CN102237834B - MDOF (multiple-degree-of-freedom) magnetic suspension motor - Google Patents
MDOF (multiple-degree-of-freedom) magnetic suspension motor Download PDFInfo
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- 239000000725 suspension Substances 0.000 title claims abstract description 46
- 238000004804 winding Methods 0.000 claims abstract description 130
- 230000002146 bilateral effect Effects 0.000 claims abstract description 5
- 238000005339 levitation Methods 0.000 claims description 56
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 40
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 239000003822 epoxy resin Substances 0.000 claims description 3
- 229920000647 polyepoxide Polymers 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- 239000013585 weight reducing agent Substances 0.000 description 1
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Abstract
The invention provides an MDOF (multiple-degree-of-freedom) magnetic suspension motor, belonging to the technical field of motors. A magnetic suspension technology is combined with an MDOF motor technology to design the MDOF magnetic suspension motor. A spherical type MDOF magnetic suspension motor, a cylinder type MDOF magnetic suspension motor and a flat plate type MDOF magnetic suspension motor are provided, wherein a stator and a rotor of a rotating machine unit of the spherical type MDOF magnetic suspension motor are fixedly connected with a deflection motor unit and a suspension motor unit mainly by a primary structure and a secondary structure; a stator and a rotor of a rotating machine unit of the cylinder type MDOF magnetic suspension motor are fixedly connected with primary structures and secondary structures of an axial thrust and suspension motor unit respectively; and a primary structure and a secondary structure of a bilateral linear motor unit of the flat plate type MDOF magnetic suspension motor are fixedly connected with a primary structure and a secondary structure of an oriented suspension motor unit respectively. The MDOF control windings of the three motors are independent mutually and are not coupled; the same secondary structure is used for the suspension control and the deflection control, thereby being simple in structure; and the rotors are supported by adopting a magnetic suspension way, thus the friction does not occur, the speed is high and the service life is long.
Description
Technical field
The present invention relates to a kind of multiple freedom degree magnetic levitation motor, belong to machine field.
Background technology
For a long time, people have carried out research extensively and profoundly to servomotor and the control system thereof of making single dof mobility, so that the power drive system performance take servomotor as core parts improves constantly.But along with mechanical system is day by day complicated, especially robot, manipulator etc. is made the precision apparatus of compound movement, it is too complicated that the servo system that the single-degree-of-freedom motor consists of often seems.For example, the freedom of motion of the manipulator that uses in the engineering needs to adopt three single-degree-of-freedom motor and complicated mechanical transmission mechanism at least generally more than three, just can finish the rotating function of swivel of hand.This not only causes, and the manipulator volume is large, heavy, bad dynamic performance, and the gap error of transmission mechanism will directly affect the positioning accuracy of manipulator, even destroys the stability of system works.
The appearance of these problems has promoted the development of multiple degrees of freedom motor research, deepening continuously and the appearance of various new materials and the raising of motor manufacturing technology level of the develop rapidly of simultaneous computer technology, power electronic technology and control theory, electric machine theory research is for the manufacturing technology of multiple degrees of freedom motor and the development of control technology provide solid foundation.And the mechanical integrated level of multiple degrees of freedom motor is high, effective material of motor and the element utilance of control system are high, particularly because the degree of freedom of rotating is many, can greatly simplify the structure of mechanical system, reduced volume, weight reduction, control function, static state and dynamic property and the economic benefit of raising system.Therefore do in the equipment, instrument of multifreedom motion at a series of need such as semiconductor manufacturing, attitude of flight vehicle control, robot, manipulator, human body artificial limb and various Metal Cutting Machine Tool, conical agitator, cannon gun turret turntable, panoramic shooting console, globe valve, electric gyros, the multiple degrees of freedom motor is expected to be used widely.
Summary of the invention
The present invention combines magnetic levitation technology with how free motor technology, designed a kind of multiple freedom degree magnetic levitation motor.
Multiple freedom degree magnetic levitation motor of the present invention is a kind of globular motor, and this globular motor comprises rotary motor unit and deflection, floatation electric motor unit,
Rotary motor unit is made of stator and rotor, and stator comprises armature core and polyphase armature winding, and rotor comprises rotor yoke and rotor permanent magnet, and described rotary motor unit is outer-rotor structure;
Deflection, floatation electric motor unit comprise primary and secondary, elementary deflection control winding, suspend control winding and the elementary iron core of comprising, and secondary secondary yoke and the secondary permanent magnet of comprising, described deflection, floatation electric motor unit are outer secondary structure,
The elementary iron core of the armature core of rotary motor unit and deflection, floatation electric motor unit is fixed, is linked together, and the spherical shell shape that consists of whole motor is unshakable in one's determination, and its outer surface is sphere; Electrical axis is perpendicular to upper and lower end face, the interlude of described spherical shell shape iron core is the armature core of rotary motor unit, be fixed with a plurality of rotating armature coils on the armature core surface along even distribution of the parallel of described spherical shell shape iron core, described a plurality of rotating armature coil forms rotating armature winding multi-phase rotating armature winding, described rotating armature coil is square coil, and a pair of effective edge of each rotating armature coil is parallel to the warp of spherical shell shape iron core;
