CN118036407B - Design and optimization method and system for flat-plate voice coil electromagnetic force control actuator - Google Patents
Design and optimization method and system for flat-plate voice coil electromagnetic force control actuator Download PDFInfo
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Abstract
The invention belongs to the field of electromagnetic actuator structural design, and discloses a structural parameter design and optimization method of a flat-plate voice coil electromagnetic force control actuator, which comprises the following steps: determining a physical structure model of the electromagnetic actuator; establishing a magnetic field mathematical model of the electromagnetic actuator; establishing a mathematical model of the Lorentz force and obtaining an optimized objective function; optimizing and designing by using a PSO algorithm of the self-adaptive boundary; establishing a parameterized finite element model; iteratively optimizing other parameters using a finite element model; other structural designs and simulations. The invention solves the problems that the existing method is incomplete in covering electromagnetic design parameters and difficult to optimize design. An optimization method and a framework of an electromagnetic parameter structure of the electromagnetic actuator are established, the preset indexes are directly optimized, a feasible parameter design and optimization method and a feasible parameter design and optimization flow are formed, the optimization parameters are distinguished, the optimization process is accelerated, and the design time is saved.
Description
Technical Field
The invention belongs to the field of electromagnetic actuator structural design, and particularly relates to a structural parameter design and optimization method of a flat-plate voice coil electromagnetic force control actuator.
Background
The end effector with elastic behavior can show compliance, avoid excessive contact of a workpiece and a tool, and improve the machining precision of the robot. The electromagnetic actuator is an actuator applied to the field of high-precision machining, and can be applied to the fields of robot end force control and the like of high-precision machining. However, since a large number of electromagnetic dimensional parameters are involved in the electromagnetic actuator, different parameters may affect the performance of the electromagnetic actuator. Although many structural models of electromagnetic actuators have been proposed by the present scholars, and models of magnetic fields have been derived, electromagnetic actuators have been obtained by optimizing magnetic fields. There are also some limitations:
(1) The existing design method is incomplete in covering parameters.
(2) The design targets are stepped, the permanent magnet is designed to be equal in size, then the coil is designed to be equal in size, and the process is complex.
(3) The existing electromagnetic actuator is complex in electromagnetic structure, parameters are difficult to determine, and a complete whole parameter design and optimization method is needed.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a structural parameter design and optimization method of a flat-plate voice coil electromagnetic force control actuator.
The invention is realized in such a way that a structural parameter design and optimization method of a flat plate type voice coil electromagnetic force control actuator specifically comprises the following steps:
s1: determining a physical structure model of the electromagnetic actuator;
s2: establishing a magnetic field mathematical model of the electromagnetic actuator;
s3: establishing a mathematical model of the Lorentz force and obtaining an optimized objective function;
S4: optimizing and designing by using a PSO algorithm of the self-adaptive boundary;
S5: establishing a parameterized finite element model;
S6: iteratively optimizing other parameters using a finite element model;
S7: other structural designs and simulations.
Further, the step S1 is to determine a physical structure model of the electromagnetic actuator, and the requirements can be divided into two types depending on the requirements of electromagnetic design, wherein one type is a constant thrust constant and the other type is a constant stiffness coefficient constant;
the thrust constant is defined as the ratio of force to current in units of ; The stiffness coefficient constant is defined as the ratio of the stiffness coefficient to the current in units of。
Further, the method for establishing the magnetic field mathematical model by the physical model of the electromagnetic actuator in the S2 comprises a current element method and a magnetic charge method; in the process of model establishment, only the magnetic field direction value related to the motion direction is considered, and the magnetic field in other directions is ignored; the established mathematical model comprises the shape and the size of all the permanent magnets, the relative position and the ideal size of the coils;
taking lorentz motor composed of two groups of magnets as an example, the mathematical model established by the lorentz motor is as follows:
Wherein the method comprises the steps of
Wherein a, b are the length and width of the permanent magnets, hm is the height of the permanent magnets, l is the distance between two groups of magnets, H is the length of the air gap between the upper and lower permanent magnets (i.e. the distance between two magnets in a group of magnets), H is the distance between two parallel ferromagnetic boundaries, i is the number of mirror images,Is the magnetic permeability of the vacuum and is equal to the magnetic permeability of the vacuum,Permanent magnet remanence, br, is the material remanence (material dependent).Expressed as the magnitude of the magnetic field in the z direction at the points x, y, and z in cartesian coordinates.
