CN103401331A - Disc type multi-magnetic pole permanent magnet motor for multi-rotor unmanned aerial vehicle - Google Patents
Disc type multi-magnetic pole permanent magnet motor for multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN103401331A CN103401331A CN2013103107044A CN201310310704A CN103401331A CN 103401331 A CN103401331 A CN 103401331A CN 2013103107044 A CN2013103107044 A CN 2013103107044A CN 201310310704 A CN201310310704 A CN 201310310704A CN 103401331 A CN103401331 A CN 103401331A
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Abstract
多旋翼无人飞行器用盘型多磁极永磁电动机，属于电动机和无人飞行器动力装置领域，解决了齿槽电机齿槽效应和定位力矩大、气隙磁场波形不平滑均匀的问题，包括上轴承盖，与上轴承盖间隙配合的转子轭；以N、S极或N、N、S、S极间隔粘接在转子轭内壁上的多个永磁体；与转子轭过盈配合或一体化加工的下轴承盖；安装在下轴承盖上的支撑轴；过盈配合安装在支撑轴上的上下轴承，上下轴承盖压紧上下轴承外圈，支撑轴的两个台阶顶住上下轴承内圈；与支撑轴一体化加工或分体机械式连接的定子轭；安装在定子轭上的定子铁芯；缠在定子齿上的绕组，定子齿与永磁体之间存在不等距气隙。本发明工作效率高，气隙波形接近正弦波，绕组电流密度小。
The disc-type multi-pole permanent magnet motor for multi-rotor unmanned aerial vehicle belongs to the field of electric motor and unmanned aerial vehicle power device, which solves the problems of cogging motor cogging and large positioning torque, and the waveform of the air gap magnetic field is not smooth and uniform, including the upper bearing Cover, the rotor yoke with a gap fit with the upper bearing cover; multiple permanent magnets bonded to the inner wall of the rotor yoke at intervals of N, S poles or N, N, S, S poles; interference fit or integrated processing with the rotor yoke The lower bearing cover; the support shaft installed on the lower bearing cover; the upper and lower bearings installed on the support shaft with an interference fit, the upper and lower bearing covers press the upper and lower bearing outer rings, and the two steps of the support shaft withstand the upper and lower bearing inner rings; and Stator yoke with integrated processing of support shaft or split mechanical connection; stator core installed on stator yoke; windings wound on stator teeth, there are unequal air gaps between stator teeth and permanent magnets. The invention has high working efficiency, the air gap waveform is close to a sine wave, and the winding current density is small.
Description
Technical field
The present invention relates to motor and unmanned vehicle field of power equipment technology, be specifically related to many magnetic poles of dish-type permanent magnet motor for a kind of many rotor unmanned aircrafts.
Background technology
At present the power set of small-sized many rotor unmanned aircrafts (UAV) are main mainly with the motor driven screw, as German Microdrone company, U.S. Draganfly company, domestic Xaircraft series of products.
Many rotor unmanned aircrafts make its acceleration and deceleration variation frequently by the terminal voltage of regulating motor, drive rotor to produce required lift and moment of torsion, complete the variation of attitude of flight vehicle.At present, many rotor unmanned aircrafts adopt the tooth slot structure motor with motor more, slot effect and the location torque of this motor are larger, cause the corresponding increase of no-load current and operating current, electric efficiency descends, aircraft reduces cruising time, in addition, tooth slot structure motor gas-gap field waveform unsmooth and inhomogeneous, there is the fluctuation of speed while making the motor steady operation, shake appears when larger fluctuation of speed meeting causes aircraft to hover, the aircraft control frequency strengthens, the problems such as energy loss increase, in addition, due to the restriction of many rotor unmanned aircrafts with motor mass and volume, the winding of motor is often under the mode of operation in high current density, have a strong impact on the useful life of motor.Therefore, in the urgent need to developing a kind of permanent magnet motor with ideal form of sinusoidal wave air gap waveform.
Summary of the invention
In order to solve the slot effect that existing tooth slot structure motor exists and location torque is large, the unsmooth and inhomogeneous problem of air-gap field waveform, the invention provides a kind of high efficiency, the air gap waveform approaches sinusoidal wave, that winding current density is little many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts.