The heterogeneous deflection armature winding that deflection control winding is comprised of a plurality of deflecting coils, a plurality of deflecting coils are divided into two groups, be symmetrically distributed in the up and down both sides of rotating armature winding, and be fixed on the fixed iron core elementary unshakable in one's determination of deflection, floatation electric motor unit, the a plurality of deflecting coils that are positioned at the same side are positioned on the same latitude, and evenly distribute, a pair of effective edge in each deflecting coil is parallel with parallel;
The control winding that suspends is comprised of the magnetic suspension control coil many, describedly many magnetic suspension control coil is divided into two groups of up and down both sides that are symmetrically distributed in the rotating armature winding, and be fixed in deflection, on the fixed iron core elementary unshakable in one's determination of floatation electric motor unit, two magnetic suspension control coils in the every pair of magnetic suspension control coil are arranged along warp direction, and described two magnetic suspension control coil connect in series, being positioned at the many of the same side evenly distributes along weft direction to the magnetic suspension control coil, and with a plurality of deflecting coils alternately, a pair of effective edge in each magnetic suspension control coil is parallel with parallel;
The secondary yoke of the rotor yoke of rotary motor unit and deflection, floatation electric motor unit is fixed together, consist of the spherical spinner yoke of whole motor, a plurality of rotor permanent magnets of rotary motor unit are fixed on the inner surface of rotor yoke along even distribution of the parallel of rotor yoke maximum gauge, described a plurality of rotor permanent magnet radial magnetizing, and the polarity of two adjacent permanent magnets is opposite;
Be fixed with the secondary permanent magnet of deflection, floatation electric motor unit at the inner surface of the rotor yoke of the upper and lower side of rotor permanent magnet, the secondary permanent magnet of described deflection, floatation electric motor unit is become by four sphere ring-type set of permanent magnets, these four sphere ring-type permanent magnets are divided into two groups, be symmetrically distributed in the up and down both sides of rotor permanent magnet, all sphere ring-type permanent magnet radial magnetizings, two sphere ring-type permanent magnet magnetizing directions that are positioned at the same side are opposite, and near the magnetizing direction of the sphere ring-type permanent magnet of described rotor permanent magnet for from inside to outside.
The present invention also provides another kind of multiple freedom degree magnetic levitation motor, and this kind multiple freedom degree magnetic levitation motor is a kind of cylindrical electrical machine, and this cylindrical electrical machine is by rotary motor unit and axial thrust, floatation electric motor cell formation,
Rotary motor unit is made of stator and rotor, and stator comprises armature core and polyphase armature winding, and rotor comprises rotor yoke and rotor permanent magnet,
Axial thrust, floatation electric motor unit are made of primary and secondary, elementary axial thrust control winding, suspend control winding and the elementary iron core of comprising, and secondary secondary yoke and the secondary permanent magnet of comprising,
Rotary motor unit is outer-rotor structure, and axial thrust, floatation electric motor unit are outer secondary structure,
The elementary iron core of the armature core of rotary motor unit and axial thrust, floatation electric motor unit is fixed together, consist of the cylindrical core of whole motor, the elementary iron core of wherein said axial thrust, floatation electric motor unit is comprised of two parts, described two parts mirror image symmetry is positioned at the axial both sides of armature core, and electrical axis is the axis of cylindrical core;
Polyphase armature winding, axial thrust control winding and the control winding that suspends all are fixed on the cylindrical outer surface of electric machine iron core, wherein:
The polyphase armature winding is positioned at the axial centre position of described cylindrical outer surface, and a plurality of rotating armature coils that form the polyphase armature winding distribute along even circumferential;
The a plurality of unicoils that form axial thrust control winding evenly are divided into two groups, and described two groups of unicoil mirror images are symmetrically distributed in the axial both sides of polyphase armature winding, and a plurality of unicoils that are positioned at the same side along the circumferential direction evenly distribute;
The a plurality of twin coils that form the control winding that suspends evenly are divided into two groups, described two groups of twin coil mirror images are symmetrically distributed in the axial both sides of polyphase armature winding, be positioned at the unicoil of a plurality of twin coils of the same side and axial thrust control winding alternately, two unicoils that form each twin coil are arranged vertically, and are connected in series;
The secondary yoke of the rotor yoke of rotary motor unit and axial thrust, floatation electric motor unit is fixed together, consist of the cylindrical rotor yoke of whole motor, described axial thrust, the secondary of floatation electric motor unit are comprised of two parts, and this two parts mirror image is symmetrically distributed in the axial both sides of rotor yoke; Be fixed with the permanent magnet of the rotor permanent magnet of rotary motor unit and axial thrust, floatation electric motor unit on the inner surface of described cylindrical rotor yoke,
The rotor permanent magnet of described rotary motor unit is comprised of a plurality of permanent magnets, described a plurality of permanent magnet is positioned at the axial centre position of cylindrical rotor yoke, and a plurality of permanent magnets along the circumferential direction evenly distribute, each permanent magnet all radially magnetizes, and the magnetizing direction of two circumferential adjacent permanent magnets is opposite;
The permanent magnet of axial thrust, floatation electric motor unit is comprised of four annular permanent magnets, one group in twos of described four annular permanent magnet, mirror image is symmetrically distributed in the axial both sides of rotor permanent magnet, described four annular permanent magnets all radially magnetize, the magnetizing direction of two annular permanent magnets that is positioned at the same side is opposite, and the magnetizing direction of two annular permanent magnets adjacent with rotor permanent magnet is also opposite.
