Permanent magnetic spherical motor temperature rise forecasting method based on three-dimensional equivalent heat network model

Abstract

The invention relates to a permanent magnetic spherical motor temperature rise forecasting method based on a three-dimensional equivalent heat network model. The method includes the steps: (1) building the three-dimensional equivalent heat network model meeting a real space structure of a motor according to a special spherical structure of the permanent magnetic spherical motor; (2) determining heat sources, and taking magnetic pole consumption, stator coil copper consumption, stator aluminum consumption and rotor aluminum consumption as corresponding nodes of the heat sources distributed in the three-dimensional equivalent heat network model; (3) calculating equivalent heat resistance, and diving the equivalent heat resistance into conduction heat resistance, convection heat resistance and radiation heat resistance according to different types of heat spread modes among the nodes in the model; (4) acquiring data; (5) forecasting temperature rise of the nodes in the model, and acquiring the temperature of the nodes of the permanent magnetic spherical motor by solving the three-dimensional equivalent heat network model. The permanent magnetic spherical motor temperature rise forecasting method is short in consumed time, easy to operate and high in accuracy and has high applicability to a system with a complex structure or incapable of performing analysis by the aid of a two-dimensional heat network model.

Description

Technical field [0001] The invention relates to a three-dimensional equivalent thermal network method, in particular to a permanent magnet spherical motor temperature rise prediction method based on a three-dimensional equivalent thermal network model. Background technique [0002] The realization of multi-degree-of-freedom movement of manipulators, robots and other devices requires the cooperation of multiple single-degree-of-freedom motors. However, such systems have disadvantages such as large volume, low accuracy, and high friction. In order to improve the performance of the system, scholars at home and abroad put the focus of research on a single-axis motor that can achieve multiple degrees of freedom. Among them, permanent magnet spherical motors have become a hot spot in the research of multi-degree-of-freedom motors due to their advantages of small size, light weight, high performance index, and simple control. [1-4] . The permanent magnet spherical motor mainly contains...

AI Technical Summary

Problems solved by technology

However, the permanent magnet spherical motor is not axially symmetrical, and the two-dimensional equivalent thermal network method cannot correctly reflect the temperature rise of the motor.

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