【作者】 陈晔；

【导师】 李兴根；

【作者基本信息】 浙江大学 ， 电机与电器， 2005， 硕士

【摘要】 本文在参考了国内外已有多自由度球电机的基础上,提出了正交圆柱结构的两自由度电机,它是独立设计的一种创新结构。此电机可分解为两个独立的两相混合式步进电机:分别为内层小电机(外转子两相混合式步进电机)和外层大电机(扇形结构的两相混合式步进电机)。 本文以两自由度电机为对象,采用“齿层比磁导法”,对电机的矩角特性进行计算和分析,用得到的矩角特性与设计要求相比较,从而为优化尺寸设计提供参考。 首先,对两自由度电机产生转矩的关键部分——齿层区域的磁场进行了细致深入的分析,提出了齿层磁场的标量位和向量位分析模型,并通过有限元的数值计算,对各种情况下齿层磁场的分布规律从微观上进行了形象的分析和研究,为完整电机的进一步计算提供了有力的工具。根据齿层标量位分析模型,建立了在不同齿层结构尺寸下的磁参数数据库;并由齿层磁化特性曲线,在宏观上引入了齿层等效磁路模型,为两自由度电机的机辅设计和优化设计打下了基础。 其次,对比于普通混合式步进电机磁网络模型的异同点,建立了两自由度电机中内层小电机和外层大电机的非线性磁网络模型,成功解决了对两自由度电机进行精确的定量计算的困难。通过对非线性等效磁网络模型的求解计算,计算出两自由度电机的矩角特性。 最后,根据两自由度电机的尺寸参数,进行实例计算。计算结果证明:两自由度电机的矩角特性计算程序是正确可行的,两自由度电动机的各项结构参数符合设计要求。从而为以后此类电机的计算和分析提供了参考,对“齿层比磁导法”的应用做出了重要的发展和完善。更多还原

【Abstract】 After comparing and analyzing the many model spherical motors, which were made by some countries, we have decided to adopt orthogonal cylinder structure in design of two-degree-of-freedom motor. The motor can be divided into two special structure two-phase hybrid step motors, separately, which are inner small motor, that is, external-rotor two-phase hybrid step motor, and outer big motor, that is, fan-shaped two-phase hybrid step motor.In this dissertation, based on tooth-layer specific permeability method, an analysis and calculating of torque-angle curves is carried out. It will be helpful for optimizing the dimension of the motor by comparing the torque from calculation with the torque that is required in qualification.Firstly, a scalar and vector potential analysis models of tooth-layer magnetic field in a two-degree-of-freedom motor is developed, which is the same as standard hybrid step motor. By applying the finite element method, the distribution of the tooth-layer magnetic field is studied in detail. It provides an effective means for further calculation of performance and parameters of the motor. On the basis of the scalar potential analysis model and calculation of the tooth-layer magnetic field, a data bank of the equivalent magnetic parameters of tooth-layer with different structure sizes is established. A nonlinear equivalent magnetic circuit model of the tooth-layer in this motor is also developed. All above prepare for CAD and optimal design of the motor.Secondly, comparing to common hybrid step motor, a unifying nonlinear magnetic network of a two-degree-of-freedom motor is constituted. The difficult problems of accurate and quantitative calculation of the motor are solved successfully. After resolving the magnetic network, a torque-angle characteristic procedure is programmed.Finally, referring to structure parameters of two-degree-of-freedom motor, example calculation is given. The results prove that Fortran program of static characteristic in two-degree-of-freedom motor is correct and available. Consequently,an important development and improvement on the tooth-layer specific permeability method for step motor calculation is accomplished.更多还原