CN107017754A - The fault-tolerant straight line vernier motor of cylindrical permanent - Google Patents

Abstract

The invention discloses a cylindrical permanent magnet fault-tolerant linear vernier motor, which comprises a primary (1), a secondary (2), an armature winding (3), a permanent magnet array (4), and an air gap (5); The gap (5) is arranged between the primary (1) and the secondary (2); the primary (1) comprises three unit modules (11) of the same structure type and arranged equidistantly, and the unit modules (11) consist of It consists of two adjacent armature teeth A (12) and B (13), and there is a slot between the adjacent armature teeth A (12) and B (13), and the cake winding (3) is embedded in the slot; The magnet array (4) is embedded in the tooth end of the primary (1) unit module (11). The combination of the cylindrical motor and the vernier effect makes the motor have greater thrust density and higher efficiency. At the same time, the adoption of the primary modular complementary structure improves the fault tolerance performance of the motor and eliminates the longitudinal edge effect of the cylindrical linear motor. the adverse effects brought about.

Description

Cylindrical Permanent Magnet Fault Tolerant Linear Vernier Motor

technical field

The invention relates to a cylindrical permanent magnet linear motor, in particular to a cylindrical permanent magnet fault-tolerant linear vernier motor, which is suitable for applications requiring high thrust and high reliability such as automobile suspension systems, and belongs to the technical field of new motor manufacturing.

Background technique

In recent years, the ride comfort and handling stability of vehicles have attracted more and more attention. Suspension, as a shock-absorbing and stabilizing component on a vehicle, is extremely important for improving ride comfort and handling stability, so the research and development of vehicle suspension has become a frontier topic.

From the perspective of control force, suspension can be divided into three basic types: passive suspension, semi-active suspension and active suspension. Passive suspension has great limitations in coordinating the ride comfort and handling stability of vehicles, so in recent years people have carried out research on semi-active and active suspensions. Compared with semi-active suspensions, active suspensions have Higher running performance is more favored by current scientific researchers, and has been gradually applied to high-end passenger models of certain automobile brands.

In previous related studies, various motor topologies that may be used for vehicle active suspension have been proposed. Among the possible topological structures, the cylindrical permanent magnet linear motor has no end winding due to its special structure, low copper consumption and no lateral edge effect, which meets the comprehensive requirements of vehicle active suspension. However, the cylindrical permanent magnet linear motor inevitably has some disadvantages, such as low reliability and low thrust, which limit its wide application in occasions requiring high thrust and high reliability.

China Invention Patent Application No. 201510662900.7 discloses an embedded hybrid magnetic material fault-tolerant cylindrical linear motor. The effective combination of the concentrated winding method and the embedded permanent magnet placement method and the introduction of fault-tolerant teeth not only increase the thrust density and The power density also improves the reliability of the motor of the invention. Chinese Invention Patent Application No. 201610590925.5 discloses an electromagnetic suspension fault-tolerant permanent magnet vernier cylinder motor. The motor of this invention increases the thrust density of the motor and reduces thrust pulsation by effectively combining the vernier motor and the double stator structure. However, the adoption of the double stator structure virtually increases the complexity of the motor structure and increases the design and production costs. In the above inventions, fault-tolerant teeth are introduced into the armature iron core to realize phase-to-phase electrical isolation, thermal isolation, and magnetic circuit decoupling, thereby achieving good fault-tolerant performance. However, the introduction of fault-tolerant teeth sacrifices the thrust density and power density of the motor to a certain extent.

Contents of the invention

The object of the present invention is to propose a cylindrical permanent magnet fault-tolerant linear vernier motor for the shortcomings of the existing cylindrical permanent magnet linear motor. Combining the barrel motor and the vernier effect results in a motor with greater thrust density and higher efficiency. The adoption of modular complementary structure realizes phase-to-phase electrical isolation, thermal isolation and magnetic circuit decoupling, achieves good fault-tolerant performance, and eliminates the adverse effects of cylindrical linear motors caused by longitudinal edge effects , a more sinusoidal and symmetrical counter electromotive force is obtained, and the positioning forces of each unit module cancel each other out, reducing the positioning force and thrust pulsation of the motor. At the same time, the permanent magnets are in the form of an array, which reduces the amount of permanent magnets, reduces the cost of the motor and alleviates the serious problem of magnetic flux leakage at the end of the armature teeth, thereby increasing the counter electromotive force in the winding and improving the thrust output characteristics of the motor.

