新型直接驱动管型直线无刷永磁电动机的发展

摘要：这篇文章介绍了一种新型管型直线无刷永磁电动机的设计。在这个设计中，磁体作为运动部件依照NS-NS—SN-SN的方式导向的，这样在同名极区域能够产生更高的磁力。我们发展了一种分析的方法用来计算这种电动机推力和设计传动器的大小。直线电动机与一个位置检测器，3个功率放大器和一个控制器协力运行，这样形成了一个完整的控制紧密致动的解决方案。实时数字控制器提高了电动机的动态性能并且增益调度的使用减少了非线性死区的影响。在它的初速电流状态，电动机对一个5-mm的阶跃命令的响应具有30ms的上升时间， 60ms的稳定延迟时间和25% 超调量。电动机有1.5m/s的最大速度和最高10g的加速度。它有一个10－cm的工作行程和最大26n的输出推力。这种电动机紧凑的尺寸显示它能够用在需要中等输出力和精度的机械应用中，比如说机器人gripper定位或者传动. 值得注目的是电动机的移动部分能够伸展超过它的固定支撑基座。这个延伸的能力使它在需要一个小的，直接驱动的致动器应用中非常有用，因为这种致动器工作环境是在一个不舒服，拘束的空间环境中。(毕业设计)
关键字: 直接驱动的直流电动机，直线致动器，永磁电动机，实时数字控制，管型电动机

Abstract: This paper presents a novel design for a tubular linear brushless permanent-magnet motor. In this design, the magnets in the moving part are oriented in an NS-NS—SN-SN fashion which leads to higher magnetic force near the like-pole region. An analytical methodology to calculate the motor force and to size the actuator was developed. The linear motor is operated in conjunction with a position sensor, three power amplifiers, and a controller to form a complete solution for controlled precision actuation. Real-time digital controllers enhanced the dynamic performance of the motor, and gain scheduling reduced the effects of a nonlinear dead band. In
its current state, the motor has a rise time of 30 ms, a settling time of 60 ms, and 25% overshoot
to a 5-mm step command. The motor has a maximum speed of 1.5 m/s and acceleration up to 10
g. It has a 10-cm travel range and 26-N maximum pull-out force. The compact size of the motor suggests it could be used in robotic applications requiring moderate force and precision, such as robotic-gripper positioning or actuation. The moving part of the motor can extend significantly
beyond its fixed support base. This reaching ability makes it useful in applications requiring a small, direct-drive actuator, which is required to extend into a spatially constrained environment.

Keywords: Direct-drive DC motor, linear actuator, permanent-magnet motor, real-time digital control, tubular motor.

中文+英文12000字