CN102124632B - Square-wave three-phase brushless permanent magnet direct current motor provided with large-teeth-and-small-teeth structure and assembling method thereof - Google Patents
Square-wave three-phase brushless permanent magnet direct current motor provided with large-teeth-and-small-teeth structure and assembling method thereof Download PDFInfo
- Publication number
- CN102124632B CN102124632B CN200980104638.7A CN200980104638A CN102124632B CN 102124632 B CN102124632 B CN 102124632B CN 200980104638 A CN200980104638 A CN 200980104638A CN 102124632 B CN102124632 B CN 102124632B
- Authority
- CN
- China
- Prior art keywords
- tooth
- canine tooth
- iron core
- canine
- little
- 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.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
- H02K1/148—Sectional cores
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
- Brushless Motors (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
Abstract
A square-wave three-phase brushless permanent magnet direct current motor provided with a large-teeth-and-small-teeth structure and the assembling method thereof. The number of the magnetic poles on a rotor core is 2P. The number of the slots in a stator core is Z. Z teeth on the stator core are composed of Z/2 large teeth (6) and Z/2 small teeth. An insertion slot (11) is provided on each yoke between two adjacent large teeth (6). Each small tooth is formed by inserting an end part of each small tooth core (8) into one of the insertion slots (11). Each large tooth (6) occupies an electrical circumferential angle falling within a range of 150 DEG to 234 DEG. Each small tooth together with the notches on its two sides occupies an electrical circumferential angle falling within a range of 90 DEG to 6 DEG. The sum of the electrical angles of one large tooth (6) and one small tooth is 240 DEG. Three-phase windings are wound on Z/2 large teeth (6) separately, and Z/6 concentrated windings are arranged at each phase. During assembling, firstly, the windings are wound on the large teeth (6) separately, and then the small teeth are embedded. It is convenient to wind the windings in the motor. The motor can be used as a servo motor or a torque motor.
Description
Technical field
The present invention relates to the major diameter magneto, more particularly, relate to a kind of square wave three-phase brushless permanent magnet direct current motor and assembly method thereof of big or small toothing.This motor can be used as servomotor, torque motor.
Background technology
Permanent magnet motor can be divided into sinusoidal wave and square wave two large classes according to drive current and counter potential waveform.Generally the sine wave permanent magnet motor is called permanent magnet synchronous motor (PMSM), or is called the sine wave AC servomotor.Another kind of square wave permanent magnetic motor then is called square wave brushless DC motor (BLDCM).
Magneto is that the reversible motor that both can be used as also can be used as generator.Square Wave Permanent Magnet Generator exert oneself than the large pi/2 of sine wave permanent magnet generator namely 1.57 times.
During the eighties, the square wave permanent magnetic motor has obtained generally to use, external characteristic and the brush DC motors of square wave permanent magnetic motor are basic identical, control fairly simple, but its maximum shortcoming is to have larger principle commutation torque fluctuations, to this, the researcher has proposed multiple indemnifying measure, but practical application effect is undesirable.
Because the torque fluctuations of sine wave permanent magnet motor is then much smaller than the square wave permanent magnetic motor, during the nineties, drive the application scenario at elaborate servo, the square wave permanent magnetic motor is substituted by the sine wave permanent magnet motor gradually, has become the now main flow of commercial Application at present.Yet the sine wave permanent magnet motor can cause the control system complexity significantly to increase with cost significantly to be increased, and the more important thing is that the energy index of motor declines to a great extent.
On the other hand, traditional square wave brushless DC motor and control technology thereof are recognized ripe, because aforementioned disadvantages causes it to be limited at less demanding applications, both at home and abroad to its research seldom.
The desired electrical motivation should have that volume is little, moment is large and torque fluctuations is little, efficient is high and the characteristics such as cost is low.But in the real world, often can only take into account and to satisfy this theory comprehensively.When usually designing the high-performance servomotor, priority is motion control performance, power, size, efficient and price.Servomotor must overcome slot effect, has little location torque, torque fluctuations or velocity perturbation, can drive by continuous and stable under low speed, high-torque.
The reason of the torque fluctuations that produces is a lot.It is generally acknowledged that main cause is: the location torque that slot effect produces, the non-sine of air-gap field distributes and the three-phase current non-sine.The direct generation of slot effect and tooth, the location torque fluctuation that the groove number is relevant; The non-sine of air-gap field distributes and produces back-emf (MMF) harmonic wave and current harmonics generation harmonic torque; Therefore, the torque fluctuations of servomotor is made of: each location torque and harmonic torque.Its main harmonic number and the number of teeth, groove number, number of poles and multiplier, times multiplier, beat number are relevant mutually.
