CN102355108B - High-quality three-phase alternating current permanent magnet servo synchronous motor - Google Patents
High-quality three-phase alternating current permanent magnet servo synchronous motor Download PDFInfo
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- CN102355108B CN102355108B CN 201110287480 CN201110287480A CN102355108B CN 102355108 B CN102355108 B CN 102355108B CN 201110287480 CN201110287480 CN 201110287480 CN 201110287480 A CN201110287480 A CN 201110287480A CN 102355108 B CN102355108 B CN 102355108B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 22
- 238000004804 winding Methods 0.000 claims abstract description 55
- 229910001172 neodymium magnet Inorganic materials 0.000 claims abstract description 4
- 238000004080 punching Methods 0.000 claims description 33
- 238000009423 ventilation Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 4
- 239000011295 pitch Substances 0.000 abstract 2
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 5
- 239000012141 concentrate Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004907 flux Effects 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- FMWLUWPQPKEARP-UHFFFAOYSA-N bromodichloromethane Chemical compound ClC(Cl)Br FMWLUWPQPKEARP-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 229910052761 rare earth metal Inorganic materials 0.000 description 1
- 150000002910 rare earth metals Chemical class 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- Permanent Field Magnets Of Synchronous Machinery (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
Abstract
The invention relates to a high-quality three-phase alternating current permanent magnet servo synchronous motor, which comprises a stator and a rotor, wherein a stator core of the motor has 12 slots, the stator core is inclined for 7/32 pitches, the pole number is 10, and the phase number is 3; and a stator core three-phase winding is a fractional slot concentrated winding, the pitch of winding coils is 1, the number of turns of each coil is equal, and the difference of the three-phase winding is 120-degree electrical angles. The three-phase winding has 6 lead-out wires and provides two wiring methods. A rotor permanent magnet structure is in a built-in type, N and S poles of neodymium iron boron permanent magnets are alternately embedded into a ladder-shaped groove stacked into a rotor core by a rotor stamping piece, the rotor core is axially divided into two sections equally, and the central line of two sections of magnets with the same polarity is axially deflected for 4mm; and the excircle and the axle hole of a pole shoe of the rotor core are not concentric, ununiform air gaps are formed between the pole shoe of each pole and the inner circle of the stator core, and a plurality of measures are adopted to greatly improve the sine property of a phase voltage waveform of the motor and motor quality. The invention is suitable for the three-phase alternating current permanentmagnet servo synchronous motor.
Description
Technical field
The present invention relates to the servo synchronous motor of a kind of high-quality Thee-phase alternating current permanent-magnetic, belong to the servomotor technical field.
Background technology
At present, in AC servo drive system, the AC servomotor of widespread usage has two big classes.One class is brushless DC motor, is called for short BDCM; Another kind of is three-phase permanent-magnetic synchronous motors, is called for short PMSM.For the servo system of high accuracy control, PMSM has more advantage, is emphasis and the focus of development.Owing to PMSM input three-phase symmetrical sine electric current, just require every phase induced electromotive force of PMSM also should be sine wave simultaneously.Generally speaking, the air-gap field that permanent magnet produces is not Sine distribution, and will realize every phase induced electromotive force for sinusoidal wave, and this has just proposed requirements at the higher level to the armature winding design of such motor; In addition, since the existence of permanent magnet, the stator core fluting, and how the cogging torque that causes thus reduces also is a major issue; Moreover the output when how to improve low speed and high speed and governor control characteristics all are the problems that actual needs solves.Therefore, the every phase back electromotive force of armature winding that exists at the servo synchronous motor of present Thee-phase alternating current permanent-magnetic is not pure sine wave, contains a large amount of harmonic wave compositions; Permanent magnet arranges and the fixing complex process that goes up that the air-gap field sine is poor; Cogging torque is big; Low speed moment is little, defectives such as high velocity overvoltage danger are improved, the servo synchronous motor of high-quality Thee-phase alternating current permanent-magnetic that exploitation is highly sinusoidal, low speed moment is big, cogging torque is little, control is flexible, control precision is high, namely high-quality PMSM motor is very necessary.
Notification number CN2180019 discloses a kind of modified model rare earth AC servo motor, the appearance of this motor rotor punching sheet is dove-tail, and rotor permanent magnet is the arc tile fragment of band dovetail, during assembling, permanent magnet is inserted rotor core, and be bonded and fixed on the rotor.But in this structure, permanent magnet is attached to rotor outer surface, and unprotect is damaged easily, poor reliability; And its air-gap field sine is poor, and discomfort is fit to do the servo synchronous motor of high-quality Thee-phase alternating current permanent-magnetic.
