Development of A Consequent-Pole Vernier Machine Servo System for Industrial Robot Application

This project aims to investigate technologies related to a novel high-performance alternating pole permanent magnet vernier motor for industrial robot servo drives. This research is of great significance for breaking foreign monopolies in the robotics industry and enhancing the quality and competitiveness of domestic robotic products in China. Specifically, the key research areas of this project can be summarized as follows:

1. Researching a new topology scheme for high torque density alternating pole permanent magnet vernier motors, targeted at medium power (200W to 5kW) industrial robot direct drive/semi-direct drive servo systems.

2. Developing a high-precision composite analytical method that combines the Fourier series method and magnetic network method for solving electromagnetic parameters of consequent-pole permanent magnet vernier motors. This will be integrated with genetic algorithms for multi-objective optimization of the proposed motor topology structural parameters to ensure suitability for industrial robot application scenarios.

3. Designing a robust and fast-response event-triggered active disturbance rejection control algorithm based on the control precision requirements of industrial robot applications.

4. Building a comprehensive simulation platform for industrial robots to evaluate the performance of the alternating pole permanent magnet vernier motor drive system and its corresponding control algorithms, thereby shortening the research and development cycle for industrial robot applications.