CN103855826A - IPM type rotary motor - Google Patents

Abstract

An IPM type rotary motor is provided with a rotor (12) embedded as a V shape into a permanent magnet (16); and a stator receiving the stator. The number of slots in unit polar unit phase is 2. When the permanent magnet exists at the d axis side, the permanent magnet generates magnet flux at a direction counteracting the armature flux at the d axis side. In a range of generating the magnet flux, the permanent magnet is changed into a magnet flux wall (17c) with gaps with small magnetic permeability. A middle point (17b1m) is disposed in a range where the included angle (theta 8) (an electric angle) between the d axis and the external-end inner surface (17b1) of a magnet flux wall (17b) of a side bridge (30) of the rotor is 64.7-74.2 degrees. The included angle (theta 9) (a mechanical angle) between the extending surface of the d axis side inner surface (17b1d) and the q axis side inner surface (17b1q) is set to be 0-37 degrees.

Description

IPM type turning motor

Technical field

The present invention relates to IPM type turning motor, be specifically related to realize the IPM type turning motor of high efficiency rotary actuation.

Background technology

Require and the corresponding characteristic of erecting device for the turning motor that is installed on various devices.

For example, in the case of being installed on hybrid electric vehicle (HEV:Hybrid Electric Vehicle) as drive source or being installed on as independent drive source the drive motor of electric motor car (EV:Electric Vehicle) together with internal combustion engine, require to produce large torque in low rotation speed area, possess wide variable-ratio characteristic simultaneously.

In this vehicle, in order to improve fuel efficiency, require to improve energy conversion efficiency for comprising turning motor at interior each part, particularly, in vehicle-mounted turning motor, expect to improve the efficiency of general regions.And, in vehicle-mounted turning motor, from the restriction in space, light-weighted viewpoint are set, require the structure of the high-energy-density of more miniaturization.

, in HEV, EV, in general, the slow-speed of revolution/low-load region of turning motor is general regions.Therefore, there is following trend: the ratio of the torque contribution to vehicle-mounted turning motor is that magnet torque is greater than and the corresponding reluctance torque of size of armature supply, uses the permanent magnet of high magnetic force for high efficiency more.

Due to this trend, as turning motor, in order to improve energy conversion efficiency, particularly improve the efficiency of the general regions of the slow-speed of revolution/low-load region, be used as the IPM(Interior Permanent Magnet that the neodium magnet of high residual magnetic flux density is imbedded to the synchronous motor of the permanent magnet of the core interior of rotor more; Built-in permanent magnet) type turning motor.Propose in this IPM type turning motor, permanent magnet is imbedded in rotor in the mode that becomes the V font opening towards outer peripheral face side, thereby be made as the scheme of the magnetic loop (for example, patent documentation 1) that can also actively utilize reluctance torque on the basis of magnet torque.In addition, also proposed to possess in IPM type turning motor from permanent magnet two the structure of the distolateral magnetic flux wall stretching out towards the outer peripheral face of rotor, also proposed to make magnetic flux wall in the outer peripheral face side of rotor continuously and open structure (patent documentation 2), structure (patent documentation 3) that the space of magnetic flux wall is expanded to the outer peripheral face side of rotor.

prior art document

patent documentation

Patent documentation 1: JP 2006-254629 communique

Patent documentation 2: JP 2011-4480 communique

Patent documentation 3: JP 2012-29524 communique

Summary of the invention

the problem that invention will solve

; in turning motor in recent years; in order to improve magnetic force and thermal endurance; the permanent magnets that comprise the rare earth elements such as Nd, Dy, Tb that use more; surging and its circulation of the price but brought due to its rareness unstable, the necessity that reduces rare earth element use amount and realize high efficiency increases.

But in HEV, EV, the general regions of turning motor is the slow-speed of revolution/low-load region, therefore, in order to increase the magnet torque that this region is contributed, in the IPM type motor of recording at patent documentation 1, also there is the trend of the use amount of the permanent magnet that increases high magnetic force.This is the direction that hinders the problem that solves the use amount that reduces rare earth element.

In addition, in the IPM type turning motor of recording at patent documentation 2,3, the two outer distolateral magnetic flux walls that make permanent magnet expand to the outer peripheral face side of rotor excessively, and therefore the magnetic resistance between itself and outer peripheral face becomes large, the increases such as cogging torque, hinder high-quality rotation.

Therefore, the object of the invention is to cut down the use amount of permanent magnet and realize high efficiency and high-quality rotary actuation, the turning motor of low cost and high-energy-density is provided.

for the scheme of dealing with problems

The 1st mode of the related invention of the IPM type turning motor that addresses the above problem possesses: rotor, wherein imbed permanent magnet, and rotate with driving shaft one; and stator, it is accommodated with the described rotor freely of rotation that is arranged on its opposite, and coil is accommodated in the groove between multiple teeth that this rotor faces, this stator has armature function, in this IPM type turning motor, the groove number of unit pole unit's phase is 2, above-mentioned IP M type turning motor is characterised in that, above-mentioned permanent magnet configuration is the V-shape opening towards the outer peripheral face of above-mentioned rotor, while this permanent magnet being existed near the d axle side consistent when the central shaft of this permanent magnet of the each magnetic pole forming with above-mentioned permanent magnet, the magnet magnetic flux of the direction of the armature flux producing at the above-mentioned armature of permanent magnet generation counteracting of this d axle side, in the scope that produces above-mentioned magnet magnetic flux, above-mentioned permanent magnet is replaced into the space that permeability is little, on the above-mentioned d axle of the outer peripheral face of above-mentioned rotor, be formed with the central authorities of axis parallel and adjust ditch, and be formed with an offside of axis parallel and adjust ditch in two outer end sides of the above-mentioned permanent magnet of this outer peripheral face, possess from above-mentioned permanent magnet two the distolateral magnetic flux wall stretching out towards the outer peripheral face of above-mentioned rotor, link the side bridge supporting being formed with between the outer distolateral inner face of this magnetic flux wall and the outer peripheral face of above-mentioned rotor between the q axle side of the flow direction between the above-mentioned magnetic pole at this rotor and above-mentioned d axle side, the outer distolateral inner face of above-mentioned magnetic flux wall has d axle side inner face and q axle side inner face in the both sides of intermediate point in both end sides bight of rear side of the outer peripheral face that is positioned at above-mentioned rotor, in the case of the angle between the straight line of the intermediate point of the outer distolateral inner face of the axle center by above-mentioned rotor and above-mentioned magnetic flux wall and above-mentioned d axle is made as θ 8, meet 64.7 °≤θ 8(electric angle)≤the relation of 74.2 °, the intermediate point of above-mentioned d axle side inner face distolateral inner face from above-mentioned magnetic flux wall extends to the direction parallel with the outer peripheral face of above-mentioned rotor, in the case of the angle between the extended surface of above-mentioned q axle side of above-mentioned q axle side inner face and above-mentioned d axle side inner face is made as θ 9, meet 0 ° of < θ 9(mechanical angle)≤the relation of 37 °.

The 2nd mode of the related invention of the IPM type turning motor that addresses the above problem is characterised in that, on the basis of the specific item of above-mentioned the 1st mode, above-mentioned angle theta 8 meets 64.9 °≤θ 8(electric angle)≤the relation of 74.2 °.

invention effect

Like this, according to above-mentioned the 1st mode of the present invention, the permanent magnet that produces the scope of the magnet magnetic flux of the direction of offsetting armature flux in d axle side is replaced into the space that permeability is little, therefore, can not disturb (offseting) at d axle side magnet magnetic flux and armature flux, in addition, also can limit armature flux by within the scope of this.Therefore, can eliminate the magnet magnetic flux at d axle side waste armature flux, effectively utilize magnet torque and reluctance torque, can not only obtain being not less than the torque before displacement d axle side permanent magnet but also the use amount of cutting down permanent magnet self.

And, by permanent magnet is replaced into space, can reduce magnet magnetic flux, reduce the induced voltage constant of high rotating speed side, the output that can improve high rotating speed side.In addition, lightweight can be realized, inertia can be reduced.

In addition, by reducing magnet magnetic flux, can cut down territory, weak magnetic area (reducing the weak quantity of magnetism), can reduce and cause magnetostrictive space harmonic.Therefore, can be limited in the generation of the vortex flow in permanent magnet and suppress heating, can suppress the demagnetization that the variations in temperature of permanent magnet causes, reduce thermal endurance class and realize cost degradation.

And central authorities adjust ditch and can adjust in the mode that increases near the magnetic resistance d axle between rotor and stator side tooth, be accompanied by the above-mentioned space of formation near the magnet magnetic flux of d axle is reduced, can suppress the increase of the armature flux of interlinkage.Therefore, can prevent from declining because the increase of torque pulsation, iron loss makes drive efficiency.

In addition, side is adjusted ditch and can increase near the magnetic resistance two outer ends of V font permanent magnet of rotor, can suppress will be overlapping with the flux waveforms of interlinkage high order harmonic component.Therefore, can suppress cogging torque, and prevent from declining because the increase of torque pulsation, iron loss makes drive efficiency.

In addition, in the structure that is 2 at the groove number of unit pole unit's phase, for and the outer peripheral face side of rotor between form the magnetic flux wall of side bridge, angle theta 8 between the intermediate point of outer distolateral inner face and d axle is made as to 64.7 °～74.2 ° (electric angle), d axle side inner face side is extended in the mode as bottom line bridge portion performance function from this intermediate point to the direction parallel with the outer peripheral face of rotor, and the angle theta 9 between the q axle side inner face in intermediate point bending and the q axle side extended surface of d axle side inner face is made as to 0 °～37 ° (mechanical angle), thereby can reduce hardly torque and reduce cogging torque.

Consequently, can realize the turning motor cheaply that is rotated in high quality driving with high-energy-density.

According to above-mentioned the 2nd mode of the present invention, angle theta 8 between the intermediate point of the outer distolateral inner face of magnetic flux wall and d axle is further concentrated on to 64.9 °～74.2 ° (electric angle), thereby, can further reduce cogging torque and torque pulsation, also can reduce the electric and magnetic oscillation that this torque pulsation causes the stator core producing, also can reduce the electromagnetic noise that it is followed.