Specifically, the present invention is realized by adopting the following technical solutions: the air gap (5) is arranged between the primary (1) and the secondary (2); The unit module (11) arranged at a distance, the unit module (11) is composed of two adjacent armature teeth A (12), B (13), and the two adjacent armature teeth A (12), B (13) The tooth pitch satisfies (j+1/2)τ, j is a positive integer, and τ is the secondary pole pitch. The tooth bodies of the two are parallel teeth, which extend vertically to the primary (1) yoke respectively, and the primary (1) The yokes are connected to form a whole, and the distance between adjacent unit modules (11) satisfies (k+1/s)τ, k=0, 1, 2,..., τ is the secondary pole distance, and s is the number of unit modules There are slots between the adjacent armature teeth A (12) and B (13), and pie-shaped windings (3) are embedded in the slots; virtual slots are opened at the tooth ends of the unit module (11), and permanent magnets are embedded in the slots An array (4); the secondary (2) has trapezoidal grooves to form several modulation poles (21), which have the effect of modulating the magnetic field, and the yoke thickness of the secondary (2) should be greater than the yoke thickness of the primary (1).

The further improvement of the present invention is that: the unit modules (11) correspond to each phase of the armature winding (3), and s unit modules (11) form an s-phase motor.

The further improvement of the present invention is that: the armature tooth end of the unit module (11) has 6*s virtual slots in total, and each armature tooth end has 3 virtual slots respectively, and permanent slots are embedded in the virtual slots. The magnet array (4), the permanent magnet array (4) is composed of a first-type permanent magnet (41) located in the middle that is radially magnetized in the direction of the air gap and two pieces located on both sides that are radially magnetized in the direction of the middle The first type of permanent magnet is composed of the second type of permanent magnet (42) which is axially magnetized, and the axial width of the first type of permanent magnet (41) is equal to the axial width of the virtual tooth (14) at the end of the armature tooth and is greater than the axial width of the second type of permanent magnet (41). The axial width of the second type of permanent magnet (42).

The further improvement of the present invention lies in: the number s of unit modules, the effective length S ₁ of unit modules, the secondary pole pitch τ and the number N of secondary effective teeth satisfy: τN=sS ₁ .

The further improvement of the present invention is: the pole pair number of the magnetic field distribution that permanent magnet array (4) produces and the pole pair number sum of the armature magnetic field distribution that armature winding (3) produces is equal to secondary (2) and opens trapezoidal groove to form The number of effective modulation poles (21) is satisfied regardless of the overall structure of the motor or the structure of an independent unit module.

The further improvement of the present invention is that: the spatial phase difference between primary adjacent unit modules is 120° electrical angle, so the positioning force waveforms of each unit module are 120° electrical angle different from each other.

The further improvement of the present invention is that: the primary (1) and secondary (2) parts are made of magnetically permeable materials, and the permanent magnet array (4) can be selected from NdFeB with high magnetic energy product or cheap ferrite according to actual needs permanent magnet material.

Beneficial effect:

1. The primary modular complementary structure in the present invention realizes phase-to-phase electrical isolation, thermal isolation, and magnetic circuit decoupling, achieving good fault-tolerant performance, and at the same time eliminating the longitudinal edge effect of the cylindrical linear motor As a result of the adverse effect, a more sinusoidally symmetrical back EMF is obtained.

2. The spatial phase difference of primary adjacent unit modules in the present invention is 120° electrical angle, so the positioning force waveforms of each unit module are 120° electrical angle different from each other, which can cancel each other, thereby reducing the positioning force and thrust pulsation of the motor.

3. The permanent magnets in the present invention are in the form of an array, which reduces the amount of permanent magnets and reduces the cost of the motor. At the same time, its magnetic gathering effect alleviates the serious problem of magnetic flux leakage at the end of the teeth and increases the effective magnetic density of the magnetic circuit. , thus improving the thrust output characteristics of the motor.

4. The armature winding in the present invention is in the shape of a round pie, without end windings, and the copper consumption is low.

5. The combination of the cylindrical motor and the vernier effect in the present invention makes the motor have greater thrust density and higher efficiency.

Description of drawings

Fig. 1 is a schematic structural diagram of a motor according to an embodiment of the present invention.

FIG. 2 is an enlarged schematic diagram of the structure of the permanent magnet array in FIG. 1 .

Fig. 3 is a magnetic field distribution diagram when the permanent magnet of the motor works alone according to the embodiment of the present invention.

Fig. 4 is the waveform diagram of the three-phase electromotive force of the motor of the embodiment of the present invention

Fig. 5 is a waveform diagram of the positioning force of the motor according to the embodiment of the present invention.

Fig. 6 is a thrust waveform diagram of the motor according to the embodiment of the present invention.