The present invention also provides another kind of multiple freedom degree magnetic levitation motor, the motor of a kind of plate shaped bilateral structure of this kind multiple freedom degree magnetic levitation motor, and this motor is by linear electric motors unit and guiding, floatation electric motor cell formation;
The linear electric motors unit comprises armature and secondary, and is the U-shaped secondary structure, and armature comprises that armature winding consists of secondary secondary yoke and the secondary permanent magnet of comprising;
Guiding, floatation electric motor unit comprise primary and secondary, and for guiding, floatation electric motor unit are the U-shaped secondary structure, elementary lead control winding and the control winding that suspends, secondary secondary yoke and the secondary strip permanent magnet of comprising of comprising;
The guiding control winding of the armature winding of linear electric motors unit and guiding, floatation electric motor unit, the control winding that suspends are fixed by epoxy resin and are linked together, and consist of whole armature;
The coil of armature winding is arranged along the direction of motion, and its effective edge is vertical with the direction of motion,
A plurality of twin coil mirror images of guiding control winding are symmetrically distributed in upside and the downside of armature winding, the a plurality of twin coils that are positioned at the same side are evenly arranged evenly along the direction of motion, its effective edge is horizontal direction, two unicoils in each twin coil are controlled up and down side by side, and described two unicoils are connected in series;
The a plurality of unicoil mirror images of control winding of suspending are symmetrically distributed in upside and the downside of armature winding, and a plurality of unicoils that are positioned at the same side are evenly arranged evenly along the direction of motion, and with a plurality of twin coils of guiding control winding alternately;
The secondary yoke of the secondary yoke of linear electric motors unit and guiding, floatation electric motor unit is fixed, is linked together, and consists of the secondary yoke of whole motor; The secondary yoke of described linear electric motors unit is positioned at the centre position, and the secondary yoke of guiding, floatation electric motor unit is comprised of two parts, and described two parts mirror image symmetry is respectively at the up and down both sides of the secondary yoke of linear electric motors unit;
The secondary permanent magnet N of linear electric motors unit, S is successively alternately at the inner surface of secondary yoke, and corresponding with the armature winding of linear electric motors unit, guiding, the floatation electric motor unit has four secondary strip permanent magnets, described four secondary strip permanent magnets are one group of symmetrical up and down both sides that are positioned at the secondary permanent magnet of linear electric motors unit in twos, and be fixed on guiding, on the inner surface of the secondary yoke of floatation electric motor unit, the magnetizing direction of described strip permanent magnet is perpendicular to the secondary yoke of linear electric motors unit, the magnetizing direction of two secondary strip permanent magnets that is positioned at the same side is opposite, and the magnetizing direction of two the secondary strip permanent magnets adjacent with the secondary permanent magnet of linear electric motors unit is also opposite.
The advantage of multiple freedom degree magnetic levitation motor of the present invention has:
1), separate, the nothing coupling of each degree of freedom control winding.
2), the control that suspends is controlled to be DC control, do not need commutation with deflection, therefore, control is simple, precision is high, dynamic characteristic is good.
3), suspend control and deflection control share one secondary, electric machine structure is simple, volume is little, lightweight.
4), rotor adopts the magnetic suspension mode to support, without friction, without wearing and tearing, pollution-free, do not need lubricated and sealing, high-speed, the life-span is long.
Description of drawings
Fig. 1 is the structural representation of embodiment one described a kind of spherical multi-freedom magnetic suspension motor, and Fig. 2 is the secondary cutaway view among Fig. 1.Fig. 3 is the structural representation of embodiment eight described a kind of spherical multi-freedom magnetic suspension motors, and this kind structure is on the surface unshakable in one's determination that the control winding coil that suspends surrounds, and is pasted with permanent magnet 16.Fig. 4 is the structural representation of embodiment nine described a kind of cylindrical multiple freedom degree magnetic levitation globular motors.Fig. 5 is the structural representation of embodiment 11 described cylindrical multiple freedom degree magnetic levitation globular motors, Fig. 6 is the rotor shown in Fig. 5 and elementary structural representation, Fig. 7 is the expansion schematic diagram of Fig. 6, and Fig. 8 is A-A profile corresponding to Fig. 7 of embodiment 11 described structures.Fig. 9 is B-B profile corresponding to Fig. 7 of embodiment 13 described electric machine structures.Figure 10 is B-B profile corresponding to Fig. 7 of embodiment 12,14 described electric machine structures.Figure 11 is the stator shown in Fig. 5 and secondary structural representation.Figure 12 is the expanded view of Figure 11.Figure 13 is the C-C profile of Figure 12.Figure 14 is embodiment 18 described multiple freedom degree magnetic levitation electric machine structures, the expanded view that Fig. 6 is corresponding.Figure 15 embodiment 19 described multiple freedom degree magnetic levitation electric machine structures, the expanded view that Figure 11 is corresponding.Figure 16 is the structural representation of the multiple freedom degree magnetic levitation motor of embodiment 21 described plate shaped bilateral structures, Figure 17 is the structural representation of the armature among Figure 16, Figure 18 is the D-D profile of Figure 17, Figure 19 is the described permanent magnet on secondary of embodiment 23 schematic diagram of arranging, Figure 20 is the secondary structural representation of Figure 16, and Figure 21 is the end view of Figure 20.
