CN103812241A - Stator permanent magnet mixed stepping motor - Google Patents
Stator permanent magnet mixed stepping motor Download PDFInfo
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- CN103812241A CN103812241A CN201410092470.5A CN201410092470A CN103812241A CN 103812241 A CN103812241 A CN 103812241A CN 201410092470 A CN201410092470 A CN 201410092470A CN 103812241 A CN103812241 A CN 103812241A
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Abstract
The invention discloses a stator permanent magnet mixed stepping motor which comprises a stator portion and a rotor portion. The rotor portion comprises a rotor overlying core and a rotary shaft in the core. Same small teeth are evenly distributed on the outer periphery of the rotor overlaying core. The stator portion comprises a stator core, a stator winding and permanent magnets. Magnetic poles are distributed on the inner periphery of the stator core. Stator small teeth with tooth gaps same as those of the rotor small teeth are distributed on pole shoes of the magnetic poles, a coil is arranged on each magnetic pole body, the coils are connected in series or in parallel to form a multi-phase winding of a stator according to a certain rule, grooves are formed along the periphery evenly at the symmetrical positions of a stator core yoke portion, the permanent magnets are arranged in the grooves and distributed evenly, magnetizing is conducted in the tangential direction, and the magnetizing directions of two adjacent permanent magnets are opposite. The motor has the advantages of being simple in structure and process, low in cost and high in efficiency, power density and torque density. Meanwhile, a motor magnetic field is a two-dimensional field, and analyzing and designing are easy.
Description
Technical field
The present invention relates to a kind of novel Hybrid stepping motor, relate in particular to and a kind of permanent magnet is arranged to the Hybrid stepping motor on motor stator.
Background technology
Stepping motor has become the main motor of the 3rd class except direct current machine and alternating current machine.Conventional motors is mainly as electromechanical energy conversion device, plays a part crucial in the mankind's production and life enter electrified process.The today that enters automation age at human society, the function of conventional motors can not meet the requirement of the various kinetic control systems such as factory automation and office automation.For adapting to these requirements, developed a series of new electric systems of controlling function that possess, wherein have own feature, and application very widely a class be stepping motor.
Stepping motor is used in numerically controlled lathe and robot system.At modern industry, particularly in the field such as Aeronautics and Astronautics, electronics, workload that requirement completes is large, task is complicated, precision is high, not only labour intensity is large, production efficiency is low to utilize manual operation, and be difficult to reach desired precision, also have a few thing environment be to health harmful or the mankind be beyond one's reach, this just needs Digit Control Machine Tool and robot to complete these work.In addition, in computer peripheral equipment and office automation equipment, also use in a large number stepping motor, as disk drive, printer, plotter and photocopier etc.
Stepping motor is mainly divided into variable reluctance stepping motor, p-m step motor and mixing (excitation) stepping motor three classes by structure.Wherein, though variable reluctance stepping motor precision is higher, power consumption is large, efficiency is low; Though p-m step motor power consumption is little, precision is low, running frequency is low.Up till now, above two class stepping motors are extremely rare in industrially developed country.By contrast, Hybrid stepping motor is the combination of variable reluctance stepping motor and p-m step motor, have both advantages concurrently, because volume is little, cost performance is high, good reliability, operate steadily, be easy to control progressively in leading position, since coming out the sixties in last century, obtained the favor of industrial automation, and acquisition develops rapidly.Current most typical mixing stepping product is 2 phase 8 stator poles Hybrid stepping motors, also can be the Hybrid stepping motor of other other stator poles of number of phases, various composite excitation stepping motor structure principles are close, and main feature is the annular permanent magnet that rotor is placed with axial charging.Structural principle and defect thereof take 2 phase 8 utmost points (stator poles) Hybrid stepping motors as the current general Hybrid stepping motor of example explanation below.
At present general 2 phase 8 utmost point Hybrid stepping motors are made up of stationary part and rotor portion.Rotor laminates magnetic conductive iron by the annular permanent magnet of axial charging and two-stage rotor and forms, it is identical that two-stage rotor laminates magnetic conductive iron, its even circumferential is distributed with multiple little teeth, two-stage rotor laminates circumferencial direction unshakable in one's determination and staggers after 1/2 tooth pitch, with the main part that inserts in annular permanent magnet formation rotor therebetween.Stator is mainly made up of stator core and stator winding, stator core is laminated and is formed by magnetic conductive iron sheet, there are 8 magnetic poles, on the pole shoe of each magnetic pole, be distributed with and the little tooth of the rotor periphery identical stator of little tooth tooth pitch, on the pole body of each magnetic pole, have a coil, 8 coils connect into A, B two-phase stator winding in sequence.Under the effect in rotor permanent magnet magnetic field, by the order power on/off of stator A, B two phase windings, utilize reluctance force, realize the stepping of rotor and rotate.
