CN101557184A - Magnetic suspension spherical electromotor system - Google Patents
Magnetic suspension spherical electromotor system Download PDFInfo
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- CN101557184A CN101557184A CNA2009100274231A CN200910027423A CN101557184A CN 101557184 A CN101557184 A CN 101557184A CN A2009100274231 A CNA2009100274231 A CN A2009100274231A CN 200910027423 A CN200910027423 A CN 200910027423A CN 101557184 A CN101557184 A CN 101557184A
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- spherical
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- magnetic suspension
- salient pole
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Abstract
The invention discloses a magnetic suspension spherical electromotor system, comprising an electromotor stator, a magnetic suspension spherical electromotor which is composed of a winding, a spherical shape rotor, an output tumbler, and a testing control system. The stator is composed of five or six split projecting pole stators; the projecting pole stators select the center of spherical shape rotor as an origin of coordinate, and distribute orthogonally on each side of the spherical shape rotor by a x-y-z 3D space coordinate system, in which two projecting pole stators are distributed along the x-direction to be symmetry to the origin of coordinate, two projecting pole stators are distributed along the y-direction to be symmetry to the origin of coordinate and one or two projecting pole stators are distributed along the z-direction, and a triphase or multiphase energization coil winding is arranged in the grooves between the projecting pole of the projecting pole stators. The structure of the invention is reasonable, simple, compact, small in volume and light in weight, and the testing control system controls the motion, suspension and rotational state of the spherical shape rotor. The spherical shape rotor has no friction and wear-out with the stators, and the invention has good dynamic property and rapid response speed.
Description
Technical field
What the present invention relates to is a kind of motor with a plurality of rotary freedom driving forces, belongs to Electrical Mechanician technology and control technology field.
Background technology
The multi-degree of freedom spherical motor refers to have two or three rotary freedoms, can walk around the spatial axis motor rotating of fixed point.It has characteristics such as mechanical integrated level height, electric machine structure material and driving control system element utilance height, in having the mechanical system of a plurality of freedoms of motion, a multi-freedom electric motor can replace two or many single-degree-of-freedom motors, simplify the structure of mechanical system greatly, reduce volume and weight, can eliminate because shortcomings such as backlash that gear drive brings and frictions, thereby improve the precision and the dynamic property of system, improve the ratio of performance to price, and taking advantage aspect control and the trajectory planning.Therefore the multi-degree of freedom spherical motor is with a wide range of applications in the universal wheel of the joint of the joint of robot and manipulator, multi-coordinate machining center, the capable device of the big altar of boat, electric gyro, omnidirectional tracking antenna, gun turret turntable, human body artificial limb, medicine equipment, camera operation platform, panoramic shooting operating desk, mixer, travel mechanism, globe valve, ball pump etc. have the equipment of a plurality of freedoms of motion.Existing globular motor is made up of the stator that comprises motor and winding, spherical spinner, output pivoted arm and detection control system etc., but globular motor is to the supporting structure complexity of each spherical spinner, the spherical spinner pitching, wave with the angle of deflection for a short time, be subjected to application limitations.When being used for driving high speed, superfast multiple degrees of freedom device, the wear problem that also has machinery (bearing) supporting, mechanical friction has not only increased the frictional resistance of spherical spinner, and can cause the parts heating, can cause motor gas-gap inhomogeneous when serious, the dynamic characteristic variation that causes motor, thereby reduction efficiency of motor, shorten the useful life of motor and equipment, seriously restricting spherical motor and developing to the more speed direction, the performance of bearing has influenced the reliability and the equipment utilance of motor greatly.
Summary of the invention
The objective of the invention is the problems referred to above at existing spherical motor existence, based on magnetic levitation technology and motor technology, provide a kind of mechanical integrated level height, simple in structure, do not have friction, do not have wearing and tearing, precision is high and dynamic property is good, and can make the spherical spinner pitching, the angle of waving with deflection reaches maximum, having can be around the two degrees of freedom or the multiple freedom degree magnetic levitation spherical electromotor system of spherical spinner center rotation.