And, on the basis of the specific item of aforesaid way, angle theta 8(electric angle between the intermediate point of the outer distolateral inner face of magnetic flux wall and d axle) be made as 66 °～68 °, 70 °～72 °, in addition, angle theta 9(mechanical angle between the q axle side extended surface of q axle side inner face and d axle side inner face) be made as 10 °～27 °, reduce cogging torque, torque pulsation thereby can more effectively reduce hardly torque.

And, space is formed as the shape expanding towards the center axis of rotor to the wider space of d axle side, thereby, can limit from the q axle side of a side of magnetic pole and enter into the outer peripheral face side that the armature flux in rotor enters permanent magnet, and make its q axle side that travels back across opposite side, can avoid it saturated with mixing towards the magnet magnetic flux of the outer peripheral face side of permanent magnet.Therefore, the reluctance torque producing because of armature flux can be more effectively utilized, total torque can be increased.

This space is formed as the shape also expanding towards the outer peripheral face side of rotor to the wider space of d axle side, thereby becomes suitable though can make to be unlikely to offset in this d axle side the direction of the magnet magnetic flux that armature flux can not be effectively synthetic.Therefore, can make the resultant flux of armature flux and magnet magnetic flux by the path that the generation of torque is contributed effectively, can further increase total torque.

And, by the angle theta 6(electric angle between the magnetic flux wall outboard end of the both ends side of permanent magnet) be made as 144 °～154.3 °, thus can suppress space harmonic 5 times, 7 times.In addition, by the angle theta 2(mechanical angle of the outer peripheral face side outside from d axle to permanent magnet) be made as 27.5 °～72.5 ° or 37.5 °～82.5 ° or 37.5 °～72.5 °, thereby the torque can increase busy hour, underload time, torque pulsation and 6 times, 12 times high order harmonic component torques now be can suppress, electric and magnetic oscillation, electromagnetic noise reduced.

Accompanying drawing explanation

Fig. 1 is the figure that an execution mode of IPM type turning motor (motor) involved in the present invention is shown, is its vertical view that roughly entirety forms is shown.

Fig. 2 is the magnetic flux line chart of the armature flux of the underload in the structure of execution mode while driving.

Fig. 3 is the magnetic flux line chart of the magnet magnetic flux of the underload in the structure of execution mode while driving.

Fig. 4 is illustrated in d axle side there is no the coordinate diagram of the corresponding torque characteristics of current phase of the V font IPM motor in large space.

Fig. 5 A is the magnetic flux line chart that there is no the magnet magnetic flux of the V font IPM motor in large space in d axle side.

Fig. 5 B is near the polar plot of magnet magnetic flux d axle side does not have the d axle of V font IPM motor in large space.

Fig. 6 A is the magnetic flux line chart of the armature flux in the time that d axle side does not have the peak load of the V font IPM motor in large space to drive.

Fig. 6 B is near the polar plot of the armature flux d axle in the time that d axle side does not have the peak load of the V font IPM motor in large space to drive.

Fig. 7 be illustrated in d axle side do not have large space V font IPM motor peak load drive time the magnet magnetic flux vector of outer circumferential side of magnetic pole (permanent magnet) and the illustraton of model of the relativeness of armature flux vector.

Fig. 8 is the coordinate diagram that the corresponding current phase of input current of IPM type motor and the corresponding relation (characteristic) of output torque are shown.

Fig. 9 is the magnetic flux line chart of the armature flux in the time that d axle side does not have the underload of the V font IPM motor in large space to drive.

Figure 10 be illustrated in d axle side do not have large space V font IPM motor underload drive time magnet magnetic flux and the magnetic flux line chart of resultant flux and the path profile in the path that this resultant flux is got of armature flux.

Figure 11 illustrates to shorten the coordinate diagram that has the reduction rate of burying the variation that produces torque permanent magnet, torque pulsation underground of the V font IPM motor in space in d axle side.

Figure 12 illustrates to shorten the coordinate diagram that has the variation of burying 5 space harmonics overlapping permanent magnet underground of the V font IPM motor in space in d axle side.

Figure 13 is illustrated in d axle side there is no the V font IPM motor in large space and have the torque of the underload drive area of the V font IPM motor in space to produce the coordinate diagram of ratio in d axle side.

Figure 14 is illustrated in d axle side there is no the V font IPM motor in large space and have the torque of the peak load drive area of the V font IPM motor in space to produce the coordinate diagram of ratio in d axle side.

Figure 15 is the peak load that is illustrated in d axle side and has the V font IPM motor in the space magnetic flux line chart of armature flux while driving.

Figure 16 is magnet magnetic flux while driving of the underload that is illustrated in d axle side and has the V font IPM motor in space and the magnetic flux line chart of the resultant flux of armature flux.

Figure 17 is magnet magnetic flux while driving of the peak load that is illustrated in d axle side and has the V font IPM motor in space and the magnetic flux line chart of the resultant flux of armature flux.

Magnet magnetic flux when Figure 18 comprises the peak load that is illustrated in d axle side and has the V font IPM motor in space and drives and the magnetic flux line chart of the resultant flux of armature flux are the structure charts comparing with the structure of the present embodiment of Figure 17.

Figure 19 is the coordinate diagram that is illustrated in instantaneous torque that produce in the present embodiment structure A of Figure 17 and the comparative structure B of Figure 18, in average torque.

Figure 20 be illustrated in the present embodiment structure A of Figure 17 and the comparative structure B of Figure 18, produce, with the coordinate diagram of the ratio of the overlapping high order harmonic component torque of the waveform of the instantaneous torque of Figure 19.

Figure 21 is the coordinate diagram that the containing ratio of space harmonic composition in the present embodiment structure A of Figure 17 and the comparative structure B of Figure 18, that comprise across 1 tooth interlinkage flux waveform of clearance G is shown.

Figure 22 is the coordinate diagram of the variation of the torque of outer radius R1 during as parameter that the separation distance R2/ rotor using the wall position, end of the center axis of magnetic flux wall 17c to axle center is shown.

Figure 23 is the coordinate diagram that the variation of torque when separation distance R2 using the wall position, end of the center axis of the outer radius R1/ magnetic flux wall 17c of rotor to axle center is as parameter is shown.

Figure 24 is illustrated in that d axle side forms large space but the illustraton of model of the relativeness of near the magnet magnetic flux vector peak load of the V font IPM motor that do not expand to outer peripheral face side d axle side corner sections while driving, permanent magnet and armature flux vector.

Figure 25 is the illustraton of model that is illustrated in the relativeness of near magnet magnetic flux vector when d axle side forms large space and the peak load of the V font IPM motor that also expands to outer peripheral face side drives, the d axle side corner sections of permanent magnet and armature flux vector.

Figure 26 is the structure chart that the magnetic pole by rotor of the parameter that uses when the size shape that determines the expansion space shown in Figure 25 is shown has amplified.

Figure 27 is the structure chart of the model example of the shape when parameter DLd having changed shown in Figure 26 is shown.

Figure 28 is the coordinate diagram illustrating the variation of the DLd shown in Figure 26 torque during as parameter change and high order harmonic component torque with respect to the ratio of outer radius R1.

Figure 29 is the coordinate diagram illustrating the variation of the torque pulsation during as parameter change with respect to the ratio of outer radius R1 of the DLd shown in Figure 26.

Figure 30 is the coordinate diagram illustrating the variation of the θ shown in Figure 26 1 torque during as parameter change and high order harmonic component torque with respect to the ratio of magnet opening degree θ 2.

Figure 31 is the coordinate diagram illustrating the θ shown in Figure 26 1 variation of the torque pulsation during as parameter change with respect to the ratio of magnet opening degree θ 2.

Figure 32 illustrates to possess the coordinate diagram of the instantaneous torque in the average torque of comparing with situation about not expanding as the situation of the magnetic flux wall in the space having expanded.

Figure 33 be illustrate with the average torque of Figure 32 in the coordinate diagram of ratio of the overlapping high order harmonic component torque of the waveform of instantaneous torque.

Figure 34 A is the magnetic flux line chart that there is no the magnet magnetic flux of the V font IPM motor that does not form central sulcus in large space in d axle side.

Figure 34 B is the polar plot of the resultant flux of near armature flux d axle side does not have the d axle of busy hour of the V font IPM motor that does not form central sulcus in large space and magnet magnetic flux.

Figure 35 A is the magnetic flux line chart that has formed the magnet magnetic flux of the V font IPM motor that does not form central sulcus in large space in d axle side.

Figure 35 B is the polar plot of the resultant flux of near armature flux d axle side has formed the d axle of busy hour of the V font IPM motor that does not form central sulcus in large space and magnet magnetic flux.

Figure 36 illustrates there is no the structure that does not form central sulcus in large space and having formed the coordinate diagram of the 1 tooth interlinkage flux waveform that the structure that does not form central sulcus in large space compares in d axle side shown in Figure 35 A in d axle side shown in Figure 34 A.

Figure 37 illustrates the flux waveforms shown in this Figure 36 to expand into Fourier series, with the coordinate diagram of the containing ratio of the overlapping space harmonic of 1 tooth interlinkage flux waveform.

Figure 38 is the polar plot of the resultant flux of near armature flux d axle side has formed the d axle of busy hour of the V font IPM motor that forms central sulcus in large space and magnet magnetic flux.

Figure 39 is the coordinate diagram that the torque waveform of the busy hour that present embodiment is compared with the structure that does not form central sulcus shown in Figure 35 A is shown.

Figure 40 is to be Fourier series by the torque waveform unfolds shown in this Figure 39, compares the coordinate diagram of the overlapping degree of the high order harmonic component torque overlapping with this torque waveform.

Figure 41 is the structure chart that a magnetic pole by rotor that the parameter using while determining the size shape of central sulcus is shown has amplified.

Figure 42 is the coordinate diagram illustrating the variation of the torque pulsation during as parameter change with respect to the ratio of outer radius R1 of the R4 in the size shape of the central sulcus shown in Figure 41.

Figure 43 illustrates the phase voltage waveform during as parameter change and the coordinate diagram of voltage between lines waveform using the external-open bicker θ a in the size shape of the central sulcus shown in Figure 41.