Embodiment
Embodiment one, referring to Fig. 1,2 the explanation present embodiments.The described multiple freedom degree magnetic levitation motor of present embodiment is a kind of globular motor, and this motor comprises rotary motor unit and deflection, floatation electric motor unit,
Rotary motor unit is made of stator and rotor, and stator comprises armature core 15 and polyphase armature winding, and rotor comprises rotor yoke 23 and rotor permanent magnet 24, and described rotary motor unit is outer-rotor structure;
Deflection, floatation electric motor unit comprise primary and secondary, elementaryly comprise deflection control winding, the control winding and elementary unshakable in one's determination 13 that suspends, and 21 levels of secondary yoke comprise secondary yoke 21 and secondary permanent magnet 22, and described deflection, floatation electric motor unit are outer secondary structure,
The armature core 15 of rotary motor unit is fixed, is linked together with elementary unshakable in one's determination 13 of deflection, floatation electric motor unit, and the spherical shell shape that consists of whole motor is unshakable in one's determination, and its outer surface is sphere; Electrical axis is perpendicular to upper and lower end face, the interlude of described spherical shell shape iron core is the armature core 15 of rotary motor unit, be fixed with a plurality of rotating armature coils 14 on armature core 15 surfaces along even distribution of the parallel of described spherical shell shape iron core, described a plurality of rotating armature coil 14 forms rotating armature winding multi-phase rotating armature winding, described rotating armature coil 14 is square coil, and a pair of effective edge of each rotating armature coil 14 is parallel to the warp of spherical shell shape iron core;
The heterogeneous deflection armature winding that deflection control winding is comprised of a plurality of deflecting coils 12, a plurality of deflecting coils 12 are divided into two groups, be symmetrically distributed in the up and down both sides of rotating armature winding, and be fixed on 13 fixed iron cores elementary unshakable in one's determination of deflection, floatation electric motor unit, the a plurality of deflecting coils 12 that are positioned at the same side are positioned on the same latitude, and evenly distribute, a pair of effective edge in each deflecting coil 12 is parallel with parallel;
The control winding that suspends is comprised of the magnetic suspension control coil many, describedly many magnetic suspension control coil is divided into two groups of up and down both sides that are symmetrically distributed in the rotating armature winding, and be fixed in deflection, on 13 fixed iron cores elementary unshakable in one's determination of floatation electric motor unit, two magnetic suspension control coils 11 in the every pair of magnetic suspension control coil are arranged along warp direction, and described two magnetic suspension control coil 11 connect in series, being positioned at the many of the same side evenly distributes along weft direction to the magnetic suspension control coil, and with a plurality of deflecting coils 12 alternately, a pair of effective edge in each magnetic suspension control coil 11 is parallel with parallel;
The rotor yoke 23 of rotary motor unit is fixed together with the secondary yoke 21 of deflection, floatation electric motor unit, consist of the spherical spinner yoke 23 of whole motor, a plurality of rotor permanent magnets 24 of rotary motor unit are fixed on the inner surface of rotor yoke 23 along even distribution of the parallel of rotor yoke 23 maximum gauges, described a plurality of rotor permanent magnet 24 radial magnetizings, and the polarity of two adjacent permanent magnets is opposite;
Upper at rotor permanent magnet 24, be fixed with deflection on the inner surface of the rotor yoke 23 of downside, the secondary permanent magnet 22 of floatation electric motor unit, described deflection, the secondary permanent magnet 22 of floatation electric motor unit is comprised of four sphere ring-type permanent magnets 22, these four sphere ring-type permanent magnets 22 are divided into two groups, be symmetrically distributed in the up and down both sides of rotor permanent magnet 24, all sphere ring-type permanent magnet 22 radial magnetizings, two sphere ring-type permanent magnet 22 magnetizing directions that are positioned at the same side are opposite, and near the magnetizing direction of the sphere ring-type permanent magnet 22 of described rotor permanent magnet 24 for from inside to outside.
Embodiment two, present embodiment are the further restrictions to embodiment one described multiple freedom degree magnetic levitation motor, and the effective edge of each the rotating armature coil 14 in the present embodiment embeds in the armature core 15.Rotating armature coil 14 is embedded in the iron core, can increases the magnetic field intensity that coil produces, that is: be connected with in coil in the situation of same current, embed after the inside unshakable in one's determination, the magnetic field intensity that this coil produces is larger.
Embodiment three, present embodiment are the further restrictions to embodiment one described multiple freedom degree magnetic levitation motor, in the embedding armature core 15 of each the rotating armature coil 14 in the present embodiment.
Embodiment four, present embodiment are the further restrictions to embodiment one described multiple freedom degree magnetic levitation motor, and the effective edge of the deflecting coil 12 in the present embodiment embeds in 13 fixed iron cores elementary unshakable in one's determination of deflection, floatation electric motor unit.
Embodiment five, present embodiment are the further restrictions to embodiment one described multiple freedom degree magnetic levitation motor, in 13 fixed iron cores elementary unshakable in one's determination of the embedding deflection of the deflecting coil 12 in the present embodiment, floatation electric motor unit.
Embodiment six, present embodiment are the further restrictions to embodiment one described multiple freedom degree magnetic levitation motor, and the effective edge of the magnetic suspension control coil 11 in the present embodiment embeds in 13 fixed iron cores elementary unshakable in one's determination of deflection, floatation electric motor unit.
Embodiment seven, present embodiment are the further restrictions to embodiment one described multiple freedom degree magnetic levitation motor, and the magnetic suspension control coil 11 in the present embodiment embeds in 13 fixed iron cores elementary unshakable in one's determination of deflection, floatation electric motor unit.
Embodiment eight, referring to Fig. 3 present embodiment is described.The difference of present embodiment and embodiment one described multiple freedom degree magnetic levitation motor is, on the part surface unshakable in one's determination that the control winding coil that suspends surrounds, be pasted with permanent magnet 16, the magnetizing direction of the secondary permanent magnet 22 that the magnetizing direction of described permanent magnet 16 is relative with it is opposite.The profile of the described permanent magnet 6 of present embodiment matches with the space that surrounds of the control winding coil that suspends.
Embodiment nine, referring to Fig. 4 present embodiment is described.The difference of present embodiment and embodiment one described multiple freedom degree magnetic levitation motor is, between two adjacent rotor permanent magnets 24 of rotary motor unit, also be fixed with permanent magnet 26, the magnetizing direction of this permanent magnet 26 is for circumferentially magnetizing, and the magnetic line of force direction of the permanent magnet that is adjacent of the magnetic line of force of this permanent magnet is identical.