Further, the mathematical model of the Lorentz force established in the step S3 is established depending on the magnetic field calculation formula established in the step S1; the mathematical model of the lorentz force is built and deduced as follows:
where OFC represents the thrust constant, ，Is the length and width of the coil cross section,The packing density of the coil is related to the processing technology,For the length of the effective force-exerting edge of the coil,The average value of the magnetic field in the volume of the effective side of the coil can be obtained by discrete averaging of the mathematical model obtained in S2,Is the minimum value of the coil enamelled wire.
Further, the objective function is optimized in the step S3, and the objective functions obtained by different requirements are different;
the optimization target can be obtained by calculating the mean and variance of the thrust constant aiming at the requirement of the constant thrust constant:
n represents a discrete displacement point within the displacement range, and is related to the degree of calculated dispersion. Indicating the magnitude of the thrust constant at the i position,The average value of the thrust constant is represented,Representing the variance of the thrust constant;
Aiming at the requirement of constant stiffness coefficient constant, calculating a thrust constant in the whole travel range, and then performing linear regression fitting to obtain a stiffness constant with a slope of N/(A mm); obtaining a correlation coefficient (linear when the correlation coefficient is 1); the Pearson correlation coefficient is used for describing the linear correlation degree and the correlation direction between two continuous variables, the value of the Pearson correlation coefficient is between [ -1,1], and the fitted rigidity expression is:
The correlation coefficient expression is:
In the middle of The position is indicated by the position of the object,The average position is indicated as such,Is shown inThe thrust constant at the location, n, is the total number of data points, and is related to the degree of dispersion calculated.
In the step S4, the PSO algorithm of the self-adaptive boundary is used for optimizing design, a fixed boundary parameter is preferentially generated in the optimizing process, then the boundary of the self-adaptive boundary parameter is updated, and finally the self-adaptive boundary parameter is generated;
The boundary updating principle is as follows: constraints exist such as air gap length and interface length of coil Wherein max is an upper limit setting parameter, and min is a parameter considering the thickness of the coil bracket; due toThe upper size bound of (2) is constrained by h, so after the h parameter value is generatedUpdate the upper bound of (1) to h, then generateParameter values;
The fixed boundary parameters are parameters which are not mutually constrained with other parameters or are set to be preferentially generated, and are other parameters except coil parameters; the adaptive boundary parameters refer to other generated parameters which form constraint with the parameters, and the parameters which need to be finally generated include ，，；
After optimization is completed by using a PSO algorithm of the self-adaptive boundary, a parameter solution under a specified index can be obtained, and the solution set comprises the shape sizes of all the permanent magnets, the relative position sizes among the permanent magnets and the ideal coil size.
Furthermore, the finite element model established in the step S4 is required to establish a parameterized finite element model comprising the thickness of a magnetic conductive yoke, the embedding depth and the coil fillet besides the basic ideal parameter sizes of the permanent magnet and the coil;
further, the step S5 is to perform iterative simulation by using the finite element model established in the step S4, so as to obtain thrust under the parameters of different magnetic conductive yoke thicknesses, embedding depths and coil fillets in the stroke range;
And (5) performing data processing on the thrust obtained in the step (S5) to obtain the thrust under different configurations: thrust constant mean, thrust constant variance (or fitting stiffness and linearity); and selecting optimal magnetic conductive yoke thickness, embedding depth and coil fillet parameters according to different configuration results and targets.
Further, other structures in S7 include a support structure, a heat dissipation structure, and the like, and may be verified using a finite element model.
Another object of the present invention is to provide a system for designing and optimizing structural parameters of a flat-plate voice coil electromagnetic force control actuator, which includes:
the model determining module is used for determining a physical structure model of the electromagnetic actuator;
the magnetic field mathematical model building module is connected with the model determining module and is used for building a magnetic field mathematical model of the electromagnetic actuator;
the function optimization module is used for establishing a mathematical model of the Lorentz force and obtaining an optimization objective function;
the optimization design module is used for carrying out optimization design by using a PSO algorithm of the self-adaptive boundary;
the finite element model building module is used for building a parameterized finite element model;
the parameter optimization module iteratively optimizes other parameters by using a finite element model;
and the simulation module is used for other structural designs and simulations.
In combination with the technical scheme and the technical problems to be solved, the technical scheme to be protected has the following advantages and positive effects:
first, the technical problem that exists and the difficulty of solving this problem to above-mentioned prior art, some technical effects that bring after solving the problem possess creativity. The specific description is as follows:
(1) An optimization method and framework of electromagnetic parameter structures of electromagnetic actuators are established. And the thickness, the embedding depth and the coil fillet of the magnetic conductive yoke are all brought into the design range, and the parameters and the contents which are difficult to model of the digital model are subjected to iterative optimization design by using finite elements, so that the electromagnetic structure parameters of the optimization design are further supplemented and perfected. So that the design process completely covers all design parameters.
