CN103222166B - A kind of three-phase permanent-magnetic servo - Google Patents
A kind of three-phase permanent-magnetic servo Download PDFInfo
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- CN103222166B CN103222166B CN201180053003.6A CN201180053003A CN103222166B CN 103222166 B CN103222166 B CN 103222166B CN 201180053003 A CN201180053003 A CN 201180053003A CN 103222166 B CN103222166 B CN 103222166B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
- H02K1/148—Sectional cores
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems
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Abstract
A kind of three-phase permanent-magnetic servo, its rotor (1) number of magnetic poles 2P is 16, stator (2) tooth number Z is 24, this tooth comprises 12 canine tooths (8), six little teeth (9) and six micro-teeth (10), 12 concentratred winding are contained on 12 canine tooths respectively, and winding circulates arrangement in the following order: the canine tooth of the canine tooth-micro-tooth-dress winding of little tooth-dress winding.The mechanical angle of each canine tooth, little tooth and micro-tooth is 22.5 ° ± 2.5 °, 10 ° ± 2.5 °, 5 ° ± 2.5 ° respectively.This motor can reduce teeth groove square.
Description
Technical field
The present invention relates to permanent magnet motor, more particularly, relate to a kind of three-phase permanent-magnetic servo, this motor is applicable to Direct driver and position, speed SERVO CONTROL are applied.
Background technology
Permanent magnet direct current motor involved in the present invention, mainly refers to and can effectively produce the servomotor with low torque ripple.Wherein, torque ripple mainly comprises: lower slot effect torque component (location torque), lower electric current and electromotive force harmonic torque components.At present, the main target of this type of servo motor design is: torque fluctuations is little, power output is large (product of rotating speed and moment is large), overload capacity is large, volume is little, price is low etc.
The main cause producing torque fluctuations comprises: the torque fluctuations that (1) Stator Current Harmonic and back-emf harmonic products present; (2) rotor turns when stator current is zero, changes because slot effect produces magnetic conductance the location torque fluctuation presented.
The main method of torque fluctuations is suppressed to comprise: the fractional slot winding design that (1) is traditional; (2) concentratred winding that optimization teeth groove coordinates with magnetic pole designs, such as " highly efficient permanent magnet brushless motor " by name, the Chinese invention patent application of publication number CN1856921A.Wherein, the motor manufacturing technology of traditional fractional slot winding design is complicated, production cost is very high.The concentratred winding design that optimization teeth groove coordinates with magnetic pole has the high feature of cost performance, but it is adapted to the low speed servo motor that number of magnetic poles is greater than 20.
Be in the Chinese invention patent application of CN101371425A at publication number, disclose a kind of number of magnetic poles 2P=16, teeth groove number Z=24, adopts the three-phase brushless permanent-magnet DC of rectangular wave of large, medium and small toothing.This motor possesses excellent performance, has very high cost performance, but still is weak.Because it is equipped with varying in size of two teeth of winding, bring much inconvenience to manufacture, such as, the processing mold of tooth, frock, technique all can not be consistent, and the processing mold of winding, frock, technique can not be consistent; More seriously: because the bulk of groove is different, the number of turn of two of every phase windings must be caused, wire diameter can not be consistent, thus cause harmful effect to motor performance, such as cause moment that the electric current of two windings produces at spatial dissymmetry.In addition the large, medium and small toothing of this motor, the inhibitory action for location torque is strong not.The electrical degree of every phase two teeth of this motor is: 200 ° ± 20 ° and 160 ° ± 20 °, its opposite potential waveform has the flat-top district of more than 120 °, can realize square wave permanent magnetic servomotor.But in order to obtain the highest winding utilization and the widest flat-top district, desired electrical angle should be 180 °, this motor departs from desired electrical angle ± 20 °, its winding utilization must be caused to drop to sin (140 °/180 ° × 90 °)=0.940, and the opposite potential flat-top district of this motor also therefore and non-optimal.
Summary of the invention
The present invention will solve existing sine wave permanent magnet servomotor and the problem existing for square wave permanent magnetic servomotor, proposes the three-phase permanent-magnetic servo of a kind of new principle, new construction, high-performance, high performance-price ratio.
