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Iron shell and tooth permanent magnet spherical motor cogging torque analysis method

A technology of cogging torque and spherical motor, which is applied in the direction of electrical digital data processing, special data processing applications, instruments, etc., can solve the problems that the output torque cannot reach the maximum, the magnetic circuit analysis is complicated, etc., and achieve accurate control of the ball machine, The effect of increasing the electromagnetic torque of the ball machine

Active Publication Date: 2019-11-19
TIANJIN UNIV
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Problems solved by technology

However, the cogging torque of the spherical motor whose stator shell, rotor shell, and stator teeth are all made of ferromagnetic materials has not been studied at the same time, so the output torque still cannot reach the maximum; and when the three are all made of ferromagnetic materials, the position of the rotor Variations Complicate Magnetic Circuit Analysis

Method used

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  • Iron shell and tooth permanent magnet spherical motor cogging torque analysis method
  • Iron shell and tooth permanent magnet spherical motor cogging torque analysis method
  • Iron shell and tooth permanent magnet spherical motor cogging torque analysis method

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Embodiment Construction

[0043] The present invention provides a method for obtaining the cogging torque of the permanent magnet spherical motor with iron shell and teeth at any position of the rotor. The present invention will be described in detail below in conjunction with the accompanying drawings and implementation. The specific implementation steps of the present invention are as follows:

[0044] (1) Eighteen-tooth unipolar cogging torque expression:

[0045] In the present invention, the 6-8 type polyhedral permanent magnet spherical motor is taken as an example. The stator of the 6-8 type polyhedral permanent magnet spherical motor includes a ferromagnetic stator shell and 18 ferromagnetic stator teeth, wherein the stator teeth are distributed in the virtual interior of the sphere. Connect the six vertices of the regular octahedron and the midpoints of the twelve edges; the rotor in this unipolar model includes a ferromagnetic rotor inner shell and an N-shaped magnetic pole, which adopts a cy...

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Abstract

The invention relates to an iron shell and tooth permanent magnet spherical motor cogging torque analysis method. The cogging torque generated when one magnetic pole is obtained through a finite element, then the cogging torque generated by other magnetic poles is obtained through space coordinate rotation transformation, all the cogging torques are superposed to obtain the total cogging torque, and therefore the corresponding relations between the rotor space position and the cogging torque are obtained.

Description

technical field [0001] The invention belongs to the field of cogging torque analysis of spherical motors, in particular to an analysis method for cogging torque of spherical motors made of iron and teeth. Background technique [0002] With the development of modern industry, more and more fields have demand for multi-degree-of-freedom motion devices, and multi-degree-of-freedom motion devices are often composed of multiple one-degree-of-freedom motors. The combined device has the disadvantages of large volume, complex structure, slow response time, and structural dead zone. In order to solve the problem of combined devices, scholars at home and abroad have developed a three-degree-of-freedom motor that can rotate around any axis-a spherical motor. Spherical motors have the advantages of small size, high precision, fast response, direct drive, and non-singularity in the working area. With the deepening of scholars' research on dome machines, the application range of dome ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCY02T10/64
Inventor 李斌计鹏丽李桂丹
Owner TIANJIN UNIV
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