Figure 44 is the coordinate diagram of the torque waveform when underload that present embodiment is compared with the structure that does not form central sulcus shown in Figure 35 A is shown.

Figure 45 is to be Fourier series by the torque waveform unfolds shown in this Figure 44, compares the coordinate diagram of the overlapping degree of the high order harmonic component torque overlapping with this torque waveform.

Figure 46 is the structure chart that is illustrated in the position relationship of the stator tooth at a magnetic pole place in the structure that does not form lateral sulcus.

Figure 47 is the coordinate diagram of the gap flux waveforms when structure that does not form lateral sulcus shown in Figure 46 zero load is shown.

Figure 48 is the coordinate diagram that the gap flux waveforms of the busy hour of the structure that does not form lateral sulcus shown in Figure 46 is shown.

Figure 49 is the structure chart that the magnetic pole by rotor of the parameter that uses when the size shape that determines the lateral sulcus forming at the outer peripheral face of rotor is shown has amplified.

Figure 50 is illustrated in busy hour, using the coordinate diagram of the variation of the torque during as parameter change to the outer angle theta 4 of interior angle theta 5/ of d axle in the size shape of the lateral sulcus shown in Figure 49 and high order harmonic component torque and torque pulsation.

Figure 51 is while being illustrated in underload, using the coordinate diagram of the variation of the torque during as parameter change to the outer angle theta 4 of interior angle theta 5/ of d axle in the size shape of the lateral sulcus shown in Figure 49 and torque pulsation.

Figure 52 is illustrated in busy hour, the coordinate diagram of the torque using the trench depth RG/ air gap width AG in the size shape of the lateral sulcus shown in Figure 49 during as parameter change and the variation of torque pulsation.

When Figure 53 is more zero load have lateral sulcus and without in the situation of lateral sulcus on the flux waveforms of gap the big or small coordinate diagram of overlapping high order harmonic component.

Figure 54 is having lateral sulcus and carrying out the big or small coordinate diagram of comparison torque pulsation without the torque waveform the situation of lateral sulcus from busy hour.

Figure 55 is having lateral sulcus and carrying out the big or small coordinate diagram of comparison torque pulsation without the torque waveform the situation of lateral sulcus during from underload.

Figure 56 is having lateral sulcus and confirming the coordinate diagram of the reduction rate of this cogging torque without the cogging torque waveform the situation of lateral sulcus when zero load.

Figure 57 is the structure chart that a magnetic pole by rotor that magnetic pole opening degree θ 6, magnet opening degree θ 2 be shown has amplified.

Figure 58 illustrates and the coordinate diagram of the approximate waveform of the gap magnetic flux of 1 tooth interlinkage.

Figure 59 illustrates and the conceptual illustration figure of the approximate waveform of gap magnetic flux and the relation of magnetic pole opening degree and magnet opening degree of 1 tooth interlinkage.

Figure 60 be by with the coordinate diagram of the theoretical waveform (square wave) of the gap magnetic flux of 1 tooth interlinkage and the real overlapping expression of waveform (trapezoidal wave).

Figure 61 is illustrated in busy hour, the coordinate diagram of the torque using magnet opening degree θ 6 during as parameter change and the variation of high order harmonic component torque and torque pulsation.

Figure 62 is while being illustrated in underload, the coordinate diagram of the torque using magnet opening degree θ 6 during as parameter change and the variation of high order harmonic component torque and torque pulsation.

Figure 63 is the structure chart that a magnetic pole by rotor that the shape of side bridge is shown has amplified.

Near the polar plot of magnet magnetic flux side bridge when Figure 64 is V font IPM motor zero load.

Figure 65 A is the coordinate diagram of the magnetic flux density waveform at the air gap place between rotor and the stator illustrating when zero load.

Figure 65 B is the amplification coordinate diagram of the elevated areas of the magnetic flux density waveform in Figure 65 A.

Figure 66 is near the polar plot of the armature flux side bridge of busy hour of V font IPM motor.

Figure 67 is the contour map that produces the analysis result of the mechanical strength at the position of large Feng meter Si stress while being illustrated in the high rotating speed of V font IPM motor.

Figure 68 is the coordinate diagram of the variation of the cogging torque when bending part of outer distolateral inner face of the magnetic flux wall that has changed outside is shown.

Figure 69 is the coordinate diagram of the variation of torque when the bending part of outer distolateral inner face of the magnetic flux wall that has changed outside is shown and torque pulsation.

Figure 70 is the coordinate diagram of the variation of torque when the bending amount of outer distolateral inner face of the magnetic flux wall that has changed outside is shown and torque pulsation.

Embodiment

Below, the execution mode that present invention will be described in detail with reference to the accompanying.Fig. 1～Figure 70 is the figure that an execution mode of IPM type turning motor involved in the present invention is shown.At this, in description of the present embodiment, will make rotor illustrate its direction of rotation to the situation of counterclockwise (CCW:counterclockwise) direction rotation as an example with respect to stator.

In Fig. 1, turning motor 10 possesses: stator 11, and it is formed as general cylindrical shape shape; And rotor 12, its rotation is accommodated in this stator 11 freely, is fixedly installed the rotating driveshaft consistent with axle center 13.This turning motor 10 has and is for example applicable in hybrid electric vehicle (HEV), electric motor car (EV) the conduct drive source same with internal combustion engine or is installed on the performance in wheel.

In stator 11, so that the mode that inner peripheral surface 15a side is faced across the outer peripheral face 12a of clearance G and rotor 12 is formed with the multiple stator tooths 15 that extend in the normal direction in axle center.3 phase windings (not shown) utilize distributed winding to be wound in this stator tooth 15, and this 3 phase winding is formed in the inner coil that produces magnetic flux, and this magnetic flux rotarilys actuate the rotor 12 of opposite storage.

Rotor 12 is made into IPM(Interior Permanent Magnet; Built-in permanent magnet) structure, in IPM structure, will imbed as 1 magnetic pole in the mode that becomes the V font opening towards outer peripheral face 12a take a pair of permanent magnet 16 as 1 group.This rotor 12 is formed as V figure space 17 and faces with outer peripheral face 12a, embeds and be accommodated in motionless state the bight 16a of the upwardly extending flat permanent magnet 16 in side in the table of accompanying drawing in V figure space 17.

V figure space 17 is formed as possessing: space 17a, wherein embeds and receive permanent magnet 16; And space 17b, 17c(are following also referred to as magnetic flux wall 17b, 17c), it is positioned at the both sides of the Width of this permanent magnet 16, the magnetic flux wall entering as restriction magnetic flux and bring into play function.Centrifugal force when resisting high rotating speed and locate and keep permanent magnet 16, in this V figure space 17, is formed with and between the 17c of space, in normal direction, extends and link the central bridge 20 that supports outer circumferential side and inner circumferential side.Explanation has the side bridge 30 of said function in the back.

Thereby the space that the stator tooth of stator 11 sides of this turning motor 10 is 15 is configured for that winding is passed through and reels forming the groove 18 of coil.With respect to this, 8 group permanent- magnet 16,6 stator tooths 15 each and stator 11 sides of rotor 12 are faced.Generally speaking, in this turning motor 10, be built into: 1 magnetic pole that pair of permanent magnets 16 sides of rotor 12 sides form is corresponding to 6 grooves 18 of stator 11 sides., turning motor 10 be made into make to replace in the N utmost point of permanent magnet 16 and the table of the S utmost point by adjacent every 1 magnetic pole, 8 magnetic poles (4 pole pairs), 48 grooves, single-phase distributions 5 the 3 phase IPM motor that tooth pitch forms of reeling.In other words the groove that, turning motor 10 is made into unit pole unit's phase is counted q=(groove number/number of magnetic poles) the IPM type structure of/number of phases=2.

Thereby, to the coil electricity in the groove 18 of stator 11, magnetic flux is arrived in the rotor 12 of facing from stator tooth 15, thereby can rotarily actuate turning motor 10.Now, turning motor 10(stator 11 and rotor 12) can be rotarilyd actuate by the total torque of the gravitation producing between permanent magnet 16 and the repulsion magnet torque that cause and the shortest reluctance torque of the magnetic circuit that will make magnetic flux pass through.Therefore, turning motor 10 can be exported from the rotating driveshaft 13 rotating with respect to stator 11 integratedly with rotor 12 electric energy of energising input as mechanical energy.

In addition, stator 11 and rotor 12 are that the thin plate of the electromagnetic steel plate materials such as silicon steel is stacked into and the corresponding thickness of output torque of expecting on direction of principal axis, utilize fixture 19 grades to be made into one in order to maintain its stacked state.

At this, this turning motor 10 is using illustrated as magnetic flux line chart in Fig. 2, form outer circumferential side (rear side of stator tooth 15) from stator 11 by the mode of the magnetic circuit (armature flux) in the path in rotor 12 by every multiple stator tooths 15 corresponding with forming the pair of permanent magnets 16 of 1 magnetic pole, be wound with winding coil in the interior distribution of groove 18.This permanent magnet 16 is accommodated in the mode with the magnetic circuit along armature flux Ψ r, in other words, and not hinder in the embedded space 17a of the V figure space 17 that the mode of formation of this armature flux Ψ r forms.

Illustrated as magnetic flux line chart in Fig. 3, (magnet magnetic flux Ψ m) gets the path that the N utmost point of the table the inside of the pair of permanent magnets 16 from forming 1 magnetic pole is connected to vertical direction with the S utmost point, particularly becomes from corresponding stator tooth 15 by the path of its rear side in stator 11 sides for the magnetic circuit of this permanent magnet 16.

And, permanent magnet 16 is imbedded with V font in the IPM structure in rotor 12, the direction of magnetic flux that magnetic pole is produced is that the central shaft of 16 of permanent magnets of V font is as d axle, in addition, using and this d axle on electric field/magnetic field the central shaft between the permanent magnet 16 between orthogonal, adjacent magnetic pole as q axle.The space 17c that this rotor 12 is formed as the inner side that is positioned at d axle side that makes V figure space 17 expands as towards Bian great space, axle center, as magnetic flux wall 17c performance function.The optimum size shape aftermentioned of magnetic flux wall 17c in this V figure space 17.

