本文選題：平動(dòng)式嚙合電機(jī)　切入點(diǎn)：動(dòng)態(tài)特性　出處：《北京郵電大學(xué)》2014年博士論文

【摘要】：為了滿(mǎn)足機(jī)器人對(duì)驅(qū)動(dòng)裝置的特殊需求,本文提出了一種新型結(jié)構(gòu)和驅(qū)動(dòng)原理的電機(jī),即平動(dòng)式嚙合電機(jī)。平動(dòng)式嚙合電機(jī)是一種將電機(jī)本體和傳動(dòng)變速機(jī)構(gòu)集成為一體的新型驅(qū)動(dòng)裝置,它通過(guò)電機(jī)定、轉(zhuǎn)子間磁阻的變化將電能轉(zhuǎn)化為機(jī)械動(dòng)能。本文首先對(duì)課題研究意義進(jìn)行了闡述；然后對(duì)機(jī)器人驅(qū)動(dòng)電機(jī)研究現(xiàn)狀和平動(dòng)式嚙合電機(jī)的基本工作原理和結(jié)構(gòu)進(jìn)行了介紹；針對(duì)當(dāng)前已有的幾種類(lèi)型的平動(dòng)式嚙合電機(jī)存在的問(wèn)題,提出了一種新型的平動(dòng)式嚙合電機(jī)結(jié)構(gòu),并對(duì)電機(jī)的磁極機(jī)構(gòu)、平動(dòng)約束機(jī)構(gòu)和齒輪傳動(dòng)機(jī)構(gòu)等進(jìn)行了設(shè)計(jì)和分析仿真。 本文建立了新型平動(dòng)式嚙合電機(jī)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(dòng)式嚙合電機(jī)的三維有限元模型；分析仿真了電機(jī)磁極磁場(chǎng)的分布和特性；通過(guò)獲得的不同轉(zhuǎn)角下的磁化曲線(xiàn)簇和磁場(chǎng)力特性,建立了電機(jī)磁參數(shù)庫(kù)；建立了新型平動(dòng)式嚙合電機(jī)的動(dòng)態(tài)特性分析模型；利用電機(jī)磁參數(shù)庫(kù),在已建立的電機(jī)模型的基礎(chǔ)上,采用解析方法分析了新型平動(dòng)式嚙合電機(jī)的動(dòng)態(tài)特性。 平動(dòng)式嚙合電機(jī)的結(jié)構(gòu)和工作原理決定了該電機(jī)具有很強(qiáng)的非線(xiàn)性特性,其動(dòng)態(tài)特性與傳統(tǒng)的旋轉(zhuǎn)式電機(jī)有著明顯的不同。因此,本文為了解決平動(dòng)式嚙合電機(jī)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(shè)計(jì)中。本文設(shè)計(jì)了一種基于神經(jīng)網(wǎng)絡(luò)的平動(dòng)式嚙合電機(jī)無(wú)位置傳感器控制算法,以電機(jī)繞組電流和磁鏈作為神經(jīng)網(wǎng)絡(luò)系統(tǒng)的輸入,轉(zhuǎn)子位置作為神經(jīng)網(wǎng)絡(luò)系統(tǒng)的輸出,通過(guò)訓(xùn)練確定神經(jīng)網(wǎng)絡(luò)系統(tǒng)的結(jié)構(gòu)參數(shù),建立了適合平動(dòng)式嚙合電機(jī)的神經(jīng)網(wǎng)絡(luò)系統(tǒng)；然后用訓(xùn)練好的神經(jīng)網(wǎng)絡(luò)在線(xiàn)估計(jì)電機(jī)轉(zhuǎn)子位置,取代電機(jī)控制系統(tǒng)中的有位置傳感器,簡(jiǎn)化了電機(jī)控制系統(tǒng)結(jié)構(gòu),提高了電機(jī)系統(tǒng)運(yùn)行的可靠性。本文設(shè)計(jì)了一個(gè)模糊PID控制器,采用模糊邏輯方法對(duì)PID控制器參數(shù)進(jìn)行實(shí)時(shí)自適應(yīng)整定,實(shí)現(xiàn)了對(duì)平動(dòng)式嚙合電機(jī)的非線(xiàn)性控制。 基于對(duì)平動(dòng)式嚙合電機(jī)的理論設(shè)計(jì)與分析仿真結(jié)果,本文研制了電機(jī)的原理樣機(jī),并研發(fā)了專(zhuān)用的電機(jī)驅(qū)動(dòng)控制系統(tǒng)。平動(dòng)式嚙合電機(jī)的電機(jī)本體和傳動(dòng)變速機(jī)構(gòu)高度集成,提高了電機(jī)的功率密度；減少了傳動(dòng)的中間環(huán)節(jié),提高了傳動(dòng)效率,增加了電機(jī)驅(qū)動(dòng)系統(tǒng)的可靠性；專(zhuān)用的驅(qū)動(dòng)控制系統(tǒng)可有效降低電機(jī)的轉(zhuǎn)矩脈動(dòng)。原理樣機(jī)試驗(yàn)表明新型平動(dòng)式嚙合電機(jī)的輸出扭矩、功率密度、動(dòng)態(tài)性能和轉(zhuǎn)化效率都較先前的平動(dòng)式嚙合電機(jī)有了較大提升。本文的研究?jī)?nèi)容和試驗(yàn)結(jié)果可為今后的平動(dòng)式嚙合電機(jī)的優(yōu)化設(shè)計(jì)提供一定的參考價(jià)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(xué)位授予單位】：北京郵電大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：TP242;TM301.2

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本文編號(hào)：1673130