Although traditional composite stepper motor has the advantage of variable reluctance stepping motor and p-m step motor concurrently, power consumption is little, precision is high, cost performance is high, operate steadily, and has following defect in its structure:
1. because permanent magnet is placed on rotor, and be positioned over two sections and laminate in the middle of rotor core, and little tooth on two-stage rotor 1/2 tooth pitch that must mutually stagger, thereby electric machine structure complexity, processing and manufacturing difficulty.
2. permanent magnet magnetizes vertically, two-stage rotor iron core and stator core must vertically be passed vertically to form closed-loop path in the magnetic field that permanent magnet produces, due to fixed, rotor core forms by laminating silicon steel sheet, between adjacent silicon steel disc, there is non-magnetic insulating barrier (being equivalent to air gap), the magnetomotive force that permanent magnet produces consumes in the middle of the air gap between lamination greatly, cause permanent magnet utilance low, in other words for meeting the close necessary permanent magnet thickness that increases of air gap permanent magnet magnetic between electric machine rotor, thereby increase permanent magnet consumption, increase motor manufacturing cost.
3. electric machine stator iron and two-stage rotor stalk are to longer, the magnetomotive force of permanent magnet consumption in axial magnetic conduction magnetic circuit is also just larger, therefore also just limited the axial length of conventional hybrid excitation stepping motor, thereby limit the power grade of conventional hybrid stepping motor, be the power grade maximum of conventional hybrid stepping motor in about 1kW, be generally used for several W, tens W power grade scopes.
4. in motor permanent magnet axial length range, do not produce energy converting between mechanical, therefore make power density and the torque density of this kind of motor reduce, stator winding conductor in permanent magnet axial length range connection function as winding overhang simultaneously, also do not participate in power conversion, this causes the Efficiency Decreasing of motor.Power density, torque density and the efficiency that conventional hybrid stepping motor is lower is also this kind of junior major reason of power of motor.
5. permanent magnetic field is axially closed along stator and rotor cores, cause motor gas-gap permanent-magnet magnetic close axially inhomogeneous, close low at the air gap permanent magnet magnetic near both ends, the closer to permanent magnet, air gap permanent magnet magnetic is close just higher, obviously, two ends rotor core is axially longer, the close distribution vertically of air gap permanent magnet magnetic is just more inhomogeneous, owing to need to considering the saturation of magnetic path of stator and rotor cores when the design of electrical motor, therefore this phenomenon causes the utilance of effective material of motor to reduce, and has caused increasing of cost, has also limited the raising of power of motor grade.
6. due to permanent magnet axial charging, its magnetic circuit is closed vertically, and the magnetic field that motor stator winding produces is along the circumferential direction closed, and therefore the magnetic field of integrated motor is the three dimensional field of standard, and analysis, calculating and design to motor bring difficulty.
7. permanent magnet is on rotor, and permanent magnet heat radiation difficulty, easily produces permanent magnet demagnetization phenomenon, and while rotor is installed permanent magnet reliability and is also difficult for guaranteeing, in high-speed electric expreess locomotive, this has limited high rotating speed and the large-power occasions application of this kind of motor equally especially
From the above mentioned, traditional Hybrid stepping motor, because permanent magnet is placed on rotor, cause motor complex structure, processing and manufacturing difficulty, power density torque density is low, operational efficiency is low, stock utilization is low, cost is high, limit the raising of this kind of power of motor grade, although this kind of motor has control system advantage simple, with low cost, in the competition that is greater than 1 kW power grade application scenario and other types motor, be in a disadvantageous position, power grade is larger, and inferior position is more obvious.
Summary of the invention
The object of the invention is for overcoming above-mentioned the deficiencies in the prior art, provide a kind of stator permanent magnet to mix (excitation) stepping motor.Can realize making full use of of permanent magnet in motor, and can be simpler than traditional composite stepper motor structure, processing and manufacturing more easily, permanent magnet utilance is higher, motor overall power density is larger, motor output torque is larger, motor axial length allows that mobility scale is larger, reliability is higher, power of motor can accomplish larger, electric efficiency is higher, permanent magnet is placed on stator simultaneously, the magnetic field that causes motor is two dimensional field, and this design of analysis to motor brings convenience.
