| Title |
Optimal Design of Surface-Mounted Permanent Magnet Synchronous Motors for Robotic Joint Actuation Using Multi-Objective Function Optimization |
| Authors |
김동수(Dong-Su Kim) ; 정시욱(Si-Uk Jung) ; 정재우(Jae-Woo Jung) |
| DOI |
https://doi.org/10.5370/KIEE.2024.73.7.1170 |
| Keywords |
cogging torque; d-q axis equivalent circuit analysis; multi-objective optimization; Phi-L map; SPMSM; torque ripple |
| Abstract |
This paper covers the design and optimization steps of a surface-mounted permanent magnet synchronous motor (SPMSM) applied to robotic joint actuation using d-q axis equivalent circuit and Phi-L map. d-q axis equivalent circuit analysis and Phi-L map are effective ways to shorten the time of the initial design process. During initial design, various combinations of pole slots are analyzed and the combination that shows the highest efficiency is selected. Based on this selected combination, the main parameters of the motor, inductance and back electromotive force, are determined using d-q axis equivalent circuit analysis and Phi-L map. The selected parameters determine the design dimensions and key parameters that meet the required performance of the motor. In addition, based on the initial design, multi-objective optimization is utilized to reduce torque ripple and cogging torque of continuous rating and maximum rating. In addition, optimal design is performed to reduce weight and heat generation, and the performance of the initial design model and the optimized model is compared and analyzed through finite element analysis. |