The large utmost point motor that the present invention relates to is named again concentrates winding electric machine, and it has, and winding overhang is little, copper loss is little, simple in structure, the characteristics such as production cost is low, and development is very fast in nearly ten years.Usually to be less than or equal to 1/2 motor be large pole motor or concentrated winding electric machine to the every extremely every phase groove of the definition value of counting q=S/ (2Pm), and wherein S is the groove number, and m is the number of phases, and P is number of pole-pairs.A large pole three-phase permanent magnetic brushless motor of 8 utmost points, 9 grooves as shown in Figure 1.4 N utmost points, 4 S interpolars are wherein arranged every arrangement, totally 8 utmost points; Correspondence is provided with 9 grooves, be equipped with in each groove adjacent two windings each half.For example the N utmost point of topmost is over against a tooth, and its left side is that A+ winding, right side are the A-windings.Wherein, the slot pitch electrical degree is:
After the anti-phase wiring be 20 °, breadth coefficient is:
Pitch percent is:
Winding coefficient:
K
w1＝K
d1K
p1＝0.946
Main location torque number of times:
K
C=the utmost point * groove/C=8 * 9/1=72
In the above-mentioned formula, C is the minimum common divisor of the utmost point, groove number.This number of times Kc is 8/72=1/9 with the ratio of number of poles, and namely the number of times of location torque is 9 times of first-harmonic.It is generally acknowledged that the amplitude of each location torque and the numerical value of number of times are inversely proportional to, or think that the amplitude of each location torque is not more than 1/9 of every phase first-harmonic moment.Therefore the design principle that cooperates of teeth groove is: require the number of times of low order location torque large as far as possible with respect to the number of times of first-harmonic moment.Teeth groove cooperates the stock utilization that also can affect motor, and namely winding coefficient requires winding coefficient near 1.
Winding coefficient and the location torque number of times of several " large utmost point motors "
| 8 utmost points, 9 grooves | 10 utmost points, 9 grooves | 14 utmost points, 15 grooves | 16 utmost points, 15 |
20 utmost points, 21 grooves | 22 utmost points, 21 grooves | |
| Winding coefficient | 0.945 | 0.945 | 0.957 | 0.957 | 0.953 | 0.953 |
| Main location torque number of times | 72 | 90 | 210 | 240 | 420 | 462 |
| Multiple with respect to first-harmonic moment | 9 | 9 | 15 | 15 | 21 | 21 |
In the application for a patent for invention of publication number CN101030721A, the teeth groove coordinated scheme (for example: 21 grooves, 26 utmost points, 33 grooves, 38 utmost points or 40 utmost points) that the utmost point, groove numerical value do not have common divisor is disclosed.The publication number CN1856921A application for a patent for invention of the applicant Kollmorgen Corp ratio that discloses groove and magnetic pole is greater than 0.75 and less than 1.0 permanent magnet motor (for example: 36 grooves, 46 utmost points, 30 grooves, 38 utmost points) in addition.This class permanent magnet motor is to obtain sinusoidal pattern air-gap field and less location torque as target, unfortunately it is very limited that this class is only utilized the method effect of teeth groove cooperation, the location torque that its slot effect produces is still larger, generally can only reach (5～1) % level of rated moment.
Above-mentioned " large utmost point motor " obtains to use in different occasions.Yet the effect that merely cooperates to reduce location torque by teeth groove still can not be satisfied the requirement of servomotor.So produced again the method that further reduces in a large number location torque by the homogenizing air-gap reluctance, having comprised: 1) coreless permanent magnet motor; 2) slotless magneto; 3) the oblique utmost point of skewed stator slot or p-m rotor; 4) reduce stator rabbet; 5) permanent magnet surfaces top rake, sinusoidalization, non-uniform gap, permanent magnet short distance etc. cause the air-gap field sineization; 6) teeth groove of stator is not equally spaced; 7) stator adopts every extremely every phase fraction groove; 8) increase every utmost point groove number; 9) add air gaps; 10) reduce magnetic loading.
Said method has its pros and cons, for example: add the method for air gaps, reduction magnetic loading, employing coreless permanent magnet motor and slotless magneto, cause motor electromagnetic load and power density to descend, and cause the air-gap field sineization; Adopt skewed stator slot or the oblique utmost point of p-m rotor or stator to adopt every extremely every phase fraction groove method, production cost is improved, stock utilization descends, and causes the air-gap field sineization.Reducing stator rabbet makes the leakage field increase cause loss to become large.Adopt permanent magnet surfaces top rake, sinusoidalization, non-uniform gap, permanent magnet short distance etc. to cause the air-gap field sineization.Usually the purpose that adopts the teeth groove of stator not to be equally spaced also is so that the air-gap field sineization, and said method offset of sinusoidal ripple servomotor is traditional effective ways.But traditional method all is not suitable for the square wave servomotor.
Among the utility model patent ZL 200720070700.3, disclose a kind of low-fluctuation permanent magnetic brushless motor of not wide structure, wherein, the groove width that the facewidth of stator tooth is greater than or less than the facewidth of adjacent teeth or described stator slot is greater than or less than the groove width of adjacent slot; Perhaps the magnet pole widths of described rotor core is greater than or less than the width of adjacent pole or the spacing between described rotor core magnetic pole and is greater than or less than spacing between adjacent pole.Adopt in general the design of different big or small tooth (not wide tooth) stator core, may number of times and the amplitude of location torque be exerted an influence, it is improper to design, and will cause on the contrary larger location torque.This utility model patent is the additional not wide method of rotor core magnetic pole also, and its cost is that to have produced winding back emf asymmetric.This utility model patent also tooth inner surface of additional stator core is Eccentric method, and its cost also is that to have produced winding back emf asymmetric.Winding back emf is asymmetric to be critical defect for servomotor, and the target of this utility model patent is the lower small-power speed governing drive motors of performance.
Summary of the invention
The present invention will solve existing square wave permanent magnetic motor and the existing problem of sine wave permanent magnet motor, proposes a kind of new principle, new construction, high-performance, large utmost point square wave permanent magnetic motor cheaply.