To achieve these goals, the present invention adopts following technical scheme:
A kind of stator permanent magnet Hybrid stepping motor, comprises stationary part and rotor portion, and rotor portion comprises that rotor laminates the rotating shaft with being arranged on core interior unshakable in one's determination, and rotor laminates periphery unshakable in one's determination and is evenly distributed with identical little tooth; Stationary part comprises stator core, stator winding and permanent magnet, in stator core, week be distributed with magnetic pole, on the pole shoe of magnetic pole, be distributed with the stator little tooth identical with the little tooth tooth pitch of rotor, place a coil on the pole body of each magnetic pole, coil winding direction is determined by the every phase number of poles of stator; Evenly have the open slot of some in the symmetric position of stator core yoke portion, the opening direction of groove radially points to stator core yoke portion outside, and the angle that the groove center line of adjacent two grooves along the circumferential direction strides across is identical; Permanent magnet is placed in described groove, and described permanent magnet is uniformly distributed, and is all cutting orientation magnetizing, and the magnetizing direction of adjacent two permanent magnets is contrary.
Described stator core periphery cover has non-magnetic casing, and stator core is fixed together by the end cap of screw and motor.
Described rotor portion is bearing in end cap by bearing, and rotor portion rotates in stator interior.
In the time that the number of phases m of motor is not 5 or 5 multiple, the multiple that the every phase number of poles of stator j is 4, now permanent magnet blocks number is:
n＝j/2；
The little number of teeth of rotor is:
Z
r=j (km ± 1/2) or
Wherein, k is positive integer, and the each utmost point of stator is uniformly distributed.
In the time that the number of phases m of motor is 5 or 5 multiple, the every phase number of poles of stator j is even number;
In the time of multiple that j is 4, permanent magnet blocks number is:
n＝j/2；
In the time that j is not 4 multiple, permanent magnet blocks number is:
n＝j；
The little number of teeth of rotor is:
Z
r=mj or Z
r=5kmj;
Wherein, k is positive integer, and the each utmost point of stator is not uniformly distributed, and the rotor tooth relative position of adjacent stators magnetic pole staggers mutually
electrical degree.
On each magnetic pole of the stator pole shoe, the little number of teeth of equally distributed stator is any positive integer.
In the time of multiple that the every phase number of poles of stator j is 4, form half period motor with the motor part of being surrounded between a pair of adjacent permanent magnet center line, the coil winding opposite direction of the stator winding coil coiling direction of half period motor and other half period in a complete cycle motor.
A kind of stator permanent magnet Hybrid stepping motor (take 2 phase 8 utmost point Hybrid stepping motors as example), formed by stationary part and rotor portion, rotor is mainly made up of the rotating shaft of rotor core and rotor core inside, and the magnetic conduction lamination that rotor core is distributed with a lot of little teeth by even circumferential is overrided to form.Stator is mainly made up of stator core, stator winding and permanent magnet, stator core is overrided to form by magnetic conduction lamination, in stator core, be uniformly distributed 8 identical magnetic poles week, on the pole shoe of each magnetic pole, be distributed with the stator little tooth identical with the little tooth tooth pitch of rotor core periphery, and a coil is installed on each magnetic pole pole body, have 8 coils, 8 coils connect and compose A phase winding and the B phase winding of stator in sequence.Stator core yoke portion has cuboid groove in specific symmetric position, in order to place permanent magnet.Stator core outside is generally installed not magnetic conductive shell again, is then connected with two end caps by screw.Rotor portion is bearing in two end caps by two bearings.Rotor portion just can rotate in stator interior like this.
By the interaction of permanent magnet excitation and stator winding current excitation, the order energising by stator A, B two phase windings, produces reluctance force and rotor stepping is rotated.
The invention has the beneficial effects as follows:
1. permanent magnet is positioned on motor stator, and rotor only needs one section, has greatly simplified the structure of motor, has reduced processing and manufacturing difficulty, thereby has reduced motor manufacturing cost.
2. magnetic circuit and current excitation are all positioned at circumferencial direction, the drawback of having avoided the magnetic field of conventional hybrid excitation stepping motor permanent magnet generation vertically to pass vertically laminated stator core and rotor pack iron core, greatly improve the utilance of permanent magnet, save permanent magnetic material, reduced the material cost of motor.