Label names in the figure: 1, primary, 11, unit module, 12, armature tooth A, 13, armature tooth B, 14, virtual tooth, 2, secondary, 21, modulation pole, 3, armature winding, 31 , A-phase armature winding A, 32, B-phase armature winding B, 33, C-phase armature winding C, 4, permanent magnet array, 41, the first type of permanent magnet, 42, the second type of permanent magnet, 5, air gap.

detailed description

The structural features and beneficial effects of the motor of the present invention will be described in detail below using a specific three-phase motor with reference to the accompanying drawings.

As shown in Figure 1, the present invention discloses a cylindrical permanent magnet fault-tolerant linear vernier motor, the air gap (5) is arranged between the primary (1) and the secondary (2); the primary (1) includes three identical A unit module (11) of the structure type and arranged equidistantly, the unit module (11) is composed of two adjacent armature teeth A (12), B (13), and the adjacent two armature teeth A (12), The tooth pitch of B(13) satisfies 7τ/2, and τ is the secondary pole pitch. The tooth bodies of the two are parallel teeth, which extend vertically to the primary (1) yoke respectively, and are connected with the primary (1) yoke to form a whole , the spacing between adjacent unit modules (11) satisfies τ/3, τ is the secondary pole pitch, there are slots between adjacent armature teeth A (12) and B (13), and pie-shaped windings are embedded in the slots (3), A-phase armature winding A (31), C-phase armature winding C (33) and B-phase armature winding B (32) are embedded in the slots shown from left to right; the unit module ( 11) The tooth end is opened with virtual slots, and permanent magnet arrays (4) are embedded in the virtual slots; the secondary (2) has trapezoidal slots to form several modulation poles (21), which have the effect of modulating the magnetic field, and the secondary (2) The yoke thickness of the primary (1) should be greater than that of the primary (1).

In order to clearly set forth the specific embodiment of the present invention, the present invention will be described below in conjunction with the three-phase motor among the accompanying drawings, it can be seen that the armature tooth end of the unit module (11) has 18 virtual slots altogether, each Three virtual slots are respectively opened on the armature teeth, and permanent magnet arrays (4) are embedded in the virtual slots, and the permanent magnet arrays (4) are composed of a first-type permanent magnet ( 41) and the second type of permanent magnets (42) that are located on both sides and are axially magnetized by the first type of permanent magnets pointing to the middle. The specific magnetization direction is shown in the arrow in Figure 2. The first type of permanent magnet The axial length of the magnet (41) is equal to the axial length of the imaginary tooth (14) at the end of the armature tooth and is greater than the axial length of the second type of permanent magnet (42); the pole of the magnetic field distribution produced by the permanent magnet array (4) The sum of the logarithm and the pole logarithm of the armature magnetic field distribution generated by the armature winding (3) is equal to the number of effective modulation poles (21) formed by opening trapezoidal slots in the secondary (2), and no matter for the overall structure of the motor or an independent unit The module structure is satisfied. For the overall structure of the motor, the number of pole pairs of the magnetic field distribution generated by the permanent magnet array (4) is 18, the number of pole pairs of the armature magnetic field distribution generated by the armature winding (3) is 3, and the secondary (2) is formed by trapezoidal slots. The number of effective modulation poles (21) is 21, which satisfies the modulation relationship in the vernier motor. For an independent unit module structure, the number of pole pairs of the magnetic field distribution generated by the permanent magnet array (4) is 6, and the number of pole pairs generated by the armature winding (3) The number of pole pairs of the armature magnetic field distribution is 1, and the number of effective modulation poles (21) formed by opening trapezoidal slots in the secondary (2) is 7, which also satisfies the modulation relationship in the vernier motor.

Fig. 3 is the magnetic field distribution figure when the permanent magnet of the motor of the embodiment of the present invention acts alone, can find out from the figure that the magnetic lines of force produced by the permanent magnet array on each unit module only pass through the armature teeth of the unit module where it is located, illustrating the relationship between each phase They do not affect each other, so the primary modular structure can effectively realize phase-to-phase electrical isolation, thermal isolation, and magnetic circuit decoupling to achieve good fault-tolerant performance.

Fig. 4 is the waveform diagram of the three-phase electromotive force of the motor of the embodiment of the present invention. It can be seen from the figure that the sinusoidal symmetry of the three-phase electromotive force of the motor of the embodiment of the present invention shows that the primary modular complementary structure effectively eliminates the longitudinal Adverse effects brought about by edge effects.

Fig. 5 is the positioning force waveform diagram of the motor of the embodiment of the present invention, as can be seen from the figure, the positioning force waveforms produced when each unit module acts alone are basically the same, but there is a slight difference in peak value due to the longitudinal edge ends of the unit modules on both sides The effect is greater than the longitudinal edge effect of the middle unit module, and there is a certain electrical angle difference in phase. Therefore, the positioning forces between the unit modules cancel each other out and greatly reduce the positioning force of the final overall structure of the motor.