Technical scheme of the present invention is, a kind of square wave three-phase brushless permanent magnet direct current motor of big or small toothing is provided, be equipped with many to permanent magnet on the rotor core of described motor, three phase windings are housed in the groove of stator, wherein, the groove on the stator core is counted between the number of magnetic poles 2P on Z, the rotor core the corresponding relation shown in the following table, corresponding to Z stator slot, Z tooth should be arranged mutually, comprising Z/2 canine tooth, a Z/2 little tooth:
| Groove is counted Z | 18 | 24 | 30 | 36 |
| Number of magnetic poles 2P | 12 | 16 | 20 | 24 |
Described three phase windings comprise Z/2 concentrated winding, respectively on Z/2 canine tooth, every have Z/6 concentrated winding mutually, the ordering of described concentrated winding and tooth is: A concentrates on winding → little tooth → canine tooth B to concentrate mutually that C concentrates winding → little tooth mutually on winding → little tooth → canine tooth mutually on the canine tooth, and the rest may be inferred; Wherein, comprise canine tooth iron core and Z/2 independently little tooth iron core in the described stator core, yoke section between every adjacent two canine tooths is provided with one and is inserted into groove, total Z/2 is inserted into groove, each described little tooth iron core be inserted at described canine tooth iron core by its afterbody one of them be inserted in the groove, and then form Z/2 little tooth.
In the preferred version of the present invention, the width of rebate of the groove on the described stator core between adjacent canine tooth and the little tooth is 0.1～3.0mm; Each canine tooth accounts for 150 °～234 ° of circumference electrical degrees, and each little tooth adds that its both sides notch accounts for 90 °～6 ° of circumference electrical degrees, and the electrical degree sum of a canine tooth and a little tooth equals 240 °.For further reducing location torque, preferred scheme is, each canine tooth accounts for 195 °～205 ° of circumference electrical degrees, and each little tooth adds that its both sides notch accounts for 45 °～35 ° of circumference electrical degrees.
In another preferred version of the present invention, the width of rebate of the groove on the described stator core between adjacent canine tooth and the little tooth is 0.1～3.0mm; When Z/2 was even number, Z/4 was the first canine tooth that accounts for 224 ° ± 2 ° of circumference electrical degrees in the described canine tooth, and Z/4 is the second canine tooth that accounts for 192 ° ± 2 ° of circumference electrical degrees in addition; Each little tooth adds that its both sides notch accounts for 32 ° ± 2 ° of circumference electrical degrees; Ordering between described each tooth is: the first canine tooth → little tooth → the second canine tooth → little tooth, and the rest may be inferred; And it is 480 ° that adjacent one group of first canine tooth, little tooth, the second canine tooth, little tooth account for circumference electrical degree sum.
Among the present invention, described canine tooth iron core can be the whole canine tooth iron core of integral type; Perhaps the monomer canine tooth iron core by Z/2 same structure forms, and mutually splices in the stator slot centerline of these two canine tooths between adjacent two monomer canine tooth iron cores.
Among the present invention, on the described rotor core each permanent magnet N, S magnetic pole alternately, described permanent magnet is the tile-shaped magnet steel of radial magnetizing or the tile-shaped magnet steel of parallel magnetization, described tile-shaped magnet steel is for waiting radius tile-shaped magnet steel or top rake tile-shaped magnet steel; Physics air gap between described stator and the rotor is 0.2～3mm; The pole span of the permanent magnet on the described rotor core is (1～0.8) * π D/4, and wherein D is rotor diameter; Wherein also comprise the rotor-position sensor of being made by hall position sensor, the magnetic susceptibility direction of described hall position sensor is consistent with the rotor normal direction, be installed on the stator support, and and the rotor permanent magnet cylindrical between keep the air gap of 1～3mm.
Among the present invention, draw again after Z/6 the concentrated winding that belongs to same phase can being connected successively by circumferential order, form one group of A-A ', B-B ', C-C ' three phase windings.Be motor more than or equal to 4 even numbers for the result of Z/6, also can draw after the series connection successively again with Z/6 concentrated winding belonging to same phase in twos and be unified into Z/12 unit in parallel first, form one group of A-A ', B-B ', C-C ' three phase windings.Also Z/6 the concentrated winding that belongs to same phase can be drawn separately respectively, form Z/6 group A-A ', B-B ', C-C ' three phase windings.
The present invention also provides a kind of assembly method for aforementioned motor, wherein, when described canine tooth iron core is the whole canine tooth iron core of integral type, after making described canine tooth iron core, first canine tooth being done insulation processes, concentrate winding with coil winding machine coiling on Z/2 canine tooth again, Z/2 that then Z/2 described little tooth iron core is embedded respectively described canine tooth iron core is inserted in the groove, namely consists of every stator core that has mutually Z/6 concentrated winding.
The present invention also provides a kind of another assembly method for aforementioned motor, wherein, when described canine tooth iron core is comprised of Z/2 monomer canine tooth iron core, respectively each monomer canine tooth iron core being done insulation first processes, again with coil winding machine respectively on each monomer canine tooth iron core coiling concentrate winding, and then the order of Z/2 monomer canine tooth iron core and three little tooth iron cores being pressed A phase monomer canine tooth iron core → little tooth iron core → B phase monomer canine tooth iron core → little tooth iron core → C phase monomer canine tooth iron core → little tooth iron core, successively assembling consists of the stator core with Z/2 concentrated winding.
