Research On 2-Degree-of-Freedom Hybrid Stepping Motor And Its Driven System For The Bionik Eye

With the rapid development of the national economy and the accelerated pace of social automation,robot development has also entered the fast lane.As one of the core components and technologies of intelligent robots,bionic eye research on it would broaden the development space of robots from depth and breadth.This paper studies the bionic eye 2-DOF motor and its drive control system,which has theoretical significance and important practical value.The main contents of this article are as follows:Firstly,the research background and research significance of this subject are explained.The research status of bionic eye,multi-degree-of-freedom motor and stepping motor suitable for bionic eye drive are reviewed.The two degrees of freedom of bionic eye drive are clarified?The scheme adopted by the hybrid stepping motor and the main research contents of this paper.Secondly,based on the introduction of the structure,principle and classification of stepping motor,the structure of the combined vertical structure 2-DOF stepping motor is given for the bionic eye driving requirements,and two different vertical structures are given.2-DOF stepping motor performs performance comparison,analysis of advantages and disadvantages.Thirdly,an integrated new spherical structure two-degree-of-freedom hybrid stepping motor structure suitable for bionic eye drive is proposed and analyzed.Firstly,the structure,principle and integrated mathematical analysis model of the novel motor are analyzed.The magnetic circuit analysis model of the motor is established,and the theoretical analysis based on magnetic circuit calculation is carried out.Then,based on the complexity of the motor The iron core structure is proposed to use soft magnetic composite material as the magnetic conductive material of the motor,and the three-dimensional electromagnetic field analysis and calculation of the novel motor based on soft magnetic composite material and laminated silicon steel material Comparative study of dense cloud diagram,output torque,holding torque and so on.Fourthly,the electromagnetic coupling problem and the two-dimensional equivalent magnetic circuit method of the novel spherical structure 2-DOF hybrid stepping motor are analyzed.Firstly,the electromagnetic coupling problem of the motor and the influence of electromagnetic coupling on the motor operation are analyzed.The method of changing the structure of the stator and rotor and the permanent magnet is proposed to weaken the electromagnetic coupling between the sub-motors.Then two-dimensionality about the motor is proposed.The equivalent model analysis method is compared with the no-load back EMF experiment by finite element simulation and experimental prototype,and the feasibility of this method is verified.Fifthly,analyze the traditional drive control method of stepping motor,and design the software and hardware of control drive system for bionic eye 2-DOF hybrid stepping motor.The bionic eye integrated system platform is prototyped,and the designed stepping motor drive control system is subjected to current subdivision test,motor running precision experiment and bionic eye integrated platform target tracking test.The experimental verification control drive system has good performance.Finally,the full text is summarized.