CN102412763B - Permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor and control method thereof - Google Patents
Permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor and control method thereof Download PDFInfo
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- CN102412763B CN102412763B CN 201110378658 CN201110378658A CN102412763B CN 102412763 B CN102412763 B CN 102412763B CN 201110378658 CN201110378658 CN 201110378658 CN 201110378658 A CN201110378658 A CN 201110378658A CN 102412763 B CN102412763 B CN 102412763B
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Abstract
The invention belongs to the technical field of design and control of motors and relates to a permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor. The permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor comprises a base, a spherical stator wall, stator coils and a rotor, wherein the rotor is positioned in the stator wall; the output shaft of the rotor extends out of an opening above the stator wall; the spherical motor is characterized in that: the stator coils have columnar ironless structures; three layers of stator coils are uniformly distributed along the equator of the spherical stator wall and wefts parallel to the equator and radially fixed on the spherical stator wall; permanent magnet poles are embedded on the surface of the rotor and divided into two layers, namely an upper layer and a lower layer, along the equator; the poles N and the poles S on each layer are staggered; and each stator coil is independently controlled by a driving circuit. The invention also provides a control method for the motor. By the motor and the control method thereof, controllability of a magnetic suspension force and bearing-free running of the motor are realized; furthermore, the movement characteristic of the motor and the flexibility of design of a motor control system are improved.
Description
Technical field
The invention belongs to design of electrical motor and control technology field, relate to a kind of multi-freedom degree spherical motor.
Background technology
Along with scientific and technological progress, the range of application of movement mechanism with multiple degrees of freedom is more and more wider.Traditional movement mechanism with multiple degrees of freedom is combined realization by many single-degree-of-freedom motors, and mechanism is huge, transmission accuracy is low, control is difficult.Globular motor can be realized the motion of rotor three degree of freedom, in the high-precision control systems such as robot, nanometer workbench, be with a wide range of applications, and the permanent magnetism spherical motor also has small volume, torque density than high.
Due to special structure and motion mode, the bracing or strutting arrangement of globular motor rotor also is different from common electric machine.Before in the organization plan of research, the supporting way of rotor mainly in the following ways: directly contact, multi-directional ball bearing, oscillating bearing, air bearing etc.All there are some problems in these ways of contact, in the direct way of contact, rotor directly is placed on stator inner wall or slip ring, although adopt the coating of low-friction coefficient to reduce sliding friction, but friction torque still can exert an influence to the motion of rotor, as involved in patent 200810053083.5; The multi-directional ball bearing utilizes rolling friction to replace sliding friction, although reduced friction torque, because bearing and rotor are to contact, pressure is larger, likely can damage rotor surface; Oscillating bearing can be realized the three-degree-of-freedom motion of rotor preferably, but this bearing relatively is applicable to the low-speed motion of motor; Air bearing can realize noncontact between rotor, has greatly reduced frictional force, but needs extra air pressurization device.
Summary of the invention
The objective of the invention is to overcome the defect of existing globular motor rotor supports mode, propose a kind of three degree of freedom spherical motor that can prevent from producing between rotor and stator frictional force.Technical scheme of the present invention is as follows:
A kind of permanent magnet bearing-free auto-suspension three-degree-of-freedom, comprise base, spherical stator wall, stator coil and rotor, rotor is positioned at stator wall, its output shaft stretches out from the opening part of stator wall top, it is characterized in that, stator coil is cylindricality non iron-core structure, be uniformly distributed 3 layers along the Ji Yu equator, equator of spherical stator wall on parallel parallel, be radial and be fixed on spherical stator wall; Rotor surface is embedded with permanent magnet pole, and magnetic pole is along being divided into two-layerly up and down with equator, and the N utmost point and the S utmost point of every layer are alternately distributed; Each stator coil is independently controlled by a drive circuit.
The control method that the present invention provides a kind of above-mentioned motor to adopt simultaneously, comprise the following steps:
(1) utilize displacement transducer and angular transducer detection rotor position, the Eulerian angles of obtaining stator coordinate lower rotor part side-play amount and turning over;
(2) utilize principle of coordinate transformation, the position coordinates of each stator coil is transformed under the rotor ball coordinate system, and calculate the gas length between each stator coil and rotor;
(3) electromagnetic force produced while calculating the logical unitary current of each stator coil, and result of calculation is transformed into to the stator rectangular coordinate system, and calculate the electromagnetic torque of electromagnetic force correspondence under rectangular coordinate system;
(4) driving torque of required magnetic suspension force and output while moving according to motor, calculate the size and Orientation of each coil current;
(5) electric current of obtaining according to upper step, control the size and Orientation of the electric current of each coil in real time, makes rotor suspension at settling position and export required torque.