For solving the problems of the technologies described above, the invention provides a kind of three-phase permanent-magnetic servo, the rotor core of described motor is equipped with multipair permanent magnet, in the teeth groove of stator, three-phase windings is housed, wherein, the number of magnetic poles 2P=16 on described rotor core, the groove number Z=24 of described stator core, should have 24 teeth mutually, and the width of rebate of described groove is 0.1 ~ 3.0mm, described 24 teeth comprise 12 canine tooths, six little teeth and six less micro-teeth, described three-phase windings is 12 concentratred winding, be loaded on described 12 canine tooths respectively, the ordering of described winding and tooth: the canine tooth of the canine tooth → micro-tooth → dress B phase winding of the canine tooth → little tooth → dress C phase winding of the canine tooth → micro-tooth → dress A phase winding of the canine tooth → little tooth → dress B phase winding of the canine tooth → micro-tooth → dress C phase winding of the canine tooth → little tooth → dress A phase winding of the canine tooth → micro-tooth → dress B phase winding of the canine tooth → little tooth → dress C phase winding of the canine tooth → micro-tooth → dress A phase winding of the canine tooth → little tooth → dress B phase winding of the canine tooth → micro-tooth → dress C phase winding of little tooth → dress A phase winding, each canine tooth on described stator core accounts for circumference 22.5 ° ± 2.5 ° mechanical angles, namely 180 ° ± 20 ° electrical degrees, each little tooth accounts for circumference 10 ° ± 2.5 ° mechanical angles, namely 80 ° ± 20 ° electrical degrees, each micro-tooth accounts for circumference 5 ° ± 2.5 ° mechanical angles, namely 40 ° ± 20 ° electrical degrees, wherein shared by each tooth, circumferential mechanical angle comprises the width of a described notch, and wherein four canine tooths, two little teeth, the mechanical angle sum of adding two micro-teeth equal 120 °.
In the present invention, on described rotor core, N, S magnetic pole of each permanent magnet alternately, and described permanent magnet can be the tile-shaped magnet steel of radial magnetizing or the tile-shaped magnet steel of parallel magnetization.The cylindrical both sides of described tile-shaped magnet steel are preferably provided with that angle is not more than 7.5 °, length is not more than the top rake of the cylindrical arc length 1/4 of magnet steel.Physical air gap between described stator and rotor can be 0.5 ~ 4mm.
In a preferred version of the present invention, described stator core is made up of 13 parts, comprise containing six little teeth and six micro-teeth by the integral type annular core of multilayer silicon steel sheet from riveting repeatedly pressure, by multilayer silicon steel sheet from riveting repeatedly 12 of pressure independently canine tooth iron cores; The yoke portion of described annular core and canine tooth iron core are respectively equipped with groove/boss, and the stator core that engaged formation is complete.
In another preferred version of the present invention, described stator core is also made up of 13 parts, comprise containing 12 canine tooths by the integral type annular core of multilayer silicon steel sheet from riveting repeatedly pressure, by multilayer silicon steel sheet from riveting repeatedly six of pressure independently little tooth iron core and by multilayer silicon steel sheet from riveting repeatedly six of pressure independently micro-tooth iron cores; The yoke portion of described annular core and little tooth, micro-tooth iron core are respectively equipped with groove/boss, and the stator core that engaged formation is complete.
In another preferred version of the present invention, described stator core is made up of 24 parts, namely comprises 12 independent canine tooths of repeatedly being pressed from riveting by multilayer silicon steel sheet, six little teeth of independence and six micro-teeth of independence; The both sides, yoke portion of each tooth are provided with groove/boss, the stator core that the engaged formation in yoke portion of adjacent teeth is complete.
As shown from the above technical solution, the number of magnetic poles of three-phase permanent-magnetic servo of the present invention is 2P=16, the canine tooth that winding is housed accounts for 180 ° of electrical degrees, its opposite potential waveform is made to have the flat-top district of nearly 135 ° of electrical degrees, and the large facewidth is not easy to affect by armature reaction, makes motor have stronger overload capacity; Two kinds of non-homogeneous little teeth are exclusively used in suppression location torque, make location torque be decreased to ten thousand/level.This motor often only has two concentratred winding mutually, and two concentratred winding structures are identical with the number of turn, and manufacture is simple, technique is consistent, and production cost is very low.This motor exert oneself than conventional sinusoidal ripple permanent-magnet servo motor large 30%, winding overhang is less than conventional sinusoidal ripple permanent-magnet servo motor more than 3 times, so copper loss significantly reduces.During this three-phase permanent-magnetic servo employing three-phase square wave current drives, can produce stable moment, its torque fluctuations index is suitable with sine wave permanent magnet servomotor.This three-phase permanent-magnetic servo has that winding overhang is little, few with copper, loss is little, the little magnetic loading of air gap is high, location torque is little and the series of advantages such as overload capacity is strong.