(2) The method directly optimizes the preset index, is free from the traditional template for optimizing the magnetic field, and can directly obtain the optimal value of the electromagnetic parameter meeting the preset index.
(3) A feasible parameter design and optimization method and process are formed, the optimization parameters are distinguished, the optimization process is accelerated, and the design time is saved.
Secondly, the invention provides a structural parameter design and optimization method of the flat-plate voice coil electromagnetic actuator, which solves the problems that the existing method is incomplete in covering electromagnetic design parameters and difficult to optimize design. The invention provides a complete parameter design and optimization method and process, so that the design process is clearer and more efficient. This helps engineers more easily complete the design and manufacture of electromagnetic actuators.
Through the optimal design, the invention can obtain the optimal value of the electromagnetic parameter meeting the preset index, thereby enabling the flat-plate voice coil electromagnetic force control actuator to have higher performance. This includes a larger thrust constant, lower thrust constant variance (or higher stiffness and linearity) and thus improves the performance of the actuator.
The invention considers the parameters of the thickness, the embedding depth, the coil fillet and the like of the magnetic conductive yoke, so that the product design is more comprehensive. This helps to increase the robustness and adaptability of the product, ensuring that the product will perform well under different operating conditions. Through iterative simulation of the finite element model, the invention can accurately design the shape and the size of the permanent magnets, the relative position and the size of the permanent magnets and the ideal size of the coil. This helps to ensure the accuracy and reliability of the product in practical applications.
The PSO algorithm of the self-adaptive boundary of the invention classifies parameters to specify the sequence of parameter production generation, fixes boundary parameters first, and then updates the boundary of the self-adaptive boundary parameters. The algorithm improves the adaptability and efficiency of the electromagnetic parameter optimization algorithm.
Thirdly, the expected benefits and commercial value after the technical scheme of the invention is converted are as follows:
By optimizing the design and considering the parameters comprehensively, the performance of the product is expected to be improved remarkably, including larger thrust constant, lower thrust constant variance, higher rigidity and linearity and the like. This will make the product more competitive in the market, thereby hopefully attracting more customers to select the product of this solution.
The electromagnetic actuator is widely applied to ultra-precise machining, and an advanced and high-performance technical solution is provided in the field of electromagnetic actuators, and particularly the flat-plate voice coil electromagnetic force control actuator can be applied to end force control of a robot and the like. The application field of the technical scheme is expected to be expanded, and a solution is provided for more fields, so that market share is expanded.
By directly optimizing the preset index instead of the intermediate index, the technical scheme is expected to better meet market demands and provide products meeting customer expectations.
The efficiency of the design process is obviously improved by the iterative simulation of a mathematical model and a finite element model and an efficient optimization algorithm and by the generation sequence of overall parameters. This is expected to reduce the product development cycle and reduce the development cost.
The technical scheme of the invention fills the technical blank in the domestic and foreign industries: comprehensively considering design parameters: the traditional electromagnetic actuator design method usually only pays attention to partial parameters, and the invention fills the defects of the prior art in the aspect of comprehensiveness of design parameters by comprehensively considering the parameters such as the thickness, the embedding depth, the coil fillet and the like of the magnetic conductive yoke. This helps to improve the design accuracy and performance of the electromagnetic actuator.
The preset index is directly optimized: while the conventional method is often focused on optimization of the magnetic field in the optimization design, the method directly optimizes the preset indexes, such as the mean value and the variance of the thrust constant. The method fills the technical blank in the aspect of direct optimization of design targets, and more directly meets the requirements of practical application.
The mathematical model design and the finite element model iterative optimization are combined into a whole framework, which is helpful for more accurately predicting the performance of the electromagnetic actuator and improving the feasibility of the design. The invention is suitable for the field of high-precision machining, such as the design of a robot tail end force control actuator. The invention fills the technical blank in the aspects of the design and optimization of the elastic behavior end effector and provides a solution.
Drawings
FIG. 1 is a flow chart of a method for designing and optimizing structural parameters of a flat-plate voice coil electromagnetic actuator according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of an electromagnetic structure of a lorentz motor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of electromagnetic structural parameters of a Lorentz motor according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of simulation results of embedded depth versus yoke thickness for different configurations over a range of travel provided by an embodiment of the present invention;
FIG. 5 is a comparison of performance of electromagnetic structures before and after optimization of a Lorentz motor provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of an electromagnetic structure of an electromagnetic spring according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of electromagnetic parameters of an electromagnetic spring according to an embodiment of the present invention;
FIG. 8 is a comparison of performance of electromagnetic structures before and after optimization of an electromagnetic spring provided by an embodiment of the present invention;
FIG. 9 is a block diagram of a structural parameter design and optimization system for a flat-plate voice coil electromagnetic force control actuator according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Two specific application embodiments of the embodiment of the invention are as follows:
Example 1 electromagnetic force control actuator application in precision machine control:
in precision machine control systems, such as high precision positioning devices, precision manufacturing machines, and the like, electromagnetic force control actuators are used to achieve high precision displacement and force control.
