CN105591520B - Linear electric motors and integrated control chip - Google Patents
Linear electric motors and integrated control chip Download PDFInfo
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- CN105591520B CN105591520B CN201610101242.9A CN201610101242A CN105591520B CN 105591520 B CN105591520 B CN 105591520B CN 201610101242 A CN201610101242 A CN 201610101242A CN 105591520 B CN105591520 B CN 105591520B
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Linear Motors (AREA)
Abstract
The present invention is applied to machine field, provide a kind of linear electric motors, including casing, stator, rotor, support shaft and controlling organization, stator includes some magnetic guiding loops and conductive and non-magnetic some shading rings, and each magnetic guiding loop and the alternately laminated setting of each shading ring, rotor includes support frame and driving coil, and controlling organization includes magnetic conduction arm and control coil.Stator uses the magnetic guiding loop and shading ring being arranged alternately, the volume of stator can be made smaller, and the driving coil of rotor produces the driving magnetic field along support shaft axial direction, when driving coil passes through current impulse, induced-current can be produced in stator, and then produce field drives rotor movement, thus the linear electric motors can realize quick response, and during by larger instant pulse current, can produce larger power, and volume can make it is smaller；The position of rotor can be controlled by the interaction of the magnetic guiding loop of the magnetic force of adjustment control coil and stator in addition, control is more accurate.
Description
Technical field
The invention belongs to machine field, more particularly to a kind of linear electric motors and integrated control chip.
Background technology
Linear electric motors are also referred to as linear electric machine, and its principle is：Linear electric motors are that electric energy is directly changed into linear motion by one kind
Mechanical energy, without the transmission device of any intermediate conversion mechanism.It can regard an electric rotating machine as by radially splitting,
And transform into plane and form.The side developed by stator is referred to as primary, and the side developed by rotor is referred to as secondary.In reality
When border is applied, primary and secondary is manufactured into different length, to ensure in required stroke range between primary and secondary
Coupling keeps constant.Linear electric motors can be short primary long secondary or long primary short secondary.When armature winding is passed through friendship
When flowing power supply, travelling-magnetic-field is just produced in air gap, secondary will induce electromotive force and produce electricity under traveling wave magnetic field intercepts
Stream, the electric current just produce electromagnetic push with the magnetic field phase separation in air gap.If primary is fixed, secondary is done under thrust
Linear motion；Conversely, then primary moves along a straight line.Thus the stator of existing linear electric motors is usually and is spaced to set on long straight guide
The permanent magnet or coil for producing magnetic field are put, the same coil that is arranged at intervals on rotor guide rail forms.But this stator and turn
Minor structure, due to be arranged at intervals multiple coils or permanent magnet, thus volume is larger, is separately limited by volume size, either fixed
Son or rotor, magnetic field intensity caused by its coil or permanent magnet is smaller, causes the volume of linear electric motors big, and power is smaller,
Control is difficult.
The content of the invention
It is an object of the invention to provide a kind of linear electric motors, it is intended to solve existing linear electric motors volume is big, power is small, control
Make the problem of difficult.
The present invention is achieved in that a kind of linear electric motors, including casing, the stator being installed on the casing, slip
The rotor and the support shaft of the support rotor being installed in the stator, the support shaft is installed in the casing, described
Stator includes some magnetic guiding loops for magnetic conduction and non-magnetic some shading rings for conductive, and the magnetic guiding loop with it is described
The alternately laminated setting of shading ring, the rotor include the support frame being installed in the support shaft and for producing driving magnetic field
Driving coil, axial direction of the driving magnetic field along the support shaft, the driving coil is wound on the support frame, institute
Stating linear electric motors also includes being used for the controlling organization for controlling the rotor-position, and the controlling organization includes and the support frame
Connected magnetic conduction arm and the control coil being wound on magnetic conduction arm.
The stator of the linear electric motors of the present invention uses the magnetic guiding loop and shading ring of alternately laminated setting, and shading ring it is conductive and
Not magnetic conduction, then can be smaller by the volume making of stator, and the driving coil of rotor produces the driving magnetic field along support shaft axial direction,
When driving coil passes through current impulse, induced-current caused by meeting in stator, and then produce opposite with above-mentioned driving magnetic field
Magnetic field, to drive rotor movement, thus the linear electric motors can realize quick response；In addition, driving coil pass through it is larger instantaneous
During pulse current, larger power can be produced；And the magnetic conduction arm being connected with support frame is set, and control is wound on magnetic conduction arm
Coil processed, the position of rotor can be controlled by the interaction of the magnetic guiding loop of the magnetic force of control coil and stator, control is more
To be accurate；Because driving coil produces the driving magnetic field along support shaft axial direction, then driving coil direction of winding is around support shaft axle
To, thus the volume of rotor can be made it is smaller, so the volume of the linear electric motors can make it is smaller.
Another object of the present invention is to provide a kind of integrated control chip of linear electric motors as described above, for detecting
The mass M of linear electric motors dragging load as mentionedFApply described linear electric motors directed force F with extraneousW, including control driving
Control circuit, detection module, memory and the processing module of coil, the control circuit include controlling opening for the driving coil
Powered-down road, the electric capacity at the connection on-off circuit both ends and the power supply circuit to electric capacity charging, the detection module measurement
The electric capacity charging voltage and the on-off circuit ON time TonAnd time TonCorresponding velocity variations value Δ Von, it is described
Detection module also measures a period of time T after the on-off circuit is closedoffCorresponding velocity variations value Δ Voff, and by time Ton
And ToffAnd Δ VonWith Δ VoffIt is stored in the memory, the processing module is according to the ON time of the on-off circuit
Ton, the electric capacity charging voltage, obtain driving electromagnetic force FQAnd electromagnetic resistance FZValue, further according to formula (FQ-FW)*Ton=
MF*ΔVonWith (FZ+FW)*Toff=MF*ΔVoffCalculate the mass M of the loadFWith the extraneous application directed force FW。
The integrated control chip of the present invention can go out the mass M of the dragging load of linear electric motors with quick detectionFApplied with the external world
Add the linear electric motors directed force FW, and then the linear electric motors can be better controled over.
