CN101355290B - Dual radial directions magnetic field reaction type straight-line rotating stepper motor - Google Patents
Dual radial directions magnetic field reaction type straight-line rotating stepper motor Download PDFInfo
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- CN101355290B CN101355290B CN2008100427463A CN200810042746A CN101355290B CN 101355290 B CN101355290 B CN 101355290B CN 2008100427463 A CN2008100427463 A CN 2008100427463A CN 200810042746 A CN200810042746 A CN 200810042746A CN 101355290 B CN101355290 B CN 101355290B
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Abstract
The invention relates to a biradial magnetic field reactive linear rotary stepping motor. The two sections of magnetic poles of a stator of the stepping motor generate an axial magnetic field and a radial magnetic field which are intersected. A magnetic path of a rotor has two space radial magnetic flux paths so that the rotor structure is greatly simplified and the lamination structure is used, thereby increasing the magnetic conductivity of the rotor and reducing the magnetic reluctance of the magnetic path and the volume of the motor. The stepping motor not only can move linearly but also rotate and do spiral motion. Compared with the reluctance linear stepper motor, the biradial magnetic field reactive linear rotary stepping motor has a simple structure and simple processing technique due to the absence of a permanent magnet, simply needs a unipolar drive power supply in the control aspect, and has a simple control circuit, low total cost and high reliability.
Description
Technical field
The present invention relates to the stepping motor in a kind of machine field, particularly a kind of possess rotatablely move and the hybrid motion stepping motor of rectilinear motion and screw.
Background technology
Conventional motors to be rotatablely moving or rectilinear motion, when system needs to rotate again rectilinear motion, must utilize the method for machinery to realize, cause equipment volume huge, weight increases.At present, the principle with regard to motor generation power has three kinds of forms: one electromagnetic action principle, and Yun Hang most of motor is this class motor now, the straight line electric rotating machine that utilizes this principle to make is difficult to accomplish accurate control; It two is magnetic resistance action principles, and most of accurately control motor of operation now is this class motor, but this motor is to have only rectilinear motion or only rotatablely move substantially; It three is supersonic motors that tribology principle produces you, and this class motor can be realized accurate control, but its efficient is low, and power is little.
Summary of the invention
The present invention be directed to that existing domestic shortage can be rotated and can rectilinear motion, and efficient height, high-power stepping motor problem, a kind of dual radial directions magnetic field reaction type straight-line rotating stepper motor has been proposed, it can rectilinear motion, can rotatablely move again, can also screw, this motor is when rectilinear motion, can be exactly the substep rectilinear motion, also can be with the continuous rectilinear motion of different speed; This motor can accurately rotate by corner when rotatablely moving step by step, also can rotate continuously with different rotating speeds.
Technical scheme of the present invention is: a kind of dual radial directions magnetic field reaction type straight-line rotating stepper motor, comprise stepping motor, the rotor cylindrical core is made up of the silicon steel sheet that laminates, the two ends of the stator of described stepping motor are respectively equipped with stator segment that produces linear thrust and the stator segment that produces turning moment, be characterized in: the stator segment of described generation linear thrust can be divided into p to magnetic pole, be total to 2p magnetic pole, each two right magnetic pole differs 180 degree in the space, its center line is by the center of circle of motor cross section circle, the copper conductor that is wound with certain number of turn on the fuselage of magnetic pole is as excitation winding, around to identical, there are certain equidistant tooth and groove in the pole shoe surface of every pair of utmost point, the width of each teeth groove is a tooth pitch, the teeth groove equal and opposite in direction of each utmost point pole shoe, number is identical, and each tooth and groove all distribute vertically, form circular arc type tooth and groove, each axial distance to magnetic pole and first tooth center line of adjacent pole differs 1/p tooth pitch; The stator segment of described generation turning moment can be divided into q to magnetic pole, be total to 2q magnetic pole, each two right magnetic pole differs 180 degree in the space, its center line is by the center of circle of motor cross section circle, the copper conductor that is wound with certain number of turn on the fuselage of magnetic pole is as excitation winding, around to identical, there are certain equidistant tooth and groove in the pole shoe surface of every pair of utmost point, width between each teeth groove is a tooth pitch, the teeth groove equal and opposite in direction of each utmost point pole shoe, number is identical, and each tooth and groove are all circumferentially, form parallel vertically type tooth and groove, each differs 1/q tooth pitch to magnetic pole and first tooth center line of adjacent pole in the circumference circle direction.