Designing and optimizing: according to the specific requirements of precision mechanical equipment, the electromagnetic actuator is designed by using the method, and particularly the thrust constant and the rigidity coefficient are optimized to ensure high-precision control.
Parameterized finite element model application: and (3) applying a parameterized finite element model to iteratively optimize other structural parameters of the actuator so as to improve the response speed and the response accuracy of the actuator.
Actual assembly and testing: and assembling the designed actuator into mechanical equipment, and performing actual operation test to verify the performance of the actuator.
The designed electromagnetic force control actuator provides high-precision operation performance through precise force and displacement control. The optimized thrust constant and stiffness coefficient ensure stability and accuracy of the actuator under different operating conditions.
Example 2 electromagnetic actuator application in an automation line:
in automated assembly lines, such as electronics assembly, automotive manufacturing, etc., electromagnetic actuators are used to perform precise assembly tasks.
And (3) customizing design: according to the specific requirements of an assembly line, the method is used for customizing the electromagnetic actuator, and the optimization of thrust and rigidity is particularly focused.
And (3) high-efficiency optimization: and the structural parameters of the actuator are optimized efficiently by using a PSO algorithm and a finite element model of the self-adaptive boundary, so that the performance of the actuator in quick dynamic operation is ensured.
Assembly line integration and verification: the optimized actuator is integrated into an automatic assembly line, and actual operation test is carried out, so that the requirement of quick and accurate assembly is met.
The actuator provides accurate and rapid force control through an optimized magnetic field and a Lorentz force model, and is suitable for complex and high-speed automatic assembly tasks. The optimization of the structural parameters ensures the stability and durability of the actuator during long-term operation.
The invention is mainly aimed at improving the problems and defects of the following prior art, and realizes remarkable technical progress:
The design accuracy is not enough: conventional electromagnetic actuator design methods often rely on experience and simplified mathematical models, resulting in inadequate design accuracy.
The optimization efficiency is low: the prior art is low in efficiency in the aspect of optimizing structural parameters of an actuator, and cannot respond to the change of design requirements quickly.
The performance parameters are limited: conventional methods lack flexibility and accuracy in dealing with specific performance parameters such as thrust constants and stiffness coefficients.
Aiming at the problems existing in the prior art, the invention adopts the following technical scheme:
accurate physical structure modeling (S1, S2): based on electromagnetic design requirements, including constant thrust constant and constant stiffness coefficient, an accurate physical structure model and a magnetic field mathematical model of the electromagnetic actuator are established.
Mathematical model of lorentz forces and optimization objective function (S3): and establishing a mathematical model of the Lorentz force, thereby obtaining an optimized objective function and ensuring the accuracy of a design target.
High-efficiency optimization design method (S4, S6): and (3) iteratively optimizing other parameters by using a Particle Swarm Optimization (PSO) algorithm of the self-adaptive boundary and a finite element model, so that the optimization efficiency is improved.
Comprehensive structural design and simulation (S7): through other structural designs and simulations, the performance and reliability of the entire actuator are ensured.
The invention solves the technical effects and remarkable technical progress brought by the prior art problems:
Design accuracy and optimization efficiency are improved: by combining an accurate physical and mathematical model and an efficient optimization algorithm, the invention greatly improves the design precision and the optimization efficiency.
Enhancing performance parameter handling capability: the invention can accurately process constant thrust constant and constant stiffness coefficient and optimize performance parameters of the actuator.
Performance and reliability of the actuator are improved: through comprehensive structural design and simulation, the overall performance and reliability of the actuator are ensured, and the requirements of different application scenes are met.
As shown in fig. 1, the invention provides a structural parameter design and optimization method of a flat-plate voice coil electromagnetic actuator, which comprises the following specific steps:
s1: determining a physical structure model of the electromagnetic actuator;
s2: establishing a magnetic field mathematical model of the electromagnetic actuator;
s3: establishing a mathematical model of the Lorentz force and obtaining an optimized objective function;
S4: optimizing and designing by using a PSO algorithm of the self-adaptive boundary;
S5: establishing a parameterized finite element model;
S6: iteratively optimizing other parameters using a finite element model;
S7: other structural designs and simulations.