Technical scheme of the present invention is, magnetic suspension spherical electromotor system, the stator and the winding that comprise motor, spherical spinner, magnetic suspension spherical electromotor that the output pivoted arm constitutes and detection control system, it is characterized in that described stator is made of five or six split type salient pole stators, the salient pole stator is the origin of coordinates with the spherical spinner center, 3 d space coordinate by x-y-z is that quadrature arrangement is in each side of spherical spinner, wherein, be symmetrical in the origin of coordinates in the x direction and respectively arrange a salient pole stator, be symmetrical in the origin of coordinates in the y direction and respectively arrange a salient pole stator, arrange one or two salient pole stators in the z direction, be wound with three-phase or heterogeneous hot-wire coil winding in the groove between the salient pole of salient pole stator, output pivoted arm and spherical spinner are connected and fixed and are integral, the positive direction of z is stretched out direction for the output pivoted arm, the surface of all salient pole stators constitutes a spherical envelope inner surface, the gas length that when the two is concentric, has setting between the spherical envelope inner surface of stator and the spherical spinner outer surface, detect control system by x, y, the independent control subsystem of three change in coordinate axis direction of z is formed, each subsystem is by suspension controller, decoupling controller, 2 Φ/3 Φ translation circuits, regulator rectifier circuit, inverter, transducer, compositions such as input treatment circuit are controlled moving of place change in coordinate axis direction spherical spinner, suspend and rotary state.
Described detection control system departs from the differential wave of equilbrium position at certain change in coordinate axis direction according to spherical spinner, be symmetrical in the torque current command signal of two salient pole stator winding of spherical spinner on this reference axis of timely adjustment, differential adjusting offers the drive current of two salient pole stator winding, and the magnetic suspension of generation is made a concerted effort the poised state of spherical spinner stable suspersion in this reference axis.
Described magnetic suspension spherical electromotor is detecting under the Comprehensive Control of control system, produce along stator symmetry axis directive effect push away in the magnetic of spherical spinner/pulling force and produce around the stator symmetry axis and with the tangent magnetic torque in spherical spinner ball surface.
Described magnetic suspension spherical electromotor is on the x and y reference axis of 3 d space coordinate system, two that are symmetrical in the spherical spinner layout entad push away/pulling force magnetic suspension spherical motor stator, arrange on the z coordinate one or two entad pushes away/the salient pole stator of pulling force magnetic suspension spherical motor, detecting under the control system synthesis effect, stator acting in conjunction around entad the pushing away of three coordinate directions/pulling force magnetic suspension spherical motor, realize the spherical spinner stable suspersion at the center of stator salient poles envelope ball, and drive its two-freedom or multiple degrees of freedom rotation.
Described spherical spinner is made by the material with good magnetic property, its ball surface has vertical and continuous groove mutually, groove is divided into the rotor with salient pole of the identical small elemental area of geometry with whole ball surface, and lower conductor constitutes rotor winding or armature winding in groove.
Described stator adopts the material with good magnetic property to make, and the enveloping surface that its salient pole surface constitutes is the spherical crown inner surface at the no end; In the groove between each salient pole, be wound with three-phase or heterogeneous hot-wire coil winding, the hot-wire coil winding will produce along the axial magnetic of stator symmetry and push away/pulling force, to realize to the one-movement-freedom-degree restriction of spherical spinner in this axis stator direction, and produce around stator symmetry axis and the magnetic torque surperficial tangent, to realize driving around stator symmetry axis rotary freedom direction with the rotor ball; A plurality of pushing away/pulling force magnetic suspension spherical motor can be realized the center of spherical spinner stable suspersion at stator salient poles envelope ball under the controller regulating action, and drives its realization two-freedom or multiple degrees of freedom rotation.
The effect of suspension controller is with certain control strategy computing of magnetic suspension spherical electromotor rotor-position offset voltage signal process after handling, and is transformed into and the proportional current increment signal output of rotor displacement; Decoupling controller entad finishes and pushes away/vector decoupling zero computing between pulling force magnetic suspension spherical motor torque and the rotating speed, and carry out the timely adjustment computing according to the rotor rotation information (moment and corner and rotating speed) of sensor; 2 Φ/3 Φ translation circuits will be transformed into the three-phase pulse voltage control signal of control inverter power switch transistor through decoupling zero and the torque voltage signal and the speed voltage signal of regulating; Regulator rectifier circuit is transformed to DC source with the three-phase alternating current source; The alternating voltage that the DC power supply that inverter provides rectification circuit is transformed to variable ratio frequency changer and luffing offers motor windings, to produce the purpose that electromagnetic suspension force and electromagnetic torque reach the supporting spherical spinner and drive its rotation; Transducer is used for finishing the detection to spherical spinner radial position and rotational parameters; The input treatment circuit is finished the input of rotor radial change in displacement, modulation and demodulation, and effects such as filtering and amplification.