The described silicon steel sheet that laminates is according to stator pole shoes surface space width, be not with the tooth lamination to laminate continuously by one section circle, its stack thickness equals the groove on the pole shoe, laminate continuously by one section circular band tooth lamination again, its stack thickness equals the tooth on the pole shoe, forms the equally distributed little tooth cylindrical rotor that has.
Beneficial effect of the present invention is: dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention has been realized can rectilinear motion, can rotatablely move again, can also screw, reluctancy formula linear stepping motor is simple in structure, owing to there is not permanent magnet, processing technology is simple, aspect control, only need the unipolarity driving power, so control circuit is also simple, resulting cost is low, the reliability height.
Description of drawings
The profile of stator in Fig. 1 dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention;
The right view of stator in Fig. 2 dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention;
The left view of stator in Fig. 3 dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention;
Produce the schematic perspective view of the stator of linear thrust part in Fig. 4 dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention;
Produce the schematic perspective view of the stator of turning moment part in Fig. 5 dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention;
Fig. 6 dual radial directions magnetic field reaction type straight-line rotating stepper motor rotor of the present invention silicon steel sheet shape 1 schematic diagram;
Fig. 7 dual radial directions magnetic field reaction type straight-line rotating stepper motor rotor of the present invention silicon steel sheet shape 2 schematic diagrames;
Fig. 8 dual radial directions magnetic field reaction type straight-line rotating stepper motor rotor of the present invention schematic perspective view;
The local enlarged diagram of Fig. 9 dual radial directions magnetic field reaction type straight-line rotating stepper motor rotor of the present invention;
Figure 10 dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention produces the radial magnetic field schematic diagram of linear thrust;
Figure 11 dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention produces the generation schematic diagram of the radial magnetic field thrust of linear thrust;
Figure 12 dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention produces the radial magnetic field schematic diagram of turning moment;
Figure 13 dual radial directions magnetic field reaction type straight-line rotating stepper motor of the present invention produces the generation schematic diagram of turning moment radial magnetic field turning moment;
Figure 14 dual radial directions magnetic field reaction type straight-line rotating stepper motor control system of the present invention block diagram.
Embodiment
A stator radial magnetic field and a stator shaft orientation magnetic field that dual radial directions magnetic field reaction type straight-line rotating stepper motor utilizes the different magnetic poles of two sections stators to produce, because stator and rotor special construction, these two magnetic fields become two space multistories at rotor and intersect radial magnetic field, these two magnetic fields produce magnetoresistive turning moment and magnetoresistive linearity thrust respectively according to the principle of magnetic resistance effect.Control system can make that motor is realized rotatablely moving separately, rectilinear motion or screw separately according to demand.Because the present invention utilizes that two sections magnetic poles of stator produce is the magnetic field of two space intersections axially and radially, and rotor magnetic circuit is two spatial radial flux paths, make rotor structure simplify significantly, and can use lamination, increase the rotor magnetic permeability, reduced magnetic circuit magnetic resistance and motor volume.Introduce the crucial stator and the structure of rotor below:
One, stator structure is described:
The profile of stator as shown in Figure 1, stator is divided into two parts, and 1, the two section stator of stator segment that produces the stator segment 2 of turning moment and produce linear thrust is located at the two ends of motor stator respectively.
(1) produces linear thrust stator segment partly
The stereogram of stator of the right view of stator and generation linear thrust shown in Figure 4 part as shown in Figure 3.The stator segment that produces the linear thrust part accounts for the certain length of stator shaft orientation, can be divided into p to magnetic pole (1 pair is two), each two right magnetic pole differs 180 degree in the space, its center line is by the center of circle of motor cross section circle, the copper conductor that is wound with certain number of turn on the fuselage of magnetic pole is as excitation winding, around to identical.There are certain equidistant tooth and groove in the pole shoe surface of every pair of utmost point, and the width between each teeth groove is a tooth pitch, the teeth groove equal and opposite in direction of each utmost point pole shoe, and number is identical, and each tooth and groove all distribute vertically.Each axial distance to magnetic pole and adjacent pole first each tooth center line differs 1/p tooth pitch.Magnetic pole logarithm p value is set according to the design needs.
(2) produce turning moment stator segment partly
The stereogram of stator of the left view of stator and generation turning moment shown in Figure 5 part as shown in Figure 2.The stator segment that produces the turning moment part has certain length at stator shaft orientation, can be divided into q to magnetic pole (1 pair is two), each two right magnetic pole differs 180 degree in the space, its center line is by the center of circle of motor cross section circle, the copper conductor that is wound with certain number of turn on the fuselage of magnetic pole is as excitation winding, around to identical.There are certain equidistant tooth and groove in the pole shoe surface of every pair of utmost point, and the width between each teeth groove is a tooth pitch, the teeth groove equal and opposite in direction of each utmost point pole shoe, and number is identical, and each tooth and groove are all circumferentially.Each differs 1/q tooth pitch to magnetic pole and first tooth center line of adjacent pole in the circumference circle direction.Magnetic pole logarithm q value is set according to the design needs.
