CN101599677A - Recombination current driving nine phase plane motors, straight line-electric rotating machine and driver thereof - Google Patents

Recombination current driving nine phase plane motors, straight line-electric rotating machine and driver thereof Download PDF

Info

Publication number
CN101599677A
CN101599677A CN 200910138883 CN200910138883A CN101599677A CN 101599677 A CN101599677 A CN 101599677A CN 200910138883 CN200910138883 CN 200910138883 CN 200910138883 A CN200910138883 A CN 200910138883A CN 101599677 A CN101599677 A CN 101599677A
Authority
CN
China
Prior art keywords
permanent magnet
phase
coil
unit
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN 200910138883
Other languages
Chinese (zh)
Other versions
CN101599677B (en
Inventor
寇宝泉
贵献国
吴红星
李立毅
张鲁
张赫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Institute of Technology
Original Assignee
Harbin Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Institute of Technology filed Critical Harbin Institute of Technology
Priority to CN 200910138883 priority Critical patent/CN101599677B/en
Publication of CN101599677A publication Critical patent/CN101599677A/en
Application granted granted Critical
Publication of CN101599677B publication Critical patent/CN101599677B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

Recombination current driving nine phase plane motors, straight line-electric rotating machine and driver thereof belong to machine field and control field thereof.It has solved the low problems such as difficulty is big of controlling that reach of complex structure, system effectiveness of existing planar motor and straight line-electric rotating machine.The armature coil of described planar motor and straight line-electric rotating machine is divided into nine groups, after connecting mutually, every group of coil form nine phase armature winding, nine phase armature winding adopt Y-connection, the permanent magnet of motor is an array structure, the permanent magnet unit diagonal angle is adjacent, parallel and vertical non-conterminous, and the permanent magnet polarity of same row or column is identical, and the permanent magnet polarity of adjacent row or column is opposite.The volume of planar motor of the present invention and straight line-electric rotating machine is little, the winding phase insulation is simple, the advantage that the thrust output with unit volume is big, dynamic response is fast, detent force is little and the mover range of movement is big.The present invention is applicable to the driving of planar motion, straight line-rotation two dimensional motion, is particularly useful for accurate driving field.

