CN102035271A - Double redundancy winding motor - Google Patents
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- CN102035271A CN102035271A CN2009102047020A CN200910204702A CN102035271A CN 102035271 A CN102035271 A CN 102035271A CN 2009102047020 A CN2009102047020 A CN 2009102047020A CN 200910204702 A CN200910204702 A CN 200910204702A CN 102035271 A CN102035271 A CN 102035271A
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Abstract
The invention relates to a drive motor with double redundancy coils, which is applied to a parallel coaxial two-wheel electric vehicle. Under the condition that the coils fail, the drive motor can continuously keep reliable working conditions, keep the torque of lowest limit and continuously work with failure. The drive motor is particularly suitable for the reliability requirement of the parallel coaxial two-wheel electric vehicle. The drive motor is a double redundancy winding motor and comprises a pair of moving members, namely a stator and a rotor, wherein the stator comprises pole shoes arranged uniformly along the circumference and used for winding coils. The stator at least comprises two sets of redundancy coils which are independent first redundancy winding and second redundancy winding, and independent circuits supply power to the redundancy windings to generate a rotary magnetic field for driving the rotor. The first redundancy winding and the second redundancy winding are concentrically staggered and arranged in stator slots at intervals. Each redundancy winding consists of three different phase coils, and the phase coils are concentrically and uniformly arranged in the coil slot of the stator in a central angle of 120 degrees. Each three-phase coil can consist of two to three groups of shunt coils.
Description
[technical field]: a kind of drive motors, it is required can continue under the situation that the part winding breaks down to keep reliable operating condition, works on.Such motor is specially adapted to use as driver part on the parallel coaxial electric motor car with two wheels, and it is that direct current is become the motor that three-phase alternating current carries out work by inverter.It is a kind of AC servo permagnetic synchronous motor.
[background technology]: the parallel coaxial electric motor car with two wheels be a kind of two-wheeled coaxial, about be arranged in parallel and two-wheeled by the manned means of transportation of drive.Each wheel of its both sides need one independently motor driven systems drive, the driving of its walking mechanism by two independently motor driven systems adopt the inverted pendulum principle to carry out Balance Control to realize.If there is any motor to break down, then can lose by power, cause the balance failure, thereby can't realize the basic function of this means of transportation.Therefore, the reliability and stability of drive motors have determined the reliability and the fail safe of this vehicle.For the fail safe of parallel coaxial electric motor car with two wheels, require to adopt the redundancy control method of two cover independent driving systems.Promptly adopt the on all four drive system of two cover functions, realize the driving of vehicle as motor driven systems.During operate as normal, have only cover drive system (being called a task driven system) job, when breaking down, an other cover drive system (being called redundant actuation system) is taken over the drive system that breaks down and is worked on.For reliability and the fail safe that guarantees the parallel coaxial electric motor car with two wheels, requirement has been proposed for fault-tolerance, the redundancy of motor.The simplest redundancy control method is exactly the drive motors that a wheel of each side of left and right vehicle wheel both sides respectively adopts two platform independent, and car load then needs four motors, and this method exists drive motors that difficulty is installed, cost is high, and volume is also big.
This just needs to release a kind of can dependence has a plurality of absolute coil windings to guarantee the motor of redundancy feature, adopt a motor (rather than more than two or two) to satisfy that redundancy requires, promptly replace the scheme of multimachine with a machine, realizing just can be to the purpose of the sub-Redundant Control of one side wheel on the vehicle with a motor.
Such motor has two groups of independently stator coil windings, under nominal situation, and two groups of independently stator coil winding work of all switching on, vehicle traction moment is exactly two resultant torques that independent stator coil winding is produced.When a certain group of winding in these two groups of windings of this motor breaks down when making loss of power, another group winding will be increased electric current, strengthen moment, continue in the limit that satisfies the minimum torque of vehicle, to work under the operating mode that motor is maintained rely on single absolute coil to bear.Like this, whole motor just is unlikely to termination work when one group of winding breaks down, and can also work under the state in spite of illness.