Brief description of the drawings
Fig. 1 is a kind of cross section structure diagram for linear electric motors that the embodiment of the present invention one provides；
Fig. 2 is the cross section structure diagram of the line A-A along Fig. 1；
Fig. 3 is the mplifying structure schematic diagram of N section in Fig. 1；
Fig. 4 be Fig. 1 linear electric motors in the magnetic guiding loop of rotor when being displaced to the second magnetic guiding loop side neighbouring on stator
Stress diagram；
Fig. 5 be Fig. 1 linear electric motors in the magnetic guiding loop of rotor when being displaced to the second magnetic guiding loop opposite side neighbouring on stator
Stress diagram；
When Fig. 6 is that Fig. 1 rotor moves in the stator, magnetic guiding loop stress diagram；
Fig. 7 be Fig. 1 linear electric motors between rotor and stator mean forced position schematic diagram；
Fig. 8 is the schematic diagram of the control circuit of the driving coil of Fig. 1 linear electric motors；
Fig. 9 is the control process schematic diagram of the driving coil of Fig. 1 linear electric motors.
Figure 10 is a kind of cross section structure diagram for linear electric motors that the embodiment of the present invention two provides；
Figure 11 is the cross section structure diagram of the G-G lines along Figure 10.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment one：
Refer to Fig. 1-Fig. 9, a kind of linear electric motors 100 provided in an embodiment of the present invention, including casing 11, stator 20, turn
Son 30, support shaft 13 and controlling organization 40；Stator 20 is installed on casing 11.In the present embodiment, stator 20 is installed on casing 11
In, it can support and protect stator 20 by casing 11.Rotor 30 is slidably mounted in stator 20, so that rotor 30 can be
Moved in stator 20, and rotor 30 is arranged in support shaft 13, can support rotor 30 by support shaft 13, and make to turn
Son 30 can move along support shaft 13.Support shaft 13 is arranged in casing 11, so that casing 11 supports support shaft 13.Stator 20
Including some magnetic guiding loops 21 and some shading rings 22, and magnetic guiding loop 21 and 22 alternately laminated setting of shading ring, magnetic guiding loop 21 are used for
Magnetic conduction and conduction, shading ring 22 are used for conduction without magnetic conduction；Along the axial direction of support shaft 13, set 21, one layers of one layer of magnetic guiding loop every
22, one layers from ring magnetic guiding loop, 21, one layers of shading ring 22 are so arranged alternately.Rotor 30 includes support frame 31 and driving coil
32, support frame 31 is installed in support shaft 13, and driving coil 32 is wound on support frame 31, when driving coil 32 is powered
When, driving coil 32 can produce the axial driving magnetic field along support shaft 13, and driving coil 32 is wrapped in into support frame 31
When upper, driving coil 32 is really around support shaft 13.When driving coil 32 passes through current impulse, in stator 20 caused by meeting
Induced-current, and then the magnetic field opposite with above-mentioned driving magnetic field is produced, to drive rotor 30 to move；When current impulse is larger and when
Between it is shorter when, larger driving force can be produced, so as to realize the quick response of rotor 30.Controlling organization 40 is used to coordinate stator
20 control rotor 30 positions, controlling organization 40 include magnetic conduction arm 41 and control coil 42, and magnetic conduction arm 41 is connected with support frame 31,
So as to be moved with rotor 30, control coil 42 is wound on magnetic conduction arm 41, when being powered to control coil 42, can be produced
Magnetic field is controlled, then is oriented to by magnetic conduction arm 41, and then can be interacted with the magnetic guiding loop 21 of stator 20, so as to can not only rise
Used to slowing down, acceleration can also be realized according to stator and rotor relative position, realize accurate regulation, and driving
After coil 32 powers off, magnetic conduction arm 41 can be positioned, and then rotor 30 is positioned, so as to realize the position of control rotor 30
Put.
The stator 20 of linear electric motors 100 uses the magnetic guiding loop 21 and shading ring 22 of alternately laminated setting, and shading ring 22 is led
Electricity can then make the volume of stator 20 smaller without magnetic conduction, and the driving coil 32 of rotor 30 is produced along the axle of support shaft 13
To driving magnetic field, when driving coil 32 passes through current impulse, in stator 20 can caused by induced-current, and then produce with it is upper
The opposite magnetic field of driving magnetic field is stated, to drive rotor 30 to move, thus the linear electric motors 100 can realize quick response；In addition,
When driving coil is by larger instant pulse current, larger power can produced；And set what is be connected with support frame 31
Magnetic conduction arm 41, and control coil 42 is wound on magnetic conduction arm 41, the magnetic conduction of the magnetic force and stator 20 of control coil 42 can be passed through
Ring 21 interacts to control the position of rotor 30, and control is precisely；Due to driving magnetic field edge support caused by driving coil 32
Axle 13 is axial, then the direction of winding of driving coil 32 is axial around support shaft 13, thus can be smaller by the volume making of rotor 30,
So the volume of the linear electric motors 100 can make it is smaller.