Description

Recombination current driving nine phase plane motors, straight line-electric rotating machine and driver thereof
Technical field
The present invention relates to a kind of recombination current driving motor and controller thereof, belong to machine field and control field thereof.Be specifically related to a kind of high pushing force density planar motor and straight line-electric rotating machine.
Background technology
Modern precision, ultraprecise process unit have urgent demand to height response, the driving of high-speed, high-precision plane, straight line rotating driving device, as machining, electronic product production, mechanical handling, machining, manufacturing automation instrumentation even robot driving etc.Usually these devices produce power drive by rotary electromotor, by mechanical devices such as belt, ball screws the rotary power that motor produced are converted to rectilinear motion again.Because the mechanical device structure complexity, transmission accuracy and speed all are restricted, and need frequent adjustment, have cost height, poor reliability, volume big, safeguard complicated shortcoming.
Existing plane drive motors and straight line-rotary drive motor have avoided above-mentioned employing motor and mechanical device to cooperate the shortcoming that system had that realizes that plane motion, straight line rotatablely move, but still exist the utilance of winding low, problem such as pushing force density is low, system effectiveness is low and the control difficulty is big.
Initial plane drive unit is realized that by two direct driving linear motor adopt stacked Drive Structure, this structure has increased the complexity of drive system, from not breaking away from the pattern that the stack of low-dimensional motion forms the higher-dimension motion in essence.For the linear electric motors of bottom, carry the gross mass of upper strata linear electric motors and associated mechanical components thereof, thereby have a strong impact on location and control accuracy.And directly utilize electromagnetic energy to produce the planar motor of plane motion, have the characteristics of the high and low hear rate of force density, high-speed, high accuracy and high reliability, because of having saved from the rectilinear motion that rotatablely moves again to the intermediate conversion device of plane motion, can be controlling object with being made of one of motor structure, have that reaction is fast, highly sensitive, servo-actuated reaches advantages of simple structure and simple well.According to the generation principle of planar motor electromagnetic push, planar motor can be divided into change magnetic resistance type, synchronized model and induction type.Wherein, good comprehensive performances such as that the synchronized model planar motor has is simple in structure, thrust is big, efficient is high and response speed is fast is at the two dimensional surface drive unit, particularly have broad application prospects in the drive unit of precise 2-D plane.
Fig. 8 and Figure 9 shows that existing a kind of permanent magnetic synchronous plane electromotor electric machine structure.Comprise stator and mover two big parts in this motor, its operation principle is similar to three-phase rotary permanent-magnet synchronous machine, stator pack contains thrust winding unshakable in one's determination and 4 mutual vertical placements, each winding has independently 3 phases, X is used to drive mover to thrust winding 4 and moves along directions X, and Y is used to drive mover to thrust winding 1 and moves along the Y direction.Mover comprises mover platform and 4 permanent magnet arrays 5, and permanent magnet array 5 is arranged in the lower surface of mover platform, and by controlling corresponding three-phase winding current, the mover platform just can be done setting movement in the plane.
This permanent magnetic synchronous plane electromotor motor can be realized the setting movement on plane, but exist the scope of electric machine structure complexity, plane motion little, problem such as the utilance of winding is low, pushing force density is low, system effectiveness is low.
To the research of straight line-electric rotating machine also seldom, technology is immature in the world.Document " a kind of two-freedom three-phase linear-permanent magnet rotating electric machine " (Chen, L.Hofmann, W.Design of OneRotary-linear Permanent Magnet Motor with Two Independently Energized ThreePhase Windings.Power Electronics and Drive Systems, 2007.PEDS ' 07.7thInternational Conference.27-30Nov.2007.P:1372-1376) structure of straight line-electric rotating machine shown in Figure 19 proposed.This armature adopts two cover windings, and a cover is used for producing rotating magnetic field, and this magnetic field and rotor permanent magnet interact, and produce rotating electromagnetic power, drives rotor and rotates; Another set of winding is used for producing the travelling-magnetic-field of translation vertically, and this magnetic field and rotor (mover) permanent magnet interacts, and produces axial electromagnetic force, drives rotor and does rectilinear motion.The major defect of this motor is to produce rotating magnetic field and translation magnetic field respectively with two cover windings, and winding volume, weight is big, pushing force density is low; The utilance of winding is low, loss is big; Structure and processing technology complexity, the cost height; There is electromagnetic coupled in two cover windings, and the control difficulty is big.
Summary of the invention
Problem such as low for the utilance of the complex structure that solves existing planar motor and straight line-electric rotating machine, winding, that pushing force density is low, system effectiveness is low and the control difficulty is big, the present invention proposes a kind of recombination current driving nine phase plane motors, straight line-electric rotating machine and driver thereof.
Recombination current driving nine phase plane motors of the present invention, it comprises armature component and permanent magnet excitation parts, is air gap between armature component and the permanent magnet excitation parts, wherein armature component comprises armature winding and armature core; The permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate; Coil spacing τ in the armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, each planar motor is made of i unit motor, comprises 9 coils and 2 permanent magnets in each unit motor, and described 9 coils are formed 3 * 3 matrix, and each coil is a phase armature winding, and one has 9 phase armature winding, is expressed as respectively; A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding, the Y-connection of described nine phase armature winding.
The present invention also provides another kind of recombination current driving nine phase plane motors, and it comprises armature component and permanent magnet excitation parts, is air gap between armature component and the permanent magnet excitation parts, and wherein armature component comprises armature winding and armature core; The permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate; Coil spacing τ in the armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, each planar motor is made of i unit motor, comprises S coil and P permanent magnet in each unit motor, described P=2h 2, S=9 (m 2+ 1)/2; Plate permanent magnet yoke plate in each unit motor evenly is divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, wherein m and h be all greater than 1, and 3m and 2h are mutual prime rwmber; A described P permanent magnet is separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, and described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, and the permanent magnet polarity of adjacent row or column is opposite; Plate shaped armature core in each unit motor evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different phase armature winding and is respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding in described 3 * 3 phase rectangular unit grids, again each phase rectangular unit grid evenly is divided into m * m coil unit lattice; The length of side of each coil unit lattice is coil spacing τ t, belong to (the m of same phase 2+ 1)/2 in the coil distribution coil unit lattice that the diagonal angle is adjacent in a phase rectangular unit grid, and the coil winding-direction that the diagonal angle is adjacent is opposite, the out-phase coil in the homophase rectangular unit grid is not arranged in parallel or vertical adjacent coil unit lattice, and parallel or vertical adjacent coil winding-direction is identical; (the m that belongs to same phase in each phase rectangular unit grid 2+ 1)/2 a coil is a phase armature winding after connecting mutually, belong to the phase armature winding units in series of same phase in i the unit motor after, form nine phase armature winding by Y-connection.
The present invention also provides another kind of recombination current driving nine phase plane motors, and it comprises armature component and permanent magnet excitation parts, is air gap between armature component and the permanent magnet excitation parts, and wherein armature component comprises armature winding and armature core; The permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate; Coil spacing τ in the described armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, each planar motor is made of i unit motor, comprises S coil and P permanent magnet in each unit motor, described P=2h 2, S=9m 2/ 2; Plate permanent magnet yoke plate in each unit motor evenly is divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, n＞1 wherein, and m＞1, and there are greatest common divisor j in 3m and 2h; A described P permanent magnet is separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, and described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, and the permanent magnet polarity of adjacent row or column is opposite; Plate shaped armature core in each unit motor evenly is divided into j * j rectangle electric motor units, again each rectangle electric motor units evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different facies unit armature winding and is respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I facies unit armature winding in described 3 * 3 phase rectangular unit grids, each phase rectangular unit grid evenly is divided into (m/j) * (m/j) individual coil unit lattice, the length of side of each coil unit lattice is coil spacing τ again t(m/j) * (m/j)/2 coil that belongs to same phase is arranged in each phase rectangular unit grid, described coil stationary is in the adjacent coil unit lattice in diagonal angle, and around on the contrary, out-phase coil in the different phase rectangular unit grids is arranged in parallel or vertical adjacent coil unit lattice, and adjacent coil winding-direction is identical, coil in each phase rectangular unit grid connected mutually form a facies unit armature winding, the facies unit armature winding series connection that belongs in j * j the rectangle electric motor units in the phase rectangular unit grid of same phase is formed a phase armature winding, after belonging to the phase armature winding units in series of same phase in i the unit motor, form nine phase armature winding by Y-connection.
