摘要：随着机器人工业的发展，关节用永磁伺服电机得到了日益广泛的关注。为了探究相同尺寸、相同极槽配合但不同极槽数的电机性能上的差异，设计了两种尺寸相同、极槽配合相同但极槽数不同的电机。同时为在保证性能的前提下减少电机轴向长度、节省空间，采用了霍尔元件与电机一体化设计方案，同时详细讨论了霍尔元件的安放。通过有限元仿真软件对额定状态下两种电机的磁场分布、转速、转矩与三相电流的仿真结果，对比分析得出了24极27槽电机稳态时性能更好的结论，对实际设计中合理平衡电机性能与成本提供了重要参考。
关键词：伺服电机；仿真分析；无刷电机比较；霍尔元件
Abstract: With the development of industrial robots, joint permanent magnet servo motors have earned increasingly widespread concern.In order to explore the difference of the motor performance in the same size but with different slots and poles, two motors in the same size bot with different slots and poles were designed. Besides, in order to reduce the axial length and save space, the hall element and motor were integrated. The placement of hall element was discussed in detail. By the analysis of the rated operating conditions of two motors using the finite element simulation software, the magnetic distribution, speed and torque of the two motors were obtained. By comparing the results, the conclusion was that the motor with 24 poles and 27 slots was better in operating. The conclusion benefits to balancing performance and cost in motor designing.
Key words: servo motors; simulation analysis; comparison of performance; Hall element