By such scheme as can be known, the little tooth among the present invention is damascene structures, does not fill first little tooth, and slot milling makes concentrates the coiling of winding very convenient, even the machine automatic winding also can guarantee the copper factor more than 85%.During as motor, it exerts oneself larger 33% than traditional sine wave permanent magnet servomotor, and winding overhang is less more than 3 times than traditional sine wave permanent magnet servomotor, so copper loss significantly reduces.When this motor adopts the three-phase square wave current drives, can produce stably moment, its torque fluctuations index is suitable with the sine wave permanent magnet servomotor.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the stator and rotor cross-sectional view of 8 utmost points, 9 groove motors of the prior art;
Fig. 2 A is the stator and rotor deployed configuration schematic diagram of motor in a preferred embodiment of the invention;
Fig. 2 B is the stator and rotor deployed configuration schematic diagram of motor when first, second two kinds of canine tooths are arranged in another embodiment of the present invention;
Fig. 3 is motor general assembly structural representation in a preferred embodiment of the invention;
Fig. 4 A is stator tooth, the angle of the v-groove distribution schematic diagram in Fig. 2 A illustrated embodiment;
Fig. 4 B is stator tooth, the angle of the v-groove distribution schematic diagram in Fig. 2 B illustrated embodiment;
Fig. 5 A is the display structure schematic diagram of the whole canine tooth iron core of integral type;
Fig. 5 B is the structural representation of little tooth iron core;
Fig. 5 C is the whole canine tooth iron core of integral type and the fit structure schematic diagram of a plurality of little tooth iron cores;
Fig. 6 is the structural representation by another embodiment sectional type stator core;
Fig. 7 is the schematic diagram of in the one embodiment of the invention the first in twos parallel connection of 6 concentrated windings being connected successively again.
Embodiment
Fig. 3 shows total assembling structure of motor in a preferred embodiment of the invention, and the critical piece of this motor comprises rotating shaft 30, rotor 1, stator 2 etc., and the physics air gap 5 between rotor 1 and the stator 2 is 0.2～3mm.Wherein adopt hall position sensor as rotor-position sensor, the magnetic susceptibility direction of hall position sensor is consistent with the rotor normal direction, be installed on the stator support 20, and and rotor magnetic steel (being permanent magnet) cylindrical between keep the air gap of 1～3mm.
Among the present invention, the groove on the stator core is counted between the number of magnetic poles 2P on Z, the rotor core the corresponding relation shown in the following table, and wherein, the groove number is 18 o'clock, and number of magnetic poles is 12; The groove number is 24 o'clock, and number of magnetic poles is 16; The groove number is 30 o'clock, and number of magnetic poles is 20; The groove number is 36 o'clock, and number of magnetic poles is 24; Corresponding to Z stator slot, Z tooth should be arranged mutually, comprising Z/2 canine tooth, a Z/2 little tooth:
| Groove is counted Z | 18 | 24 | 30 | 36 |
| Number of magnetic poles 2P | 12 | 16 | 20 | 24 |
In below describing, take Z=36 as example, this moment, number of magnetic poles was 2P=24.Because this motor teeth groove number is more, for the fit structure between the parts such as tooth, groove, magnetic pole, if be drawn as with corresponding circular ring structure in kind and can't know demonstration, so be drawn as expansion structure shown in Figure 2 here, has launched respectively stator 2 inner rings, rotor 1 outer ring that namely are equivalent to circular ring structure.Wherein, at rotor core 12 pairs of 24 permanent magnets are housed, i.e. 24 magnetic poles, they by N, S shown in Figure 2 alternately, to produce air-gap field.During implementation, permanent magnet can be the tile-shaped magnet steel of radial magnetizing or the tile-shaped magnet steel of parallel magnetization.The pole span of the permanent magnet on the rotor core is (1～0.8) * π D/4, and wherein D is rotor diameter.
Simultaneously, the groove of stator core is counted Z=36, to 36 grooves, 36 teeth should be arranged; Shown in Fig. 5 C, the width of the notch of stator slot 4 (being the gap between adjacent canine tooth and the little tooth bottom) is 0.1～3mm; Comprise 18 canine tooths, 18 little teeth in 36 teeth, and the order circulation by canine tooth → little tooth → canine tooth → little tooth is arranged in circumference.
In the present embodiment, three phase windings comprise (Z/2=36/2)=18 a concentrated winding, use respectively on the direct canine tooth after insulation processing of coil winding machine (stator is concentrated the winding coil winding machine), concentrate the ordering of winding and tooth to be: A concentrates on winding → little tooth → canine tooth B to concentrate mutually that C concentrates winding → little tooth mutually on winding → little tooth → canine tooth mutually on the canine tooth, and the rest may be inferred; As seen, this motor has 18 concentrated windings, and every in A, B, the C three-phase have 6 concentrated windings mutually.
As can be seen from Figure 4A, each canine tooth accounts for 150 °～234 ° of circumference electrical degrees, and each little tooth adds that its both sides notch accounts for 90 °～6 ° of circumference electrical degrees, and the electrical degree sum of a canine tooth and a little tooth equals 240 °.For further reducing location torque, each canine tooth preferably accounts for 195 °～205 ° of circumference electrical degrees, and each little tooth adds that its both sides notch preferably accounts for 45 °～35 ° of circumference electrical degrees.
