Kinematics analysis and dynamics co-simulation of permanent magnet three-DOF motor

• Main Authors: Zheng LI, Lingqi LIU
• Format: Article
• Language: zho
• Published: Hebei University of Science and Technology 2019-10-01
• Series: Journal of Hebei University of Science and Technology
• Subjects: electrical engineering; three-degree-of-freedom motor; eccentric displacement; virtual prototype technology; dynamic model; joint simulation interface; trajectory tracking
• Online Access: http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b201905003&flag=1&journal_

In order to solve the problems of low precision and low motion control of multi-degree-of-freedom motor in three-dimensional space, under the rigid mechanical system, based on the characteristics of strong coupling and nonlinearity of complex mechanical systems, a three-degree-of-freedom motor capable of linkage control can be designed. The motor's rotation motion control strategy is used to analyze the stress distribution and deformation degree of the motor during the rotation. The dynamic model of the hybrid drive motor is established and three axial torques are applied as the driving force. The motor is based on the three-degree-of-freedom motion of hybrid drive, and the dynamic joint simulation interface of the machine-controlled integrated motor is built and designed. The results show that by activating the effective mode, the motor structure under the rigid-flexible coupling system can be optimized to obtain a small eccentric displacement. The intelligent control scheme of the multi-degree-of-freedom motor can freely design the parameter changes of the controlled object, reduce the sensitivity of the disturbance, and make the control system have better robustness. Combining the dynamic mathematical model of the three-degree-of-freedom motor to build a joint simulation platform based on the sliding mode control system, the trajectory tracking of the three axial angular velocities of the motor can be realized. The tracking effect can be achieved during the whole dynamics joint simulation period, which provides a theoretical basis for the subsequent manufacture and testing of the physical prototype.