CN101795050A - Superconductive high dynamic direct drive electric actuator - Google Patents

Abstract

The utility model relates to a superconducting high dynamic direct drive electric actuator, which belongs to the technical field of motors. The invention solves the problems of complex structure, low control frequency response, poor dynamic characteristics and unsuitability for high-power steering gear system in the existing actuator. The invention consists of primary, secondary and air gap, the primary ring coil is fixed in the cylindrical shielding shell, multiple ring coils are connected in series or parallel to form single-phase or multi-phase primary winding; the secondary superconducting magnetic ring is fixed in In the annular space formed by the cylindrical airtight cooler and the support shaft, two shielding end plates are fixed at both ends of the cylindrical airtight cooler, and the cylindrical airtight cooler is filled with a low-temperature cooling medium. The secondary superconducting magnetic ring is realized by superconducting magnetic blocks or superconducting coils, and the cryogenic cooling medium is liquid nitrogen, helium or neon. The invention does not need a deceleration mechanism, and uses superconductor excitation to generate a strong magnetic field, which improves the thrust density of the actuator and can be widely used in steering gear servo systems.

Description

Superconducting High Dynamic Direct Drive Electric Actuator

technical field

The invention relates to a superconducting high dynamic direct drive electric actuator, which belongs to the field of motors.

Background technique

The steering gear (actuator) system is an indispensable key component of the missile flight control system, and the performance of the steering gear directly affects the maneuverability of the missile. According to different power sources, commonly used steering gear systems can be divided into pneumatic steering gear, hydraulic steering gear and electric steering gear. Compared with pneumatic and hydraulic steering gear, electric steering gear (EMA) has the characteristics of simple structure, easy processing and assembly, convenient line laying, manufacturing maintenance and modification, etc., and it is easy to realize redundancy control and high reliability. Guided missiles and other advanced aircraft have been used more and more widely, and have become one of the important research topics of air forces of various countries. One of the main components of the electric steering gear is the servo motor + reducer. Because the AC servo motor has the advantages of small size, light weight, small time constant, and good load characteristics, it is gradually used in the electric steering gear system.

However, the current electric steering gear system still has the following problems: compared with the hydraulic steering gear system, the frequency response of position control is low and the dynamic characteristics are poor, especially for high-power systems. the

Contents of the invention

In order to solve the problems of complex structure, low control frequency response, poor dynamic characteristics and unsuitability for high-power steering gear system of existing actuators, the present invention proposes a superconducting high dynamic direct drive electric actuator.

A superconducting high dynamic direct drive electric actuator consists of a primary, a secondary and an air gap, the primary is cylindrical, the secondary is cylindrical, the secondary is located in the cylindrical primary, and is the same as the primary There is a uniform air gap between the primary and the secondary; the primary includes a shielding shell and multiple ring coils, the shielding shell is cylindrical, and multiple ring coils are fixed in the shielding shell in sequence along the axial direction. Two toroidal coils are connected in series or in parallel to form a single-phase or multi-phase primary winding; the secondary includes a cylindrical airtight cooler, a support shaft, two shielded end plates and n superconducting magnetic rings, and the cylindrical airtight cooler is fixed Outside the support shaft, there is an annular space between the cylindrical airtight cooler and the outer surface of the support shaft, and n superconducting magnetic rings are arranged axially and fixed on the support shaft in the annular space , the superconducting magnetic ring is magnetized axially or radially, and the direction of magnetization of every two adjacent superconducting magnetic rings along the axial direction is opposite, and the two shielding end plates are circular with a central axis hole plate, the two shielding end plates are sleeved on the support shaft, and fixed at both ends of the cylindrical airtight cooler, n is a natural number.

The secondary superconducting magnetic ring in the present invention can be realized by superconducting magnetic blocks, and can also be realized by superconducting coils. When the superconducting magnetic rings are realized by superconducting magnetic block materials, an annular polymagnetic yoke can also be arranged between adjacent superconducting magnetic rings.

The shielding case, the shielding end plate and the annular poly-magnetic yoke in the present invention can all be made of high magnetic permeability materials.

The cryogenic cooling medium in the present invention can be liquid nitrogen, helium or neon.

The actuator of the invention adopts superconductor excitation to generate a strong magnetic field, which greatly improves the thrust density of the actuator. The working principle of the actuator in the present invention is similar to the synchronous linear motor, which makes the control flexible. The steering gear servo system composed of the actuator does not need a deceleration mechanism and can directly drive the load. It has large output power, good dynamic characteristics, linear High precision, wide frequency band, small size, light weight and so on.

The actuator of the present invention can be applied in the steering gear servo system.

Description of drawings

Fig. 1 is a schematic structural view of the superconducting high dynamic direct drive electric actuator described in the eighth specific embodiment. Fig. 2 is a schematic structural diagram of the superconducting high dynamic direct drive electric actuator described in the ninth specific embodiment. Fig. 3 is a schematic structural view of the superconducting high dynamic direct drive electric actuator described in Embodiment 7.

