基于ANSYS的工业机器人PMSM转矩波动抑制技术

Torque Fluctuation Suppression Technology of Industrial Robot PMSM Based on ANSYS

摘要:

针对当前PMSM控制技术，在抑制PMSM转矩波动的过程中，容易受到磁链波动的影响，导致输出绕组电流范围较小，PMSM转矩波动抑制效果差的问题，提出了基于ANSYS的工业机器人PMSM转矩波动抑制技术。通过分析工业机器人机械臂模态结构和静力模型，设计封闭曲柄差动轮系的摆线针轮减速器的传动装置，利用腕部驱动结构，实现工业机器人转动和直线升降运动。分析PMSM转矩波动惯量及力矩，根据PMSM工作流程，为PMSM提供稳定的交流电流。通过构建PMSM数学模型，运用ANSYS有限元分析软件中宏命令，确定磁链矢量方向及定子同步旋转坐标系，对PMSM电机电磁转矩、磁链和转动力矩进行计算，结合转矩方程抑制波动，通过引入负载角改善电机运行性能，实现PMSM转矩波动抑制。实验结果表明，基于ANSYS的工业机器人PMSM转矩波动抑制技术抑制后最高输出绕组电流为24A，最低为-22A，与理想输出结果一致，能够有效增大输出绕组电流范围，具有较好的PMSM转矩波动抑制效果。

Abstract:

In view of the current PMSM control technology, in the process of restraining PMSM torque fluctuation, it is easy to be affected by flux fluctuation, which leads to the small range of output winding current and poor effect of PMSM torque ripple suppression. This paper proposes a PMSM torque ripple suppression technology for industrial robot based on ANSYS. By analyzing the mechanical arm modal structure and static model of industrial robot, the transmission device of cycloid pin wheel reducer with closed crank differential gear train is designed, and the industrial robot rotation and linear lifting motion are realized by using wrist drive structure. The torque fluctuation inertia and torque of PMSM are analyzed. According to the working process of PMSM, the stable AC current is provided for PMSM. By constructing the mathematical model of PMSM and using the macro command of ANSYS finite element analysis software, the direction of flux vector and the synchronous rotation coordinate system of stator are determined. The electromagnetic torque, flux linkage and rotation torque of PMSM motor are calculated. Combined with the torque equation, the fluctuation is suppressed. The load angle is introduced to improve the motor performance, and the torque fluctuation is suppressed. The experimental results show that the maximum output winding current is 24A and the minimum is -22A after the PMSM torque ripple suppression technology based on ANSYS, which is consistent with the ideal output results. It can effectively increase the output winding current range and has a good PMSM torque ripple suppression effect.