【作者】 王宏源；

【导师】 尚静；

【作者基本信息】 哈尔滨工业大学 ， 电机与电器， 2006， 硕士

【摘要】 随着智能控制与机器人技术的不断发展,机械臂由于其具有不易受环境影响、操作灵活、控制方便等优点在越来越广泛的领域代替了人手的操作,由此带动了机械臂领域的多元发展。机械臂关节用电机一直是这一领域的研究重点,电机的选取及其相关控制策略的应用在很大程度上影响着机械臂成本、机械手操作精度和机械臂的长期可靠运行。在众多机械臂关节用电机中,永磁无刷直流电动机由于其功耗低、质量轻、可靠性高等优点得到了越来越多的重视和研究。本文结合无刷直流电动机的本身特点和具体应用环境,对电机的性能进行了分析。首先,对该种电机的磁路及电路进行了设计,并对机械臂电机及其驱动系统进行了论述,对位置传感器的选用进行了论述。建立了系统的数学模型。其次,建立了无刷直流电机系统的暂态有限元模型。该模型将外接功率驱动电路与有限元电磁场模型联结起来,可以精确计算无刷直流电机运行过程中的非线性问题,主要指磁路的饱和问题。再次,采用有限元方法分别对电机稳态和暂态电磁场进行了分析,得到了电机稳态与暂态相关性能数据,为电机的优化设计提供了准确依据。同时本文应用有限元法分析了电机测试过程中出现的偏心问题对电机定位力矩的影响,并通过试验对比验证了结论的正确性。最后,针对机械臂电机由于具有较高的功率密度,热负荷较大的问题,应用有限元软件进行三维温度场分析计算,得到了永磁无刷直流电动机带载工作时的稳态温度分布和暂态工作时电机绕组平均温升情况。并通过电机在真空和常温下的堵转温升试验加以对比论证。实验结果表明只要合理安排电机的工作时间和带载强度,就能够保证无刷直流电动机长期、安全、可靠的运行。更多还原

【Abstract】 Along with the progress of capacity control and robot technology, machine arms, which are not so easy to be effected by the environment, easy operated, have taken place of human in more and more field. Recently, it makes more and more progress in this field. The motor used in the joint of machine arm is always the point in the research of machine arm field. The choice of the motor and relative method of control has more or less effect on the cost, operating precision and the reliable of the arm. Among all the motors that can be used in the joints, Brushless DC motor (BLDCM), which has advantages as low cost, light quality and high reliable etc., has taken more and more attentions. In this paper, we analysis the characters of BLDCM according to environment and its structures.At first, the designing index and principle of the BLDCM and its controlling system is presented. And the mathematic model also has been set up.Secondly, the whole FEM analysis model of static and transient operating are made, and the data of electromagnetism has been. The calculation has taken the saturation into account.Thirdly, by using FEM, we can design the motor more effectively. Experiment and analysis results show that BLDCM has high power-density, high T-n character and can complete the work of machine arms. It is so valuable that can optimize the motor’s structure and the load capability.At last, for being high power density, the thermal load of BLDCM is also higher. So more attention must be paid to the temperature rising. In this paper we use FEM 3D software to analysis the thermal field of the motor. And we get the temperature distribution and temperature rise process when the motor is on static or transient operating. Through block experiments at vacuum and normal statement ,we get that if we deal with the time and load of BLDCM well, machine arm would operate more safe and reliable.更多还原