混合磁路永磁变速器的解析模型与参数特性研究
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摘要
与机械变速器相比,永磁变速器具有无接触柔性传动、清洁无噪声、启动力矩低、自动过载保护等优点,但磁场利用率差的不足限制了传统结构永磁变速器在大力矩输出领域的应用。将磁场调制机理应用于永磁变速器,能够提高永磁变速器的磁场利用率和力能指标,对促进永磁变速器的发展具有重要意义。本文以混合磁路永磁变速器(Permanent Variable Transmission, PVT)为研究对象,对该永磁变速器的磁路结构、基本方程与参数约束关系、结构参数对转矩能力的影响、转矩脉动与抑制等问题进行了研究。
论文首先采用解析分析和数值分析两种方法分析了永磁变速器磁场调制的作用机理,在对径向磁路和轴向磁路结构进行分析的基础上,提出了一种适宜于大力矩应用需求的混合磁路永磁变速器,并对三种磁路结构永磁变速器进行了综合对比。分析结果表明。永磁变速器的三种磁路结构各具特点,轴向磁路和混合磁路两种结构矩密度比较接近,且大于径向磁路结构。从单向磁拉力和机械支撑干涉等方面考虑,混合磁路结构在数百牛米以上的大力矩工程应用领域是一种比较好的方案。
根据永磁变速器的磁路特点,论文建立了永磁变速器的解析数学模型。采用虚位移法推导了永磁变速器的电磁转矩解析表达式与功率平衡方程。采用理论分析和有限元验证两种方法研究了永磁变速器几种主要参数约束模式及其特点,并对永磁变速器的几种参数约束模式进行了综合对比。研究结果表明,永磁变速器共有五种参数约束模式,其中前两种为等速跟随模式,后两种为变速模式。高低速永磁体极对数相等的参数约束模式不能实现变速,只能实现运动的传递。综合来看,反向差配合变速模式既能实现变速,又具有较高的力矩密度,是最优的参数约束模式。
采用有限元方法研究了永磁体磁化方向长度,调制铁块径向长度和周向宽度等基本尺寸参数,特别是变速比、永磁体轴向长度和长径比等永磁变速器特有因素对变速器转矩能力的影响。研究结果表明,调制铁块周向宽度系数取为0.4左右有利于提高变速器的转矩能力;混合磁路变速器永磁体轴向长度比例和长径比对变速器的转矩能力影响显著,当低速侧和高速侧轴向长度之比取1.5左右时,变速器的转矩能力最大;另外,适当减小变速器的长径比,即把变速器设计为扁平形状,有利于提高变速器的转矩能力。
最后,分析了永磁变速器的启动过程和稳态工作点,研究了永磁变速器转矩脉动的变化规律及其影响,并研究了转矩脉动的抑制措施。研究结果表明,永磁变速器稳态工作点为高低速转子永磁体的轴线与调制铁块的轴线对齐,且高低速永磁体的极性相反的位置。由于定位力矩的作用,永磁变速器稳态运行时的转矩中存在脉动成分,且随着负载的增加,转矩的波动比逐渐减小。另外,优化匹配永磁体极对数和调制铁块数目,以及合理选择调制铁块周向宽度能有效抑制永磁变速器的转矩脉动。
Compared with mechanical variable transmissions, permanent variable transmissions (PVT) possess many favorable features, like non-contact flexibe transmission, clean and quiet, low starting torque, self overload protection, et al. However, the drawback of poor utilization of permanent magnets has limited their applications in large torque areas. By applying modulation principle of magnetic field into PVT, full utilization of magnet field and high torque density can be achieved, which is of great significance to the development of PVT. In this thesis, a novel hybrid magnetic circuit PVT is put into forward, and the problems of magnetic circuit structure, fundemantal equations and parameter restrictions, influence of structural parameters on torque capability and torque ripple have been studied.
Analytical analysis and numerical analysis were used to research the modulation principle of PVT. A novel hybrid magnetic circuit PVT was put into forward which is suitable to be applied in large torque area. Output torque capability was compared among radial circuit, axial cuicuir and hybrid circuit. The results showed that three magnetic circuit structures have their own features. Axial and hybrid circuits which possess similar torque density while larger compared with radial cuircuit structure. Considering unbalanced force and framework supporting, hybrid magnetic circuit structure is the preferential choice.
According to the magnetic features of the PVT, mathematical model was set up. The expressions of electromagnetic torque and power banlance equations were deduced with the virtual work method. Theoretical analysis and FEM were adopted to research the main parameter restricion modes and their features of the PVT. Comparisions were made among these modes for further. Results showed that there are five parameter restricion modes in which the former two modes are equal speed following mode and the latter two modes are variable speed mode. The working modes with the same pole pair number on two rotors could not realize the speed variation. Generally speaking, opposite direction subtraction match mode is the best variable speed mode due to the ability of variation speed as well as lager torque density.
FEM was used to analyze the influence of magnetization length, radial length and circumferential width of modulation pole pieces, especially transmission ratio, axial length ratio of two rotors and length-radius ratio on torque capability of PVT. The results showed that circumferential width at around 0.4 of modulation pole pieces help to enhance the torque capability. The PVT gets largest torque capability with the ratio of axial length of low speed rotor and high speed rotor at around 1.5. Smaller length-radius ratio or tabular shape indicates larger torque capability for PVT.
