CN111490657B - Bidirectional electromechanical converter - Google Patents
Bidirectional electromechanical converter Download PDFInfo
- Publication number
- CN111490657B CN111490657B CN201910071837.8A CN201910071837A CN111490657B CN 111490657 B CN111490657 B CN 111490657B CN 201910071837 A CN201910071837 A CN 201910071837A CN 111490657 B CN111490657 B CN 111490657B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
The bidirectional electromechanical converter is characterized in that a rotor and an output shaft are arranged in a stator; stator magnetic poles are uniformly distributed on the circumference of the stator yoke ring; a control coil is arranged between the first stator yoke and the second stator yoke; a magnetic isolation block is arranged between the second stator yoke and the third stator yoke, and a permanent magnet is arranged between the second stator yoke and the third stator yoke to form bias magnetic flux; the rotor is uniformly distributed with rotor magnetic poles along the circumferential direction, a radial air gap is formed between the rotor magnetic poles and the stator magnetic poles, and an axial air gap is formed between the side surfaces of the rotor magnetic poles and the stator magnetic poles; the end faces of the stator magnetic poles of the first stator yoke and the second stator yoke comprise tooth faces and rectangular faces, and the rectangular faces are positioned at one end of the tooth faces and form an axial air gap with the side faces of the rotor magnetic poles; the rectangular surfaces of the rotor magnetic poles of the first stator yoke are opposite to those of the second stator yoke, so that the axial air gaps are symmetrically distributed on two sides of the rotor magnetic poles; the stator teeth of the second stator yoke are offset from the rotor teeth by an angle opposite to that of the first stator yoke.
Description
Technical Field
The present invention relates to an electromechanical converter.
Background
The rotary valve is a reversing valve which changes the relative positions of a valve core and a valve sleeve by utilizing rotary motion to change the flow path in the rotary valve and finally realizes the opening and closing of the flow path or reversing of the flow path. The rotary valve may be driven manually, mechanically, or directly by an electric motor, a motor, and a rotary electromagnet to achieve precise servo/proportional control. Compared with slide valve or cone valve, the rotary valve has the advantages of high reliability, simple structure, high working frequency, strong oil liquid pollution resistance and the like, and can be widely applied to hydraulic systems with high-speed switch, high-speed excitation and high-speed steering, and particularly when the number of throttling grooves of the valve core and the valve sleeve is more, the single-stage rotary valve can obtain rated flow larger than that of the multi-stage slide valve. However, in existing electro-hydraulic servo/proportional control systems, rotary valves are far less widely used than spool valves. The reason is that the processing of the throttling groove/window of the rotary valve is more complex, and the proportion control characteristic of the rotary electromagnet used for driving the rotary valve is more difficult than that of the direct-acting proportion electromagnet, and the magnetic circuit is divided into two paths of axial and radial at the magnetism isolating ring during excitation by adopting a magnetism isolating ring structure, so that the horizontal stroke-thrust characteristic required by proportion control can be obtained after synthesis, although the welding of the magnetic conduction sleeve is more complicated, the problem is not solved for mass automatic production, and the rotary electromagnet usually needs to carry out special optimization design on the shapes of the stator teeth and the rotor teeth to obtain the flatter moment-rotation angle characteristic, so that the practical application is greatly limited.
In order to popularize and apply the rotary valve in the electrohydraulic servo/proportional system, a great deal of research is made on optimization of the magnetic circuit topological structure and the moment angle characteristics of the rotary electromagnet. The moment motor widely applied in the nozzle baffle valve and the jet pipe servo valve can obtain the proportional position control characteristic through reasonable design of the elastic element, but the magnetic circuit is based on the axial air gap, so that a larger working angle is difficult to obtain. The improved torque motor based on the radial working air gap, which is proposed by the universal detection company Montagu in the United states, further expands the working angle range, has positive electromagnetic rigidity, and can obtain the proportional position control characteristic without adding an elastic element. In order to obtain a flat torque angle characteristic curve, the shape of a permanent magnet on a rotor of a designed moving magnet torque motor is specially designed by Fumio of Hitachi, the pole face of the permanent magnet is radially notched and filled with non-magnetic conductive materials, so that torque pulsation accompanied by rotation of the rotor is compensated. The permanent magnet torque motor of the rattan two man design of the company denso of japan, two poles composed of discrete permanent magnets are asymmetrically arranged on the outer side of the rotating shaft in a manner of differing by half a pole angle, thereby compensating torque pulsation caused by the outer circumference of the polygonal poles, and thus obtaining a smooth torque-rotation angle characteristic. The electric excitation torque motor developed by Zhejiang university Zhang Guangqiong and the like is specially designed for the shapes of the stator magnetic poles and the rotor pole faces, and the torque angle characteristic of the motor is changed by controlling the magnetic flux saturation degree at the tips of the stator magnetic pole shoes. Cui Jian et al propose a moving-magnet rotary proportional electromagnet based on a radial working air gap, which is based on a differential magnetic circuit and has positive magnetic stiffness, but has a relatively complex structure, and is not beneficial to industrial application and mass production.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a bi-directional electro-mechanical converter with a horizontal moment-rotation angle characteristic based on a hybrid air gap, which is simple in structure.