Magnetic guiding loop 21 can be the magnetic conductions such as iron hoop, steel loop, silicon steel, electrical pure iron, permalloy, metal nano alloy material
The ring plate that material makes.Shading ring 22 can be the ring plate of the conduction such as copper ring, aluminium ring and the making of non-magnetic material.
Further, driving coil 32 can set at least two groups, when at least two groups of driving coils 32 press the different time
Order is when passing through current impulse, and driving coil 32 can produce straight-line traveling wave magnetic field, and the size and Orientation in straight-line traveling wave magnetic field
It is relevant with the size of current and ON time order of multigroup driving coil 32, due to the row wave speed and stator in straight-line traveling wave magnetic field
20 have slip speed, and induced-current is produced in stator 20, and then produce the magnetic field opposite with above-mentioned straight-line traveling wave magnetic field, with
Driving rotor 30 moves.Certainly, in further embodiments, at least two groups of driving coils 32 can also be made to produce other waveforms
Magnetic field, and then induced-current is produced in stator 20, and opposite magnetic field is produced, to drive rotor 30 to move.
Each group driving coil 32 can use the anaerobic fine copper enamel-covered wire that sectional area is big, resistivity is low to be wound on support frame 31
Upper 1~2 layer.So as to pass through transient high-current.
Further, magnetic conduction arm 41 includes some magnetic conduction sheets 411 and some insulating trips 412, magnetic conduction sheet 411 and insulating trip
412 alternately laminated settings, and along the axial direction of support shaft 13：One layer of 411, one layers of magnetic conduction sheet, 412, one layers of insulating trip magnetic conduction sheet is set
411st, one layer of insulating trip 412 is so arranged alternately.Each insulating trip 412 isolates adjacent two panels magnetic conduction sheet 411.The structure setting is led
Magnetic arm 41 can pass through control magnetic field caused by control coil 42.Further, magnetic conduction sheet 411 can be iron plate, steel disc, silicon
The piece that the permeability magnetic materials such as steel, electrical pure iron, permalloy, metal nano alloy material make.Insulating trip 412 can be plastics
The piece that the insulating materials such as piece, resin sheet make.It is of course also possible to the insulated claddings such as insulated paint are wrapped up on magnetic conduction sheet 411, then will
These magnetic conduction sheets 411 for being surrounded by insulated cladding are superimposed together, and form magnetic conduction arm 41.
Refer to Fig. 3-Fig. 7, further, the thickness sum of adjacent a piece of magnetic conduction sheet 411 and a piece of insulating trip 412 with
Adjacent a piece of magnetic guiding loop 21 is equal with the thickness sum of a piece of shading ring 22.When the thickness of magnetic conduction sheet 411 is D11, insulating trip
412 thickness is D12, the thickness of magnetic guiding loop 21 is D21, the thickness of shading ring 22 is D22, then D11+D12=D21+D22, then when to control
When coil 42 processed is powered, the structure can realize the function of being automatically positioned locking.Specifically, when in magnetic conduction arm 41 by controlling magnetic
, also can be by corresponding magnetic field B, to be interacted with magnetic conduction arm 41 in the magnetic guiding loop 21 of stator 20 during the B of field.Referring to Fig. 4, work as
When the magnetic conduction sheet 411 of magnetic conduction arm 41 is located at the left side of the neighbouring magnetic guiding loop 21 of stator 20, made by the suction F of control magnetic field to the right
With can then move right.Referring to Fig. 5, when the magnetic conduction sheet 411 of magnetic conduction arm 41 is located at the right side of the neighbouring magnetic guiding loop 21 of stator 20
When, used, then can be moved to the left by the suction F of control magnetic field to the left.Fig. 6 and Fig. 7 are referred to, when the magnetic conduction sheet of magnetic conduction arm 41
When the middle part of the 411 middle part magnetic guiding loop 21 neighbouring with stator 20 is alignd, such as with S in Fig. 70、S2、S4During position correspondence, magnetic conduction arm
41 magnetic conduction sheet 411 is minimum by the suction left-right balance or magnetic force F in control magnetic field, now at the magnetic conduction sheet 411 of magnetic conduction arm 41
In stable state.And when being alignd in the middle part of the dead ring neighbouring with stator 20 of the middle part of the magnetic conduction sheet 411 of magnetic conduction arm 41, such as and Fig. 7
Middle S1、S3During position correspondence, the magnetic conduction sheet 411 of magnetic conduction arm 41 by control magnetic field suction also can left-right balance, if but now leading
Magnetic sheet 411 slightly offsets or acted on by external force, then can break the balance, make magnetic conduction arm 41 magnetic conduction sheet 411 be moved to it is neighbouring
The corresponding position of magnetic guiding loop 21.Then when being powered in control coil 42, deceleration can be played, and then rotor 30 is positioned, can be with
Accelerated rotor according to the relative position of stator and rotor, regulation is more accurate.
Fig. 1, Fig. 2 and Fig. 3 are referred to, further, magnetic conduction arm 41 is arranged in pairs, and magnetic conduction arm 41 is at least one pair of, often
To two magnetic conduction arms 41 be respectively arranged on the opposite sides of support shaft 13.Magnetic conduction arm 41 is arranged in pairs, 30 liang of rotor can be made
The stress of side is steady, so that rotor 30 can be moved more smoothly along support shaft 13.In the present embodiment, magnetic conduction arm 41 is two pairs,
I.e. magnetic conduction arm 41 is four, and is uniformly distributed the surrounding of support shaft 13.In other embodiments, magnetic conduction arm 41 can also be other
Logarithm, such as three pairs, four pairs.In further embodiments, magnetic conduction arm 41 can also be in a ring.
