| Electromechanical integrated toroidal drive is a kind of composite spacial drive with integration of toroidal drive and magnetic synchronous motor. In the drive, the mechanism, electricity and control are integrated, it makes the structure of the electromechanical systems simplified, it has potential application prospect at advancing edge of technical fields such as aviation and space flight. In this paper, systemic research has done at output characteristic, control theory and experiment for the drive.With the law of mechanism conversion, the relation between rotational angles of the planet and the rotor is derived, according to the magnetic teeth number of stator with different worm pole-pairs, six kinds of mounting modes are proposed. For different modes, the expression of the mesh tooth pair number at the same time and mesh zone with worm facewidth angle is given. The output torque of electromagnetic mesh is derived, and its changes along with system parameters are discussed. The torque and speed output characteristic of six mounting modes are obtained.The electromechanical coupled dynamic model of electromechanical integrated toroidal drive is established, speed transfer function is derived, and the influence of system parameters on speed response is analyzed. Taking changes of mesh tooth pair number into account, the practical speed responses are gained. The PI regulator is designed, the robust of control system for parameters is investigated. The response induced by disturb is solved, then, the compensating voltage and ideal output response are presented.The torque transfer function of electromechanical integrated toroidal drive is developed, and the practical torque responses with fluctuation are obtained. Using two-degree-of-freedom control method, the two-degree-of-freedom torque control system is designed for the drive, and the effects of parameters on torque response for control system are explored, then, the amendment scheme for periodic torque fluctuation is put forward. According to expected dynamic property, the independent controllers for two-degree-of-freedom speed control system are designed, compensating voltage is given, and validity of speed disturb amendment is proved. The state-space model of electromechanical integrated toroidal drive is built. Design of optimal regulator is completed, linear feedback control law for state variables are represented, and the influence of weight coefficients selection on output performance is discussed. Considering inherent fluctuation of the drive, servo system is designed, and influence with respect to system parameter changes on servo performance is explored. Combine classic and modern control principle, the design of three-order optimal controller with regulator is achieved, smooth optimal control and better tracing response are gained, so greatly improve the dynamic performance.Spiral space current of electromechanical integrated toroidal drive in worm windings is analyzed based on electromechanics, magnetomotive model of winding current and planet magnetic teeth is built, analytic expression of inductance for the drive is given, and the changes of inductance along with parameters is discussed. Flux linkage equation is constituted, the electromagnetic transient of voltage equation with constant speed is gained. Motion equations and state equation are developed combining torque equation, and the state equation of the system is solved with numeric method, the start process is simulated, following, the influence of system parameters on state variables response is presented.Employing gyroscope as sensor apparatus, the offset segment and operational amplifier are designed and fabricated, the open and closed control experiment for electromechanical integrated toroidal drive are carried out, the correctness of theoretical analyse is confirmed by comparison with theoretical results and simulink emulation, the investigation supplies foundation for further control theory research and experiment of the drive system. |
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