The difference of embodiment ten, present embodiment and embodiment one described multiple freedom degree magnetic levitation motor is that the rotor permanent magnet 24 of rotary motor unit adopts embedded arrangement or Halbach arrangement.
Rotary motor unit is made of stator and rotor, and stator comprises armature core 15 and polyphase armature winding, and rotor comprises rotor yoke 23 and rotor permanent magnet 24,
Axial thrust, floatation electric motor unit are made of primary and secondary, elementaryly comprise axial thrust control winding, the control winding and elementary unshakable in one's determination 13 that suspends, and 21 levels of secondary yoke comprise secondary yoke 21 and secondary permanent magnet 22,
Rotary motor unit is outer-rotor structure, and axial thrust, floatation electric motor unit are outer secondary structure,
The armature core 15 of rotary motor unit is fixed together with elementary unshakable in one's determination 13 of axial thrust, floatation electric motor unit, consist of the cylindrical core of whole motor, elementary unshakable in one's determination 13 of wherein said axial thrust, floatation electric motor unit is comprised of two parts, described two parts mirror image symmetry is positioned at the axial both sides of armature core 15, and electrical axis is the axis of cylindrical core;
Polyphase armature winding, axial thrust control winding and the control winding that suspends all are fixed on the cylindrical outer surface of electric machine iron core, wherein:
The polyphase armature winding is positioned at the axial centre position of described cylindrical outer surface, and a plurality of rotating armature coils 14 that form the polyphase armature winding distribute along even circumferential;
The a plurality of unicoils 19 that form axial thrust control winding evenly are divided into two groups, and described two groups of unicoil 19 mirror images are symmetrically distributed in the axial both sides of polyphase armature winding, and a plurality of unicoils 19 that are positioned at the same side along the circumferential direction evenly distribute;
The a plurality of twin coils 20 that form the control winding that suspends evenly are divided into two groups, described two groups of twin coil 20 mirror images are symmetrically distributed in the axial both sides of polyphase armature winding, the a plurality of twin coils 20 that are positioned at the same side and the unicoil 19 of axial thrust control winding are alternately, two unicoils that form each twin coil 20 are arranged vertically, and are connected in series;
The rotor yoke 23 of rotary motor unit is fixed together with the secondary yoke 21 of axial thrust, floatation electric motor unit, consist of the cylindrical rotor yoke 23 of whole motor, described axial thrust, the secondary of floatation electric motor unit are comprised of two parts, and this two parts mirror image is symmetrically distributed in the axial both sides of rotor yoke 23; Be fixed with the permanent magnet of the rotor permanent magnet 24 of rotary motor unit and axial thrust, floatation electric motor unit on the inner surface of described cylindrical rotor yoke 23,
The rotor permanent magnet 24 of described rotary motor unit is comprised of a plurality of permanent magnets, described a plurality of permanent magnet is positioned at the axial centre position of cylindrical rotor yoke 23, and a plurality of permanent magnets along the circumferential direction evenly distribute, each permanent magnet all radially magnetizes, and the magnetizing direction of two circumferential adjacent permanent magnets is opposite;
The permanent magnet of axial thrust, floatation electric motor unit is comprised of four annular permanent magnets 25, one group in twos of described four annular permanent magnet 25, mirror image is symmetrically distributed in the axial both sides of rotor permanent magnet 24, described four annular permanent magnets 25 all radially magnetize, the magnetizing direction of two annular permanent magnets 25 that is positioned at the same side is opposite, and the magnetizing direction of two annular permanent magnets 25 adjacent with rotor permanent magnet 24 is also opposite.
The effective edge of each coil in the described armature winding and axially parallel, so the position corresponding with the effective edge of coil has axial groove on the armature core of the described multiple freedom degree magnetic levitation motor of present embodiment, so that embed the effective edge of coil.
The effective edge of each coil in the axial thrust control winding is with axially vertical, therefore the position corresponding to effective edge of the coil in the axial thrust of the described multiple freedom degree magnetic levitation motor of the present embodiment control winding has groove along the circumferential direction, so that embed the effective edge of coil.
The difference of embodiment 15, present embodiment and embodiment 11 described multiple freedom degree magnetic levitation motors is that each coil in the axial thrust control winding all embeds in elementary unshakable in one's determination 13.
The effective edge of each coil in the suspension control winding is with axially vertical, therefore the position corresponding to effective edge of the coil in the suspension of the described multiple freedom degree magnetic levitation motor of the present embodiment control winding has groove along the circumferential direction, so that embed the effective edge of coil.
The difference of embodiment 17, present embodiment and embodiment 11 described multiple freedom degree magnetic levitation motors is that each coil in the control winding that suspends all embeds in elementary unshakable in one's determination 13.
Embodiment 18, referring to Figure 14 present embodiment is described.The difference of present embodiment and embodiment 11 described multiple freedom degree magnetic levitation motors is, on the part surface unshakable in one's determination that the coil 11 of suspension control winding surrounds, be pasted with permanent magnet 16, the magnetizing direction of the secondary permanent magnet 22 that the magnetizing direction of described permanent magnet 16 is relative with it is opposite.
The difference of embodiment 20, present embodiment and embodiment 11 described multiple freedom degree magnetic levitation motors is that the rotor permanent magnet 24 of rotary motor unit adopts embedded arrangement or Halbach arrangement.
