CN102594079B - Linear oscillation motor for direct drive pump based on selfshield characteristic of Halbach array - Google Patents
Linear oscillation motor for direct drive pump based on selfshield characteristic of Halbach array Download PDFInfo
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- CN102594079B CN102594079B CN 201210048532 CN201210048532A CN102594079B CN 102594079 B CN102594079 B CN 102594079B CN 201210048532 CN201210048532 CN 201210048532 CN 201210048532 A CN201210048532 A CN 201210048532A CN 102594079 B CN102594079 B CN 102594079B
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Abstract
The present invention discloses a linear oscillation motor for a direct drive pump based on selfshield characteristic of Halbach array, which comprises the following components: a cylindrical outer stator, an inner rotor, permanent magnets, a supporting shaft, a coil winding, a linear bearing, resonance springs and an end cap. The inner rotor is provided in the outer stator. The inner wall of theouter stator is circumferentially provided with coil winding grooves. The inner rotor can perform oscillation motion in the outer stator. The outer wall of the inner rotor is provided with permanent magnets which are arranged according to a Halbach array arrangement mode. The inner part of the inner rotor is provided with the supporting shaft. Two ends of the supporting shaft are fixed with two ends of the outer stator through end caps. The linear bearing and two resonance springs are sleeved on the supporting shaft. The two resonance springs are provided at two ends of the linear bearing. The resonance springs and the linear bearing are relatively fixed with the inner rotor. After one end of the inner rotor passes through the end cap at the same end, connection with an outer executing mechanism through a spherical hinge joint. The linear oscillation motor has the following advantages: large output force in an axial direction, high utilization rate and compact integral structure.
Description
Technical field
The present invention relates to a kind of linear vibration motor, specifically, is a kind of linear vibration motor based on Halbach array self-shileding characteristic, mainly for directly driving solid-liquid incorporate actuator hydraulic servo pump (directly driving pump).
Background technology
The incorporate actuator of commonly using in the power-by-wire system at present: adopt the electromechanical actuator EMA (Electro-mechanical Actuator) of mechanical drive mode, the electronic quiet liquid actuator EHA (Elector-hydrostatic Actuator) of employing hydraulic transmission mode and integrated electric liquid actuator IAP (Integrated Actuation Package) etc.
Adopt among the machine driving electromechanical actuator EMA and generally include the elements such as motor, decelerator and ball-screw, motor is exported rotatablely moving of high rotating speed, low moment of torsion under the driving of electric energy, behind decelerator, be converted to rotatablely moving of the slow-speed of revolution, little moment of torsion, be converted to finally by ball-screw and drive the rectilinear motion that rudder face needs.Yet the shortcoming such as the volume mass that mechanical driving device has is large, reliability is low is so that EMA can't adapt to the demand of aircraft under existing technical merit.
Adopt among the hydraulicdriven electronic quiet liquid actuator EHA and generally include the main elements such as motor, hydraulic pump and pressurized strut, the hydraulic energy that the motor drives hydraulic pump is controlled with the electric energy converted magnitude, thereby directly drive pressurized strut and obtain to drive the required rectilinear motion of rudder face, thereby have a power density large advantage identical with the conventional hydraulic drive system, adopt again simultaneously volume control to eliminate the hydraulic throttle loss, improved the Hydraulic Power Transmission System energy conversion efficiency.Yet the following problem of whole EHA system's existence:
1, precision problem: the slow-speed of revolution unstable properties of motor, the friction of hydraulic pump and leakage problem are outstanding, and control precision and stability are difficult points;
2, dynamic problem: the inertia of control motor-pump group is large, and the hydraulic pressure rigidity of hydraulic pump is low, needs frequently two-way start-stop control, and EHA system frequency range can't obtain to break through;
3, reliability and life problems: remaining configuration is complicated, and fault-tolerant ability is poor, and reliability is low, and the range of speeds of motor wider (reach as high as 10,000 and turn above) has restricted life-span of hydraulic pump, mainly is with the use that backups abroad at present on the civil aircraft.
Not enough for above-mentioned EHA, propose to adopt at present a kind of concept of direct driving solid-liquid composite integrated actuator, improve the EHA overall system performance, directly driving operation principle is to utilize the direct actuation plunger of linear actuator to inhale force feed, abandoned traditional E HA rotation and straightened the parts such as rotating shaft that the line motion needs, swash plate, valve plate, the advantage of this mode is:
A, directly drive solid-liquid composite integrated actuator designs simplification, inertia reduces, and dynamic property gets a promotion;
B, the various frictions that do not had the plunger displacement pump rotation to bring, reliability strengthens, and efficient is higher;
C, can carry out modular composite design, the remaining flexible configuration, single plunger is independently controlled, and the fault-resistant ability strengthens, and improves reliability;
The linear actuator that directly drives at present the hydraulic servo pump employing in the incorporate actuator mainly is intellectual material, as: piezoelectric ceramic, magnetostriction, marmem etc., make thus linear actuator have high power density and power output, dynamic property is good, frequency response is high, high-resolution, and volume is little, and project organization is simple.
