CN1024106C - Permanent magnet type synchronous motor - Google Patents
Permanent magnet type synchronous motor Download PDFInfo
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- CN1024106C CN1024106C CN 91101944 CN91101944A CN1024106C CN 1024106 C CN1024106 C CN 1024106C CN 91101944 CN91101944 CN 91101944 CN 91101944 A CN91101944 A CN 91101944A CN 1024106 C CN1024106 C CN 1024106C
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Abstract
A rotor of a permanent magnet type synchronous motor facing a stator having a number of slots comprises a rotor core fixed to a motor shaft and an even number of permanent magnets in a circumferential direction of the rotor core. Projecting portions are formed in the shape of a protruding portion of the rotor core over each permanent magnet. The width of each projecting portion is different from the pitch of the slots of the stator. A position detector for detecting the permanent magnet position of the rotor comprises detectors of the normal rotation (30A,30B,30C) and other detectors of the reverse rotation (30D,30E,30F). These detectors are arranged having predetermined phase differences (alpha, beta) to a center line. A pattern generating circuit is provided for switching the conducting position to the stator winding corresponding to the phase differences.
Description
The present invention relates to permanent magnet type synchro motor, relate in particular to permanent magnet type synchro motor, when engine quickens or slow down, used electric current is reduced, and can obtain low cogging torque with outstanding pole wheel.
The some parts of iron core is outstanding to extend into the traditional permanent magnet type synchro motor that goes in the magnetic pole of permanent magnet of rotor has had disclosedly, and the publication number of announcing as on July 10th, 1987 that is entitled as " the High Power Factor control method of permanent magnet type synchro motor " is 62-155796(1987) Fig. 1 (a), the 1(b of Japan Patent) and 1(c) as shown in and the publication number that is entitled as " rotor of permanent magnet type synchro motor " announced on June 5th, 1987 be that Fig. 1 in the 62-88463 Japanese Utility Model is to shown in Figure 4.The patent of these announcements has been discussed in Current Control 180.When utilizing magnetic resistance (impedance) torque in the electricity PWM control system, the best ratio of rotor d-axis inductance and normal axis inductance.The lead and lag of current phase flows into the size of current that the current sensitive element (detector) of the electric current of motor records according to detection there and controls in this system.
The motor circuit that constitutes like this and be used for industrial sewing machines is shown in Fig. 1.Referring to Fig. 1, numbering 1 expression permanent magnet type synchro motor (following abbreviation motor) among the figure, 2 represent magnetic pole sensers (detector), are used for detecting the position of magnetic pole of motor 1.3 presentation code devices are used for detecting the rotary speed and the direction of motor 1.The 4th, the drive circuit of motor 1, it is usually as the paraphase drive circuit works, and by from speed-position control circuit 5 be rotated in the forward instruction 13 or reverse rotation instruction 14 drives it.6 expression speed of service instruction circuits.7 expressions constitute the sewing machine of load.8 expression needle position sensors (being used on the sewing machine 7), it is used for detecting two positions, i.e. needle than low level and high bit.9 expression signal processing circuits, it decides the rotary speed (revolution of rotation) that is rotated in the forward with reverse rotation according to detected primary signal from encoder 3, and signal is exported to speed-position control circuit 5.10 expression sewing machine control circuits, the various functions of its control sewing machine drive sewing machine 7 according to the signal from sewing machine operational order circuit 11, and instruction circuit 11 is encouraged by operator's sewing command signal.
Deliver to sewing machine operational order circuit 11 when operator's sewing order, when speed of service instruction circuit 6 was delivered in speed of service order, a signal was delivered to speed-position control circuit 5 from sewing machine control circuit 10, so that motor 1 is moved according to speed command.Speed-position control circuit 5 the accelerating time according to operation instruction signal, select one be rotated in the forward mode by drive circuit 4 with voltage instruction level acceleration motor by 120 ° of pulse width control of feeding, enter stable operation then.In the meantime, remain to be selected to add to the stator winding of its electric current, by speed-position control circuit 5 handle-determined that from the signal of magnetic pole senser (detector) 2 a plurality of selecteed transistors are switched on according to the signal of this circuit 5 in the phase inverter, winding current is flow through.