The present invention is that the technical scheme that adopts of technical solution problem is as follows:
Many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts comprises:
Upper ball cover;
With the described upper ball cover rotor yoke fixing by matched in clearance;
Be bonded in the permanent magnet on described rotor yoke inwall, a plurality of permanent magnets with N, the S utmost point or N, N, S, S interpolar every setting;
With described rotor yoke, by interference fit, fix or the lower ball cover of integrated machine-shaping;
Be arranged on the back shaft in described lower ball cover central through hole;
All by interference fit, be arranged on upper bearing (metal) and the lower bearing on described back shaft, described upper ball cover compresses the upper bearing (metal) outer ring by circular ring structure and the elastic washer at its inboard center, described lower ball cover compresses the lower bearing outer ring by the circular ring structure at its inboard center, and two steps of described back shaft withstand respectively upper bearing (metal) inner ring and lower bearing inner ring;
Be connected the stator yoke of processing by integrated machine-shaping or split mechanical type with described back shaft;
Between described permanent magnet and stator yoke and be arranged on the stator core on stator yoke;
Be wrapped in the winding on the stator tooth of described stator core, have equidistant air gap between the stator tooth of described stator core and permanent magnet.
Described upper ball cover and lower ball cover are bent spoke formula structure, bending direction is contrary with direction of rotation, be provided with inwardly protruded step on the inside edge circumference of described upper ball cover and lower ball cover, the step of described upper ball cover contacts with lower surface with the upper surface of described permanent magnet respectively with the step of described lower ball cover.
Described upper ball cover and lower ball cover all adopt aluminium alloy, magnesium alloy, titanium alloy, carbon fiber, highstrenghtpiston, stainless steel or mild steel to make.
Described rotor yoke adopts permeability magnetic material to make.
The side of one group of opposition on described permanent magnet is arc surface, the side of another group opposition is plane, the intersection of plane and arc surface all has Fillet Feature, the arc radius of the arc surface bondd with rotor yoke on described permanent magnet equals the interior radius of circle of rotor yoke, and described permanent magnet adopts neodymium iron boron or Ferrite Material to make.
Described upper bearing (metal) and lower bearing are deep groove ball bearing or angular contact ball bearing.
The spoke type structure that described stator yoke is I-beam, described stator yoke and back shaft all adopt aluminium alloy, titanium alloy or magnesium alloy to make.
Described permanent magnet meets air gap maximal clearance δ in the face of the arc radius of the arc surface of air gap
2with air gap minimum clearance δ
1ratio range is 1.4～2.2.
Described stator core is circular face in the face of the periphery of air gap, and described stator core external diameter and stator core axial length ratio range are 6～13, and the ratio of the rotor magnetic pole number of the described stator core number of teeth and this permanent magnet motor is 3: 4.
This permanent magnet motor is 70～500 rev/mins/volt for low KV value motor, KV value scope, and the rotor magnetic pole number of this permanent magnet motor is 1,2,4 or 6 with the ratio of stator magnet number of poles.
Beneficial effect of the present invention is as follows:
1, the present invention, by the structural design of permanent magnet and stator core, makes permanent magnet motor have not equidistant air gap, can produce the air gap flux density of near sinusoidal ripple, reduces its slot effect and location torque, improves the motor operating efficiency;
2, the ratio of the rotor magnetic pole number of permanent magnet motor of the present invention and the stator core number of teeth is 4:3, and winding coefficient is 0.866, and first-harmonic cogging torque coefficient is 72, can reduce its cogging torque and torque ripple, improves the motor operating efficiency;
3, the number of magnetic poles of permanent magnet motor of the present invention and the number of teeth increase, and can reduce its location torque and electromagnetic noise, improve the motor operating efficiency;
4, the upper ball cover in the present invention, lower ball cover are the bent spoke structures, can effectively guide rotor wake, increase the air flow property of permanent magnet motor, improve radiating effect, aircraft motor for being under large current working mode, can extend its useful life;
5, the stator core external diameter in the present invention and stator core axial length ratio are between 6～13, the KV value of permanent magnet motor is between 70～500 rev/mins/volt, permanent magnet motor unit volume output torque is large, operating current reduces, therefore the current density of permanent magnet motor winding is little, extends its useful life.
The accompanying drawing explanation
Fig. 1 is the perspective view of many rotor unmanned aircrafts of the present invention with many magnetic poles of dish-type permanent magnet motor;
Fig. 2 be many rotor unmanned aircrafts of the present invention with many magnetic poles of dish-type permanent magnet motor along diametric profile;
The structural representation that Fig. 3 is lower ball cover;
Fig. 4 is the annexation schematic diagram between back shaft, stator core, stator yoke;
Fig. 5 is the not schematic diagram of equidistant air gap formed between the stator tooth on permanent magnet and stator core.
