径向驱动式啮合电机恒转矩控制研究

摘要

针对平动式啮合电机的变气隙磁场、磁通密度深度饱和,简单的换相控制方法具有转矩脉动大、振动强的问题.根据输出转矩与磁场力及电流之间关系,推导出输出转矩与电感、绕组电压的关系模型.该模型利用有限元计算获得的磁链、电流与气隙数据推导电感的插值多项式,通过电感计算结果计算绕组电压,从而实现对输出转矩的精确控制.用所建立的模型对样机进行加载试验,结果表明,采用提出的恒接转矩控制方法可有效减小啮合电机的振动,获得较为恒定的输出转矩和加速度.%There existing problems in translational meshing motor such as air gap magnetic field is variable,magnetic flux density is deep saturation,torque ripple is large and vibration is strong by simple commutation control method.The relationship between the output torque and inductance,winding voltage were derived for the existed problems according to the relationship between the output torque and magnetic force,current.The interpolation polynomial of the inductance was derived using the data obtained by finite element calculating,the data contained the flux linkage,the current and the air gap.The winding voltage was calculated by calculating results of the inductance,so as to the precise control of the output torque was realized.The loading test was carried out and the results show that the vibration of the meshing motor can be effectively reduced;the constant output torque and acceleration can be obtained by the constant torque control method proposed in this study.