Be fed back to speed-position control circuit 5 and sewing machine control circuit 10 from encoder 3 signals that obtain and that represent the actual speed of motor 1, the speed of service is consistent with this signal and speed command, and this speed command is added to control circuit 5 by the pedal (not shown) from speed of service instruction circuit 6.
When the predetermined sewing steps in the sewing machine finishes, for the operation that makes sewing machine stops, send an instruction from operational order circuit 11, and reverse rotation instruction 14 is added to phase inverter drive circuit 4 to start reverse deceleration (generation opposing torque) from speed-position control circuit 5.The speed of motor 1 lowers as a result.When electromotor velocity has arrived the level that motor can stop, be installed in needle position sensor (detector) 8 in the sewing machine 7 detect be predetermined in the sewing machine 7 stop the pin position, be the higher part of needle of sewing machine 7 or chosen, and plugging power is cut off and is made the sewing machine stall than lower part (determining) by sewing machine operational order circuit 11.
The machinery requirement of working is by this way carried out a large amount of multiple switching sewing operations with high-frequency.
Be used for the motor starting of sewing machine and stop very frequently, motor starts at every turn and stops all to have big electric current to flow through.Industrial sewing machines and factory automation robot all need the starting of high-frequency ground and stop.Because in this class sewing machine, when motor such as Fig. 2 are accelerated or slow down, need big torque and feed current, therefore motor 1, drive circuit 4 and other structural detail are quite remarkable in the rising of their run duration temperature, so that these elements need big capacity to avoid the temperature rise of these elements.
The patent of previous announcement above-mentioned does not have the permanent magnet type synchro motor that has 120 ° of electronic pulse width modulated (PWM) voltage control system is discussed, and current phase is not carried out lead and lag control in this motor yet.Simultaneously, these patents do not have to discuss the control method of carrying out the motor that quickens and slow down with high-frequency ground, promptly execution are rotated in the forward control method with the very frequent motor of reverse rotation.
Fig. 3 shows a torque characteristics that has the rotatable phase of permanent magnet type synchro motor outstanding iron core and that have 120 ° of electronic pulse width modulated voltage control systems between the magnetic pole of the permanent magnet of rotor.In Fig. 3, solid line is illustrated in the magnetic pole of permanent magnet of rotor the torque characteristics of traditional permanent magnet type synchro motor of outstanding iron core, and dotted line is illustrated in the torque characteristics that the permanent magnet type synchro motor of the present invention of outstanding iron core (outstanding magnetic pole) is arranged in the middle of the permanent magnet poles.Consult Fig. 3, have the permanent magnet type synchro motor of the present invention of outstanding magnetic pole and compare with traditional permanent magnet type synchro motor of not giving prominence to magnetic pole, the torque that is produced under same impressed current is much bigger.In being rotated in the forward scope or at motor, become the on-position of just changeing in the scope and compare with conventional motors from counter-rotating, the torque of motor (
Torque) has been delayed α °, shown in the big torque generating unit of from (30 °+α °) to (30 °+α °)+(30 °) among Fig. 3 is divided.In the reverse rotation scope or the motor torque of motor from the braking situation that is rotated in the forward scope and becomes the reverse rotation scope (
Torque) with the conventional motors torque ratio, leading one phase angle β °, take place partly as another big torque of from { (180 °)-(30 °-β °)-(30 °) } to { (180 °-(30 °-β °) } among Fig. 3 as shown in.As mentioned above, the defective of traditional permanent magnet type synchro motor that does not have outstanding magnetic pole is that it can not obtain big torque.Yet disclosed patent above-mentioned is not discussed in this.
In the synchronous motor that is disclosed in the patent of above-mentioned prior art, the temperature rise of structure member and the problem that can not the withstand current capacity increases were not discussed, when engine quickened with high-frequency and slows down, these all can become problem.
The rotor structure of the permanent magnet type synchro motor that the present invention adopts is narrated referring now to Fig. 4.Consult accompanying drawing, the whole rotor of numbering 101 expressions among the figure, 102 expressions are installed in the permanent magnet on the rotor core excircle part, and the stator winding (not shown) electric current detection magnet of commutation phase is determined in 104 expressions, it is installed on the axle 105.Can be clear that the cutaway view from shown in Figure 5 along Fig. 4 A-A line that permanent magnet 102 is divided into 4 equal pieces, they are adhered on the external peripheral surface of rotor core 103 by adhesive.Permanent magnet 102 also can be fixed on the external peripheral surface of rotor core 103 with the cylindrical stainless steel component of a little thickness.
