本文選題：永磁球形電機 + 參照電流法　； 參考：《天津大學(xué)》2014年碩士論文

【摘要】：永磁球形電機是一類新型電機,其轉(zhuǎn)子能夠?qū)崿F(xiàn)三自由度運動,在許多需要多自由度運動或傳動的場合,例如全景云臺、機器人關(guān)節(jié)、人造眼球、衛(wèi)星姿態(tài)控制等,都有著廣闊的應(yīng)用前景,正逐漸成為國內(nèi)外研究的新熱點。相比傳統(tǒng)旋轉(zhuǎn)電機,其諸多理論仍處于探索階段,本文的研究將為永磁球形電機的設(shè)計與控制提供一定依據(jù)和參考。本文首先基于同步旋轉(zhuǎn)磁場原理,給出了一組控制電機傾斜、旋轉(zhuǎn)運動的定子參考電流方程,利用有限元、最小二乘法及球諧波函數(shù)旋轉(zhuǎn)變換理論,證明了在該參考電流作用下,能夠激勵出在空間旋轉(zhuǎn)/傾斜的定子磁場,且電流的相位、比例將直接影響到主諧波磁場的空間相位。之后,從陀螺力學(xué)的角度出發(fā),分析了采用這種參照電流方程的情況下,高速自旋的球形轉(zhuǎn)子在傾斜時可能發(fā)生的軌跡波動過程。之后,為防止參照電流法控制可能發(fā)生的轉(zhuǎn)子軌跡波動,本文繼續(xù)對上述控制方法進行了改進�；诘刃в来朋w原理及球諧函數(shù)理論,推導(dǎo)了定子線圈電流與其所激勵的定子磁場球諧波分量之間的直接映射關(guān)系。之后,再次利用球諧波函數(shù)分析了轉(zhuǎn)子磁場在球坐標(biāo)系下各分量的分布規(guī)律,建立了固連于轉(zhuǎn)子磁極的局部機械d-q-p坐標(biāo)系及相應(yīng)的電氣D-Q-P坐標(biāo)系。進一步利用坐標(biāo)變換與矢量變換,并結(jié)合電磁功率關(guān)系推導(dǎo)并建立了基于氣隙磁場定向的M-T坐標(biāo)系,獲得了M-T坐標(biāo)系下電磁轉(zhuǎn)矩的解耦表達式,實現(xiàn)了對永磁球形電機的三維矢量解耦控制。最后,基于上述矢量控制方法,對定子繞組進行重新配置,設(shè)計了一種球面雙矢量互補控制法。在Simulink環(huán)境下進行了控制仿真,結(jié)果表明該控制策略能夠?qū)崿F(xiàn)轉(zhuǎn)子恒速自轉(zhuǎn)時的輸出軸連續(xù)軌跡控制,具有較好的精度,為球形電機后續(xù)的設(shè)計和控制策略研究提供基礎(chǔ)。
[Abstract]:Permanent magnet spherical motor (PMSM) is a new type of motor, whose rotor can realize three degrees of freedom motion. In many situations, such as panoramic head, robot joint, artificial eyeball, satellite attitude control and so on. Both have broad application prospects, and are gradually becoming a new research hotspot at home and abroad. Compared with the traditional rotating motor, many theories are still in the exploratory stage. The research in this paper will provide a certain basis and reference for the design and control of the permanent magnet spherical motor. In this paper, based on the principle of synchronous rotating magnetic field, a set of stator reference current equations for controlling the tilt and rotation motion of the motor are presented. The finite element method, the least square method and the rotational transformation theory of spherical harmonic function are used. It is proved that the stator magnetic field which is rotated or tilted in space can be excited under the action of the reference current, and the phase of the current and the proportion of the current will directly affect the spatial phase of the main harmonic magnetic field. Then, from the angle of gyroscope mechanics, the trajectory fluctuation process of high speed spin-shaped spherical rotor is analyzed under the condition of this kind of reference current equation. After that, in order to prevent the possible rotor trajectory fluctuations from occurring by the reference current method, the above control methods are further improved in this paper. Based on the principle of equivalent permanent magnet and the theory of spherical harmonic function, the direct mapping relationship between the stator coil current and the harmonic component of the stator magnetic field is derived. After that, the distribution of each component of the rotor magnetic field in the spherical coordinate system is analyzed by using the spherical harmonic function, and the local mechanical d-q-p coordinate system and the corresponding electrical D-Q-P coordinate system are established. Furthermore, the M-T coordinate system based on air-gap magnetic field orientation is derived and established by using coordinate transformation and vector transformation. The decoupling expression of electromagnetic torque in M-T coordinate system is obtained. The three-dimensional vector decoupling control of permanent magnet spherical motor is realized. Finally, based on the above vector control method, the stator windings are reconfigured and a spherical double vector complementary control method is designed. The control simulation under Simulink environment shows that the control strategy can realize the continuous trajectory control of the output shaft when the rotor rotates at constant speed, and has good precision, which provides the basis for the subsequent design and control strategy research of spherical motor.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM351

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