The present invention proposes be a kind of without bearing from suspending three degree of freedom spherical motor and control method thereof, utilize radial electromagnetic force to produce support force, realized the shaftless acknowledgement of consignment row of the controlled and motor of magnetic suspension force; Utilize the electromagnetic torque that tangential electromagnetic force produces to drive rotor, realize three-degree-of-freedom motion, improved the kinetic characteristic of motor, improved the flexibility of electric machine control system design.Particularly, beneficial effect is as follows:
1, but the multifreedom motion on the permanent magnet bearing-free auto-suspension three-degree-of-freedom implementation space, be applied to the fields such as robot, precision instrument, can greatly simplify the design of mechanical system.
2, permanent magnet bearing-free is realized the control of suspension certainly of rotor from the globular motor that suspends, and noncontact between rotor, overcome the adverse effect of friction torque to motion control.
The synthetic magnetic suspension force of radial component of the electromagnetic force that 3, permanent magnet bearing-free utilizes stator coil to produce from the globular motor that suspends, without separately adding servicing unit, simplified electric machine structure.
4, because stator coil adopts the non iron-core structure, between stator coil, without coupling effect, each coil is independently controlled by a drive circuit, has simplified control system.
5, stator winding coil by etc. longitude and etc. latitude be uniformly distributed, direction and the size that can regulate total electromagnetic torque by position and the number of control coil electric current and hot-wire coil, can obtain different torque-characteristics, meets different control requirements.
The accompanying drawing explanation
Fig. 1 permanent magnet bearing-free auto-suspension three-degree-of-freedom structure chart.
The number in the figure name is called: 1 stator wall; 2 stator coils; 3 coil bolts; 4 ball rotors; 5 output shafts; 6 bases.
Fig. 2 rotor ball body structure figure.
The number in the figure name is called: 41 permanent magnet poles
Fig. 3 control flow chart.
Fig. 4 rotor centre of sphere skew schematic diagram.
Spherical spinner coordinate system during Fig. 5 δ=1.5mm
under electromagnetic force.(a) f
rcomponent
component (c) f
θcomponent.
Embodiment
Permanent magnet bearing-free auto-suspension three-degree-of-freedom comprises support section, stator and spherical spinner transducer four parts, wherein, support section comprises stator wall 1, base 6, stator comprises air core coil 2, coil bolt (3), fixing output shaft 5 on spherical spinner 4.Motor basic structure as shown in Figure 1.Rotor surface is pasted permanent magnet pole 41, and magnetic pole is divided into two-layer up and down along equator, every layer of 6 utmost point, and alternately, upper and lower two-layer magnetic pole N, the S utmost point are alternately for every one deck magnetic pole N, the S utmost point.As shown in Figure 2.
After stator winding electrifying, the electromagnetic force that winding is subject to will comprise radial component and tangential component.The radial component of electromagnetic force does not produce electromagnetic torque, but it can make rotor produce the position skew, before the motor operation, rotor is supported on the support on base, and after energising, displacement transducer can detect rotor-position, controller is regulated the electric current of each coil, the rotor of making a concerted effort to hold up of the electromagnetic force that each coil produces, the position during to the overlapping ，Ci position, position and be motor stabilizing and move of the rotor centre of sphere and the stator centre of sphere.During the motor operation, once rotor-position skew stable operation position, displacement transducer turns over side-play amount, angular transducer Eulerian angles by rotor feed back to control system, and controller is made corresponding adjustment, makes rotor be returned to settling position.On the other hand, the tangential component of electromagnetic force produces electromagnetic torque and drives rotor, and controller is regulated the torque component of each coil current, produces needed electromagnetic torque and drives rotor gone off course, tilt and rotatablely move.Because permanent magnet bearing-free magnetic circuit in the globular motor that suspends is unsaturated, electromagnetic force component and the torque component of electric current can independently be controlled.Control flow chart as shown in Figure 3.Concrete control method is:
1. before the motor operation, stator coil contacts with rotor, and provides support power.When motor normally moves, rotor overlaps with the stator centre of sphere, the settling position that this position is spherical spinner.Once be offset in running, as shown in Figure 5, rotor centre of sphere initial point is O, after being offset, becomes O
1, side-play amount is OO
1with the vector Δ, r means, transducer detection rotor position obtains Eulerian angles α, β and γ that rotor displacement amount Δ r and rotor turn over.
2. utilize principle of coordinate transformation, the position coordinates of each coil of stator is transformed under the rotor ball coordinate system.The position coordinates of each stator coil under stator coordinate is known, by electric machine structure, is determined.If i stator coil is (X at the coordinate of stator coordinate
i, Y
i, Z
i), the coordinate (x under the rotor rectangular coordinate system
i, y
i, z
i),
(x
i，y
i，z
i)＝(X
i，Y
i，Z
i)*R(α，β，λ)*L
-1 i＝1...24 (1)
Wherein R (α, beta, gamma) is Eulerian angles rotation transformation matrix, and L is the translation matrix about Δ r, and subscript-1 is matrix inversion operation, and subscript i means the stator coil label.
Consider that permanent magnetism spherical magnetic field and torque are analyzed usually under spherical coordinate system, the position of this coil under the rotor ball coordinate system can be expressed as
This coil and rotor ball distance in the heart
Wherein [Δ x Δ y Δ z] is the component of Δ r under the stator rectangular coordinate system, by displacement transducer, obtained.
