CN114944737A - Primary and secondary mixed excitation type double salient pole two-degree-of-freedom magnetic flux reverse motor - Google Patents

Abstract

The invention discloses a primary and secondary mixed excitation type double salient pole two-degree-of-freedom magnetic flux reverse motor, belonging to the technical field of motor manufacturing, comprising a rotary motion stator, a mover and a linear motion stator, and the mover is a salient pole permanent magnet Structure, the stator is a hybrid excitation structure. The primary and secondary double hybrid excitation topology structure is adopted, and the linear and rotating permanent magnetic fields are adjusted while realizing the reverse working principle of the magnetic flux, which effectively increases the torque density and thrust density of the motor. The mover adopts a modular triangular structure, which is fixed on the non-magnetically conductive support of the mover. There is no mover yoke. The rotating permanent magnetic field and the armature magnetic field are only closed along the mover rotating module, and the linear permanent magnetic field and the armature are closed. The magnetic field is only closed along the straight line module of the mover, which effectively suppresses the coupling between the traveling wave magnetic field of linear motion and the rotating magnetic field of rotary motion, reduces the coupling influence between the magnetic fields under the motion condition of two degrees of freedom, and is easy to realize decoupling control.

Description

Primary and secondary mixed excitation type double salient pole two degrees of freedom flux reversal motor

technical field

The invention belongs to the technical field of motor manufacturing, in particular to a primary and secondary mixed excitation type double salient pole two-degree-of-freedom magnetic flux reverse motor capable of driving a load to rotate, linearly or spirally move.

Background technique

In real life, the requirements for the complexity and driving accuracy of industrial drive systems are getting higher and higher. For example, multi-dimensional machining platforms, marine electric propulsion systems, auger machines, screw pumps and other devices all require the drive shaft to move with two degrees of freedom.

The two-degree-of-freedom motion mode of the traditional two-degree-of-freedom drive implementation method not only has a complicated control method, but also has the disadvantages of expensive mechanical transmission and low positioning accuracy. Linear rotation two-degree-of-freedom motion motor is a two-degree-of-freedom motor that can realize linear, rotational and helical motion, and is a typical representative of two-dimensional motion motors. However, there are still many areas to be optimized in the structure and performance of the existing linear rotary two-degree-of-freedom motors.

The permanent magnet type two-degree-of-freedom motor has the advantages of high power density and high efficiency, but the adjustment of the permanent magnet magnetic field is difficult, which is not conducive to the efficient operation of the motor in multiple working conditions. The invention patent "A Hybrid Excitation Doubly Salient Permanent Magnet Synchronous Motor" with publication number CN112968565A discloses a hybrid excitation doubly salient permanent magnet synchronous motor. The air-gap magnetic field of the permanent magnet motor is determined by the magnetic steel and the permeance of the magnetic circuit, which is almost constant during operation and is difficult to adjust, which limits the development and application of the permanent magnet motor to a large extent. The invention patent with publication number CN109742874A "A Linear Rotation Two Degrees of Freedom Magnetic Flux Switching Permanent Magnet Motor" discloses a linear rotation two degrees of freedom magnetic flux switching permanent magnet motor, including a stator and a rotor. Circumferentially magnetized permanent magnets, linear motion windings and rotary motion windings are all arranged on the stator; the mover is of axial and circumferential salient pole structures. The magnetic field of the rotating armature and the magnetic field of the linear armature are inevitably coupled in the stator teeth, thereby causing magnetic field distortion, which is not conducive to the precise control of linear motion and rotational motion.

