CN111416496B - Moving-coil electromagnetic linear actuator based on composite Halbach array - Google Patents
Moving-coil electromagnetic linear actuator based on composite Halbach array Download PDFInfo
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- CN111416496B CN111416496B CN202010338750.5A CN202010338750A CN111416496B CN 111416496 B CN111416496 B CN 111416496B CN 202010338750 A CN202010338750 A CN 202010338750A CN 111416496 B CN111416496 B CN 111416496B
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- 239000002131 composite material Substances 0.000 title claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 230000005389 magnetism Effects 0.000 claims abstract description 7
- 238000004804 winding Methods 0.000 claims description 25
- 150000001875 compounds Chemical class 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000002955 isolation Methods 0.000 abstract 1
- 230000004907 flux Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 239000004020 conductor Substances 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- 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
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- Combustion & Propulsion (AREA)
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- Power Engineering (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
The invention discloses a moving-coil electromagnetic linear actuator based on a composite Halbach array, which comprises the following components: the magnetic yoke comprises an end cover, a coil framework, a magnetic yoke, an electromagnetic coil group, a main Halbach array layer, an auxiliary Halbach array layer, an air gap, a magnetic isolation shaft and a resonance spring; the composite Halbach array comprises a main Halbach array layer and an auxiliary Halbach array layer, wherein the main array layer is formed by alternately and closely arranging axial magnetizing permanent magnets and radial magnetizing permanent magnets, and an auxiliary array layer which is alternately and closely arranged with the axial magnetizing permanent magnets and magnetic conducting blocks between the axial magnetizing permanent magnets and the magnetic conducting blocks is fixedly arranged on a magnetism isolating shaft to serve as a magnetic source; the electromagnetic coil group is embedded on the coil framework and used as a mover and can do reciprocating linear motion in the air gap, and the main Halbach array layer is positioned between the mover and the auxiliary Halbach array layer; the magnetic yoke and the magnetic source are fixed and used as a stator, and the gap between the magnetic yoke and the magnetic source is an air gap. The moving coil type electromagnetic linear actuator adopts a composite Halbach array, improves the self-shielding capacity of a magnetic circuit and the power density of the actuator, and has good control characteristics and stability.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a moving-coil electromagnetic linear actuator based on a composite Halbach array.
Background
The electromagnetic linear actuator is used as a driving element, can directly convert the input electric energy into the mechanical energy of linear motion, and is suitable for the application occasions such as linear motion, large driving force, stable feeding and the like. The moving coil electromagnetic linear actuator has the advantages of high frequency response, high precision and the like, and therefore, the moving coil electromagnetic linear actuator is widely focused. In recent years, under the promotion of new requirements, new materials and new technologies, particularly the wide application of sintered NdFeB and other permanent magnetic materials, the electromagnetic linear actuator has been greatly developed.
In the application of the electromagnetic linear actuator, the contradiction between the driving requirement and the limited installation space provides a test for the compact structure and reliability of the actuator, the maximum output value obtained by smaller volume becomes the primary target of the electromagnetic linear actuator at the present stage, and the larger volume power density is provided to ensure the coordination and stability of the whole electric driving linear system, so that the mapping relation between the size space and the output characteristic can be effectively improved. Although the common Halbach array can effectively enhance the magnetic flux density of one side of the permanent magnet, weaken the magnetic flux density of the other side, and improve the air gap magnetic density to a certain extent, a large amount of magnetic leakage exists, and the power density of the electromagnetic actuator still needs to be further improved. Meanwhile, the electromagnetic actuator based on the common Halbach array needs additional magnet yoke to fix the permanent magnet material, so that the assembly difficulty of the actuator is improved
According to the moving-coil type electromagnetic linear actuator based on the composite Halbach array, the auxiliary Halbach array layer is adopted to reduce magnetic flux leakage of the main Halbach array layer, so that air gap magnetic flux density is further enhanced, the volume power density of the electromagnetic linear actuator is improved, the power transmission efficiency of the whole electromechanical system can be effectively improved, and the work coordination and the application universality of the linear actuator are ensured.
Disclosure of Invention
The moving coil type electromagnetic linear actuator based on the composite Halbach array is designed, and aims to improve the self-shielding capacity of a magnetic circuit by adopting the composite Halbach array, so that a permanent magnet can be fixed on a non-magnetic conductive material, an additional magnetic yoke is not needed, and the assembly difficulty is reduced; meanwhile, the power density of the actuator can be obviously improved, and the contradiction between the driving requirement and the limited installation space is solved. The actuator has higher power density, lower assembly difficulty and higher research and practical value.