Summary of the invention
The objective of the invention is, the problems according to the servo synchronous motor of existing Thee-phase alternating current permanent-magnetic exists provide a kind of high-quality Thee-phase alternating current permanent-magnetic servo synchronous motor, i.e. high-quality PMSM permanent magnet synchronous motor.
Technical scheme of the present invention is,
(1) stator winding of motor adopts fractional-slot to concentrate the winding design, makes three-phase back emf waveform height sine, and harmonic content is less than 1%; Overcoming the integer groove concentrates winding phase back electromotive force to contain the significant deficiency of a large amount of harmonic waves.
(2) the permanent magnet employing is radially built-in, and the pole shoe shape sineization is so that air-gap field is distributed as sine;
(3) dig groove with three big measures such as increase leakage permeances by stator core skewed slot, permanent magnet biasing, rotor punching cylindrical magnet center line place, significantly reduce cogging torque.
(4) optimize the rotor punching design, improve rotor d axle, q axle magnetic conductance ratio, the salient pole of increase rotor.
(5) adopting the stator winding Δ to connect the method that connects conversion with Υ increases low speed torque, avoids high speed overvoltage danger etc.
The servo synchronous motor of the high-quality Thee-phase alternating current permanent-magnetic of the present invention comprises stator, rotor, described stator core in motor 12 grooves, and oblique 7/32 tooth pitch of stator core, number of poles 10 utmost points, the number of phases is 3 phases; Stator core three phase windings are that fractional-slot is concentrated winding, and the pitch of winding coil is 1, and the number of turn of each coil equates, 120 ° of electrical degrees of three phase winding mutual deviations; A phase winding ax has 8 coils, be a-(4-5)-(4-3)-(2-3)-(2-1)-(9-10)-(9-8)-(7-8)-(7-6)-x, coil is by remaining silent-connection that is in series of opening-remain silent-opening-remain silent-opening-remain silent-opening rule, and a, x draw from the 4th groove, the 6th groove respectively; B phase winding by has 8 coils equally, and winding is with the A phase winding, and b, y draw from the 12nd, 2 grooves respectively; C phase winding cz has 8 coils equally, and winding is with the A phase winding, and c, z draw from the 8th, 10 grooves respectively;
Described three phase windings have 6 lead-out wires, and two kinds of connections are provided, and are respectively Υ connection and Δ connection; During the Υ connection, be used for low speed, during the Δ connection, be used at a high speed;
Described rotor permanent magnet structure is built-in, rotor punching is along uniform 10 dovetail grooves of excircle direction, the alternate embedding of Nd-Fe-B permanent magnet N, S repeatedly is pressed in the dovetail groove of rotor core by rotor punching, form 10 utmost points, it is two sections that rotor core is axially divided equally, and the magnet center bobbin of two sections same polarities is to skew 4 ㎜; Rotor core pole shoe cylindrical and axis hole decentraction, the pole shoe of each utmost point all with stator core in round-formed non-uniform gap, to improve the sine of air-gap field, the outer garden largest diameter m=100mm of rotor core, every extremely eccentric garden radius R=41.5mm, the garden forms non-uniform gap, every utmost point minimal air gap 1mm, maximum air gap 1.5mm in the outer garden of rotor core and the stator core.
The rotor punching cylindrical is from the semicircle orifice of uniform 20 R1.5 of the centerline of a relative dovetail groove; Be provided with the wide magnetic bridge of 3 ㎜ between rotor punching dovetail groove and the dovetail groove, make that the d axle reactance of motor and the reactance of q axle are unequal, i.e. X
q＞X
d, increased weak magnetic scope, enlarged the speed adjustable range of motor; Be provided with 10 uniform ventilation holes on the rotor punching, alleviated rotor inertia, increased the axial wind path of rotor.
By above-mentioned aggregate measures, make the low speed torque of PMSM permanent magnet synchronous motor big, the weak-magnetic speed-regulating wide ranges, cogging torque is little, control is flexible, and air-gap field and counter potential waveform sine are good, the control precision height, be the servo synchronous motor of a kind of high-quality Thee-phase alternating current permanent-magnetic, i.e. high-quality PMSM permanent magnet synchronous motor.