Planar motor of the present invention adopts a cover armature winding, utilize recombination current driving, X, the motion of Y two dimensional surface of electric mover have been realized, reduced the volume and weight of motor, simultaneously can also reduce permanent magnet yoke portion's thickness and winding overhang length, make the winding phase insulation simple, thereby the thrust output and the dynamic response of motor unit volume have been improved, also reduced the detent force of motor, have big, simple in structure, the characteristics such as force oscillation is little, pushing force density is big, dynamic characteristic is good, efficient height of the mover plane motion scope of realization.
Planar motor of the present invention is particularly useful for the accurate motion control field of two dimensional surface.
Recombination current driving nine phase straight line-electric rotating machines of the present invention, it comprises primary components and secondary parts, is air gap between primary components and the secondary parts, wherein primary components comprises armature coil and winding fixed muffle; Secondary parts comprise permanent magnet array and cylinder or columniform output shaft; Coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described straight line-electric rotating machine is made of i unit motor, comprises 9 coils and 2 permanent magnet magnetic pole units in each unit motor, the coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3 τ t=(3 ± 1) τ p, described 9 coils are formed 3 * 3 matrix, and each coil is a phase armature winding, and one has 9 phase armature winding, is expressed as respectively; A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding, the Y-connection of described nine phase armature winding, permanent magnet array is made of N utmost point permanent magnet and S utmost point permanent magnet, described N utmost point permanent magnet and S utmost point permanent magnet all are radial magnetizings, and the diagonal angle is adjacent, described i, n are natural number, and described motor is outer mover structure or interior mover structure.
The present invention also provides another kind of recombination current driving nine phase straight line-electric rotating machines, and it comprises primary components and secondary parts, is air gap between primary components and the secondary parts, and wherein primary components comprises armature coil and winding fixed muffle; Secondary parts comprise permanent magnet array and and cylinder or cylindrical output shaft; Coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described straight line-electric rotating machine is made of i unit motor, comprises S coil and P permanent magnet magnetic pole unit in each unit motor, described P=2h 2, S=9 (m 2+ 1)/2; Cylinder in each unit motor or cylindrical output shaft surface evenly are divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, wherein m and h be all greater than 1, and 3m and 2h are mutual prime rwmber; Described P permanent magnet magnetic pole unit is separately fixed in the adjacent permanent magnet unit lattice in the lip-deep diagonal angle of output shaft, described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, the polarity of the permanent magnet magnetic pole unit of adjacent row or column is opposite, and described permanent magnet magnetic pole unit all is a radial magnetizing; Columnar winding fixed muffle surface in each unit motor evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different phase armature winding and is respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding in described 3 * 3 phase rectangular unit grids, again each phase rectangular unit grid evenly is divided into m * m coil unit lattice; The length of side of each coil unit lattice is coil spacing τ t, belong to (the m of same phase 2+ 1)/2 in the coil distribution coil unit lattice that the diagonal angle is adjacent in a phase rectangular unit grid, and the coil winding-direction that the diagonal angle is adjacent is opposite, the out-phase coil in the homophase rectangular unit grid is not arranged in parallel or vertical adjacent coil unit lattice, and parallel or vertical adjacent coil winding-direction is identical; (the m that belongs to same phase in each phase rectangular unit grid 2+ 1)/2 a coil is a phase armature winding after connecting mutually, belong to the phase armature winding units in series of same phase in i the unit motor after, form nine phase armature winding by Y-connection, described motor is outer mover structure or interior mover structure.
The present invention also provides another kind of recombination current driving nine phase straight line-electric rotating machines, and it comprises primary components and secondary parts, is air gap between primary components and the secondary parts, and wherein primary components comprises armature coil and winding fixed muffle; Secondary parts comprise permanent magnet array and and cylinder or cylindrical output shaft; Coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, each straight line-electric rotating machine is made of i unit motor, comprises S coil and P permanent magnet magnetic pole unit in each unit motor, described P=2h 2, S=9m 2/ 2; Cylinder in each unit motor or cylindrical output shaft surface evenly are divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, n＞1 wherein, and m＞1, and there are greatest common divisor j in 3m and 2h; Described P permanent magnet magnetic pole unit is separately fixed in the adjacent permanent magnet unit lattice in the lip-deep diagonal angle of output shaft, described permanent magnet is parallel, vertically all non-conterminous, and the permanent magnet polarity of same row or column is identical, the polarity of the permanent magnet magnetic pole unit of adjacent row or column is opposite, and described permanent magnet magnetic pole unit all is a radial magnetizing; Columnar winding fixed muffle surface in each unit motor evenly is divided into j * j rectangle electric motor units, again each rectangle electric motor units evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different facies unit armature winding in described 3 * 3 phase rectangular unit grids, be respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I facies unit armature winding, each phase rectangular unit grid evenly is divided into (m/j) * (m/j) individual coil unit lattice, the length of side of each coil unit lattice is coil spacing τ again t(m/j) * (m/j)/2 coil that belongs to same phase is arranged in each phase rectangular unit grid, described coil stationary is in the adjacent coil unit lattice in diagonal angle, and around on the contrary, out-phase coil in the different phase rectangular unit grids is arranged in parallel or vertical adjacent coil unit lattice, and adjacent coil winding-direction is identical, coil in each phase rectangular unit grid connected mutually form a facies unit armature winding, the facies unit armature winding series connection that belongs in j * j the rectangle electric motor units in the phase rectangular unit grid of same phase is formed a phase armature winding, after belonging to the phase armature winding units in series of same phase in i the unit motor, form nine phase armature winding by Y-connection, described motor is outer mover structure or interior mover structure.
Straight line of the present invention-electric rotating machine adopts a cover armature winding, utilize recombination current driving, realized the straight line-rotation two dimensional motion of electric mover, reduced the volume and weight of motor, simultaneously can also reduce permanent magnet yoke portion's thickness and winding overhang length, make the winding phase insulation simple, thereby motor output power of unit volume and dynamic response have been improved, also reduce the location torque and the detent force of motor, had simple in structure, torque and characteristics such as force oscillation is little, power density is big, dynamic characteristic is good, efficient height.
Straight line-electric rotating machine of the present invention is particularly useful for the accurate motion control field of straight line-rotation two dimensional motion.
The present invention also provides a kind of driver that is applicable to recombination current driving nine phase plane motors of the present invention and straight line-electric rotating machine, and it has nine road drive current output signals, and described nine tunnel driving current signal are respectively:
i a＝I xm?sin(ω xt)+I ym?sin(ω yt)，
i b＝I xm?sin(ω xt)+I ym?sin(ω yt-2π/3)，
i c＝I xm?sin(ω xt)+I ym?sin(ω yt-4π/3)，
i d＝I xm?sin(ω xt-2π/3)+I ym?sin(ω yt)，
i e＝I xm?sin(ω xt-2π/3)+I ym?sin(ω yt-2π/3)，
i f＝I xm?sin(ω xt-2π/3)+I ym?sin(ω yt-4π/3)，
i g＝I xm?sin(ω xt-4π/3)+I ym?sin(ω yt)，
i h＝I xm?sin(ω xt-4π/3)+I ym?sin(ω yt-2π/3)，
i i＝I xm?sin(ω xt-4π/3)+I ym?sin(ω yt-4π/3)，
I wherein a～i iThe drive current of representing A～I phase armature winding respectively;
When driven object is planar motor, I Xm, I YmRepresent X respectively, the amplitude of Y direction drive current; ω x, ω yRepresent X respectively, the angular frequency of Y direction drive current.
When driven object is straight line-electric rotating machine, I XmThe rotate in a circumferential direction amplitude of drive current of expression, I YmThe amplitude of representing axial linear drives electric current; ω xThe rotate in a circumferential direction angular frequency of drive current of expression, ω yThe angular frequency of representing axial linear drives electric current.
The operation principle of planar motor of the present invention and straight line-electric rotating machine is identical, and the structure of its armature structure and permanent magnet array is also identical.The present invention is rolled into tubular with the armature structure of the plane in the primary plane motor and permanent magnet array along directions X, making mover just be transformed in the motion of former directions X rotatablely moves, that is: the planar movement conversion with mover in the primary plane motor becomes rotation to add the forms of motion of straight line, has realized the function that straight line-rotation drives.
Description of drawings