If adhesive and cylindrical stainless steel component both use, then permanent magnet can be installed on the rotor core more firmly.
Consult Fig. 4, prior art detects magnet 104 and is become by metal magnetization group of objects, and they are arranged with angle identical with permanent magnet and identical polarity and they are facing to the side surface of permanent magnet 102.If it is stator coil adopts three-phase, then essential with three magnetic pole detecting elements (detector) 30, as shown in Figure 6 on magnetic pole senser (detector) 2.
The formation of conventional electric machine rotor as shown in Figure 4.
According to the structure of Fig. 4 rotor, because reaction can not increase the reactance torque.Before mentioned having disclosed in the disclosed patent and can solve the synchronous motor that increases the torque problem.Yet,, do not consider for example how to reduce the problem of cogging torque aspect even in these synchronous motors yet.
First purpose of the present invention provides a kind of permanent magnet type synchro motor, and it can increase magnetic resistance (impedance) torque, and reduces the cogging torque of motor.
Second purpose of the present invention provide a kind of permanent magnet type synchro motor, it can motor be rotated in the forward and reverse rotation two aspect the reluctance torque that improved greatly of utilization.
The 3rd purpose of the present invention provides a kind of permanent magnet type synchro motor, and it can provide simple magnet fixation structure.
Increase reluctance torque above-mentioned and first purpose that reduces cogging torque can obtain by a kind of like this permanent magnet type synchro motor, this motor has stator that comprises a plurality of lines of rabbet joint relative with stator with one and near placing and revolvable rotor, this rotor contains the rotor core and the one group of even number permanent magnet that is installed on the rotor core circumferential section that are fixedly mounted on the motor reel, it is characterized in that rotor core has ledge to give prominence between permanent magnet, the width of each ledge is provided with differently with line of rabbet joint spacing in the stator.
Second purpose of reluctance torque of utilizing above-mentioned obtains by a kind of like this permanent magnet type synchro motor, it has stator that comprises a plurality of lines of rabbet joint relative with stator with one and near placing and revolvable rotor, this rotor contains the rotor core and the one group of even number permanent magnet that is installed on the rotor core circumferential section that are fixedly mounted on the motor reel, this stator has the detector of permanent magnet position on definite rotor, it is characterized in that this position detector comprises two groups of position detectors, be motor be rotated in the forward position detector and motor reverse rotation position detector, two groups of position detectors have predetermined phase difference, and this will be explained below.Because two groups of position detectors comprise be rotated in the forward and the reverse rotation detector, corresponding two groups of position detection signals are among Fig. 3 of explaining of front
Torque or
Dtc signal, must in pattern generating circuit, handle, so that in pattern generating circuit they divide into when being rotated in the forward be rotated in the forward signal and reverse rotation the time the reverse rotation signal, (reverse side will to making explanations), going to make drive circuit to work in exactly respectively with these signals is rotated in the forward and reverse rotation, use the outstanding magnetic pole shown in Fig. 7, produce as shown in Figure 3 than the much bigger torque of conventional motors among Fig. 5 and phase shift.
The 3rd purpose that simple magnet fixation structure is provided is to obtain by such permanent magnet type synchro motor: it has stator that comprises a plurality of lines of rabbet joint relative with stator with one and near placement revolvable rotor also, this rotor contains the rotor core and the one group of even number permanent magnet that is installed on the rotor core circumferential section that are fixedly mounted on the motor shaft, it is characterized in that rotor core has ledge to give prominence between permanent magnet, the member of fixed permanent magnet is located on the free end of ledge.
In these motor, because ledge has the magnetic concentration effect, reluctance torque is especially big when starting, and cogging torque descends.
Make the position probing group that one phase difference with respect to forward and reverse rotation be arranged because can adorn two groups of position detectors in each motor of such motor, the characteristic of motor can improve.
The phase difference of explaining above is directly proportional with the current of commutation.Running forward or backwards can realize effectively by such process: detect phase difference earlier, the electric current of conversion stator then, with one corresponding to the rotary pole detection signal and the signal input driving circuit of operational order forward or backwards.
