Research On Modeling And Optimizing Power-on Strategy Of Permanent Magnet Spherical Motor Based On Intelligent Algorithm

As a special device which can realize multi-degree of freedom movement in a single motor,the permanent magnet spherical motor can replace the traditional multi-degree of freedom device because of its relatively small size and no transmission mechanism.It has a wide application prospect in the fields of robotics,medicine,aerospace and so on.However,due to its complex three-dimensional structure,there are many problems in actual operation,especially in torque modeling and power on strategy.Therefore,this paper focuses on the torque modeling and power on Strategy of a permanent magnet spherical motor.The main contents of this paper are as follows:1.Firstly,the basic structure of the permanent magnet spherical motor is introduced.On this basis,the mathematical model based on spinor theory and the joint physical model based on Solid Works and Adams are established.2.Then,the electromagnetic model of PM spherical motor is established by ANSYS software,and the torque value of different stator coils in fixed position under unit current is obtained.On this basis,the random forests algorithm is used to analyze the above training data,and the position-torque black box model of permanent magnet spherical motor is established,and then the torque values of different stator coils at any position under unit current are obtained.The simulation results show that the modeling method is effective.3.At the same time,based on the joint physical model of the permanent magnet spherical motor,the dynamic simulation of the rotor trajectory of the permanent magnet spherical motor is carried out by using ADAMS software,and the spin and tilt motion of the rotor body are realized.To solve the current problem,the paper proposes the optimal power on strategy based on particle swarm optimization and cuckoo algorithm,and compares it with the power on strategy based on pseudo inverse matrix.The simulation results show that cuckoo algorithm has a better optimization rate.4.Finally,based on the experimental platform of the permanent magnet spherical motor,the spin and tilt experiments of the above three power on strategies are realized.The experimental results further confirm the correctness of the power on strategy proposed in this paper.