Fig. 1 is the annexation schematic diagram of motor of the present invention and its driver, and Fig. 2 is the armature coil distribution schematic diagram in the electric motor units of embodiment one described planar motor; Fig. 3 is the schematic diagram of arranging of the permanent magnet in the electric motor units of embodiment one described planar motor; Fig. 4 is the armature coil distribution schematic diagram of embodiment three described planar motors; Fig. 5 is the schematic diagram of arranging of the permanent magnet of embodiment three described planar motors; Fig. 6 is the armature coil distribution schematic diagram of embodiment five described planar motors; Fig. 7 is the schematic diagram of arranging of the permanent magnet of embodiment five described planar motors; Fig. 8 is existing a kind of permanent magnetic synchronous plane electromotor electric machine structure schematic diagram, wherein 1 be Y to thrust winding, the 2nd, frame, the 3rd, iron core, the 4th, X is to thrust winding 1,5th, magnetic array, the 6th, mover platform.Fig. 9 is the schematic diagram of arranging of 4 permanent magnet arrays.Figure 10 is that embodiment six is described, and the structural representation of the straight line-electric rotating machine during i=4, Figure 11 are that the position after the expansion of the armature coil among Figure 10 concerns schematic diagram, and Figure 12 is that the position after the permanent magnet array among Figure 10 launches concerns schematic diagram.Figure 13, Figure 14 are respectively that the position after the expansion of armature coil of embodiment eight described straight line-electric rotating machines concerns that the position after schematic diagram and permanent magnet array launch concerns schematic diagram.Figure 15, Figure 16 are respectively that the position after the expansion of armature coil of a standalone unit of embodiment ten described straight line-electric rotating machines concerns that the position after schematic diagram and permanent magnet array launch concerns schematic diagram.Figure 17 is the schematic diagram of arranging of the permanent magnet array in the nine phase motors of embodiment 11 described recombination current driving.Figure 18 is the schematic diagram of arranging of the permanent magnet array in the nine phase motors of embodiment 12 described recombination current driving.Figure 19 is a kind of structure of existing straight line-electric rotating machine, and wherein 8 is linear drives armature winding, the 9th, and rotation drives armature winding.
Indicate the position of alphabetical A, B, C, D, E, F, G, H, I among the figure, expression is fixed with A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase forward winding around respectively, indicate the position of alphabetical A, B, C, D, E, F, G, H, I among the figure, expression is fixed with A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I on the contrary to the coil that twines respectively.
Embodiment
Embodiment one: the described recombination current driving nine phase plane motors of present embodiment comprise armature component and permanent magnet excitation parts, are air gap between armature component and the permanent magnet excitation parts, and wherein armature component comprises armature winding and armature core; The permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate; Coil spacing τ in the armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described planar motor is made of i unit motor, comprises 9 coils and 2 permanent magnets in each unit motor, and described 9 coils are formed 3 * 3 matrix, and each coil is a phase armature winding, and one has 9 phase armature winding, is expressed as respectively; A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding, the Y-connection of described nine phase armature winding, described i, n are natural number.
The structure of the armature winding in the unit motor in the described planar motor of present embodiment is referring to shown in Figure 2, and magnet structure is referring to shown in Figure 3.
Embodiment two: the described recombination current driving nine phase plane motors of present embodiment comprise armature component and permanent magnet excitation parts, are air gap between armature component and the permanent magnet excitation parts, and wherein armature component comprises armature winding and armature core; The permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate; Coil spacing τ in the armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, each planar motor is made of i unit motor, comprises S coil and P permanent magnet in each unit motor, described P=2h 2, S=9 (m 2+ 1)/2; Plate permanent magnet yoke plate in each unit motor evenly is divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, wherein m and h be all greater than 1, and 3m and 2h are mutual prime rwmber; A described P permanent magnet is separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, and described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, and the permanent magnet polarity of adjacent row or column is opposite; Plate shaped armature core in each unit motor evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different phase armature winding and is respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding in described 3 * 3 phase rectangular unit grids, again each phase rectangular unit grid evenly is divided into m * m coil unit lattice; The length of side of each coil unit lattice is coil spacing τ t, belong to (the m of same phase 2+ 1)/2 in the coil distribution coil unit lattice that the diagonal angle is adjacent in a phase rectangular unit grid, and the coil winding-direction that the diagonal angle is adjacent is opposite, the out-phase coil in the homophase rectangular unit grid is not arranged in parallel or vertical adjacent coil unit lattice, and parallel or vertical adjacent coil winding-direction is identical; (the m that belongs to same phase in each phase rectangular unit grid 2+ 1)/2 a coil is a phase armature winding after connecting mutually, belong to the phase armature winding units in series of same phase in i the unit motor after, form nine phase armature winding by Y-connection.
When the armature core in the present embodiment can be for the teeth groove structure, need be on foursquare tooth each coil.
Rotor permanent magnet in the present embodiment can adopt high performance rare-earth permanent magnet.
The described motor of present embodiment both can be moving primary structure, also can be moving secondary structure.
When needs increase the stroke of motor, only need to increase a number i of unit motor and just can achieve the goal.
Embodiment three: present embodiment is described referring to Fig. 4, Fig. 5.Present embodiment is an embodiment of embodiment two described recombination current driving nine phase plane motors, and present embodiment is made of an electric motor units, wherein m=3, h=4, n=3, motor have S=45 coil and P=32 permanent magnet, the coil spacing τ in the armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 9 τ t=8 τ pReferring to Fig. 5, because 3m and 2h are respectively 9 and 8, be mutual prime rwmber, plate permanent magnet yoke plate evenly is divided into 2h * 2h permanent magnet unit lattice, i.e. 8 * 8 permanent magnet unit lattice, described 32 permanent magnets are separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, the permanent magnet polarity of adjacent row or column is opposite, in the present embodiment, the 1st, 3,5, the 1st of 7 row, 3,5, fix N utmost point permanent magnet in 7 row is the 2nd, 4,6, the 2nd of 8 row, 4,6, fixing S utmost point permanent magnet in 8 row; Plate shaped armature core evenly is divided into 3 * 3 phase rectangular elements, and each phase rectangular element evenly is divided into m * m again, i.e. 3 * 3 cells; Be distributed with (3 in 3 * 3 cells in each phase rectangular element 2+ 1)/a 2=5 coil, in described 5 coil distribution cell that the diagonal angle is adjacent in each phase rectangular element, promptly the 1st the row in the 1st, 3 row, the 2nd row in the 2nd row, in the 3rd row the 1st, in 3 row, and the coil winding-direction that the diagonal angle is adjacent is opposite, promptly the 1st the row in the 1st, in 3 row and the 3rd row the 1st, coil forward in 3 row twines, the coil of the 2nd row in the 2nd row oppositely twines, coil in two adjacent phase rectangular elements is parallel or vertical adjacent or non-conterminous, and parallel or vertical adjacent coil winding-direction is identical, promptly the 3rd be listed as the 1st, during in 3 row and the adjacent rectangular element mutually the 4th is listed as the 1st, 3 row, the coil of the 3rd row in the 4th row is adjacent, and being forward twines, the 2nd is listed as the coil that the 2nd in the 2nd coil of going and the adjacent rectangle unit is listed as the 5th row, the 5th be listed as the 2nd the row coil all non-conterminous, the 3rd row the 1st, the 4th row the 1st in the coils of 3 row and the adjacent rectangular element mutually, 3 row, the coil of the 3rd row the 4th row is adjacent and be forward and twine, after connecting mutually, 5 coils in each phase rectangular element form a phase armature winding, armature winding in 3 * 3 phase rectangular elements forms 9 phase armature winding altogether and is respectively: the A phase, the B phase, the C phase, the D phase, the E phase, the F phase, the G phase, the H phase, I phase armature winding, the star-like nine phase armature winding that are connected to form in described 9 phase armature winding unit.
Embodiment four: the described recombination current driving nine phase plane motors of present embodiment comprise armature component and permanent magnet excitation parts, are air gap between armature component and the permanent magnet excitation parts, and wherein armature component comprises armature winding and armature core; The permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate; Coil spacing τ in the described armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, each planar motor is made of i unit motor, comprises S coil and P permanent magnet in each unit motor, described P=2h 2, S=9m 2/ 2; Plate permanent magnet yoke plate in each unit motor evenly is divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, n＞1 wherein, and m＞1, and there are greatest common divisor j in 3m and 2h; A described P permanent magnet is separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, and described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, and the permanent magnet polarity of adjacent row or column is opposite; Plate shaped armature core in each unit motor evenly is divided into j * j rectangle electric motor units, again each rectangle electric motor units evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different facies unit armature winding and is respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I facies unit armature winding in described 3 * 3 phase rectangular unit grids, each phase rectangular unit grid evenly is divided into (m/j) * (m/j) individual coil unit lattice, the length of side of each coil unit lattice is coil spacing τ again t(m/j) * (m/j)/2 coil that belongs to same phase is arranged in each phase rectangular unit grid, described coil stationary is in the adjacent coil unit lattice in diagonal angle, and around on the contrary, out-phase coil in the different phase rectangular unit grids is arranged in parallel or vertical adjacent coil unit lattice, and adjacent coil winding-direction is identical, coil in each phase rectangular unit grid connected mutually form a facies unit armature winding, the facies unit armature winding series connection that belongs in j * j the rectangle electric motor units in the phase rectangular unit grid of same phase is formed a phase armature winding, after belonging to the phase armature winding units in series of same phase in i the unit motor, form nine phase armature winding by Y-connection.