Further, stator 20 is cylindrical, and the one end 415 of magnetic conduction arm 41 away from support shaft 13 is in coordinate with stator 20
Circular arc.The one end 415 of magnetic conduction arm 41 away from support shaft 13 is set in circular arc, can be increased and the magnetic guiding loop of stator 20 21
The area of cooperation, improve the magnetic attraction that control coil 42 produces control magnetic field.In other embodiments, stator 20 can also be in ellipse
Circular or stator 20 cross section is in the shape of a frame.
It is possible to further which the gap setting between magnetic conduction arm 41 and stator 20 is smaller, and then magnetic force loss is reduced, improved
Control coil 42 produces the magnetic attraction in control magnetic field.
Further, axle sleeve 12 is installed, and axle sleeve 12 is sleeved in support shaft 13 in casing 11.Set axle sleeve 12 with
Support shaft 13 is supported, support shaft 13 can be preferably reduced and wear.
Further, control magnetic field caused by control coil 42 perpendicular to the axial direction of support shaft 13.Control magnetic field is hung down
Directly in the axial direction of support shaft 13, then magnetic field vertical magnetic drive field is controlled, so as to prevent from controlling between magnetic field and driving magnetic field
Influence each other.
Further, one end on magnetic conduction arm 41 close to support shaft 13 is provided with permanent magnet 45.Close to branch on magnetic conduction arm 41
The one end for supportting axle 13 sets permanent magnet 45, can make have magnetic force on magnetic conduction arm 41 all the time, then, can when rotor 30 stops mobile
To realize automatic locking action.In the present embodiment, permanent magnet 45 is in sleeve-shaped, and magnetic conduction arm 41 is fixed on permanent magnet 45.
Refer to Fig. 1-Fig. 9, when the linear electric motors 100 of the embodiment power off, magnetic field B on magnetic conduction arm 41 in the axial direction by
Permeability magnetic material and the non-magnet_conductible material segmentation of the magnetic circuit part of stator 20 and magnetic conduction arm 41, i.e., by the magnetic guiding loop 21 of stator 20 and lead
The magnetic conduction sheet 411 of magnetic arm 41 is split.When the distance between the permeability magnetic material of stator 20 and magnetic conduction arm 41 is sufficiently small, i.e. stator 20
When the distance between the magnetic conduction sheet 411 of magnetic guiding loop 21 and magnetic conduction arm 41 is sufficiently small, if magnetic guiding loop 21 and neighbouring magnetic conduction sheet 411
Relative axial position offset, magnetic field B is maintained at the minimum position of magnetic resistance by produce that static magnetic force F makes magnetic conduction arm 41
On, this position i.e. Fig. 4 and position shown in dotted lines in Figure 5, the size for deviateing the distance S and magnetic force F of dotted line position are closed
System is as shown in Figure 6.S in Fig. 6 and Fig. 71And S3Although position active force is 0, the position is unstable state, as long as the external world has
A little disturb, S1And S3Position can not keep.And S0、S2、S4These positions are stable state, as long as being applied to the straight-line electric
Applied external force on machine 100 is less than maximum static magnetic force F, and the stator 20 and rotor 30 of linear electric motors 100 will keep this
Relative position, therefore have the function that position is kept automatically after the power-off of linear electric motors 100.
After the control coil 42 of controlling organization 40 is powered, the magnetic field for producing magnetic field and permanent magnet 45 is overlapped mutually, and will be increased
Magnetic field between strong or decrease stator 20 and magnetic conduction arm 41 in whole magnetic circuit.It is superimposed size direction and superposition that magnetic field produces power
The gap length between relative position, the magnetic conduction arm 41 of stator 20 between the size in magnetic field, the rotor 30 of stator 20 is relevant, chooses
The length of the magnetic circuit part of linear electric motors 100, the size in the magnetic field of permanent magnet 45, the number of turn of control coil 42, produce superposition magnetic field
Maximum force be more than the peak load born when linear electric motors 100 work.The active force is used to control the axle of linear electric motors 100
To the position of linear motion and speed.After 100 structure determination of linear electric motors, according to stator 20 and rotor 30 with respect to position when static
Distance, the size of the electric current of control coil 42 for deviateing magnetic resistance minimum position are put, the external world can be obtained is applied to linear electric motors 100 making
Size firmly.Knowable to the structure of the stator 20 of linear electric motors 100 and the magnetic circuit of rotor 30 and magnetic conduction arm 41, the linear electric motors 100
Position accuracy is D21+D22, the no accumulated error of axial location control.And during producing, by adjusting stator 20 and leading
The thickness and shading ring 22 of the magnetic guiding loop 21 of the thickness of the magnetic circuit material of magnetic arm 41, i.e. stator 20 and the magnetic conduction sheet 411 of magnetic conduction arm 41
With the thickness of insulating trip 412, to meet the axial location control accuracy requirement of linear electric motors 100.In order to reach higher control
Performance, the installation clearance requirement between stator 20 and magnetic conduction arm 41 are as far as possible small.And work as stator 20 and magnetic conduction arm 41 and permeability magnetic material
Hour of trying one's best is set with the thickness of non-magnet_conductible material, the precision of the linear electric motors 100 can be made to reach higher precision, or even can
To reach 1 μm of precision, certainly, 1 μm is also wanted for the gap of 1 μm of required precision stator rotor, otherwise gap too greatly, is controlled
Control moment caused by coil processed has almost no change when moving, and causes influence on Harmonic Armature, so the fortune that linear electric motors are actual
Dynamic control accuracy is limited to the gap length between stator and magnetic conduction arm, is limited to the thickness limit of magnetic conduction and non-magnet material in addition
System.
