Design And Electromagnetic Characteristics Analysis On Two-degree-of-freedom Linear And Rotary Motor Based On Consequent-pole Stator

Two-degree-of-freedom linear and rotary motor(2-DOF LRM)is a new drive motor which can complete linear,rotary and helical movement without mechanical transmissions.It is a typical mechatronics device.Using a 2-DOF LRM to replace the conventional rotating motors and the transmission,has the advantages of smaller volume,lower cost and higher efficiency.Therefore,it is of important theoretical significance and practical value to do some research on 2-DOF LRM.This paper presents a novel limited angle 2-DOF LRM using consequent pole.It adopts the research method as partial to the whole.The operation principle,parameter design and electromagnetic characteristics of the proposed motor are studied.The main contents of this dissertation are as follows:(1)The structure characteristic the existing domestic and foreign 2-DOF LRM are analyzed and compared based on different principles.A new 2-DOF LRM with consequent-pole stator is proposed.It tactfully combines the permanent magnet synchronous motor of rotation module with the voice coil motor of translation module using the "consequent pole" principle.The two modules share the same consequence pole permanent magnet stator.It can complete limited angle rotary movement and linear movement.(2)The operation principle of the presented 2-DOF LRM is analyzed.The mathematical model of both modules are built respectively.Differences of design method between the proposed 2-DOF LRM and traditional permanent magnet synchronous motor/voice coil motor are analyzed.On this basis,the basic structural characteristics of the proposed 2-DOF LRM with consequent-pole permanent magnet stator are summarized.The electromagnetic design of the proposed 2-DOF LRM is analyzed and simplified.(3)Based on FEM,the 2-D electromagnetic field of the rotation module is analyzed.The electromagnetic characteristics of the traditional permanent magnet motor and the motor using consequent pole are compared.The electromagnetic characteristics of the traditional voice coil motor and the voice coil motor using consequent pole are compared and analyzed.The electromagnetic characteristics and the magnetic coupling relationship of both modules in the state of single and simultaneous power supply are analyzed based on the 3-D finite element method.The distribution of the electromagnetic field is revealed.(4)In order to reducing the cogging torque,improving the torque characteristics,the structure parameters of the rotation module are optimized,including the number of slots/poles,the slot width and the consequent pole width ratio,etc.Since the two modules share the same consequent pole permanent magnet stator,the influence of the the thrust characteristics of the translation module is analyzed.