Driving control method of multi-degree-of-freedom spherical induction motor
An induction motor, degree of freedom technology, applied in motor generator control, electronic commutation motor control, control system and other directions, can solve the problems of differences in drive control methods, poor reliability, and complex multi-degree-of-freedom drive control design, achieving good Dynamic characteristics and following performance, simple structure effect
Active Publication Date: 2021-04-23
CHONGQING JIAOTONG UNIVERSITY +1
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Problems solved by technology
[0004] In the field of motor drive, there are differences in the drive control methods corresponding to different types of motors.
The drive control method for multi-degree-of-freedom spherical induction motors usually needs to fully consider the particularity of its structural characteristics and working principle to avoid problems such as inaccurate drive control and poor reliability; however, the existing multi-degree-of-freedom drive control design is relatively complicated
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[0043] The present invention is further described below in conjunction with the accompanying drawings of the description, as shown in the figure:
[0044] The drive control method of the multi-degree-of-freedom spherical induction motor of the present invention, the spherical induction motor includes a spherical rotor and a number of stators uniformly distributed around the circumference of the spherical rotor; the number of stators are arc-shaped structures; including the following steps:
[0045] S1. Divide the plane where the rotor deflection angle is located into several working areas; wherein, the plane is the rotating working plane of the rotor;
[0046] S2. Set the target deflection angle, and determine the working area where the target deflection angle is located;
[0047] S3. Adjust the working parameters of each stator according to the working area where the target deflection angle is located, so that the output torque and output speed of the rotor reach the set targ...
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The invention discloses a driving control method of a multi-degree-of-freedom spherical induction motor. The spherical induction motor comprises a spherical rotor and a plurality of stators which are uniformly distributed in the circumferential direction of the spherical rotor. The driving control method comprises the following steps of: S1, dividing a plane where a rotor deflection angle is located into a plurality of working regions, wherein the plane is a rotary working plane of the rotor; S2, setting a target deflection angle, and determining a working region where the target deflection angle is located; and S3, according to the working region where the target deflection angle is located, adjusting working parameters of all stators, so that output torque and an output rotating speed of the rotor reach set target torque and a set target rotating speed respectively. According to the driving control method of the multi-degree-of-freedom spherical induction motor, the driving control of the rotor in two degrees of freedom can be realized, the control is simple, the precision is high, and the reliability is strong.
Description
technical field [0001] The invention relates to the field of induction motors, in particular to a driving control method for a multi-degree-of-freedom spherical induction motor. Background technique [0002] With the rapid development of space technology, robot technology and automation technology, in order to overcome the defects of traditional multi-degree-of-freedom drive systems such as complex structure, poor dynamic performance, and difficult control, research on multi-degree-of-freedom motors has become a research hotspot. According to different working principles and structural features, multi-degree-of-freedom motors can be divided into multi-degree-of-freedom planar motors, multi-degree-of-freedom rotary linear motors, and multi-degree-of-freedom spherical motors. Among them, due to the particularity of its motion form, the spherical structure motor is very beneficial to multi-dimensional motion. At the same time, it can save the intermediate mechanism, simplify th...
Claims
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IPC IPC(8): H02P21/30H02P21/00
Inventor 邓涛丁镇涛吴昌军苏振华
Owner CHONGQING JIAOTONG UNIVERSITY