The basic principle of the invention is as follows: the working air gap commonly used in the electromechanical converter is provided with a radial air gap and an axial air gap, the radial air gap can have a larger working angle, but with the increase of the misalignment angle (the stator and the rotor are aligned gradually), the output moment can be reduced, namely the slope of the moment angle characteristic curve is negative; the axial air gap working range is narrower, but the output torque increases with the increase of the misalignment angle, namely the slope of the moment angle characteristic curve is positive. Therefore, the working air gap is divided into two parts, wherein the main working air gap is a radial air gap, and an axial air gap is added on the basis of the radial air gap. The moment generated by the radial air gap and the axial air gap are modulated mutually, a moment angle characteristic curve which is approximately horizontal can be obtained through reasonable parameter optimization, and the proportional position control characteristic can be obtained after the reset torsion spring is additionally arranged.
The technical scheme adopted for solving the technical problems is as follows:
In the bidirectional electromechanical converter, a front end cover 2 and a rear end cover 9 are respectively arranged on the front side and the rear side of a stator, a rotor 4 is arranged in the stator, and an output shaft 1 is arranged on the rotor 4. The stator consists of a first stator 3, a second stator 5 and a third stator 7 which are sequentially and coaxially arranged, N stator teeth are uniformly distributed on the circumference of each stator ring, each stator tooth is provided with a stator magnetic pole 31, and the stator magnetic poles 31 on each stator are axially aligned, so that the output torque can be increased. The first stator 3 and the second stator 5 are respectively provided with symmetrical grooves along the interfaces, the grooves are spliced to form an annular groove 32, and the control coil 10 is placed in the annular groove 32 to form control magnetic flux. A magnetism isolating block 6 is arranged between the second stator 5 and the third stator 7, and a permanent magnet is arranged between the second stator and the third stator to form bias magnetic flux.
The rotor 4 has N rotor teeth uniformly distributed in the radial direction to form N rotor poles, and each rotor pole has an arc-shaped end face, which forms a radial air gap with the stator pole 31. The end of the circular arc annular surface and the stator magnetic pole form an axial air gap.
The end surfaces of the stator poles 31 of the first stator 3 and the second stator 5 comprise circumferential arc-shaped tooth surfaces 31a and side elevation surfaces 31b, and the tooth surfaces and the end parts of the rotor poles form radial air gaps; the side elevation 31b is positioned at one end of the tooth surface 31a and forms an axial air gap with the side surface of the rotor magnetic pole; the side elevation 31b of the rotor magnetic pole of the first stator 3 is positioned at one end of the tooth surface 31a, and the side elevation 31b of the stator magnetic pole of the second stator 5 is positioned at the other end of the tooth surface 31a, so that the axial air gaps are symmetrically distributed at two sides of the rotor magnetic pole;
In order for the electromagnet to work properly, the axial staggered teeth of the yokes of each segment need to be changed, namely the teeth of the second stator 5 need to lead the rotor teeth by an angle in the clockwise direction, and the teeth of the first stator 3 lag the rotor teeth by the same angle in the clockwise direction.
The rotor 4 adopts a hollow cup structure, so that the moment of inertia is reduced, and the response speed is increased. The front end cover 2, the rear end cover 9, the output shaft 1 and the magnetism isolating block 6 are made of metal materials which are not magnetic conductive, and the rotor 4, the first stator 3, the second stator 5 and the third stator 7 are made of metal soft magnetic materials with high magnetic conductivity.
Preferably, the first stator 3 and the second stator 5 have 8 stator poles uniformly distributed circumferentially, each stator pole being 45 ° apart, the rotor 4 having 8 rotor teeth uniformly distributed radially, the rotor teeth forming the rotor poles.