But it is short that the linear actuator that adopts intellectual material is subject to self delivery stroke, as: piezoelectric ceramic, 0.1mm is only arranged, so be difficult to realize large flow and large power output, therefore at present the direct driving hydraulic servo pump based on intellectual material is mainly used in the application study of miniature missile, aircraft, basically can't reach under volume, the suitable condition of quality system pressure, the power index of rotary-plunger pump among the traditional E HA.This becomes restriction and directly drives hydraulic servo pump at the bottleneck of high-power output application development, has limited that direct driving hydraulic servo pump is unique giving full play to of the many advantages such as high dynamic characteristic, high reliability, remaining configuration control flexibility.
Summary of the invention
The present invention is directed to present directly driving hydraulic servo pump little with the output displacement that linear actuator exists, cause the pumping system output flow low, the problems such as power is low, proposition is applied to the linear vibration motor of electromagnetic drive mode directly to drive in the hydraulic servo pump, replacing traditional EHA uses electric rotating machine as the linear drive apparatus of solid-liquid composite integrated steering wheel hydraulic servo pump, the effective power output of motor that exists larger mover inertia force to cause for linear vibration motor when the upper frequency reciprocating motion in addition reduces, the problems such as power density is limited, propose a kind ofly based on the hollow mover magnetic Circuit Design of Halbach array permanent magnet structure, propose simultaneously to offset at mover hollow position fixing resonance spring the structural design mode of mover inertia force.
The present invention propose a kind of based on Halbach array self-shileding characteristic directly drive the pump linear vibration motor, comprise outer stator, internal layer mover, permanent magnet, back shaft, coil windings, linear bearing, resonant springs and end cap.Outer stator is the structure with cylindric passage, and the internal layer mover is cylinder-like structure, and the internal layer mover is positioned at outer stator interior.
The circumferential equal intervals of described outer stator madial wall has at least 2 coil windings grooves, is used for arranging coil windings.Described internal layer mover two ends have outer flange, have the 1mm air gap distance between the outer wall of flange and outer stator inner wall outside the internal layer mover two ends; Internal layer mover outer wall week upwards is equipped with permanent magnet, and permanent magnet adopts Halbach array arrangement mode.Internal layer mover inside is provided with back shaft, and the back shaft two ends are through internal layer mover two ends, and by end cap with the back shaft two ends respectively with outer stator two ends fixing and locking.The back shaft middle part is socketed with linear bearing, also is socketed with two resonant springs on the back shaft, and two resonant springs lay respectively at the linear bearing two ends; The position is relative fixing between resonant springs and internal layer mover; Linear bearing is relative with the internal layer rotor position fixing.Internal layer mover left end or right-hand member are designed at least two lobe formula connectors, after connector passes the end face that is connected with outer stator left end or right-hand member, by having the external equipment connector of ball pivot, realize linking to each other with the actuator such as outside plunger.
Internal layer mover in the said structure, back shaft, outer stator are coaxial, and the linear bearing center equates to the distance of end cap center, the outer stator left and right sides.
The invention has the advantages that:
1, permanent magnet adopts Halbach array arrangement mode in the linear vibration motor of the present invention, can increase the magnetic flux density at air gap place between the permanent magnet outside and outer stator 1 inwall, thereby increases the power output of linear vibration motor of the present invention on axial;
2, linear vibration motor of the present invention utilizes the self-shileding characteristic of Halbach array arrangement mode, and employing open-core type internal layer mover design, greatly reduce motor internal layer mover quality and inertia force, improve the linear vibration motor utilance, thereby improved significantly whole dynamic characteristic of directly driving pump.
Provide restoring force when 3, linear vibration motor of the present invention adopts resonant springs to come the motor reciprocating motion commutated, reduce the requirement to the motor power output; The use of resonant springs is also played position-limiting action to internal layer mover reciprocating motion stroke; Simultaneously, because resonant springs has the effect of offsetting internal layer mover inertia force, when using the suitable resonant springs of rigidity, can make whole internal layer subsystem realize self-oscillation, offset internal layer mover inertia force fully, the motor utilance is the highest;
4, linear vibration motor of the present invention is on Design of Mechanical Structure, because motor internal layer mover just is the open-core type design, the internal layer that just in time resonant springs can be installed to the internal layer mover is hollow, thus with respect to the mode of in the past linear vibration motor both sides mounting spring, greatly reduced axial dimension and the quality of motor, made the motor global design compacter.