The present invention is rational in infrastructure simple, compact, volume is little, in light weight, integrated application magnetic levitation technology, motor technology and control technology, realize the suspension supporting of spherical spinner and drive spherical rotor rotation, realize between spherical spinner and the stator not having friction, not having wearing and tearing, dynamic property is good, and response speed is fast.
During the magnetic suspension spherical machine operation, the control system of certain change in coordinate axis direction is imported equal torque current and rotary speed instruction signal simultaneously, after the decoupling zero of decoupling controller vector, be transformed into the three-phase current control signal by 2 Φ/3 Φ translation circuits, control inverter makes the direct current of rectifying pressurizer output be transformed to alternating current, the stator winding of two symmetries provides drive current on this reference axis, generation is around the electromagnetic torque of equivalent in the same way and the velocity of rotation of reference axis, to drive rotor rotation, the bias magnetic tension that while two stator winding will produce a pair of opposite sign but equal magnitude makes rotor use low suspension in the equilbrium position of this coordinate direction in the unperturbed action in rotor.When being disturbed at this change in coordinate axis direction, rotor does the time spent, be symmetrical in the radial displacement variable signal of 2 sensor of rotor to rotor, separately the signal that detects is modulated via the input treatment circuit, amplify, demodulation, export with voltage signal after the signal processing such as filtering, the two-way voltage signal compares and forms the differential displacement signal of rotor at this change in coordinate axis direction, control computing and convert differential current output to through suspension controller, incremental adjustments signal as the torque current instruction, be superimposed upon respectively on the torque current command signal of two stator winding torques of control, Differential Control two inverters are to the supply current of stator winding separately, the rotor winding current near apart from stator reduced, the winding current far away apart from stator increases, come the balance interference effect by the relative size that changes two stator winding generation magnetic pull, make rotor come back to poised state, thereby reach the stable suspersion of rotor.
Description of drawings
Fig. 1 is a system of the present invention schematic block diagram;
Fig. 2 a is a magnetic suspension spherical electromotor y-z tangent plane schematic diagram of the present invention;
Fig. 2 b is a magnetic suspension spherical electromotor y-z tangent plane schematic diagram of the present invention;
Fig. 3 a is the structural representation of salient pole stator of the present invention;
Fig. 3 b is the cross-sectional view of salient pole stator of the present invention;
Fig. 3 c is the plan structure schematic diagram of Fig. 3 a;
Fig. 4 a is the structural representation of spherical spinner of the present invention;
Fig. 4 b is the cross-sectional view of spherical spinner of the present invention;
Among the figure: 1 spherical spinner, 2 cursors, 3,4,5 salient pole stators, 6 windings, 7 stator salient poles, 8 rotor with salient pole, 9 grooves.
Embodiment
Below in conjunction with Fig. 1, Fig. 2 a, Fig. 2 b, Fig. 3 a, Fig. 3 b, Fig. 3 c, Fig. 4 a, Fig. 4 b, further narrate embodiments of the invention.
Magnetic suspension spherical electromotor system is made up of magnetic suspension spherical electromotor body and detection control system.The magnetic suspension spherical electromotor body construction is by spherical spinner 1, and output cursor 2 entad pushes away (drawing) power magnetic suspension spherical motor salient pole stator 3,4,5, stator energising winding 6 compositions such as grade.Magnetic suspension spherical motor salient pole stator, the spherical spinner center is the origin of coordinates during with the equilbrium position, is quadrature arrangement each side at spherical spinner 1 by the 3 d space coordinate of x-y-z.Wherein, be symmetrical in the origin of coordinates (the rotor centre of sphere) in the x direction and respectively arrange 1 motor stator 5, be symmetrical in the origin of coordinates (the rotor centre of sphere) in the y direction and respectively arrange 1 motor stator 3, only arrange 1 motor stator 4 in the z direction, the positive direction of z is that spherical spinner pivoted arm 2 stretches out direction.All stator salient poles (magnetic pole) surfaces constitutes a spherical envelope inner surface, has air gap (gap) length of setting between the spherical envelope inner surface of stator and the spherical spinner outer surface when the two is concentric.