As can be seen from Figure 4B, among another embodiment, when Z/2 was even number, Z/4 was the first canine tooth that accounts for 224 ° ± 2 ° of circumference electrical degrees in the canine tooth, and Z/4 is the second canine tooth that accounts for 192 ° ± 2 ° of circumference electrical degrees in addition; Each little tooth adds that its both sides notch accounts for 32 ° ± 2 ° of circumference electrical degrees; Ordering between each tooth is: the first canine tooth → little tooth → the second canine tooth → little tooth → the first canine tooth → little tooth → the second canine tooth → little tooth, and the rest may be inferred; And it is 480 ° that adjacent one group of first canine tooth, little tooth, the second canine tooth, little tooth account for circumference electrical degree sum.
Shown in Fig. 5 A, Fig. 5 B, Fig. 5 C, stator core wherein comprises whole canine tooth iron core 9 and 18 little tooth iron cores 8 of an integral type; Be provided with 18 canine tooths 6 at the canine tooth iron core, the yoke section between adjacent two canine tooths respectively is provided with one and is inserted into groove 11, has 18 and is inserted into groove; Each little tooth iron core 8 be inserted at canine tooth iron core 9 by its afterbody one of them be inserted in the groove 11.
During implementation, canine tooth iron core 9 is comprised of multilayer canine tooth silicon steel sheet, and the yoke section of every one deck canine tooth silicon steel sheet and tooth section are provided with location blind hole 12, and multilayer canine tooth silicon steel sheet becomes overall structure by these blind hole rivetings.Equally, each little tooth iron core 8 is comprised of the little tooth silicon steel sheet of multilayer; Also be provided with location blind hole 12 on the little tooth silicon steel sheet 10 of every one deck, the little tooth silicon steel sheet of multilayer becomes overall structure by these blind hole rivetings.In the present embodiment, canine tooth iron core 9 has the identical silicon steel sheet number of plies with each little tooth iron core 8.
As can be seen from Figure 5A, wherein the groove 11 of being inserted into is inner large, swallowtail-shaped structure that oral area is little; Correspondingly, the afterbody of each little tooth iron core 8 also is swallowtail-shaped structure among Fig. 5 B, can be just in time be inserted into groove 11 interlocks.
During concrete assembling, whole canine tooth iron core for this integral type, after making the canine tooth iron core, first canine tooth being done insulation processes, concentrate winding with coil winding machine coiling on 18 canine tooths again, then 18 that 18 little tooth iron cores are embedded respectively the canine tooth iron core are inserted in the groove, namely consist of every stator core that has mutually 6 concentrated windings.
In order to make coiling convenient, in the embodiment shown in fig. 6, to have the whole canine tooth iron core 9 of 18 canine tooths take the stator slot center line between adjacent two canine tooths (being each center line that is inserted into groove) as benchmark is cut into 18 parts, become 18 monomer canine tooth iron cores.During assembling, respectively these 18 monomer canine tooth iron cores being done insulation processes, again with coil winding machine respectively on 18 monomer canine tooth iron cores coiling concentrate winding, then with 18 coiling canine tooth iron core and 18 little tooth iron cores of concentrated winding, press the order of A phase monomer canine tooth iron core → little tooth iron core → B phase monomer canine tooth iron core → little tooth iron core → C phase monomer canine tooth iron core → little tooth iron core, successively assembling consists of the stator core with 18 concentrated windings.
Wherein, the structure of 18 monomer canine tooth iron cores is identical, be convenient to processing, then can choose 18 monomer canine tooth iron cores wantonly and be buckled into a complete canine tooth iron core by the mode that boss, shrinkage pool are set, for example adopting notification number is buckle structure shown in Figure 6 in the patent of CN101371425A.
Finished after aforementioned coiling, the assembling, drawn again after 6 concentrated windings that belong to same phase can being connected successively by circumferential order, formed one group of A-A ', B-B ', C-C ' three phase windings.
As shown in Figure 7, also can be with 6 of belonging to same phase concentrated winding in twos and be unified into 3 unit in parallel first, draw after the series connection successively again, form one group of A-A ', B-B ', C-C ' three phase windings.Situation when counting Z=18 for groove because whenever only have mutually 18/6=3 winding, then can't realize this also, string is connected.It should be noted that when comprising first, second two kinds of canine tooths, should get two the first canine tooths and concentrate winding parallel or two the second canine tooths to concentrate the mode of winding parallel, thereby guarantee that the back-emf of two concentrated windings of parallel connection is identical in twos.
In addition, also 6 concentrated windings that belong to same phase can be drawn separately respectively, form 6 groups of A-A ', B-B ', C-C ' three phase windings.
Among the present invention, the electrical degree sum of a canine tooth and a little tooth equals 240 °, and adopts the magnetic pole soverlay technique of 150 °～234 ° of scopes of electrical degree, makes air-gap field have the above flat-top district of 120 ° of electrical degrees; Adopt the little tooth of non-homogeneous teeth groove and magnetic balance, 90 °～6 ° of little tooth electrical degrees make location torque reduce to minimum.For this square wave three-phase brushless permanent magnet DC motor, magnetic pole covers when reaching more than 120 °, the winding pitch coefficient k
P1=1.So winding coefficient k of this square wave three-phase brushless permanent magnet DC motor
W1=k
D1* k
P1=1.The more important thing is, cause the armature reaction of motor to be the overall situation after magnetic pole covers and increase magnetic state, thereby significantly optimized the armature reaction of motor.
