High Efficiency Brushless Direct Current Motor Design for an Unmanned Ground Vehicle

Öz

Unmanned ground vehicles (UGV) offer different study areas to researchers due to their various modules. These modules can be included sensor technologies, embedded systems, mapping and localization, trajectory tracking, mechanical design, electric motor and battery technologies. Although electric motor technology from these research areas has reached more limit design values than the other areas mentioned, different design approaches are needed due to the complex and specific constraints of unmanned vehicles. In this study, a special outer rotor brushless direct current motor (BLDC) has been designed for UGV which has multi-axis movement, low friction and high vibration. Low speed, high torque and high efficiency in the design of a BLDC is restricted to space and volume can be easily manufactured. In the study, analytical solutions by ANSYS RMxprt, 2 and 3 dimensional analyzes are performed based on finite element method
(FEA) using ANSYS Maxwell. The results obtained show the validity between the initial motivation and the design outputs and an electric motor which is producible, has been developed.

Anahtar Kelimeler

• Unmanned ground vehicle
• Brushless direct current motor
• Finite element method
• Vehicle dynamics
• Mecanum wheels
• Propulsion systems

Bir İnsansız Kara Aracı İçin Yüksek Verimli Fırçasız Doğru Akım Motoru Tasarımı

Öz

İnsansız kara araçları (İKA) sahip oldukları farklı modüller sebebiyle araştırmacılara çeşitli çalışma alanları sunmaktadır. Bu modüller sensör teknolojileri, gömülü sistemler, haritalandırma ve konumlama, yörünge takibi, mekanik tasarım, elektrik motoru ve batarya teknolojileri gibi alanlardan oluşabilmektedir. Bu araştırma alanlarından elektrik motoru teknolojisinde her ne kadar bahsedilen diğer alanlara göre daha fazla limit tasarım değerlerine ulaşılmış olsa da insansız araçların sahip oldukları karmaşık ve kendine özgü kısıtlar sebebiyle farklı tasarım yaklaşımlarına ihtiyaç duyulmaktadır. Yapılan çalışmada çok yönlü hareket kabiliyetli, düşük sürtünmeli ve yüksek titreşimli bir İKA için özel bir dış rotorlu fırçasız doğru akım motoru (FDAM) tasarlanmıştır. Yapılan tasarımda düşük hız, yüksek moment ve yüksek verimde bir FDAM’u kısıtlı alan ve hacim koşulları göz önünde bulundurularak kolay imal edilebilir bir yapıda geliştirilmiştir. Çalışmada analitik çözümler ANSYS RMxprt, 2 ve 3 boyutlu analizler ise sonlu elemanlar yöntemine (SEY) dayanan ANSYS Maxwell ile yapılmıştır. Elde edilen sonuçlar, başlangıç motivasyonu ile tasarım çıktıları arasındaki uygunluğu göstermiş ve üretilebilir bir elektrik motoru geliştirilmiştir.

Anahtar Kelimeler

• İnsansız kara aracı
• Fırçasız doğru akım motoru
• Sonlu elemanlar yöntemi
• Araç dinamiği
• Mekanum tekerlek
• İtki sistemleri

Kaynakça

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