The magnet fixture, promptly the parts of ledge can be pushed down magnet from the outside.Therefore, there is no need to use other magnet fixture, thereby make the designs simplification of motor.
Fig. 1 has exemplified the block diagram of the control method of a permanent magnet type synchro motor that is used to explain prior art;
Fig. 2 is the figure of the running status of the permanent magnet type synchro motor of prior art in the key-drawing 1;
Fig. 3 is permanent magnet type synchro motor and the anglec of rotation of one embodiment of the present of invention and the relation curve between the torque of prior art;
Fig. 4 shows the position relation between rotor and magnetic pole senser (detector);
Fig. 5 is the cutaway view along A-A line among Fig. 4;
Fig. 6 is the view of traditional magnetic pole senser (detector);
Fig. 7 is the view of the rotor in the one embodiment of the invention;
Fig. 8 has shown electric current in the embodiment of the invention and relation between the electromotor velocity;
Fig. 9 has the motor of the present invention of outstanding magnetic pole and does not have characteristic comparison diagram between the prior art of outstanding magnetic pole;
Figure 10 shows the state that cogging torque occurs;
Figure 11 shows the curve of the relation between outstanding magnet pole widths and cogging torque;
Figure 12 shows the front view that is installed in the magnet fixture on the ledge;
Figure 13 is another structure chart that also has the rotor of magnet fixture;
Figure 14 shows the figure that detects relation between magnet and the magnetic pole senser (detector);
Figure 15 is the connection layout of traditional position detector;
Figure 16 is the connection layout that is applied to position detector of the present invention;
Figure 17 is the embodiment that the embodiment among Figure 14 is changed to some extent;
Figure 18 is an embodiment of magnetic pole senser (detector), is equipped with to be rotated in the forward and reverse rotation senser (detector) in magnetic pole senser (detector);
Figure 19 is the embodiment that the embodiment among Figure 18 is changed to some extent;
Figure 20 is the graph of relation that shows between torque constant and feed-in electric current;
Figure 21 has shown an application block diagram of the present invention;
Below in conjunction with Fig. 7 the rotor structure that can obtain high torque (HT) and Low gullet torque of the present invention is described.
Rotor in Fig. 7 and the difference between the conventional rotors among Fig. 5 are the ledge 103A that is made of projecting part, or or rather, and 4 parts of the outer circumferential area of the rotor of being made up of high permeability materials 103 insert between the permanent magnet 102.It is flat that the outer surface of the external peripheral surface of ledge 103A and permanent magnet 102 is got (together).
Because being usefulness and rotor core 103 same silicon steel materials, the 103A of ledge builds up, so the permeability here is than the height of permanent magnet 102.
Therefore, during using the high current intensity electric current, promptly engine during starts and add during the braking of reverse rotation torque, torque constant can be improved significantly.Fig. 8 has shown the relation between electromotor velocity and the electric current.Fig. 9 is the characteristic comparison diagram, it has shown the relation between torque and the electric current, solid line 16 is represented the above-mentioned relation of conventional motors, dotted line 17 is represented the above-mentioned relation of motor of the present invention, it has also shown the relation between torque and the revolutions per minute, solid line 18 has been represented this relation of conventional motors, and dotted line 19 has been represented this relation of motor of the present invention.
Several times of current strength when the current strength in starting and when braking reaches the constant speed rotation usually in motor, this situation is well-known.
If starting and brake torque characteristic when having big electric current to flow through can be improved, then efficient just can be improved, and the influence of heat can reduce to minimum.
The ledge 103A of the present invention that is presented among Fig. 7 has the magnetic force concentration effect, so the magnetic flux between ledge 103A and stator is bigger when big electric current adds.Therefore the present invention has a kind of like this effect, and the big more above-mentioned effect of the electric current that promptly passes through is stronger.Among Fig. 9, torque represents that with the horizontal direction axle electric current and revolutions per minute are represented with vertical axis.Clearly show among the figure that the present invention is more superior than above-mentioned conventional motors.The present invention can improve to a great extent big electric current by the time torque characteristics that presents.Narrate the structure that reduces cogging torque below.