Stator adopts the material with good magnetic property to make, and the enveloping surface that its salient pole surface 7 constitutes is the spherical crown inner surface at the no end; In the groove between each salient pole, be wound with three-phase or heterogeneous hot-wire coil winding 6, stator and winding 6 thereof entad push away (drawing) power magnetic suspension spherical motor with spherical spinner 1 formation, electric current in the hot-wire coil winding 6 of Comprehensive Control motor, each entad pushes away (drawing) power magnetic suspension spherical motor and will produce along the symmetrical axial magnetic pull of stator with around the electromagnetic torque of stator symmetry axis.Among the present invention, rotating around the z axle is that 1 (drawing) power that entad pushes away magnetic suspension spherical motor that entad pushes away (drawing) power magnetic suspension spherical motor, rotates and rotate around the y axle around the x axle is respectively 2,5 motors can be realized the control of spherical spinner 1 at three direction in space one-movement-freedom-degrees, make spherical spinner 1 stable suspersion at the center of stator salient poles envelope ball, and produce magnetic torque around each reference axis.Under the Comprehensive Control of controller, spherical spinner just can rotate with two-freedom or the multiple degrees of freedom of realizing motor around specifying axle to rotate.
Spherical spinner is made by the material with good magnetic property, its ball surface has vertical and continuous groove 9 mutually, groove is divided into the prominent pole-face 8 in the identical small unit of geometry with whole ball surface, to form the field spider in spherical reluctance type or stepping joint.Induction type or straight flow joint are placed in the groove of field spider and are led (line) body formation rotor winding or armature winding.
The detection control system of magnetic suspension spherical electromotor system is made up of the independent control subsystem of x, y, three change in coordinate axis direction of z.Moving and rotational freedom of each subsystem controls place change in coordinate axis direction spherical spinner, be made up of suspension controller, decoupling controller, 2 Φ/3 Φ translation circuits, regulator rectifier circuit, inverter, transducer, input treatment circuit etc., its effect is the suspension and the rotary state of control spherical spinner.
The operation principle of magnetic suspension spherical motor is that the control system of y change in coordinate axis direction is imported equal torque current i simultaneously
Tm *And rotational speed omega
*Command signal, upper and lower two paths of signals are separately through obtaining biphase current i after the decoupling zero of decoupling controller vector
d *And i
q *, be transformed into three-phase current signal i by 2 Φ/3 Φ translation circuits
u *, i
v *, i
w *, go control inverter to make the direct current of rectifying pressurizer output be transformed to alternating current, provide drive current i to the stator winding of controlling separately
u, i
v, i
w,, rotate around the y reference axis thereby drive spherical spinner 1 to produce electromagnetic torque of equivalent in the same way and velocity of rotation around the y reference axis.The bias magnetic tension that while two stator winding 6 will produce opposite sign but equal magnitude on a pair of y direction of principal axis makes spherical spinner 1 use low suspension in the equilbrium position of y coordinate direction in the unperturbed action in spherical spinner 1.When being disturbed in y reference axis positive direction, spherical spinner 1 does the time spent, spherical spinner 1 will be shifted to stator, leave down stator, spherical spinner about in the of 1 two transducers detect the radial displacement variable signal of spherical spinner 1 respectively, separately with the signal that detects via the input treatment circuit modulate, after the signal processing such as amplification, demodulation, filtering respectively with voltage signal u
1, u
2Output, two-way voltage signal relatively obtain the differential displacement signal delta u=u of y change in coordinate axis direction through comparator
2-u
1＜0, differential displacement signal delta u is through suspension controller control computing and convert differential current signal Δ i＜0 output to, and the torque current command signal of this current signal Δ i and two stator winding torques of control is added and subtracted mutually respectively and become i
Tm *+ Δ i, i
Tm *-Δ i, because
So the inverter of spherical spinner 1 top is to the supply current i of its stator winding
u, i
v, i
wReduce, the magnetic pull that the top stator produces reduces; The inverter of spherical spinner 1 below is to the supply current i of its stator winding
u, i
v, i
wIncrease, the magnetic pull that the below stator produces increases, and balance interference effect under two side's magnetic pull force actions up and down makes spherical spinner 1 from coming back to poised state, thereby reaches the stable suspersion of spherical spinner.