Fig. 6 is the thrust wave diagram of the motor in the embodiment of the present invention when the electric load is 183A/cm. It can be seen from the figure that the thrust of the motor is larger and the thrust pulsation is smaller, so the output characteristics of the motor are improved.

In summary, the cylindrical permanent magnet fault-tolerant linear vernier motor in the present invention has a circular pie-shaped armature winding without end windings, low copper consumption, and the combination of the cylindrical motor and the vernier effect makes the motor have a larger Thrust density and higher efficiency. The adoption of modular complementary structure realizes phase-to-phase electrical isolation, thermal isolation and magnetic circuit decoupling, achieves good fault-tolerant performance, and eliminates the adverse effects of cylindrical linear motors caused by longitudinal edge effects , a more sinusoidal and symmetrical counter electromotive force is obtained, and the positioning forces of each unit module cancel each other out, reducing the positioning force and thrust pulsation of the motor. At the same time, the permanent magnets are in the form of an array, which reduces the amount of permanent magnets, reduces the cost of the motor and alleviates the serious problem of magnetic flux leakage at the end of the armature teeth, thereby increasing the counter electromotive force in the winding and improving the thrust output characteristics of the motor.

In the description of this specification, references to the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific examples," or "some examples" are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (7)

1. the fault-tolerant straight line vernier motor of cylindrical permanent, it is characterised in that：It is primary (1) and secondary including primary (1), secondary (2) (2) air gap (5) is provided between；

Unit module (11) of the primary (1) comprising three identical structure types and equidistant arrangement, unit module (11) is by phase Two armature tooth A (12) of neighbour, armature B (13) compositions, two neighboring armature tooth A (12), armature B (13) tooth pitch meet (j+ 1/2) τ, j are positive integer, and τ is secondary pole span, and the tooth of the two is respectively perpendicular as parallel teeth and extends to primary (1) yoke portion, and first Level (1) yoke portion is connected, and forms overall, and the spacing between neighboring unit module (11) meets (k+1/s) τ, k=0,1, and 2 ..., τ is Secondary pole span, s is unit module number, and adjacent armature tooth A (12), armature B is provided with groove between (13), and groove is embedded in pie winding (3)；The increment of unit module (11) opens embedded permanent magnet array (4) in empty groove, empty groove；The secondary (2) is opened dovetail groove and formed Several Wehnelt electrodes (21), the effect with modulation magnetic field, the yoke thickness of secondary (2) should be greater than the yoke thickness of primary (1).

2. the fault-tolerant straight line vernier motor of cylindrical permanent according to claim 1, it is characterised in that：Unit module (11) with Corresponded per phase armature winding (3), s unit module (11) constitutes s phase motors.

3. the fault-tolerant straight line vernier motor of cylindrical permanent according to claim 1, it is characterised in that：The unit module (11) armature tooth ends are provided with 6*s empty groove altogether, and each armature tooth ends are respectively provided with embedded permanent magnet in 3 empty grooves, empty groove Array (4), permanent magnet array (4) is by positioned at the middle one piece first kind permanent magnet (41) by sensing air gap direction radial magnetizing With positioned at two pieces of both sides by Equations of The Second Kind permanent magnet (42) group for pointing to the first kind permanent magnet axial charging that intermediate radial magnetizes Into the axial width of first kind permanent magnet (41) is equal to the axial width of the empty tooth (14) of armature tooth ends and more than Equations of The Second Kind permanent magnetism The axial width of body (42).

4. the fault-tolerant straight line vernier motor of cylindrical permanent according to claim 1, it is characterised in that：Unit module number s, list Element module effective length S₁, secondary pole span τ and secondary effectively tooth number N, meet：τ N=sS₁。

5. the fault-tolerant straight line vernier motor of cylindrical permanent according to claim 1, it is characterised in that：Permanent magnet array (4) The number of pole-pairs sum for the armature field distribution that the number of pole-pairs of the Distribution of Magnetic Field of generation is produced with armature winding (3) is equal to secondary (2) The number that dovetail groove forms effective Wehnelt electrode (21) is opened, and no matter for motor overall structure or independent unit module structure All meet.

6. the fault-tolerant straight line vernier motor of cylindrical permanent according to claim 1, it is characterised in that：Primary (1) adjacent list 120 ° of electrical angles of space phase mutual deviation between element module, 120 ° of electrical angles of detent force waveform mutual deviation of each unit module.

7. the fault-tolerant straight line vernier motor of cylindrical permanent according to claim 1, it is characterised in that：It is primary (1) and secondary (2) partly it is made up of permeability magnetic material, rubidium iron boron or cheap ferrite permanent-magnet material of the permanent magnet array (4) from high energy product Material.