Description of drawings
Fig. 1 is linear vibration motor structure cutaway view of the present invention;
Fig. 2 is linear vibration motor magnetic Circuit Design schematic diagram of the present invention.
Among the figure:
The outer stator 2-of 1-internal layer mover 3-permanent magnet 4-back shaft
5-coil windings 6-linear bearing 7-resonant springs 8-end cap
9-jump ring 10-connector 11-external equipment connector 12-coil windings groove
The outer flange 14-annular boss of 13-
Embodiment
The present invention will be further described below in conjunction with accompanying drawing.
Linear vibration motor of the present invention comprises outer stator 1, internal layer mover 2, permanent magnet 3, back shaft 4, coil windings 5, linear bearing 6, resonant springs 7 and end cap 8.
Wherein, outer stator 1 is cylinder-like structure, among the present invention outer stator 1 is designed to have the rectangular structure of cylindric passage, and the integrated mounting design condition that provides of a plurality of linear vibration motors in the whole integrated pump is provided thus.Internal layer mover 2 is similarly cylinder-like structure, be positioned at outer stator 1 inside, internal layer mover 2 two ends have outer flange, have the 1mm air gap distance between the outer wall of flange and outer stator 1 inwall outside design internal layer mover 2 two ends among the present invention, internal layer mover 2 is back and forth shaken in outer stator 1.Described 2 outer wall weeks of internal layer mover upwards are equipped with permanent magnet 3, can pass through internal layer mover 2 supports permanent magnets 3 thus.Above-mentioned permanent magnet 3 adopts Halbach array arrangement modes, can increase the magnetic flux density at air gap place between permanent magnet 3 outsides and outer stator 1 inwall, thereby increases the power output of linear vibration motor of the present invention on axial; Because internal layer mover 2 adopts columnar hollow-core construction among the present invention, and the self-shileding characteristic according to the Halbach array, the magnetic line of force in internal layer mover 2 sidewalls is cancelled each other, thus no longer as traditional solid construction internal layer mover 2, can greatly reduce quality and the inertia force of internal layer mover 2, improve the linear vibration motor utilance, thereby improved significantly whole dynamic characteristic of directly driving pump.
The circumferential equal intervals of described outer stator 1 madial wall has at least 2 coil windings grooves 12, be used for arranging copper coil windings 5, in outer stator 1, produce D.C. magnetic field by coil windings 5, with the stationary magnetic field interaction of permanent magnet 3, make the power output in 2 generations axially of internal layer mover.As shown in Figure 2, it is outside that " " represents in the coil windings sense of current among the figure, and it is inside that " * " represents in the coil windings sense of current, and permanent magnet 3 directions of arrow represent permanent magnet 3 magnetizing directions; The motor of design is single-phase DC control, so in the situation that the sense of current is certain, the effective power output of mover is in the stroke s of effect internal layer mover 2, direction is constant, needs to change sense of current and changes the power output direction.In general, in the situation that outer stator 1 axial length is certain, coil windings groove 12 quantity more (being that groove density is larger), then the air gap internal magnetic field is more evenly distributed, internal layer mover 2 axial power outputs are more steady, but practical application coil slot for winding 12 quantity again can not be too much, effective power output effect stroke s shortens in the time of too much can making the linear vibration motor coil windings sense of current constant, therefore stroke s should be directly proportional with the spacing (slot pitch) of adjacent two coil windings grooves 12, and less than slot pitch, simultaneously, the linear vibration motor internal layer mover 2 stroke s need of design are considered according to the moving displacement of the pump piston that the outside is attached thereto, general design s≤20mm, outer stator 1 slot pitch is greater than 20mm, therefore according to the power output size, the requirement of stationarity and mover stroke s upwards designs six coil windings grooves 12 of equidistant 24mm in outer 1 madial wall week of stator in the present embodiment.