3. because permanent magnet is positioned on stator, between the number of stator and rotor iron core laminating silicon steel sheet quantity and permanent magnet utilance without any relation, thereby motor axial length can choose in any range, thereby can improve by increasing electric machine iron core length the power grade of motor.
4. permanent magnet itself does not take effective axial space of motor, in electric machine iron core length range, all participate in power conversion, in stator slot, conductor all participates in power conversion, has therefore improved power density, torque density and the operational efficiency of motor, is also conducive to the raising of this kind of power of motor grade.
5. in electric machine iron core axial range, air gap permanent magnet magnetic is close is evenly distributed, and electric machine rotor axial range internal magnetic circuit unshakable in one's determination degree of saturation is identical, contributes to improve the utilance of material, reduces motor material cost, contributes to improve the power grade of motor
6. motor permanent magnetic field and stator winding current field are positioned at same circumferential plane, are therefore one 2 dimension magnetic field, and this has simplified the analysis and design of motor.
7. permanent magnet is on stator, and easily, favourable to protection permanent magnet, same stator permanent magnet has been avoided the mechanical unreliability of conventional hybrid excitation stepping motor rotor magnet in permanent magnet heat radiation.Velocity of rotation and power grade to raising motor are favourable.
Can find out, that stator permanent magnet Hybrid stepping motor of the present invention has compared with traditional Hybrid stepping motor is simple in structure, processing and manufacturing easily, power density torque density is high, operational efficiency is high, stock utilization is high, cost is low advantage, Hybrid stepping motor of the present invention both can be used for the low power range of conventional hybrid stepping motor simultaneously, also can be used for high-power scope, consider again simple and the feature that can position Sensorless Control of the intrinsic driving control of stepping motor itself, with the competition of other types motor in clear superiority.
Accompanying drawing explanation
Fig. 1 is that the present invention is used as 2 STRUCTURE DECOMPOSITION figure (the little tooth of rotor 50, the little tooth of the every utmost point 5 of stator) when 8 utmost point Hybrid stepping motor mutually;
Fig. 2 is that the present invention is used as 2 shaft section figure (the little tooth of rotor 50, the little tooth of the every utmost point 5 of stator) when 8 utmost point Hybrid stepping motor mutually;
Fig. 3 is that the present invention is used as 2 stator iron-core lamination figure (the little tooth of the every utmost point 5 of stator) when 8 utmost point Hybrid stepping motor mutually;
Fig. 4 is that the present invention is used as 2 each winding wiring figure of stator winding when 8 utmost point Hybrid stepping motor mutually;
Fig. 5 is that the present invention is used as 2 each winding wiring schematic diagrames of stator winding when 8 utmost point Hybrid stepping motor mutually;
Fig. 6 is that the present invention is used as 2 magnetic pole of the stator polarity distribution maps when permanent magnet independent excitation when 8 utmost point Hybrid stepping motor mutually;
Fig. 7 (a) for the present invention as 2 mutually 8 utmost point Hybrid stepping motors at initial position, the fundamental diagram (the little tooth of rotor 50, the little tooth of the every utmost point 5 of stator) when A phase winding passes into forward current;
Fig. 7 (b) be motor at initial position, fundamental diagram when A phase winding no power, B phase winding pass into forward current;
When Fig. 7 (c) turns over a step angle for motor, the fundamental diagram while passing into forward current still to B phase winding;
When Fig. 7 (d) turns over a step angle for motor, fundamental diagram when B phase winding no power, motor A phase winding pass into negative current;
Fig. 8 is that the present invention is used as 2 structure principle charts (the little tooth of rotor 18, the little tooth of the every utmost point 2 of stator) when 8 utmost point Hybrid stepping motor mutually;
Fig. 9 is that the present invention is used as 2 former figure of structure (the little tooth of rotor 100, the little tooth of the every utmost point 5 of stator) when 16 utmost point Hybrid stepping motor mutually;
Figure 10 is that the present invention is used as 3 structure principle charts (the little tooth of rotor 50, the little tooth of the every utmost point 4 of stator) when 12 utmost point Hybrid stepping motor mutually;
Figure 11 is that the present invention is used as 5 structure principle charts (the little tooth of rotor 50, the little tooth of the every utmost point 4 of stator) when 10 utmost point Hybrid stepping motor mutually
Figure 12 is that the present invention is used as 5 structure principle charts (the little tooth of rotor 100, the little tooth of the every utmost point 4 of stator) when 20 utmost point Hybrid stepping motor mutually
Wherein, 1-1. motor front end cover, 1-2. back end cover for motor, 2-1. fore bearing, 2-2. rear bearing, 3. rotating shaft, 4. rotor core, 5. permanent magnet, 6. stator winding, 7. stator core, 8. stator cage, 9. screw.