The linear electric motors unit comprises armature and secondary, and is the U-shaped secondary structure, and armature comprises that armature winding consists of secondary secondary yoke 33 and the secondary permanent magnet 34 of comprising;
Guiding, floatation electric motor unit comprise primary and secondary, and for guiding, floatation electric motor unit are the U-shaped secondary structure, elementary lead control winding and the control winding that suspends, secondary secondary yoke 31 and the secondary strip permanent magnet 32 of comprising of comprising;
The guiding control winding of the armature winding of linear electric motors unit and guiding, floatation electric motor unit, the control winding that suspends are fixed by epoxy resin and are linked together, and consist of whole armature;
The coil of armature winding is arranged along the direction of motion, and its effective edge is vertical with the direction of motion,
A plurality of twin coils 41 mirror images of guiding control winding are symmetrically distributed in upside and the downside of armature winding, the a plurality of twin coils 41 that are positioned at the same side are evenly arranged evenly along the direction of motion, its effective edge is horizontal direction, two unicoils in each twin coil 41 are controlled up and down side by side, and described two unicoils are connected in series;
A plurality of unicoils 42 mirror images of control winding of suspending are symmetrically distributed in upside and the downside of armature winding, and a plurality of unicoils 42 that are positioned at the same side are evenly arranged evenly along the direction of motion, and with a plurality of twin coils 41 of guiding control winding alternately;
The secondary yoke 33 of linear electric motors unit is fixed, is linked together with the secondary yoke 31 of guiding, floatation electric motor unit, consists of the secondary yoke of whole motor; The secondary yoke 33 of described linear electric motors unit is positioned at the centre position, and the secondary yoke 31 of guiding, floatation electric motor unit is comprised of two parts, and described two parts mirror image symmetry is respectively at the up and down both sides of the secondary yoke 33 of linear electric motors unit;
The secondary permanent magnet 34N of linear electric motors unit, S is successively alternately at the inner surface of secondary yoke 33, and corresponding with the armature winding of linear electric motors unit, guiding, the floatation electric motor unit has four secondary strip permanent magnets 32, described four secondary strip permanent magnets 32 are one group of symmetrical up and down both sides that are positioned at the secondary permanent magnet 34 of linear electric motors unit in twos, and be fixed on guiding, on the inner surface of the secondary yoke 31 of floatation electric motor unit, the magnetizing direction of described strip permanent magnet is perpendicular to the secondary yoke 33 of linear electric motors unit, the magnetizing direction of two secondary strip permanent magnets 32 that is positioned at the same side is opposite, and the magnetizing direction of two the secondary strip permanent magnets 32 adjacent with the secondary permanent magnet 34 of linear electric motors unit is also opposite.
The difference of embodiment 22, present embodiment and embodiment 21 described multiple freedom degree magnetic levitation motors is, secondary upper embedded permanent magnet arrangement or the Halbach arrangement of linear electric motors unit.
The difference of embodiment 23, present embodiment and embodiment 21 described multiple freedom degree magnetic levitation motors is, also be fixed with permanent magnet 36 between secondary every adjacent two secondary permanent magnets 34 of linear electric motors unit, the magnetic line of force direction of the secondary permanent magnet 34 that the magnetic line of force of this permanent magnet 36 is adjacent is identical.
For example, a plurality of secondary permanent magnet 34 on linear electric motors unit secondary is perpendicular to the direction of motion, and perpendicular to plane, primary coil place, the magnetizing direction of adjacent secondary permanent magnet 34 is opposite, referring to shown in Figure 19, four secondary permanent magnets are respectively N, S, N, S, then the magnetizing direction of the permanent magnet 36 between every adjacent two secondary permanent magnets is for being parallel to the direction of motion, and the magnetic line of force that this permanent magnet 36 produces is identical with the magnetic line of force direction that adjacent two secondary permanent magnets 34 produce, that is: magnetizing direction is to point to the S utmost point from the N utmost point.
The difference of embodiment 24, present embodiment and embodiment one to 23 described multiple freedom degree magnetic levitation motor is that described permanent magnet is the sectionally smooth join structure.
Described permanent magnet comprises rotor permanent magnet 24, the linear electric motors unit of rotary motor unit permanent magnet on secondary etc., the permanent magnet in the multiple freedom degree magnetic levitation motor.
The structure of multiple degrees of freedom floatation electric motor of the present invention is not limited to the described concrete structure of the various embodiments described above, can also be the reasonable combination of the described concrete technical characterictic of each execution mode.
