六相双定子螺旋运动永磁执行器数学模型研究

针对新型机器人多自由度运动机构的需求，提出了一种新型六相双定子螺旋运动永磁执行器。执行器特点在于每个定子均为六相双Y移30°绕组，两个定子铁心采用螺旋形齿槽结构，对两个定子绕组通入六相不同相序电流组合便可产生多自由度运动方式。执行器具有控制方式灵活、容错性能强、可靠性稳定等优点。首先对螺旋运动永磁执行器的结构及运行机理进行分析，推导了执行器的磁链方程、电压方程、转矩和推力方程。最后构建了瞬态三维多自由度数值分析模型，得到了磁链、电压、转矩和推力的波形，验证了运行机理的正确性。

Research on Mathematical Models of Six-phase Double Stator Helical Motion Permanent Magnet Actuator

In response to the development of the new robots with multiple degrees of freedom, this paper proposes a new type of six-phase double-stator spiral motion permanent magnet actuator (HMPMA). The characteristic of the actuator is that each stator has a six-phase double Y30° winding, and the double stator cores adopt a spiral cogging structure, and the actuator can generate multi-degree-of-freedom motion by passing six-phase different phase sequence current combinations to the double stator windings. The actuator has the advantages of flexible control mode, strong fault tolerance and stable reliability. This article first analyzes the structure and operation mechanism of the helical motion permanent magnet actuator, and then derives the actuator’s flux equation, voltage equation, torque and force equations. Finally, the permanent magnet actuator model was established and then the three-dimensional transient motion field simulation was performed. The waveforms of flux linkage, voltage, torque and force were obtained, and the correctness of the operation mechanism was verified.