Documents US5,919,549 have such scheme, as shown in Figure 1.It is divided into two windings 34,36 independently of symmetry to the stator coil winding, in the circle of motor cylinder cross section, arranges axisymmetricly with respect to a certain diameter 38 with two semicircles that promptly every suit redundancy winding respectively accounts for half cylindrical volume of motor.Every suit independent winding is equipped with three phase windings of three outs of phase at the volume scope lining of one's own semicolumn, and Figure 1A is the stator slot expanded view of this correlation technique scheme.Such winding is arranged, in work, the winding of a certain independent redundancy winding in two independent winding is because of short circuit between winding, when factor such as open circuit breaks down, the another set of independent redundancy winding that is in another semicircle can work on, and makes the motor of system still can keep work in the desired minimum moment scope of system.Play redundant effect, improved the coefficient of safety of system.
But, U.S. Pat 5,919, it is to adopt 180 ° of axisymmetric schemes of degree that 549 its windings are formed, and two independently redundant windings are disposed in the scope of two semicircles respectively, if when a certain group of redundant winding fault occurred and run out of steam during work, another redundant winding can produce cross side pressure to the rotating shaft of rotor when work, friction during increase work causes axle and bearing wear aggravation, thereby the life-span reduces.
The objective of the invention is for U.S. Pat 5,919,549 technical scheme is improved, if overcome this shortcoming that makes the problem of machine shaft generation lateral force when having one group of winding to damage in the work of its existence.This inhomogeneous stressed meeting becomes motor, and noise is excessive, the wearing and tearing aggravation lost of life.
A further object of the invention is, release a kind of drive motor of novel parallel coaxial electric motor car with two wheels with redundant safety function, it is simple in structure, the layout of two groups of independent redundancy windings is obviously compared than scheme (U.S. Pat 5,919,549) to come rationally, can not produce the cross side pressure of rotating shaft when another group winding continues to bear work when certain group winding damage power disappearance occurring.Simultaneously concentrate winding because its coiling is adopted, it can adopt low interior of efficient height, cost to produce around formula coil winding machine (pin winding), so, low cost of manufacture.
The solution of the present invention is, it includes a pair of movement parts a kind of two redundant winding electric machine, first stator, it two is exactly a rotor, and stator pack contains along the evenly distributed pole shoe of circumference, pole shoe is positioned on the inner rim of said stator, said pole shoe is alternate layout with stator slot on stator circumference, and rotor is positioned at the center of stator, and stator provides the space that can freely rotate for rotor, at least include the redundant winding of two covers on stator, they are the first redundant winding and the second redundant winding.The redundant winding of this two cover is a winding fully independently, is given electricity by control circuit independently respectively, to produce the rotating magnetic field that drives rotor.
A. said first cover and the redundant winding of second cover are the staggered compartment of terrain of concentric dislocation and are disposed in the stator slot.
B. said first cover and the redundant winding of second cover, its every suit all is to be made of three out of phase phase windings, they are disposed in the slot for winding of stator with one heart equably with the central angle of 120 ° of degree.
Said first and second liang of redundant windings of cover can be independently three phase windings that two covers do not have sub-winding.They are mutually with one heart, misplace, interlock, arrange at interval.
The independently redundant winding of said first and second liang of covers, the redundant winding of its every suit can be made of two groups of identical three-phase windings in series.
The independently redundant winding of said first and second liang of covers, the redundant winding of its every suit also can be made of three groups of identical three-phase windings in series.
Its all winding of whole motor is that the concentrated winding (also being " single-unit distance " winding) by the single-unit distance is gone to single pole shoe by coiling.
They overlap respectively that their layouts in stator slot of the winding of homophase are always adjacent interdependent mutually in the winding said first redundant winding of cover and the redundant winding of second cover.
The groove number of said stator slot winding is 6 integral multiple.That is to say that it can be schemes such as 6 grooves, 12 grooves, 18 grooves or 24 grooves.
In the said two cover independent redundancy windings there be not under the situation of sub-winding three phase windings of the redundant winding of every cover, stator slot always has six grooves, three phase windings of the redundant winding of every cover have only three grooves, angle five equilibrium with three 120 ° of degree, the redundant winding of two covers is with one heart, dislocation, interlaced arrangement, accounts for 6 stator slots altogether.