Also referring to Fig. 8 and Fig. 9, the linear electric motors 100 also include the controller of the control electric current of driving coil 32, the control
Control circuit 50 is provided with device processed.Controller is set, the volume of linear electric motors 100 can be reduced, while be also convenient for controlling this straight
Line motor 100.Controller can be arranged in support frame 31.Accommodating cavity 33 can be offered in support frame 31, with installation
The controller.
Further, the integrated control chip for controlling the control circuit 50 is additionally provided with controller.Integrated control core is set
Piece can preferably control the conducting of the electric current of driving coil 32, and then can preferably control the linear electric motors 100.Set integrated
Control chip can go out the applied external force and load quality size suffered by linear electric motors with quick detection.
Driving coil 32 is wound on made of heat conduction not magnetic conduction electrically non-conductive material using the wire that sectional area is big, resistivity is low
On support frame 31.Driving coil 32 can bear larger electric current.Further, control circuit 50 includes connection driving coil
32 on-off circuit and the charging circuit 58 being connected with on-off circuit.The electricity powered to driving coil 32 is provided with the on-off circuit
Hold 55.Use on-off circuit, in that context it may be convenient to the break-make of driving coil 32 is controlled, to control rotor 30 and movement.Further,
In the present embodiment, device for switching can be H-bridge circuit.Fig. 8 and Fig. 9 are referred to, a is the H bridge bridges for controlling driving coil 32 in Fig. 9
The grid voltage of arm 52, b be power caused by driving coil 32 size, c be linear electric motors 100 the 30 axial speed of service of rotor, d
For the size of power caused by control coil 42.Integrated control chip adjusts the charging voltage of electric capacity 55 by charging circuit 58.When
After the charging complete of electric capacity 55, integrated control chip produces the very narrow control pulse of a pulsewidth and is loaded into H-bridge circuit one pair of which
On bridge arm 52, this makes the electric capacity 55 spark the driving coil 32 of rotor 30 when being turned on to bridge arm 52, now driving coil 32
Similar to the primary coil in coilgun；And when driving coil 32 is at least two groups, then driving coil 32 can be formed similar
In the driving coil of asynchronous induction coilgun, transient switching electric current Ic is very big, caused driving magnetic field and close driving coil 32
The outer rim of support frame 31 stator 20 conductive material interaction, produce big electromagnetic force FQDrive 30 axial straight line of rotor fortune
It is dynamic.Control pulse pulsewidth it is very narrow, the conducting bridge arm 52 of H-bridge circuit is closed quickly, now the electric current In in driving coil 32 by
The inversion of another pair bridge arm 52 telegram in reply appearance 55 that is decrescence small and passing through H bridges and power supply, the electric current will produce electromagnetism in opposite direction
Resistance FZHinder the motion of rotor 30.When integrated control chip is with the charging voltage height of certain periodic Control electric capacity 55, each
The turn-on sequence of the group on-off circuit of driving coil 32 and interval time can change the stress size and Orientation of rotor 30.
Because control coil 42 and the direction of winding of driving coil 32 are spatially mutually perpendicular to, magnetic field caused by them is mutual
Influence low.Heat caused by driving coil 32 and control circuit 50 is radiated by the support frame 31 and support shaft 13 of rotor 30.
This control mode of driving coil 32 can provide larger driving force in a short period of time.
Because driving coil 32 controls frequency very high, for control coil 42 due to own inductance, control frequency is relatively low,
The control mode of the linear electric motors 100 is：Mobile speed and position, the electricity of high-frequency control driving coil 32 are needed according to rotor
Flow size and Orientation, when rotor 30 moves very fast, displacement D11+D12When, work caused by control coil 42 and stator 20
Firmly a period of time slows down, and a period of time accelerates, and the effect to rotor 30 is largely offset, at this moment by controlling driving coil 32
The speed of controlled motor and position.When the translational speed of rotor 30 is slower, active force pair caused by control coil 32 and stator 20
The effect of rotor 20 is increasing, when the momentum of rotor 20 is not enough to offset active force production caused by control coil 32 and stator 20
Raw momentum, rotor 30 will be fixed on relevant position.
When the rotor 30 of linear electric motors 100 needs axial linear movement, if setting the quality of the dragging load of linear electric motors 100
For MF, the active force that the external world is applied to linear electric motors 100 is FW, the conduction interval time T of on-off circuiton, now driving coil
32 produce big driving electromagnetic force FQDriving linear electric motors 100 move, then the relation of these parameters is (FQ-FW)*Ton=MF*Δ
Von.The control magnetic field of stator 20 and magnetic conduction arm 41 is adjusted by control coil 42 simultaneously, control magnetic field produces electromagnetic force FKRegulation
The motion of mover, velocity variations value caused by the rotor 30 of linear electric motors 100 are Δ Von.When the movement velocity of linear electric motors 100 is very fast
When, the relative position of the rotor 30 of 100 stator of linear electric motors 20 often by one group of magnetic guiding loop 21 be added with the thickness of shading ring 22 away from
From when, FKDirection occur once to change, therefore FKInfluence to the velocity variations of linear electric motors 100 is largely offset.When switch electricity
After road is closed, the electric current of driving coil 32 starts to reduce and produces electromagnetic resistance FZ, the rotors 30 of linear electric motors 100 keep inertia after
Reforwarding is moved, and it is shut-in time T for a period of time faster to take wherein movement velocityoff, measure velocity variations value Δ Voff, then these
The relation of parameter is (FZ+FW)*Toff=MF*ΔVoff.When the speed of linear electric motors 100 is gradually reduced, the momentum of linear electric motors 100
It is not enough to offset FKInfluence to the speed of linear electric motors 100, now 100 whole directed force F of linear electric motorsK-FW-FZCaused punching
Amount makes linear electric motors 100 keep balance in new position more than the momentum of the rotor of linear electric motors 100.If in whole control process
TonAnd ToffTime is very short, then the frequency of the motion control of 100 driving coil of linear electric motors 32 can be very high, and then can make straight line
The movement velocity of motor 100 is soft smooth.
