永磁三自由度电机的运动学分析与动力学联合仿真

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摘 要：為了解决三维空间中多自由度电机传动精度较低、运动控制较差等问题，在刚性体机械系统下，基于复杂机械系统强耦合、非线性的特点，设计了一种可联动控制的三自由度电机。采用电机自转运动控制策略，分析了电机自转运行时的应力分布和形变程度，建立了混合驱动式电机的动力学模型，施加3个轴向转矩作为驱动力，规划了电机基于混合驱动式的三自由度运动，搭建并设计了机控一体化电机的动力学联合仿真接口。结果表明：通过激活有效阶模态，对刚柔耦合系统下的电机结构进行优化，可得到较小的偏心位移;多自由度电机的智能控制方案可自由设计被控对象的参数变化，降低了扰动的灵敏性，使控制系统具有较好的鲁棒性。结合三自由度电机的动力学数学模型来搭建基于滑模控制系统的联合仿真平台，可实现电机3个轴向角速度的轨迹跟踪，且在整个动力学联合仿真时段内均可实现跟踪效果，为后续实物样机的制造和测试提供了理论依据。

关键词：电机学;三自由度电机;偏心位移;虚拟样机技术;动力学模型;联合仿真接口;轨迹跟踪

中图分类号：TK172文献标志码：A

doi：10.7535/hbkd.2019yx05003

Kinematics analysis and dynamics co-simulation of

permanent magnet three-DOF motor

LI Zheng， LIU Lingqi

（School of Electrical Engineering， Hebei University of Science and Technology， Shijiazhuang，Hebei 050018， China）

Abstract：In order to solve the problems of low precision and low motion control of multi-degree-of-freedom motor in three-dimensional space， under the rigid mechanical system， based on the characteristics of strong coupling and nonlinearity of complex mechanical systems， a three-degree-of-freedom motor capable of linkage control can be designed. The motor"s rotation motion control strategy is used to analyze the stress distribution and deformation degree of the motor during the rotation. The dynamic model of the hybrid drive motor is established and three axial torques are applied as the driving force. The motor is based on the three-degree-of-freedom motion of hybrid drive， and the dynamic joint simulation interface of the machine-controlled integrated motor is built and designed. The results show that by activating the effective mode， the motor structure under the rigid-flexible coupling system can be optimized to obtain a small eccentric displacement. The intelligent control scheme of the multi-degree-of-freedom motor can freely design the parameter changes of the controlled object， reduce the sensitivity of the disturbance， and make the control system have better robustness. Combining the dynamic mathematical model of the three-degree-of-freedom motor to build a joint simulation platform based on the sliding mode control system， the trajectory tracking of the three axial angular velocities of the motor can be realized. The tracking effect can be achieved during the whole dynamics joint simulation period， which provides a theoretical basis for the subsequent manufacture and testing of the physical prototype.

Keywords：electrical engineering; three-degree-of-freedom motor; eccentric displacement; virtual prototype technology; dynamic model; joint simulation interface; trajectory tracking