The formation of each phase winding in the independently redundant winding of said two covers in the three-phase of the redundant winding of every cover is when being made of two groups of synchronous sub-windings series connection, and number of stator slots is 12 grooves.
The formations of three its each phase windings of phase winding of the redundant winding of every cover are when being made of three groups of synchronous sub-windings series connection in the independently redundant winding of said two covers, and number of stator slots is 18 grooves.
The regularity of distribution of motor windings of the present invention is:
A. the slot for winding number of motor stator is 6 integral multiple, that is, the number of stator slots of winding can be 6,12,18,24 etc.
B. in the same set of winding, if the slot for winding number greater than 6, the every phase winding in then every cover winding is made of n independent winding series connection.
That is to say when n equals 1, to have only one three phase winding separately in the first redundant winding and the second redundant winding, a certain phase of each three phase winding all has only a winding, is the situation that n equals 1 at this moment.When n equals 2; In the first redundant winding and the second redundant winding two three phase windings are just arranged separately, a certain phase of each three phase winding just has two windings, is the situation that n equals 2 at this moment.When n equals 3, in the first redundant winding and the second redundant winding three three phase windings are just arranged separately, a certain phase of each three phase winding just has 3 windings, is the situation that n equals 3 at this moment.Like this by that analogy, in the first redundant winding and the second redundant winding phase winding of same phase place just have 4,5 separately, a 6---identical windings in series or in parallelly constitute.The number of stator slots of motor and winding number the more, then the operating mode of motor better, its rotating speed is also even more, power is big more.
The manufacture method of two redundant winding electric machines of the present invention around the formula coil winding machine, adopts the pin winding to come stator is carried out mechanization coiling efficiently in it uses.Because all windings are when winding the line on stator, intersection, the lap wound of winding can not take place, and the coiling of also need job-hoping between the groove of different interval unlike distributed winding is so motor of the present invention is made the efficient height, cost is also just low, and is easy to process simple.
Below in conjunction with accompanying drawing and embodiments of the invention the present invention is specifically described.
Brief Description Of Drawings
Fig. 1 is the motor cross sectional representation of documents.
Figure 1A is the motor slot expanded view of documents.
Fig. 2 is the cross-sectional view of the motor of the embodiment of the invention 1, shows the concentric interlaced arrangement state of stator winding.
Fig. 2 A is the motor slot expanded view of the embodiment of the invention 1, shows the spaced apart state of stator winding.
Fig. 3 is the motor cross sectional representation of the embodiment of the invention 2, shows the concentric interlaced arrangement state of stator winding.
Fig. 3 A is the motor slot expanded view of embodiment 2, shows the spaced apart state of stator winding.
Fig. 4 is the cross-sectional view of the motor of the embodiment of the invention 3, shows the concentric interlaced arrangement state of stator winding.
Fig. 4 A is the motor slot expanded view of the embodiment of the invention 3, shows the spaced apart state of stator winding.
[embodiments of the invention]
Fig. 2 is the view in transverse section of two redundant winding electric machines of the embodiment of the invention 1, and it is a scheme with the first and second two redundant windings, has 6 stator winding grooves 1,2,3,4,5,6, is furnished with two independently redundant windings in the groove altogether.The mark of white is represented the first redundant winding, and it has 3 phase winding 1-A, 1-B, 1-C, between the winding with the central angle homogeneous phase of 120 ° of degree every.The mark of black is represented the second redundant winding, and it has 3 phase winding 2-A, 2-B, 2-C, between three phase windings also be with the central angle homogeneous phase of 120 ° of degree every.
The groove number of whole motor windings just has 6.Said first cover and the redundant winding of second cover are the staggered compartment of terrain of central angle of concentric dislocation and are disposed in the stator slot.Said first cover and the redundant winding of second cover, its every suit all is to be made of three out of phase phase windings, they are disposed in the slot for winding of stator with one heart equably with the central angle of 120 ° of degree.