When linear electric motors work, the mass M of dragging loadF, the external world is applied to the directed force F of linear electric motorsW, the two
Parameter needs detection in real time.The wherein extraneous amount of force for being applied to linear electric motors and direction may all change at each moment
Become, the quality of dragging load may also change moment.The linear electric motors of prior art detect to act on by pressure sensor
The size and Orientation of power, but amount of force and above-mentioned two parameter and the linear electric motors motion detected by this mode
Speed is related to acceleration, thus is difficult to obtain the extraneous directed force F for being applied to linear electric motorsWWith dragging load mass MFThis two
Individual thinning parameter.The control of the linear electric motors of prior art is the control mode of negative-feedback, and linear electric motors are to external world's application first
A certain size active force, linear electric motors position after a period of time, speed and acceleration change, and detects relevant parameter
Data and target component are contrasted, then adjust the size for the active force that linear electric motors apply to the external world.Due to linear electric motors pair
The change of linear electric motors speed and acceleration needs the regular hour after the active force that the external world applies, therefore this control mode control
Frequency processed is low, it is necessary to which the mechanical device such as reductor increases larger torque is applied to straight line to offset dragging load quality and the external world
The continuous change of the active force of motor, increase the volume of whole control system.
After the structure of linear electric motors 100 and control circuit 50 of the present embodiment are fixed, in the control circuit 50 of driving coil 32
The ON time T of the charging voltage of electric capacity 55, on-off circuitonOne timing, caused driving electromagnetic force FQWith electromagnetic resistance FZIt is big
Small and fixed.When linear electric motors 100 move, integrated control chip is charged electricity by electric capacity 55 in acquisition control circuit 50
Pressure and control pulse ON time, it can obtain driving electromagnetic force F when linear electric motors 100 moveQWith electromagnetic resistance FZSize,
Drive electromagnetic force FQWith electromagnetic resistance FZFor known parameters；In conjunction with above-mentioned two equation：(FZ+FW)*Toff=MF*ΔVoff；
(FQ-FW)*Ton=MF*ΔVon；And Toff、ΔVoff、TonWith Δ VonIt can immediately arrive at or direct measurement goes out, be i.e. Toff、Δ
Voff、TonWith Δ VonAlso it is known parameters.So as to according to these associated motion parameter datas, the external world be calculated and be applied to directly
Load mass the two thinning parameters that the size of the active force of line motor 100, direction and linear electric motors 100 drag.Work as straight-line electric
When machine 100 is static, measures stator 20 and rotor 30 deviate distance, the size of the electric current of control coil 42 of magnetic resistance minimum position,
And then the extraneous size for being applied to the active force of linear electric motors 100 is obtained, and this value and linear electric motors 100 are to external world's application
Active force is equal.Because the frequency of the motion control of linear electric motors 100 is very high, can be calculated in a short period of time per secondary control
The external world is applied to the active force of linear electric motors 100 and the size of the dragging load quality of linear electric motors 100, adjusts driving coil in time
32 driving electromagnetic force FQAnd ON time, the F provided additionally, due to control coil 42KStill linear electric motors 100 can be supplied to
Larger torque offsets the quality of extraneous dragging load and the influence of the extraneous active force change for being applied to linear electric motors 100, because
This whole system of linear electric motors 100 can eliminate the mechanical adjustable speed drives such as reductor.This control mode is adapted to the external world
It is applied to the active force of linear electric motors 100 and the dragging load quality of linear electric motors 100 does not stop the situation of change.
Thus a kind of control of linear electric motors is also provided according to the structure of the linear electric motors 100 of the present embodiment, the present embodiment
Method, including step：Driving coil 32 is controlled to pass through pulse current, conduction time T by control circuit 50on, and in TonWhen
In, according to pulse current size, show that driving coil 32 produces big driving electromagnetic force FQWith measure the velocity variations of rotor 30
It is worth Δ Von；And draw equation：(FQ-FW)*Ton=MF*ΔVon；
The movement velocity of rotor 30 is T for a period of time faster after taking pulse power-offoff, show that the electric current of driving coil 32 produces
Electromagnetic resistance FZWith measure the velocity variations value Δ V of respective rotor 30off, and draw equation：(FZ+FW)*Toff=MF*ΔVoff；
Two equatioies calculate out the mass M of the dragging load of linear electric motors 100 more thanF, the external world is applied to linear electric motors
100 directed force FW；
According to the mass M of the load of detectionFAnd directed force FW, the pulse current size and time that adjust driving coil 32 are come
Control speed and the position of the linear electric motors.Above-mentioned time ToffIt can be configured according to the precision of detection device, such as set
For tens nanoseconds or a few microseconds etc..
Further, the control circuit 50 of driving coil 32 includes on-off circuit, connected in the control method of the linear electric motors
Connect the electric capacity 55 and power supply circuit 57 at on-off circuit both ends.The then above-mentioned movement velocity of rotor 30 faster one after taking pulse power-off
The section time is Toff, can be configured according to the precision of detection device, such as be arranged to tens nanoseconds or a few microseconds.This
In embodiment, on-off circuit can be H-bridge circuit.