SUMMARY OF THE INVENTION

The problem to be solved by the present invention is to provide a primary and secondary mixed excitation type double salient pole two-degree-of-freedom magnetic flux inversion motor capable of driving a load to perform rotational, linear or helical motion, adjust the primary excitation magnetic field online, and improve the power density of the motor It can realize the efficient operation of the motor in multiple working conditions, and effectively weaken the magnetic field coupling between the traveling wave magnetic field of linear motion and the magnetic field of rotating motion, which is easy to decouple control and facilitate processing and assembly.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is: a primary and secondary mixed excitation type double salient pole two-degree-of-freedom magnetic flux reverse motor, including a rotary motion stator, a mover and a linear motion stator. The motion stator, the mover and the linear motion stator are all salient pole structures; the rotary motion stator is located in the outer layer, the linear motion stator is located in the inner layer, and the rotary motion stator and the linear motion stator are nested; the mover is The annular structure is located between the rotary motion stator and the linear motion stator, and forms a double-layer air gap,

The rotary motion stator includes a rotary motion stator iron core, a rotary motion armature winding, a rotary motion stator permanent magnet and a rotary motion stator excitation winding; Moving armature teeth, the rotating moving stator permanent magnets are radially magnetized, and the rotating moving stator permanent magnets are magnetized in the same direction, and the rotating moving armature winding adopts a concentrated winding structure and is wound on the rotating moving armature teeth; The rotating motion stator excitation winding is wound in the tooth slot adjacent to the rotating motion stator permanent magnet on the rotating motion stator iron core, and the direction of the generated excitation magnetic field is opposite to the magnetizing direction of the rotating motion stator permanent magnet;

The linear motion stator includes a linear motion stator iron core, a linear motion annular armature winding, a linear motion stator permanent magnet and a linear motion stator excitation winding; The linear motion stator permanent magnets are magnetized in the radial direction, and the magnetization directions of the linear motion stator permanent magnets are the same. The linear motion annular armature winding adopts a ring winding structure and is arranged in the slot of the linear motion stator iron core. The annular linear motion stator excitation winding is placed in the slot of the linear motion stator core, adjacent to the linear motion stator permanent magnet, and the excitation magnetic field generated by the adjacent linear motion stator excitation winding is opposite in direction;

Both the inner and outer sides of the mover are provided with salient pole teeth, the outer rotating salient pole teeth of the mover are of a triangular structure and distributed along the circumference, and the surface of the mover rotating permanent magnet is attached to the groove of the mover rotating salient pole teeth, Radial magnetization, and the magnetization direction is consistent with the magnetization direction of the rotating stator permanent magnet; the linear salient pole teeth of the inner mover are also triangular in structure, distributed along the axial direction, and the mover linear permanent magnet is surface-affixed to the mover In the slot of the linear salient pole teeth, radial magnetization is carried out, and the magnetization direction is consistent with the magnetization direction of the linear motion stator permanent magnet. on the magnetically conductive support.

Preferably, the mover rotating salient pole teeth of the mover adopt a slanted pole structure.

Preferably, the rotating stator iron core, the linear moving stator iron core, the rotary salient pole teeth of the mover and the linear salient pole teeth of the mover are all silicon steel sheets of magnetic conductive material.

Preferably, the rotating stator permanent magnet, the mover rotating permanent magnet, the linear motion stator permanent magnet and the mover linear permanent magnet are permanent magnet materials NdFeB, SmCo, and ferrite.

Due to the adoption of the above technical solution, the mover of the present invention is a salient pole permanent magnet structure, the stator is a hybrid excitation structure, and a primary and secondary double hybrid excitation topology structure is adopted. The permanent magnet magnetic field effectively increases the torque density and thrust density of the motor. The mover adopts a modular triangular structure, which is fixed on the non-magnetically conductive support of the mover. There is no mover yoke. The rotating permanent magnetic field and the armature magnetic field are only closed along the mover rotating module, and the linear permanent magnetic field and the armature are closed. The magnetic field is only closed along the linear module of the mover, which effectively suppresses the coupling between the traveling wave magnetic field of linear motion and the rotating magnetic field of rotary motion, reduces the coupling effect between the magnetic fields under the condition of two degrees of freedom motion, and is easy to realize decoupling control, thus solving the problem of Performance issues with existing motors. The main part of the air-gap magnetic field of the hybrid excitation motor is generated by the permanent magnet, and the magnetic field change required for the voltage regulation is partly realized by the auxiliary field winding. Compared with the permanent magnet motor, the present invention has the ability to adjust the magnetic density of the air gap.