The redundant winding of first cover with the white marking representative is arranged following (see figure 2): the A phase winding (1-A) that is wound with the redundant winding of first cover on the pole shoe 19 between the 1 and 2 stator winding grooves; On the pole shoe 20 between the 3 and 4 stator winding grooves, be wound with the B phase winding (1-B) of the redundant winding of first cover; On the pole shoe 21 between the 5 and 6 stator winding grooves, be wound with the C phase winding (1-C) of the redundant winding of first cover.
Yet the arrangement of overlapping redundant winding with second of density bullet representative is as follows: the A phase winding (2-A) that is wound with the redundant winding of second cover on the pole shoe 22 between the 2 and 3 stator winding grooves; On the pole shoe 23 between the 4 and 5 stator winding grooves, be wound with the B phase winding (2-B) of the redundant winding of second cover; On the pole shoe 24 between the 6 and 1 stator winding groove, be wound with the C phase winding (2-C) of the redundant winding of second cover.
Two three phase windings are only arranged in the present embodiment, and the first redundant winding of cover (representing with white mark) just has only (1-A), (1-B), (1-C) these three phase windings to form a winding, is separated by the central angle with 120 ° of degree between each phase winding; The redundant winding of second cover is represented to be separated by the central angle with 120 ° of degree too between each phase winding with density bullet, and they are (2-A), (2-B), (2-C).Each winding of present embodiment all be repeat repeatedly circularly on the independent pole shoe around, can be in the situation of between a plurality of interval troughs, striding utmost point coiling, we are referred to as this " concentrating winding ".
Fig. 2 A is the schematic diagram that 1 pair of redundant winding electric machine of embodiment (single-unit distance) is concentrated winding.Can see that it is staggered spaced apart representing the black and white winding of first cover and the redundant winding of second cover among the figure respectively.Each winding all adopts and concentrates the winding coiling in the whole motor.
First cover of white first group of redundant winding is to arrange like this: be wound with first group (1-A) in the A phase sub-winding of the redundant winding of first cover on the pole shoe 25 between 2 and 3 stator winding grooves; Be wound with on the pole shoe 26 between 4 and 5 stator winding grooves first the cover redundant winding the sub-winding of B phase in first group (1-B); Be wound with on the pole shoe 27 between 6 and 7 stator winding grooves first the cover redundant winding the sub-winding of C phase in first group (1-C).Represent with parentheses for first group.
Second group of the redundant winding of first cover of white is to arrange like this: second group [1-A] that is wound with the A phase sub-winding of the redundant winding of first cover on the pole shoe 28 between the 8 and 9 stator winding grooves; On the pole shoe 29 between the 10 and 11 stator winding grooves, be wound with second group of the B phase sub-winding [1-B] of the redundant winding of first cover; On the pole shoe 30 between the 12 and 1 stator winding groove, be wound with second group of the C phase sub-winding [1-C] of the redundant winding of first cover.Represent with square brackets for second group.
Like this, be furnished with 12 windings altogether in 12 stator slots altogether, the redundant winding of first cover has first group of three phase winding (1-A), (1-B), (1-C) and second group of three phase winding [1-A], [1-B], [1-C] six windings altogether.
Subsequent two group arrangements to the redundant winding of second cover are described.The redundant winding of second cover represents that with the mark of black it also is six windings altogether, is divided into A, B, and the C three-phase, every by two component windings.
First group of the redundant winding of second cover of black is to arrange like this: first group (2-A) in the A phase winding, it is by on the pole shoe 31 between 1 and 2 grooves.First group (2-B) of B phase winding, it is by on the pole shoe 32 between 3 and 4 grooves.First group (2-C) of C phase winding its quilt is on the pole shoe 33 between 5 and 6 grooves.
Second cover of black second group of redundant winding is to arrange like this: second group [2-A] in the sub-winding of A phase, and it is wound on the pole shoe 34 between 7 and 8 grooves; Second group [2-B] in the sub-winding of B phase, it is wound on the pole shoe 35 between 9 and 10 grooves; Second group [2-C] in the sub-winding of C phase, it is wound on the pole shoe 36 between 11 and 12 grooves.Represent with parentheses for first group, represent with square brackets for second group.