Embodiment five: present embodiment is described referring to Fig. 7 and Fig. 8.Present embodiment is an embodiment of embodiment four described recombination current driving nine phase plane motors, and present embodiment is made of an electric motor units, m=4 wherein, and h=5 comprises S coil and P permanent magnet, described P=2h 2=50, S=9m 2/ 2=72, the armature coil of motor is apart from τ tWith permanent magnet array pole span τ pBetween satisfy and to concern 12 τ t=10 τ pGreatest common divisor is arranged is 2 because 3m and 2h are respectively 12 and 10, be j=2, plate permanent magnet yoke plate in each unit motor evenly is divided into 2h * 2h=10 * 10 a permanent magnet unit lattice, described 50 permanent magnets are separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, described permanent magnet is parallel or vertically non-conterminous, 1st, being N utmost point permanent magnet in the permanent magnet unit lattice of the 1st, 3,5,7,9 row of 3,5,7,9 row, is S utmost point permanent magnet in the permanent magnet unit lattice of the 2nd, 4,6,8,10 row of the 2nd, 4,6,8,10 row; Plate shaped armature core evenly is divided into 2 * 2 rectangle electric motor units, again each rectangle electric motor units evenly is divided into 3 * 3 phase rectangular elements, place 9 phase armature winding in described 3 * 3 phase rectangular elements, (m/j) * (m/j)/2=2 coil that homophase is arranged in each phase rectangular element, again each phase rectangular element evenly is divided into (m/j) * (m/j)=2 * 2 coil unit, 2 coil stationary of homophase are in a coil unit, and 2 coil diagonal angles of described homophase are adjacent, and around on the contrary, 2 coils of described homophase are connected mutually and are formed a facies unit coil windings, the coil of out-phase is parallel or vertically adjacent, and adjacent coil winding-direction is identical, having 9 facies unit coil windings in described 3 * 3 phase rectangular elements is respectively: the A phase, the B phase, the C phase, the D phase, the E phase, the F phase, the G phase, the H phase, I facies unit coil windings, the unit coil winding that belongs to same phase in 2 * 2 rectangle electric motor units is connected in series mutually and forms a phase armature winding, and the Y-connection of 9 phase armature winding forms nine phase armature winding.
Embodiment six: the described a kind of recombination current driving nine phase straight line-electric rotating machines of present embodiment, it comprises primary components and secondary parts, be air gap between primary components and the secondary parts, wherein primary components comprises armature coil and winding fixed muffle; Secondary parts comprise permanent magnet array and cylinder or columniform output shaft; Coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described straight line-electric rotating machine is made of i unit motor, comprises 9 coils and 2 permanent magnet magnetic pole units in each unit motor, the coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3 τ t=(3 ± 1) τ p, described 9 coils are formed 3 * 3 matrix, and each coil is a phase armature winding, and one has 9 phase armature winding, is expressed as respectively; A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding, the Y-connection of described nine phase armature winding, permanent magnet array is made of N utmost point permanent magnet and S utmost point permanent magnet, described N utmost point permanent magnet and S utmost point permanent magnet all are radial magnetizings, and the diagonal angle is adjacent, described i, n are natural number, and described straight line-electric rotating machine is outer mover structure or interior mover structure.
Output shaft in the secondary parts in the present embodiment is a cylindrical shape or cylindrical, and the mover structure time, described output shaft is a cylindrical shape outside the described straight line-electric rotating machine of present embodiment is, described permanent magnet array is fixed on the inner surface of output shaft.When the described straight line-electric rotating machine of present embodiment was interior mover structure, described output shaft was cylindrical, and described permanent magnet array is fixed on the outer surface of output shaft.
Figure 10-the 12nd is when i=4, the structural representation of the described straight line-electric rotating machine of present embodiment, wherein, Figure 11 is the planar development schematic diagram of the armature of described straight line-electric rotating machine, and Figure 12 is the planar development schematic diagram of the permanent magnet array of described straight line-electric rotating machine.
Embodiment seven: the described recombination current driving nine phase straight line-electric rotating machines of present embodiment comprise primary components and secondary parts, are air gap between primary components and the secondary parts, and wherein primary components comprises armature coil and winding fixed muffle; Secondary parts comprise permanent magnet array and and cylinder or cylindrical output shaft; Coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described straight line-electric rotating machine is made of i unit motor, comprises S coil and P permanent magnet magnetic pole unit in each unit motor, described P=2h 2, S=9 (m 2+ 1)/2; Cylinder in each unit motor or cylindrical output shaft surface evenly are divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, wherein m and h be all greater than 1, and 3m and 2h are mutual prime rwmber; Described P permanent magnet magnetic pole unit is separately fixed in the adjacent permanent magnet unit lattice in the lip-deep diagonal angle of output shaft, described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, the polarity of the permanent magnet magnetic pole unit of adjacent row or column is opposite, and described permanent magnet magnetic pole unit all is a radial magnetizing; Columnar winding fixed muffle surface in each unit motor evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different phase armature winding and is respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding in described 3 * 3 phase rectangular unit grids, again each phase rectangular unit grid evenly is divided into m * m coil unit lattice; The length of side of each coil unit lattice is coil spacing τ t, belong to (the m of same phase 2+ 1)/2 in the coil distribution coil unit lattice that the diagonal angle is adjacent in a phase rectangular unit grid, and the coil winding-direction that the diagonal angle is adjacent is opposite, the out-phase coil in the homophase rectangular unit grid is not arranged in parallel or vertical adjacent coil unit lattice, and parallel or vertical adjacent coil winding-direction is identical; (the m that belongs to same phase in each phase rectangular unit grid 2+ 1)/2 a coil is a phase armature winding after connecting mutually, belong to the phase armature winding units in series of same phase in i the unit motor after, form nine phase armature winding by Y-connection, described straight line-electric rotating machine is outer mover structure or interior mover structure.
Output shaft in the secondary parts in the present embodiment is a cylindrical shape or cylindrical, and the mover structure time, described output shaft is a cylindrical shape outside the described straight line-electric rotating machine of present embodiment is, described permanent magnet array is fixed on the inner surface of output shaft.When the described straight line-electric rotating machine of present embodiment was interior mover structure, described output shaft was cylindrical, and described permanent magnet array is fixed on the outer surface of output shaft.
Embodiment eight: present embodiment is described referring to Figure 13, Figure 14.Present embodiment is an embodiment of embodiment seven described recombination current driving nine phase straight line-electric rotating machines, and present embodiment is made of an electric motor units, wherein m=3, h=4, n=3, motor have S=45 coil and P=32 permanent magnet, the coil spacing τ in the armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 9 τ t=8 τ pShown in Figure 131, because 3m and 2h are respectively 9 and 8, be mutual prime rwmber, plate permanent magnet yoke plate evenly is divided into 2h * 2h permanent magnet unit lattice, i.e. 8 * 8 permanent magnet unit lattice, described 32 permanent magnets are separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, the permanent magnet polarity of adjacent row or column is opposite, in the present embodiment, the 1st, 3,5, the 1st of 7 row, 3,5, fix N utmost point permanent magnet in 7 row is the 2nd, 4,6, the 2nd of 8 row, 4,6, fixing S utmost point permanent magnet in 8 row; Plate shaped armature core evenly is divided into 3 * 3 phase rectangular elements, and each phase rectangular element evenly is divided into m * m again, i.e. 3 * 3 cells; Be distributed with (3 in 3 * 3 cells in each phase rectangular element 2+ 1)/a 2=5 coil, in described 5 coil distribution cell that the diagonal angle is adjacent in each phase rectangular element, promptly the 1st the row in the 1st, 3 row, the 2nd row in the 2nd row, in the 3rd row the 1st, in 3 row, and the coil winding-direction that the diagonal angle is adjacent is opposite, promptly the 1st the row in the 1st, in 3 row and the 3rd row the 1st, coil forward in 3 row twines, the coil of the 2nd row in the 2nd row oppositely twines, coil in two adjacent phase rectangular elements is parallel or vertical adjacent or non-conterminous, and parallel or vertical adjacent coil winding-direction is identical, promptly the 3rd be listed as the 1st, during in 3 row and the adjacent rectangular element mutually the 4th is listed as the 1st, 3 row, the coil of the 3rd row in the 4th row is adjacent, and being forward twines, the 2nd is listed as the coil that the 2nd in the 2nd coil of going and the adjacent rectangle unit is listed as the 5th row, the 5th be listed as the 2nd the row coil all non-conterminous, the 3rd row the 1st, the 4th row the 1st in the coils of 3 row and the adjacent rectangular element mutually, 3 row, the coil of the 3rd row the 4th row is adjacent and be forward and twine, after connecting mutually, 5 coils in each phase rectangular element form a phase armature winding, armature winding in 3 * 3 phase rectangular elements forms 9 phase armature winding altogether and is respectively: the A phase, the B phase, the C phase, the D phase, the E phase, the F phase, the G phase, the H phase, I phase armature winding, the star-like nine phase armature winding that are connected to form in described 9 phase armature winding unit.
Contrast according to Figure 13 and Figure 14 and Fig. 4 and Fig. 5 can know that the armature structure of the described recombination current driving nine phase straight line-electric rotating machines of present embodiment and the plane outspread drawing of magnet structure are identical with the armature structure and the magnet structure of embodiment three described recombination current driving nine phase plane motors.