The amplitude of the whole cogging torque in this motor is proportional to magnetic flux density.The ratio of therefore outstanding magnetic pole, promptly the angle of ledge 103A reduces greatly with A/C change among Fig. 7 for the ratio of the total angle of permanent magnet 102 and ledge 103A.
The number of poles that number depends primarily on rotor and stator appears in the cogging torque that magnet whenever circles.Yet in view of the number of the utmost point is identical with a phase winding around a plurality of outstanding utmost points, the appearance number of cogging torque finally is tending towards and the outstanding corresponding degree of number of magnetic poles of stator.
For example, when rotor magnetic pole number and the staggered line of rabbet joint number of stator winding were respectively 4 and 6, then cogging torque was irised out existing 4 * 6=24 time at magnet revolution one.Be that once (as shown in figure 10) appears in the moving 15 degree cogging torques of rotor revolution, this 15 degree is by the quotient of a circle (360 °) divided by 24 gained.Consult Fig. 7, numbering 106 expression stator cores among the figure, 107 is the line of rabbet joint.Letter b is represented the distance (angle) between the two adjacent lines of rabbet joint, i.e. line of rabbet joint spacing.Cogging torque by the line of rabbet joint and permanent magnet in conjunction with generation.In the B zone that Fig. 7 shows, the variation of cogging torque as shown in Figure 10.
Therefore, if change in magnetic flux density reduces on the line of rabbet joint 107, then cogging torque lowers.
The problem that reduces change in magnetic flux density can be solved by the angle that different line of rabbet joint spacing B and ledge 103A are set.
Relation between the angle A of line of rabbet joint spacing B and ledge can be expressed as inequality
B≠nA……（1）
N is not less than 1 integer here.
Inventors of the present invention have done experiment and have measured the situation of change of cogging torque with ratio B/A, have drawn cogging torque among Figure 11 and the relation property of ratio B/A.The vertical axis of Figure 11 is represented the amplitude of cogging torque, and base value 1.0 is the amplitudes that do not have the cogging torque that takes place in the rotor of ledge among Fig. 5, and this scale is to determine in predetermined ratio according to base value.Figure 11 transverse axis is represented the ratio of line of rabbet joint spacing B and angle A, i.e. B/A.
The result of test is very clear, when line of rabbet joint spacing B is the integral multiple of ledge 103A width, big cogging torque can take place.When B/A was 0.5,1.5 and 2.5, cogging torque descended greatly.
A＝（n+0.5）B……（2）
N is an integer here.
Promptly only can not reduce cogging torque by the position arrangement of ledge 103A in permanent magnet 102.Unless the ledge 103A and the line of rabbet joint are arranged like this, promptly the width of each ledge and line of rabbet joint spacing B have predetermined relation, are futile otherwise reduce cogging torque.Inventors of the present invention mention relational expression (2) by above satisfying, and make cogging torque in the embodiment of the invention ease down to the 1/3-1/5 of the cogging torque of conventional motors.
Conventional motors specific energy high-speed cruising or with the rotating speeds rotation of tens thousand of times of per minute mutually in the synchronous motor of permanent-magnet type of the present invention and this field, and electronic function of the present invention is widely used.If the adhesion and the weld strength of permanent magnet 102 and rotor are low, permanent magnet can fly away from and produces serious accident during motor rotation.We (inventors) have discussed all aspects, have proposed a simple structure to improve the bonding strength of permanent magnet 102 and rotor 103.This example of structure is presented in Figure 12 and 13.In the example of Figure 12, magnet fixture 103B and ledge 103A form an integral body, stretch at the circumferencial direction of ledge along 103A.These magnet fixtures 103B is from the circumferential periphery of both sides fixed magnet 102.Distance between rotor core 103 and the magnet fixture 103B, promptly the radial dimension of magnet standing part is a bit larger tham the size of permanent magnet 102, so that magnet more easily is fixed on the rotor.After magnet and rotor core are fixing, in the gap that the insert of forming with plastics, hard rubber or elastomeric material 108 inserts between permanent magnets 102 and the magnet fixture 103B, so far, just finish the assembling of rotor 101.
When inserting insert, traditional adhesive bonding method and traditional cylindrical fixture also can use and can not cause any trouble.