Two windings of the same phase of respectively organizing winding in the redundant winding of first and second covers are connected in series, and each winding all adopts and concentrates the winding coiling in the whole motor.
The first cover winding is the mark representative with white, and the second cover winding represents with the mark of black that then black, white two cover windings respectively have three cover sub-windings to constitute.The first grouping winding represents that with parentheses () second grouping identifies with square brackets [], and the 3rd grouping is represented with brace { }.Fig. 4 A is the expanded view of the stator slot of embodiment 3.
Three phase windings of the redundant winding of first cover are to arrange (it is represented with the mark of white) like this:
On first pole shoe 37 that is grouped between the 1 and 2 stator winding grooves around first group of the A phase winding redundant winding (1-A) of the redundant winding of first cover; On the pole shoe 38 between the 3 and 4 stator winding grooves around first group of the B phase winding redundant winding (1-B) of the redundant winding of first cover; On the pole shoe 39 between the 5 and 6 stator winding grooves,, more than be the deployment scenarios of the first component winding around first group of the C phase winding redundant winding (1-C) of the redundant winding of first cover.
Three phase windings of second grouping are arranged as follows: on the pole shoe 40 between the 7 and 8 stator winding grooves around second group of redundant winding [1-A] of the A phase winding of the redundant winding of first cover; On the pole shoe 41 between the 9 and 10 stator winding grooves around the B of the redundant winding of first cover second group of redundant winding [1-B] mutually; On the pole shoe 42 between the 11 and 12 stator winding grooves around the C of the redundant winding of first cover second group of redundant winding [1-C] mutually;
Three phase windings of the 3rd grouping are arranged as follows: on the pole shoe 43 between the 13 and 14 stator winding grooves around the 3rd group of redundant winding { 1-A} of the A phase winding of the redundant winding of first cover; On the pole shoe 44 between the 15 and 16 stator winding grooves around the B of the redundant winding of first cover the 3rd group of redundant winding { 1-B} mutually; On the pole shoe 45 between the 17 and 18 stator winding grooves around the C of the redundant winding of first cover the 3rd group of redundant winding { 1-C} mutually.
Three phase windings of the redundant winding of second cover are to arrange (it is represented with the mark of black) like this:
On first pole shoe 46 that is grouped between the 2 and 3 stator winding grooves around first group of the A phase winding redundant winding (2-A) of the redundant winding of first cover; On the pole shoe 47 between the 4 and 5 stator winding grooves around first group of the B phase winding redundant winding (2-B) of the redundant winding of first cover; On the pole shoe 48 between the 6 and 7 stator winding grooves,, more than be the deployment scenarios of the first component winding around first group of the C phase winding redundant winding (2-C) of the redundant winding of first cover.The first grouping winding is represented with parentheses.
[2-A] in the second grouping A phase winding, it is wound on the pole shoe 49 between 8 and 9 grooves; Second group [2-B] in the B phase winding, it is wound on the pole shoe 50 between 10 and 11 grooves; Second group [2-C] in the C phase winding, it is wound on the pole shoe 51 between 12 and 13 grooves.Second grouping is represented with square brackets.
Three phase windings of the 3rd grouping are arranged as follows: on the pole shoe 52 between the 14 and 15 stator winding grooves around the 3rd group of redundant winding { 1-A} of the A phase winding of the redundant winding of first cover; On the pole shoe 53 between the 16 and 17 stator winding grooves around the B of the redundant winding of first cover the 3rd component winding { 1-B} mutually; On the pole shoe 54 between the 18 and 1 stator winding groove around the C of the redundant winding of first cover the 3rd group of redundant winding { 1-C} mutually; The 3rd grouping is represented with brace.
Three windings of the same phase of each group (three groups) winding in the redundant winding of first and second covers are connected in series.Each winding all adopts and concentrates the winding coiling in the whole motor.
Like this by that analogy, can there be 4,5,6 separately in the first redundant winding and the second redundant winding---three phase windings.Motor stator slot number and winding number the more, then the operating mode of motor better, its rotating speed is also even more, power is big more.
