三自由度永磁球形电机磁场分析
首发时间:2012-05-25
摘要:提出了一种直流永磁球形电机整体结构的设计理念。为了减小球形电机运动环节产生的摩擦力,针对球形电机结构特点,设计了采用基于十字轴结构的运动装置。并结合编码器以及倾角传感器,提出了在球形电机内部可实现三位置检测的设计思路。为了得到球形电机的力矩输出与线圈激励的关系,对球形电机进行了磁场分析,利用麦克斯韦定律建立标量磁位的拉普拉斯方程,求解方程并利用边界条件得到空间磁场分布表达式。其结果可为进一步的研究和实验方案设计提供借鉴和参考。
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The Magnetic Field Analysis of a Spherical motor
Abstract:This paper has presented a design concept of a direct-current permanent magnetic spherical actuator. In order to reduce the friction of the spherical actuator, we design a locomotion mechanical device which is based on the omni-directional axis. Combined with the encoder and rotation sensor, the device we proposed is able to measure the three dimensional orientation of the rotor. In order to obtain the relationship between the torque output and current input, we first analyze the magnetic field distribution of the spherical actuator. Magnetic scalar potential is obtained according to the magnetic properties of rotor materials. With appropriate boundary conditions, the magnetic scalar potential is solved analytically. The result can be a reference for the future research and experimental design.
Keywords: spherical actuator mechanical design magnetic filed analysis
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