Detailed ways

Specific implementation mode 1: A superconducting high dynamic direct drive electric actuator described in this implementation mode is composed of a primary, a secondary and an air gap, the primary is cylindrical, the secondary is cylindrical, and the secondary is located in the cylinder In the shape of the primary, and coaxial with the primary, there is a uniform air gap between the primary and the secondary; the primary includes a shielding shell 1 and a plurality of loop coils 2, the shielding shell 1 is cylindrical, more A plurality of annular coils 2 are fixed in the shielding case 1 sequentially along the axial direction, and a plurality of annular coils 2 are connected in series or in parallel to form a single-phase or multi-phase primary winding; the secondary includes a cylindrical airtight cooler 5, a support shaft 9, two Shielding the end plate 8 and n superconducting magnetic rings 6, the cylindrical airtight cooler 5 is fixed outside the support shaft 9, and there is a ring between the cylindrical airtight cooler 5 and the outer surface of the support shaft 9 shaped space, n superconducting magnetic rings 6 are arranged axially and fixed on the support shaft 9 in the annular space, the superconducting magnetic rings 6 are magnetized axially or radially, and The magnetization directions of every two adjacent superconducting magnetic rings 6 are opposite, and the two shielding end plates 8 are circular plates with central shaft holes, and the two shielding end plates 8 are both sleeved on the support shaft 9, and Be fixed on the two ends of cylindrical airtight cooler 5. Said n is a natural number.

The actuator described in this embodiment adopts the working principle of a synchronous linear motor, and a cylindrical airtight cooler 5 for after-cooling is provided on the outer surface of the secondary.

The control method of the actuator described in this embodiment is the same as that of the synchronous linear motor, with flexible control and rapid response.

Embodiment 2: The difference between this embodiment and the superconducting high dynamic direct drive electric actuator described in Embodiment 1 is that the primary also includes a coil fixing frame, and the coil fixing frame is fixed on the shielding case 1 inner surface, the coil is fixed in the coil holder.

In this embodiment, a coil fixing frame for fixing the coil is added, which is more helpful for fixing the primary coil.

The coil fixing frame described in this embodiment can adopt the following structure (see Figure 1-3): it is composed of a fixed cylinder 3 and a plurality of annular partitions 4, and the plurality of annular partitions 4 are arranged along the axial direction Evenly distributed, and the outer peripheral surface of each annular partition 4 is fixed on the inner surface of the shielding shell 1, the inner peripheral surface of each annular partition 4 is fixedly connected with the outer surface of the fixed cylinder 3, each The coil is fixed in the annular space formed by two adjacent annular partitions 4 , the shielding shell 1 and the fixed cylinder 3 .

Embodiment 3: The difference between this embodiment and the superconducting high dynamic direct drive electric actuator described in Embodiment 1 is that the cylindrical airtight cooler 5 is filled with a low-temperature cooling medium.

The cryogenic cooling medium described in this embodiment can be liquid nitrogen, helium or neon.

Embodiment 4: The difference between this embodiment and the superconducting high dynamic direct drive electric actuator described in Embodiment 1 is that the secondary also includes a magnetic ring holder 7, and the n annular superconducting magnetic rings 6 is fixed on the support shaft 9 through the magnetic ring fixing frame 7.

The magnetic ring fixing frame 7 described in this embodiment is cylindrical, and the cylindrical magnetic ring fixing frame 7 is set on the outside of n annular superconducting magnetic rings 6 .

Embodiment 5: The difference between this embodiment and the superconducting high dynamic direct drive electric actuator described in Embodiment 1 is that the shielding shell 1 and the shielding end plate 8 are made of high magnetic permeability materials.

Embodiment 6: The difference between the embodiment and the superconducting high dynamic direct drive electric actuator described in Embodiment 1 is that the actuator is a dynamic primary structure.

Embodiment 7: The difference between the embodiment and the superconducting high dynamic direct drive electric actuator described in any of the embodiments 1 to 6 is that the superconducting magnetic ring 6 is a ring-shaped superconducting coil, and n rings The winding direction of the superconducting coil 11 is opposite, and n ring-shaped superconducting coils are sequentially connected in series.

Referring to Fig. 3, it shows a schematic structural view of the electric actuator described in this embodiment. In this embodiment, an annular superconducting coil 11 is used to realize a superconducting magnetic ring 6, that is, a superconducting material is used to wind a coil, and through Applying a current in the coil causes the coil to generate a magnetic field. In this embodiment, the intensity of the secondary generated magnetic field can be adjusted by controlling the current in the annular superconducting coil 11 .