Claims (9)
- Two redundant winding electric machines it include a pair of movement parts, first stator, it two is exactly a rotor, stator pack contains along the evenly distributed pole shoe of circumference, pole shoe is positioned on the inner rim of said stator, said pole shoe is alternate layout with stator slot on stator circumference, rotor is positioned at the center of stator, stator provides the space that can freely rotate for rotor, includes the redundant coil of two covers on stator at least, and they are the first redundant winding and the second redundant winding, they are windings independently, by independently control circuit power supply,, it is characterized in that respectively to produce the rotating magnetic field that drives rotor:A. said first cover and the redundant winding of second cover are the staggered compartment of terrain of concentric dislocation and are disposed in the stator slot.B. said first cover and the redundant winding of second cover, its every suit all is to be made of three out of phase phase windings, they are disposed in the coil groove of stator with one heart equably with the central angle of 120 degree.
- 2. as the said two redundant winding electric machines of claim 1, it is characterized in that: the independently redundant winding of said first and second liang of covers, the redundant winding of its every suit has two groups of identical three-phase windings in series to constitute again.
- 3. as the said two redundant winding electric machines of claim 1, it is characterized in that: the independently redundant winding of said first and second liang of covers, the redundant winding of its every suit has three groups of identical three-phase windings in series to constitute again.
- 4. as claim 1 or 2 or 3 said two redundant winding electric machines, it is characterized in that: its all coil is to be gone to single pole shoe by coiling by the concentrated winding of single-unit distance.
- 5. as the said two redundant winding electric machines of claim 4, it is characterized in that: they overlap respectively that their layouts in stator slot of the winding of homophase are always adjacent interdependent mutually in the winding said first redundant winding of cover and the redundant winding of second cover.
- 6. as the said two redundant winding electric machines of claim 4, it is characterized in that: the groove number of said stator slot winding is 6 integral multiple.
- 7. as the said two redundant winding electric machines of claim 4, it is characterized in that: the formation of each phase coil in the independently redundant winding of said two covers in the three-phase of the redundant winding of every cover is made of two groups of synchronous sub-winding series connection.
- 8. as the said two redundant winding electric machines of claim 4, it is characterized in that: the formation of three its each phase coils of phase winding of the redundant winding of every cover is made of three groups of synchronous sub-winding series connection in the independently redundant winding of said two covers.
- 9. the manufacture method of two redundant winding electric machines around the formula coil winding machine, is carried out coiling to each winding in it uses.
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| CN200910204702.0A CN102035271B (en) | 2009-09-30 | 2009-09-30 | A kind of two redundancy winding motor |
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| CN106787560A (en) * | 2017-01-20 | 2017-05-31 | 东南大学 | Armature divergence type exchanges mixed excitation electric machine |
| US10848020B2 (en) | 2017-05-17 | 2020-11-24 | Nio Nextev Limited | Motor stator assembly, motor and electric vehicle having the same |
| WO2018209778A1 (en) * | 2017-05-17 | 2018-11-22 | 蔚来汽车有限公司 | Motor stator assembly, motor, and electric vehicle having motor |
| CN111133660A (en) * | 2017-06-29 | 2020-05-08 | 法雷奥电机设备公司 | Stator for rotating electrical machine with improved hybrid winding configuration |
| CN111133660B (en) * | 2017-06-29 | 2023-01-03 | 法雷奥电机设备公司 | Stator for rotating electrical machine with improved hybrid winding configuration |
| CN108674645A (en) * | 2018-06-11 | 2018-10-19 | 驰创科技（天津）有限公司 | A kind of aircraft device |
| CN110739792A (en) * | 2019-11-06 | 2020-01-31 | 南通大学 | double-layer winding Halbach fault-tolerant motor |
| CN110739792B (en) * | 2019-11-06 | 2021-01-12 | 南通大学 | Double-layer winding Halbach fault-tolerant motor |
| CN111446796A (en) * | 2020-03-09 | 2020-07-24 | 武汉钢铁有限公司 | Three-phase winding alternating current exciter for synchronous motor |
| CN115664064A (en) * | 2022-12-26 | 2023-01-31 | 常州市凯迪电器股份有限公司 | Lifting upright post using permanent magnet direct current motor |
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