The present invention's beneficial effect compared with the prior art is, stator winding of the present invention is that a kind of fractional-slot is concentrated winding, its phase induced electromotive force waveform height sine, harmonic content is less than 1%, and the concentrated winding phase induced electromotive force waveform harmonics content of the fractional-slot that general every extremely every phase groove is q=1/2 is 24.5%, reduces harmonic wave 95.9% relatively; During motor low speed of the present invention, stator winding Υ connects, and has improved the low speed torque output of motor; During motor high speed of the present invention, the stator winding Δ connects, the speed adjustable range when having improved the motor high speed; Oblique 7/32 tooth pitch of motor stator core of the present invention, rotor core built-in magnet pole disalignment, the pole center line has measures such as half-arc groove on the rotor core, the motor slot ripples is greatly eliminated, alveolar torque weakens greatly, the big raising of servo sensitivity, and the precision of control is big improve also; Simultaneously, rotor interior magnet of the present invention is safe and reliable, and technology is simple, implements easily the raising of air-gap flux sine, and X
q＞X
d, the salient pole raising of motor, weak magnetic scope is big, and speed adjustable range is wide.
The present invention is applicable to the servo synchronous motor of Thee-phase alternating current permanent-magnetic.
Description of drawings
Fig. 1 is that three-phase fractional-slot of the present invention concentrates winding to arrange schematic diagram (only drawing A phase winding deployed condition among the figure);
Fig. 2 is stator winding Υ connection schematic diagram of the present invention;
Fig. 3 is stator winding Δ connection schematic diagram of the present invention;
Fig. 4 is that rotor punching of the present invention and radial permanent magnet body are arranged schematic diagram;
Fig. 5 is the rotor punching partial enlarged drawing;
Fig. 6 is two sections permanent magnet pole center lines of rotor of the present invention and journal offset schematic diagram;
Figure number is represented among Fig. 4: the 1st, and rotor punching; The 2nd, half slot; The 3rd, permanent magnet; The 4th, dovetail groove; The 5th, ventilation hole; The 6th, punching endoporus (shaft hole); The 7th, virtual off-centre operation; The 8th, the magnetic bridge width; The 9th, keyway; The 10th, keyway; N is permanent magnet polarity (arctic); S is permanent magnet polarity (South Pole).
Embodiment
The specific embodiment of the present invention such as Fig. 1-shown in Figure 6.
The embodiment of the invention is that 12 grooves, number of poles are the threephase motor of 10 utmost points for the motor stator slot number, and its A phase winding layout plan as shown in Figure 1.A phase ax winding has 8 coils, the equal turn numbers of each coil, and the pitch of each coil is 1, is that fractional-slot is concentrated winding, a, x draw from the 4th, 6 grooves respectively; B phase by winding, C phase cz winding component law is fully the same with A phase ax winding, A, B, 120 ° of electrical degrees of C three-phase mutual deviation, b, y draw from the 12nd, 2 grooves respectively, and c, z draw from the 8th, 10 grooves respectively; Threephase motor is drawn 6 joints, i.e. a, b, c, x, y, z.
During low speed, threephase motor is star connection, as shown in Figure 2; During high speed, threephase motor is delta connection, as shown in Figure 3.
This winding phase back electromotive force winding coefficient is pressed
Calculate, ν is harmonic number.
Oblique 7/32 tooth pitch of the stator core of the embodiment of the invention, through COMPREHENSIVE CALCULATING, this winding phase back electromotive force harmonic content is less than 1%.Be that 1 concentrated winding is compared with the fractional-slot pitch of 12 grooves of certain imported product, 8 utmost points, 3 phases, q=1/2, its phase back electromotive force harmonic content is up to 24.5%, the embodiment of the invention has reduced by 95.92% than the phase back electromotive force harmonic content of import motor, only account for 4% of former harmonic wave, as seen, the opposite potential waveform of the embodiment of the invention is sine waveform highly.
The stator winding of embodiment of the invention Υ when low speed connects, thereby low speed torque is increased; Δ connects when high speed, and the high speed overvoltage reduces, safety thereby make, and also makes the high-speed cruising expanded range.