Accompanying drawing explanation
Fig. 1 is the stator, rotor structures schematic diagram of motor in a preferred embodiment of the invention;
Fig. 2 is motor general assembly structural representation in a preferred embodiment of the invention;
Fig. 3 be embodiment illustrated in fig. 1 in stator tooth angle of the v-groove distribution schematic diagram;
Fig. 4 inlays the structural representation that canine tooth forms stator punching;
Fig. 5 is the structural representation inlaying little tooth and micro-tooth formation stator punching;
Fig. 6 be 24 teeth independently and engaged structural representation;
Fig. 7 is the rotor structure schematic diagram of sine wave magnetic field motor.
Embodiment
A preferred embodiment of the present invention as depicted in figs. 1 and 2.As can be seen from Figure 2 the general configuration of this three-phase permanent-magnetic servo, its critical piece comprises rotor 1, stator 2, rotating shaft 30 etc., and the physical air gap 5 between rotor 1 and stator 2 is 0.5 ~ 4mm.Rotor-position sensor 6 can be any one in photoelectric encoder, resolver, magnetic coder.
As can be seen from Figure 1, rotor core is equipped with eight permanent magnets 4 to pole, arranges between these permanent magnets N, S-phase, the number of magnetic poles 2P=16 of rotor.During concrete enforcement, permanent magnet 4 can be the tile-shaped magnet steel of radial magnetizing or the tile-shaped magnet steel of parallel magnetization.The physical size of the pole span π D/8 of the permanent magnet on rotor core is 50 ~ 200mm, and wherein D is rotor diameter.This structure can obtain the opposite potential waveform being tending towards 135 ° of square waves, coordinates the square wave permanent magnetic servomotor that can realize torque fluctuations very little to run with square wave stator current.Because 3,6 subharmonic phase places in two opposite potential square waves are identical, be kept to zero mutually, therefore the line counter potential waveform of this structure is still tending towards sinusoidal wave, the product of 3,6 subharmonic when adopting sine-wave current to drive in three-phase sine-wave stator current and three-phase opposite potential square wave does not present torque fluctuations, and the lifting of the power output acquisition about 30% of motor.
As can be seen from Figure 1, the number Z=24 of stator teeth groove, namely to having 24 teeth and 12 grooves; The width of the notch 3 of stator slot is 0.1 ~ 3mm; 24 teeth comprise 12 dress windings canine tooth 8, do not fill six little teeth 9 of winding and do not fill six micro-teeth 10 of winding, and by the order arrangement that little tooth → canine tooth → micro-tooth → canine tooth → little tooth → canine tooth → micro-tooth → canine tooth → little tooth → canine tooth → micro-tooth → canine tooth is such in circumference, also namely form 12 grooves.Wherein, only on 12 canine tooths 8, install three-phase windings, the winding on each canine tooth has two winding limits and occupies a groove of its both sides respectively.
As shown in Figure 3, each canine tooth on stator core accounts for circumference 22.5 ° of mechanical angles, i.e. 180 ° of electrical degrees; Each little tooth accounts for circumference 10 ° of mechanical angles, i.e. 80 ° of electrical degrees; Each micro-tooth accounts for circumference 5 ° of mechanical angles, i.e. 40 ° of electrical degrees; In order to obtain three-phase symmetric winding, four canine tooths, two little teeth, add the mechanical angle sum 4 × 22.5 °+2 × 10 °+2 × 5 °=120 ° of two micro-teeth.Wherein shared by each tooth, circumferential mechanical angle comprises the width of a notch 3, circumferential mechanical angle 10 ° shared by little tooth such as shown in Fig. 3 is exactly the circumferential mechanical angle shared by width that the width of a little tooth adds each half notch around again, and the width of the notch (3) in the present embodiment is 1.0mm.
This motor has the optimal canine tooth facewidth, electrical degree is P × 22.5 °=4 × 22.5 °=180 °, therefore the winding utilization of this motor is maximum turns to sin (180 °/180 ° × 90 °)=1.0, and the opposite potential flat-top district of this embodiment is corresponding reaches best.This uneven tooth slot structure, both ensure that three-phase symmetrical, inhibit location torque again.