Internal layer mover 2 inside are provided with back shaft 4, and back shaft 4 two ends are through internal layer mover 2 two ends, and by end cap 8 with back shaft 4 two ends respectively with outer stator 1 two ends fixing and locking.Back shaft 4 middle parts are socketed with linear bearing 6, also are socketed with 7, two resonant springs 7 of two resonant springs on the back shaft 4 and lay respectively at linear bearing 6 two ends.In order to realize the relative positioning of 2 of resonant springs 7 and internal layer movers, therefore week upwards be designed with annular boss 14 at internal layer mover 2 madial walls middle part, 8 fixing of end caps form resonant springs 7 chamber are set at annular boss 14 left and right sides both ends of the surface and two ends, the internal layer mover left and right sides thus, resonant springs 7 one ends and annular boss 14 end faces are fitted, the other end and end cap 8 are fitted, realize the relative positioning of 2 of resonant springs 7 and internal layer movers, and resonant springs 7 is arranged on internal layer mover 2 inside, can take full advantage of the design space of whole linear vibration motor, compare with the mode of traditional internal layer mover 2 both sides fixing resonance springs, greatly reduced the global design physical dimension of linear vibration motor.In order to realize 2 relative positionings of linear bearing 6 and internal layer mover, make between linear bearing 6 and annular boss 14 inwalls and have interference fit, and fitting with two jump rings 9 that are fixed in internal layer mover 2 madial walls respectively in the two ends of linear bearing 6, realizes thus the relative fixing of 2 of linear bearing 6 and internal layer movers.By said structure linear bearing 6 being cooperated with back shaft 4 can slide at back shaft 4 internal layer mover 2, and resonant springs 7 is compressed with the slip of internal layer mover 2, can offset the inertia force that motor stops or need to overcoming when commutating by the drag that produces after resonant springs 7 compression thus, can carry out spacing control to internal layer mover 2 stroke s by resonant springs 7 simultaneously.
1 three is coaxial for internal layer mover 2, back shaft 4, outer stator in the said structure, and linear bearing 6 centers are equal to the distance of outer stator 1 left and right sides end cap 8 centers, and the each several part position is calibration position in the linear vibration motor at this moment.Simultaneously, two resonant springs 7 rigidity are identical among the present invention, are 40～80N/mm, and two resonant springs 7 pre compressed magnitudes are identical.
After getting up in linear vibration motor internal layer mover 2 vibration, offset the inertia force that motor stops or need to overcoming when commutating fully by the drag that produces after resonant springs 7 compressions, the rigidity of resonant springs 7 is K=4 π among the present invention
2f
2M, wherein f is internal layer mover 2 motion frequencies, and m is the quality of internal layer mover 2, and the pre compressed magnitude of each resonant springs 7 is greater than s/2, make thus the electromagnetism power output of linear vibration motor for for generation of the High voltage output power of directly driving pumping system, improve the effective rate of utilization of linear vibration motor.The maximum compressibility of resonant springs 7 is greater than s among simultaneously the present invention, thereby realizes that internal layer mover 2 is with normal restoring force reciprocating vibration.In addition, in order to realize motor internal layer mover 2 free reciprocating motion in stroke s, therefore make distance between internal layer mover 2 left sides, right side and left end cap, right end cap greater than the stroke s of internal layer mover 2.
Internal layer mover 2 left ends or right-hand member are designed at least two lobe formula connectors 10, after connector 10 passes the end face that is connected with outer stator 1 left end or right-hand member, link to each other with actuators such as outside plungers by the external equipment connector 11 with ball pivot, can prevent the axial-rotation of internal layer mover 2 in outer stator 1 by said structure.End cap 8 adopts the cross flange arrangement among the present invention, thus the connector 10 of internal layer mover 2 left ends or right-hand member is designed to the fFour piece type structure connector 10 that matches with the cross flange, fFour piece type structure connector 10 can pass the cross flange and link to each other with actuators such as outside plungers.
Claims (10)
- Based on Halbach array self-shileding characteristic directly drive the pump linear vibration motor, it is characterized in that: comprise outer stator, internal layer mover, permanent magnet, back shaft, coil windings, linear bearing, resonant springs and end cap;Outer stator is the structure with cylindric passage, and the internal layer mover is cylinder-like structure, and the internal layer mover is positioned at outer stator interior;The circumferential equal intervals of described outer stator madial wall has at least 2 coil windings grooves, is used for arranging coil windings;Described internal layer mover two ends have outer flange; Internal layer mover outer wall week upwards is equipped with permanent magnet, and permanent magnet adopts Halbach array arrangement mode; Internal layer mover inside is provided with back shaft, and the back shaft two ends are through internal layer mover two ends, and by end cap with the back shaft two ends respectively with outer stator two ends fixing and locking; The back shaft middle part is socketed with linear bearing, also is socketed with two resonant springs on the back shaft, and two resonant springs lay respectively at the linear bearing two ends; The position is relative fixing between resonant springs and internal layer mover; Linear bearing is relative with the internal layer rotor position fixing;Internal layer mover left end or right-hand member are designed at least two lobe formula connectors, after connector passes the end face that is connected with outer stator left end or right-hand member, by having the external equipment connector of ball pivot, realize linking to each other with outside actuator;Internal layer mover in the said structure, back shaft, outer stator are coaxial, and the linear bearing center equates to the distance of end cap center, the outer stator left and right sides.