In figure: 1, upper ball cover, 2, lower ball cover, 3, rotor yoke, 4, permanent magnet, 5, back shaft, 6, stator core, 61, stator tooth, 7, stator yoke, 8, upper bearing (metal), 9, lower bearing, 10, winding, 11, elastic washer.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 2, many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts of the present invention, mainly by upper ball cover 1, lower ball cover 2, rotor yoke 3, permanent magnet 4, back shaft 5, stator core 6, stator yoke 7, upper bearing (metal) 8, lower bearing 9, winding 10 and elastic washer 11 form, and this permanent magnet motor magnetic structure is: the not equidistant air gap of the rotor yoke 3-permanent magnet 4--not equidistant air gap of stator core 6--permanent magnet 4-rotor yoke 3.
As shown in figures 1 and 3, upper ball cover 1 is bent spoke formula structure with lower ball cover 2, bending direction is contrary with direction of rotation, the spoke number is determined according to the overall dimensions of permanent magnet motor, be at least four, be provided with inwardly protruded step on the inside edge circumference of upper ball cover 1 and lower ball cover 2, step on upper ball cover 1 contacts with permanent magnet 4 upper surfaces, the step of lower ball cover 2 contacts with permanent magnet 4 lower surfaces, step is for the axial location of permanent magnet 4, be provided with inwardly protruded circular ring structure on the inboard intermediate circumference of upper ball cover 1 and lower ball cover 2, circular ring structure on upper ball cover 1 is used for fixedly upper bearing (metal) 8, circular ring structure on lower ball cover 2 is used for fixedly lower bearing 9, the center of lower ball cover 2 is with through hole, upper ball cover 1 and lower ball cover 2 all adopt aluminium alloy, magnesium alloy, titanium alloy, carbon fiber, the highstrenghtpiston, the material such as stainless steel or mild steel is made.
As shown in Figure 1, upper ball cover 1 and rotor yoke 3 adopt interference fits that gap values are less and by side uniform screw-driving fix, adopt 6 or 8 sunk screws fixedly upper ball cover 1 and rotor yoke 3 in present embodiment, in order to be conducive to the installation of upper ball cover 1 and rotor yoke 3, need to leave certain gap value when design and installation between the two, the grade of tolerance that the scope of gap value can be stipulated by interference fits is determined.
As shown in Figure 2, lower ball cover 2 adopts two kinds of different materials interference fit to install or adopt the integrated machine-shaping of commaterial with rotor yoke 3, when lower ball cover 2 adopts two kinds of different materials interference fit to install with rotor yoke 3, lower ball cover 2 adopts aluminium alloy, magnesium alloy or titanium alloy etc.; When lower ball cover 2 adopts the integrated machine-shaping of commaterial with rotor yoke 3, lower ball cover 2 adopts stainless steel or mild steel etc.
As shown in Figure 2, upper ball cover 1 compresses upper bearing (metal) 8 outer rings by the circular ring structure on it and elastic washer 11, lower ball cover 2 compresses lower bearing 9 outer rings by the circular ring structure on it, upper bearing (metal) 8 and lower bearing 9 are respectively deep groove ball bearing or angular contact ball bearing, deep groove ball bearing has certain axial force, can reduce motor mass, angular contact ball bearing has certain axial force and radial load, be applicable to driving the rotor that produces larger lift, the number of upper bearing (metal) 8 and lower bearing 9 is respectively one and gets final product.
As shown in Figure 2 and Figure 4, back shaft 5 is the column type structure, the thin-wall circular cylinder of center with diameter through hole is arranged in back shaft 5 upper ends, the external side of thin wall cylindrical is provided with up and down two rank of organizing a performance, upper bearing (metal) 8 and lower bearing 9 all are installed on back shaft 5 by interference fit, upper bearing (metal) 8 and lower bearing 9 inner rings are withstood respectively in two rank of organizing a performance up and down of back shaft 5, the heavy wall cylinder of center with the minor diameter through hole is arranged in back shaft 5 lower ends, the heavy wall cylinder is arranged in the central through hole of lower ball cover 2, on the heavy wall cylinder, be provided with for permanent magnet motor being arranged on to carry-on installing hole.
