两自由度直驱实心转子感应电机研究

With the complexities for multiple rotating motor combinations or mechanical conversion technologies to achieve the two degree freedom movement, the project proposed a new direct-acting solid rotor induction motor which can not only do a straight line, but also rotation and spiral motion. The main work is to study the working mechanism of the motor and to explore its structure and electromagnetic characteristics, then combining with technical data and the normal force to determine its main dimensions. At the same time, the magnetic circuit structure of the motor by using analytical method and magnetic equivalent network method is analyzed, the key parameters and the effects such as the rotor materials impact on the motor performance are studied, then the preliminary design of the motor is completed. The mathematical model of the motor optimized design is established, the electromagnetice parameters is optimized by using an improved niche genetic algorithm method, then the design criteria is established. The three-dimensional analysis model considering the characteristics of the motor structure is established by using the multi-layer theory analytical method, and the rotor parameters and electrical characteristics are calculated to establish the equivalent circuit analytical model. Then it is modified by combining the space state equation of the motor with the finite element model to research the relationship between the force and the control variables. The motor's dynamic model of mechanical and electronical integration is established with the optimized dynamic model parameters which make the force minimum as the cost function. To study the motor characteristics, the two close-loop vector control system experiment platform is established. The achievement will provide for the motor theoretical supports in the two degree freedom drive field.

针对采用多个旋转电机组合或者机械转换技术实现两自由度运动的复杂性，本项目提出一种做直线、旋转或者螺旋运动的新型直驱实心转子感应电机。主要工作：研究该电机的工作机理，探讨其结构及电磁场特点；结合技术数据及法向力，确定电机主要尺寸。采用解析法与等效磁网络法分析电机磁路结构，研究关键参数及转子材料等对电机性能的影响，完成电机的初步设计。建立电机优化设计的数学模型，采用改进的小生境遗传算法优化电磁参数，建立设计准则；采用多层理论的解析方法，建立考虑电机结构特点的三维分析模型，计算转子参数及电机特性，建立等效电路解析模型。采用电机的空间状态方程与有限元联合模型，修正等值电路解析模型，研究法向力与控制量间的关系；建立该电机机电一体化动力学模型，采用以法向力最小为代价函数的优化动力学模型参数；建立双闭环矢量控制系统的试验平台，研究电机特性。该成果将为该电机在两自由度驱动领域提供理论支撑。

本项目提出了一种新型的两自由度直驱感应电机(2DOFDDIM)结构，可以驱动负载做旋转、直线或螺旋运动。采用了改进的多层理论、透入深度法、解析法、有限元法及矢量控制技术等，解决了该电机的设计及优化、等值电路精确参数确定、特性分析、矢量控制建模及样机制作工艺等问题。取得的成果有：(1)完成了2DOFDDIM电磁设计、机械结构设计等。建立了最佳定子结构、气隙、转子结构及材料等电机关键参数的确定准则，提出了采用空心转子的转子优化措施，完成了2DOFDDIM优化设计.(2)采用“透入深度法”建立2DOFDDIM的数学模型，确定了等效电路模型的精确参数；建立了考虑镀铜铁磁空心动子特殊结构及多运动形式等因素2DOFDDIM电磁场三维建模，提出针对2-DOF电机空载超同步速度现象的电磁极距及计算方法; 研究了2DOFDDIM起动电流小、起动转矩大，堵转电流及突加负载时电机的电流跟额定工况基本不变等特性，为电机的应用场合提供了理论基础；(3)建立了2DOFDDIM考虑耦合效应的三维电磁场的解析模型，确定了耦合效应对电机的影响程度及抑制技术; (4)建立了2DOFDDIM考虑耦合效应的矢量控制模型，研制出第一代样机，搭建了2DOFDDIM性能测试平台，优化出第二代样机的电磁参数及结构参数。2DOFDDIM具有结构紧凑、直接驱动、控制便利、维护方便等优点，具有很强的工业应用意义，势必会带来巨大的经济效益和社会效益。结合该项目的研究，培养硕士6名，博士1名；在国际学术期刊、国际会议及国内核心期刊上发表论文16篇、著作2部，被SCI收录3篇、EI收录6篇；获国家发明专利3件，实用新型专利4件；省部级奖励3项。