Embodiment:
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described.
A kind of stator permanent magnet composite excitation stepping motor, comprises stationary part and rotor portion.Rotor portion comprises rotor core 4 and the rotating shaft 3 that is arranged on core interior, and rotor laminates iron core and only has one section, and its even circumferential is distributed with identical little tooth; Stationary part comprises stator core 7, stator winding 6 and stator permanent magnet 5, interior week of stator core 7 is distributed with identical magnetic pole, on the pole shoe of each magnetic pole, be distributed with the stator little tooth identical with the little tooth tooth pitch in rotor circumference surface, on the pole body of each magnetic pole, place coil, the polyphase windings of each coil formation motor in series or in parallel with each other, be evenly distributed with the permanent magnet 5 tangentially magnetizing in stator core yoke portion, the magnetizing direction of adjacent permanent magnet 5 is contrary, and the number of phases of motor, every phase stator poles, rotor periphery teeth groove number and 5 numbers of permanent magnet meet specific relation.
2 phase 8 utmost point stator permanent magnet composite excitation stepping motor structure parts of the present invention as shown in Figure 1, formed by stationary part and rotor portion, rotor portion is mainly made up of rotor core 4 and the rotating shaft 3 that is enclosed within rotor core 4 internal diameters, rotor core is overrided to form by magnetic conductive iron sheet, and rotor core periphery is uniformly distributed multiple identical little teeth.
Stator major part is made up of stator core 7, stator coil 6 and stator permanent magnet 5.Interior week of stator core 7 is evenly distributed with 8 magnetic poles, order is expressed as 7-1,7-2,7-3,7-4,7-5,7-6,7-7,7-8 successively, on the pole shoe of each magnetic pole, be evenly distributed with and the little tooth of the rotor identical stator of little tooth tooth pitch, on the pole body of each magnetic pole, cover has a coil, corresponding magnetic pole label, is labeled as coil 6-1,6-2,6-3,6-4,6-5,6-6,6-7,6-8 successively.Coil 6-1 (+A) and coil 6-3 (A) differential concatenation, again with coil 6-5 (A) differential concatenation, again with coil 6-7 (+A) forward motor stator A in series phase winding, coil 6-2 (+B) and coil 6-4 (B) differential concatenation, again with coil 6-6 (B) differential concatenation, again with the B phase winding of coil 6-8 (+B) forward motor stator in series, as shown in Figure 4 and Figure 5.
The motor part of surrounding between a pair of adjacent permanent magnet center line forms half period motor, in the time of multiple that the every phase number of poles of stator j is 4, in the middle of one-period motor, have the stator winding coil coiling direction of half period motor identical with traditional composite stepper motor, and the stator winding coil coiling direction of half period motor is contrary with traditional composite stepper motor in addition; When the every phase number of poles of stator j is even number and while not being 4 multiple, in the middle of one-period motor, stator winding coil coiling direction is identical with traditional composite stepper motor.
Rear of core in the middle of rear of core and magnetic pole 7-4 and the 7-5 of stator core 7 in the middle of magnetic pole 7-1 and 7-8 has permanent magnet trough, in order to place respectively permanent magnet 5-1 and 5-2, permanent magnet 5-1 and 5-2 tangentially magnetize, and along the circumferential direction magnetizing direction is contrary, see N, the S polarity of the permanent magnet shown in Fig. 2 and Fig. 6, thereby make in the time only having permanent magnet excitation, magnetic pole of the stator 7-1,7-2,7-3,7-4 are the N utmost point, 7-5,7-6,7-7,7-8 are the S utmost point, as shown in Figure 6.
Stator core periphery cover has non-magnetic casing 8, and stator core is fixed together with end cap 1-1 and 1-2 by screw 9.Rotor portion, by being contained in the bearing 2-2 in bearing 2-1 and the end cap 1-2 in end cap 1-1, is assembled together and forms stator permanent magnet Hybrid stepping motor of the present invention with stationary part.
While mixing step by step structure of the present invention being described by Fig. 1～Fig. 6, describe with 2 phase 8 utmost point stator permanent magnet Hybrid stepping motors, stator number of phases m=2, the pole number j=4 that the every phase of stator comprises, total pole number of stator is m × j=8, stator permanent magnet piece number is n=2, the little tooth number Z of rotor
r=50, and the each magnetic pole of stator is uniformly distributed.
2 phase 8 utmost points (the little tooth of rotor 50) stator permanent magnet composite excitation stepping motor specific works principle schematic of the present invention are as shown in Fig. 7 (a)-Fig. 7 (d), and in this instantiation, the angular pitch of motor is
the step angle of motor is
θ represents that stator tooth under each magnetic pole of the stator is ahead of the mechanical angle of rotor tooth, T
e1～T
e8represent level of torque and direction that the little tooth of rotor under each magnetic pole of the stator produces under reluctance force effect, the polarity N utmost point and the S utmost point that under permanent magnet independent role, each magnetic pole of stator presents represent.Can normally work in order to make motor, the power-up sequence of stator two phase windings is: A phase winding leads to the logical negative electricity of the logical negative electricity → B phase winding of the logical positive electricity → A phase winding of positive electricity → B phase winding, and then be cycled to repeat this step mode, and current reference direction when the logical positive electricity of A, B two phase windings as shown in Figure 4.
This routine operation principle of the present invention will be elaborated below: the initial position of supposition motor as shown in Figure 7 (a), now the stator and rotor tooth position of center line under magnetic pole of the stator 7-1 and 7-5 aligns just, and pass into forward current to motor A phase winding, produce principle according to reluctance force, easily analyze now T
e1～T
e8size and direction, and have following relation:
T
e1＝T
e3＝T
e5＝T
e7＝0，T
e2＝T
e6＝-T
e4＝-T
e8。Thereby the torque of whole rotor is 0, rotor, in equilbrium position place, can not rotate; Now stop to the energising of motor A phase winding, and pass into forward current to motor B phase winding, easily analyze now T
e1～T
e8size and direction, as shown in Figure 7 (b) shows, and have following relation: T
e1=T
e3=T
e5=T
e7=0, T
e2=T
e6> T
e4=T
e8.This be because, the magnetic field that the magnetic field that the upper permanent magnet of magnetic pole of the stator 7-2 and 7-6 produces and stator B phase winding electric current produce superposes mutually, and the magnetic field that the magnetic field that the upper permanent magnet of magnetic pole of the stator 7-4 and 7-8 produces and stator B phase winding electric current produce weakens mutually, under magnetic pole of the stator 7-2,7-4,7-6,7-8, the magnetic resistance size of each rotor between cog is identical simultaneously, conclusion is that rotor entirety produces moment, and drives rotor to rotate to positive direction.Further, in the time that motor turns over a step angle (1.8 °), if pass into forward current still to motor B phase winding, easily analyze now T
e1～T
e8size and direction, as shown in Fig. 7 (c), and have following relation: T
e2=T
e4=T
e6=T
e8=0, T
e1=T
e5=-T
e3=-T
e7, thereby the torque of whole rotor is 0, rotor, in equilbrium position place, can not rotate; Now stop to the energising of motor B phase winding, and pass into negative current to motor A phase winding, easily analyze now size and the direction of Te1～Te8, as shown in Fig. 7 (d), and have following relation: T
e2=T
e4=T
e6=T
e8=0, T
e1=T
e5< T
e3=T
e7, conclusion is that rotor entirety produces moment, and drives rotor to rotate to positive direction.
Further again, electrical power and produce the principle of torque and above analysis classes seemingly, without repeating.Can be reached a conclusion by above analysis: by stator two phase winding orders are switched on, under the acting in conjunction of stator permanent magnet and stator winding electric current, the present invention can stepping work the same as traditional stepping motor.
The maximum feature of Hybrid stepping motor of the present invention is that permanent magnet is placed on stator, wherein stator winding number of phases m, and every pole number j comprising mutually, permanent magnet number n, must meet certain relation between rotor number of teeth Zr, just can guarantee that the present invention normally moves.Physical relationship is as follows:
In the time that number of phases m is not 5 multiple, the every phase number of poles of stator j must be 4 multiple, and now permanent magnet blocks is counted n=j/2, the little tooth number Z of rotor
r=j (km ± 1/2) or
(wherein k is positive integer), the each utmost point of stator is uniformly distributed;
In the time that number of phases m is 5 multiple, the every phase number of poles of stator j must be even number.In the time of multiple that j is 4, n=j/2, when j is not 4 multiple, permanent magnet blocks is counted n=j, the little tooth number Z of rotor
r=mj or Z
r=5kmj(wherein k is positive integer), the each utmost point of stator is not uniformly distributed, and the rotor tooth relative position of adjacent stators magnetic pole staggers mutually
electrical degree (rotor slot-pitch is 2 π electrical degrees);
The n piece permanent magnet of institute's invention motor distributes at stator yoke portion even circumferential, tangentially magnetize, and adjacent two permanent magnet magnetizing directions is contrary; Little tooth number in institute's invention motor stator magnetic pole is to be greater than 1 integer, and the little tooth tooth pitch of stator is identical with the little tooth tooth pitch of rotor.
Obtain several frequently seen electric machine structure of the present invention according to above-mentioned relation as follows:
(1) 2 phase 8 utmost points (the little tooth of rotor 50, the little tooth of the every utmost point 5 of stator) Hybrid stepping motor of the present invention, as shown in Figure 2, wherein, j=4, m=2, k=6, n=2;
(2) 2 phase 8 utmost points (the little tooth of rotor 18, the little tooth of the every utmost point 2 of stator) Hybrid stepping motor of the present invention, as shown in Figure 8, wherein, j=4, m=2, k=2, n=2;
(3) 2 phase 16 utmost points (the little tooth of rotor 100, the little tooth of the every utmost point 5 of stator) Hybrid stepping motor of the present invention, as shown in Figure 9, wherein, j=8, m=2, k=6, n=4;
(4) 3 phase 12 utmost points (the little tooth of rotor 50, the little tooth of the every utmost point 4 of stator) Hybrid stepping motor of the present invention, as shown in figure 10, wherein, j=4, m=3, k=4, n=2;
(5) 5 10 utmost points (the little tooth of rotor 50, the little tooth of the every utmost point 4 of stator) Hybrid stepping motors of the present invention mutually, as shown in figure 11, wherein j=2, m=5, k=1, n=2, the rotor tooth of adjacent two stator poles 6 π/5 of staggering mutually;
(6) 5 20 utmost points (the little tooth of rotor 100, the little tooth of the every utmost point 4 of stator) Hybrid stepping motors of the present invention mutually, as shown in figure 12, wherein j=4, m=5, k=1, n=2, the rotor tooth of adjacent two stator poles 6 π/5 of staggering mutually.
Hybrid stepping motor of the present invention both can be used as stepping motor, also can be used as generator.
By reference to the accompanying drawings the embodiment of invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (7)
1. a stator permanent magnet Hybrid stepping motor, comprises stationary part and rotor portion, it is characterized in that, rotor portion comprises that rotor laminates the rotating shaft with being arranged on core interior unshakable in one's determination, and rotor laminates periphery unshakable in one's determination and is evenly distributed with identical little tooth; Stationary part comprises stator core, stator winding and permanent magnet, in stator core, week be distributed with magnetic pole, on the pole shoe of magnetic pole, be distributed with the stator little tooth identical with the little tooth tooth pitch of rotor, place a coil on the pole body of each magnetic pole, coil winding direction is determined by the every phase number of poles of stator j; Evenly have the open slot of some in the symmetric position of stator core yoke portion, the opening direction of groove radially points to stator core yoke portion outside, and the angle that the groove center line of adjacent two grooves along the circumferential direction strides across is identical; Permanent magnet is placed in described groove, and described permanent magnet is uniformly distributed, and is all cutting orientation magnetizing, and the magnetizing direction of adjacent two permanent magnets is contrary.
2. a kind of stator permanent magnet Hybrid stepping motor as claimed in claim 1, is characterized in that, described stator core periphery cover has non-magnetic casing, and stator core is fixed together by the end cap of screw and motor.
3. a kind of stator permanent magnet Hybrid stepping motor as claimed in claim 1, is characterized in that, described rotor portion is bearing in end cap by bearing, and rotor portion rotates in stator interior.
4. a kind of stator permanent magnet Hybrid stepping motor as claimed in claim 1, is characterized in that, in the time that the number of phases m of motor is not 5 or 5 multiple, and the multiple that the every phase number of poles of stator j is 4, now permanent magnet blocks number is:
n＝j/2；
The little number of teeth of rotor is:
Z
r=j (km ± 1/2) or
Wherein, k is positive integer, and the each utmost point of stator is uniformly distributed.
5. a kind of stator permanent magnet Hybrid stepping motor as claimed in claim 1, is characterized in that, in the time that the number of phases m of motor is 5 or 5 multiple, the every phase number of poles of stator j is even number;
In the time of multiple that j is 4, permanent magnet blocks number is:
n＝j/2；
In the time that j is not 4 multiple, permanent magnet blocks number is:
n＝j；
The little number of teeth of rotor is:
Zr=mj or Zr=5kmj;
Wherein, k is positive integer, and the each utmost point of stator is not uniformly distributed, and the rotor tooth relative position of adjacent stators magnetic pole staggers mutually
electrical degree.
6. a kind of stator permanent magnet Hybrid stepping motor as claimed in claim 1, is characterized in that, on each magnetic pole of the stator pole shoe, the little number of teeth of equally distributed stator is any positive integer.
7. a kind of stator permanent magnet Hybrid stepping motor as claimed in claim 1, it is characterized in that, in the time of multiple that the every phase number of poles of stator j is 4, form half period motor with the motor part of being surrounded between a pair of adjacent permanent magnet center line, in a complete cycle motor, the wherein stator winding coil coiling direction of half period motor and the coil winding opposite direction of half period in addition.
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| CN201410092470.5A CN103812241B (en) | 2014-03-13 | 2014-03-13 | A kind of stator permanent magnet Hybrid stepping motor |
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| CN201410092470.5A CN103812241B (en) | 2014-03-13 | 2014-03-13 | A kind of stator permanent magnet Hybrid stepping motor |
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| CN103812241A true CN103812241A (en) | 2014-05-21 |
| CN103812241B CN103812241B (en) | 2016-05-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104600944A (en) * | 2014-06-23 | 2015-05-06 | 深圳市乐丰科技有限公司 | Permanent magnet switch reluctance machine and a stator assembly thereof |
| CN107332426A (en) * | 2017-06-19 | 2017-11-07 | 上海电机学院 | A kind of permanent magnet is installed on the hybrid type stepping motor of stator |
| CN107769510A (en) * | 2017-10-27 | 2018-03-06 | 江苏理工学院 | A kind of stator is embedded with the composite stepper motor of U-shaped permanent magnet |
| CN108183562A (en) * | 2016-12-08 | 2018-06-19 | 上海鸣志电器股份有限公司 | A kind of stepper motor |
| CN108242861A (en) * | 2016-12-23 | 2018-07-03 | 上海鸣志电器股份有限公司 | A kind of two-phase hybrid stepping motor |
| CN108808906A (en) * | 2017-05-04 | 2018-11-13 | 上海鸣志电器股份有限公司 | A kind of stepping motor rotor and the motor with the rotor |
| CN109256874A (en) * | 2017-07-13 | 2019-01-22 | 杭州三花研究院有限公司 | Stepper motor and valve gear with the stepper motor |
| CN109391048A (en) * | 2017-08-14 | 2019-02-26 | 上海鸣志电器股份有限公司 | A kind of step motor stator and the motor with the stator |
| CN109756089A (en) * | 2019-03-12 | 2019-05-14 | 浙江工业大学 | Axial phase hybrid type stepping motor |
| TWI692918B (en) * | 2018-07-18 | 2020-05-01 | 國立成功大學 | Inproved motor core structure and magnetic conduction cover |
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| CN109391048A (en) * | 2017-08-14 | 2019-02-26 | 上海鸣志电器股份有限公司 | A kind of step motor stator and the motor with the stator |
| CN107769510A (en) * | 2017-10-27 | 2018-03-06 | 江苏理工学院 | A kind of stator is embedded with the composite stepper motor of U-shaped permanent magnet |
| TWI692918B (en) * | 2018-07-18 | 2020-05-01 | 國立成功大學 | Inproved motor core structure and magnetic conduction cover |
| CN109756089A (en) * | 2019-03-12 | 2019-05-14 | 浙江工业大学 | Axial phase hybrid type stepping motor |
| CN109756089B (en) * | 2019-03-12 | 2024-03-12 | 浙江工业大学 | Axial split-phase mixed stepping motor |
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