Low Speed High Torque Drive System Applying Vernier Motor Torque.

Abstract

The application of the direct drive system is increasing in the field of robot and factory automa tion because of controllability with high accuracy. However, it requires the motor high torque at low speed.Although the vernier motor, presented by C. H. Lee in 1963, could produce the reluctance torque in low speed, it involved many problems to be solved. In this paper, the authors have studied the reluctance torque of vernier motor using the finite element field analysis. As the increase of rotor slot number is effective to produce high torque, in our model there are not only winding slots but also small slots on the stator teeth surfaces and the rotor slots are provided in the periphery of the core more than the total number of stator slots by the pole number. The calculated torques have agreed very well with the experimental results.A prominent feature of the control scheme is to control the armature current phase based on the detected rotor slot position, so there is no problem such as pull-in or pull-out in the vernier motor of C. H. Lee. And then the instantaneous torque is controlled by the amplitude of armature current.The experimental results on both the speed control and the position control were also shown in the paper.

Output characteristics of a surface permanent magnet-type vernier motor - Comparison of test results and calculation

“…In the SPM-type vernier motor, the number of poles P on the primary side and the number of field poles R on the secondary side are different, and based on the vernier principle, the number of slots S can be expressed in terms of P and R as shown in equation (1).…”

Design of Surface Permanent Magnet-type Vernier Motor

“…The permanent magnets are set on the surface of the rotor core so that the North pole and the South pole appear alternately. The relation of S, R, and P is denoted in (1), where S is the number of slots of the stator, R is the number of poles of the rotor, and P is the number of poles of the rotating magnetic field. (1) Fig.…”

“…Although the stepping motor and the brushless DC motor are used for direct drive systems, these motors have a pulsating torque. So, various vernier motors, which theoretically have no pulsating torque, have been developed [1]- [4].…”