Thereby, in this turning motor 10, as shown in Figure 2, form following path: make to enter into armature flux Ψ r in rotor 12 from stator tooth 15 and more enter (axle center) side and turn back to stator tooth 15 of interior week not enter the mode of outer circumferential side of V figure space 17.Generally speaking, turning motor 10 is built into rotor 12 the V font IPM motor in space at d axle.

In addition, in this turning motor 10, more overlapping for the armature flux Ψ r that 5 times, 7 times space harmonics that become torque pulsation increase reason are not entered with the stator tooth 15 from corresponding with d axle, be formed with in the upper central sulcus of extending of the direction parallel with the inner peripheral surface 15a of this stator tooth 15 (axis direction) (central authorities adjust ditch) 21 at the outer peripheral face of rotor 12 sides.The optimum size shape aftermentioned of this central sulcus 21.

And, in this turning motor 10, lateral sulcus (side adjustment ditch) 22 is formed on the outer end-side outer peripheral surface separately of pair of permanent magnets 16 that forms magnetic pole, above-mentioned lateral sulcus 22 makes the irreducible minimum that is reduced to of torque, and while reducing cogging torque when zero load, underload and the torque pulsation of busy hour, be suppressed at the pulsation of the torque of whole drive area.The optimum size shape aftermentioned of this lateral sulcus 22.

Like this, in the case of permanent magnet 16 is imbedded with V font the turning motor 10 of the IPM structure in rotor 12, torque T can represent with following formula (1), as shown in Figure 4, so that the current phase of magnet torque Tm and reluctance torque Tr sum maximum drives, thus the running of the high torque (HT) of realization/high efficiency.

[several 1]

T=P _p{Ψ _mi _q+(L _d-L _q)i _di _q}....(1)

Pp: magnetic pole logarithm, Ψ m: armature (stator tooth 15) interlinkage magnet magnetic flux,

Id: the d axle component of line current, iq: the q axle component of line current,

Ld:d axle inductance, Lq:q axle inductance

; possess in the case of replacing the magnetic flux wall 17c in d axle side space the rotor 12A of correlation technique of the magnetic flux wall 17d equal with the magnetic flux wall 17b in the outside of V figure space 17; the magnetic circuit that forms the illustrated permanent magnet 16 of magnetic flux line chart of Fig. 5 A, its magnet magnetic flux Ψ m becomes the vector V m of the illustrated direction of magnetic flux vector figure of Fig. 5 B.In addition, be formed as the illustrated magnetic circuit of magnetic flux line chart of Fig. 6 A by the armature flux Ψ r that the coil electricity that is accommodated in groove 18 is produced, become the vector V r of the illustrated direction of magnetic flux vector figure of Fig. 6 B.

In this turning motor, drive in order to realize high torque (HT)/high efficiency in the time that peak load drives, boost current phase angle drives.In the rotor 12A of correlation technique, as shown in the magnetic flux vector figure of Fig. 5 B and Fig. 6 B, be arranged in V figure space 17(magnetic pole) the d axle of outer circumferential side near zonule A1, the relation that magnet magnetic flux Ψ m and armature flux Ψ r are opposing magnetic field, the state driving in reluctance torque Tr counteracting (offseting) magnet torque Tm.Generally speaking, as shown in Figure 7, this magnetic pole outer circumferential side zonule A1 is that magnet magnetic flux Ψ m is take angle as 90 degree the interference region that reciprocal position relationship is relative with armature flux Ψ r above, and armature flux Ψ r wastes in the magnet magnetic flux Ψ m producing in the scope B of d axle side that suppresses (counteracting) permanent magnet 16 adjacent with this magnetic pole outer circumferential side zonule A1.

Therefore, the d axle side scope B that can say the permanent magnet 16 corresponding with this magnetic pole outer circumferential side zonule A1 does not contribute to torque T energetically, can reduce by the magnetic loop that forms the part of the d axle side scope B that had not only cut down this permanent magnet 16 but also maintain equal salient pole ratio the magnet amount of permanent magnet 16 self.

At this, torque T is above-mentioned formula (1), therefore, in the case of the magnet amount that reduces permanent magnet 16, increases reluctance torque Tr, thereby can make torque T identical with the situation of magnet amount that does not reduce permanent magnet 16.This reluctance torque Tr can be that salient pole recently increases by the difference that increases d axle inductance L d and q axle inductance L q.

Therefore, in the rotor 12 of present embodiment, by the d axle side scope B of permanent magnet 16 is replaced into the space that permeability is little (restricted area), can not only reduce the magnet amount of permanent magnet 16 but also increase salient pole ratio, obtain and replace front equal above torque T.Change an angle, waste the armature flux Ψ r of the magnet magnetic flux Ψ m producing in inhibition permanent magnet 16 by effective utilization in d axle side scope B, can increase reluctance torque Tr, also can obtain equal torque T even if cut down the magnet amount of permanent magnet 16.

In addition, torque T also can be expressed as following formula (2), and in the little low-load region of current value I a, the ratio of magnet torque Tm uprises, and as shown in Figure 8, current value I a is lower, and current phase β when breakdown torque more approaches zero.Waveform i～v in this Fig. 8 illustrates each current value I a(i)～Ia(v) current phase-torque characteristics, the size of current value I a is the relation of i < ii < iii < iv < v.Therefore, in the time that underload drives, the ratio (dependence) of magnet torque Tm uprises naturally, but, it is desirable to effectively utilize to greatest extent the magnetic loop of this magnet torque Tm.

[several 2]

${T=P}_p\{{\mathrm{\&Psi;}}_m{I}_a\cos \mathrm{\&beta;}+\frac{1}{2}\&CenterDot;(L_d-L_q){I_a}^2\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="HDA0000402158300000181.png,HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}2\mathrm{\&beta;}\}\&CenterDot;\&CenterDot;\&CenterDot;\left(2\right)$

β: current phase angle, Ia: phase current values

For the rotor 12A of correlation technique, as shown in Figure 9, in the low-load region of low current value, approach zero condition with current phase β and drive, therefore, the magnetic flux of armature flux Ψ r becomes large at (between the permanent magnet 16 of adjacent different magnetic poles) between the magnetic pole that becomes q axle.Therefore,, as the path of this armature flux Ψ r and the synthetic magnetic flux Ψ s of magnet magnetic flux Ψ m, be applicable to being made as the magnetic loop that passes through magnetic circuit MP1, MP2 shown in Figure 10.Thereby resultant flux Ψ s can make q axle magnetic circuit (magnetic flux) decentralized (avoiding saturated), increase q axle inductance L q, can make to utilize energetically reluctance torque Tr to become possibility.

Magnetic circuit MP1 gets following path: from the stator tooth 15 of stator 11 sides via air gap G and rotor 12A interlinkage and after entering between magnetic pole, from inner circumferential side through the permanent magnet 16 of adjacent side of magnetic pole that forms direction of rotation advance side (left side figure).And then this magnetic circuit MP1 gets following path: by the outer circumferential side region A2 of this magnetic pole, again turn back to stator tooth 15 via air gap G.

Magnetic circuit MP2 gets following path: with magnetic circuit MP1 similarly, after entering between magnetic pole, the permanent magnet 16 away from side that passes the magnetic pole that forms direction of rotation advance side from inner circumferential side, by the outer circumferential side region A2 of this magnetic pole, turns back to stator tooth 15 via air gap G again.

For example, in this magnetic circuit MP1, MP2, in the case of the both end sides of pair of permanent magnets 16 (magnetic pole outer end) is reamed and makes it near inner side, there is large magnetic flux wall and magnetic flux path is focused near the center of magnetic pole in this both end sides, particularly the path on the right side of magnetic pole outer circumferential side region A2 becomes difficulty and gets, and can not effectively utilize this region A2 entirety.

On the contrary, in the case of the central side of pair of permanent magnets 16 (magnetic pole inner end) is reamed and makes it near outside, there is large magnetic flux wall and can make magnetic flux path be distributed to the both sides of magnetic pole at this central side, in the path on the right side of magnetic pole outer circumferential side region A2 is also contained in, can actively effectively utilize, magnetic flux can pass through this region A2 without omitting.The in the situation that of this structure, can also get magnetic circuit MP3, described magnetic circuit MP3 from outer circumferential side towards inner circumferential side through after direction of rotation retreats the permanent magnet 16 of magnetic pole of side, in the N utmost point/S interpolar coupling of the permanent magnet 16 of adjacent magnetic pole.In this magnetic circuit MP3, can be by the path same with magnetic circuit MP1, the outer circumferential side region A2 of the magnetic pole by direction of rotation advance side, the decentralized efficiency of magnetic flux is high.

Therefore, in rotor 12, as form magnetic pole pair of permanent magnets 16 bury structure underground, be applicable to adopting the mode not hinder the armature flux Ψ r that produces reluctance torque Tr to maintain V font and make its shape near both end sides (magnetic pole outer end).And, be applicable to adopting between this pair of permanent magnets 16 (magnetic pole inner end) to form the structure that restriction magnetic flux is got the magnetic flux wall 17c of short circuit paths.In addition, be applicable to adopting outer peripheral face on the d of rotor 12 axle to form the structure of central sulcus 21, this central sulcus 21 limits the saturated of the armature flux Ψ r that enters from the stator tooth 15 of stator 11 sides, in other words, this magnetic flux Ψ r is disperseed.Adopt this structure, rotor 12 just can make q axle magnetic circuit (magnetic flux) decentralized, increases q axle inductance L q, utilizes energetically reluctance torque Tr.

About the optimum value of length (width) Wpm of the long dimensional directions in the accompanying drawing of this permanent magnet 16, be as benchmark, by what relatively decide using the situation that does not shorten this length Wpm.

Specifically, the outer radius R1 from axle center to outer peripheral face of number of magnetic poles P and rotor 12 is made as to fixed value, the length Wpm of the permanent magnet 16 that is arranged at magnetic pole outer end is made as to parameter (changing the position of inner side edge), and change decides with the ratio δ that following formula (3) calculates.Determine key element as it, if the variation to the per unit with respect to torque T ratio δ, busy hour (per unit) and the variation as the reduction rate of the torque pulsation (torque ripple) of the amplitude of fluctuation of this torque T are carried out magnetic field analysis and are represented by coordinate diagram, as shown in figure 11.In addition, the meaning of per unit for example with 1.0[p.u.] situation identical.

