Permanent Magnet Toroidal Motor Sliding Mode Direct Torque Control

Permanent magnet toroidal motor is a new type of integrated motor,which integrates planetary gear worm drive and permanent magnet synchronous motor.It realizes the perfect combination of motor and reducer.It has the advantages of compact structure,low vibration and noise,strong anti overload ability and high transfer efficiency.It has a wide range of applications in military,vehicle and robot areas with high space utilization and control requirements Jing.In this paper,the structural motion parameters,fluctuation characteristics,mathematical model,dynamic characteristics analysis,direct torque control,sliding mode control and fuzzy control of permanent magnet toroidal motor are studied.According to the structural characteristics and operation principle of the permanent magnet toroidal motor,the motion parameters of the motor are analyzed.Considering the variable cross-section structure of the inner stator of the toroidal worm and the spatial motion of the rotation and revolution of the planetary wheel,the inductance equation and the flux equation are derived.The mathematical model of the permanent magnet toroidal motor is established by combining the voltage equation,the torque equation and the motion equation.The state space method is used to analyze the dynamic characteristics of the motor,and the influence of mechanical and electrical parameters on the dynamic characteristics of the motor is obtained.The simulation model of permanent magnet toroidal motor is established by S-function,and its fluctuation characteristics are analyzed.In order to improve the response speed of the permanent magnet toroidal motor and reduce the output fluctuation,based on the vector pulse width modulation,the double closed-loop feedback regulation is used,combined with the direct torque control.In the inner loop,the flux and torque are respectively taken as the control objects,while in the outer loop,the speed is taken as the control objects.In the flux loop,the torque loop and the speed loop,the super twisting sliding mode controller with disturbance momentum is designed respectively The disturbance is related to the structure and motion parameters of the permanent magnet toroidal motor.The simulation experiment shows that the control strategy improves the response speed of the permanent magnet toroidal motor and effectively reduces the fluctuation of the output speed and electromagnetic torque.According to the periodic fluctuation of the output speed and electromagnetic torque,a fuzzy terminal sliding mode controller is designed in the speed loop.The controller obtains the increment of the structure parameters and the motion parameters of the permanent magnet toroidal motor through the fuzzy control rules to adjust the parameters of the terminal sliding mode controller.The simulation results show that the control strategy makes the permanent magnet toroidal motor get fast system response speed,further reduces the fluctuation of output speed and electromagnetic torque,and also has strong robust performance of external load and system parameter change.