Claims (10)
1. the multiple freedom degree magnetic levitation motor is characterized in that described multiple freedom degree magnetic levitation motor is a kind of globular motor, and this globular motor comprises rotary motor unit and deflection, floatation electric motor unit,
Rotary motor unit is made of stator and rotor, and stator comprises armature core (15) and polyphase armature winding, and rotor comprises rotor yoke (23) and rotor permanent magnet (24), and described rotary motor unit is outer-rotor structure;
Deflection, floatation electric motor unit comprise primary and secondary, elementary deflection control winding, suspension control winding and the elementary iron core (13) of comprising, secondary secondary yoke (21) and the secondary permanent magnet (22) of comprising, described deflection, floatation electric motor unit are outer secondary structure
The armature core of rotary motor unit (15) is fixed, is linked together with the elementary iron core (13) of deflection, floatation electric motor unit, and the spherical shell shape that consists of whole motor is unshakable in one's determination, and its outer surface is sphere; Electrical axis is perpendicular to upper and lower end face, the interlude of described spherical shell shape iron core is the armature core (15) of rotary motor unit, be fixed with a plurality of rotating armature coils (14) on armature core (15) surface along even distribution of the parallel of described spherical shell shape iron core, described a plurality of rotating armature coils (14) form rotating armature winding multi-phase rotating armature winding, described rotating armature coil (14) is square coil, and a pair of effective edge of each rotating armature coil (14) is parallel to the warp of spherical shell shape iron core;
The heterogeneous deflection armature winding that deflection control winding is comprised of a plurality of deflecting coils (12), a plurality of deflecting coils (12) are divided into two groups, be symmetrically distributed in the up and down both sides of rotating armature winding, and be fixed on elementary iron core (13) fixed iron core of deflection, floatation electric motor unit, the a plurality of deflecting coils (12) that are positioned at the same side are positioned on the same latitude, and evenly distribute, a pair of effective edge in each deflecting coil (12) is parallel with parallel;
The control winding that suspends is comprised of the magnetic suspension control coil many, describedly many magnetic suspension control coil is divided into two groups of up and down both sides that are symmetrically distributed in the rotating armature winding, and be fixed in deflection, on elementary iron core (13) fixed iron core of floatation electric motor unit, two magnetic suspension control coils (11) in the every pair of magnetic suspension control coil are arranged along warp direction, and described two magnetic suspension control coils (11) connect in series, being positioned at the many of the same side evenly distributes along weft direction to the magnetic suspension control coil, and with a plurality of deflecting coils (12) alternately, a pair of effective edge in each magnetic suspension control coil (11) is parallel with parallel;
The rotor yoke of rotary motor unit (23) is fixed together with the secondary yoke (21) of deflection, floatation electric motor unit, consist of the spherical spinner yoke (23) of whole motor, a plurality of rotor permanent magnets (24) of rotary motor unit are fixed on the inner surface of rotor yoke (23) along even distribution of the parallel of rotor yoke (23) maximum gauge, described a plurality of rotor permanent magnet (24) radial magnetizing, and the polarity of two adjacent permanent magnets is opposite;
Upper at rotor permanent magnet (24), be fixed with deflection on the inner surface of the rotor yoke of downside (23), the secondary permanent magnet (22) of floatation electric motor unit, described deflection, the secondary permanent magnet (22) of floatation electric motor unit is comprised of four sphere ring-type permanent magnets (22), these four sphere ring-type permanent magnets (22) are divided into two groups, be symmetrically distributed in the up and down both sides of rotor permanent magnet (24), all sphere ring-type permanent magnet (22) radial magnetizings, two sphere ring-type permanent magnets (22) magnetizing direction that is positioned at the same side is opposite, and near the magnetizing direction of the sphere ring-type permanent magnet (22) of described rotor permanent magnet (24) for from inside to outside.
2. multiple freedom degree magnetic levitation motor according to claim 1 is characterized in that, the effective edge of deflecting coil (12) embeds in elementary iron core (13) fixed iron core of deflection, floatation electric motor unit; The effective edge that forms each coil in the polyphase armature winding all embeds in the armature core (15); The effective edge of controlling each coil in the winding that suspends all embeds in the elementary iron core (13).
3. the multiple freedom degree magnetic levitation motor is characterized in that this multiple freedom degree magnetic levitation motor is a kind of cylindrical electrical machine, and this cylindrical electrical machine is by rotary motor unit and axial thrust, floatation electric motor cell formation,
Rotary motor unit is made of stator and rotor, and stator comprises armature core (15) and polyphase armature winding, and rotor comprises rotor yoke (23) and rotor permanent magnet (24),
Axial thrust, floatation electric motor unit are made of primary and secondary, elementary axial thrust control winding, suspend control winding and the elementary iron core (13) of comprising, and secondary secondary yoke (21) and the secondary permanent magnet (22) of comprising,
Rotary motor unit is outer-rotor structure, and axial thrust, floatation electric motor unit are outer secondary structure,
The armature core of rotary motor unit (15) is fixed together with the elementary iron core (13) of axial thrust, floatation electric motor unit, consist of the cylindrical core of whole motor, the elementary iron core (13) of wherein said axial thrust, floatation electric motor unit is comprised of two parts, described two parts mirror image symmetry is positioned at the axial both sides of armature core (15), and electrical axis is the axis of cylindrical core;
Polyphase armature winding, axial thrust control winding and the control winding that suspends all are fixed on the cylindrical outer surface of electric machine iron core, wherein:
The polyphase armature winding is positioned at the axial centre position of described cylindrical outer surface, and a plurality of rotating armature coils (14) that form the polyphase armature winding distribute along even circumferential;
The a plurality of unicoils (19) that form axial thrust control winding evenly are divided into two groups, described two groups of unicoils (19) mirror image is symmetrically distributed in the axial both sides of polyphase armature winding, and a plurality of unicoils (19) that are positioned at the same side along the circumferential direction evenly distribute;
The a plurality of twin coils (20) that form the control winding that suspends evenly are divided into two groups, described two groups of twin coils (20) mirror image is symmetrically distributed in the axial both sides of polyphase armature winding, the unicoil (19) of a plurality of twin coils (20) that are positioned at the same side and axial thrust control winding alternately, two unicoils that form each twin coil (20) are arranged vertically, and are connected in series;
The rotor yoke of rotary motor unit (23) is fixed together with the secondary yoke (21) of axial thrust, floatation electric motor unit, consist of the cylindrical rotor yoke (23) of whole motor, described axial thrust, the secondary of floatation electric motor unit are comprised of two parts, and this two parts mirror image is symmetrically distributed in the axial both sides of rotor yoke (23); Be fixed with the permanent magnet of the rotor permanent magnet (24) of rotary motor unit and axial thrust, floatation electric motor unit on the inner surface of described cylindrical rotor yoke (23),
The rotor permanent magnet of described rotary motor unit (24) is comprised of a plurality of permanent magnets, described a plurality of permanent magnet is positioned at the axial centre position of cylindrical rotor yoke (23), and a plurality of permanent magnets along the circumferential direction evenly distribute, each permanent magnet all radially magnetizes, and the magnetizing direction of two circumferential adjacent permanent magnets is opposite;
The permanent magnet of axial thrust, floatation electric motor unit is comprised of four annular permanent magnets (25), one group in twos of described four annular permanent magnet (25), mirror image is symmetrically distributed in the axial both sides of rotor permanent magnet (24), described four annular permanent magnets (25) all radially magnetize, the magnetizing direction of two annular permanent magnets (25) that is positioned at the same side is opposite, and the magnetizing direction of two annular permanent magnets (25) adjacent with rotor permanent magnet (24) is also opposite.
