Optimization Design And Analysis Of Permanent Magnet Synchronous Motor For Industrial Robot

With its high torque density,good controllability and compact structure,permanent magnet synchronous motors are widely used in equipment such as robot joints,machine tools,etc.Considering the application of industrial robots,PMSM must have high output torque stability and low vibration noise.In response to the above requirements,this paper optimizes the output torque and efficiency of a 2kW industrial robot with a 36-slot8-pole PMSM,and parametrically analyzes the influence of magnetic steel parameters on electromagnetic vibration and noise.Firstly,a brief overview of the design optimization of the PMSM for industrial robots and the analysis of vibration and noise is given.The theoretical analysis of the torque ripple of PMSM is carried out,and the electromagnetic force density formula is derived from the mechanical power.The modal parameters and vibration equations of the motor are analyzed analytically.Secondly,the multi-objective particle swarm optimization(MOPSO)algorithm is used to optimize the output torque and efficiency of the motor.The Taguchi method is used to analyze and locally optimize the parameter variables that affect the motor torque ripple and efficiency,and then the data set obtained by Taguchi method is fitted by the the nonlinear least squares model and used as the fitness function of MOPSO algorithm.The MOPSO algorithm is used to optimize the parameter variables,and the finite element software is used to verify the simulation.Finally,ANSYS Maxwell 2D is used to analyze the electromagnetic force density of the motor;the modal parameters of the mechanical structure of the motor are analyzed,including the modal frequency and mode shape analysis of the motor stator and complete machine;on this basis,the harmonic response method is used to focus on the motor's parametric analysis of electromagnetic vibration and noise,respectively from different structural parameters affecting the air gap magnetic field,including magnetization mode,eccentricity,polar arc coefficient,electromagnetic force density.The radial vibration displacement and electromagnetic noise at different frequencies are obtained,and the effects of different parameters on electromagnetic vibration and noise are analyzed comparatively.