Figure 13 shown a kind of without insert 108 in Figure 12 example with permanent magnet 102 and rotor core 103 structure combining.Consult Figure 13, numbering 103C represents the integrant pawl with magnet fixture 103B among the figure.The distance of the terminal room of rotor core central part and pawl 103C is shorter slightly than the distance between the excircle counterpart of rotor core central part and corresponding permanent magnet 102.Utilize rotor change the flexibility of core 103 and elasticity with permanent magnet 102 it axially on be pressed in the rotor core 103 so that finish the assembling of rotor.
According to this configuration, the part number does not increase, and number of manufacture steps descends, designs simplification.
In Figure 12 and 13 two kinds of structures, the size of outstanding pole parts 103A is provided with to such an extent that cogging torque is reduced.In these two examples, the size A of outstanding pole parts 103A is provided with to such an extent that equal the width of magnet fixture 103B.
According to structure of the present invention, particularly the starting torque improvement is very big, and cogging torque obtains reducing.And the installation of permanent magnet is fairly simple, and according to the method described above the assembling permanent magnet and the bonding strength of rotor reach very high level.
Permanent magnet type motor with said structure rotor can be divided into mechanical brushed motor and not have the so-called brushless motor of this brush.
Brushless motor makes the motor rotation by adding electric current in motor, and the magnetic pole winding is shifted selectively according to the position of rotor.Therefore this motor must have a detector to measure the position of rotor.
Position detector contains the magnetic detection element, and this element detects the permanent magnet on the rotor 101 102.There is various element can be used as the magnetic detection element, commonly used just like magneto-resistive effect element and hall integrated package (HallIC) etc.
Figure 14 has shown that the present invention is by the hall integrated package (arrangement of the magnetic detecting element of HallIC ' S) form.Consult accompanying drawing, one group is the position sensor (detector) that rotor is rotated in the forward by hall integrated package 30A, the 30B, the 30C that are decorated with hatched 30 ° of arrangements above 3, and does not have hatched hall integrated package 30D, 30E, the 30F position sensor (detector) as the reverse rotation of rotor.Be rotated in the forward leading center line α ° of position sensor (detector) group, and reverse rotation position sensor (detector) is organized β ° of hysteresis center line.Promptly be rotated in the forward position sensor (detector) group and reverse rotation position sensor (detector) and organize interlaced α, β degree.When particularly the signal of one group of position detector in the brushless electric machine makes rotor forward and reverse rotation as the converted magnetic pole winding from permanent magnet type motor, the various performances of motor can dissimilate during rotor is rotated in the forward and during the reverse rotation as electric current-torque characteristics, and the explanation this point by relevant Fig. 3 is very tangible.Therefore, the load device of doing forward and reverse rotation when needs is when only having the motor driven of one group of position sensor (detector), and the speed during the speed during rotor is rotated in the forward and the reverse rotation can be not consistent, thereby other trouble can take place.Can address these problems with the top position sensor of discussing (detector) as shown in figure 14.According to these position sensors (detector), when rotor is rotated in the forward, not only be rotated in the forward position sensing (detection), and also having reverse rotation position sensing (detector), these reverse rotation position sensors (detector) are arranged with interlace mode with respect to being rotated in the forward position sensor (detector).This interlace value is the angle alpha+beta, certainly through selecting suitably configuration to make motor be rotated in the forward characteristic and the reverse rotation characteristic is consistent with each other.Therefore, the improvement of representing in Fig. 7 when the device among Figure 21 motor when driving owing to used magnetic pole detector or the rotational position detector 202 among Figure 14, increased the torque that produces by reluctance torque greatly and reduced cogging torque.
Usually, hall integrated package has three end structures as shown in figure 15.Consult accompanying drawing, alphabetical Va represents dc power supply terminal among the figure, and GND represents earth terminal, and the variation of the internal resistance that causes owing to externally-applied magnetic field is exported from output OUT.
Single Hall element has three above-mentioned terminals usually, therefore when six hall integrated packages are housed as Figure 14, just need totally 18 ends, so that circuit becomes complicated.The circuit that addresses this problem is presented among Figure 16.Can clearly be seen that from this figure terminal number (radical of line) is owing to using a dc power supply terminal Vcc and a common ground end GND to reduce to 8.Thereby make circuit reduction.