The S1 determines a physical structure model of the electromagnetic actuator, and the requirements can be divided into two types depending on the requirements of electromagnetic design, wherein one type is a constant thrust constant and the other type is a constant rigidity coefficient constant;
The thrust constant is defined as the ratio of force to current in units of ; The stiffness coefficient constant is defined as the ratio of the stiffness coefficient to the current in units of。
The method for establishing the magnetic field mathematical model by the physical model of the electromagnetic actuator in the S2 comprises a current element method and a magnetic charge method; in the process of model establishment, only the magnetic field direction value related to the motion direction is considered, and the magnetic field in other directions is ignored; the established mathematical model comprises the shape sizes of all the permanent magnets, the relative position sizes among the permanent magnets and the ideal coil size, and the structural sizes are shown in figures 2 and 3;
as shown in fig. 2, taking a lorentz motor composed of two groups of magnets as an example, a mathematical model is established as follows:
Wherein the method comprises the steps of
Wherein,
The auxiliary functions are:
wherein a, b are the length and width of the permanent magnets, hm is the height of the permanent magnets, l is the distance between two groups of magnets, H is the length of the air gap between the upper and lower permanent magnets (i.e. the distance between two magnets in a group of magnets), H is the distance between two parallel ferromagnetic boundaries, i is the number of mirror images, Is the magnetic permeability of the vacuum and is equal to the magnetic permeability of the vacuum,Permanent magnet remanence, br, is the material remanence (material dependent).Expressed as the magnitude of the magnetic field in the z direction at the points x, y, and z in cartesian coordinates.
Establishing a Lorentz force mathematical model in the step S3, wherein the establishment of the Lorentz force mathematical model depends on the magnetic field calculation formula established in the step S1; the mathematical model of the lorentz force is built and deduced as follows:
where OFC represents the thrust constant, ，Is the length and width of the coil cross section,The packing density of the coil is related to the processing technology,For the length of the effective force-exerting edge of the coil,The average value of the magnetic field in the volume of the effective side of the coil can be obtained by discrete averaging of the mathematical model obtained in S2,Is the minimum value of the coil enamelled wire.
And S3, optimizing the objective function, wherein the objective functions obtained by different requirements are different. The optimization target can be obtained by calculating the mean and variance of the thrust constant aiming at the requirement of the constant thrust constant:
n represents a discrete displacement point within the displacement range, and is related to the degree of calculated dispersion. Indicating the magnitude of the thrust constant at the i position,The average value of the thrust constant is represented,Representing the variance of the thrust constant;
And optimizing the design by using a PSO algorithm of the self-adaptive boundary to preferentially generate fixed boundary parameters in the optimization process, updating the boundary of the self-adaptive boundary parameters, and finally generating the self-adaptive boundary parameters.
The boundary updating principle is as follows: constraints exist such as air gap length and interface length of coilWherein max is an upper limit setting parameter, and min is a parameter considering the thickness of the coil bracket; due toThe upper size bound of (2) is constrained by h, so after the h parameter value is generatedUpdate the upper bound of (1) to h, then generateParameter values.
The fixed boundary parameters are parameters which are not mutually constrained with other parameters or are set to be preferentially generated, and are other parameters except coil parameters; the adaptive boundary parameters refer to other generated parameters which form constraint with the parameters, and the parameters which need to be finally generated include，，。
After optimization is completed by using a PSO algorithm of the self-adaptive boundary, a parameter solution under a specified index can be obtained, wherein the solution set comprises the shape sizes of all the permanent magnets, the relative position sizes among the permanent magnets and the ideal coil size;
S4, the finite element model established in the step is required to establish a parameterized finite element model comprising the thickness of a magnetic conductive yoke, the embedding depth and the coil fillet besides the basic ideal parameter sizes of the permanent magnet and the coil;
And S5, performing iterative simulation by using the finite element model established in the step S4 to obtain thrust under parameters of different magnetic conductive yoke thicknesses, embedding depths and coil fillets in a stroke range, as shown in FIG. 4.
And S5, performing data processing on the thrust obtained in the step to obtain the thrust under different configurations: thrust constant mean and thrust constant variance; and selecting optimal magnetic conductive yoke thickness, embedding depth and coil fillet parameters according to different configuration results and targets.
As shown in fig. 5, the thrust constant obtained after the optimization is larger, and the thrust constant in the non-driving direction is smaller and more stable.