Claims (5)
1, magnetic suspension spherical electromotor system, the stator and the winding that comprise motor, spherical spinner, magnetic suspension spherical electromotor that the output pivoted arm constitutes and detection control system, it is characterized in that described stator is made of five or six split type salient pole stators, the salient pole stator is the origin of coordinates with the spherical spinner center, 3 d space coordinate by x-y-z is that quadrature arrangement is in each side of spherical spinner, wherein, be symmetrical in the origin of coordinates in the x direction and respectively arrange a salient pole stator, be symmetrical in the origin of coordinates in the y direction and respectively arrange a salient pole stator, arrange one or two salient pole stators in the z direction, be wound with three-phase or heterogeneous hot-wire coil winding in the groove between the salient pole of salient pole stator, output pivoted arm and spherical spinner are connected and fixed and are integral, the positive direction of z is stretched out direction for the output pivoted arm, the surface of all salient pole stators constitutes a spherical envelope inner surface, the gas length that when the two is concentric, has setting between the spherical envelope inner surface of stator and the spherical spinner outer surface, detect control system by x, y, the independent control subsystem of three change in coordinate axis direction of z is formed, each subsystem is by suspension controller, decoupling controller, 2 Φ/3 Φ translation circuits, regulator rectifier circuit, inverter, transducer, compositions such as input treatment circuit are controlled moving of place change in coordinate axis direction spherical spinner, suspend and rotary state.
2, magnetic suspension spherical electromotor system according to claim 1, it is characterized in that described detection control system departs from the differential wave of equilbrium position at certain change in coordinate axis direction according to rotor, be symmetrical in the torque current command signal of two salient pole stator winding of rotor on this reference axis of timely adjustment, differential adjusting offers the drive current of two salient pole stator winding, and the magnetic suspension of generation is made a concerted effort the poised state of spherical spinner stable suspersion in this reference axis.
3, magnetic suspension spherical electromotor system according to claim 1, it is characterized in that described magnetic suspension spherical electromotor is detecting under the Comprehensive Control of control system, produce along stator symmetry axis directive effect push away in the magnetic of spherical spinner/pulling force and produce around the stator symmetry axis and with the tangent magnetic torque in rotor ball surface.
4, magnetic suspension spherical electromotor system according to claim 1, it is characterized in that described magnetic suspension spherical electromotor is on the x and y reference axis of 3 d space coordinate system, two that are symmetrical in the spherical spinner layout entad push away/pulling force magnetic suspension spherical motor stator, arrange on the z coordinate one or two entad pushes away/the salient pole stator of pulling force magnetic suspension spherical motor, detecting under the control system synthesis effect, stator acting in conjunction around entad the pushing away of three coordinate directions/pulling force magnetic suspension spherical motor, realize the spherical spinner stable suspersion at the center of stator salient poles envelope ball, and drive its two-freedom or multiple degrees of freedom rotation.
5, magnetic suspension spherical electromotor system according to claim 1, it is characterized in that described spherical spinner made by the material with good magnetic property, its ball surface has vertical and continuous groove mutually, groove is divided into the rotor with salient pole of the identical small elemental area of geometry with whole ball surface, and lower conductor constitutes rotor winding or armature winding in groove.
