机器人用永磁伺服电机性能分析与优化设计

论文总字数：26056字

摘 要

随着国民经济的发展，工业机器人发展迅速。工业机器人的三大核心零部件为减速器、伺服电机和控制器。永磁同步伺服电机作为核心零部件之一，是工业机器人的执行机构，具有非常重要的作用。永磁同步伺服电机具有体积小、过载倍数高、功率密度大的特点，在伺服系统中应用优势大，有必要对其研究，以适应不断提高的电机运行性能要求。

本文首先介绍了机器人用永磁同步伺服电机和普通感应电机的不同，尤其是从转子结构角度给出了表贴式和内置式的优缺点。

然后，根据电机设计要求，结合永磁同步电机设计的经验公式，并且参考同类型电机设计经验，选取合适的电磁负荷，从而确定电机的结构和尺寸。根据绕组对电机的影响，合理设计了电机的定子电枢绕组形式。

接着，研究了极槽配合对电机性能的影响，选择了较优的极槽配合。本文基于有限元法分析了电机在空载、额定负载和过载工况下的磁密、电密和损耗等，分析结果验证了参数设计的合理性。

此外，输出转矩和转矩波动是本文的两个重要设计指标，本文分别使用田口法和转子斜极法对电机进行优化，得出了最终的电磁方案。优化后的电磁方案表明，电机电磁性能满足设计要求，达到设计指标。

最后，对设计电机进行应力校验，应力场仿真结果显示电机高速稳态运行时满足应力要求。本文对永磁同步伺服电机设计优化进行了一定的探索，对同类型电机设计有一定参考价值。

关键词：永磁同步伺服电机，电磁设计，有限元分析，田口优化算法

Abstract

Due to economic prosperity, industrial robot production has been improved dramatically. The three core components of industrial robots are reducers, servo motors and controllers. As one of the core components, permanent magnet synchronous servo motor is the actuator of industrial robot and plays a very important role. The permanent magnet synchronous servo motor has the characteristics of small volume, high overload multiple and high power density. It has great application advantages in the servo system, and it is necessary to study it to meet the ever-increasing motor running performance requirements.

This paper first introduces the differences between permanent magnet synchronous servo motor and common induction motor for robots, especially the advantages and disadvantages of surface mount and built-in from the perspective of rotor structure.

Then, according to the motor design requirements, combined with the empirical formula of permanent magnet synchronous motor design, and with reference to the same type of motor design experience, appropriate electromagnetic load is selected to determine the structure and size of the motor. According to the influence of the winding on the motor, the stator armature winding form of the motor is reasonably designed.

Then, the influence of the pole slot matching on the performance of the motor is studied, and the optimal pole slot matching is selected. Based on the finite element method, the magnetic density, electrical density and loss of the motor under no-load, rated load and overload conditions are analyzed. The analysis results verify the rationality of the parameter design.

In addition, the output torque and torque fluctuation are two important design indicators in this paper. The Taguchi method and the rotor oblique pole method are used to optimize the motor, and the final electromagnetic scheme is obtained. The optimized electromagnetic scheme shows that the electromagnetic performance of the motor meets the design requirements and reaches the design index.

Finally, stress calibration is performed on the designed motor. The stress field simulation results show that the motor meets the stress requirements during high-speed steady-state operation. In this paper, the design optimization of permanent magnet synchronous servo motor is explored, and it has certain reference value for the same type of motor design.

KEY WORDS: permanent magnet synchronous servo motor, elctromagnetic design, finite element analysis, Taguchi optimization algorithm

目 录

摘要Ⅰ

Abstract Ⅱ

第一章 绪论1

1.1 课题背景和意义1

1.2 国内外现状及发展趋势1

1.3 本文主要内容及章节结构2

第二章 机器人用永磁同步电机的原理与设计分析4

2.1 永磁同步电机转子结构介绍4

2.2 电机设计目标、参数及要求5

2.3 主要尺寸和气隙长度的确定6

2.4 极槽配合的选择7

2.5 定子、转子结构设计7

2.6 定子电枢绕组设计9

2.7 电机初步电磁方案的确定10

2.8 本章小结10

第三章 机器人用永磁同步伺服电机有限元电磁设计11

3.1 有限元原理分析11

3.2 有限元模型的建立11

3.3 电机空载运行仿真分析11

3.4 电机额定运行情况分析15

3.5 电机过载运行情况分析18

3.6 电机高速弱磁工作点性能分析19

3.7 本章小结20

第四章 机器人用永磁同步伺服电机性能优化研究21

4.1 电机输出转矩优化分析21

4.1.1 田口法简介21

4.1.2 应用田口法对输出转矩进行优化分析21

4.2 转矩脉动的优化分析25

4.3 电磁方案优化前后电机性能对比分析27

4.4 本章小结28

第五章 应力场分析29

5.1 转子受力情况分析29

5.2 应力场电机材料属性29

5.3 永磁伺服电机转子应力分析30

5.4 本章小结30

总结与展望31

参考文献32

致谢34

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