δ＝（P×Wpm）/R1...（3）

Known in Figure 11, ratio δ=1.84th, does not shorten the situation of the permanent magnet 16 of the geomery (magnet decrease is 0%) of length Wpm, in the case of the size shape (magnet decrease is 24.7%) of ratio δ=1.38, can obtain the torque T of equal when not shortening (1.0[p.u.]).This permanent magnet 16 also can obtain equal torque T by being made as ratio δ=1.38 in the time of conventional slow-speed of revolution load.

At this, in this Figure 11, by the rotor 12A object as a comparison of the correlation technique of inside and outside distolateral the magnetic flux wall 17b, the 17d that possess equal size at V figure space 17.With respect to this, in the case of the rotor 12 of present embodiment, owing to possessing magnetic flux wall 17c and central sulcus 21, can effectively cut apart, distribute armature flux Ψ r.Therefore, in this rotor 12, can effectively produce reluctance torque Tr, even if permanent magnet 16 also can improve torque T by ratio δ=1.84 as equal length Wpm, and torque ripple reduction.That is, in Figure 11, illustrate the length Wpm that shortens permanent magnet 16 in the structure of this rotor 12, torque T and torque pulsation are with respect to the variation of ratio δ.In addition, imagination in the case of former state keep correlation technique rotor 12A structure and shorten the length Wpm of permanent magnet 16, from ratio δ=1.84 to ratio δ=1.38 near torque T there is no large variation (1.0[p.u.]).

In addition, in turning motor, along with the rotation of rotor, can produce and the corresponding induced voltage of permanent magnet amount (reverse voltage) of burying underground the magnetostrictive space harmonic that overlapping weak magnetic causes.5 times, 7 times, 11 times, 13 times compositions of this space harmonic are the main causes that produces torque pulsation, become the reason that iron loss increases.Therefore known, if by with respect to ratio δ, for example generation of 5 space harmonics makes coordinate diagram by per unit, as shown in figure 12, ratio δ more lower than 1.75, more can suppress the generation of these 5 space harmonics from 1.75.In this case, the magnet amount of permanent magnet 16 can be cut down more than 4.7%, in addition, can reduce iron loss and improve drive efficiency by reducing magnetostrictive space harmonic, and the generation that can be limited in the vortex flow in permanent magnet 16 suppresses heating.

Thus, in the rotor 12 of present embodiment, want not only to obtain the torque T equal with the rotor 12A of correlation technique but also the use amount of cutting down permanent magnet 16, the length Wpm(that preferably shortens this permanent magnet 16 cuts down 24.7% by magnet amount) and be made as the degree of ratio δ=1.38, can also torque ripple reduction.Generally speaking, permanent magnet 16 is as long as suitably select from ratio δ=1.38(magnet decrease 24.7% according to the characteristic of the expectation of torque T, torque pulsation etc.) to 1.75(magnet decrease 4.7%) scope in size shape.

Therefore, in turning motor 10, if to become equal torque T, shorten the length Wpm of permanent magnet 16 and the d axle that is formed as the size shape of ratio δ=1.38 has the situation of IPM motor of the V font in space and the situation that does not shorten the IPM motor of the V font of permanent magnet 16 to carry out magnetic field analysis, as shown in Figure 13 and Figure 14, the ratio of known magnet torque Tm and reluctance torque Tr changes and can export equal torque T.In addition, it is the structure that possesses the magnetic flux wall 17c in large space in d axle side that d axle has the IPM motor of the V font in space, and the IPM motor of simple V font is the structure that possesses little magnetic flux wall 17d in d axle side.

This Figure 13 is shown in the torque Tm of low-load region, the ratio of Tr, and Figure 14 is shown in the torque Tm in peak load region, the ratio of Tr.Known, no matter which is, the IPM motor of V font that has space at d axle, all owing to shortening permanent magnet 16, magnet torque Tm diminishes, reluctance torque Tr becomes large.; in turning motor 10; near permanent magnet 16 d axle is replaced and formed magnetic flux wall 17c, the central sulcus 21 of large void space, thereby can in the magnetic pole outer circumferential side zonule A1 shown in Fig. 6 B and Fig. 7, reduce the magnet magnetic flux Ψ m that offsets armature flux Ψ r.Consequently, turning motor 10 can increase q axle inductance L q, makes itself and d axle inductance L d poor (salient pole ratio) larger than the IPM motor of non-shortening V font, can effectively utilize reluctance torque Tr, guarantees equal torque T.

According to this structure, illustrated as magnetic flux line chart in Figure 15, turning motor 10 also can make to focus on the armature flux Ψ r of zonule A1 of the outer circumferential side of the pair of permanent magnets 16 that forms magnetic pole effectively from cutting apart (shunting) by the magnetic circuit Mr1 of this magnetic pole outer circumferential side zonule A1 to the magnetic circuit Mr2 of inner circumferential side of d axle side space 17c that enters V figure space 17.Consequently, turning motor 10 can reduce magnet magnetic flux Ψ m and armature flux Ψ r(d axle/q axle) magnetic disturbance, avoid the direction of rotation advance side (left side in figure) at magnetic pole outer circumferential side zonule A1 to become partly magnetic saturation state, effectively the generation of torque T is contributed.

Therefore, turning motor 10 is as illustrated in the magnetic flux line chart of Figure 16, in the time that underload drives, the resultant flux Ψ s of magnet magnetic flux Ψ m and armature flux Ψ r is mainly by the magnetic circuit MP0 through permanent magnet 16, and in the time that peak load drives, this resultant flux Ψ s can be as illustrated in the magnetic flux line chart of Figure 17, is divided into magnetic circuit MP1, magnetic circuit MP2.Consequently, can realize and reduce magnetic disturbance and avoid local magnetic saturation state, not only reduce the magnet amount of permanent magnet 16 but also produce efficiently equal above torque T.In addition,, in the resultant flux Ψ s in the time that underload drives, the ratio armature flux Ψ r's of magnet magnetic flux Ψ m is large.

In addition, in turning motor 10, if permanent magnet 16 is for example made as to the size shape of ratio δ=1.44, the magnetic flux wall 17c(that is replaced into low permeability reduces magnet magnetic flux Ψ m), magnet amount is cut down to 23%, can reduce inertia (inertia force), and induced voltage constant also be reduced to 13.4% degree, can be increased in the output of high rotating speed side.And, in this turning motor 10, owing to causing magnetostrictive space harmonic to reduce, can suppress heating, iron loss and electromagnetic noise because producing in the vortex flow of permanent magnet 16 interior generations.

With respect to this, for example, as shown in the magnetic flux line chart of Figure 18, do not expand to the center axis of rotor 12 at magnetic flux wall 17e, resultant flux Ψ s can not be cut apart fully, the local magnetic saturation of the direction of rotation advance side (left side in figure) at magnetic pole outer circumferential side zonule A1 can not be avoided.

In the present embodiment structure A of the illustrated magnetic flux wall of Figure 17 17c and the comparative structure B of the illustrated magnetic flux wall of Figure 18 17e, as illustrated the characteristic of busy hour in Figure 19, if size and variation (torque pulsation) thereof with torque are compared, the torque of known structure A increases approximately 6%, torque pulsation simultaneously diminishes, and can be rotated in high quality driving.In addition, in Figure 19, calculate average torque take the structure B of Figure 18 as benchmark, will represent with the corresponding instantaneous torque of its anglec of rotation (electric angle) situation of structure A and the situation of this structure B of diagram Figure 17 by per unit.

In this structure A, B, if be Fourier series by the waveform unfolds shown in Figure 19, as shown in figure 20, high order harmonic component torque that can be relatively more overlapping with torque, known, compared with structure B, structure A particularly can reduce 12 times and 24 high order harmonic component torques significantly.Thereby, in the structure A of present embodiment, can significantly reduce particularly 12 high order harmonic component torques, suppress the generation of the flutter while acceleration of going up a slope, and also can significantly reduce electromagnetic noise.In addition, in this Figure 20, the ratio (%) of the high order harmonic component torque that the torque of schematic structure A, B comprises.

And, in structure A, B, if will expand into Fourier series by the flux waveforms of clearance G and 1 stator tooth 15 interlinkage, the relatively containing ratio of 11 times and 13 times space harmonic compositions, as shown in figure 21, known compared with structure B, structure A can make its minimizing.In addition, in this Figure 21, by the basic waveform ingredient standard of the 1 tooth interlinkage flux of structure A, B and illustrate with per unit.

In addition, known the in the situation that of 3 phase, the torque pulsation of turning motor 10 results from the time high order harmonic component comprising with the overlapping space harmonic of the flux waveforms of every 1 mutually every 1 magnetic pole and phase current, in electric angle with 6f composition (f=1,2,3 ...: natural number) produce.

The generation reason of torque pulsation is described, if angular speed is made as to ω below, _m, the induced electromotive force of each phase is made as to E _u(t), E _v(t), E _w(t), the electric current of each phase is made as to I _u(t), I _v(t), I _w(t), can obtain 3 by following formula (4), formula (5) and export mutually (electrical power) P(t) and torque tau (t).

P(t)＝E _u(t)I _u(t)＋E _v(t)I _v(t)＋E _w(t)I _w(t)...（4）

τ(t)＝P(t)/ω _m

=[E _u(t)I _u(t)+E _v(t)I _v(t)+E _w(t)I _w(t)]...(5)

3 phase torques are U phase, V phase, W torque sums separately mutually, and the high order harmonic component composition that m represents electric current if establish, the high order harmonic component composition that n represents voltage, by U phase current I _u(t) formula (6) being expressed as, U phase torque tau _u(t) formula (7) that can be expressed as.

