚙合電機結(jié)構(gòu),并對電機的磁極機構(gòu)、平動約束機構(gòu)和齒輪傳動機構(gòu)等進行了設計和分析仿真。 本文建立了新型平動式嚙合電機的等效磁路結(jié)構(gòu)模型,并采用有限元方法建立了新型平動式嚙合電機的三維有限元模型；分析仿真了電機磁極磁場的分布和特性；通過獲得的不同轉(zhuǎn)角下的磁化曲線簇和磁場力特性,建立了電機磁參數(shù)庫；建立了新型平動式嚙合電機的動態(tài)特性分析模型；利用電機磁參數(shù)庫,在已建立的電機模型的基礎上,采用解析方法分析了新型平動式嚙合電機的動態(tài)特性。 平動式嚙合電機的結(jié)構(gòu)和工作原理決定了該電機具有很強的非線性特性,其動態(tài)特性與傳統(tǒng)的旋轉(zhuǎn)式電機有著明顯的不同。因此,本文為了解決平動式嚙合電機系統(tǒng)控制的可靠性和穩(wěn)定性,提出了將人工智能方法引入其控制系統(tǒng)的設計中。本文設計了一種基于神經(jīng)網(wǎng)絡的平動式嚙合電機無位置傳感器控制算法,以電機繞組電流和磁鏈作為神經(jīng)網(wǎng)絡系統(tǒng)的輸入,轉(zhuǎn)子位置作為神經(jīng)網(wǎng)絡系統(tǒng)的輸出,通過訓練確定神經(jīng)網(wǎng)絡系統(tǒng)的結(jié)構(gòu)參數(shù),建立了適合平動式嚙合電機的神經(jīng)網(wǎng)絡系統(tǒng)；然后用訓練好的神經(jīng)網(wǎng)絡在線估計電機轉(zhuǎn)子位置,取代電機控制系統(tǒng)中的有位置傳感器,簡化了電機控制系統(tǒng)結(jié)構(gòu),提高了電機系統(tǒng)運行的可靠性。本文設計了一個模糊PID控制器,采用模糊邏輯方法對PID控制器參數(shù)進行實時自適應整定,實現(xiàn)了對平動式嚙合電機的非線性控制。 基于對平動式嚙合電機的理論設計與分析仿真結(jié)果,本文研制了電機的原理樣機,并研發(fā)了專用的電機驅(qū)動控制系統(tǒng)。平動式嚙合電機的電機本體和傳動變速機構(gòu)高度集成,提高了電機的功率密度；減少了傳動的中間環(huán)節(jié),提高了傳動效率,增加了電機驅(qū)動系統(tǒng)的可靠性；專用的驅(qū)動控制系統(tǒng)可有效降低電機的轉(zhuǎn)矩脈動。原理樣機試驗表明新型平動式嚙合電機的輸出扭矩、功率密度、動態(tài)性能和轉(zhuǎn)化效率都較先前的平動式嚙合電機有了較大提升。本文的研究內(nèi)容和試驗結(jié)果可為今后的平動式嚙合電機的優(yōu)化設計提供一定的參考價值。
[Abstract]:In order to meet the special requirements of the robot for the drive device, this paper presents a new structure and driving principle of the motor. The translational meshing motor is a new type of driving device which integrates the motor body with the transmission speed changing mechanism, and it is fixed by the motor. The change of magnetoresistive between rotors transforms electric energy into mechanical kinetic energy. In this paper, the significance of the research is described, and then the basic working principle and structure of the robot driven motor and its structure are introduced. In view of the existing problems of several types of translational meshing motor, a new type of translational meshing motor structure is proposed, and the pole mechanism of the motor is analyzed. The translational constraint mechanism and gear transmission mechanism are designed and simulated. In this paper, the equivalent magnetic circuit structure model of a new type of translational meshing motor is established, and the three-dimensional finite element model of a new type of translational meshing motor is established by using the finite element method, and the distribution and characteristics of the magnetic field of the motor are analyzed and simulated. Through the magnetization curve cluster and magnetic field force characteristics obtained at different rotation angles, the magnetic parameter library of the motor is established, the dynamic characteristic analysis model of a new type of translational meshing motor is established, and the motor magnetic parameter library is used to analyze the dynamic characteristics of the motor. Based on the established motor model, the dynamic characteristics of a new type of translational meshing motor are analyzed by analytical method. The structure and working principle of the translational meshing motor determine that the motor has very strong nonlinear characteristics, and its dynamic characteristics are obviously different from the traditional rotary motor. In order to solve the problem of the reliability and stability of the control of the translational meshing motor system, This paper introduces artificial intelligence method into the design of its control system. In this paper, a position sensorless control algorithm for translational meshing motor based on neural network is designed. The windings current and flux chain of the motor are used as the input of the neural network system. The rotor position is used as the output of the neural network system, the structure parameters of the neural network system are determined by training, and the neural network system suitable for the translational meshing motor is established, and then the rotor position of the motor is estimated online by the trained neural network. Instead of the position sensor in the motor control system, the structure of the motor control system is simplified and the reliability of the motor system is improved. A fuzzy PID controller is designed in this paper. The fuzzy logic method is used to adjust the parameters of the PID controller in real time and the nonlinear control of the translational meshing motor is realized. Based on the theoretical design and simulation results of the translational meshing motor, the principle prototype of the motor is developed, and a special motor drive control system is developed. The power density of the motor is increased, the intermediate link of the transmission is reduced, the transmission efficiency is improved, and the reliability of the motor driving system is increased. The special drive control system can effectively reduce the torque ripple of the motor. The principle prototype test shows that the output torque and power density of the new type of translational meshing motor can be effectively reduced. The dynamic performance and conversion efficiency have been greatly improved compared with the previous translational meshing motor. The research contents and experimental results in this paper can provide some reference value for the optimization design of the translational meshing motor in the future.
【學位授予單位】：北京郵電大學
【學位級別】：博士
【學位授予年份】：2014
【分類號】：TP242;TM301.2

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本文編號：1673130