A moving coil electromagnetic linear actuator based on a compound Halbach array, comprising: end cover (1), coil skeleton (2), yoke (3), solenoid group (4), main Halbach array layer (5), supplementary Halbach array layer (6), air gap (8), magnetism isolating shaft (9) and resonant spring (10), main characteristics include: the composite Halbach array comprises a main Halbach array layer (5) and an auxiliary Halbach array layer (6), wherein the main Halbach array layer (5) is formed by alternately and closely arranging axial magnetizing permanent magnets (7.1) and radial magnetizing permanent magnets (7.2), and is combined and fixed on a magnetism isolating shaft (9) with the auxiliary Halbach array layer (6) alternately and closely arranged with the axial magnetizing permanent magnets (7.4) and magnetic conducting blocks (7.3) to serve as a magnetic source; the magnetic yoke (3) and the magnetic source are fixed, and the gap between the magnetic yoke and the magnetic source is an air gap (8) which is used as a stator; the electromagnetic coil group (4) is embedded on the coil framework (2) and can do reciprocating linear motion in the air gap (8) to serve as a mover; the combined type Halbach array is arranged on one side of the electromagnetic coil group (4), and the side close to the electromagnetic coil group (4) is a main Halbach array layer (5). The electromagnetic coil group (4) is composed of forward winding coils and reverse winding coils, the winding directions of coils of adjacent windings are opposite, wherein the number of the forward windings is m, the number of the reverse windings is n, m and n are positive integers, and m=n or m-n= ±1. The main Halbach array layer (5) consists of p axial magnetizing permanent magnets (7.1) and k radial magnetizing permanent magnets (7.2); the auxiliary Halbach array layer (6) consists of p axial magnetizing permanent magnets (7.4) and k inter-magnetic conducting blocks (7.3); wherein p=k+1, and p and k are positive integers.
The number of windings of the electromagnetic coil group (4) and the number of radial magnetizing permanent magnets (7.2) or the number of magnetic conducting blocks (7.3) between the magnets meet the following conditions: k=m+n, and k, m, n are positive integers.
The resonance spring (10) is fixedly connected with the rotor, and the stator, the rotor and the resonance spring form a resonance system together; the direction and the magnitude of the current of the electromagnetic coil group (4) are regulated by an electric control system, so that the required movement is realized.
The moving coil type electromagnetic linear actuator based on the composite Halbach array adopts a concentric cylinder type structure and can also adopt a flat type structure.
According to the moving coil type electromagnetic linear actuator based on the composite Halbach array, the composite Halbach array is adopted, so that the magnetic circuit self-shielding capacity is improved, the permanent magnet can be fixed on a non-magnetic conductive material, an additional magnetic yoke is not needed, and the assembly difficulty is reduced; meanwhile, the power density of the actuator can be obviously improved, and the contradiction between the driving requirement and the limited installation space is solved. The actuator has higher power density, lower assembly difficulty and higher research and practical value.
Compared with other technologies, the moving-coil electromagnetic linear actuator based on the composite Halbach array has the remarkable advantages that:
(1) The device can be used as an executive component of a control system and a driving device, adopts a composite Halbach array, improves the power density, reduces the volume, can effectively solve the contradiction between the driving requirement and the limited installation space, and ensures the high-speed and high-precision straight line and direct driving and control;
(2) The magnetic circuit of the composite Halbach array is self-shielded, an inner magnetic yoke is not needed, the volume is reduced, and the processing and the installation are convenient;
(3) For different performance requirements and application targets, the moving-coil electromagnetic linear actuator can provide different parameter indexes, so that the flexibility of the design of the actuator is ensured, and the application range is wide.
The moving-coil electromagnetic linear actuator based on the composite Halbach array has the advantages of high power density, rapid response, convenience in assembly and the like, and brings great economic benefit after being put into industrial application.
Drawings
Fig. 1 is a schematic axial sectional structure of an embodiment of the permanent magnet built-in of the present invention, wherein the arrow direction indicates the magnetization direction of the permanent magnet.
Fig. 2 is a schematic axial sectional structure of an external permanent magnet embodiment of the present invention, wherein the arrow direction indicates the magnetizing direction of the permanent magnet.
