A doubly salient pole hybrid excitation motor for industrial robots and its control system

Abstract

The present invention relates to the field of industrial robots, and proposes a doubly salient pole hybrid excitation motor for industrial robots and its control system, including three parts: a linear unit stator, a mover and a rotary unit stator; the double stators all use embedded permanent magnets and multi-tooth The combined structure can reduce the cogging torque while increasing the power density, reducing the thrust ripple and weakening the torque ripple; Embedded in the magnetic isolation layer, it can ensure the symmetry of the magnetic circuit of each phase and reduce the torque ripple; at the same time, each phase of the linear unit and each phase of the rotary unit are independent, which can run without a phase and have strong fault tolerance; by using three simultaneous integrated linear windings and rotating The full-bridge converter of the winding can effectively drive the motor to perform linear motion, rotary motion and helical motion, and realize the multi-degree-of-freedom operation of industrial robots, which has good engineering application value.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a double salient pole hybrid excitation motor for industrial robots and a control system thereof. Background technique [0002] As a typical doubly salient motor, switched reluctance motor has the advantages of simple structure, strong fault tolerance and flexible control, and has a good application prospect in the field of industrial robots. The two-degree-of-freedom switched reluctance motor is an effective integration of the two-degree-of-freedom motor and the switched reluctance motor, which can realize linear motion, rotary motion, and helical motion to meet the needs of industrial robots for multi-degree-of-freedom motion. However, due to the influence of the two-layer double salient pole structure and the double pulse power supply mode in the two-degree-of-freedom switched reluctance motor, the thrust ripple and torque ripple will be further aggravated. At the same time, ...

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Problems solved by technology

However, due to the influence of the two-layer double salient pole structure and the double pulse power supply mode in the two-degree-of-freedom switched reluctance motor, the thrust ripple and torque ripple will be further aggravated

At the same time, the rare earth-free characteristics of traditional switched reluctance motors will also reduce the thrust density and torque density, which seriously hinders the application prospects of double salient pole two degrees of freedom switched reluctance motors in industrial robots.

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