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| CN2009100274231A CN101557184B (en) | 2009-05-05 | 2009-05-05 | Magnetic suspension spherical electromotor system |
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|---|---|---|---|
| CN2009100274231A CN101557184B (en) | 2009-05-05 | 2009-05-05 | Magnetic suspension spherical electromotor system |
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| CN101557184A true CN101557184A (en) | 2009-10-14 |
| CN101557184B CN101557184B (en) | 2010-12-08 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101860321A (en) * | 2010-04-29 | 2010-10-13 | 苏州同心医疗器械有限公司 | Magnetic suspension controller and control method thereof |
| CN102195537A (en) * | 2011-06-03 | 2011-09-21 | 扬州大学 | Partitioned winding magnetic suspension spherical induction motor |
| CN102259342A (en) * | 2011-06-03 | 2011-11-30 | 扬州大学 | Inductive magnetic-suspension spherical driving joint |
| CN104040846A (en) * | 2011-11-15 | 2014-09-10 | 罗伯特·博世有限公司 | Control module for a drive motor |
| CN104143947A (en) * | 2014-06-30 | 2014-11-12 | 中国空间技术研究院 | Inductive counteractive momentum sphere system |
| TWI502861B (en) * | 2013-11-18 | 2015-10-01 | Kuok Wa Ho | A ball joint universal rotary motor, a manufacturing method and a working mechanism thereof |
| WO2016169363A1 (en) * | 2015-04-23 | 2016-10-27 | 清华大学 | Magnetic levitation momentum sphere |
| CN112012914A (en) * | 2020-08-06 | 2020-12-01 | 珠海格力电器股份有限公司 | Anti-reverse control device, magnetic suspension system and anti-reverse control method thereof |
| CN112088487A (en) * | 2018-05-08 | 2020-12-15 | 大金工业株式会社 | Motor system and turbo compressor including the same |
| CN112701987A (en) * | 2020-12-20 | 2021-04-23 | 重庆交通大学 | Drive control method of multi-degree-of-freedom spherical induction motor |
| CN113510716A (en) * | 2021-04-28 | 2021-10-19 | 哈尔滨理工大学 | Humanoid nursing robot based on spherical motor |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101860321A (en) * | 2010-04-29 | 2010-10-13 | 苏州同心医疗器械有限公司 | Magnetic suspension controller and control method thereof |
| CN102195537A (en) * | 2011-06-03 | 2011-09-21 | 扬州大学 | Partitioned winding magnetic suspension spherical induction motor |
| CN102259342A (en) * | 2011-06-03 | 2011-11-30 | 扬州大学 | Inductive magnetic-suspension spherical driving joint |
| CN104040846B (en) * | 2011-11-15 | 2017-09-01 | 罗伯特·博世有限公司 | Control module for driving engine |
| CN104040846A (en) * | 2011-11-15 | 2014-09-10 | 罗伯特·博世有限公司 | Control module for a drive motor |
| TWI502861B (en) * | 2013-11-18 | 2015-10-01 | Kuok Wa Ho | A ball joint universal rotary motor, a manufacturing method and a working mechanism thereof |
| CN104143947A (en) * | 2014-06-30 | 2014-11-12 | 中国空间技术研究院 | Inductive counteractive momentum sphere system |
| CN104143947B (en) * | 2014-06-30 | 2016-09-21 | 中国空间技术研究院 | A kind of vicarious retroaction momentum sphere system |
| WO2016169363A1 (en) * | 2015-04-23 | 2016-10-27 | 清华大学 | Magnetic levitation momentum sphere |
| US10532832B2 (en) | 2015-04-23 | 2020-01-14 | Tsinghua University | Magnetic levitation reaction sphere |
| CN112088487A (en) * | 2018-05-08 | 2020-12-15 | 大金工业株式会社 | Motor system and turbo compressor including the same |
| CN112012914A (en) * | 2020-08-06 | 2020-12-01 | 珠海格力电器股份有限公司 | Anti-reverse control device, magnetic suspension system and anti-reverse control method thereof |
| CN112012914B (en) * | 2020-08-06 | 2021-12-24 | 珠海格力电器股份有限公司 | Anti-reverse control device, magnetic suspension system and anti-reverse control method thereof |
| CN112701987A (en) * | 2020-12-20 | 2021-04-23 | 重庆交通大学 | Drive control method of multi-degree-of-freedom spherical induction motor |
| CN112701987B (en) * | 2020-12-20 | 2022-11-18 | 重庆交通大学 | Drive control method of multi-degree-of-freedom spherical induction motor |
| CN113510716A (en) * | 2021-04-28 | 2021-10-19 | 哈尔滨理工大学 | Humanoid nursing robot based on spherical motor |
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