Because stator core has only 12 grooves, by a general oblique tooth pitch, be difficult on the technology realize, and in fact also inadvisable; Therefore, the embodiment of the invention is by oblique 7/32 tooth pitch of stator core, and the skewed slot degree is little, and process implementing is easy, can reach the purpose that a general oblique tooth pitch is eliminated slot ripples, simultaneously, has also reduced cogging torque effectively.
The rotor punching of the embodiment of the invention and radial permanent magnet body are arranged as shown in Figure 4.
The punching material is the 0.35DW310 silicon steel sheet.Go up uniform 10 dovetail grooves (4) at rotor punching (1), after punching repeatedly is pressed into rotor core, built-in embedding Nd-Fe-B permanent magnet (3) radially in this dovetail groove, 10 permanent-magnet poles of the alternate formation of N, S.
Center line at the relative dovetail groove of rotor punching cylindrical begins, and digs the half slot (2) of 20 uniform R1.5 along circumference, and these grooves can obviously reduce cogging torque;
The magnetic bridge (8) that wide 3 ㎜ are arranged between dovetail groove and dovetail groove makes the d axle of rotor magnetic circuit and the magnetic conductance ratio of q axle strengthen, and makes X
q＞X
d, be convenient to weak magnetic control system, improve salient pole;
On rotor punching, also be provided with uniform 10 Φ 7 ventilation holes (5), so that motor shaft when ventilation hole is arranged, can reduce temperature rise, avoid rotor overheated, influence the permanent magnet demagnetization; Simultaneously, because ventilation hole also reduced the moment of inertia of rotor, and when dynamic balance checking, can utilize its part hole, add solid gum in its hole, the usefulness as the fabrication hole of hamming reduces vibration, noise;
On rotor punching endoporus (6), be provided with keyway (9) and (10) of 2 identical shaped sizes, keyway center line mutual deviation 4 ㎜;
The circular arc of each magnetic pole pole shoe of rotor punching cylindrical and punching endoporus (6) decentraction, its virtual off-centre operation is (7), making every utmost point air gap minimum is 1 ㎜, is 1.5 ㎜ to the maximum.Fig. 5 is the rotor punching partial enlarged drawing, the maximum cylindrical Ф of magnetic pole circular arc R and punching
mCertain off-centre is arranged, work as Ф
m=100 ㎜, empty is 17 ㎜ like off-centre operation (7) diameter, R=41.5 ㎜, when every utmost point minimal air gap was 1 ㎜, then maximum air gap was 1.5 ㎜.
Fig. 6 is two sections permanent magnet pole central axis of embodiment of the invention rotor deviation post schematic diagram.As seen from the figure, the rotor core length overall is L, and iron core divides 2 sections, and every segment length is L/2, and iron core is repeatedly adorned together; The relevant position has keyway in the rotating shaft, wherein is embedded with a long key, first section rotor core is pressed keyway (9) cover be pressed on the key of rotating shaft, and second section rotor core pressed keyway (10) cover and be pressed on the key of rotating shaft.The long permanent magnet of all built-in L/2 in every iron leg core, in every section rotor core of the alternate embedding of N, S, after this two-stage rotor iron core sleeve is pressed in the rotating shaft, two sections magnet center line mutual deviation 4 ㎜ of same polarity, also be that permanent magnet (3) is by two sections same polarity biasings, this processing has significantly reduced cogging torque, has also weakened the slot ripples in the phase induced potential simultaneously.
In addition, because rotor punching is decentraction with respect to the axis hole of each permanent magnet central axis pole shoe cylindrical circular arc and rotor punching, with round-formed non-uniform gap in the stator core, make the raising of air-gap flux waveform sine, the corresponding harmonic wave that reduces excitation field has played the effect that vibration noise was exported, raised the efficiency, reduces in the torque that improves motor.