The controller of motor of the present invention can adopt the sampling of brushless DC motor continuous current and the closed-loop control of novel concept, and its combination property surmounts the sine wave AC servo system.This square wave three-phase brushless permanent magnet DC motor can substitute existing sine wave AC servomotor and servo unit thereof, becomes the Main Branches of following servomotor and servo unit thereof.
The present invention has developed the large utmost point motor of asymmetric groove on the basis of large utmost point motor.The concentrated winding coefficient of the large utmost point motor of asymmetric groove is 1, the utmost point/groove ratio is 2/3, and the number of teeth of large utmost point motor is the groove number, wherein on 1/2 the tooth concentrated winding is arranged, 1/2 tooth is without the little tooth of concentrating winding, and therefore every extremely every phase groove is counted q=Z/ (2P * M)=1/9.The winding coefficient of the large utmost point motor of asymmetric groove is large, concentrates winding quantity seldom, and copper loss significantly reduces, and the armature reaction of motor is greatly improved, and motor manufacturing technology is significantly simplified,
The iron core magnetic of the large utmost point motor of the present invention is close lower than conventional motors, and the iron core highest frequency should not be higher than 400Hz, therefore, and the maximum speed n of motor
Max=60f/P=24000/p.
Large utmost point motor of the present invention can be applicable to industrial circle and civil area, mainly comprises:
High-precision numerical control machine, robot, high-acruracy survey equipment;
Large-scale difficult deformable metal extruder, vertical spinning machine, large-scale precision forging equipment;
Efficient, high accuracy outfit that the manufacturing industry such as heavy digital control machine tool (such as five-axle linkage superduty numerical control file milling machine, five-axle linkage superduty propeller blade machining tool), wind-powered electricity generation, metallurgy, automobile need;
Light alloy material (aluminium, magnesium) shaping and complete equipment for processing, automation press line, precision casting transfer matic, the robot automation outfit that is welded, robot spray dress outfit, general assembly automation complete set of equipments;
That the electronic and communication facility manufacturing industry needs is high-precision, at a high speed, complete manufacturing equipment, comprise complete machine dressing equipment special (full-automatic chip mounter, high-accuracy large-scale full-automatic printer, high-speed component plug-in mounting equipment, wiring board high-speed drilling equipment), production equipment special (mask aligner, Organometallic Chemistry part extension, deposit, etching system), and the numerical controlled machinery of other broad sense, such as textile machine, printing machinery, package packing machine, Medical Devices;
Semiconductor equipment, plastics, rubber manufacturing machinery, mailing machine, automatic production line, various special equipments etc. field.
Industry mechanical arm and robot, such as welding robot, adhesive dispensing robot, transfer robot, taking and placing robot, plug-in component machine people, packaging robot, chemical-biological analysis robot, Medical Instruments robot, movement simulation platform etc.;
All kinds of control system and the equipment of Aero-Space and military field.
Claims (9)
1. the square wave three-phase brushless permanent magnet direct current motor of a big or small toothing is equipped with manyly to permanent magnet on the rotor core of described motor, three phase windings are housed in the groove of stator, it is characterized in that,
Wherein, the groove on the stator core is counted between the number of magnetic poles 2P on Z, the rotor core the corresponding relation shown in the following table, corresponding to Z stator slot, Z tooth should be arranged mutually, comprising Z/2 canine tooth, a Z/2 little tooth, and is spaced between the described canine tooth, little tooth:
Described three phase windings comprise Z/2 concentrated winding, respectively on Z/2 canine tooth, every have Z/6 concentrated winding mutually, the ordering of described concentrated winding and tooth is: A concentrates on winding → little tooth → canine tooth B to concentrate mutually that C concentrates winding → little tooth mutually on winding → little tooth → canine tooth mutually on the canine tooth, and the rest may be inferred;
Wherein, comprise canine tooth iron core and Z/2 independently little tooth iron core in the described stator core, yoke section between every adjacent two canine tooths is provided with one and is inserted into groove, total Z/2 is inserted into groove, each described little tooth iron core be inserted into respectively at described canine tooth iron core by its afterbody one of them be inserted in the groove, and then form Z/2 little tooth;
It is inner that described rotor core is loaded on described stator core; The width of rebate of the groove on the described stator core between adjacent canine tooth and the little tooth is 0.1～3.0mm; Each canine tooth accounts for 150 °～234 ° of circumference electrical degrees, and each little tooth adds that its both sides notch accounts for 6 °～90 ° of circumference electrical degrees, and the electrical degree sum of a canine tooth and a little tooth equals 240 °.
2. the square wave three-phase brushless permanent magnet direct current motor of big or small toothing according to claim 1 is characterized in that, described canine tooth iron core is the whole canine tooth iron core of integral type; Perhaps, described canine tooth iron core is comprised of the monomer canine tooth iron core of Z/2 same structure, mutually splices in the stator slot centerline of these two canine tooths between adjacent two monomer canine tooth iron cores.
