Spherical planning-based permanent magnetic spherical motor stator winding electrifying method

A technology for stator windings and motors, which is applied to electronic commutation motor control, electronic commutators, electrical components, etc., can solve the problems of complex energization strategy, complex winding distribution and motion control, etc., and achieves convenient continuous control and simple division method. , the effect of improving utilization

Inactive Publication Date: 2010-09-01
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the winding distribution and motion control of permanent magnet spherical motors are more complex than those of traditional single-degree-of-freedom motors, their energization strategies are also very complicated.

Method used

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  • Spherical planning-based permanent magnetic spherical motor stator winding electrifying method
  • Spherical planning-based permanent magnetic spherical motor stator winding electrifying method
  • Spherical planning-based permanent magnetic spherical motor stator winding electrifying method

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Embodiment Construction

[0047] The following first introduces the implementation steps of a permanent magnet spherical motor stator winding energization strategy:

[0048] The first step: According to the dynamic model of the permanent magnet spherical motor, design the dynamic control scheme of the permanent magnet spherical motor. From this, the desired torque expression in the dynamics control system can be obtained. According to this expression, the expected torque value at each moment in the control process can be obtained. The expected torque values ​​of the three degrees of freedom at a certain moment can form an expected torque vector T with a dimension of 3×1.

[0049] The second step: use the finite element method to obtain the static torque model of the permanent magnet spherical motor, including three degrees of freedom of rotation, pitch and yaw. In this finite element model, the rotor poles adopt 6 permanent magnets, which are arranged alternately along the equator of the rotor spheri...

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Abstract

The invention belongs to the technical field of permanent magnetic spherical stator current control, and relates to a spherical planning-based permanent magnetic spherical motor stator winding electrifying method, which comprises the following steps of: first establishing a static torque model of a permanent magnetic spherical motor with 54 stator windings of three layers; then planning a spherical area according to the distribution of the stator windings and dividing the spherical area into 72 spherical sub-areas for classifying detected stator position states; next marking numbers on the stator windings in each sub-area, designing electrifying rules for the stator windings in different states, and electrifying 18 of the 54 stator windings in each state; and finally resolving values of current for electrifying the 18 stator windings according to expected torque in permanent magnetic spherical motor kinetic control and the static torque model of the permanent magnetic spherical motor. Through the electrifying scheme of the invention, continuous control with relatively higher resolution can be conveniently performed on the permanent magnetic spherical motor, and all kinds of complex continuous track following can be realized.

Description

Technical field: [0001] The invention belongs to the technical field of current control of a permanent magnet spherical motor, and relates to an energization strategy based on a static torque model and spherical sub-region division. Background technique [0002] In the research and application fields of modern aerospace, military, chemical industry, industrial automation and intelligent robots, it is increasingly necessary to realize multi-degree-of-freedom motion. The permanent magnet spherical motor has the outstanding advantages of small size, light weight, and high force-energy index. It can realize three-degree-of-freedom motion and can be applied to precision devices such as robot joints that do space multi-degree-of-freedom motion. [0003] Its rotor can realize the movement of three degrees of freedom of rotation, pitch and yaw, and control the energization sequence and magnitude of the stator winding. That is, through a certain energization strategy, the permanent m...

Claims

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Application Information

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IPC IPC(8): H02P6/00H02P6/16H02P6/28
Inventor 夏长亮郭辰史婷娜
Owner TIANJIN UNIV
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