Starting process and steady working point of the PVT is analyzed; variation rule of cogging torque and its influence on torque ripple were studied, and effective methods were adopted to restrain torque ripple in PVT. Results showed that steady working point featured that axes of two rotors consistent with that of modulation pole pieces and the polarity of magnets on two rotors is opposite. There are ripple component in following torque when the PVT works in steady state due to cogging torque. The ripple ratio inclined gradually with the increase of load quantity. The effective match of pole pair number of magnets and the number of modulation pole pieces and elaborate choice of circumferential width of modulation pole pieces can restrain torque ripple effectively.
论文首先采用解析分析和数值分析两种方法分析了永磁变速器磁场调制的作用机理,在对径向磁路和轴向磁路结构进行分析的基础上,提出了一种适宜于大力矩应用需求的混合磁路永磁变速器,并对三种磁路结构永磁变速器进行了综合对比。分析结果表明。永磁变速器的三种磁路结构各具特点,轴向磁路和混合磁路两种结构矩密度比较接近,且大于径向磁路结构。从单向磁拉力和机械支撑干涉等方面考虑,混合磁路结构在数百牛米以上的大力矩工程应用领域是一种比较好的方案。
根据永磁变速器的磁路特点,论文建立了永磁变速器的解析数学模型。采用虚位移法推导了永磁变速器的电磁转矩解析表达式与功率平衡方程。采用理论分析和有限元验证两种方法研究了永磁变速器几种主要参数约束模式及其特点,并对永磁变速器的几种参数约束模式进行了综合对比。研究结果表明,永磁变速器共有五种参数约束模式,其中前两种为等速跟随模式,后两种为变速模式。高低速永磁体极对数相等的参数约束模式不能实现变速,只能实现运动的传递。综合来看,反向差配合变速模式既能实现变速,又具有较高的力矩密度,是最优的参数约束模式。
采用有限元方法研究了永磁体磁化方向长度,调制铁块径向长度和周向宽度等基本尺寸参数,特别是变速比、永磁体轴向长度和长径比等永磁变速器特有因素对变速器转矩能力的影响。研究结果表明,调制铁块周向宽度系数取为0.4左右有利于提高变速器的转矩能力;混合磁路变速器永磁体轴向长度比例和长径比对变速器的转矩能力影响显著,当低速侧和高速侧轴向长度之比取1.5左右时,变速器的转矩能力最大;另外,适当减小变速器的长径比,即把变速器设计为扁平形状,有利于提高变速器的转矩能力。
最后,分析了永磁变速器的启动过程和稳态工作点,研究了永磁变速器转矩脉动的变化规律及其影响,并研究了转矩脉动的抑制措施。研究结果表明,永磁变速器稳态工作点为高低速转子永磁体的轴线与调制铁块的轴线对齐,且高低速永磁体的极性相反的位置。由于定位力矩的作用,永磁变速器稳态运行时的转矩中存在脉动成分,且随着负载的增加,转矩的波动比逐渐减小。另外,优化匹配永磁体极对数和调制铁块数目,以及合理选择调制铁块周向宽度能有效抑制永磁变速器的转矩脉动。
Compared with mechanical variable transmissions, permanent variable transmissions (PVT) possess many favorable features, like non-contact flexibe transmission, clean and quiet, low starting torque, self overload protection, et al. However, the drawback of poor utilization of permanent magnets has limited their applications in large torque areas. By applying modulation principle of magnetic field into PVT, full utilization of magnet field and high torque density can be achieved, which is of great significance to the development of PVT. In this thesis, a novel hybrid magnetic circuit PVT is put into forward, and the problems of magnetic circuit structure, fundemantal equations and parameter restrictions, influence of structural parameters on torque capability and torque ripple have been studied.
Analytical analysis and numerical analysis were used to research the modulation principle of PVT. A novel hybrid magnetic circuit PVT was put into forward which is suitable to be applied in large torque area. Output torque capability was compared among radial circuit, axial cuicuir and hybrid circuit. The results showed that three magnetic circuit structures have their own features. Axial and hybrid circuits which possess similar torque density while larger compared with radial cuircuit structure. Considering unbalanced force and framework supporting, hybrid magnetic circuit structure is the preferential choice.
According to the magnetic features of the PVT, mathematical model was set up. The expressions of electromagnetic torque and power banlance equations were deduced with the virtual work method. Theoretical analysis and FEM were adopted to research the main parameter restricion modes and their features of the PVT. Comparisions were made among these modes for further. Results showed that there are five parameter restricion modes in which the former two modes are equal speed following mode and the latter two modes are variable speed mode. The working modes with the same pole pair number on two rotors could not realize the speed variation. Generally speaking, opposite direction subtraction match mode is the best variable speed mode due to the ability of variation speed as well as lager torque density.
FEM was used to analyze the influence of magnetization length, radial length and circumferential width of modulation pole pieces, especially transmission ratio, axial length ratio of two rotors and length-radius ratio on torque capability of PVT. The results showed that circumferential width at around 0.4 of modulation pole pieces help to enhance the torque capability. The PVT gets largest torque capability with the ratio of axial length of low speed rotor and high speed rotor at around 1.5. Smaller length-radius ratio or tabular shape indicates larger torque capability for PVT.
Starting process and steady working point of the PVT is analyzed; variation rule of cogging torque and its influence on torque ripple were studied, and effective methods were adopted to restrain torque ripple in PVT. Results showed that steady working point featured that axes of two rotors consistent with that of modulation pole pieces and the polarity of magnets on two rotors is opposite. There are ripple component in following torque when the PVT works in steady state due to cogging torque. The ripple ratio inclined gradually with the increase of load quantity. The effective match of pole pair number of magnets and the number of modulation pole pieces and elaborate choice of circumferential width of modulation pole pieces can restrain torque ripple effectively.
引文
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