[several 3]

$I_u\left(t\right)=\underset{m=1}{\overset{m}{\mathrm{\&Sigma;}}}{I}_m\sin m\&CenterDot;(\mathrm{\&theta;}+{\mathrm{\&beta;}}_m)\&CenterDot;\&CenterDot;\&CenterDot;\left(6\right)$

$\begin{array}{c}{\mathrm{\&tau;}}_u\left(t\right)=\frac{1}{{\mathrm{\&omega;}}_m}\left[\underset{n=1}{\overset{n}{\mathrm{\&Sigma;}}}\underset{m=1}{\overset{m}{\mathrm{\&Sigma;}}}{E}_m{I}_m\right\{-\frac{1}{2}\left(\cos ((n+m)\mathrm{\&theta;}+n{\mathrm{\&alpha;}}_n-m{\mathrm{\&beta;}}_m\right)\\ -\cos ((n-m)\mathrm{\&theta;}+n{\mathrm{\&alpha;}}_n-m{\mathrm{\&beta;}}_m)\left\}\right]\end{array}\&CenterDot;\&CenterDot;\&CenterDot;\left(7\right)$

Phase current I(t) and phase voltage E(t) be symmetrical wave, therefore, " n " and " m " is only odd number.V phase torque beyond U phase and the torque of W phase are respectively with respect to U phase induced voltage E _u(t), U phase current I _u(t) phase difference is "+2 π/3(rad) ", " 2 π/3(rad) ", and therefore, the torque of entirety is cancelled (offseting) item for the coefficient of only surplus " 6 ", if be expressed as

6f=n ± m(f: natural number), s=n α _n+ m β _m, t=n α _n-m β _m, the formula (8) that can be expressed as.

[several 4]

$\mathrm{\&tau;}\left(t\right)=\frac{1}{{\mathrm{\&omega;}}_m}\left[\underset{n=1}{\overset{n}{\mathrm{\&Sigma;}}}\underset{m=1}{\overset{m}{\mathrm{\&Sigma;}}}{E}_m{I}_m\right\{-\frac{1}{2}\{3\cos (6\mathrm{f\&theta;}+s)-3\cos (6\mathrm{f\&theta;}+t)\}\left\}\right]\&CenterDot;\&CenterDot;\&CenterDot;\left(8\right)$

In addition, this induced voltage can be obtained by magnetic flux is carried out to time diffusion, and therefore, 1 high order harmonic component that 1 magnetic pole magnetic flux comprises mutually also produces the composition of the number of times same number of the high order harmonic component comprising with each induced voltage.Consequently, in 3 phase ac motors, the time high order harmonic component number of times m that the space harmonic frequency n comprising when magnetic flux (induced voltage) and phase current comprise be combined as 6f time, the torque pulsation that produces this 6f time composition.

Therefore known, as mentioned above, the torque pulsation of 3 phase motor be 1 mutually the space harmonic n of flux waveforms and the time high order harmonic component m of phase current of 1 magnetic pole be n ± m=6f(f: natural number) time produces, therefore, for example 11 times and 13 space harmonics (n=11,13) are overlapping and this combination of basic wave (m=1) of phase current under, produce 12 high order harmonic component torques.

And, in this turning motor 10, for the magnetic flux wall 17c of the V figure space 17 in rotor 12, in order permanent magnet 16 to be made as to the size shape of ratio δ=1.44 and to make the expansion size optimization towards axle center, knack is determined the wall position, end of center axis.

First, return to Fig. 1, the structure of this rotor 12 is decided by the torque characteristics shown in Figure 22, Figure 23, this torque characteristics is to change the wall position, end of center axis of magnetic flux wall 17c to the separation distance R2 in normal direction in axle center, and it is obtained during as parameter with respect to the outer radius R1 to outer peripheral face with to ratio R 2/R1, the R3/R2 of the inside radius R3 of inner peripheral surface.At this, caused Feng of compression stress Meath stress electromagnetic steel plate being applied when being pressed into rotating driveshaft 13 worsens permeability (magnetic flux easily by degree), and therefore, the size shape of rotor 12 decides with the numerical value of having considered this Feng meter Si stress.In addition, this Figure 22, Figure 23, take the comparative structure B of Figure 18 as benchmark, illustrate with per unit the torque that busy hour was obtained.

First, as shown in Figure 22, in the scope A that is 0.56～0.84 at R2/R1, can obtain torque more than structure B, in near the scope B of 0.565～0.75 position preferably changing in trend, more preferably in increasing the scope C of 0.59～0.63 degree of 5% degree, torque determines the separation distance R2 of the center axis end position of magnetic flux wall 17c.

And, as shown in Figure 23, in the scope A that is 0.54～0.82 at R3/R2, can obtain torque more than structure B, in near the scope B of 0.60～0.81 position preferably changing in trend, more preferably in increasing the scope C of 0.70～0.77 degree of 5% degree, torque determines the separation distance R2 of the center axis end position of magnetic flux wall 17c.

Thereby, can guarantee fully the magnetic circuit width of the magnetic circuit MP2 in Figure 17, can determine not produce magnetically saturated mode at this magnetic circuit MP2 the size of magnetic flux wall 17c.

In addition, in the rotor 12B shown in Figure 24, as mentioned above, even in the case of the length of the long dimensional directions of permanent magnet 16 (width) is made as optimum value Wpm, also there is the vector V r of the armature flux Ψ r relative with the vector V m of magnet magnetic flux Ψ m near the bight 16a that is coupling near with d.Specifically, near the bight 16a that is coupling near with this d, remaining with following state: the vector V r of the armature flux Ψ r of the magnetic circuit by the deep of the center axis towards magnetic pole outer circumferential side zonule A1 becomes with respect to the vector V m of magnet magnetic flux Ψ m at angle and exceedes relative (interference) on the rightabout of 90 degree, offsets the relation of the opposing magnetic field of (offseting).Therefore,, in the structure of this rotor 12B, waste in suppressing (counteracting) magnet magnetic flux Ψ m by near the armature flux Ψ r d axle side corner sections 16a of permanent magnet 16.

Therefore, at this turning motor 10(rotor 12) in, as shown in figure 25, magnetic flux wall 17c is formed as to the void shape also expanding towards outer peripheral face 12a in d axle side.Thereby, in this rotor 12, be made as the structure that can effectively utilize armature flux Ψ r and magnet magnetic flux Ψ m, make this armature flux Ψ r by with near the be coupling vector V r of the armature flux Ψ r bight 16a of near permanent magnet 16 of d be the magnetic circuit below 90 degree with respect to the angle of the vector V m of magnet magnetic flux Ψ m.

Specifically, in this turning motor 10, for the magnetic flux wall 17c of the V figure space 17 in rotor 12, in order permanent magnet 16 to be made as to the size shape of ratio δ=1.44 and the space optimization expanding towards outer peripheral face 12a side to be decided to its size shape 1,2.

First,, for the size shape 1 of the magnetic flux wall 17c of this rotor 12, as shown in figure 26, determine from the extended surface of outer peripheral face side end face (flat shape) 17cu of this magnetic flux wall 17c and the intersection point Y of d axle to outer peripheral face 12a(intersection point X) separation distance DLd.For example, this separation distance DLd is decided by average torque, high order harmonic component torque and torque pulsation that the ratio DLd/R1 of the outer radius R1 with respect to rotor 12 is obtained during as parameter.In other words, for the size shape 1 of this magnetic flux wall 17c, can obtain making the mode of the optkmal characteristics such as the magnetic flux density of magnetic circuit MP1 of the magnetic pole outer circumferential side region A2 by rotor 12 is unsaturated, determine interval (separation distance) DLd of the d axle side end from outer peripheral face 12a to outer peripheral face side end face 17cu.

For example, as shown in figure 27, make DLd from the outer peripheral face 12a of this rotor 12 to the outer peripheral face side end face 17cu of magnetic flux wall 17c expand DLd/R1=0.086 from the DLd/R1=0.194 consistent with the extended surface of outer peripheral face side wall surface (outside of the permanent magnet 16) 17au of the accommodation space 17a of V figure space 17 to outer peripheral face 12a side.In this case known, as shown in the coordinate diagram of Figure 28, Figure 29, torque characteristics changes.In addition,, in Figure 28, take DLd/R1=0.194 as benchmark, illustrate with per unit the average torque that busy hour was obtained.In addition, the high frequency torque of Figure 28 illustrates the Duplication of its 6 times and 12 compositions (electric angle), the rate of change of the torque pulsation diagram torque of Figure 29.

From this Figure 28, the size shape 1 of the magnetic flux wall 17c of rotor 12 is made as in the scope A of DLd/R1=0.098～0.194, thereby obtains the large torque of the structure outer peripheral face side wall surface 17au of the accommodation space 17a of V figure space 17 being extended than being only.For this size shape 1, be preferably made as in the scope B of degree of DLd/R1=0.11～0.194, thereby can reduce 12 high order harmonic component torques, in addition, be more preferably made as in the scope C of degree of DLd/R1=0.12～0.14, thereby can obtain breakdown torque.In addition, as shown in Figure 29, for this size shape 1, be made as the Best Point shape BP1 of DLd/R1=0.139, thereby can make torque pulsation minimum.

And, for the size shape 2 of the magnetic flux wall 17c of this rotor 12, as shown in figure 26, determine the angle [alpha] that the outer peripheral face side end face 17cu of magnetic flux wall 17c tilts with respect to the outer peripheral face side wall surface 17au of the accommodation space 17a of V figure space 17.

For example, for this inclined angle alpha, take DLd/R1=0.139 as basis, ratio θ 1/ θ 2 of the angle theta 2 between the angle theta 1 between outer peripheral face side end face 17cu and the d axle of decision magnetic flux wall 17c and outer peripheral face side wall surface 17au and the d axle of the accommodation space 17a of V figure space 17.The illustrated average torque of Figure 30, Figure 31, high order harmonic component torque and torque pulsation that this ratio θ 1/ θ 2 obtains during by parameter change decide.In other words, for the size shape 2 of this magnetic flux wall 17c, determine as follows inclined angle alpha: can near being coupling the bight 16a of near permanent magnet 16 with d at the magnetic pole outer circumferential side zonule A1 of rotor 12, form the magnetic circuit that armature flux Ψ r does not suppress magnet magnetic flux Ψ m, obtain optkmal characteristics.In addition,, in Figure 30, take θ 1/ θ 2=1.7 as benchmark, illustrate with per unit the average torque that busy hour was obtained.In addition, the high frequency torque of Figure 30 illustrates the Duplication of its 6 times and 12 times compositions, the rate of change of the torque pulsation diagram torque of Figure 31.This θ 2 is also sometimes referred to as the magnet opening degree of permanent magnet 16, and therefore, θ 1 also can be called magnetic flux wall opening degree.