Magnetic pole p and q numerical value can be identical also can be different.
Two, rotor subject structrual description:
Rotor stereogram and rotor local enlarged drawing shown in Figure 9 as shown in Figure 8.Rotor 6 main bodys be a cylindrical core by around the silicon steel sheet that laminates forms, silicon steel sheet is by two kinds of difformities, circularly is with tooth silicon steel sheet 5 spline silicon steel sheet 4 is not as shown in Figure 6 with circle as shown in Figure 7.
According to stator pole shoes surface space width, by one section circle not the spline lamination laminate continuously, its stack thickness equals teeth groove on the pole shoe, laminates continuously by one section circular spline lamination again, its stack thickness equals the tooth on the pole shoe, finally forms the equally distributed little tooth cylindrical rotor that has.
Three, the description of dual radial directions magnetic field and power thereof
(1) produces the stator segment of linear thrust and the radially magnetic resistance thrust that rotor forms
Produce the radial magnetic field schematic diagram of linear thrust and the generation schematic diagram of radial magnetic field thrust as shown in figure 11 as shown in figure 10.When producing the winding of straight-line p and feed electric current to a pair of magnetic pole in the magnetic pole, this magnetic pole of the stator produces magnetic field, because magnetic flux has the character of passing through along the magnetic resistance minimal path, makes and produces linear thrust between stator and rotor, under this thrust, energising stator tooth and the alignment of the most close rotor tooth.And differ the 1/p tooth pitch between the straight-line stator rotor magnetic pole of adjacent generation.If every so in order energising is once, rotor rectilinear motion 1/p tooth pitch, if make the straight-line magnetic pole energising of adjacent generation continuously, rotor is rectilinear motion continuously.
(2) produce the stator segment of turning moment and the reluctance torque that rotor forms
Produce the radial magnetic field schematic diagram of turning moment and the generation schematic diagram of radial magnetic field turning moment as shown in figure 13 as shown in figure 12.When the q that generation rotatablely moves feeds electric current to the winding of a pair of magnetic pole in the magnetic pole, this magnetic pole of the stator produces magnetic field, because magnetic flux has the character of passing through along the magnetic resistance minimal path, makes and produces turning moment between stator and rotor, under this moment loading, energising stator tooth and the alignment of the most close rotor tooth.And differ the 1/q tooth pitch between the stator rotor magnetic pole that adjacent generation rotatablely moves.If every so in order energising is once, the rotor 1/q tooth pitch that rotatablely moves, if the magnetic pole energising that adjacent generation is rotatablely moved, rotor will rotatablely move continuously.
Four, control system is described
Dual radial directions magnetic field reaction type straight-line rotating stepper motor control system block diagram as shown in figure 14.Dual radial directions magnetic field high accuracy straight-line rotating stepper motor system is made up of power supply 15, direction control 10, linear running control 11, rotating operation control 12, controller 13, driver 16 and motor 17 bodies.
Wherein: direction control 10 is control direction of rotation and linear movement direction, as just changeing, reverse, moving forward and backward;
The signal of controller 13 receive directions control 10, linear running control 11, rotating operation control 12 is sent into after the treatment conversion in the driver 16;
Driver 16 is electrical power driver elements of straight line electric rotating machine 17, is used to provide the needed electric energy of motor, and driver 16 is supplied with by special power supply 15;
17 operations of straight line electric rotating machine drive load 14 motions.
Five, the advantage of dual radial directions magnetic field high accuracy straight-line rotating stepper motor
Dual radial directions magnetic field high accuracy straight-line rotating stepper motor variable reluctance linear stepping motor is simple in structure, owing to there is not permanent magnet, processing technology is simple, aspect control, only need the unipolarity driving power, so control circuit is also simple, resulting cost is low, the reliability height.Specific as follows:
Characteristics when rotating:
A) bigger motor usage factor being arranged, can be 1.2～1.4 times of induction motor usage factor.
B) motor is simple in structure, on the rotor without any the winding of form; Have only the simple winding of concentrating on the stator, the end is shorter, does not have alternate jumper.Therefore, have that manufacturing process is few, cost is low, reliable operation, maintenance capacity be little.
