Electrical and integrated toroidal drive dynamic analysis

　　Title: Electrical and integrated toroidal drive dynamic analysis 　　
        Author: Liu Xin
　　Degree-granting units: Yanshan University
　　Keywords: electromechanical integrated;; toroidal transmission;; electromagnetic engagement;; electromechanical coupling;; two degrees of freedom control;; state space;; optimal control;; equations of motion
　　Abstract:
　　Electromechanical integrated toroidal drive is a set of super-Toroidal transmission and permanent magnet synchronous motor drive in one of the complex space. The drive to achieve the mechanical, electrical and control of organic integration, electro-mechanical systems can greatly simplify the structure and composition in the forefront of aviation and aerospace Rare earth magnets technology has potential applications. In this paper, the output drive characteristics, control theory and control experiments in terms of mechanical and electrical integrated toroidal drive system for an in-depth research.
　　Using transformation Institutions Act, electromechanical integration derived toroidal rotation angle of the planetary gear planetary gear corner with a function, depending on the number of pole pairs corresponding to the worm surface of the stator magnet rings of teeth, made a six common planet wheel installation . Installation is given in a different way, while the number of teeth involved engagement with the worm mating area and corners of the relationship. Derivation of the electromagnetic gear output torque, to discuss its variation with system parameters. Way to get six installation torque and angular velocity of the transmission output characteristics.
　　The establishment of integrated toroidal drive electromechanical electromechanical coupling dynamic model, derived the angular velocity of the drive output voltage between the input transfer function analysis of the transmission parameters on the speed of response of law. Consider the transmission gear mesh caused by the change of the number fluctuations, has been the actual speed of the system response. Design a PI controller, the control system to study the robustness of parameter changes. Obtain the velocity perturbation caused by the response has been compensated voltage and the desired speed response.
　　Derivation of the mechanical and electrical integration of toroidal drive torque transfer function, were taken into account fluctuations in the torque response of the actual torque. Control method using two degrees of freedom, two degrees of freedom designed torque control system, analysis of the parameters on the torque control system response influence of the proposed periodic disturbance torque calibration program. According to the expected dynamic performance, design freedom speed control system, two independent controllers, voltage compensation is given to verify the effectiveness of the speed of perturbation correction.
　　Established mechanical and electrical integration of toroidal drive state-space model, the completion of the optimal regulator design, gives a linear state variable feedback control law, the weight factor analysis of the selected output performance of the law. Consider the inherent fluctuations of transmission, the optimal servo system design, analysis of the parameters on the servo performance of the law. Combination of classical control and modern control theory, completed third-order system with calibration optimal controller design, get smooth optimal control law and good tracking response, significantly improved the system's dynamic performance.
　　The use of electrical theory, analysis of electromechanical integrated toroidal drive space spiral worm winding current, established a permanent magnet winding current planetary gear teeth with the magnetic momentum model, gives the analytical expression of the transmission inductance, inductive analysis variation of parameters with the drive. Established flux equation, the speed is constant when the voltage equations of the electromagnetic transient solution. Transmission with torque equation of the equations of motion and equation of state, the use of numerical methods to solve the equation of state of the transmission system, the system startup process of a simulation, discuss the response of http://www.chinamagnets.biz/ state variables with parameters variation.
　　Used as the angular velocity gyro sensor, designed and produced a bias part and the op-amp circuit, completed the mechanical and electrical integrated toroidal drive system open-loop control and closed-loop control experiments, theoretical calculations and with the Simulink simulation results compared to verify the theoretical analysis correctness, and control theory for the transmission of further studies and experimental basis.
　　Degree Year: 2010