From this Figure 30, for the size shape 2 of the magnetic flux wall 17c of rotor 12, be made as the scope D of the degree of θ 1/ θ 2=1.2～1.7, thereby can obtain large torque and reduce 12 high order harmonic component torques.And, for this size shape 2, as shown in Figure 31, be preferably made as the Best Point shape BP2 of θ 1/ θ 2=1.52, thereby can obtain breakdown torque, pull up torque pulsation.

At this, if consider magnetic flux wall 17c size shape 1,2 both,, in the case of the scope A that is made as DLd/R1=0.098～0.194, can, by the θ under this condition 1 is obtained divided by the θ 2 of displacement, can obtain applicable torque characteristics by being made as θ 1/ θ 2=1.0～2.13.In addition, in the case of in the scope B of degree that is made as DLd/R1=0.11～0.194, similarly, the torque characteristics that can obtain being more suitable for by being made as θ 1/ θ 2=1.0～2.02.

In addition, at the size shape 1,2 to have considered magnetic flux wall 17c, both DLd/R1=0.139 and θ 1/ θ 2=1.5 have carried out in optimization situation, shown in figure 32, compared with the situation of the comparative structure example shown in Figure 24, can not only make average torque increase approximately 1.8% but also must be less by Torque Ripple Reduction.In addition, in this size shape 1,2, as shown in figure 33, compared with the situation of the comparative structure example shown in Figure 24, can reduce significantly 12 times and 24 high order harmonic component torques.Thereby, in this size shape 1,2, can significantly reduce particularly 12 high order harmonic component torques, suppress the generation of flutter while acceleration of going up a slope, and also can significantly reduce electromagnetic noise.

In addition, in the rotor 12A shown in Figure 34 A, due to until there is permanent magnet 16 to exist near d axle, produced more magnet magnetic flux Ψ m at magnetic pole outer circumferential side region A2.With respect to this, in the rotor 12C that central sulcus 21 is not set shown in Figure 35 A, near this d axle, be formed with the magnetic flux wall 17c in space, therefore, the orthogonality of the magnet magnetic flux Ψ m producing from permanent magnet 16 declines, and in other words, the magnetic flux density of magnet magnetic flux Ψ m d axle near declines.Therefore, concerning q axle magnetic circuit Ψ q, near magnetic resistance d axle reduces, thereby inductance uprises.Consequently, in rotor 12C, owing to producing difference with the density of the magnetic flux of outer peripheral face 12a interlinkage, cause having high order harmonic component overlapping in magnetic flux, make torque pulsation, iron loss increase, thereby make decrease in efficiency.

For example, near the d of rotor 12A axle, as shown in the magnetic flux vector figure of the busy hour of Figure 34 B, with the magnetic circuit ring of armature flux Ψ r accordingly, not high from the magnetic flux density of the stator tooth 15D interlinkage faced.With respect to this, near the d of rotor 12C axle, as shown in the magnetic flux vector figure of the busy hour of Figure 35 B, compared with magnetic flux in the stator tooth 15D of Figure 34 B, the magnetic flux density of interlinkage uprises, and the magnetic flux of inflow increases.

This point can be understood by following aspect: if at rotor 12A(magnetic flux wall 17d, without central sulcus 21) and rotor 12B(magnetic flux wall 17c, without central sulcus 21) in, relatively by and 1 stator tooth 15 between 1 tooth interlinkage flux waveform of clearance G, as shown in the coordinate diagram of Figure 36, place shown in " P " near the figure affecting d axle, the magnetic flux of rotor 12B easily flows, and high order harmonic component is easily overlapping.For example, if the flux waveforms shown in Figure 36 is expanded into Fourier series, as shown in figure 37, compared with rotor 12A, the flux waveforms of rotor 12B is overlapping in the large mode of the containing ratio of 5 times, 7 times space harmonics.

Therefore, turning motor 10 forms central sulcus 21 on the d axle of the outer peripheral face 12a of rotor 12, and this central sulcus 21 is adjusted in the mode of the magnetic resistance at the clearance G place between increase and the inner peripheral surface 15a of stator tooth 15.Having formed in the rotor 12 of this central sulcus 21, as shown in the magnetic flux vector figure of the busy hour of Figure 38, can be suppressed near the increase of the magnetic flux entering from the stator tooth 15 of facing the d axle of rotor 12.

In addition, if 12(has central sulcus 21 at this rotor) and rotor 12C(without central sulcus 21) in torque waveform relatively, as shown in the coordinate diagram of Figure 39, take rotor 12C as benchmark (1.0[p.u.]), there is the torque waveform of the rotor 12 of central sulcus 21 can amplitude contraction, can be torque pulsation inhibited.In addition, if be Fourier series by the torque waveform unfolds shown in this Figure 39, as shown in figure 40, there is the torque waveform of the rotor 12 of central sulcus 21 can significantly reduce 6 times, 12 times, 18 times, 24 times high order harmonic component torques.In addition, in Figure 39, take the average torque of rotor 12C as benchmark (1.0[p.u.]), the torque waveform of diagram instantaneous torque.

And, in this turning motor 10, decide the optimum size shape of the central sulcus 21 of rotor 12 based on torque characteristics such as this torque pulsations.

For this central sulcus 21, as shown in figure 41, change the separation distance R4 of bottom of trench 21a from axle center to normal direction, decide size shape according to torque pulsation that the ratio R 4/R1 of the outer radius R1 to outer peripheral face 12a with respect to rotor 12 is obtained during as parameter, shown in Figure 42.

First,, as the degree of depth of central sulcus 21, there is no the size shape (R4/R1=1.0) of central sulcus 21 as benchmark, can reduce torque pulsation that busy hour produces and be formed as following size shape:

0.98≤R4/R1＜1.0。

In addition, the central sulcus 21 of rotor 12 need to decide size shape from the relativeness of the stator tooth 15 with respect to stator 11 sides, as shown in figure 41, can and stipulate than the inner opening angle θ b of this outer peripheral face 12a bottom of trench 21a in the inner part by the external-open bicker θ a on outer peripheral face 12a centered by the axle center by rotor 12.

In this rotor 12, if the external-open bicker θ a of central sulcus 21 is changed as parameter,, as made in Figure 43 as shown in the phase voltage coordinate diagram corresponding with voltage between lines, the place shown in peak F in the drawings and top W is affected.

Specifically, for example, the width from G1 to G3 in Figure 43, U phase voltage waveform according to the relative position relation of stator 11 and rotor 12 along with the width of the external-open bicker θ a of central sulcus 21 changes.If external-open bicker θ a is narrowed, this U phase voltage waveform becomes the waveform of following point: between G1-G3, also narrow, top W becomes summit, and voltage between lines waveform becomes following waveform: peak F approaches top W, is similar to triangular wave.On the contrary, if the external-open bicker θ a of central sulcus 21 is broadened, U phase voltage waveform becomes following waveform: the top W between G1-G3 becomes even shape, voltage between lines waveform becomes following waveform: peak F is left from top W, be similar to the wide trapezoidal wave in bottom, become easily overlapping 5 times, 7 times space harmonics.

At this, for central sulcus 21, as mentioned above, need to increase the magnetic resistance (reduction permeability) at the clearance G place between rotor 12 and stator tooth 15, if but make external-open bicker θ a become excessive, become easily overlapping 5 times, 7 times space harmonics, therefore, need to be made as required MIN size shape.

As shown in figure 41, if establishing the A/F of rotor 12 sides of groove 18 and be the air gap width that is the clearance G between TW, rotor 12 and stator tooth 15 than inner peripheral surface 15a leading section width in the inner part that is TB, stator tooth 15 in the face of width of the inner peripheral surface 15a of SO, stator tooth 15 is AG, the structure of this rotor 12 and stator 11 is as follows.

First,, owing to need to increasing the magnetic resistance at clearance G place, central sulcus 21 need to be made as facing more than width TB of stator tooth 15.Thereby, as the lower limit of external-open bicker θ a, because the shape approximation surrounding with this axle center in the face of width TB and rotor 12 is in isosceles triangle (2 × right-angled triangle), can be made as

2×tan ^-1（（TB/2）/（R1＋AG））≤θa。

In addition, for groove 18, if consider the automatic insertion of coil, necessary energy density, need to be made as the A/F SO > air gap width AG of groove 18.From this relation, compared with the open space of groove 18, the magnetic resistance at clearance G place is low, need to reduce from the front end corner part K(of stator tooth 15 with reference to Figure 36) with the magnetic flux of rotor 12 top-cross chains.Therefore, central sulcus 21 need to be made as arriving below the width of inner peripheral surface 15a of adjacent stator tooth 15, thereby, as the higher limit of external-open bicker θ a, similarly, can be made as

θa≤2×tan ^-1（（SO＋（TB/2））/（R1＋AG））。

Then, for the inner opening angle θ b of the bottom of trench 21a of central sulcus 21, with external-open bicker θ a similarly, can by adjacent stator tooth 15 till the external-open bicker θ a below the width of inner peripheral surface 15a is made as higher limit, be made as

θb≤2×tan ^-1（（SO＋（TB/2））/（R1＋AG））。

And on the other hand, for the lower limit of the inner opening angle θ b of the bottom of trench 21a of central sulcus 21, also can adjust by the mode that increases the magnetic resistance at clearance G place in the face of width TB that the lower limit of external-open bicker θ a is made as to stator tooth 15, there is no bottom of trench 21a's thereby be made as

0°≤θb。

In addition, for stator tooth 15 in the face of width TB and leading section width TW, if be made as the shape that the leading section of stator tooth 15 is fined away, above-mentioned condition is false, thereby is

TW≤TB。

At this, in this rotor 12, in the time of underload too, if with relatively torque waveform of rotor 12C without central sulcus 21, as shown in the coordinate diagram of Figure 44, take rotor 12C as benchmark (1.0[p.u.]), there is the torque waveform of the rotor 12 of central sulcus 21 can amplitude contraction, torque pulsation inhibited.In addition, if be Fourier series by the torque waveform unfolds shown in this Figure 44, as shown in figure 45, there is the torque waveform of the rotor 12 of central sulcus 21 can reduce 6 high order harmonic component torques.