S2, a method for establishing a magnetic field mathematical model by using a physical model of an electromagnetic actuator comprises a current element method and a magnetic charge method; in the process of model establishment, only the magnetic field direction value related to the motion direction is considered, and the magnetic field in other directions is ignored; the mathematical model comprises the shape and the size of all the permanent magnets, the relative position and the ideal size of the coil, and the structural size is shown in fig. 6 and 7;
As shown in fig. 6, taking a Halbach electromagnetic spring composed of three groups of magnets as an example, a mathematical model is established as follows:
Wherein the method comprises the steps of
Wherein,
Wherein the auxiliary function is:
B hz and B vz represent the z-direction magnetic field expressions generated by two permanent magnets, namely horizontal magnetization and vertical magnetization, and the specific expressions relate to the arrangement modes of the permanent magnets; taking the array of fig. 7 as an example, sa and Sb are the length and width of the permanent magnets, taking five permanent magnet groups (10 blocks) as an example, 3 groups of permanent magnets are magnetized in the z direction, and the magnetic field generated by the ith piece of magnetizing magnet in the z direction is denoted by B zi1/Bzi2; 2 groups of permanent magnets are magnetized in the y direction, the generated magnetic field is represented by B hz, and each representation method is the same as the representation method of the magnetizing magnets in the z direction; the permanent magnets have length and width dimensions S a and S b1/Sb2/Sb3 in common according to their arrangement; shm is the height of the permanent magnet and Sh is the air gap length, i.e. the distance between two magnets in a set of magnets. The z-direction magnetic fields, denoted as x, y, z coordinate points in a Cartesian coordinate system, bvz and Bhz represent the magnetic fields generated in the z-direction by z-direction magnetization and y-direction magnetization permanent magnets, respectively, and u0 is the vacuum permeability.
Establishing a Lorentz force mathematical model in the step S3, wherein the establishment of the Lorentz force mathematical model depends on the magnetic field calculation formula established in the step S1; the mathematical model of the lorentz force is built and deduced as follows:
where OFC represents the thrust constant, ，Is the length and width of the coil cross section,The packing density of the coil is related to the processing technology,For the length of the effective force-exerting edge of the coil,The average value of the magnetic field in the volume of the effective side of the coil can be obtained by discrete averaging of the mathematical model obtained in S2,Is the minimum value of the coil enamelled wire.
And S3, optimizing the objective function, wherein the objective functions obtained by different requirements are different. Aiming at the requirement of constant stiffness coefficient constant, calculating a thrust constant in the whole travel range, and then performing linear regression fitting to obtain a stiffness constant with a slope of N/(A mm); a correlation coefficient (linear when 1) is obtained. Pearson correlation coefficient. The correlation coefficient is used to describe the degree and direction of linear correlation between two continuous variables, and its value is between [ -1,1 ]. The fitted stiffness expression is:
The correlation coefficient expression is:
In the middle of The position is indicated by the position of the object,The average position is indicated as such,Is shown inThe thrust constant at the location, n, is the total number of data points, and is related to the degree of dispersion calculated.
And optimizing the design by using a PSO algorithm of the self-adaptive boundary to preferentially generate fixed boundary parameters in the optimization process, updating the boundary of the self-adaptive boundary parameters, and finally generating the self-adaptive boundary parameters.
The boundary updating principle is as follows: constraints exist such as air gap length and interface length of coilWherein max is an upper limit setting parameter, and min is a parameter considering the thickness of the coil bracket; due toIs constrained by Sh, so after the Sh parameter value is generatedUpdated to Sh and then generatedParameter values.
The fixed boundary parameters are parameters which are not mutually constrained with other parameters or are set to be preferentially generated, and are other parameters except coil parameters; the adaptive boundary parameters refer to other generated parameters which form constraint with the parameters, and the parameters which need to be finally generated include，，。
After optimization is completed by using a PSO algorithm of the self-adaptive boundary, a parameter solution under a specified index can be obtained, wherein the solution set comprises the shape sizes of all the permanent magnets, the relative position sizes among the permanent magnets and the ideal coil size;
S4, the finite element model established in the step is required to establish a parameterized finite element model comprising coil fillets besides basic permanent magnets and ideal parameter sizes of coils;
and S5, performing iterative simulation by using the finite element model established in the step S4 to obtain thrust under different coil fillet parameters in a stroke range (the electromagnetic spring back plate does not use a magnetic conductive iron yoke material, and the thickness and the embedding depth of the yoke plate do not need to be optimized).
And S5, performing data processing on the thrust obtained in the step to obtain the thrust under different configurations: or fitting stiffness and linearity; and selecting optimal coil fillet parameters according to different configuration results and targets.
As shown in fig. 5, after finite element optimization, the obtained structural parameters have larger rigidity coefficient constant and higher linearity.