- As claimed in claim 1 based on Halbach array self-shileding characteristic directly drive the pump linear vibration motor, it is characterized in that: described outer stator is the rectangular structure with cylindric passage.
- As claimed in claim 1 based on Halbach array self-shileding characteristic directly drive the pump linear vibration motor, it is characterized in that: have the 1mm air gap distance between the outer wall of flange and outer stator inner wall outside the described internal layer mover two ends.
- As claimed in claim 1 based on Halbach array self-shileding characteristic directly drive the pump linear vibration motor, it is characterized in that: the stroke s of described internal layer mover is directly proportional with the spacing of adjacent windings slot for winding, and less than the spacing of adjacent windings slot for winding.
- As claimed in claim 1 based on Halbach array self-shileding characteristic directly drive the pump linear vibration motor, it is characterized in that: outer six the coil windings grooves that upwards have equidistant 24mm stator madial wall week of described coil windings groove.
- 6. directly drive the pump linear vibration motor based on Halbach array self-shileding characteristic as claimed in claim 1, it is characterized in that: described internal layer mover madial wall middle part upwards is designed with annular boss in week, between the fixing end cap in annular boss left and right sides both ends of the surface and two ends, the internal layer mover left and right sides, form resonant springs thus the chamber is set, resonant springs one end and annular boss end face are fitted, the other end and end cap are fitted, and realize the relative positioning between resonant springs and internal layer mover; Have interference fit between linear bearing and annular boss inwall, and the two ends of linear bearing fit with two jump rings that are fixed in the internal layer mover madial wall respectively, realize thus relative fixing between linear bearing and internal layer mover.
- As claimed in claim 1 based on Halbach array self-shileding characteristic directly drive the pump linear vibration motor, it is characterized in that: two resonant springs rigidity are identical, are 40～80N/mm, and two resonant springs pre compressed magnitudes are identical.
- As claimed in claim 7 based on Halbach array self-shileding characteristic directly drive the pump linear vibration motor, it is characterized in that: the rigidity of resonant springs is K=4 π 2f 2M, wherein f is internal layer mover motion frequency, and m is the quality of internal layer mover, and the pre compressed magnitude of each resonant springs is greater than s/2, and maximum compressibility is greater than s.
- As claimed in claim 1 based on Halbach array self-shileding characteristic directly drive the pump linear vibration motor, it is characterized in that: the distance between the left side of described internal layer mover, right side and left end cap, right end cap is greater than s.
- 10. directly drive the pump linear vibration motor based on Halbach array self-shileding characteristic as claimed in claim 1, it is characterized in that: end cap adopts the cross flange arrangement, thus the connector of internal layer mover left end or right-hand member is designed to the fFour piece type structure connector that matches with the cross flange, fFour piece type structure connector can pass the cross flange and link to each other with outside plunger actuator.
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| CN 201210048532 CN102594079B (en) | 2012-02-27 | 2012-02-27 | Linear oscillation motor for direct drive pump based on selfshield characteristic of Halbach array |
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| CN 201210048532 CN102594079B (en) | 2012-02-27 | 2012-02-27 | Linear oscillation motor for direct drive pump based on selfshield characteristic of Halbach array |
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| RU2538377C2 (en) * | 2013-03-12 | 2015-01-10 | Анатолий Михайлович Санталов | Submersible linear electric motor |
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| CN105932853B (en) * | 2016-06-14 | 2019-05-03 | 西安电子科技大学 | A kind of stator permanent magnet linear vibration motor |
| CN107762770A (en) * | 2016-08-19 | 2018-03-06 | 青岛海尔智能技术研发有限公司 | Linear compressor and its control method |
| CN107565793B (en) * | 2017-11-01 | 2019-05-17 | 北京航空航天大学 | A kind of cylinder type voice coil motor with MULTILAYER COMPOSITE Halbach array of magnetic dipoles |
| CN108494217A (en) * | 2018-06-01 | 2018-09-04 | 金陵科技学院 | A kind of Halbach permanent magnet arrays vibrating electricity generator |
| CN112600379A (en) * | 2020-12-04 | 2021-04-02 | 大连理工大学 | Integrated hydraulic pump directly driven by slotless moving magnet type linear oscillation motor |
| DE102021104761B4 (en) | 2021-02-26 | 2024-02-29 | Nachum Zabar | Linear motor for linear pumps and linear compressors |
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