Between these coil stator and rotor, gas length is
δ
i＝R
i-R
in (4)
R wherein
infor rotor radius.
3. because stator winding is air core coil, air-gap field is mainly set up by rotor magnetic pole, gas length between the position of known each stator under the rotor ball coordinate system and rotor, according to the electromagnetic force model (obtaining by Finite Element Method or analytic method) of motor, can obtain the electromagnetic force that stator coil produces in this position
reference coordinate is the rotor ball coordinate system.Fig. 5 has provided under a rotor magnetic pole, and the rotor air gap is 1.5mm, stator coil electric current while being 1A, several F of electromagnetic force under the rotor ball coordinate system
rcomponent,
component and F
θrelation between component and coil position.
4. utilize coordinate transform, can obtain the component of electromagnetic force under the rotor rectangular coordinate system
Wherein subscript T is the matrix transpose computing, and transformation matrix T is
Therefore, the torque that under the rotor rectangular coordinate system, this stator coil produces can be expressed as
M
i(x，y，z)＝[x
i，y
i，z
i]×[F
i，x，F
i，y，F
i，z](6)
5. consider that permanent magnet bearing-free is in the globular motor that suspends, magnetic suspension force means more convenient under the stator rectangular coordinate system, and the electromagnetic force therefore coil produced is transformed under the stator rectangular coordinate system, is expressed as
6. repeating step 1-5, in the time of can obtaining all 24 coils by unitary current, the electromagnetic force of generation and electromagnetic torque.
7. in the permanent magnetism spherical motor, stator magnetic circuit is unsaturated, and the electromagnetic force that stator coil produces is linear with the electric current passed through.The electromagnetic force that 24 coils are produced during by unitary current and electromagnetic torque form moment battle array F and torque matrix M (being the matrix of 3*24), and 24 coil currents form current vector I, can capable matrix F, torque matrix M current vector I and need the suspending power vector [F produced
xf
yf
z], electromagnetic torque [M
xm
ym
z] between meet relation
[F
X，F
Y，F
Z]
T＝F(X，Y，Z)·I
F
[M
x，M
y，M
z]
T＝M(X，Y，Z)·I
M (8)
I wherein
ffor controlling suspension component of force, I in coil current
mcomponent for controlling torque.
8. can draw I by formula (8)
fand I
m
I
F＝F
-1(X，Y，Z)·[F
X，F
Y，F
Z]
T
I
M＝M
-1(X，Y，Z)·[M
x，M
y，M
z]
T (9)
F wherein
-1and M
-1generalized inverse matrix for F and M.Therefore, the coil current vector is
I＝I
F+I
M (10)
9. in permanent magnet bearing-free suspends globular motor certainly, each stator coil all connects independently H bridge type main circuit, control strategy adopts stagnant ring to control, the coil current I that will be obtained by formula (10) is input in hysteresis comparator as the reference electric current, the switching signal drawn is controlled opening and turn-offing of main circuit power tube, make the given reference current of current tracking of stator coil, finally realize motor from suspending stabilized operation.
Claims (1)
1. the control method of a permanent magnet bearing-free auto-suspension three-degree-of-freedom, applicable motor comprises base, spherical stator wall, stator coil and rotor, rotor is positioned at stator wall, its output shaft stretches out from the opening part of stator wall top, it is characterized in that, stator coil is cylindricality iron-core-free structure, be uniformly distributed 3 layers along the Ji Yu equator, equator of spherical stator wall on parallel parallel, be radial and be fixed on spherical stator wall; Rotor surface is embedded with permanent magnet pole, and magnetic pole is divided into two-layer up and down along equator, and the N utmost point and the S utmost point of every layer are alternately distributed, and upper and lower two-layer magnetic pole N, the S utmost point are alternately; Each stator coil is independently controlled by a drive circuit, it is characterized in that, comprises the following steps:
(1) before the motor operation, stator coil contacts with rotor, and provides support power;
(2) utilize displacement transducer and angular transducer detection rotor position, the Eulerian angles of obtaining stator coordinate lower rotor part side-play amount and turning over;
(3) utilize principle of coordinate transformation, the position coordinates of each stator coil is transformed under the rotor ball coordinate system, and calculate the gas length between each coil and rotor;
(4) electromagnetic force produced while calculating the logical unitary current of each coil, and result of calculation is transformed into to the stator rectangular coordinate system, and calculate the electromagnetic torque of electromagnetic force correspondence under rectangular coordinate system;
(5) when repeating step (3) and (4) obtain all coils by unitary current, the electromagnetic force of generation and electromagnetic torque;
(6) driving torque of required magnetic suspension force and output while moving according to motor, calculate the size and Orientation of each coil current;
(7) electric current of obtaining according to upper step, control the size and Orientation of the electric current of each coil in real time, makes rotor suspension at settling position and export required torque.
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