基于制造误差的伺服电机转矩脉动稳健性设计

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Robust design of servo motor torque pulsation based on manufacturing error

LIU Kai1，²， ，WANG Yi1， JIANG Weizhi²， WANG Hong'， WU Xuanqin²（1.School of Electromechanical Engineering and Automation，Harbin Institute of Technology（Shenzhen），Shenzhen 518055，China； 2.Suzhou INVT Power Electronics Corporation，Suzhou 215153，China）

Abstract： Aiming at the torque ripple of servo motor，the influence of manufacturing error on the torque ripple of motor was studied and analyzed，and a robust design method of motor was put forward based on Taguchi method.Firstly，the electromagnetic model of the motor was established based on the actual manufacturing error of three-coordinate measurement. Secondly，the specific influence of manufacturing error on torque ripple was analyzed by electromagnetic finite element simulation. Then，the key design parameters of the motor were selected as control factors through sensitivity analysis，and the stator ellpticity and rotor static eccentricity were regarded as noise factors. The design parameters of the motor were optimized through orthogonal test，thus improving the robustness of motor torque ripple.The experimental results show that the simulation results of the motor model considering the actual manufacturing error are in good agreement with the measured data，and the torque ripple variance is effectively reduced by 71.66% by adopting the robust design scheme.

Keywords： torque ripple; cogging torque; manufacturing error; robust design; taguchi method

0引言

在现代工业自动化和精密控制领域，永磁伺服电机因其高效率、高功率密度、宽调速范围以及良好的动态响应特性，已经成为各种伺服系统中的核心部件[1-3]。（剩余10287字）