It is desirable that all hall integrated packages all are made on as shown in figure 17 the monocrepid 40.Promptly when using a common substrate, all (six) hall integrated packages just install by once-through operation.This makes the hall integrated package fitting operation oversimplify, and the intensity of supporting element also is improved, thus the position detector that can obtain having good shock resistance.
Figure 18 and Figure 19 be corresponding Figure 14 and Figure 17 respectively.Figure 18,19 and Figure 14,17 between difference be that the former forms magnetic pole senser (detector) with two groups of senser (detector element) 202-1 and 202-2, and the latter is with one group of senser (detector element), 202 composition magnetic pole sensers (detector).
In the conventional motors that does not have ledge 103A, flow through as solid line among Fig. 9 16 big electric current that is shown with, starting torque 18 is smaller.Be installed between the permanent magnet 102 the present invention if ledge as shown in Figure 7 resembles, starting torque will be because the magnetic concentration effect will obtain significant improvement.
The conducting electric current and the relation between torque constant of stator are as follows.When the conducting electric current increased, torque constant of the present invention was because of there being outstanding magnetic pole 103, shown in dotted line among Figure 20 21 also with big increase.On the contrary, in the permanent magnet type synchro motor of traditional not outstanding magnetic pole, when the conducting electric current of stator increased, torque constant diminished shown in solid line among Figure 20 20 gradually.Promptly owing to the influence of stator inductance, the induced voltage constant characteristic of traditional permanent magnet type synchro motor will descend along with the increase of conductive current, shown in solid line among Figure 20 20.On the other hand, in of the present invention having under the situation of giving prominence to magnetic pole as shown in Figure 7, when the conducting electric current of stator increased, the magnetization effect of armature reactance increased, so that when the conducting electric current of stator increased as mentioned above, the induced voltage constant also increased.As a result, motor of the present invention increases the induced voltage constant, torque constant is increased, thereby produce big torque, as shown in phantom in Figure 3.In order to effectively utilize the big torque that the present invention obtains, use control circuit as shown in figure 21.
In Figure 21, represent with identical numbering with same section among Fig. 1.The output signal of magnetic pole senser (detector) 2 is input to pattern generating circuit 18.The output signal of rotary encoder 3 is input to quadruplicated frequency circuit 17.Though quadruplicated frequency circuit 17 is used for gathering way-resolution capability of position control circuit 5 and counting circuit 16, and common frequency circuit also can replace it.Counting circuit is used for calculating, for example, when the motor direction of rotation changed reverse rotation into from being rotated in the forward, counting circuit can calculate the position of reverse rotation senser (detector) 30D according to the another location of senser (detector) 30A that is rotated in the forward.Pattern generating circuit 18 is used for the start position of switching motor.Promptly when the motor direction of rotation converts reverse rotation to from being rotated in the forward, control signal of pattern generating circuit 18 output is to drive circuit 4, makes a certainly to start from the 180 °-zone of { (30 °-β °)+30 ° } to { (180 °-(30 °-β °) } as the U in the three-phase.When the motor direction of rotation changes over to when being rotated in the forward from reverse rotation, another control signals of pattern generating circuit 18 output are given drive circuit 4, make a certain zone as the U in the three-phase from { 30 °+α ° } to { (30 °+α °)+30 ° } begin to start.Drive circuit 4 is to drive with the control signal of pattern generating circuit 18 with from the pulse width modulating signal of speed-position control circuit 5.
In order to effectively utilize the high torque (HT) that outstanding structure produced of the rotor that shows by Fig. 7, the conduction position of necessary conversion stator current.The stator current conduction position is decided by pattern generating circuit 18.Because the position of rotation of motor can draw according to the calculated value of rotary encoder 3 and magnetic pole senser (detector) 2, the conduction position of stator current can decide by position of rotation.
According to control system shown in Figure 21, the traditional torque senser (detector) that shows with Fig. 6 when being rotated in the forward is compared and is obtained a hysteresis α ° torque, when reverse rotation by magnetic pole senser of the present invention (detector) is set, compare with traditional torque senser (detector) and to obtain a leading β ° torque, by such mode, the present invention can obtain a big torque.
According to structure of the present invention and control method, allow big electric current flow into stator and utilize the magnetization effect of armature reactance, when forward and reverse rotation, can both obtain big torque constant, thereby obtain characteristic shown in dotted lines in Figure 9.