Preferably, the stator teeth of the second stator 5 need to lead the rotor teeth by 1/4 pitch angle in the clockwise direction, and the stator teeth of the first stator 3 lag the rotor teeth by 1/4 pitch angle in the clockwise direction.
The beneficial effects of the invention are mainly shown in the following steps:
1. A hybrid working air gap is used to obtain a horizontal moment-angle characteristic. The working air gap is divided into two parts, wherein the main working air gap is a radial air gap, and an axial air gap is added on the basis of the radial air gap. The moment generated by the radial air gap and the axial air gap are modulated mutually, a moment angle characteristic curve which is approximately horizontal can be obtained through reasonable parameter optimization, and the proportional position control characteristic can be obtained after the reset torsion spring is additionally arranged.
2. The response speed is high, and the output torque is large. Compared with other cylindrical structures of rotary proportion electromagnet rotors, the rotor provided by the scheme of the invention has a hollow cup structure, has small moment of inertia and is beneficial to obtaining higher dynamic response speed. The design of the multi-magnetic pole structure is adopted, so that the output torque can be improved.
3. The single coil excitation is adopted, and the control is simple. Compared with a double-phase excitation structure, the single-coil excitation can effectively reduce the complexity of a driving circuit, and the control is simpler.
4. The permanent magnet is added in the axial magnetic circuit, so that the air gap flux is increased, and when the electromagnet works, the bias flux formed by the permanent magnet and the control flux formed by the exciting coil are modulated mutually, so that the output torque is increased.
5. Simple structure and low cost. Compared with other rotary proportion electromagnets, the rotary proportion electromagnet provided by the invention has the advantages of less number of parts, easier processing and assembly, low manufacturing cost, and contribution to industrial practical application and large-scale batch production.
Drawings
Fig. 1 is a schematic diagram of the present invention.
FIG. 2 is a schematic view of the assembly of the present invention;
FIG. 3 is a schematic view of a rotor construction of the present invention;
FIG. 4 is a schematic view of the front end cover structure of the present invention;
fig. 5, 7 and 9 are schematic structural views of a stator of the present invention;
FIG. 6 is a schematic view of a rotor construction of the present invention;
FIG. 8 is a schematic diagram of the structure of the magnetism isolating block of the present invention;
FIG. 10 is a schematic view of the permanent magnet structure of the present invention;
FIG. 11 is a schematic view of the rear end cap structure of the present invention;
FIG. 12 is a schematic diagram of moment angle characteristics of radial air gap, axial air gap, and hybrid air gap;
FIG. 13 is a schematic view of the structural principles of the present invention;
FIG. 14 is a schematic diagram of the operation of the present invention, in which the control coil is energized with a forward current;
Fig. 15 is a schematic diagram of the working principle of the present invention, in which the control coil is fed with reverse current.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
With reference to figures 1 to 11 of the drawings,
In the bidirectional electromechanical converter, a front end cover 2 and a rear end cover 9 are respectively arranged on the front side and the rear side of a stator, a rotor 4 is arranged in the stator, and an output shaft 1 is arranged on the rotor 4. The stator consists of a first stator 3, a second stator 5 and a third stator 7 which are sequentially and coaxially arranged, 8 stator teeth are uniformly distributed on the circumference of each stator ring, each stator tooth forms a stator magnetic pole 31, each stator magnetic pole is separated by 45 degrees, and the stator magnetic poles 31 on each stator are axially aligned, so that the output torque can be increased. The first stator 3 and the second stator 5 are respectively provided with symmetrical grooves along the interfaces, the grooves are spliced to form an annular groove 32, and the control coil 10 is placed in the annular groove 32 to form control magnetic flux. A magnetism isolating block 6 is arranged between the second stator 5 and the third stator 7, and a permanent magnet is arranged between the second stator and the third stator to form bias magnetic flux.
The rotor 4 has 8 rotor teeth uniformly distributed in the radial direction to form 8 rotor poles, and the end face of each rotor pole is a circular arc face, which forms a radial air gap with the stator pole 31. The end of the circular arc annular surface and the stator magnetic pole form an axial air gap.