Embodiment nine: a kind of recombination current driving nine phase straight line-electric rotating machines, it is characterized in that it comprises primary components and secondary parts, be air gap between primary components and the secondary parts, wherein primary components comprises armature coil and winding fixed muffle; Secondary parts comprise permanent magnet array and and cylinder or cylindrical output shaft; Coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, each straight line-electric rotating machine is made of i unit motor, comprises S coil and P permanent magnet magnetic pole unit in each unit motor, described P=2h 2, S=9m 2/ 2; Cylinder in each unit motor or cylindrical output shaft surface evenly are divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, n＞1 wherein, and m＞1, and there are greatest common divisor j in 3m and 2h; Described P permanent magnet magnetic pole unit is separately fixed in the adjacent permanent magnet unit lattice in the lip-deep diagonal angle of output shaft, described permanent magnet is parallel, vertically all non-conterminous, and the permanent magnet polarity of same row or column is identical, the polarity of the permanent magnet magnetic pole unit of adjacent row or column is opposite, and described permanent magnet magnetic pole unit all is a radial magnetizing; Columnar winding fixed muffle surface in each unit motor evenly is divided into j * j rectangle electric motor units, again each rectangle electric motor units evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different facies unit armature winding in described 3 * 3 phase rectangular unit grids, be respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I facies unit armature winding, each phase rectangular unit grid evenly is divided into (m/j) * (m/j) individual coil unit lattice, the length of side of each coil unit lattice is coil spacing τ again t(m/j) * (m/j)/2 coil that belongs to same phase is arranged in each phase rectangular unit grid, described coil stationary is in the adjacent coil unit lattice in diagonal angle, and around on the contrary, out-phase coil in the different phase rectangular unit grids is arranged in parallel or vertical adjacent coil unit lattice, and adjacent coil winding-direction is identical, coil in each phase rectangular unit grid connected mutually form a facies unit armature winding, the facies unit armature winding series connection that belongs in j * j the rectangle electric motor units in the phase rectangular unit grid of same phase is formed a phase armature winding, after belonging to the phase armature winding units in series of same phase in i the unit motor, form nine phase armature winding by Y-connection, described straight line-electric rotating machine is outer mover structure or interior mover structure.
Output shaft in the secondary parts in the present embodiment is a cylindrical shape or cylindrical, and the mover structure time, described output shaft is a cylindrical shape outside the described straight line-electric rotating machine of present embodiment is, described permanent magnet array is fixed on the inner surface of output shaft.When the described straight line-electric rotating machine of present embodiment was interior mover structure, described output shaft was cylindrical, and described permanent magnet array is fixed on the outer surface of output shaft.
Embodiment ten: present embodiment is described referring to Figure 15 and Figure 16.Present embodiment is an embodiment of embodiment four described recombination current driving nine phase plane motors, and present embodiment is made of an electric motor units, m=4 wherein, and h=5 comprises S coil and P permanent magnet, described P=2h 2=50, S=9m 2/ 2=72, the armature coil of motor is apart from τ tWith permanent magnet array pole span τ pBetween satisfy and to concern 12 τ t=10 τ pGreatest common divisor is arranged is 2 because 3m and 2h are respectively 12 and 10, be j=2, plate permanent magnet yoke plate in each unit motor evenly is divided into 2h * 2h=10 * 10 a permanent magnet unit lattice, described 50 permanent magnets are separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, described permanent magnet is parallel or vertically non-conterminous, 1st, being N utmost point permanent magnet in the permanent magnet unit lattice of the 1st, 3,5,7,9 row of 3,5,7,9 row, is S utmost point permanent magnet in the permanent magnet unit lattice of the 2nd, 4,6,8,10 row of the 2nd, 4,6,8,10 row; Plate shaped armature core evenly is divided into 2 * 2 rectangle electric motor units, again each rectangle electric motor units evenly is divided into 3 * 3 phase rectangular elements, place 9 phase armature winding in described 3 * 3 phase rectangular elements, (m/j) * (m/j)/2=2 coil that homophase is arranged in each phase rectangular element, again each phase rectangular element evenly is divided into (m/j) * (m/j)=2 * 2 coil unit, 2 coil stationary of homophase are in a coil unit, and 2 coil diagonal angles of described homophase are adjacent, and around on the contrary, 2 coils of described homophase are connected mutually and are formed a facies unit coil windings, the coil of out-phase is parallel or vertically adjacent, and adjacent coil winding-direction is identical, having 9 facies unit coil windings in described 3 * 3 phase rectangular elements is respectively: the A phase, the B phase, the C phase, the D phase, the E phase, the F phase, the G phase, the H phase, I facies unit coil windings, the unit coil winding that belongs to same phase in 2 * 2 rectangle electric motor units is connected in series mutually and forms a phase armature winding, and the Y-connection of 9 phase armature winding forms nine phase armature winding.
Contrast according to Figure 15 and Figure 16 and Fig. 6 and Fig. 7 can know that the armature structure of the described recombination current driving nine phase straight line-electric rotating machines of present embodiment and the plane outspread drawing of magnet structure are identical with the armature structure and the magnet structure of embodiment five described recombination current driving nine phase plane motors.
Embodiment 11: present embodiment is described referring to Figure 17.Present embodiment is the further qualification to the structure of the permanent magnet array in the described recombination current driving high pushing force density nine phase motors of embodiment one to ten any one execution mode, described permanent magnet array also comprises the embedding permanent magnet, described embedding permanent magnet is fixed in N utmost point permanent magnet and the formed space of S utmost point permanent magnet adjacent angular, be that each N utmost point permanent magnet is surrounded by four embedding permanent magnets, each S utmost point permanent magnet is embedded permanent magnet by four and surrounds, each embeds permanent magnet and is divided into quarter along diagonal, each equal portions is an equilateral right-angled triangle, the magnetizing direction of each equilateral right-angled triangle permanent magnet is vertical with the hypotenuse of described right-angled triangle, and the magnetizing direction of the embedding permanent magnet adjacent with N utmost point permanent magnet is the direction towards this N utmost point permanent magnet, the magnetizing direction of the embedding permanent magnet extremely adjacent with S is the direction that deviates from this S utmost point permanent magnet, and described embedding permanent magnet is a parallel magnetization.
Embodiment 12: present embodiment is described referring to Figure 18.Present embodiment is the further qualification to the structure of the permanent magnet array in the described recombination current driving high pushing force density nine phase motors of embodiment one to ten any one execution mode, described permanent magnet array also comprises the embedding permanent magnet, described permanent magnet is fixed in N utmost point permanent magnet and the formed space of S utmost point permanent magnet adjacent angular, be that each N utmost point permanent magnet is surrounded by four embedding permanent magnets, each S utmost point permanent magnet is embedded permanent magnet by four and surrounds, each embeds permanent magnet and is divided into quarter along level and vertical direction, each equal portions is a rectangle permanent magnet, the magnetizing direction of each rectangle permanent magnet is its cornerwise direction, the magnetizing direction of the rectangle permanent magnet adjacent with the N permanent magnet is the direction towards this N utmost point permanent magnet, the magnetizing direction of the rectangle permanent magnet extremely adjacent with S is the direction that deviates from this S utmost point permanent magnet, and described embedding permanent magnet is parallel magnetization.
Armature core in the described straight line-electric rotating machine of embodiment six to 12 arbitrary execution modes can adopt the teeth groove structure, and at this moment, each coil is on foursquare tooth.
Permanent magnet in the described straight line-electric rotating machine of embodiment six to 12 arbitrary execution modes can adopt high performance rare-earth permanent magnet.
Described straight line-the electric rotating machine of embodiment six to 12 arbitrary execution modes all is made up of a plurality of unit motor, when needs increase the rectilinear path of motor, only needs the number i that increases the unit motor just can achieve the goal.
Embodiment 13: present embodiment is described to be driver at the described recombination current driving high pushing force density nine phase motors of embodiment one to 12 arbitrary execution mode, it has nine road drive current output signals, and described nine tunnel driving current signal are respectively:
i a＝I xm?sin(ω xt)+I ym?sin(ω yt)，
i b＝I xm?sin(ω xt)+I ym?sin(ω yt-2π/3)，
i c＝I xm?sin(ω xt)+I ym?sin(ω yt-4π/3)，
i d＝I xm?sin(ω xt-2π/3)+I ym?sin(ω yt)，
i e＝I xm?sin(ω xt-2π/3)+I ym?sin(ω yt-2π/3)，
i f＝I xm?sin(ω xt-2π/3)+I ym?sin(ω yt-4π/3)，
i g＝I xm?sin(ω xt-4π/3)+I ym?sin(ω yt)，
i h＝I xm?sin(ω xt-4π/3)+I ym?sin(ω yt-2π/3)，
i i＝I xm?sin(ω xt-4π/3)+I ym?sin(ω yt-4π/3)，
I wherein a～i iThe drive current of representing A～I phase armature winding respectively:
When driven object is planar motor, I Xm, I YmRepresent X respectively, the amplitude of Y direction drive current; ω x, ω yRepresent X respectively, the angular frequency of Y direction drive current.
When driven object is straight line-electric rotating machine, I XmThe rotate in a circumferential direction amplitude of drive current of expression, I YmThe amplitude of representing axial linear drives electric current; ω xThe rotate in a circumferential direction angular frequency of drive current of expression, ω yThe angular frequency of representing axial linear drives electric current.
Each road driving current signal of the motor driver output of present embodiment all is the recombination current that comprises X-axis drive current and two components of Y-axis drive current.
Present embodiment is when motor connects mutually with the described recombination current driving high pushing force density nine of embodiment one to 13 arbitrary execution mode, nine phase windings of described nine phase motors are connected with nine drive current output signals of the motor driver of present embodiment respectively get final product, referring to Fig. 1.

