汽车自动驾驶机器人驱动机构仿真研究
毕业论文关键词 驾驶机器人 永磁直线电机 驱动装置 电磁有限元仿真 热力学仿真
Title Simulation Research on the driving mechanism Of The Robotic Driver
Abstract There are some problems that the modern automobile test has lasted for a long time, high risk and high labor intensity, human tester has been unable to meet the auto test requirements which is safe and efficient, so driving robot application and life. Robot driver instead of human driver test, it has important scientific meaning for promoting the automobile research and development process. First,this paper compares the advantages and disadvantages of the robot driver driving mechanism of the traditional drive mode, and then choose the topic as the driving mechanism of the robot for permanent magnet linear motor. According to the basic principle of the linear motor are selected and linear motor selection and the structure of the material, and then the main structural parameters of the linear motor is determined. Finally using Ansoft and ANSYS finite element analysis software analysis modeling and 2D electromagnetic simulation and thermodynamic simulation of the motor, thus optimizing the identified with the main structure of the linear motor size requirements, and it is proved that the usability engineering design of the motor drive mechanism, completed the task simulation study. Keywords Robot Driver,Permanent magnet linear motor,Driving device ， Electromagnetic finite element simulation,The thermodynamic simulation
目 次
1 绪论 1
1.1 课题背景与研究目的和意义 1
1.2 驾驶机器人国内外研究现状 1
1.3 驾驶机器人驱动技术研究现状 . 3
1.4 本课题的研究内容 .. 5
2 汽车驾驶机器人驱动机构总体方案设计 6
2.1 引言 .. 6
2.2 驾驶机器人技术指标 6
2.3 驾驶机器人驱动装置选择 .. 6
2.4 直线电机基本工作原理 . 8
2.5 电机结构型式确定 . 11
2.6 永磁体和铁心布置型式确定 .. 12
2.7 直线电机各结构材料的确定 .. 13
2.8 动圈式永磁直流直线电机设计方法 .. 17
2.9 本章小结 17
3 驾驶机器人驱动机构主要参数设计计算 .. 18
3.1 引言 . 18
3.2 永磁直线电机功率和额定电压确定 .. 18
3.3 永磁体工作点确定 . 18
3.4 直流电机气隙选择 . 19
3.5 永磁直线电机主要结构参数 .. 19
3.6 本章小结 21
4 电磁学有限元建模与仿真 .. 22
4.1 引言 . 22
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