A kind of integrated control chip is also disclosed in the present embodiment, for detecting the quality of linear electric motors dragging load as mentioned
MFApply described linear electric motors directed force F with extraneousW, including the control circuit of control driving coil, detection module, memory
And processing module, the control circuit include controlling the on-off circuit of the driving coil, connect the on-off circuit both ends
Electric capacity and the power supply circuit to electric capacity charging, the detection module measure the electric capacity charging voltage and the on-off circuit
ON time TonAnd time TonCorresponding velocity variations value Δ Von, the detection module also measures the on-off circuit and closes
A period of time T afterwardsoffCorresponding velocity variations value Δ Voff, and by time TonAnd ToffAnd Δ VonWith Δ VoffIt is stored in described
In memory, the processing module is according to the ON time T of the on-off circuiton, the electric capacity charging voltage, driven
Electromagnetic force FQAnd electromagnetic resistance FZValue, further according to formula (FQ-FW)*Ton=MF*ΔVonWith (FZ+FW)*Toff=MF*ΔVoffMeter
Calculate the mass M of the loadFWith the extraneous application directed force FW。
Further, integrated control chip can be connected with outer computer or server, pass through computer or server
To control integrated control chip, and then control linear electric motors 100.
Further, on-off circuit can be H-bridge circuit, preferably to control the ON time of driving coil 32 and electric current
Direction, and then can preferably control rotor 30 and shift position and direction.
Further, temperature detecting module is additionally provided with the integrated control chip, when being run with detection of straight lines motor 100
Temperature, so that the integrated control chip preferably detects to drive electromagnetic force FQAnd electromagnetic resistance FZ, and then make to detect described
The mass M of loadFWith the extraneous application directed force FWIt is more accurate.
Further, the integrated control chip use is when on the linear electric motors 100, it is possible to achieve above-mentioned control method,
Accurately to control the linear electric motors 100.
It is possible to further polish or electroplate the inner surface of the inner surface of magnetic guiding loop 21 and shading ring 22, make magnetic guiding loop 21
The inner surface of inner surface and shading ring 22 cooperatively form grating ruler, accommodating cavity 33 is offered in support frame 31, is housed
The Grating examinations device for coordinating grating ruler detection rotor 30 shift position is provided with chamber 33.By the inner surface of magnetic guiding loop 21 with every
From ring 22 inner surface as grating ruler, it is simple in construction, and reduce detecting system volume, and Grating examinations device can be with
Detect the position of grating ruler, and then the accurate position for controlling rotor 30.Specifically, the magnetic guiding loop 21 of stator 20 is chosen
The light reflection parameters of inner surface and the inner surface of shading ring 22, Grating examinations device sends light to grating ruler, by lens
Focus on, a part projected in grating ruler, the light being reflected back after the indication grating and lens focus of Grating examinations device,
Received again by optoelectronic position detection circuit, high score is carried out to the axially opposing displacement between stator 20 and rotor 30 and the direction of motion
Resolution detects in real time.Another part light projection to represent absolute location information coding position on, the light being reflected back is also by light
Electric position detection circuit receives and parses through out absolute location information.Integrated control chip or controller can according to above-mentioned detection data
To obtain the kinematic parameters such as the position of rotor 30, speed, acceleration in real time.Further, can collect in integrated control chip
Circuit is detected into optoelectronic position, and only the lens of Grating examinations device are arranged separately in support frame 31.
Grating examinations device can also be connected with controller or integrated control chip, can be set in integrated control chip
Optoelectronic position detects circuit, so as to be transported by integrated control chip to detect the position of rotor 30, speed, acceleration etc. in real time
Dynamic parameter.In other embodiments, the inner surface and shading ring 22 of magnetic guiding loop 21 can also in the inner surface pad pasting of stator 20, be made
Inner surface cooperatively form grating ruler.
Further, the linear electric motors 100 of the present embodiment can use above-mentioned integrated control chip.
Embodiment two：
Refer to Figure 10 and Figure 11, the linear electric motors 100 of the present embodiment and being distinguished as the linear electric motors of embodiment one：Respectively
Some first double wedges 23 are inwardly convexly equipped with magnetic guiding loop 21, these first double wedges 23 are evenly distributed on each magnetic guiding loop 21；Magnetic conduction
The one end 415 of arm 41 away from support shaft 13 is convexly equipped with some second double wedges 416；Along the radial direction of stator 20：Adjacent two first double wedge
23 spacing is equal with the spacing of adjacent two second double wedge 416.First double wedge 23 is set on each magnetic guiding loop 21, in magnetic conduction arm 41
The second double wedge 416 of upper setting, the function of stepper motor can be formed, by between the first double wedge 23 and the second neighbouring double wedge 416
Suction, can be with the radial position of adjust automatically rotor 30.The linear electric motors 100 can not only realize linear motion, also
The rotational motion of stepper motor can be realized.
Further, the position on each shading ring 22 corresponding to the first double wedge 23 is also convexly equipped with isolation tooth.Isolation tooth is set
The intensity of the first double wedge 23 can be increased.
In addition, the controlling organization 40 of the linear electric motors 100 of the present embodiment includes three pairs of magnetic conduction arms 41.
The other structures of the linear electric motors 100 of the present embodiment are identical with the other structures of the linear electric motors of embodiment one,
This is no longer burdensome.
Intelligent machine refers to that computer can be with the device of control machinery relative position by controlling bus.In general, intelligence
It mechanical can also require that small volume, multiaxis multi-joint multiple degrees of freedom, motor imagination speed are fast, bearing load is big and load variations
It hurry up, the control accuracy requirement of locus height.Intelligent machine include various bionic mechanicals, Digit Control Machine Tool, automatic production line with
And mankind's manual labor can be substituted or complete the device of difference in functionality, such as manipulator, operating robot, service robot etc.