4. multiple freedom degree magnetic levitation motor according to claim 3 is characterized in that, the effective edge of each coil in the axial thrust control winding all embeds in the elementary iron core (13); The effective edge that forms each coil in the polyphase armature winding all embeds in the armature core (15); The effective edge of controlling each coil in the winding that suspends all embeds in the elementary iron core (13).
5. according to claim 1 or 3 described multiple freedom degree magnetic levitation motors, it is characterized in that the rotor permanent magnet of rotary motor unit (24) adopts embedded arrangement or Halbach arrangement.
6. according to claim 1 or 3 described multiple freedom degree magnetic levitation motors, it is characterized in that, between adjacent two rotor permanent magnets (24) of rotary motor unit, also be fixed with permanent magnet, the magnetizing direction of this permanent magnet is for circumferentially magnetizing, and the magnetic line of force direction of the permanent magnet that is adjacent of the magnetic line of force of this permanent magnet is identical.
7. the multiple freedom degree magnetic levitation motor is characterized in that the multiple freedom degree magnetic levitation motor is a kind of motor of plate shaped bilateral structure, and this motor is by linear electric motors unit and guiding, floatation electric motor cell formation;
The linear electric motors unit comprises armature and secondary, and is the U-shaped secondary structure, and armature comprises that armature winding consists of secondary secondary yoke (33) and the secondary permanent magnet (34) of comprising;
Guiding, floatation electric motor unit comprise primary and secondary, and for guiding, floatation electric motor unit are the U-shaped secondary structure, elementary lead control winding and the control winding that suspends, secondary secondary yoke (31) and the secondary strip permanent magnet (32) of comprising of comprising;
The guiding control winding of the armature winding of linear electric motors unit and guiding, floatation electric motor unit, the control winding that suspends are fixed by epoxy resin and are linked together, and consist of whole armature;
The coil of armature winding is arranged along the direction of motion, and its effective edge is vertical with the direction of motion,
A plurality of twin coils (41) mirror image of guiding control winding is symmetrically distributed in upside and the downside of armature winding, the a plurality of twin coils (41) that are positioned at the same side are evenly arranged evenly along the direction of motion, its effective edge is horizontal direction, two unicoils in each twin coil (41) are controlled up and down side by side, and described two unicoils are connected in series;
A plurality of unicoils (42) mirror image of suspension control winding is symmetrically distributed in upside and the downside of armature winding, the a plurality of unicoils (42) that are positioned at the same side are evenly arranged evenly along the direction of motion, and with a plurality of twin coils (41) of guiding control winding alternately;
The secondary yoke (33) of linear electric motors unit is fixed, is linked together with the secondary yoke (31) of guiding, floatation electric motor unit, consists of the secondary yoke of whole motor; The secondary yoke (33) of described linear electric motors unit is positioned at the centre position, the secondary yoke (31) of guiding, floatation electric motor unit is comprised of two parts, and described two parts mirror image symmetry is respectively at the up and down both sides of the secondary yoke (33) of linear electric motors unit;
Secondary permanent magnet (34) N of linear electric motors unit, S is successively alternately at the inner surface of secondary yoke (33), and corresponding with the armature winding of linear electric motors unit, guiding, the floatation electric motor unit has four secondary strip permanent magnets (32), described four secondary strip permanent magnets (32) are one group of symmetrical up and down both sides that are positioned at the secondary permanent magnet (34) of linear electric motors unit in twos, and be fixed on guiding, on the inner surface of the secondary yoke (31) of floatation electric motor unit, the magnetizing direction of described strip permanent magnet is perpendicular to the secondary yoke (33) of linear electric motors unit, the magnetizing direction of two secondary strip permanent magnets (32) that is positioned at the same side is opposite, and the magnetizing direction of two the secondary strip permanent magnets (32) adjacent with the secondary permanent magnet (34) of linear electric motors unit is also opposite.
8. multiple freedom degree magnetic levitation motor according to claim 7, it is characterized in that, also be fixed with permanent magnet (35) between secondary every adjacent two secondary permanent magnets (34) of linear electric motors unit, the magnetic line of force direction of the secondary permanent magnet (34) that the magnetic line of force of this permanent magnet (35) is adjacent is identical.
9. multiple freedom degree magnetic levitation motor according to claim 7 is characterized in that, secondary upper embedded permanent magnet arrangement or the Halbach arrangement of linear electric motors unit.
10. according to claim 1,3 or 7 described multiple freedom degree magnetic levitation motors, it is characterized in that described permanent magnet is the sectionally smooth join structure.
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| CN 201110074179 CN102237834B (en) | 2011-03-25 | 2011-03-25 | MDOF (multiple-degree-of-freedom) magnetic suspension motor |
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| CN 201110074179 CN102237834B (en) | 2011-03-25 | 2011-03-25 | MDOF (multiple-degree-of-freedom) magnetic suspension motor |
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| CN102237834B true CN102237834B (en) | 2013-10-23 |
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| CN102237834A (en) | 2011-11-09 |
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