The end surfaces of the stator poles 31 of the first stator 3 and the second stator 5 comprise circumferential arc-shaped tooth surfaces 31a and side elevation surfaces 31b, and the tooth surfaces 31a and the end parts of the rotor poles form radial air gaps; the side elevation 31b is positioned at one end of the tooth surface 31a and forms an axial air gap with the side surface of the rotor magnetic pole; the side elevation 31b of the rotor magnetic pole of the first stator 3 is positioned at one end of the tooth surface 31a, and the side elevation 31b of the stator magnetic pole of the second stator 5 is positioned at the other end of the tooth surface 31a, so that the axial air gaps are symmetrically distributed at two sides of the rotor magnetic pole;
In order for the electromagnet to work properly, the axial staggered teeth of the yokes of each section need to be changed, namely the teeth of the second stator 5 need to lead the rotor teeth by 1/4 of the tooth angle in the clockwise direction, and the teeth of the first stator 3 lag the rotor teeth by 1/4 of the tooth angle in the clockwise direction.
The rotor 4 adopts a hollow cup structure, so that the moment of inertia is reduced, and the response speed is increased. The front end cover 2, the rear end cover 9, the output shaft 1 and the magnetism isolating block 6 are made of metal materials which are not magnetic conductive, and the rotor 4, the first stator 3, the second stator 5 and the third stator 7 are made of metal soft magnetic materials with high magnetic conductivity.
As shown in fig. 13, when the control coil 10 is not energized, the air gap flux of the control coil is only dependent on the bias flux of the permanent magnet 8, and at this time, the positional relationship of the stator and the rotor under the three poles of the electromagnet is the same, that is, the stator poles and the respective rotor teeth are staggered by the same arc surfaces, the radial air gap and the axial air gap in the four poles are the same, and the rotor 4 is in the neutral initial position.
When the control coil 10 is supplied with a forward current as shown in fig. 14, the working air gap g1 is influenced by the bias magnetic field, and the air gap flux remains unchanged. The working air gap g3 is affected by the exciting magnetic field, and the air gap flux increases. The working air gap g2, the exciting magnetic field of the lower control coil and the bias magnetic field of the permanent magnet 8 are in the same direction and are mutually overlapped, the air gap magnetic flux is increased, the rotor 4 rotates clockwise under the action of electromagnetic moment, at the moment generated by the radial air gap and the axial air gap are mutually modulated, so that the electromagnet obtains nearly horizontal moment angle characteristics, the output moment can be adjusted by controlling the current, and the position control effect proportional to the current can be obtained when the electromagnetic coil is matched with the linear spring.
When the control coil 10 is supplied with a reverse current as shown in fig. 15, the working air gap g1 is influenced by the bias magnetic field, and the air gap flux remains unchanged. The working air gap g3 is affected by the exciting magnetic field, and the air gap flux increases. Under the working air gap g2, the exciting magnetic field of the control coil and the bias magnetic field of the permanent magnet 8 are opposite in direction and offset each other, the air gap magnetic flux is reduced, the rotor 4 is subjected to the action of electromagnetic moment to rotate anticlockwise, at the moment generated by the radial air gap and the axial air gap are mutually modulated, so that the electromagnet obtains almost horizontal moment angle characteristics, the output moment can be adjusted by controlling the current, and the position control effect proportional to the current can be obtained when the electromagnetic coil is matched with the linear spring.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, and the scope of protection of the present invention and equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.