Embodiment 8: The difference between the embodiment and the superconducting high dynamic direct drive electric actuator described in any of the embodiments 1 to 6 is that each superconducting magnetic ring 6 is composed of several superconducting magnet blocks .

Referring to FIG. 1 , it shows a schematic structural diagram of the electric actuator described in this embodiment. In this embodiment, a superconducting magnet block is used to realize the superconducting magnetic ring 6 .

Specific embodiment nine: The difference between the embodiment and the superconducting high dynamic direct drive electric actuator described in the eighth specific embodiment is that the secondary side also includes n+1 annular poly-magnetic yokes 10, and the n+ One annular poly yoke 10 is arranged alternately with n annular superconducting magnetic rings 6 .

Referring to Fig. 2, in this embodiment, a ring-shaped polymagnetic yoke 10 is added between adjacent superconducting magnetic rings 6, and the usage of superconducting bulk materials is reduced under the premise of ensuring the magnetic field strength.

The annular polymagnetic yoke 10 in this embodiment can be made of high magnetic permeability material.

The structure of the actuator described in the present invention is not limited to the structures described in the above-mentioned specific embodiments, but may also be a technical solution obtained by a reasonable combination of the technical features described in the above-mentioned embodiments. the

Claims (10)

1. a superconductive high dynamic direct drive electric actuator is characterized in that it is made of elementary, secondary and air gap, and elementary is cylindrical shape, secondary is cylindrical, secondaryly being positioned at columnar elementaryly, and with described elementary coaxial, is uniform air gap between elementary and secondary; Elementary shield shell (1) and a plurality of loop coil (2) of comprising, described shield shell (1) is a cylindrical shape, a plurality of loop coils (2) are fixed in the shield shell (1) vertically successively, and a plurality of loop coils (2) serial or parallel connection is formed single-phase or heterogeneous elementary winding; The secondary airtight cooler of cylindrical shape (5) that comprises, back shaft (9), two shield end plate (8) and n superconductive magnet ring (6), the airtight cooler of described cylindrical shape (5) is fixed on outside the back shaft (9), and between airtight cooler of described cylindrical shape (5) and back shaft (9) outer surface is annular space, n superconductive magnet ring (6) arranged on the back shaft (9) that is fixed in the described annular space vertically, described superconductive magnet ring (6) is axial charging or radial magnetizing, the magnetizing direction of every adjacent two superconductive magnet ring (6) is opposite vertically, two shielding end plates (8) are for having the circular slab of central shaft hole, described two shielding end plates (8) all are enclosed within on the back shaft (9), and being fixed on the two ends of the airtight cooler of cylindrical shape (5), n is a natural number.

2. superconductive high dynamic direct drive electric actuator according to claim 1 is characterized in that the described elementary coil stationary frame that also comprises, described coil stationary frame is fixed on shield shell (1) inner surface, and coil stationary is in described coil stationary frame.

3. superconductive high dynamic direct drive electric actuator according to claim 2, it is characterized in that described coil stationary frame is made up of stationary cylinder (3) and a plurality of toroidal membrane (4), described a plurality of toroidal membrane (4) evenly distributes vertically, and the external peripheral surface of each toroidal membrane (4) all is fixed on the inner surface of shield shell (1), the inner circumferential surface of described each toroidal membrane (4) is fixedlyed connected with the outer surface of stationary cylinder (3), and each coil stationary is at adjacent two toroidal membranes (4) and shield shell (1), in the annular space that stationary cylinder (3) is formed.

4. superconductive high dynamic direct drive electric actuator according to claim 1 is characterized in that being filled with the sub-cooled medium in the airtight cooler of described cylindrical shape (5).

5. superconductive high dynamic direct drive electric actuator according to claim 1 is characterized in that the secondary magnet ring fixed mount (7) that also comprises, described n annular superconductive magnet ring (6) is fixed on the back shaft (9) by magnet ring fixed mount (7).

6. superconductive high dynamic direct drive electric actuator according to claim 1 is characterized in that shield shell (1) and shielding end plate (8) adopt high permeability material to make.

7. superconductive high dynamic direct drive electric actuator according to claim 1 is characterized in that this actuator is moving primary structure.

8. according to the described superconductive high dynamic direct drive electric actuator of any one claim of claim 1 to 7, it is characterized in that described superconductive magnet ring (6) is annular superconducting coil, every adjacent two annular superconducting coils (11) around to being contrary, n annular superconducting coil (11) is connected in series successively.

9. according to the described superconductive high dynamic direct drive electric actuator of any one claim of claim 1 to 7, it is characterized in that each superconductive magnet ring (6) is made up of several superconducting magnet bulks.

10. superconductive high dynamic direct drive electric actuator according to claim 9 is characterized in that secondaryly comprising that also n+1 annular gathers yoke (10), poly-yoke (10) of a described n+1 annular and the alternate setting of n superconductive magnet ring (6).

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