As shown in fig. 9, an embodiment of the present invention provides a system for designing and optimizing structural parameters of a flat-plate voice coil electromagnetic force control actuator, which implements the method for designing and optimizing structural parameters of a flat-plate voice coil electromagnetic force control actuator, the system comprising:
the model determining module is used for determining a physical structure model of the electromagnetic actuator;
the magnetic field mathematical model building module is used for building a magnetic field mathematical model of the electromagnetic actuator;
the function optimization module is used for establishing a mathematical model of the Lorentz force and obtaining an optimization objective function;
the optimization design module is used for carrying out optimization design by using a PSO algorithm of the self-adaptive boundary;
the finite element model building module is used for building a parameterized finite element model;
the parameter optimization module iteratively optimizes other parameters by using a finite element model;
and the simulation module is used for other structural designs and simulations.
It should be noted that the embodiments of the present invention can be realized in hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or special purpose design hardware. Those of ordinary skill in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The device of the present invention and its modules may be implemented by hardware circuitry, such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., as well as software executed by various types of processors, or by a combination of the above hardware circuitry and software, such as firmware.
The invention discloses a structural parameter design and optimization method of a flat-plate voice coil electromagnetic force control actuator. Aiming at different requirements, the invention provides two design schemes suitable for constant thrust constant and constant rigidity coefficient constant.
Taking a constant thrust constant as an example, the electromagnetic structure shown in fig. 2 and 3 has the performance shown in fig. 5 after being optimally designed, and the average thrust constant is as follows: 23.522N/A, variance 0.004427; the optimized junction result shows that: the design achieves remarkable improvement in performance, and the optimized design achieves high consistency and stability in thrust constant.
Taking constant rigidity coefficient as an example, the electromagnetic structure shown in fig. 6 and 7 has the performance shown in fig. 8 after being optimally designed, wherein the rigidity coefficient is as follows: 1.5N/a mm, linear coherence is: 0.9993. the optimized junction result shows that: the electromagnetic structure after the optimization design meets the requirement of the rigidity constant, and meanwhile, the linear coherence is also obviously improved.
It can be concluded that both designs provided by the invention achieve significant optimization effects under different requirements. The universality and the flexibility of electromagnetic product design are enhanced, so that the voice coil electromagnetic force control actuator of the type can be designed quickly and normally, and is suitable for various application scenes and working requirements.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (7)
1. The method for designing and optimizing structural parameters of the flat-plate voice coil electromagnetic force control actuator is characterized by comprising the following steps of:
s1: determining a physical structure model of the electromagnetic actuator;
s2: establishing a magnetic field mathematical model of the electromagnetic actuator;
s3: establishing a mathematical model of the Lorentz force and obtaining an optimized objective function;
S4: optimizing and designing by using a PSO algorithm of the self-adaptive boundary;
S5: establishing a parameterized finite element model;
S6: iteratively optimizing other parameters using a finite element model;
S7: other structural designs and simulations;
The method for establishing the magnetic field mathematical model by the physical model of the electromagnetic actuator in the S2 comprises a current element method and a magnetic charge method; in the process of model establishment, only the magnetic field direction value related to the motion direction is considered, and the magnetic field in other directions is ignored; the established mathematical model comprises the shape and the size of all the permanent magnets, the relative position and the ideal size of the coils;
taking lorentz motor composed of two groups of magnets as an example, the mathematical model established by the lorentz motor is as follows:
；
Wherein the method comprises the steps of
；
；
；
；
；
；
Wherein a, b are the length and width of the permanent magnets, hm is the height of the permanent magnets, l is the distance between two groups of magnets, H is the length of the air gap between the upper and lower permanent magnets, i.e. the distance between two magnets in a group of magnets, H is the distance between two parallel ferromagnetic boundaries, i is the number of mirror images,Is the magnetic permeability of the vacuum and is equal to the magnetic permeability of the vacuum,The residual magnetization intensity of the permanent magnet, br is the residual magnetization density of the material,The magnetic field is expressed as the magnitude of the magnetic field in the z direction at the position x, y and z points under Cartesian coordinates;
Establishing a mathematical model of the Lorentz force in the step S3, wherein the establishment of the mathematical model depends on the magnetic field calculation formula established in the step S1; the mathematical model of the lorentz force is built and deduced as follows:
；
where OFC represents the thrust constant, ，Is the length and width of the coil cross section,The packing density of the coil is related to the processing technology,For the length of the effective force-exerting edge of the coil,The average value of the magnetic field in the volume of the effective side of the coil can be obtained by discrete averaging of the mathematical model obtained in S2,The method is a minimum value of coil enameled wires;
the optimization objective function in the step S3 is different in objective function obtained by different requirements;
the optimization target can be obtained by calculating the mean and variance of the thrust constant aiming at the requirement of the constant thrust constant:
；
；
n represents a discrete displacement point within the displacement range, and is related to the calculated degree of dispersion, Indicating the magnitude of the thrust constant at the i position,The average value of the thrust constant is represented,Representing the variance of the thrust constant;
Aiming at the requirement of constant stiffness coefficient constant, calculating a thrust constant in the whole travel range, and then performing linear regression fitting to obtain a stiffness constant with a slope of N/(A mm); obtaining a Pearson correlation coefficient, wherein the Pearson correlation coefficient is used for describing the linear correlation degree and the correlation direction between two continuous variables, the value of the Pearson correlation coefficient is between [ -1,1], and the fitted rigidity expression is:
；
The correlation coefficient expression is:
；
In the middle of The position is indicated by the position of the object,Representing the average position.
