超低速高精度伺服系统用无刷无槽正弦波电机

DESIGNRESEARCH刘景林,戴冠中(,710072):,,,:;;;;;:TM381:A:1001-6848(2001)06-0010-03BrushlessSlotlessSinusoidalMotorUsedinSuperLowSpeedHighAccuracyServoSystemLIUJing-lin,DAIGuan-zhong(NorthwesternPolytechnicalUniversity,Xi'an710072,China)Abstract:Basedonspecialdemandsofsuperlowspeedhighaccuracyservosystem,thethesisanalyzesandexploresthemathematicalmodel,designmethod,keytechnologyofbrushlessslotlesssinusoidalmotor.Testingresultsoftheservosystemdevelopedbyauthorshowthatthemotorisofexcellentlowspeedstabilityandpindlingtorqueripple,whichentirelysatisfysneedsofthesystem.Keywords:superlowspeed;highaccuracy;slotless;brushless;sinusoidalwave;motor:2001-10-161,,,,,;,,(1.2/min,5h1)(0.05),2,[1]d,qd90:uduq=(R1+PLd)-LqLd(R1+PLq)idiq+0f(1)ud,uqdqid,iqdqLd,LqdqR1f,,:dq=Ld00Lqidiq+Lfif0(2)d,qdqLfifLfif=f:Tem=Pn(diq-qid)(3)(2)(3):Tem=Pn[Lfifiq+(Ld-Lq)idiq](4)Pn102001346(123)3:,,;,,,,,3.1,,,360,,,,,,,,,,,,3.2,,,,,,,,,,;,,,113.3,,:k=n=2U2mnUm1100%,Um1,,Umn(n2),,,,,57,,3.4,,;,;,,,,,,21.2.3.24[2],3,80C196KCPCPC,80C196KC,,,80C196KC,11,XY,,,0.05;,1.2/min,,;3PC;,;:[1],.[M].,1998.[2].[R].,2001,9.:(1964),,,,(6):[1].[M].:,1997.[2]MitchellWing,JackF.Gieras.CalculationoftheSteadyStatePerformanceforSmallCommutatorPermanentMagnetDCMotors:ClassicalandFiniteElementApproaches[J].IEEETrans.onMagnetics.199228(5):2067-2070.[3]OvidiuCraiu,NicolaeDan,EugeneA.Badea.NumericalAnalysisofPermanentMagnetDCMotorperformances[J].IEEETrans.onMagnetics.199831(6):3500-3502.[4].[M].:,1989.[5].[M].:,1992.:(1961),,,,(1971-),,,(9),27kHz,20kHz,,,24.5kHz,22.3kHz,,:[1].[J].,1999,(4).[2].[J].,1999,(3).[3]JunSatonobu,NorikazuTorii,KentaroNakamuraetal.ConstructionofMegatorqueHybridTransducerTypeUltrasonicMotor[J].JapaneseJournalofAppliedPhysics.1996,35(9B):5038-5041.[4]ManabuAoyagi,YoshiroTomikawa,TakehiroTakano.SimplifiedEquivalentCircuitofanUltrasonicMotorandItsApplications[J].Ultrasonics,1996,34:275-278.:(1977),,,,122001346(123)