A New Dynamic Model Of A New PM Motor With Two-degrees-of-freedom

A new type of two-degrees-of-freedom PM motor is proposed,and its structure,dynamic model,simulation analysis and the test are studied.Firstly,a new model of two-degrees-of-freedom PM motor is proposed.The motor adopts a double universal joint structure.The two universal joints have the same rotating shafts,and the synchronous movement is realized through the connecting rod.The inner universal joint supports the radial magnetized permanent magnet.The outer universal joint outputs two degrees of freedom.According to the follow-up effect of the radial magnetized permanent magnet generated by the spatial universal rotating magnetic field(SURMF),the axis of the radial magnetized permanent magnet rotates until it coincides with the axis of the SURMF.The output end of the motor can be controlled to reach a designated position through the SURMF.The output of the motor is controlled to reach the specified position through the SURMF.The control of two-degrees-of-freedom motion in space is realized.Secondly,the dynamic model of the motor is established and the dynamic equation is obtained.The fixed coordinate system and Résal coordinate system are introduced to describe the space attitude of the motor.The mechanical analysis of the motor is carried out.The dynamic model of the motor is established according to the Lagrange equation,and the dynamic equation is obtained.The simulation analysis is carried out.The two-degrees-of-freedom PM motor system is highly nonlinear and the dynamic solution is complex.The dynamic equation of the motor is simulated by Matlab / Simulink.The results show that the output axis of the motor will coincide with the axis of the rotating magnetic field in the no-load mode.Parameters such as the size of rotating magnetic vector,rotating angular velocity and damping will affect the movement process of the motor,but have no effect on the stable position.Under the load-bearing mode,the output axis of the motor is still offset to the axis of the rotating magnetic field.At this time,due to the load,there will be a offset angle between them.The size of the rotating magnetic vector will affect the stable position of the motor.The larger the rotating magnetic vector is,the smaller the offset angle is.The rotating angular velocity and damping have no effect on the stable position of the motor.Finally,the test is carried out to verify the principle of the motor.The corresponding test device is designed to verify the actual movement of the radial magnetized permanent magnet in the rotating magnetic field.It is proved by qualitative test that the axis of permanent magnet is shifted to the axis of rotating magnetic field due to the action of rotating magnetic field and the two-degrees-of-freedom PM motor is feasible.