Because the width of each ledge 103A (angle) is according to the predetermined relationship of the spacing B of the line of rabbet joint and be provided with, so cogging torque can reduce as shown in figure 11 greatly.
Using motor of the present invention can be made up of common rotary-type motor, and the present invention also can be used for linear motor in the same manner.
The above, according to the present invention in order to realize first goal of the invention first invention part, the rotary iron core parts are projected in the middle of the permanent magnet forming ledge on mentioned position, and the width of each ledge is compared with the conventional motors of not giving prominence to magnetic pole and is provided with differently with the line of rabbet joint spacing of stator.Torque when therefore starting increases greatly, and cogging torque descends.
According to the present invention in order to realize second goal of the invention, the second invention part, two groups of position detectors are provided, promptly one group is rotated in the forward position detector and one group of reverse rotation position detector, between two groups of detector set, arrange a phase difference, make motor during being rotated in the forward He during the reverse rotation, good characteristic be arranged all, and the distribution of the characteristic during two reduce greatly.
According to the present invention in order to realize the 3rd invention part of the 3rd goal of the invention, the rotary iron core parts form ledge in described position in the middle of being projected into permanent magnet, and the terminal at these ledges forms the fixed permanent magnet member, so that permanent magnet can be fixed by simple structure.
Claims (5)
1, one permanent magnet type synchro motor comprises that the stator that contains a plurality of lines of rabbet joint is with relative with described stator and near the rotor of placing, so that said rotor can be rotated, said rotor contains rotor core that is fixedly mounted on the motor reel and the even number permanent magnet that is installed on the said rotor core circumferential section, said stator has the detector (30) that detects said epitrochanterian said permanent magnet position, it is characterized in that the position detector (30A that said position detector is rotated in the forward by said motor, 30B, 30C) and the position detector (30D of said motor reverse rotation, 30E, 30F) two groups of compositions, said two groups of position detectors have predetermined phase difference (α, β).
2,, it is characterized in that all concentrated arrangements in a direction of said stator of said two groups of position detectors according to the described permanent magnet type synchro motor of claim 1.
3,, it is characterized in that said two groups of position detectors both spaced apart in an one direction of said stator according to the described permanent magnet type synchro motor of claim 1.
4,, it is characterized in that said two groups of position detectors are installed in the same substrate (40) according to the described permanent magnet type synchro motor of claim 2.
5, a permanent magnet type synchro motor comprises the device (2) of detection rotor (101) position of magnetic pole and according to the drive circuit (4) of control signal drive motor, rotor contains the rotor core (103) that is fixedly mounted on the motor reel (105) and is installed in even number permanent magnet (102) on the rotor core circumferential section
It is characterized in that,
Said rotor core has ledge (103) between said permanent magnet, and described synchronous motor also comprises pattern generation circuit, three kinds of signals of this pattern generation circuit input, be the forward or reverse command signal, detect the output signal and the control signal corresponding to the motor starting position of just changeing the counter-rotating command signal of the device of the magnet positions of motor in forward or reverse.Mode generator is exported a signal and is given the conduction position of drive circuit with the decision motor under the effect of these three kinds of input signals.With by controlling the control circuit (5) of described stator with the corresponding pulse width modulating signal of described position of magnetic pole of described motor, wherein said drive circuit is subjected to the control of each output signal of pattern generating circuit and control circuit.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63114697A JPH0755037B2 (en) | 1988-05-13 | 1988-05-13 | Permanent magnet type synchronous motor |
| JP114697/88 | 1988-05-13 | ||
| CN89103288A CN1017952B (en) | 1988-05-13 | 1989-05-13 | Permanent magnet type synchronous motor |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN89103288A Division CN1017952B (en) | 1988-05-13 | 1989-05-13 | Permanent magnet type synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1055088A CN1055088A (en) | 1991-10-02 |
| CN1024106C true CN1024106C (en) | 1994-03-30 |
Family
ID=25742562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 91101944 Expired - Fee Related CN1024106C (en) | 1988-05-13 | 1989-05-13 | Permanent magnet type synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1024106C (en) |
-
1989
- 1989-05-13 CN CN 91101944 patent/CN1024106C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1055088A (en) | 1991-10-02 |
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