三自由度永磁关节电机的建模与优化电气工程专业论文.docxVIP

河北科技大学硕士学位论文 11 万方数据 =：：==；；；j=；==；====；==；========；l====；；======；===j==；====== =：：==；；；j=；==；====；==；========；l====；；======；===j==；======Abstract Abstract With the continuous development of industry，people hope that the driving device of equipments and instruments call reduce the occupied volume and improve the accuracy of the application with more convenience in use．The three—degree—of-freedom permanent magnet ioint motor call replace multiple traditional motors into a single motor，reducing the occupied volume and improving the accuracy，SO it has been wide|y used．Based on large numbers of references on the three—degree—of-freedom motors，a new structured three．degree．of-freedom permanent magnet joint motor is presented in this dissertation． For the first time，the classification of the tilting coils and the rotating coils is proposed， and the magnetic field distribution of the motor is optimized and the output torque is enhanced by using the¨Mongolia package”shaped permanent magnets· First of all，this paper proposes a new structured three—degree—of-freedom permanent magnet ioint motor．The stator windings are divided into the tilting coils and the rotating coils in an innovative way with different control strategies to contr01．Then the basic structure，size of components and the working principle of the new structured motor are introduced in detail．The magnetic field characteristies of the motor are systematically discussed and analyzed by using the analytical method and the 3D finite element method． The effects of the number of pole pairs on the magnetic field are explored．Based on t11e Lo代Inz force method and the 3D finite element method，the torque characteristics of the motor are discussed and analyzed in depth．The influence of the tilt coils’position on the torque and the relationship curves between the magnetomotive force and torque are discussed．Based on the introduction on the theory of particle swanll optimization algorithm，the parameters of the original struc