Claims (2)
1. The front end cover (2) and the rear end cover (9) are respectively installed on the front side and the rear side of the stator of the bidirectional electromechanical converter, the rotor (4) is installed in the stator, and the output shaft (1) is installed on the rotor (4), and the bidirectional electromechanical converter is characterized in that: the stator consists of a first stator (3), a second stator (5) and a third stator (7) which are sequentially and coaxially arranged, N stator teeth are uniformly distributed on the circumference of each stator ring, each stator tooth forms a stator magnetic pole (31), and the stator magnetic poles (31) on each stator are axially aligned, so that the output torque can be increased; symmetrical grooves are formed in the first stator (3) and the second stator (5) along the interfaces respectively, annular grooves (32) are formed by splicing, and control coils (10) are placed in the annular grooves (32) to form control magnetic fluxes; a magnetism isolating block (6) is arranged between the second stator (5) and the third stator (7) and is provided with a permanent magnet to form bias magnetic flux;
N rotor teeth are uniformly distributed on the rotor (4) along the radial direction to form N rotor magnetic poles, the end face of each rotor magnetic pole is an arc-shaped face, and a radial air gap is formed between the rotor magnetic pole and the stator magnetic pole (31); the tail end of the circular arc annular surface and the stator magnetic pole form an axial air gap;
The end faces of the stator magnetic poles (31) of the first stator (3) and the second stator (5) comprise circumferential arc-shaped tooth faces (31 a) and side elevation faces (31 b), and the tooth faces (31 a) and the end parts of the rotor magnetic poles form radial air gaps; the side elevation (31 b) is positioned at one end of the tooth surface (31 a) and forms an axial air gap with the side surface of the rotor magnetic pole; the side elevation (31 b) of the rotor magnetic pole of the first stator (3) is positioned at one end of the tooth surface (31 a), and the side elevation (31 b) of the stator magnetic pole of the second stator (5) is positioned at the other end of the tooth surface (31 a), so that the axial air gaps are symmetrically distributed at two sides of the rotor magnetic pole;
The teeth of the second stator (5) lead the rotor teeth by an angle in the clockwise direction, and the teeth of the first stator (3) lag the rotor teeth by the same angle in the clockwise direction;
The rotor (4) adopts a hollow cup structure; the front end cover (2), the rear end cover (9), the output shaft (1) and the magnetism isolating block (6) are made of non-magnetic metal materials, and the rotor (4), the first stator (3), the second stator (5) and the third stator (7) are made of high-magnetic-permeability metal soft magnetic materials;
The first stator (3) and the second stator (5) are provided with 8 stator poles which are uniformly distributed on the circumference, each stator pole is 45 degrees apart, the rotor (4) is provided with 8 rotor teeth which form rotor poles in the radial direction.
2. The bi-directional electro-mechanical transducer according to claim 1, wherein: the stator teeth of the second stator (5) need to lead the rotor teeth by 1/4 of the pitch angle in the clockwise direction, and the stator teeth of the first stator (3) lag the rotor teeth by 1/4 of the pitch angle in the clockwise direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910071837.8A CN111490657B (en) | 2019-01-25 | 2019-01-25 | Bidirectional electromechanical converter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910071837.8A CN111490657B (en) | 2019-01-25 | 2019-01-25 | Bidirectional electromechanical converter |
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| Publication Number | Publication Date |
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| CN111490657A CN111490657A (en) | 2020-08-04 |
| CN111490657B true CN111490657B (en) | 2024-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910071837.8A Active CN111490657B (en) | 2019-01-25 | 2019-01-25 | Bidirectional electromechanical converter |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113794292B (en) * | 2021-08-27 | 2022-10-11 | 浙江工业大学 | Single-phase rotary proportional electromagnet |
| CN113794293B (en) * | 2021-08-27 | 2022-10-04 | 浙江工业大学 | Two-phase rotary proportional solenoid |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10251154A1 (en) * | 2002-10-31 | 2004-05-13 | Amrhein, Wolfgang, Dr. | Switched permanent magnet electrical machine e.g. for servo drive, has stator provided with electromagnetic poles alternating with permanent magnet poles |
| CN107896045A (en) * | 2017-12-13 | 2018-04-10 | 浙江工业大学 | Magnetic pole tooth punching formula torque-motor |
| CN209562358U (en) * | 2019-01-25 | 2019-10-29 | 浙江工业大学 | Bidirectional Electro-Mechanical Converter |
| CN111490659A (en) * | 2019-01-25 | 2020-08-04 | 浙江工业大学 | Symmetrical permanent magnet unidirectional proportional electromagnet based on air gap compensation |
-
2019
- 2019-01-25 CN CN201910071837.8A patent/CN111490657B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10251154A1 (en) * | 2002-10-31 | 2004-05-13 | Amrhein, Wolfgang, Dr. | Switched permanent magnet electrical machine e.g. for servo drive, has stator provided with electromagnetic poles alternating with permanent magnet poles |
| CN107896045A (en) * | 2017-12-13 | 2018-04-10 | 浙江工业大学 | Magnetic pole tooth punching formula torque-motor |
| CN209562358U (en) * | 2019-01-25 | 2019-10-29 | 浙江工业大学 | Bidirectional Electro-Mechanical Converter |
| CN111490659A (en) * | 2019-01-25 | 2020-08-04 | 浙江工业大学 | Symmetrical permanent magnet unidirectional proportional electromagnet based on air gap compensation |
Non-Patent Citations (1)
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| 线圈外置式二维电-机械转换器的设计及数值模拟;孟彬;申屠胜男;林琼;阮健;;机械设计与研究;20171220(06);全文 * |
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