Claims (5)
1. the servo synchronous motor of high-quality Thee-phase alternating current permanent-magnetic comprises stator, rotor, it is characterized in that, described stator core in motor 12 grooves, and oblique 7/32 tooth pitch of stator core, number of poles 10 utmost points, the number of phases is 3 phases; Stator core three phase windings are that fractional-slot is concentrated winding, and the pitch of winding coil is 1, and the number of turn of each coil equates, 120 ° of electrical degrees of three phase winding mutual deviations; A phase winding ax has 8 coils, be a-(4-5)-(4-3)-(2-3)-(2-1)-(9-10)-(9-8)-(7-8)-(7-6)-x, coil is by remaining silent-connection that is in series of opening-remain silent-opening-remain silent-opening-remain silent-opening rule, and a, x draw from the 4th groove, the 6th groove respectively; B phase winding by has 8 coils equally, and winding is with the A phase winding, and b, y draw from the 12nd, 2 grooves respectively; C phase winding cz has 8 coils equally, and winding is with the A phase winding, and c, z draw from the 8th, 10 grooves respectively;
Described three phase windings have 6 lead-out wires, and two kinds of connections are provided, and are respectively Y connection and Δ connection; During the Y connection, be used for low speed, during the Δ connection, be used at a high speed;
Described rotor permanent magnet structure is built-in, rotor punching is along uniform 10 dovetail grooves of excircle direction, the alternate embedding of Nd-Fe-B permanent magnet N, S repeatedly is pressed in the dovetail groove of rotor core by rotor punching, form 10 utmost points, it is two sections that rotor core is axially divided equally, and the magnet center bobbin of two sections same polarities is to skew 4 ㎜; Rotor core pole shoe cylindrical and axis hole decentraction, the pole shoe of each utmost point all with stator core in round-formed non-uniform gap, to improve the sine of air-gap field, the relative dovetail groove centerline of rotor punching cylindrical is all towards semicircle orifice is arranged; Be provided with magnetic bridge between rotor punching dovetail groove and the dovetail groove, make that the d axle reactance of motor and the reactance of q axle are unequal, i.e. X
q＞X
d, increased weak magnetic scope, enlarged the speed adjustable range of motor; Be provided with 10 uniform ventilation holes on the rotor punching.
2. the servo synchronous motor of a kind of high-quality Thee-phase alternating current permanent-magnetic according to claim 1 is characterized in that described rotor punching cylindrical is from the semicircle orifice of uniform 20 R1.5 of the centerline of a relative dovetail groove.
3. the servo synchronous motor of a kind of high-quality Thee-phase alternating current permanent-magnetic according to claim 1 is characterized in that the magnetic bridge width that arranges between described rotor punching dovetail groove and the dovetail groove is 3 ㎜.
4. the servo synchronous motor of a kind of high-quality Thee-phase alternating current permanent-magnetic according to claim 1 is characterized in that, 10 uniform ventilation hole apertures that arrange on the described rotor punching are 7 ㎜.
5. the servo synchronous motor of a kind of high-quality Thee-phase alternating current permanent-magnetic according to claim 1, it is characterized in that, described rotor core cylindrical largest diameter m=100mm, every utmost point off-centre operation radius R=41.5mm, round-formed non-uniform gap in rotor core cylindrical and the stator core, every utmost point minimal air gap 1mm, maximum air gap 1.5mm.
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| CN 201110287480 CN102355108B (en) | 2011-09-26 | 2011-09-26 | High-quality three-phase alternating current permanent magnet servo synchronous motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110287480 CN102355108B (en) | 2011-09-26 | 2011-09-26 | High-quality three-phase alternating current permanent magnet servo synchronous motor |
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| CN102355108B true CN102355108B (en) | 2013-09-18 |
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| CN103855827A (en) * | 2014-03-06 | 2014-06-11 | 南通大任永磁电机制造有限公司 | Sinusoidal distribution type alternating current servo motor rotor |
| CN104135136A (en) * | 2014-07-30 | 2014-11-05 | 镇江市江南矿山机电设备有限公司 | Winding type permanent-magnet slip clutch and application thereof |
| WO2019000830A1 (en) * | 2017-06-30 | 2019-01-03 | 广东美芝制冷设备有限公司 | Permanent magnet motor for compressor and compressor having same |
| CN107154693A (en) * | 2017-06-30 | 2017-09-12 | 广东美芝制冷设备有限公司 | The rotor of compressor, the electric machine assembly of compressor and compressor |
| CN107529682A (en) * | 2017-07-18 | 2018-01-02 | 广州市昊志机电股份有限公司 | A kind of high-speed electric main shaft permagnetic synchronous motor of broad and constant power speed adjustable range |
| CN112737178A (en) * | 2021-01-06 | 2021-04-30 | 杭州微光技术有限公司 | High-speed rotor and high-speed drive and control integrated servo motor with same |
| CN118054593A (en) * | 2022-11-10 | 2024-05-17 | 广东美芝制冷设备有限公司 | Motor, compressor and refrigerator capable of improving demagnetization resistance |
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