Fig. 3 is a graph of the steady-state magnetic field finite element simulated magnetic field lines of the composite Halbach array of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 3, a moving coil electromagnetic linear actuator based on a compound Halbach array, comprising: end cover (1), coil skeleton (2), yoke (3), solenoid group (4), main Halbach array layer (5), supplementary Halbach array layer (6), air gap (8), magnetism isolating shaft (9) and resonant spring (10), main characteristics include: the composite Halbach array comprises a main Halbach array layer (5) and an auxiliary Halbach array layer (6), wherein the main Halbach array layer (5) is formed by alternately and closely arranging axial magnetizing permanent magnets (7.1) and radial magnetizing permanent magnets (7.2), and is combined and fixed on a magnetism isolating shaft (9) with the auxiliary Halbach array layer (6) alternately and closely arranged with the axial magnetizing permanent magnets (7.4) and magnetic conducting blocks (7.3) to serve as a magnetic source; the magnetic yoke (3) and the magnetic source are fixed, and the gap between the magnetic yoke and the magnetic source is an air gap (8) which is used as a stator; the electromagnetic coil group (4) is embedded on the coil framework (2) and can do reciprocating linear motion in the air gap (8) to serve as a mover; the combined type Halbach array is arranged on one side of the electromagnetic coil group (4), and the side close to the electromagnetic coil group (4) is a main Halbach array layer (5). The electromagnetic coil group (4) is composed of forward winding coils and reverse winding coils, the winding directions of coils of adjacent windings are opposite, wherein the number of the forward windings is m, the number of the reverse windings is n, m and n are positive integers, and m=n or m-n= ±1. The main Halbach array layer (5) consists of p axial magnetizing permanent magnets (7.1) and k radial magnetizing permanent magnets (7.2); the auxiliary Halbach array layer (6) consists of p axial magnetizing permanent magnets (7.4) and k inter-magnetic conducting blocks (7.3); wherein p=k+1, and p and k are positive integers.
The number of windings of the electromagnetic coil group (4) and the number of radial magnetizing permanent magnets (7.2) or the number of magnetic conducting blocks (7.3) between the magnets meet the following conditions: k=m+n, and k, m, n are positive integers.
The resonance spring (10) is fixedly connected with the rotor, and the stator, the rotor and the resonance spring form a resonance system together; the direction and the magnitude of the current of the electromagnetic coil group (4) are regulated by an electric control system, so that the required movement is realized.
A moving-coil electromagnetic linear actuator based on a composite Halbach array adopts a concentric cylinder structure, and can also adopt a flat structure form.
As shown in fig. 1, taking the permanent magnet built-in type, the number of forward windings and the number of reverse windings m=n=1, the number of blocks k=2 of radial magnetizing permanent magnets (7.2) and inter-magnetic conducting blocks (7.3) per Halbach array layer, and the number of blocks p=3 of axial permanent magnets (7.1) per Halbach array layer as an example, a moving coil electromagnetic linear actuator based on a compound Halbach array according to the invention is described in detail.
The static stable magnetic source is provided by a composite Halbach array, and the main Halbach array layer (5) is formed by sequentially and mutually clinging and arranging 2 radial magnetizing permanent magnets (7.2) and 3 axial magnetizing permanent magnets (7.1) to provide an air gap main magnetic field of output force; the auxiliary Halbach array layer (6) consists of 3 axial magnetizing permanent magnets (7.4) and 2 inter-magnetic conducting blocks (7.3), and each inter-magnetic conducting block (7.3) is clamped between every two adjacent axial magnetizing permanent magnets (7.4) and is a traditional iron and magnetic array; the magnetic circuit of the auxiliary Halbach array layer (6) will return directly to the main magnetic circuit of the main Halbach array layer (5) through the axially magnetizing permanent magnet (7.4) and the inter-magnetic block (7.3), as shown in fig. 3. Compared with the traditional Halbach array, the composite Halbach array can effectively reduce leakage magnetic flux, achieve better magnetic self-shielding effect, and the permanent magnet is fixed in a non-magnetic conductive material, so that the assembly difficulty can be reduced, the volume of a stator is obviously reduced, in other words, the power density of an actuator can be effectively improved by adopting the composite Halbach array. More importantly, the magnetic reaction between the main array layer and the auxiliary array layer in the composite Halbach array has the functions of magnetic focusing effect and improving the air gap magnetic flux density, so that the driving force in a short stroke can be improved, and the composite Halbach array is particularly suitable for actuators. Meanwhile, the current-carrying electromagnetic coil group (4) receives Lorentz force in a magnetic field generated by taking the composite Halbach array as a magnetic source, the moving part is driven to do linear motion, the output of thrust or power with different magnitudes can be realized by adjusting the current magnitude, and the coil windings with different winding directions can eliminate armature reactions generated by electrifying to a certain extent, so that the stability and the electromechanical conversion efficiency of the actuator are improved.