3. the square wave three-phase brushless permanent magnet direct current motor of a big or small toothing is equipped with manyly to permanent magnet on the rotor core of described motor, three phase windings are housed in the groove of stator, it is characterized in that,
Wherein, the groove on the stator core is counted between the number of magnetic poles 2P on Z, the rotor core the corresponding relation shown in the following table, corresponding to Z stator slot, Z tooth should be arranged mutually, comprising Z/2 canine tooth, a Z/2 little tooth, and is spaced between the described canine tooth, little tooth:
Described three phase windings comprise Z/2 concentrated winding, respectively on Z/2 canine tooth, every have Z/6 concentrated winding mutually, the ordering of described concentrated winding and tooth is: A concentrates on winding → little tooth → canine tooth B to concentrate mutually that C concentrates winding → little tooth mutually on winding → little tooth → canine tooth mutually on the canine tooth, and the rest may be inferred;
Wherein, comprise canine tooth iron core and Z/2 independently little tooth iron core in the described stator core, yoke section between every adjacent two canine tooths is provided with one and is inserted into groove, total Z/2 is inserted into groove, each described little tooth iron core be inserted into respectively at described canine tooth iron core by its afterbody one of them be inserted in the groove, and then form Z/2 little tooth;
It is inner that described rotor core is loaded on described stator core; The width of rebate of the groove on the described stator core between adjacent canine tooth and the little tooth is 0.1～3.0mm; When Z/2 was even number, Z/4 was the first canine tooth that accounts for 224 ° ± 2 ° of circumference electrical degrees in the described canine tooth, and Z/4 is the second canine tooth that accounts for 192 ° ± 2 ° of circumference electrical degrees in addition; Each little tooth adds that its both sides notch accounts for 32 ° ± 2 ° of circumference electrical degrees; Ordering between described each tooth is: the first canine tooth → little tooth → the second canine tooth → little tooth, and the rest may be inferred; And it is 480 ° that adjacent one group of first canine tooth, little tooth, the second canine tooth, little tooth account for circumference electrical degree sum.
4. the square wave three-phase brushless permanent magnet direct current motor of each described big or small toothing according to claim 1-3, it is characterized in that, each permanent magnet N, S magnetic pole are alternately on the described rotor core, described permanent magnet is the tile-shaped magnet steel of radial magnetizing or the tile-shaped magnet steel of parallel magnetization, and described tile-shaped magnet steel is for waiting radius tile-shaped magnet steel or top rake tile-shaped magnet steel;
Physics air gap between described stator and the rotor is 0.2～3mm;
The pole span of the permanent magnet on the described rotor core is (1～0.8) * π D/4, and wherein D is rotor diameter;
Wherein also comprise the rotor-position sensor of being made by hall position sensor, the magnetic susceptibility direction of described hall position sensor is consistent with the rotor normal direction, be installed on the stator support, and and the rotor permanent magnet cylindrical between keep the air gap of 1～3mm.
5. the square wave three-phase brushless permanent magnet direct current motor of each described big or small toothing according to claim 1-3, it is characterized in that, draw again after Z/6 the concentrated winding that belongs to same phase is connected successively by circumferential order, form one group of A-A ', B-B ', C-C ' three phase windings.
6. the square wave three-phase brushless permanent magnet direct current motor of each described big or small toothing according to claim 1-3, it is characterized in that, be motor more than or equal to 4 even numbers for the result of Z/6, the concentrated winding of Z/6 that belongs to same phase in twos and be unified into Z/12 unit in parallel first, draw after the series connection successively again, form one group of A-A ', B-B ', C-C ' three phase windings.
7. the square wave three-phase brushless permanent magnet direct current motor of each described big or small toothing is characterized in that according to claim 1-3, and Z/6 the concentrated winding that belongs to same phase drawn separately respectively, forms Z/6 group A-A ', B-B ', C-C ' three phase windings.
8. assembly method for the square wave three-phase brushless permanent magnet direct current motor of each described big or small toothing among the claim 1-7, it is characterized in that, when described canine tooth iron core is the whole canine tooth iron core of integral type, after making described canine tooth iron core, first canine tooth being done insulation processes, concentrate winding with coil winding machine coiling on Z/2 canine tooth again, then Z/2 that Z/2 described little tooth iron core is embedded respectively described canine tooth iron core is inserted in the groove, namely consists of every stator core that has mutually Z/6 concentrated winding.
9. assembly method for the square wave three-phase brushless permanent magnet direct current motor of each described big or small toothing among the claim 1-7, it is characterized in that, when described canine tooth iron core is comprised of Z/2 monomer canine tooth iron core, respectively each monomer canine tooth iron core being done insulation first processes, again with coil winding machine respectively on each monomer canine tooth iron core coiling concentrate winding, and then the order of Z/2 monomer canine tooth iron core and three little tooth iron cores being pressed A phase monomer canine tooth iron core → little tooth iron core → B phase monomer canine tooth iron core → little tooth iron core → C phase monomer canine tooth iron core → little tooth iron core, successively assembling consists of the stator core with Z/2 concentrated winding.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2009/073869 WO2011029228A1 (en) | 2009-09-11 | 2009-09-11 | Square-wave three-phase brushless permanent magnet direct current motor provided with large-teeth-and-small-teeth structure and assembling method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102124632A CN102124632A (en) | 2011-07-13 |