Claims (11)

1, a kind of recombination current driving nine phase plane motors is characterized in that it comprises armature component and permanent magnet excitation parts, are air gap between armature component and the permanent magnet excitation parts, and wherein armature component comprises armature winding and armature core; The permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate; Coil spacing τ in the armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described planar motor is made of i unit motor, comprises 9 coils and 2 permanent magnets in each unit motor, and described 9 coils are formed 3 * 3 matrix, and each coil is a phase armature winding, and one has 9 phase armature winding, is expressed as respectively; A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding, the Y-connection of described nine phase armature winding, described i, n are natural number; Described planar motor is primary structure or moving secondary structure.
2, a kind of recombination current driving nine phase plane motors is characterized in that it comprises armature component and permanent magnet excitation parts, are air gap between armature component and the permanent magnet excitation parts, and wherein armature component comprises armature winding and armature core; The permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate; Coil spacing τ in the armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described planar motor is made of i unit motor, comprises S coil and P permanent magnet in each unit motor, described P=2h 2, S=9 (m 2+ 1)/2; Plate permanent magnet yoke plate in each unit motor evenly is divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, wherein m and h be all greater than 1, and 3m and 2h are mutual prime rwmber; A described P permanent magnet is separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, and described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, and the permanent magnet polarity of adjacent row or column is opposite; Plate shaped armature core in each unit motor evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different phase armature winding and is respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding in described 3 * 3 phase rectangular unit grids, again each phase rectangular unit grid evenly is divided into m * m coil unit lattice; The length of side of each coil unit lattice is coil spacing τ t, belong to (the m of same phase 2+ 1)/2 in the coil distribution coil unit lattice that the diagonal angle is adjacent in a phase rectangular unit grid, and the coil winding-direction that the diagonal angle is adjacent is opposite, the out-phase coil in the homophase rectangular unit grid is not arranged in parallel or vertical adjacent coil unit lattice, and parallel or vertical adjacent coil winding-direction is identical; (the m that belongs to same phase in each phase rectangular unit grid 2+ 1)/2 a coil is a phase armature winding after connecting mutually, belong to the phase armature winding units in series of same phase in i the unit motor after, form the described planar motor of nine phase armature winding by Y-connection and be primary structure or moving secondary structure.
3, recombination current driving nine phase plane motors according to claim 2, it is characterized in that described in N utmost point permanent magnet and the formed space of S utmost point permanent magnet adjacent angular, be fixed with the embedding permanent magnet, be that each N utmost point permanent magnet is surrounded by four embedding permanent magnets, each S utmost point permanent magnet is embedded permanent magnet by four and surrounds, each embeds permanent magnet and is divided into quarter along diagonal, each equal portions is an equilateral right-angled triangle, the magnetizing direction of each equilateral right-angled triangle permanent magnet is vertical with the hypotenuse of described right-angled triangle, and the magnetizing direction of the embedding permanent magnet adjacent with N utmost point permanent magnet is the direction towards this N utmost point permanent magnet, the magnetizing direction of the embedding permanent magnet extremely adjacent with S is the direction that deviates from this S utmost point permanent magnet, and described embedding permanent magnet is a parallel magnetization.
4, recombination current driving nine phase plane motors according to claim 2, it is characterized in that described in N utmost point permanent magnet and the formed space of S utmost point permanent magnet adjacent angular, be fixed with the embedding permanent magnet, be that each N utmost point permanent magnet is surrounded by four embedding permanent magnets, each S utmost point permanent magnet is embedded permanent magnet by four and surrounds, each embeds permanent magnet and is divided into quarter along level and vertical direction, each equal portions is a rectangle permanent magnet, the magnetizing direction of each rectangle permanent magnet is its cornerwise direction, the magnetizing direction of the rectangle permanent magnet adjacent with the N permanent magnet is the direction towards this N utmost point permanent magnet, the magnetizing direction of the rectangle permanent magnet extremely adjacent with S is the direction that deviates from this S utmost point permanent magnet, and described embedding permanent magnet is parallel magnetization.
5, a kind of recombination current driving nine phase plane motors is characterized in that it comprises armature component and permanent magnet excitation parts, are air gap between armature component and the permanent magnet excitation parts, and wherein armature component comprises armature winding and armature core; The permanent magnet excitation parts comprise permanent magnet array and permanent magnet yoke plate; Coil spacing τ in the described armature component tWith the permanent magnet array pole span τ in the permanent magnet excitation parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described planar motor is made of i unit motor, comprises S coil and P permanent magnet in each unit motor, described P=2h 2, S=9m 2/ 2; Plate permanent magnet yoke plate in each unit motor evenly is divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, n＞1 wherein, and m＞1, and there are greatest common divisor j in 3m and 2h; A described P permanent magnet is separately fixed in the adjacent permanent magnet unit lattice in diagonal angle on the permanent magnet yoke plate, and described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, and the permanent magnet polarity of adjacent row or column is opposite; Plate shaped armature core in each unit motor evenly is divided into j * j rectangle electric motor units, again each rectangle electric motor units evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different facies unit armature winding and is respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I facies unit armature winding in described 3 * 3 phase rectangular unit grids, each phase rectangular unit grid evenly is divided into (m/j) * (m/j) individual coil unit lattice, the length of side of each coil unit lattice is coil spacing τ again t(m/j) * (m/j)/2 coil that belongs to same phase is arranged in each phase rectangular unit grid, described coil stationary is in the adjacent coil unit lattice in diagonal angle, and around on the contrary, out-phase coil in the different phase rectangular unit grids is arranged in parallel or vertical adjacent coil unit lattice, and adjacent coil winding-direction is identical, coil in each phase rectangular unit grid connected mutually form a facies unit armature winding, the facies unit armature winding series connection that belongs in j * j the rectangle electric motor units in the phase rectangular unit grid of same phase is formed a phase armature winding, after belonging to the phase armature winding units in series of same phase in i the unit motor, form nine phase armature winding by Y-connection, described planar motor is primary structure or moving secondary structure.
6, a kind of recombination current driving nine phase straight line-electric rotating machines is characterized in that it comprises primary components and secondary parts, are air gap between primary components and the secondary parts, and wherein primary components comprises armature coil and winding fixed muffle; Secondary parts comprise permanent magnet array and cylinder or columniform output shaft; Coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described straight line-electric rotating machine is made of i unit motor, comprises 9 coils and 2 permanent magnet magnetic pole units in each unit motor, the coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3 τ t=(3 ± 1) τ p, described 9 coils are formed 3 * 3 matrix, and each coil is a phase armature winding, and one has 9 phase armature winding, is expressed as respectively; A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding, the Y-connection of described nine phase armature winding, permanent magnet array is made of N utmost point permanent magnet and S utmost point permanent magnet, described N utmost point permanent magnet and S utmost point permanent magnet all are radial magnetizings, and the diagonal angle is adjacent, described i, n are natural number, and described motor is outer mover structure or interior mover structure.
7, a kind of recombination current driving nine phase straight line-electric rotating machines is characterized in that it comprises primary components and secondary parts, are air gap between primary components and the secondary parts, and wherein primary components comprises armature coil and winding fixed muffle; Secondary parts comprise permanent magnet array and and cylinder or cylindrical output shaft; Coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, described straight line-electric rotating machine is made of i unit motor, comprises S coil and P permanent magnet magnetic pole unit in each unit motor, described P=2h 2, S=9 (m 2+ 1)/2; Cylinder in each unit motor or cylindrical output shaft surface evenly are divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, wherein m and h be all greater than 1, and 3m and 2h are mutual prime rwmber; Described P permanent magnet magnetic pole unit is separately fixed in the adjacent permanent magnet unit lattice in the lip-deep diagonal angle of output shaft, described permanent magnet is parallel or vertically non-conterminous, and the permanent magnet polarity of same row or column is identical, the polarity of the permanent magnet magnetic pole unit of adjacent row or column is opposite, and described permanent magnet magnetic pole unit all is a radial magnetizing; Columnar winding fixed muffle surface in each unit motor evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different phase armature winding and is respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I phase armature winding in described 3 * 3 phase rectangular unit grids, again each phase rectangular unit grid evenly is divided into m * m coil unit lattice; The length of side of each coil unit lattice is coil spacing τ t, belong to (the m of same phase 2+ 1)/2 in the coil distribution coil unit lattice that the diagonal angle is adjacent in a phase rectangular unit grid, and the coil winding-direction that the diagonal angle is adjacent is opposite, the out-phase coil in the homophase rectangular unit grid is not arranged in parallel or vertical adjacent coil unit lattice, and parallel or vertical adjacent coil winding-direction is identical; (the m that belongs to same phase in each phase rectangular unit grid 2+ 1)/2 a coil is a phase armature winding after connecting mutually, belong to the phase armature winding units in series of same phase in i the unit motor after, form nine phase armature winding by Y-connection, described motor is outer mover structure or interior mover structure.
8, recombination current driving nine phase straight line-electric rotating machines according to claim 7, it is characterized in that described in N utmost point permanent magnet and the formed space of S utmost point permanent magnet adjacent angular, be fixed with the embedding permanent magnet, be that each N utmost point permanent magnet is surrounded by four embedding permanent magnets, each S utmost point permanent magnet is embedded permanent magnet by four and surrounds, each embeds permanent magnet and is divided into quarter along diagonal, each equal portions is an equilateral right-angled triangle, the magnetizing direction of each equilateral right-angled triangle permanent magnet is vertical with the hypotenuse of described right-angled triangle, and the magnetizing direction of the embedding permanent magnet adjacent with N utmost point permanent magnet is the direction towards this N utmost point permanent magnet, the magnetizing direction of the embedding permanent magnet extremely adjacent with S is the direction that deviates from this S utmost point permanent magnet, and described embedding permanent magnet is a parallel magnetization.
9, recombination current driving nine phase straight line-electric rotating machines according to claim 7, it is characterized in that described in N utmost point permanent magnet and the formed space of S utmost point permanent magnet adjacent angular, be fixed with the embedding permanent magnet, be that each N utmost point permanent magnet is surrounded by four embedding permanent magnets, each S utmost point permanent magnet is embedded permanent magnet by four and surrounds, each embeds permanent magnet and is divided into quarter along level and vertical direction, each equal portions is a rectangle permanent magnet, the magnetizing direction of each rectangle permanent magnet is its cornerwise direction, the magnetizing direction of the rectangle permanent magnet adjacent with the N permanent magnet is the direction towards this N utmost point permanent magnet, the magnetizing direction of the rectangle permanent magnet extremely adjacent with S is the direction that deviates from this S utmost point permanent magnet, and described embedding permanent magnet is parallel magnetization.
10, a kind of recombination current driving nine phase straight line-electric rotating machines is characterized in that it comprises primary components and secondary parts, are air gap between primary components and the secondary parts, and wherein primary components comprises armature coil and winding fixed muffle; Secondary parts comprise permanent magnet array and and cylinder or cylindrical output shaft; Coil spacing τ in the primary components tWith the permanent magnet array pole span τ in the secondary parts pBetween satisfy and to concern 3n τ t=(3n ± 1) τ p, each straight line-electric rotating machine is made of i unit motor, comprises S coil and P permanent magnet magnetic pole unit in each unit motor, described P=2h 2, S=9m 2/ 2; Cylinder in each unit motor or cylindrical output shaft surface evenly are divided into 2h * 2h permanent magnet unit lattice, and the length of side of described permanent magnet unit lattice is permanent magnet array pole span τ p, wherein n, m, i, h are natural number, n＞1 wherein, and m＞1, and there are greatest common divisor j in 3m and 2h; Described P permanent magnet magnetic pole unit is separately fixed in the adjacent permanent magnet unit lattice in the lip-deep diagonal angle of output shaft, described permanent magnet is parallel, vertically all non-conterminous, and the permanent magnet polarity of same row or column is identical, the polarity of the permanent magnet magnetic pole unit of adjacent row or column is opposite, and described permanent magnet magnetic pole unit all is a radial magnetizing; Columnar winding fixed muffle surface in each unit motor evenly is divided into j * j rectangle electric motor units, again each rectangle electric motor units evenly is divided into 3 * 3 phase rectangular unit grids, correspondence is fixed with 9 different facies unit armature winding in described 3 * 3 phase rectangular unit grids, be respectively A phase, B phase, C phase, D phase, E phase, F phase, G phase, H phase, I facies unit armature winding, each phase rectangular unit grid evenly is divided into (m/j) * (m/j) individual coil unit lattice, the length of side of each coil unit lattice is coil spacing τ again t(m/j) * (m/j)/2 coil that belongs to same phase is arranged in each phase rectangular unit grid, described coil stationary is in the adjacent coil unit lattice in diagonal angle, and around on the contrary, out-phase coil in the different phase rectangular unit grids is arranged in parallel or vertical adjacent coil unit lattice, and adjacent coil winding-direction is identical, coil in each phase rectangular unit grid connected mutually form a facies unit armature winding, the facies unit armature winding series connection that belongs in j * j the rectangle electric motor units in the phase rectangular unit grid of same phase is formed a phase armature winding, after belonging to the phase armature winding units in series of same phase in i the unit motor, form nine phase armature winding by Y-connection, described motor is outer mover structure or interior mover structure.
11, the driver of a kind of recombination current driving nine phase plane motors and straight line-electric rotating machine is characterized in that it has nine road drive current output signals, and described nine tunnel driving current signal are respectively:
i a＝I xmsin(ω xt)+I ymsin(ω yt)，
i b＝I xmsin(ω xt)+I ymsin(ω yt-2π/3)，
i c＝I xmsin(ω xt)+I ymsin(ω yt-4π/3)，
i d＝I xmsin(ω xt-2π/3)+I ymsin(ω yt)，
i e＝I xmsin(ω xt-2π/3)+I ymsin(ω yt-2π/3)，
i f＝I xmsin(ω xt-2π/3)+I ymsin(ω yt-4π/3)，
i g＝I xmsin(ω xt-4π/3)+I ymsin(ω yt)
i h＝I xmsin(ω xt-4π/3)+I ymsin(ω yt-2π/3)
i i＝I xmsin(ω xt-4π/3)+I ymsin(ω yt-4π/3)
I wherein a～i iThe drive current of representing A～I phase armature winding respectively;
When driven object is planar motor, I Xm, I YmRepresent X respectively, the amplitude of Y direction drive current; ω x, ω yRepresent X respectively, the angular frequency of Y direction drive current;
When driven object is straight line-electric rotating machine, I XmThe rotate in a circumferential direction amplitude of drive current of expression, I YmThe amplitude of representing axial linear drives electric current; ω xThe rotate in a circumferential direction angular frequency of drive current of expression, ω yThe angular frequency of representing axial linear drives electric current.
CN 200910138883 2008-10-17 2009-05-14 Recombination current driven nine-phase plane motor, linear-rotating motor and driver thereof Expired - Fee Related CN101599677B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200910138883 CN101599677B (en) 2008-10-17 2009-05-14 Recombination current driven nine-phase plane motor, linear-rotating motor and driver thereof