Preferably, the permanent magnet is arranged outside the electromagnetic coil scheme, as shown in fig. 2, the relative volume of the permanent magnet can be increased under the condition that the motor volume is the same, the air gap magnetic flux density is increased, and meanwhile, the external permanent magnet can directly exchange heat with space air in a convection manner through a non-magnetic conductive material, so that an external cooling system is arranged, and the heat dissipation performance and the limit working capacity of the actuator can be improved. The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (4)
1. A moving coil electromagnetic linear actuator based on a compound Halbach array, comprising: end cover (1), coil skeleton (2), yoke (3), solenoid group (4), main Halbach array layer (5), supplementary Halbach array layer (6), air gap (8), magnetism isolating shaft (9) and resonant spring (10), main characteristics include: the composite Halbach array comprises a main Halbach array layer (5) and an auxiliary Halbach array layer (6), wherein the main Halbach array layer (5) is formed by alternately and closely arranging axial magnetizing permanent magnets (7.1) and radial magnetizing permanent magnets (7.2), and is combined and fixed on a magnetism isolating shaft (9) with the auxiliary Halbach array layer (6) alternately and closely arranged with the axial magnetizing permanent magnets (7.4) and magnetic conducting blocks (7.3) to serve as a magnetic source; the magnetic yoke (3) and the magnetic source are fixed, and the gap between the magnetic yoke and the magnetic source is an air gap (8) which is used as a stator; the electromagnetic coil group (4) is embedded on the coil framework (2) and can do reciprocating linear motion in the air gap (8) to serve as a mover; the composite Halbach array is arranged on one side of the electromagnetic coil group (4), and the side close to the electromagnetic coil group (4) is a main Halbach array layer (5); the electromagnetic coil group (4) consists of forward winding coils and reverse winding coils, and the winding directions of coils of adjacent windings are opposite, wherein the number of the forward windings is m, the number of the reverse windings is n, m and n are positive integers, and m=n or m-n= ±1; the main Halbach array layer (5) consists of p axial magnetizing permanent magnets (7.1) and k radial magnetizing permanent magnets (7.2); the auxiliary Halbach array layer (6) consists of p axial magnetizing permanent magnets (7.4) and k inter-magnetic conducting blocks (7.3); wherein p=k+1, and p and k are positive integers.
2. The moving coil electromagnetic linear actuator based on a compound Halbach array according to claim 1, wherein: the number of windings of the electromagnetic coil group (4) and the number of radial magnetizing permanent magnets (7.2) or the number of magnetic conducting blocks (7.3) between the magnets meet the following conditions: k=m+n, and k, m, n are positive integers.
3. The moving coil electromagnetic linear actuator based on a compound Halbach array according to claim 1, wherein: the resonance spring (10) is fixedly connected with the rotor, and the stator, the rotor and the resonance spring form a resonance system together; the direction and the magnitude of the current of the electromagnetic coil group (4) are regulated by an electric control system, so that the required movement is realized.
4. The moving coil electromagnetic linear actuator based on a compound Halbach array according to claim 1, wherein: the moving coil type electromagnetic linear actuator based on the composite Halbach array adopts a concentric cylinder type structure and can also adopt a flat type structure.
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| CN202010338750.5A CN111416496B (en) | 2020-04-26 | 2020-04-26 | Moving-coil electromagnetic linear actuator based on composite Halbach array |
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| CN113483141A (en) * | 2021-07-23 | 2021-10-08 | 山东大学 | Moving-coil type gas pressure control valve and working method |
| CN114244062B (en) * | 2021-12-21 | 2022-12-30 | 杭州电子科技大学 | Linear reciprocating pump based on ferromagnetic structure and linear reciprocating driving method thereof |
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| CN102437701A (en) * | 2011-12-27 | 2012-05-02 | 东南大学 | Shore-based wave-power generator |
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2020
- 2020-04-26 CN CN202010338750.5A patent/CN111416496B/en active Active
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|---|---|---|---|---|
| CN101127474A (en) * | 2007-09-19 | 2008-02-20 | 南京理工大学 | High power density motive loop permanent magnetic linear electromotor |
| WO2011009397A1 (en) * | 2009-07-21 | 2011-01-27 | 清华大学 | Planar motor adopting three-dimensional permanent magnet array |
| CN102437701A (en) * | 2011-12-27 | 2012-05-02 | 东南大学 | Shore-based wave-power generator |
| CN105641763A (en) * | 2016-04-12 | 2016-06-08 | 上海理工大学 | Separated electromagnetic coupling blood pump system |
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