| CN102124632B true CN102124632B (en) | 2013-01-23 |
Family
ID=43731917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980104638.7A Active CN102124632B (en) | 2009-09-11 | 2009-09-11 | Square-wave three-phase brushless permanent magnet direct current motor provided with large-teeth-and-small-teeth structure and assembling method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102124632B (en) |
| WO (1) | WO2011029228A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116436254B (en) * | 2023-06-13 | 2023-09-12 | 成都理工大学 | Multistage torque amplification self-reduction motor based on composite excitation structure |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101436797A (en) * | 2007-11-15 | 2009-05-20 | 通用汽车环球科技运作公司 | Concentrated winding machine with magnetic slot wedges |
| CN201570918U (en) * | 2009-09-11 | 2010-09-01 | 深圳航天科技创新研究院 | Square wave three-phase brushless permanent magnet direct current motor with big and small teeth structure |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62138051A (en) * | 1985-12-11 | 1987-06-20 | Hitachi Ltd | Rotary electric machine of permanent magnet |
| JPH0378458A (en) * | 1989-08-18 | 1991-04-03 | Ricoh Co Ltd | Motor |
| JPH11234990A (en) * | 1998-02-12 | 1999-08-27 | Okuma Corp | Permanent magnet motor |
| WO2003055045A1 (en) * | 2001-12-20 | 2003-07-03 | Mitsubishi Denki Kabushiki Kaisha | Permanent magnet type dynamo-electric machine and wind power generation-use permanent magnet type synchronous generator |
| CN101030721A (en) * | 2006-03-03 | 2007-09-05 | 苏州扬名机电有限公司 | Assembled scheme for brushless DC motor slot number and magnetic steel number |
| CN201118414Y (en) * | 2007-10-29 | 2008-09-17 | 深圳航天科技创新研究院 | Square wave three-phase brushless permanent magnetic DC electromotor |
-
2009
- 2009-09-11 CN CN200980104638.7A patent/CN102124632B/en active Active
- 2009-09-11 WO PCT/CN2009/073869 patent/WO2011029228A1/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101436797A (en) * | 2007-11-15 | 2009-05-20 | 通用汽车环球科技运作公司 | Concentrated winding machine with magnetic slot wedges |
| CN201570918U (en) * | 2009-09-11 | 2010-09-01 | 深圳航天科技创新研究院 | Square wave three-phase brushless permanent magnet direct current motor with big and small teeth structure |
Non-Patent Citations (3)
| Title |
|---|
| JP平3-78458A 1991.04.03 |
| JP昭62-138051A 1987.06.20 |
| JP特开平11-234990A 1999.08.27 |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011029228A1 (en) | 2011-03-17 |
| CN102124632A (en) | 2011-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8772994B2 (en) | Permanent-magnet (PM) rotors and systems | |
| CN103222165B (en) | Three phase permanent magnet servomotor | |
| CN102047528B (en) | Broad-pole type square-wave three-phase brushless permanent magnet direct current motor and assembling method thereof | |
| CN201515263U (en) | Big and small tooth structural square-wave three-phase permanent magnet DC motor | |
| CN201570918U (en) | Square wave three-phase brushless permanent magnet direct current motor with big and small teeth structure | |
| CN201541153U (en) | Large-diameter square-wave three-phase brushless DC motor | |
| CN202068306U (en) | Three-phase permanent magnetic servo motor with void slot structure | |
| CN102124627B (en) | Large-diameter type square-wave three-phase brushless direct current motor and assembling method thereof | |
| CN201656584U (en) | Three-phase brushless permanent-magnet direct-current motor with big-tooth and small-tooth structure | |
| CN201504128U (en) | Full diameter three-phase brushless permanent magnet DC motor | |
| CN102160255B (en) | Brushless permanent magnet direct current motor provided with large teeth and small teeth structure and assembling method thereof | |
| CN201656583U (en) | Square wave brushless permanent magnet direct-current motor with big-small teeth structure | |
| CN201584825U (en) | Large-diameter square-wave three-phase brushless permanent magnet DC motor | |
| CN202068307U (en) | Three-phase permanent-magnetic servo electric motor | |
| CN102124632B (en) | Square-wave three-phase brushless permanent magnet direct current motor provided with large-teeth-and-small-teeth structure and assembling method thereof | |
| CN102124628B (en) | Three-phase brushless permanent magnet direct current motor provided with large teeth and small teeth structure and assembling method thereof | |
| CN102160256B (en) | Large-diameter type three-phase brushless permanent magnet direct current motor and assembling method thereof | |
| CN102124626B (en) | Square-wave three-phase permanent magnet direct current motor provided with large teeth and small teeth structure and the assembling method thereof | |
| CN201584826U (en) | Large-diameter square-wave three-phase permanent magnet DC motor | |
| CN201656582U (en) | Large-diameter square wave brushless permanent magnet direct-current motor | |
| CN102124631B (en) | Large-diameter type square-wave three-phase brushless permanent magnet direct current motor and assembling method thereof | |
| CN102124630B (en) | Large-diameter type three-phase brushless permanent magnet direct current motor and assembling method thereof | |
| CN102124629B (en) | Large diameter square wave three-phase brushless permanent magnet direct current motor and assembling method thereof | |
| CN201509142U (en) | Large-polar square-wave three-phase brushless permanent-magnet direct-current motor | |
| CN103222166B (en) | A kind of three-phase permanent-magnetic servo |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Owner name: PEITIAN (ANHUI) ELECTRONIC TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: SHENZHEN INSTITUTE OF AEROSPACE TECHNOLOGY Effective date: 20111215 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 518057 SHENZHEN, GUANGDONG PROVINCE TO: 233400 BENGBU, ANHUI PROVINCE |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20111215 Address after: 233400 Huaiyuan Economic Development Zone, Anhui Applicant after: Peitian (Anhui) M&E Technology Co., Ltd. Address before: 518057 A803 room, Shenzhen Institute of Aerospace Science and technology innovation, Nanshan District science and Technology Park, Shenzhen, Guangdong, China Applicant before: Shenzhen Institute of Aerospace Technology |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |