CN103401331B - Disc type multi-magnetic pole permanent magnet motor for multi-rotor unmanned aerial vehicle - Google Patents
Disc type multi-magnetic pole permanent magnet motor for multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN103401331B CN103401331B CN201310310704.4A CN201310310704A CN103401331B CN 103401331 B CN103401331 B CN 103401331B CN 201310310704 A CN201310310704 A CN 201310310704A CN 103401331 B CN103401331 B CN 103401331B
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Abstract
The invention discloses a disc type multi-magnetic pole permanent magnet motor for a multi-rotor unmanned aerial vehicle, and belongs to the field of motors and power devices for unmanned aerial vehicles. The problems of great cogging effects, high positioning torque and unsmooth and non-uniform air-gap field waveforms of a cogged motor are solved. The permanent magnet motor comprises an upper bearing cover, a rotor yoke, a plurality of permanent magnets, a lower bearing cover, a support shaft, an upper bearing, a lower bearing, a stator yoke, a stator core and a winding, wherein the rotor yoke is in clearance fit with the upper bearing cover; the permanent magnets are adhered to the inner wall of the rotor yoke in an N-S spaced way or an N-N-S-S spaced way; the lower bearing cover is in interference fit with the rotor yoke, or is machined integrally with the rotor yoke; the support shaft is arranged on the lower bearing cover; the upper and lower bearings are arranged on the support shaft in an interference fit way; outer circles of the upper and lower bearings are tightly pressed by the upper and lower bearing covers, and two steps of the support shaft are pressed against inner circles of the upper and lower bearings; the stator yoke is machined integrally with the support shaft, or is in split mechanical connection with the support shaft; the stator core is arranged on the stator yoke; the winding is wound on stator teeth; and unequal air gaps are formed between the stator teeth and the permanent magnets. The permanent magnet motor is high in working efficiency, air-gap waveforms are approximate to sinusoidal waveforms, and the current density of the winding is low.
Description
Technical field
The present invention relates to motor and unmanned vehicle field of power equipment technology, be specifically related to a kind of many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors.
Background technology
The power set of current small-sized many rotor unmanned aircrafts (UAV) are main mainly with motor driven screw, as German Microdrone company, Draganfly company of the U.S., domestic Xaircraft series of products.
Many rotor unmanned aircrafts make its acceleration and deceleration change frequently by regulating the terminal voltage of motor, drive the lift needed for rotor generation and moment of torsion, complete the change of attitude of flight vehicle.At present, many rotor unmanned aircraft motor many employings tooth slot structure motors, slot effect and the location torque of this motor are larger, cause no-load current increase corresponding to operating current, electric efficiency declines, aircraft reduces cruising time, in addition, tooth slot structure motor gas-gap field waveform unsmooth and uneven, make to there is the fluctuation of speed during motor steady operation, shake is there is when the larger fluctuation of speed can cause aircraft to hover, flying vehicles control frequency strengthens, the problems such as energy loss increase, in addition, due to the restriction of many rotor unmanned aircraft motor mass and volume, under the winding of motor is often in the mode of operation of high current density, have a strong impact on the useful life of motor.Therefore, in the urgent need to developing a kind of permanent magnet motor with the ideal form of sinusoidal wave air gap waveform.
Summary of the invention
In order to solve the slot effect that existing tooth slot structure motor exists and the problem that location torque is comparatively large, air-gap field waveform is unsmooth and uneven, the invention provides that a kind of operating efficiency is high, air gap waveform is close to sinusoidal wave, winding current density is little many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors.
The technical scheme that the present invention adopts for technical solution problem is as follows:
Many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors, comprising:
Upper ball cover;
The rotor yoke fixed by matched in clearance with described upper ball cover;
Be bonded in the permanent magnet on described rotor yoke inwall, multiple permanent magnet with N, S pole or N, N, S, S interpolar every setting;
To be fixed by interference fit with described rotor yoke or the lower ball cover of integrated machine-shaping;
Be arranged on the back shaft in described lower ball cover central through hole;
All be arranged on upper bearing (metal) on described back shaft and lower bearing by interference fit, described upper ball cover compresses upper bearing (metal) outer ring by the circular ring structure of its medial center and elastic washer, described lower ball cover compresses lower bearing outer ring by the circular ring structure of its medial center, and two steps of described back shaft withstand upper bearing (metal) inner ring and lower bearing inner ring respectively;
The stator yoke of processing is connected by integrated machine-shaping or split mechanical type with described back shaft;
Between described permanent magnet and stator yoke and the stator core be arranged in stator yoke;
Be wrapped in the winding on the stator tooth of described stator core, between the stator tooth of described stator core and permanent magnet, there is Unequal distance air gap.
Described upper ball cover and lower ball cover are bent spoke formula structure, bending direction is opposite to the direction of rotation, the inside edge of described upper ball cover and lower ball cover is circumferentially provided with inwardly protruded step, and the step of described upper ball cover contacts with lower surface with the upper surface of described permanent magnet respectively with the step of described lower ball cover.
Described upper ball cover and lower ball cover all adopt aluminium alloy, magnesium alloy, titanium alloy, carbon fiber, highstrenghtpiston, stainless steel or mild steel to make.
Described rotor yoke adopts permeability magnetic material to make.
The side of one group of opposition on described permanent magnet is arc surface, the side of another group opposition is plane, the intersection of plane and arc surface all has Fillet Feature, the arc radius of the arc surface that described permanent magnet bonds with rotor yoke equals the inner circle radius of rotor yoke, and described permanent magnet adopts neodymium iron boron or Ferrite Material to make.
Described upper bearing (metal) and lower bearing are deep groove ball bearing or angular contact ball bearing.
Described stator yoke is the spoke type structure of I-beam, and described stator yoke and back shaft all adopt aluminium alloy, titanium alloy or magnesium alloy to make.
Faced by described permanent magnet, the arc radius of the arc surface of air gap meets air gap maximal clearance δ
2with air gap minimum clearance δ
1ratio range is 1.4 ~ 2.2.
Faced by described stator core, the periphery of air gap is circular face, and described stator core external diameter and stator core axial length ratio range are 6 ~ 13, and the ratio of the rotor magnetic pole number of the described stator core number of teeth and this permanent magnet motor is 3: 4.
This permanent magnet motor is low KV value motor, and KV value scope is 70 ~ 500 revs/min/volt, and the rotor magnetic pole number of this permanent magnet motor is 1,2,4 or 6 with the ratio of stator magnet number of poles.
Beneficial effect of the present invention is as follows:
1, the present invention is by the structural design of permanent magnet and stator core, makes permanent magnet motor have Unequal distance air gap, can produce the air gap flux density of near sinusoidal ripple, reduce its slot effect and location torque, improves motor operating efficiency;
2, the rotor magnetic pole number of permanent magnet motor of the present invention and the ratio of the stator core number of teeth are 4:3, and winding coefficient is 0.866, and first-harmonic cogging torque coefficient is 72, can reduce its cogging torque and torque ripple, improve motor operating efficiency;
3, the number of magnetic poles of permanent magnet motor of the present invention and the number of teeth increase, and can reduce its location torque and electromagnetic noise, improve motor operating efficiency;
4, the upper ball cover in the present invention, lower ball cover are bent spoke structures, effectively can guide rotor wake, increase the air flow property of permanent magnet motor, improve radiating effect, for the aircraft motor be under big current mode of operation, its useful life can be extended;
5, the stator core external diameter in the present invention and stator core axial length ratio are between 6 ~ 13, the KV value of permanent magnet motor is between 70 ~ 500 revs/min/volt, permanent magnet motor unit volume output torque is large, operating current reduces, therefore the current density of permanent magnet motor winding is little, extends its useful life.
Accompanying drawing explanation
Fig. 1 is the perspective view of many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors of the present invention;
Fig. 2 is many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors of the present invention profiles diametrically;
Fig. 3 is the structural representation of lower ball cover;
Fig. 4 is the annexation schematic diagram between back shaft, stator core, stator yoke;
Fig. 5 is the schematic diagram of the Unequal distance air gap formed between the stator tooth on permanent magnet and stator core.
In figure: 1, upper ball cover, 2, lower ball cover, 3, rotor yoke, 4, permanent magnet, 5, back shaft, 6, stator core, 61, stator tooth, 7, stator yoke, 8, upper bearing (metal), 9, lower bearing, 10, winding, 11, elastic washer.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 2, many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors of the present invention, primarily of upper ball cover 1, lower ball cover 2, rotor yoke 3, permanent magnet 4, back shaft 5, stator core 6, stator yoke 7, upper bearing (metal) 8, lower bearing 9, winding 10 and elastic washer 11 form, and this permanent magnet motor magnetic structure is: rotor yoke 3-permanent magnet 4-Unequal distance air gap-stator core 6-Unequal distance air gap-permanent magnet 4-rotor yoke 3.
As shown in figures 1 and 3, upper ball cover 1 and lower ball cover 2 are bent spoke formula structure, bending direction is contrary with direction of rotation, spoke number is determined according to the overall dimensions of permanent magnet motor, be at least four, the inside edge of upper ball cover 1 and lower ball cover 2 is circumferentially provided with inwardly protruded step, step on upper ball cover 1 contacts with permanent magnet 4 upper surface, the step of lower ball cover 2 contacts with permanent magnet 4 lower surface, step is used for the axial location of permanent magnet 4, the inner side intermediate circumference of upper ball cover 1 and lower ball cover 2 is provided with inwardly protruded circular ring structure, circular ring structure on upper ball cover 1 is used for fixing upper bearing (metal) 8, circular ring structure on lower ball cover 2 is used for fixing lower bearing 9, the center of lower ball cover 2 is with through hole, upper ball cover 1 and lower ball cover 2 all adopt aluminium alloy, magnesium alloy, titanium alloy, carbon fiber, highstrenghtpiston, the material such as stainless steel or mild steel is made.
As shown in Figure 1, the interference fits that upper ball cover 1 and rotor yoke 3 adopt gap value less is also fixed by the screw-driving that side is uniform, in present embodiment, employing 6 or 8 sunk screws fix upper ball cover 1 and rotor yoke 3, in order to be conducive to the installation of upper ball cover 1 and rotor yoke 3, need between the two when design and installation to leave certain gap value, the grade of tolerance that the scope of gap value can be specified by interference fits is determined.
As shown in Figure 2, lower ball cover 2 and rotor yoke 3 adopt two kinds of different materials interference fit to install or adopt the integrated machine-shaping of commaterial, when lower ball cover 2 adopts two kinds of different materials interference fit to install with rotor yoke 3, lower ball cover 2 adopts aluminium alloy, magnesium alloy or titanium alloy etc.; When lower ball cover 2 and rotor yoke 3 adopt the integrated machine-shaping of commaterial, lower ball cover 2 adopts stainless steel or mild steel etc.
Rotor yoke 3 in present embodiment adopts the permeability magnetic material such as stainless steel, mild steel to make.
Permanent magnet 4 in present embodiment adopts neodymium iron boron or Ferrite Material to make, electroplating processes is done on surface, for two sides arcuate structure, in four sides of permanent magnet 4, the side of two opposition is arc surface, the side of two other opposition is plane, the intersection of plane and arc surface all has Fillet Feature, radius of corner is determined according to the size of permanent magnet 4, the N of permanent magnet 4, S pole is disposed on rotor yoke 3 periphery, or N, N, S, S pole is disposed on rotor yoke 3 periphery, as shown in Figure 2, epoxide-resin glue is adopted to be bonded on the inwall of rotor yoke 3 by permanent magnet 4 arc surface, therefore, the arc radius of the arc surface that permanent magnet 4 bonds with rotor yoke 3 equals the inner circle radius of rotor yoke 3.
As shown in Figure 2, upper ball cover 1 compresses upper bearing (metal) 8 outer ring by the circular ring structure on it and elastic washer 11, lower ball cover 2 compresses lower bearing 9 outer ring by the circular ring structure on it, upper bearing (metal) 8 and lower bearing 9 are respectively deep groove ball bearing or angular contact ball bearing, deep groove ball bearing has certain axial force, motor mass can be reduced, angular contact ball bearing has certain axial force and radial load, be applicable to driving the rotor produced compared with lift, the number of upper bearing (metal) 8 and lower bearing 9 is respectively one.
As shown in Figure 2 and Figure 4, back shaft 5 is column type structure, the thin-walled cylinder of center with diameter through hole is arranged in back shaft 5 upper end, thin-walled cylinder arranged outside has two to organize a performance rank up and down, upper bearing (metal) 8 and lower bearing 9 are all installed on back shaft 5 by interference fit, two rank of organizing a performance up and down of back shaft 5 withstand upper bearing (metal) 8 and lower bearing 9 inner ring respectively, the heavy wall cylinder of center with minor diameter through hole is arranged in back shaft 5 lower end, heavy wall cylinder is arranged in the central through hole of lower ball cover 2, heavy wall cylinder is provided with for permanent magnet motor is arranged on carry-on installing hole.
As shown in Figure 4, stator yoke 7 is the spoke type structure of I-beam, spoke number is determined according to the size of back shaft 5, be at least three, ensure structural strength basis alleviates permanent magnet motor quality, stator yoke 7 and back shaft 5 adopt small-sized integrated machine-shaping or adopt large-scale split mechanical type to be connected and process, the latter is more conducive to alleviating quality, stator yoke 7 and back shaft 5 all adopt aluminium alloy, the material such as titanium alloy or magnesium alloy is made, when both adopt small-sized integrated machine-shaping, stator yoke 7 and back shaft 5 adopt identical material to make, man-hour is added when both adopt large-scale split mechanical type to connect, stator yoke 7 and back shaft 5 can adopt identical or different materials to make.
As shown in Figure 2, stator core 6 is between permanent magnet 4 and stator yoke 7, and be arranged in stator yoke 7, winding 10 is wrapped on the stator tooth 61 of stator core 6, adopt four strands and around star canoe or Delta winds mode, copper factor and operating efficiency can be improved, as shown in Figure 5, air gap is there is between the stator tooth 61 of stator core 6 and permanent magnet 4, air gap is Unequal distance at circumferencial direction, with another arc surface corresponding to the arc surface that permanent magnet 4 bonds with rotor yoke 3 in the face of air gap, when the geometric center lines of permanent magnet 4 overlaps with the geometric center lines of stator tooth 61, faced by permanent magnet 4, the arc radius of the arc surface of air gap meets air gap maximal clearance δ
2with air gap minimum clearance δ
1ratio range is 1.4 ~ 2.2, as shown in Figure 5, and air gap maximal clearance δ
2with air gap minimum clearance δ
1refer in the overlapping curved surface faced one another in the face of arc surface and the circular face of stator tooth 61 of air gap at permanent magnet 4 respectively, along geometric center lines direction two curved surface ultimate range AB and minimum range CD, faced by stator core 6, the periphery of air gap is circular face, stator core 6 external diameter and stator core 6 axial length ratio range are 6 ~ 13, the ratio of rotor magnetic pole number and stator core 6 number of teeth is 4:3, preferably, rotor magnetic pole number is 48 poles and stator core 6 number of teeth is 36 teeth, preferably, rotor magnetic pole number is 72 poles and stator core 6 number of teeth is 54 teeth, stator core 6 adopts 0.35mm silicon steel sheet stack to be pressed into 36 teeth or adopts 0.2mm silicon steel sheet to be wound in 54 teeth.
Many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors of the present invention are low KV value motor, and KV value scope is 70 ~ 500 revs/min/volt, and rotor magnetic pole number is integer with the ratio of stator magnet number of poles, is 1,2,4 or 6.
The number of the permanent magnet 4 in present embodiment according to the ratio of rotor magnetic pole number and stator core 6 number of teeth and when designing the performance requirement of permanent magnet motor determine.
Claims (9)
1. the dish-type of rotor unmanned aircraft more than many magnetic poles permanent magnet motor, is characterized in that, comprising:
Upper ball cover (1);
The rotor yoke (3) fixed by matched in clearance with described upper ball cover (1);
Be bonded in the permanent magnet (4) on described rotor yoke (3) inwall, multiple permanent magnet (4) with N, S pole or N, N, S, S interpolar every setting;
To be fixed by interference fit with described rotor yoke (3) or the lower ball cover (2) of integrated machine-shaping;
Be arranged on the back shaft (5) in described lower ball cover (2) central through hole;
All be arranged on upper bearing (metal) (8) on described back shaft (5) and lower bearing (9) by interference fit, described upper ball cover (1) compresses upper bearing (metal) (8) outer ring by the circular ring structure of its medial center and elastic washer (11), described lower ball cover (2) compresses lower bearing (9) outer ring by the circular ring structure of its medial center, and two steps of described back shaft (5) withstand upper bearing (metal) (8) inner ring and lower bearing (9) inner ring respectively;
The stator yoke (7) of processing is connected by integrated machine-shaping or split mechanical type with described back shaft (5);
To be positioned between described permanent magnet (4) and stator yoke (7) and the stator core (6) be arranged in stator yoke (7);
Be wrapped in the winding (10) on the stator tooth (61) of described stator core (6), between the stator tooth (61) of described stator core (6) and permanent magnet (4), there is Unequal distance air gap;
The side of one group of opposition on described permanent magnet (4) is arc surface, the side of another group opposition is plane, the intersection of plane and arc surface all has Fillet Feature, the arc radius of the arc surface that described permanent magnet (4) is gone up and rotor yoke (3) bonds equals the inner circle radius of rotor yoke (3), and described permanent magnet (4) adopts neodymium iron boron or Ferrite Material to make.
2. many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors according to claim 1, it is characterized in that, described upper ball cover (1) and lower ball cover (2) are bent spoke formula structure, bending direction is opposite to the direction of rotation, the inside edge of described upper ball cover (1) and lower ball cover (2) is circumferentially provided with inwardly protruded step, and the step of described upper ball cover (1) contacts with lower surface with the upper surface of described permanent magnet (4) respectively with the step of described lower ball cover (2).
3. many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors according to claim 1, it is characterized in that, described upper ball cover (1) and lower ball cover (2) all adopt aluminium alloy, magnesium alloy, titanium alloy, carbon fiber, highstrenghtpiston, stainless steel or mild steel to make.
4. many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors according to claim 1, is characterized in that, described rotor yoke (3) adopts permeability magnetic material to make.
5. many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors according to claim 1, it is characterized in that, described upper bearing (metal) (8) and lower bearing (9) are deep groove ball bearing or angular contact ball bearing.
6. many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors according to claim 1, it is characterized in that, the spoke type structure that described stator yoke (7) is I-beam, described stator yoke (7) and back shaft (5) all adopt aluminium alloy, titanium alloy or magnesium alloy to make.
7. many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors according to claim 1, is characterized in that, faced by described permanent magnet (4), the arc radius of the arc surface of air gap meets air gap maximal clearance δ
2with air gap minimum clearance δ
1ratio range is 1.4 ~ 2.2.
8. many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors according to claim 1, it is characterized in that, faced by described stator core (6), the periphery of air gap is circular face, described stator core (6) external diameter and stator core (6) axial length ratio range are 6 ~ 13, and the ratio of the rotor magnetic pole number of described stator core (6) number of teeth and this permanent magnet motor is 3: 4.
9. many rotor unmanned aircraft dish-type many magnetic poles permanent magnet motors according to claim 1, it is characterized in that, this permanent magnet motor is low KV value motor, and KV value scope is 70 ~ 500 revs/min/volt, and the rotor magnetic pole number of this permanent magnet motor is 1,2,4 or 6 with the ratio of stator magnet number of poles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310310704.4A CN103401331B (en) | 2013-07-23 | 2013-07-23 | Disc type multi-magnetic pole permanent magnet motor for multi-rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310310704.4A CN103401331B (en) | 2013-07-23 | 2013-07-23 | Disc type multi-magnetic pole permanent magnet motor for multi-rotor unmanned aerial vehicle |
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| CN103401331B true CN103401331B (en) | 2015-06-10 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105305750B (en) * | 2015-10-13 | 2018-12-04 | 珠海磐磊智能科技有限公司 | Motor and rotor power device, aircraft |
| CN105529844A (en) * | 2016-01-12 | 2016-04-27 | 张大鹏 | Permanent-magnet low-static torque low-speed three-phase alternator |
| CN107317409B (en) * | 2017-07-06 | 2020-03-24 | 青岛迈安德航空科技有限公司 | Disk type motor for unmanned aerial vehicle |
| CN107508442A (en) * | 2017-08-21 | 2017-12-22 | 滁州万际航空器产业研究院有限公司 | A kind of high-magnetic-density outer-rotor permanent magnet motor for unmanned plane |
| CN109462309A (en) * | 2018-10-30 | 2019-03-12 | 中国船舶重工集团公司第七0七研究所 | The miniature hysteresis synchronous motor of aircraft inertia platform |
| CN109586538A (en) * | 2018-12-06 | 2019-04-05 | 上海航天控制技术研究所 | A kind of autonomous controllable high-precision height response electromechanical servo component |
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| CN1272714A (en) * | 1999-05-04 | 2000-11-08 | 李宜和 | Auxiliary power motor with improved structure |
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