| Permanent magnet(PM)spherical motor,a new type of multi-dimension motor,can complete 3D motions,which simplifies the structure of the single degree of freedom motor series and gives the motor system better dynamic and static performances.This makes PM spherical motors a perfect option in an extensive range of applications.Magnetic field analysis on spherical motors is crucial in studying PM spherical motors and key to analyzing the performance metrics of motors.This paper describes the current status and trend of the approaches for the magnetic analysis of spherical motors.Based on the analysis of the current status and trends of magnetic field analysis methods for spherical motors,this paper conducts related research on a new type of double-stator PM spherical motor and its magnetic field.It is introduces the mechanical structure and operating principle of a novel three-dimensional double-stator PM spherical motor,analyzes the particularity of the electromagnetic field problem of a PM spherical motor,elaborates the characteristics of the finite element method,and uses the finite element parametric modeling method ANSYS APDL complete the modeling of the internal and external magnetic fields of the double-stator PM spherical motor in this paper.Through three-dimensional parametric finite element analysis of the motor,including simulation modeling of the motor,definition of material properties,mesh division,loading boundary conditions,loading load,solution and post-processing After processing and analysis,a radial magnetic flux density distribution model of the air gap magnetic field of the spherical motor is obtained,which provides an important research basis for the harmonic analysis of the magnetic field of the spherical motor.Secondly,this paper conducts a harmonic research on the three-dimensional magnetic field excitation of the inner and outer rotor permanent magnets of a double-stator PM spherical motor.The spherical magnetic flux density distribution data in the air gap between the inner and outer gaps of the double-stator PM spherical motor is obtained by finite element analysis.Harmonic analysis of the spherical magnetic flux density periodic distribution data obtained by transformation.The fundamental wave and harmonics of the radial component of the three-dimensional air gap magnetic flux density are obtained through MATLAB analysis.The fundamental wave content is analyzed from the properties of the discrete Fourier series.In addition,the influence of changes in rotor structural parameters such as the thickness of the inner and outer permanent magnets,the radius,and the thickness of the core on the harmonic distribution of the air gap magnetic flux density was analyzed.Finally,the correctness and feasibility of the simulation results of the air-gap magnetic field distribution of the double-stator PM spherical motor were experimentally studied.On the 3D motion platform of the double-stator PM spherical motor,the rotor orientation of the PM spherical motor is determined by a combination of three photoelectric encoders.The radial magnetic flux density of the motor is measured using a Gauss meter.The experimental results verify the correctness of the finite element method analysis model of the double-stator PM spherical motor as the basis for the structural design and magnetic field optimization of the new dual-stator PM spherical motor. |
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