Modeling And Optimization Of 3-DOF Permanent Magnet Joint Motor

With the continuous development of industry,people hope that the driving device of equipments and instruments can reduce the occupied volume and improve the accuracy of the application with more convenience in use.The three-degree-of-freedom permanent magnet joint motor can replace multiple traditional motors into a single motor,reducing the occupied volume and improving the accuracy,so it has been widely used.Based on large numbers of references on the three-degree-of-freedom motors,a new structured three-degree-of-freedom permanent magnet joint motor is presented in this dissertation.For the first time,the classification of the tilting coils and the rotating coils is proposed,and the magnetic field distribution of the motor is optimized and the output torque is enhanced by using the "Mongolia package" shaped permanent magnets.First of all,this paper proposes a new structured three-degree-of-freedom permanent magnet joint motor.The stator windings are divided into the tilting coils and the rotating coils in an innovative way with different control strategies to control.Then the basic structure,size of components and the working principle of the new structured motor are introduced in detail.The magnetic field characteristics of the motor are systematically discussed and analyzed by using the analytical method and the 3D finite element method.The effects of the number of pole pairs on the magnetic field are explored.Based on the Lorenz force method and the 3D finite element method,the torque characteristics of the motor are discussed and analyzed in depth.The influence of the tilt coils' position on the torque and the relationship curves between the magnetomotive force and torque are discussed.Based on the introduction on the theory of particle swarm optimization algorithm,the parameters of the original structured motor are optimized and analyzed by the particle swarm optimization algorithm to find the structural parameters for optimal performance of the motor.Finally,an improved structure of the joint motor is proposed based on the optimization of the structure.The basic structure and working principle as well as its magnetic field distribution and torque output characteristics are compared and analyzed,which provides the direction and reference for the future research work of this kind of motors.