Research On The Vector Control System Of Toroidal Motor

Toroidal motor is a new type of permanent magnet AC motor.It introduces planetary drive and worm drive into motor design,and is a new permanent magnet synchronous motor with permanent magnet synchronous motor combined with reducer.This paper mainly studies the toroidal motor from three aspects:the motor structure parameters and driving mechanism,the number of planetary gear and the stator angle of worm,and the simulation and analysis of motor by fuzzy PI control.Based on the analysis of the structural characteristics and driving mechanism of the motor,the analytical formula for the output torque of a single planetary gear participating in electromagnetic engagement is derived based on the electromagnetic meshing relation between the inner and outer stator and planetary gear.An analytical formula for the output torque of multi teeth participating in meshing is further derived.On this basis,the influence of structural parameters such as planetary gear number and worm angle on output torque is discussed.The fluctuation of output torque is analyzed,and the change rule of torque ripple is summed up,and the torque ripple is reduced.The torque rectangle wave is processed by Fourier transform,which lays the foundation for the design of the toroidal motor mathematical model with torque ripple characteristics.According to the space structure and the electromagnetic toroidal motor driving mechanism,analyzed the variation of the magnetic field of planet wheel worm in rotation process,established the reflected flux equations of toroidal motor dynamic flux,voltage equation and torque equation,as an important part of the toroidal motor mathematical model.Combined with fuzzy control theory,fuzzy control rules are formulated according to control theory and manual control experience.Fuzzy PI self tuning control system based on fuzzy rule is designed,and fuzzy PI controller is designed.The fuzzy PI control based on vector toroidal motor control system,a fuzzy PI control and conventional PI control vector control system of toroidal motor are compared,the simulation results verify the superiority of fuzzy control in vector control system of toroidal motor,the signal control system to further improve the tracking performance and anti-interference ability.