Description of drawings

The present invention will be described in detail below by referring to the accompanying drawings and in conjunction with examples, the advantages and implementation modes of the present invention will be more apparent, wherein the contents shown in the accompanying drawings are only used for the explanation of the present invention, and do not constitute any sense of the present invention. The limitations, in the attached image:

Figure 1 is a schematic cross-sectional view of the present invention

Figure 2 is a schematic cross-sectional view of the rotating motion stator of the present invention

Figure 3 is a schematic cross-sectional view of the linear motion stator of the present invention

Figure 4 is a schematic diagram of the distribution of the rotating armature windings of the present invention

Figure 5 is a schematic diagram of the distribution of the linear armature windings of the present invention

pictured

1. Rotary motion stator, 2. Mover, 3. Linear motion stator, 4. Rotary motion stator core 5. Rotary motion armature winding, 6. Rotary motion stator permanent magnet, 7. Linear motion stator core, 8. Linear motion Ring Armature Winding, 9. Linear Motion Stator Permanent Magnet, 10. Mover Linear Permanent Magnet, 11. Mover Rotating Permanent Magnet, 12. Mover Rotating Salient Pole Teeth, 13. Mover Linear Salient Pole Teeth, 14. Non- Magnetic conductive support, 15. Rotary motion stator excitation winding, 16. Linear motion stator excitation winding.

Detailed ways

As shown in Fig. 1 to Fig. 3, a primary and secondary mixed excitation type double salient pole two-degree-of-freedom flux reversal motor of the present invention includes a rotary motion stator 1, a mover 2 and a linear motion stator 3, and the rotary motion stator 1. The mover 2 and the linear motion stator 3 are both salient pole structures; the rotary motion stator 1 is located in the outer layer, and the linear motion stator 3 is located in the inner layer, and the rotary motion stator 1 and the linear motion stator 3 are nested; The annular structure is located between the rotary motion stator 1 and the linear motion stator 3, and forms a double-layer air gap;

The rotary motion stator 1 includes a rotary motion stator core 4, a rotary motion armature winding 5, a rotary motion stator permanent magnet 6 and a rotary motion stator excitation winding 15; , constitute a rotating motion armature tooth, the rotating motion stator permanent magnet 6 is magnetized radially, and the rotating motion stator permanent magnet 6 is magnetized in the same direction, the rotating motion armature winding 5 adopts a concentrated winding structure, and is placed around the rotating motion armature tooth. Rotary motion stator excitation winding 15 is placed in the tooth slot adjacent to the rotary motion stator permanent magnet 6 on the rotary motion stator iron core 4, and the direction of the generated excitation magnetic field is opposite to the magnetization direction of the rotary motion stator permanent magnet 6;

The linear motion stator 3 includes a linear motion stator iron core 7, a linear motion annular armature winding 8, a linear motion stator permanent magnet 9 and a linear motion stator excitation winding 16; the linear motion stator permanent magnet 9 is surface-affixed to the linear motion stator iron core 7 tooth slot Inside, the linear motion stator permanent magnet 9 is magnetized in the radial direction, and the magnetization direction of the linear motion stator permanent magnet 9 is the same.

The annular linear motion stator excitation winding 16 on the linear motion stator 3 is placed in the slot of the linear motion stator iron core 7, adjacent to the linear motion stator permanent magnet 9, and the direction of the excitation magnetic field generated by the adjacent linear motion stator excitation winding 16 is opposite.

Both the inner and outer sides of the mover 2 are provided with salient pole teeth. The outer rotor rotating salient pole teeth 12 are of triangular structure and distributed along the circumference. Radial magnetization, and the magnetization direction is consistent with the magnetization direction of the rotating stator permanent magnet 6; the inner mover linear salient pole teeth 13 are also triangular in structure, distributed along the axial direction, and the mover linear permanent magnet 10 surface is attached to the moving part. In the slot of the sub-linear salient pole teeth 13, radial magnetization is carried out, and the magnetization direction is consistent with the magnetization direction of the linear motion stator permanent magnet 9. The mover rotating salient pole teeth 12 and the mover linear salient pole teeth 13 are fixed together (embedded). ) on the non-magnetically conductive support 14.

The mover rotating salient pole teeth 12 of the mover 2 adopt a slanted pole structure; the rotary motion stator iron core 4, the linear motion stator iron core 7, the mover rotating salient pole teeth 12 and the mover linear salient pole teeth 13 are all silicon steel sheets of magnetic conductive material ; Rotating motion stator permanent magnet 6, mover rotating permanent magnet 11, linear motion stator permanent magnet 9 and mover linear permanent magnet 10 are permanent magnet materials NdFeB, samarium cobalt and ferrite.

The present invention adopts two sets of armature windings. When only the rotating armature winding 5 is energized, the load can be driven to perform rotational movement; when only the linear moving armature winding 8 is energized, the load can be driven to perform axial linear movement; When powered on at the same time, the generated electromagnetic torque for driving the rotary motion and the generated electromagnetic thrust for driving the linear motion work together to realize the helical motion of the two-degree-of-freedom motor mover.

The mover of the present invention is a salient pole permanent magnet structure, the stator is a hybrid excitation structure, and adopts a primary and a secondary double hybrid excitation topology structure. While realizing the reverse working principle of the magnetic flux, the linear and rotating permanent magnetic fields can be adjusted to effectively increase the The torque density and thrust density of the motor are calculated. The mover adopts a modular triangular structure, which is fixed on the non-magnetically conductive support of the mover. There is no mover yoke. The rotating permanent magnetic field and the armature magnetic field are only closed along the mover rotating module, and the linear permanent magnetic field and the armature are closed. The magnetic field is only closed along the linear module of the mover, which effectively suppresses the coupling between the traveling wave magnetic field of linear motion and the rotating magnetic field of rotary motion, reduces the coupling effect between the magnetic fields under the condition of two degrees of freedom motion, and is easy to realize decoupling control, thus solving the problem of Performance issues with existing motors. The main part of the air-gap magnetic field of the hybrid excitation motor is generated by the permanent magnet, and the magnetic field change required for the voltage regulation is partly realized by the auxiliary field winding. Compared with the permanent magnet motor, the present invention has the ability to adjust the magnetic density of the air gap.

As shown in FIG. 4 and FIG. 5 , the distribution of the rotating armature windings and the distribution of the linear armature windings in this embodiment are as follows:

Rotating the armature winding 5, the No. 511 coil of the A-phase armature winding is radially opposite to the No. 513 coil, the No. 512 coil is radially opposite to the No. 514 coil, and the space position of the No. 511 and No. 512 coils is 90° different. No. 511 coil and No. 512 coil under A phase are connected in series to form a coil group. Similarly, No. 513 coil and No. 514 coil are connected in series to form another coil group. Pivot winding; setting of the spatial position of each coil under B-phase (coil No. 521, coil 523, coil 522 and wire 524) and phase C (coil No. 531, coil 533, coil 532 and coil 534) Same as phase A, the spatial position between the three-phase armature windings differs by 60°, so that the phase difference of the three-phase flux linkage is 120°.

In the linear motion armature winding 8, the 811, 812, 813, and 814 coils of the A-phase armature winding are separated by two slot pitches respectively, and the 811 and 812 coils under the A-phase form a coil group. No. 813 coil and No. 814 coil are connected in series to form another coil group, and the two coil groups are connected in series to form the A-phase armature winding; , No. 832, No. 833, No. 834 coils) are set in the same way as phase A, and the spatial positions between the three phases differ by 1 slot pitch respectively, so that the three-phase flux linkage phase differs by 120°.

The embodiments of the present invention have been described in detail above, but the above contents are only preferred embodiments of the present invention, and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made according to the scope of the present invention should still fall within the scope of this patent.