In the present embodiment, 12 three-phase windings are concentratred winding, respectively by stator winding coil winding machine or manual direct around on the canine tooth through surface insulation process, the ordering of winding and tooth is: the canine tooth of the canine tooth → micro-tooth → dress B phase winding of the canine tooth → little tooth → dress C phase winding of the canine tooth → micro-tooth → dress A phase winding of the canine tooth → little tooth → dress B phase winding of the canine tooth → micro-tooth → dress C phase winding of the canine tooth → little tooth → dress A phase winding of the canine tooth → micro-tooth → dress B phase winding of the canine tooth → little tooth → dress C phase winding of the canine tooth → micro-tooth → dress A phase winding of the canine tooth → little tooth → dress B phase winding of the canine tooth → micro-tooth → dress C phase winding of → little tooth → dress A phase winding, specifically as shown in Figure 1.
After coiling like this, every is series connection between two concentratred winding mutually, decreases wiring, simplifies technique.Visible, this motor is every only has two concentratred winding mutually, threephase motor only has 12 concentratred winding, the winding sum of motor is considerably less, enormously simplify electric motor structure, reduce cost, simultaneously winding overhang reduces to the 1/3 ~ 1/6 even more of conventional motors, reach and minimize, so copper loss declines to a great extent.
As shown in Figure 4, in one embodiment of the invention, stator core formed with splicing by 13 parts are engaged, comprise containing six little teeth 9 and six micro-teeth 10 by the integral type annular core 11 of multilayer silicon steel sheet from riveting repeatedly pressure, by multilayer silicon steel sheet from riveting repeatedly 12 of pressure independently canine tooth iron cores 8; The yoke portion of annular core 11 and canine tooth iron core 8 are respectively equipped with groove/boss, and the stator core that engaged formation is complete.
For this structure, the A phase winding of four series connection first can be wound on four canine tooth iron cores of A phase, four canine tooth iron cores of B phase wind the B phase winding of four series connection, four canine tooth iron cores of C phase wind the C phase winding of four series connection, then the canine tooth iron core 12 being equipped with A, B, C three-phase windings is embedded on annular core 11, namely forms the stator core assemblies that A, B, C three-phase windings is housed.In this embodiment, insulation processing can be carried out to independently canine tooth iron core easily, then with automatically or semiautomatic winding machine coiling is implemented to canine tooth iron core.Its winding anufacturability is fine; Meanwhile, overall structure annular core 11 is adopted fully can to ensure the geometric accuracy of stator core assemblies.
Motor in the present embodiment has desirable Design of Tooth Width of Right Shaft, is respectively canine tooth 23 °, 9 °, little tooth, 5 °, micro-tooth, and 2 × (2 × 23 °+9 °+5 °)=120 °, can form A, B, C three-phase symmetric winding, and location torque suppression is fine.This motor can adopt three-phase square wave electric current or three-phase sine-wave current drives, can produce stable moment, and has that winding overhang is little, few with copper, loss is little, air gap is little, location torque is little and the series of advantages such as overload capacity is strong.
As shown in Figure 5, in another embodiment of the present invention, contrary with embodiment illustrated in fig. 4, its integral type annular core 12 comprises 12 canine tooths, and six little teeth 9 and six micro-teeth 10 being independently, is the complete stator core of engaged formation equally.
During concrete assembling, first insulation processing is implemented to 12 canine tooths; Owing to being now unkitted little tooth and micro-tooth, the opening of annular core 12 is very large, can use automatic coil winding machine each phase winding of coiling on canine tooth 8 completely.On four canine tooths of A phase, such as first wind the A phase winding of four series connection respectively, the B phase winding of four series connection is wound again respectively on four canine tooths of B phase, the C phase winding of four series connection is wound again respectively on four canine tooth iron cores of C phase, then will implement six little tooth iron cores after insulation processing and six micro-tooth iron cores and embed the yoke portion of annular cores 12, to form the stator core assemblies that A, B, C three-phase windings is housed.
This motor can adopt three-phase square wave electric current or three-phase sine-wave current drives, can produce stable moment, and has that winding overhang is little, few with copper, loss is little, air gap is little, location torque is little and the series of advantages such as overload capacity is strong.
