低脉动高力矩密度等极槽有限转角电机基础理论与技术

Although conventional slotted limited angle motors (LAMs) have a high torque density, its fatal shortcoming of large torque pulsation makes it difficult to apply to a high-precision swinging motion system. Aimed at the increasing demand of high performance swinging motion system in a variety of fields, this project proposes an identical pole-slot LAM with low pulsation and high torque density, featuring the advantage both the low torque pulsation of slotless structure and the high torque density of slotted structure. The analysis and calculation of the electromagnetic characteristics and control strategy of the proposed motor are different from the traditional slotted LAMs so that many new scientific issues need further study. . In this project, the identical pole-slot LAM with low pulsation and high torque density will be investigated in a variety of aspects, which include the operation mechanism analysis, characteristic calculation, balance design of low torque ripple and high torque density, active disturbance compensation control technology, the nonlinear coupling of magnetic and thermal analysis and experimental research. By conducting this research, the principle and mechanism of identical pole-slot LAM is revealed, and the design optimization method, active disturbance compensation control technology and the coupling of magnetic and thermal analysis for the LAM are broken through. Further, the framework on analysis, design and control of the machine will be established. The research can not only enrich the interdisciplinary theory of electrical machinery and mechanics, but also widen the application scopes of slotted LAMs, which turn out to be greatly valuable in electrical machine and mechanical transmission areas.

常规齿槽式有限转角电机虽具有较高的力矩密度，但力矩脉动高的致命缺点，使其难以应用于高精度的摆动运动系统。针对国民经济各领域对高性能摆动运动系统的需求，本项目提出一种低脉动高力矩密度等极槽有限转角电机，其可以兼顾无齿槽结构低力矩脉动与齿槽式结构高力矩密度的优点。与传统齿槽式结构相比，该电机电磁特性的分析计算方法、驱动控制策略等均有特殊性，存在许多新的科学问题需要深入研究。本项目开展低脉动高力矩密度等极槽有限转角电机的基础理论与技术研究，内容包括：运行机理分析、特性计算、低力矩脉动与高力矩密度平衡设计、主动扰动补偿控制策略、非线性磁-热耦合热分析以及实验研究。通过开展本项目，揭示等极槽有限转角电机的机理，突破该电机的设计优化方法、主动扰动补偿控制策略及磁-热耦合热分析技术，建立其分析、设计与控制的理论与技术体系。项目对拓宽齿槽式有限转角电机的应用领域具有重要的理论意义和应用价值。

本项目旨在提出新型有限转角电机方案，为传统无齿槽式有限转角电机力矩密度低的瓶颈问题找到新的解决方法。本项目开展了电磁机理，揭示其磁场调控机理；提出了非线性磁路模型与非支配排序遗传算法相融合的多目标优化方法，突破其全局优化设计；构建了有限转角电机高精度数学模型，阐明了摆动频率与摆角对电机铁心损耗的影响规律，实现了对动态特性的高时效精确计算；构建了摆动状态下电机温度场模型，厘清了电机气隙区域的复杂流动规律与散热系数求取方法；提出了基于比例谐振控制器的位置跟随控制策略，其位置跟踪精度优于PID控制策略。本项目共发表IEEE期刊检索论文4篇，其中中科院一区TOP期刊论文2篇，授权国家发明专利1项，培养硕士研究生1名。本项目拓展了有限转角电机设计与控制理论，该类电机可应用于航天与国防领域，替代现有的无齿槽式方案，具较高的学术与工程应用价值。

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