C) torque and current polarity are irrelevant, only need unidirectional current excitation.Power conversion circuit is every in theory mutually can be only with a switch element, and each switch element all with the motor windings in series, can not go out the such power supply of phenomenon PWM inverter has the danger of leading directly to by two switch elements.So its circuit is simple, reliability height, cost are lower than the PWM Alternating Current Governor System.
D) version of rotor is little to the rotating speed restriction, can be made into pot-motor.And rotor moment of inertia is little, can change the size and Orientation of respective torque again at any time when electric current commutates at every turn, thereby there is good dynamic response in system.
E) can be met the mechanical property of different loads requirement by the control to conducting, disconnection and the amplitude of electric current, be easy to functions such as the soft start of the system that realizes and four quadrant running, control flexibly.When low frequency, can as the induction motor of conversion power supply, not occur unstable and the generation oscillation problem yet.
F) owing to adopted particular structure and method for designing and control corresponding skill, it is exerted oneself and can compare favourably with induction motor, even also holds advantage slightly.Its efficient and power density all can maintain higher level in the speed of broadness and loading range.
When moving linearly:
A) response speed is fast, precision is high,, adopts " directly transmission " mode because the linear motor driving system can cancel the bigger mechanical transmissioning piece of time constant, and whole closed-loop control system dynamic response performance is improved greatly, and it is quick to be quick on the draw.Can obtain higher startup acceleration, generally can reach (2～10) g (g=9.8m/s
2), and the peak acceleration of ball-screw transmission has only (0.1～0.5) g.The tracking error that has lagged behind and brought because of drive system when having significantly reduced interpolation.Detect FEEDBACK CONTROL by linear position, can improve the positioning accuracy of system greatly.
B) transmission stiffness height, because " directly transmission ", the motion delay phenomenon that has caused because of strain, fretting wear and the backlass of middle transmission link when having avoided startup, speed change and commutation has improved its transmission stiffness simultaneously.
C) noise is low, owing to cancelled the mechanical friction of a large amount of mechanical parts, noise will reduce greatly during its motion.
D) efficient height, since transmission link in the middle of not having, the energy loss when having eliminated mechanical friction.
Claims (2)
1. dual radial directions magnetic field reaction type straight-line rotating stepper motor, comprise stepping motor, the rotor cylindrical core is made up of the silicon steel sheet that laminates, the two ends of the stator of described stepping motor are respectively equipped with stator segment that produces linear thrust and the stator segment that produces turning moment, it is characterized in that, the described stator segment that produces linear thrust can be divided into p to magnetic pole, be total to 2p magnetic pole, each two right magnetic pole differs 180 degree in the space, its center line is by the center of circle of motor cross section circle, the copper conductor that is wound with certain number of turn on the fuselage of magnetic pole is as excitation winding, around to identical, there are certain equidistant tooth and groove in the pole shoe surface of every pair of utmost point, and the width between each teeth groove is a tooth pitch, the teeth groove equal and opposite in direction of each utmost point pole shoe, number is identical, each tooth and groove all distribute vertically, form circular arc type tooth and groove, and each axial distance to magnetic pole and first tooth center line of adjacent pole differs 1/p tooth pitch; The described stator segment that produces turning moment can be divided into q to magnetic pole, be total to 2q magnetic pole, each two right magnetic pole differs 180 degree in the space, its center line is by the center of circle of motor cross section circle, the copper conductor that is wound with certain number of turn on the fuselage of magnetic pole is as excitation winding, around to identical, there are certain equidistant tooth and groove in the pole shoe surface of every pair of utmost point, width between each teeth groove is a tooth pitch, the teeth groove equal and opposite in direction of each utmost point pole shoe, number is identical, and each tooth and groove are all circumferentially, form parallel vertically type tooth and groove, each differs 1/q tooth pitch to magnetic pole and first tooth center line of adjacent pole in the circumference circle direction.
2. according to the described dual radial directions magnetic field reaction type straight-line rotating stepper motor of claim 1, it is characterized in that, the described silicon steel sheet that laminates is according to stator pole shoes surface space width, be not with the tooth lamination to laminate continuously by one section circle, its stack thickness equals the groove on the pole shoe, laminate continuously by one section circular band tooth lamination again, its stack thickness equal on the pole shoe tooth, form the equally distributed little tooth cylindrical rotor that has.
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| CN2008100427463A CN101355290B (en) | 2008-09-11 | 2008-09-11 | Dual radial directions magnetic field reaction type straight-line rotating stepper motor |
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| CN2008100427463A CN101355290B (en) | 2008-09-11 | 2008-09-11 | Dual radial directions magnetic field reaction type straight-line rotating stepper motor |
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| CN101355290B true CN101355290B (en) | 2010-11-03 |
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