Deng.Because the function that intelligent machine needs is complicated, so the freedom of motion needed is more.And the linear electric motors 100 of the present invention can
To accomplish miniaturization, by driving coil 32 by big pulse current, larger magnetic field is produced, it is bigger so as to provide
Power, thus multiple linear electric motors 100 can be installed so that freedom of motion is more under same volume.In addition, the straight line
Motor 100 can go out the change of load with quick detection, to realize quick response and control.And relative to existing linear electric motors
With AC/DC motor free degree control system, linear electric motors of the invention can remove the use of reductor.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of linear electric motors, including casing, the stator being installed on the casing, the rotor that is slidably mounted in the stator
With the support shaft for supporting the rotor, the support shaft is installed in the casing, it is characterised in that the stator includes being used for
Some magnetic guiding loops of magnetic conduction and non-magnetic some shading rings for conductive, and the magnetic guiding loop and the shading ring alternating layer
Folded to set, the rotor includes the support frame being installed in the support shaft and the driving coil for producing driving magnetic field,
Axial direction of the driving magnetic field along the support shaft, the driving coil are wound on the support frame, the linear electric motors
Also include being used for the controlling organization for controlling the rotor-position, the controlling organization includes the magnetic conduction being connected with the support frame
Arm and the control coil being wound on magnetic conduction arm.
2. linear electric motors as claimed in claim 1, it is characterised in that the magnetic conduction arm includes the axial layer along the support shaft
The folded some magnetic conduction sheets set and some insulating trips for isolating magnetic conduction sheet described in adjacent two panels.
3. linear electric motors as claimed in claim 2, it is characterised in that on the magnetic conduction arm the adjacent a piece of magnetic conduction sheet with
The thickness of the thickness sum of a piece of insulating trip a piece of magnetic guiding loop adjacent with the stator and a piece of shading ring
It is equal to spend sum.
4. the linear electric motors as described in claim any one of 1-3, it is characterised in that the magnetic conduction arm is arranged in pairs, and described
Magnetic conduction arm is at least one pair of, and two magnetic conduction arms of each pair are respectively arranged on the opposite sides of the support shaft.
5. the linear electric motors as described in claim any one of 1-3, it is characterised in that the stator is cylindrical, the magnetic conduction
The one end of arm away from the support shaft is in the circular arc coordinated with the stator.
6. linear electric motors as claimed in claim 5, it is characterised in that each magnetic guiding loop is inwardly uniformly convexly equipped with some first
Double wedge, the described one end of magnetic conduction arm away from the support shaft are convexly equipped with some second double wedges；Along the radial direction of the stator：Adjacent two
The spacing of first double wedge is equal with the spacing of adjacent two second double wedges.
7. the linear electric motors as described in claim any one of 1-3, it is characterised in that close to the support shaft on the magnetic conduction arm
One end be provided with permanent magnet.
8. the linear electric motors as described in claim any one of 1-3, it is characterised in that also include controlling the driving coil electric current
Controller, the controller is installed on the support frame.
9. the linear electric motors as described in claim any one of 1-3, it is characterised in that the inner surface of the magnetic guiding loop with it is described every
Inner surface from ring cooperatively forms grating ruler, and accommodating cavity is offered in the support frame, is provided with and coordinates in the accommodating cavity
The grating ruler detects the Grating examinations device of the rotor movement position.
10. a kind of integrated control chip of linear electric motors as described in claim any one of 1-9, straight as mentioned for detecting
The mass M of line motor drag loadFApply described linear electric motors directed force F with extraneousW, it is characterised in that driven including control
Control circuit, detection module, memory and the processing module of coil, the control circuit include controlling opening for the driving coil
Powered-down road, the electric capacity at the connection on-off circuit both ends and the power supply circuit to electric capacity charging, the detection module measurement
The electric capacity charging voltage and the on-off circuit ON time TonAnd time TonCorresponding velocity variations value Δ Von, it is described
Detection module also measures a period of time T after the on-off circuit is closedoffCorresponding velocity variations value Δ Voff, and by time Ton
And ToffAnd Δ VonWith Δ VoffIt is stored in the memory, the processing module is according to the ON time of the on-off circuit
Ton, the electric capacity charging voltage, obtain driving electromagnetic force FQAnd electromagnetic resistance FZValue, further according to formula (FQ-FW)*Ton=
MF*ΔVonWith (FZ+FW)*Toff=MF*ΔVoffCalculate the mass M of the loadFWith the extraneous application directed force FW。
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| CN113765327A (en) * | 2020-07-06 | 2021-12-07 | 北京沃东天骏信息技术有限公司 | Electromagnetic power device |
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| CN101431262A (en) * | 2007-11-09 | 2009-05-13 | 杨泰和 | Electric machine with conduction winding excitation magnetic pole clamping permanent magnetic pole |
| CN205509831U (en) * | 2016-02-24 | 2016-08-24 | 刘华 | Linear motor |
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| JPH07222414A (en) * | 1994-01-31 | 1995-08-18 | Oriental Motor Co Ltd | Linear rotary combination pulse motor |
| JP2005224037A (en) * | 2004-02-06 | 2005-08-18 | Matsushita Electric Ind Co Ltd | Linear brushless motor |
| JP5158534B2 (en) * | 2006-02-03 | 2013-03-06 | 日本パルスモーター株式会社 | Compound drive motor |
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| CN101431262A (en) * | 2007-11-09 | 2009-05-13 | 杨泰和 | Electric machine with conduction winding excitation magnetic pole clamping permanent magnetic pole |
| CN205509831U (en) * | 2016-02-24 | 2016-08-24 | 刘华 | Linear motor |
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