基于齿冠偏心内凹结构的工业机器人用PMSM转矩波动抑制

王伟,杜晓彬,胡弼,胡土雄

Reducing Torque Ripple of a Permanent Magnet Motor Used in Industrial Robots Based on Structure of Eccentric and Concave Stator Tooth

Wang Wei,Du Xiaobin,Hu Bi,Hu Tuxiong

表1 不同偏心距的计算结果

Tab.1 Calculation results of different eccentricities

偏心距离 /mm	气隙磁通密度		反电动势		转矩波动系数K(%)
偏心距离 /mm	基波幅值/T	THD(%)	基波幅值/T	THD(%)	转矩波动系数K(%)
0	0.866 4	28.65	263.810 0	17.20	8.81
5	0.866 1	28.67	263.804 5	17.13	8.79
10	0.865 2	28.60	263.743 1	17.12	8.73
15	0.864 9	28.51	263.705 6	17.09	8.70
20	0.864 2	28.47	263.659 4	17.04	8.65
25	0.863 6	28.38	263.611 4	17.01	8.61
30	0.862 7	28.28	263.543 6	16.99	8.55
35	0.861 7	28.19	263.458 0	16.96	8.51
40	0.860 4	27.98	263.350 1	16.94	8.46
45	0.858 7	27.85	263.205 5	16.93	8.43
50	0.856 5	27.60	262.997 8	16.92	8.31
55	0.853 5	27.19	262.691 1	16.90	8.14
60	0.848 6	26.62	262.190 7	16.90	7.86
65	0.838 5	25.60	261.033 0	16.87	7.34
70	0.814 4	24.12	257.703 7	15.07	5.68