三自由度永磁球形电机高精度位置控制的关键技术研究

项目名称： 三自由度永磁球形电机高精度位置控制的关键技术研究

项目编号： No.51475033

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 刘敬猛

作者单位： 北京航空航天大学

项目金额： 85万元

中文摘要： 深入分析和研究了三自由度永磁球形电机的基本工作原理，针对现有球形电机在位置控制过程中由于机构加工及装配误差、各个自由度间的运动耦合以及负载变化等外界干扰因素影响，从而导致三自由度运动下的位置控制精度不理想，难以满足应用要求的问题，从多个关键方面进行了深入细致的探讨。课题提出了一种两级机构参数标定算法，从而有效补偿了其加工及装配误差。在此基础之上，从样机设计、磁场、力矩及动力学内在特性分析方面入手，研究了其三维运动内在耦合机理，并提出了强干扰下的动力学解耦控制策略和联合动力学与逆力矩学的控制模型，可以在保证位置控制精度的同时降低能量消耗。针对球形电机三自由度旋转运动特点，课题还设计了基于微分几何的转子最优轨迹规划策略。项目的主要意义是拟通过该课题的研究，深入探索新的理论工具和新的研究方法，以求在影响球电机位置控制精度的关键技术上有所突破和创新，推动多自由度驱动技术及相关学科的研究和发展。

中文关键词： 永磁球形电机；误差补偿；位置控制；三维运动耦合

英文摘要： Existing position control process of the spherical actuator are influenced by machining and assembling errors of the mechanism, the coupling exists in three-DOF motions, and external interference factors such as load variations. These problems cause low position control accuracy under the three-DOF motion, and cannot meet the application requirement. This project makes in-depth discussions on several key aspects which affect the position control accuracy, based on deeply analysis and investigation of the basic working principle of three-DOF permanent magnetic spherical actuator. We propose a two-level mechanism parameters calibration algorithm, which can effectively compensate the processing and assembling errors. On this basis, this project focuses on the prototype design, the magnetic field, torque and dynamic analysis to study the inherent coupling mechanism of spherical actuator's three-DOF motion. This project proposes the dynamic decoupling control strategy under strong interference, and a combine control algorithm which can combine the dynamic and inverse torque control model. The combine control algorithm can ensure the accuracy of the position control and reduce the energy consumption. This project also designs rotor trajectory planning strategy based on differential geometry. The major objectives of the project are to achieve a breakthrough in key technologies of the position control of spherical actuator, to explore new theoretical tools and research method, and to promote the development of the multi-DOF drive technology and the relative subjects.

英文关键词： Permanent magnet spherical actuator;Error compensation;Position control;3-DOF motion coupling