Research On Design And Control Of Translational Meshing Motor

In order to meet the special demand of the drive for robot, a new typle motor is present in this dissertation. Translational meshing motor (TMM) is a motor which is integrated with gear change mechanism. It transforms electric energy into mechanical energy through the variety of reluctance between the stator and the rotor. Firstly, the principle of operation of TMM is expounded. For overcoming the problems of TMM, a new structure is proposed. The structures of pole, translational constraint and gear are designed and calculated.In this dissertation, the model of magnetic equivalent circuit is setup for the new TMM. The distribution of the magmetic field and magnetic characteristics are analyzed based on the three dimension finite element method of TMM. The different rotor angles flux linkages and magnetic forces are calculated. The dynamic torque characteristics are analyzed by analytical method based on these data. The relationships among flux linkage, current and rotor angle are present.The TMM have strong nonlinear characteristics because of its special structure. The precise mathematical model of TMM is hard to establish. This dissertation presents an approach of position sensorless control for TMM based on a neural network. The research of the high performance position sensorless technique can further improve the system integration; enhance the high reliability of TMM. Based on traditional PID controller, such weaknesses as slow response, low stability and large torque ripple occur in the TMM control systems. Fuzzy algorithm is a nonlinear algorithm which has good dynamic performance and anti-interference ability, and can be used in nonlinear system. In this dissertation, a fuzzy PID controller is proposed based on the combination of the two methods for TMM. Fuzzy control strategy is adapted to self-tune PID parameters online. The fuzzy PID controller is used in speed loop. The simulation results show that the proposed controller has high control precision and fast response speed, obviously improve the performance of the dynamic response of the TMM drive system.Finally, the principle prototype of TMM is manufactured. And the specified fuzzy-PID controller is made as well as. The TMM was tested in the platform. Fuzzy parameters self-tuning control is better than the conventional PID controller in overshoot and tuning time, and can improve the dynamic performance. The prototype loading experiments has proved that the designed TMM has more output torque, power density, dynamic state characteristics, and conversion efficiency. The dissertation provides important reference value for the in-depth research of TMM.