As shown in Figure 6, in another embodiment of the present invention, there are 12 independently teeth, namely comprise 12 independent canine tooths of repeatedly being pressed from riveting by multilayer silicon steel sheet, six little teeth of independence and six micro-teeth of independence; The both sides, yoke portion of each tooth are provided with groove/boss, the stator core that the engaged formation in yoke portion of adjacent teeth is complete.Wherein, each canine tooth accounts for circumference 22.5 ° of mechanical angles, i.e. 180 ° of electrical degrees; Each little tooth accounts for circumference 10 ° of mechanical angles, i.e. 80 ° of electrical degrees; Each micro-tooth accounts for circumference 5 ° of mechanical angles, i.e. 40 ° of electrical degrees.
In the present embodiment, can by stator winding with automatically, semiautomatic winding machine or manual mode be first wound on the independent canine tooth of surface insulation process, then utilize positioning tool, six are had the canine tooth of winding, three little teeth without winding and three micro-teeth without winding are engaged is in order assembled into stator module.After coiling like this, every is series connection between two concentratred winding mutually, decreases wiring, simplifies technique.
This motor can adopt three-phase square wave electric current or three-phase sine-wave current drives, can produce stable moment, and has that winding overhang is little, few with copper, loss is little, air gap is little, location torque is little and the series of advantages such as overload capacity is strong.
As shown in Figure 7, in another embodiment of the present invention, being tending towards sinusoidal wave air-gap field or the opposite potential waveform of sine wave to obtain, have employed tile-shaped magnet steel, the cylindrical both sides of magnet steel are provided with that angle is not more than 7.5 °, length is not more than the top rake of the cylindrical arc length 1/4 of magnet steel.Physical air gap between this three-phase permanent-magnetic servo stator and rotor is 2.0mm.Can obtain after design like this and be tending towards sinusoidal wave air-gap field or the opposite potential waveform of sine wave.Even if so there is non-sine in threephase stator electric current, be also unlikely to produce excessive torque fluctuations.This motor adopts three-phase sine-wave current drives, can produce stable moment, and has that winding overhang is little, few with copper, loss is little, air gap is little, location torque is little and the series of advantages such as overload capacity is strong.
The present invention is not limited to above-mentioned specific embodiment, and wherein, shared by each canine tooth on stator core, circumferential mechanical angle can be 22.5 ° ± 2.5 °, namely 180 ° ± 20 ° electrical degrees; Each little tooth accounts for circumferential mechanical angle and can be 10 ° ± 2.5 °, namely 80 ° ± 20 ° electrical degrees; Each micro-tooth accounts for circumferential mechanical angle and can be 5 ° ± 2.5 °, namely 40 ° ± 20 ° electrical degrees; Equally, shared by each tooth said here, circumferential mechanical angle comprises the width of notch 3, needs to ensure every four canine tooths, two little teeth simultaneously, adds the mechanical angle sum of two micro-teeth and equal 120 °; Such as canine tooth 22 °, 9.5 °, little tooth, 6.5 °, micro-tooth, 2 × (2 × 22 °+9.5 °+6.5 °)=120 °, again such as canine tooth 23 °, 10 °, little tooth, 4 °, micro-tooth, 2 × (2 × 23 °+10 °+4 °)=120 °, etc.
Motor of the present invention has closest to the desirable canine tooth facewidth, its electrical degree is 180 ° ± 20 °, therefore its winding utilization is greater than 0.985 (sin (200 °/180 ° × 90 °)=0.985), and the opposite potential flat-top district of this motor is corresponding reaches optimization.
Claims (9)
1. a three-phase permanent-magnetic servo, the rotor core (1) of described motor is equipped with multipair permanent magnet (4), in the teeth groove of stator (2), three-phase windings is housed, it is characterized in that, number of magnetic poles 2P=16 on described rotor core, the physical size of the pole span π D/8 of the permanent magnet on rotor core is 50 ~ 200mm, and wherein D is rotor diameter, the groove number Z=24 of described stator core, should have 24 teeth mutually, and notch (3) width of described groove is 0.1 ~ 3.0mm, described 24 teeth comprise the canine tooth (8) of 12, six little teeth (9) and six less micro-teeth (10), described three-phase windings is 12 concentratred winding, be loaded on described 12 canine tooths respectively, the ordering of described winding and tooth: the canine tooth of the canine tooth → micro-tooth → dress B phase winding of the canine tooth → little tooth → dress C phase winding of the canine tooth → micro-tooth → dress A phase winding of the canine tooth → little tooth → dress B phase winding of the canine tooth → micro-tooth → dress C phase winding of the canine tooth → little tooth → dress A phase winding of the canine tooth → micro-tooth → dress B phase winding of the canine tooth → little tooth → dress C phase winding of the canine tooth → micro-tooth → dress A phase winding of the canine tooth → little tooth → dress B phase winding of the canine tooth → micro-tooth → dress C phase winding of little tooth → dress A phase winding, each canine tooth on described stator core accounts for circumference 22.5 ° ± 2.5 ° mechanical angles, namely 180 ° ± 20 ° electrical degrees, each little tooth accounts for circumference 10 ° ± 2.5 ° mechanical angles, namely 80 ° ± 20 ° electrical degrees, each micro-tooth accounts for circumference 5 ° ± 2.5 ° mechanical angles, namely 40 ° ± 20 ° electrical degrees, wherein circumferential mechanical angle shared by each tooth comprises the width of a described notch (3), and wherein four canine tooths, two little teeth, the mechanical angle sum of adding two micro-teeth equal 120 °.
