| Flux-Concentrating Field-Modulated Permanent-Magnet(FCFMPM)with external rotor is a new type of low-speed direct drive motor.The motor combines the advantages of gear transmission and motor rotation.It has some advantages,such as simple structure,large energy density,strong torque density and power density,convenient magnetic field adjustment,non-physical contact and low noise,it has been applied in transportation(new energy vehicle),renewable energy development(wind power generation)and advanced manufacturing(numerical control processing,intelligent robot).In this paper,the three-phase FCFMPM magnetometer is designed and controlled in an innovative way.The structure,Operation Principle and design method of the motor are described,the finite element model and electromagnetic characteristics of the induction motor are deeply studied,and the influence of the change of the motor topology on the torque characteristics is systematically studied,the advanced control strategy is used to control and test the control performance of the motor.The purpose of the above process research is to design a high torque direct drive motor with simple and reliable process structure and excellent performance,and to put forward an effective strategy to realize the effective control of the motor.The work of this paper mainly includes the following aspects:1.The performance requirements of FCFMPM motor are given,the principle of harmonic participation in magnetic regulation of gear magnetic regulation motor is analyzed,the motor power equation is deduced,the external rotor magnetic gathering structure of the motor is designed,and the motor size parameters are calculated and determined,such as rotor material,size,shape,stator core size,winding material and winding mode,etc..Then,the structure parameters of the motor are calculated by empirical method,and the important parameters are optimized by RSM response surface method.2.The electromagnetic performance of three-phase 24 /86 pole FCFMPM motor is studied by using two-dimensional finite element method,including permanent magnet magnetic field distribution,armature magnetic field distribution,etc..The simulation results of the finite element show that the design of FCFMPM motor is correct and reliable.3.Based on the structure and corresponding mathematical model of three-phase 24/82 pole FCFMPM motor,the mechanism of cogging torque is studied.For four topology schemes:variable slot pole number,different thickness of permanent magnetic pole,subsection slant pole of permanent magnet of stator and rotor,stator and rotor core with auxiliary slot.The influence of topology change on the torque characteristic of the motor is analyzed,and the optimal structure scheme of the torque characteristic of the motor is determined.4.The performance of FCFMPM motor is controlled and tested by two control strategies,which are mainly used to improve the performance of dynamic tracking and torque ripple suppression.And then,the model of predictive control(MPC)and sliding mode & active disturbance rejection control(SMC-ADRC)of motor are established by MATLAB/Simulink,and the performance of the two models is analyzed.Finally,an experimental platform is built to verify the reliability and difference of the two control methods.The experiment results prove that both model predictive control and sliding mode sliding mode & active disturbance rejection control can realize stable tracking control for motor speed regulation and load change,and MPC has more advantages in dynamic response,and SMC-ADRC is better at improving stability in robustness. |