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN200810137352.6 2008-10-17
CN 200810137352 CN101394123A (en) 2008-10-17 2008-10-17 Composite current driving high pushing force density nine phase plane motor and driver thereof
CN 200910138883 CN101599677B (en) 2008-10-17 2009-05-14 Recombination current driven nine-phase plane motor, linear-rotating motor and driver thereof

Publications (2)

Publication Number Publication Date
CN101599677A true CN101599677A (en) 2009-12-09
CN101599677B CN101599677B (en) 2011-06-01

Family

ID=40494255

Family Applications (2)

Application Number Title Priority Date Filing Date
CN 200810137352 Pending CN101394123A (en) 2008-10-17 2008-10-17 Composite current driving high pushing force density nine phase plane motor and driver thereof
CN 200910138883 Expired - Fee Related CN101599677B (en) 2008-10-17 2009-05-14 Recombination current driven nine-phase plane motor, linear-rotating motor and driver thereof

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN 200810137352 Pending CN101394123A (en) 2008-10-17 2008-10-17 Composite current driving high pushing force density nine phase plane motor and driver thereof

Country Status (1)

Country Link
CN (2) CN101394123A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107896020A (en) * 2017-12-20 2018-04-10 宝龙电子集团有限公司 A kind of drive motor
CN114759759A (en) * 2022-04-19 2022-07-15 哈尔滨工业大学 Dynamic armature segmented permanent magnet synchronous linear motor and drive control method

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102185443B (en) * 2011-05-16 2013-02-13 哈尔滨工业大学 Limited stroke high-dynamic plane motor
AU2016307418B2 (en) * 2015-08-07 2019-01-03 Otis Elevator Company Rescue control and method of operating an elevator system including a permanent magnet (PM) synchronous motor drive system
CN206237268U (en) * 2015-12-28 2017-06-09 清华大学 The device of permanent magnet polarity mistake is prevented in the splicing of planar motor permanent magnet array

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20000012296A (en) * 1998-11-23 2000-03-06 이정훈 Small portable flat generator
US20030102722A1 (en) * 2001-12-04 2003-06-05 Toshio Ueta Moving magnet type planar motor control
US20030102721A1 (en) * 2001-12-04 2003-06-05 Toshio Ueta Moving coil type planar motor control

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107896020A (en) * 2017-12-20 2018-04-10 宝龙电子集团有限公司 A kind of drive motor
CN107896020B (en) * 2017-12-20 2024-04-12 浙江宝龙机电有限公司 Driving motor
CN114759759A (en) * 2022-04-19 2022-07-15 哈尔滨工业大学 Dynamic armature segmented permanent magnet synchronous linear motor and drive control method
CN114759759B (en) * 2022-04-19 2023-02-07 哈尔滨工业大学 Dynamic armature segmented permanent magnet synchronous linear motor and drive control method

Also Published As

Publication number Publication date
CN101394123A (en) 2009-03-25
CN101599677B (en) 2011-06-01

Similar Documents

Publication Publication Date Title
CN102594220B (en) Magnetic suspension planar motor with superconductor excitation structure
CN108429420B (en) Asymmetric double-three-phase arc permanent magnet synchronous motor
CN101741289B (en) Short stroke multiple freedom degree magnetic levitation planar motor
CN101783573B (en) Multiphase long-stator primary permanent magnet linear motor
CN101595628B (en) switched reluctance linear motor/generator
US9543064B2 (en) Electric machine having a low-mass design in magnetically active parts
CN101599677B (en) Recombination current driven nine-phase plane motor, linear-rotating motor and driver thereof
CN102497083B (en) Concentric permanent magnet synchronous planar motor with winding structure
CN108258877A (en) A kind of permanent-magnetism linear motor based on stator arc with interior stepped mixed structure
CN111181259A (en) Linear rotation permanent magnet motor with E-shaped stator structure
CN111082551A (en) Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure
CN101710779A (en) Long stroke synchronous planar motor with integrated winding structure
CN101752983B (en) Long-travel high-accuracy multiple-degree-of-freedom planar motor
CN101567588B (en) Cylindrical linear motor
Anitha et al. Design and analysis of axial flux permanent magnet machine for wind power applications
CN211063425U (en) Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure
CN101741212B (en) Transverse flux permanent-magnet planar motor
CN108270337A (en) A kind of switching magnetic-resistance two-dimensional surface motor
CN108574393B (en) Double-stator and double-salient-pole permanent magnet linear motor
CN104779755B (en) A kind of modularization double-stator permanent magnet straight line motor and the motor module being made up of it
CN201667603U (en) Primary permanent magnetic linear motor with winding-complementation magnetic circuit symmetrical structure
CN101800460B (en) Short-stroke direct current planar motor integrating winding structure
CN108462362B (en) Sine wave power supply double-freedom-degree spiral motor with position self-locking function
CN110572004B (en) Permanent magnet reluctance linear motor
CN102223052B (en) Multi-DOF (degree of freedom) short-stroke planar motor

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110601

CF01 Termination of patent right due to non-payment of annual fee