机电集成超环面驱动系统电磁结构优化及控制策略研究

Electromechanical integrated toroidal drive system is a new type of drive system integrating toroidal drive, driving technology and control technique. The system realizes the integration of structrue and function. Its compact structure and controllability of output make the structure of the existing electromechanical system greatly simplified. The drive system has more expansive application fields such as aerospace, vehicle and robot control that require accurate control. The multi-electromechanical parameters influence the toroidal drive system, and the relations are complex, this application intend to research electromagnetic structure optimization and control strategy for electromechanical integrated toroidal drive system with the theory of electromagnetics and spatial mechanism, including the compute simulation model of spacial coupling field among elements, the function relationship between the air-gap field and electromagnetic torque of double stators and rotor. Finite element method is used to analyse the electromagnetic characteristic and regulating characteristic, and establishing the characteristic analysis model of the drive system. Based on different current control strategies, the electromagnetic torque characteristics of the electromechanical toroidal transmission are researched. Finanlly the electromagnetic characteristic test and control experiment of the electromechanical compound drive are completed. The research would establish the theoretical foundation for spacial coupling field theory and nonlinear control theory of the drive system.

机电集成超环面驱动系统是集超环面行星传动技术、驱动技术和控制技术于一体的新概念的机电复合驱动系统，该系统实现了结构和功能的集成，它结构紧凑，输出转速和转矩可控，可以使现有机电系统的结构大为简化，在航空航天、车辆和机器人控制等领域具有广阔的应用前景。影响该机电驱动系统性能的机电磁参数多，且关系复杂，本项申请拟综合运用电磁学与空间机构力学理论以研究机电集成超环面系统的电磁结构优化及其控制策略，包括该驱动系统各关键电磁部件之间产生空间耦合磁场的计算仿真模型、双定子对爪式转子的电磁驱动力矩与内外气隙磁场的函数关系；采用有限元法分析该驱动系统的电磁特性和调节特性、以及其电磁特性研究模型的建立；基于不同的电流控制策略，对机电超环面复合传动的电磁转矩特性进行控制研究；完成该机电复合驱动系统的电磁特性测试和控制实验。为该种驱动系统的空间电磁耦合理论和非线性控制奠定理论基础。

机电集成超环面驱动系统是集超环面行星传动技术、驱动技术和控制技术于一体的新概念 的机电复合驱动系统，该系统实现了结构和功能的集成，它结构紧凑，输出转速和转矩可控， 可以使现有机电系统的结构大为简化，在航空航天、车辆和机器人控制等领域具有广阔的应用前景。影响该机电系统驱动性能的空间电磁结构参数关系复杂，本项研究针对机电集成超环面驱动电磁拓扑结构，运用电磁驱动与空间动力学理论研究机电集成超环面系统的电磁结构优化及其控制策略，包括：(1) 机电超环面驱动系统各关键电磁部件之间空间耦合磁场的计算仿真模型建立，爪式转子电磁驱动力矩与内外双层气隙磁场的函数关系；(2) 采用解析和有限元法分析了该驱动系统的磁阻转矩和端部转矩，并对其电磁驱动结构进行了优化；(3) 基于不同的电流控制策略，对机电超环面复合驱动的电磁转矩特性进行了控制策略研究；完成了该机电复合驱动系统的电磁特性测试和控制实验研究。为该种驱动系统的空间电磁耦合理论和非线性控制奠定了坚实的理论基础。