As shown in Figure 4, the spoke type structure that stator yoke 7 is I-beam, the spoke number is determined according to the size of back shaft 5, be at least three, guarantee to alleviate the permanent magnet motor quality on the structural strength basis, stator yoke 7 adopts small-sized integrated machine-shaping or adopts large-scale split mechanical type to be connected processing with back shaft 5, the latter more is conducive to alleviate quality, stator yoke 7 and back shaft 5 all adopt aluminium alloy, the material such as titanium alloy or magnesium alloy is made, when both adopt small-sized integrated machine-shaping, stator yoke 7 adopts identical material to make with back shaft 5, when adopting large-scale split mechanical type to connect, both add man-hour, stator yoke 7 and back shaft 5 can adopt identical or different materials to make.
As shown in Figure 2, stator core 6 is between permanent magnet 4 and stator yoke 7, and be arranged on stator yoke 7, winding 10 is wrapped on the stator tooth 61 of stator core 6, adopt four strands and around star canoe or triangle canoe, can improve copper factor and operating efficiency, as shown in Figure 5, there is air gap between the stator tooth 61 of stator core 6 and permanent magnet 4, air gap is not equidistant at circumferencial direction, face air gap with corresponding another arc surface of arc surface bondd with rotor yoke 3 on permanent magnet 4, when the geometric center lines of permanent magnet 4 overlaps with the geometric center lines of stator tooth 61, permanent magnet 4 meets air gap maximal clearance δ in the face of the arc radius of the arc surface of air gap
2with air gap minimum clearance δ
1ratio range is 1.4～2.2, as shown in Figure 5, and air gap maximal clearance δ
2with air gap minimum clearance δ
1refer to respectively in the overlapping curved surface faced one another in the face of the circular face of the arc surface of air gap and stator tooth 61 at permanent magnet 4, along geometric center lines direction two curved surface ultimate range AB and minimum range CD, stator core 6 is circular face in the face of the periphery of air gap, stator core 6 external diameters and stator core 6 axial length ratio ranges are 6～13, the ratio of rotor magnetic pole number and stator core 6 numbers of teeth is 4:3, preferably, the rotor magnetic pole number is 48 utmost points and stator core 6 numbers of teeth are 36 teeth, preferably, the rotor magnetic pole number is 72 utmost points and stator core 6 numbers of teeth are 54 teeth, stator core 6 adopts the 0.35mm silicon steel sheet stack to be pressed into 36 teeth or adopts the 0.2mm silicon steel sheet to be wound in 54 teeth.
Many rotor unmanned aircrafts of the present invention are low KV value motor with many magnetic poles of dish-type permanent magnet motor, and KV value scope is 70～500 rev/mins/volt, and the rotor magnetic pole number is integer with the ratio of stator magnet number of poles, is 1,2,4 or 6.
The number of the permanent magnet 4 in present embodiment during according to the ratio of rotor magnetic pole number and stator core 6 numbers of teeth and design the performance requirement of permanent magnet motor determine.
Claims (10)
1. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts, is characterized in that, comprising:
Upper ball cover (1);
With described upper ball cover (1) rotor yoke (3) fixing by matched in clearance;
Be bonded in the permanent magnet (4) on described rotor yoke (3) inwall, a plurality of permanent magnets (4) with N, the S utmost point or N, N, S, S interpolar every setting;
With described rotor yoke (3), by interference fit, fix or the lower ball cover (2) of integrated machine-shaping;
Be arranged on the back shaft (5) in described lower ball cover (2) central through hole;
All by interference fit, be arranged on upper bearing (metal) (8) and the lower bearing (9) on described back shaft (5), described upper ball cover (1) compresses upper bearing (metal) (8) outer ring by circular ring structure and the elastic washer (11) at its inboard center, described lower ball cover (2) compresses lower bearing (9) outer ring by the circular ring structure at its inboard center, and two steps of described back shaft (5) withstand respectively upper bearing (metal) (8) inner ring and lower bearing (9) inner ring;
Be connected the stator yoke (7) of processing by integrated machine-shaping or split mechanical type with described back shaft (5);
Be positioned between described permanent magnet (4) and stator yoke (7) and be arranged on the stator core (6) on stator yoke (7);
Be wrapped in the winding (10) on the stator tooth (61) of described stator core (6), have equidistant air gap between the stator tooth (61) of described stator core (6) and permanent magnet (4).
2. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts according to claim 1, it is characterized in that, described upper ball cover (1) and lower ball cover (2) are bent spoke formula structure, bending direction is contrary with direction of rotation, be provided with inwardly protruded step on the inside edge circumference of described upper ball cover (1) and lower ball cover (2), the step of the step of described upper ball cover (1) and described lower ball cover (2) contacts with lower surface with the upper surface of described permanent magnet (4) respectively.
3. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts according to claim 1, it is characterized in that, described upper ball cover (1) and lower ball cover (2) all adopt aluminium alloy, magnesium alloy, titanium alloy, carbon fiber, highstrenghtpiston, stainless steel or mild steel to make.
4. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts according to claim 1, is characterized in that, described rotor yoke (3) adopts permeability magnetic material to make.
5. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts according to claim 1, it is characterized in that, the side of one group of opposition on described permanent magnet (4) is arc surface, the side of another group opposition is plane, the intersection of plane and arc surface all has Fillet Feature, the arc radius of the upper arc surface with rotor yoke (3) bonding of described permanent magnet (4) equals the interior radius of circle of rotor yoke (3), and described permanent magnet (4) employing neodymium iron boron or Ferrite Material are made.
6. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts according to claim 1, is characterized in that, described upper bearing (metal) (8) and lower bearing (9) are deep groove ball bearing or angular contact ball bearing.
7. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts according to claim 1, it is characterized in that, the spoke type structure that described stator yoke (7) is I-beam, described stator yoke (7) and back shaft (5) all adopt aluminium alloy, titanium alloy or magnesium alloy to make.
8. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts according to claim 1, is characterized in that, described permanent magnet (4) meets air gap maximal clearance δ in the face of the arc radius of the arc surface of air gap
2with air gap minimum clearance δ
1ratio range is 1.4～2.2.
9. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts according to claim 1, it is characterized in that, described stator core (6) is circular face in the face of the periphery of air gap, described stator core (6) external diameter and stator core (6) axial length ratio range are 6～13, and the ratio of the rotor magnetic pole number of described stator core (6) number of teeth and this permanent magnet motor is 3: 4.
10. many magnetic poles of dish-type permanent magnet motor for many rotor unmanned aircrafts according to claim 1, it is characterized in that, this permanent magnet motor is 70～500 rev/mins/volt for low KV value motor, KV value scope, and the rotor magnetic pole number of this permanent magnet motor is 1,2,4 or 6 with the ratio of stator magnet number of poles.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310310704.4A CN103401331B (en) | 2013-07-23 | 2013-07-23 | Disc type multi-magnetic pole permanent magnet motor for multi-rotor unmanned aerial vehicle |
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|---|---|---|---|
| CN201310310704.4A CN103401331B (en) | 2013-07-23 | 2013-07-23 | Disc type multi-magnetic pole permanent magnet motor for multi-rotor unmanned aerial vehicle |
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| CN103401331B CN103401331B (en) | 2015-06-10 |
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| CN105305750A (en) * | 2015-10-13 | 2016-02-03 | 何春旺 | Motor and rotor power device, aircraft |
| WO2017120702A1 (en) * | 2016-01-12 | 2017-07-20 | 张大鹏 | Permanent-magnet three-phase alternating-current power generator with low static torque and low speed |
| CN107317409A (en) * | 2017-07-06 | 2017-11-03 | 青岛迈安德航空科技有限公司 | Unmanned plane disc type electric machine |
| CN107508442A (en) * | 2017-08-21 | 2017-12-22 | 滁州万际航空器产业研究院有限公司 | A kind of high-magnetic-density outer-rotor permanent magnet motor for unmanned plane |
| CN109462309A (en) * | 2018-10-30 | 2019-03-12 | 中国船舶重工集团公司第七0七研究所 | The miniature hysteresis synchronous motor of aircraft inertia platform |
| CN109586538A (en) * | 2018-12-06 | 2019-04-05 | 上海航天控制技术研究所 | A kind of autonomous controllable high-precision height response electromechanical servo component |
| CN112242783A (en) * | 2019-07-19 | 2021-01-19 | 博世（宁波）轻型电动车电机有限公司 | Wheel hub motor, wheel hub and electric motor car |
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| CN112242783A (en) * | 2019-07-19 | 2021-01-19 | 博世（宁波）轻型电动车电机有限公司 | Wheel hub motor, wheel hub and electric motor car |
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