2. The method for designing and optimizing structural parameters of a flat-plate voice coil electromagnetic type force control actuator according to claim 1, wherein the step S1 is to determine a physical structural model of the electromagnetic actuator, and the requirements can be divided into two types depending on the requirements of the electromagnetic design, one type is a constant thrust constant and the other type is a constant stiffness coefficient constant;
the thrust constant is defined as the ratio of force to current in units of ; The stiffness coefficient constant is defined as the ratio of the stiffness coefficient to the current in units of。
3. The method for designing and optimizing structural parameters of a flat-plate voice coil electromagnetic force control actuator according to claim 1, wherein in the step S4, the optimization design is performed by using a PSO algorithm of an adaptive boundary to preferentially generate a fixed boundary parameter in the optimization process, and then the boundary of the adaptive boundary parameter is updated to finally generate the adaptive boundary parameter;
The boundary updating principle is as follows: constraints exist such as air gap length and interface length of coil Wherein max is a dimension upper bound setting parameter, and min is a parameter considering the thickness of the coil bracket; due toThe upper size bound of (2) is constrained by h, so after the h parameter value is generatedUpdating the upper size bound to h, and then generatingParameter values;
The fixed boundary parameters are parameters which are not mutually constrained with other parameters or are set to be preferentially generated, and are other parameters except coil parameters; the adaptive boundary parameters refer to other generated parameters which form constraint with the parameters, and the parameters which need to be finally generated include ，，；
After optimization is completed by using a PSO algorithm of the self-adaptive boundary, a parameter solution under a specified index can be obtained, and the solution set comprises the shape sizes of all the permanent magnets, the relative position sizes among the permanent magnets and the ideal coil size.
4. The method for designing and optimizing structural parameters of a flat-plate voice coil electromagnetic force control actuator according to claim 1, wherein the finite element model established in the step S4 is required to establish a parameterized finite element model including the thickness of a magnetically conductive yoke, the embedding depth and the coil fillet in addition to the basic permanent magnet and the ideal parameter size of the coil.
5. The method for designing and optimizing structural parameters of a flat-plate voice coil electromagnetic force control actuator according to claim 1, wherein the step S5 is to perform iterative simulation by using the finite element model established in the step S4 to obtain thrust under parameters of different magnetic yoke thickness, embedding depth and coil fillet in a stroke range;
And (5) performing data processing on the thrust obtained in the step (S5) to obtain the thrust under different configurations: thrust constant mean, thrust constant variance or fitting stiffness, and linearity; and selecting optimal magnetic conductive yoke thickness, embedding depth and coil fillet parameters according to different configuration results and targets.
6. The method for designing and optimizing structural parameters of a flat-plate voice coil electromagnetic force control actuator according to claim 1, wherein the other structures in S7 include a supporting structure and a heat dissipation structure, and can be verified by using a finite element model.
7. A flat-panel voice coil electromagnetic force control actuator structural parameter design and optimization system for implementing a flat-panel voice coil electromagnetic force control actuator structural parameter design and optimization method as defined in any one of claims 1-6, the system comprising:
the model determining module is used for determining a physical structure model of the electromagnetic actuator;
the magnetic field mathematical model building module is connected with the model determining module and is used for building a magnetic field mathematical model of the electromagnetic actuator;
the function optimization module is connected with the model determination module and is used for establishing a mathematical model of the Lorentz force and obtaining an optimization objective function;
the optimization design module is used for carrying out optimization design by using a PSO algorithm of the self-adaptive boundary;
the finite element model building module is used for building a parameterized finite element model;
the parameter optimization module iteratively optimizes other parameters by using a finite element model;
and the simulation module is used for other structural designs and simulations.
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