2. three-phase permanent-magnetic servo according to claim 1, is characterized in that, on described rotor core, N, S magnetic pole of each permanent magnet alternately, and described permanent magnet is the tile-shaped magnet steel of radial magnetizing or the tile-shaped magnet steel of parallel magnetization.
3. three-phase permanent-magnetic servo according to claim 2, is characterized in that, the cylindrical both sides of described tile-shaped magnet steel are provided with that angle is not more than 7.5 °, length is not more than the top rake of the cylindrical arc length 1/4 of magnet steel.
4. three-phase permanent-magnetic servo according to claim 3, is characterized in that, the physical air gap between described stator and rotor is 0.5 ~ 4mm.
5. the three-phase permanent-magnetic servo according to any one of claim 1-4, it is characterized in that, described stator core is made up of 13 parts, comprise containing six little teeth and six micro-teeth by the integral type annular core (11) of multilayer silicon steel sheet from riveting repeatedly pressure, by multilayer silicon steel sheet from riveting repeatedly 12 of pressure independently canine tooth iron cores (8); The yoke portion of described annular core and canine tooth iron core are respectively equipped with groove/boss, and the stator core that engaged formation is complete.
6. three-phase permanent-magnetic servo according to claim 5, it is characterized in that, the A phase winding of wherein first connecting around four on four canine tooth iron cores, around the B phase winding of four series connection on another four canine tooth iron cores, around the C phase winding of four series connection on another four canine tooth iron cores, then the canine tooth iron core described 12 being equipped with winding embeds in described annular core (11) respectively, forms the stator core assemblies that A, B, C three-phase windings is housed.
7. the three-phase permanent-magnetic servo according to any one of claim 1-4, it is characterized in that, described stator core is made up of 13 parts, comprise containing 12 canine tooths by the integral type annular core (12) of multilayer silicon steel sheet from riveting repeatedly pressure, by multilayer silicon steel sheet from riveting repeatedly six of pressure independently little tooth iron core and by multilayer silicon steel sheet from riveting repeatedly six of pressure independently micro-tooth iron cores; The yoke portion of described annular core and little tooth, micro-tooth iron core are respectively equipped with groove/boss, and the stator core that engaged formation is complete.
8. three-phase permanent-magnetic servo according to claim 7, it is characterized in that, wherein first on described annular core, insulation processing is implemented to 12 canine tooths, then coiling A, B, C three-phase windings is distinguished, again six little tooth iron cores and six micro-tooth iron cores are embedded the yoke portion of described annular core (12), form the stator core assemblies that A, B, C three-phase windings is housed.
9. according to the three-phase permanent-magnetic servo according to any one of claim 1-4, it is characterized in that, described stator core is made up of 24 parts, namely comprises 12 independent canine tooths of repeatedly being pressed from riveting by multilayer silicon steel sheet, six little teeth of independence and six micro-teeth of independence; The both sides, yoke portion of each tooth are provided with groove/boss, the stator core that the engaged formation in yoke portion of adjacent teeth is complete.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2011/071620 WO2012119307A1 (en) | 2011-03-09 | 2011-03-09 | Three-phase permanent magnet servo motor |
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| CN103222166A CN103222166A (en) | 2013-07-24 |
| CN103222166B true CN103222166B (en) | 2016-01-20 |
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| CN114050670B (en) * | 2022-01-11 | 2022-04-08 | 中国科学院宁波材料技术与工程研究所 | Modular stator structure, design method and homopolar same-slot permanent magnet motor |
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| Publication number | Publication date |
|---|---|
| WO2012119307A1 (en) | 2012-09-13 |
| CN103222166A (en) | 2013-07-24 |
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