Claims (5)

1. A primary and secondary mixed excitation type double salient pole two-degree-of-freedom flux reversal motor, characterized in that: comprising a rotary motion stator (1), a mover (2) and a linear motion stator (3), the The rotary motion stator (1) includes a rotary motion stator core (4), a rotary motion armature winding (5), a rotary motion stator permanent magnet (6), and a rotary motion stator field winding (15); the rotary motion stator field winding ( 15) It is placed in the tooth slot adjacent to the rotating stator iron core (4) and the rotating moving stator permanent magnet (6), and the direction of the generated excitation magnetic field is opposite to the magnetizing direction of the rotating moving stator permanent magnet (6); The linear motion stator (3) comprises a linear motion stator iron core (7), a linear motion annular armature winding (8), a linear motion stator permanent magnet (9) and a linear motion stator excitation winding (16); the linear motion stator ( 3) The annular linear motion stator excitation winding (16) on the upper part is placed in the slot of the linear motion stator iron core (7), adjacent to the linear motion stator permanent magnet (9), and the adjacent linear motion stator excitation winding (16) produces The direction of the excitation magnetic field is opposite. 2. The primary and secondary mixed excitation type double salient pole two-degree-of-freedom flux reversal motor according to claim 1, characterized in that: the rotary motion stator (1), the mover (2) and the linear motion stator (3) Both are salient pole structures; the rotary motion stator (1) is located in the outer layer, the linear motion stator (3) is located in the inner layer, and the rotary motion stator (1) and the linear motion stator (3) are nested. ; The mover (2) is an annular structure, located between the rotary motion stator (1) and the linear motion stator (3), and forms a double-layer air gap; the rotary motion stator permanent magnet (6) is attached to the rotating motion Rotating motion armature teeth are formed in the teeth of the moving stator iron core (4), the rotating motion stator permanent magnets (6) are magnetized radially, and the rotating motion stator permanent magnets (6) are magnetized in the same direction, and the rotating motion stator permanent magnets (6) are magnetized in the same direction. The moving armature winding (5) adopts a concentrated winding structure and is wound on the rotating moving armature teeth; the linear moving stator permanent magnet (9) is surface-affixed to the tooth slot of the linear moving stator iron core (7). The stator permanent magnet (9) is magnetized in the radial direction, and the magnetization direction of the linear motion stator permanent magnet (9) is the same. The linear motion annular armature winding (8) adopts a ring winding structure and is arranged on the linear motion stator iron core (7). ) slot, both the inner and outer sides of the mover (2) are provided with salient pole teeth, the outer mover rotating salient pole teeth (12) are triangular structures, distributed along the circumference, the mover rotates the permanent magnet (11) ) surface is attached to the slot of the rotating salient pole teeth (12) of the mover, magnetized radially, and the magnetization direction is consistent with the magnetization direction of the rotating stator permanent magnet (6); the inner mover linear salient pole teeth (13) It is also a triangular structure and is distributed along the axial direction. The linear permanent magnet (10) of the mover is attached to the slot of the linear salient pole teeth (13) of the mover, and is magnetized radially, and the magnetization direction is the same as that of the linear motion stator. The magnetization directions of the permanent magnets (9) are consistent, and the rotary salient pole teeth (12) of the mover and the linear salient pole teeth (13) of the mover are jointly fixed on the non-magnetically conductive support member (14). 3. The primary and secondary mixed excitation type double salient pole two-degree-of-freedom flux reversal motor according to claim 2, characterized in that: the mover rotating salient pole teeth (12) of the mover (2) adopt Oblique pole structure. 4. The primary and secondary mixed excitation type double salient pole two-degree-of-freedom flux reversed motor according to claim 2, characterized in that: the rotary motion stator core (4), the linear motion stator core (7), Both the rotary salient pole teeth (12) of the mover and the linear salient pole teeth (13) of the mover are silicon steel sheets of magnetic conductive material. 5. The primary and secondary mixed excitation type double-salient pole two-degree-of-freedom flux reversal motor according to claim 2, characterized in that: the rotating motion stator permanent magnet (6), the mover rotating permanent magnet (11) ), the linear motion stator permanent magnet (9) and the mover linear permanent magnet (10) are permanent magnet materials NdFeB, SmCo, and ferrite.

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