In addition, the impact of above main explanation central sulcus 21 on torque characteristics, and this central sulcus 21 also can wait while manufacturing as mark etc. in assembling, is useful.For example, be the state of twisting at the position relationship on direction of principal axis of permanent magnet 16, occur in the situation of so-called deflection, can be confirmed whether to exist deflection in axial linearity according to this central sulcus 21.

In addition we know,, in the rotor 12D that there is no lateral sulcus 22 shown in Figure 46, the magnetic flux density waveform at the clearance G place when as zero load in illustrated in Figure 47, be deformed into the waveform that approaches trapezoidal wave from basic wave.At this clearance G place, with the basis of the corresponding gap of the structure flux waveforms of magnetic flux wall 17b, the 17c of the permanent magnet 16 of the V font of the stator tooth 15 of stator 11 sides, rotor 12 sides, V figure space 17 on, further overlapping space harmonic, thereby, become the main cause that torque pulsation, electromagnetic noise, iron loss increase.

For gap flux waveforms, 90 ° of electric angles are equivalent to d axle, and 0 °, 180 ° of electric angles are equivalent to q axle, and the stator tooth 15a～15g in a magnetic pole of rotor 12D corresponds respectively to the region A～G of 30 ° of electric angles.This gap flux waveforms with the magnetic flux wall 17c(space of d axle side) depression before and after corresponding region A, if compare with basic waveform, known too high in magnetic flux density between region B, C and between region E, F.That is, known in rotor 12D, from d axle towards direction of advance side from 3 stator tooth 15c of the 2nd stator tooth 15b to the and from d axle towards direction of retreat side from 3 stator tooth 15f of the 2nd stator tooth 15e to the, the overlapping change of space harmonic is many.

Therefore, in rotor 12D, with stator tooth 15b, 15c between and between stator tooth 15e, 15f in the scope at 2 places (d axle ± 30 °～60 °) of corresponding outer peripheral face 12a, it is effective forming a pair of lateral sulcus 22 for the magnetic flux density that reduces interlinkage.

And, in IPM type motor, by twisting rotor to applying so-called segmentation deflection between axial permanent magnet, thereby can offset the torque pulsation of specific times.For example, the in the situation that of threephase motor, apply the segmentation deflection of 15 ° of electric angles, thereby can offset the torque pulsation of 12 times completely.

Specifically,, if represent 12 high order harmonic components overlapping with magnetic flux with function, can be expressed as

F（θ）＝sin12θ，

The waveform that electric angle skew is 15 ° is

F（θ＋15°）＝sin12（θ＋15°）＝－sin12θ，

In theory, can offset and offset with 11 times and 13 space harmonics, consequently, can reduce the torque pulsation of 12 times.

Therefore,, if will confirm not when only zero load, the overlapping gap flux waveforms of high order harmonic component while having load in addition, become waveform as shown in figure 48.In addition, in this Figure 48, illustrate under the state that there is no lateral sulcus 22, have or not segmentation deflection situation the two.

In this gap flux waveforms, can confirm to suppress overlapping space harmonic by applying segmentation deflection, but when zero load similarly, if compare with basic waveform, known too high in magnetic flux density between region B, C and between region E, F.

And, in this turning motor 10, the torque characteristics such as torque, torque pulsation based on such, the optimum size shape of the lateral sulcus 22 of decision rotor 12.

As shown in Figure 49 (Figure 26), lateral sulcus 22 can with the angle between extended surface and the d axle of the outer peripheral face 12a side wall surface of permanent magnet 16 (outer peripheral face side wall surface 17au) be so-called magnet opening degree θ 2, from axle center connect angle between extended line and the d axle of outer peripheral face 12a side corner sections 16b of permanent magnet 16 be between so-called magnet end subtended angle θ 3, outboard end limit 22o and d axle interior angle theta 5 between angle theta 4 and medial extremity limit 22i and d axle carry out regulation and form position.

First, if lateral sulcus 22 is positioned at the outside of magnet end subtended angle θ 3, magnet opening degree θ 2, with region C, the D of the gap flux waveforms shown in Figure 47 between and corresponding between region F, G, the position that reduces of departing from magnetic flux density.In addition, for rotor 12, the Feng meter Si stress that the centrifugal force of the permanent magnet 16 when high rotating speed causes concentrates on and links the inside and outside side bridge 30 described later of magnetic pole supporting between outer peripheral face 12a and magnetic flux wall 17b, therefore, in order to prevent concentrating by this stress the fracture causing, need width to a certain degree.Therefore, the formation position of lateral sulcus 22 is

The outer angle theta 4≤magnet end subtended angle θ 3 of interior angle theta 5 <.

In addition, according to the torque characteristics of torque that the ratio of the outer angle theta 4 of interior angle theta 5/ is obtained during as parameter, shown in Figure 50, Figure 51, high order harmonic component torque, torque pulsation, decide the size shape of lateral sulcus 22.

First, for lateral sulcus 22, from the torque characteristics of the busy hour of Figure 50, there is no the rotor 12D(θ 5/ θ 4=1.0 of lateral sulcus 22) as benchmark (1.0[p.u.]), be made as

0.945≤θ5/θ4≤0.98

Size shape, thereby, can be not only torque to a certain extent but also torque ripple reduction effectively.Particularly, this lateral sulcus 22 being made as to θ 5/ θ 4=0.97, is minimum thereby can make torque pulsation.

In addition, for this lateral sulcus 22, the torque characteristics during from the underload of Figure 51, is made as

θ5/θ4≤0.98

Size shape, thereby also can be not only torque to a certain extent but also torque ripple reduction effectively.

In addition, as shown in figure 49, according to torque that the ratio of trench depth RG/ air gap width AG is obtained during as parameter, shown in Figure 52, the torque characteristics of torque pulsation, decide the size shape of this lateral sulcus 22.

First, for lateral sulcus 22, from the torque characteristics of the busy hour of Figure 52, there is no the rotor 12D(RG/AG=0.0 of lateral sulcus 22) as benchmark (1.0[p.u.]), be made as

0.00＜RG/AG≤0.73

Size shape, thereby, can be not only torque to a certain extent but also torque ripple reduction effectively.Particularly, this lateral sulcus 22 being made as to the degree of 0.30≤RG/AG≤0.45, is minimum thereby can make torque pulsation.

Thereby, as shown in the coordinate diagram of the gap flux waveforms of Figure 53, in turning motor 10, lateral sulcus 22 is formed on to the optimum position of the outer peripheral face 12a of rotor 12, thereby can reduce in trapezoidal wave, the magnetic flux density between region B, C and between region E, F particularly.

In addition, as shown in the coordinate diagram of the torque waveform during as the underload of the torque waveform of the busy hour of Figure 54, Figure 55, in turning motor 10, lateral sulcus 22 is formed on to the optimum position of the outer peripheral face 12a of rotor 12, thereby, no matter which can both torque ripple reduction.

And, as shown in the coordinate diagram of the cogging torque waveform of Figure 56, in turning motor 10, lateral sulcus 22 is formed on to the optimum position of the outer peripheral face 12a of rotor 12, thereby cogging torque can be reduced more than 50%.

And, in turning motor 10, permanent magnet 16 is imbedded in the situation of the IPM structure in rotor 12 with the position relationship becoming as shown in Figure 57, as shown in Figure 58, the variation of the magnetic flux in 1 tooth of the stator tooth 15 of stator 11 can be approximately square wave.Have 5 times, 7 inferior low order space harmonics to this flux waveforms is overlapping, thus iron loss, increase as the torque pulsation of the amplitude of fluctuation of torque, cause Efficiency Decreasing as the waste of heat energy, and become the main cause that produces vibration, noise.Iron loss can be divided into magnetic hysteresis loss and vortex flow loss.Magnetic hysteresis loss is the long-pending of frequency and magnetic flux density, and vortex flow loss is long-pending square with magnetic flux density of frequency, therefore can reduce the loss by suppressing space harmonic, can improve the drive efficiency of inputting with respect to electric energy.In addition,, in Figure 58, the longitudinal axis is made as to magnetic flux, transverse axis is made as to the time, illustrate for 1 stator tooth 15, there is no the interlinkage of magnetic flux between L1, there is the approximate rectangular ripple of the flux waveforms in electric angle 1 cycle T (4L1+2L2) of positive and negative interlinkage in magnetic flux between L2.

In addition, the electromagnetic noise of motor (turning motor) is to cause this stator vibration to produce owing to acting on the electromagnetic force of stator side, the circumferential electromagnetic force that the electromagnetic force that acts on stator has radial electromagnetic force that the magnetic coupling of rotor and stator causes and torque to cause.For radial electromagnetic force, in the situation that motor being approximately to linear magnetic loop and investigating by every 1 stator tooth 15, if establish magnetic flux be

magnetic energy is that W, radial electromagnetic force are that fr, magnetic resistance are that Rg, magnetic flux density are that B, magnetic flux interlinkage area are that S, air gap G spacing are that x, magnetic circuit permeability are μ, and magnetic energy W and radial electromagnetic force fr can represent like that as shown in the formula (9), formula (10).

[several 5]

$W=\frac{1}{2}{\mathrm{\&phi;}}^2{R}_g=\frac{1}{2}{(B\&CenterDot;S)}^2\&CenterDot;\frac{x}{\mathrm{\&mu;S}}=\frac{1}{2\mathrm{\&mu;}}{\mathrm{<figure-callout\; id="2"\; label="B"\; filenames="HDA0000402158300000181.png,HDA0000402158300000351.png"\; state="\{\{state\}\}">B</figure-callout>}}^2\&CenterDot;x\&CenterDot;S\&CenterDot;\&CenterDot;\&CenterDot;\left(9\right)$

$\mathrm{fr}=\frac{\&PartialD;W}{\&PartialD;x}=\frac{1}{2\mathrm{\&mu;}}{B}^{2}S\frac{\&PartialD;}{\&PartialD;x}\left(x\right)=\frac{1}{2\mathrm{\&mu;}}{B}^{2}S\&CenterDot;\&CenterDot;\&CenterDot;\left(10\right)$

Therefore, when magnetic flux density B expression like that as shown in the formula (11) having considered space harmonic, radial electromagnetic force fr comprise magnetic flux density B square, therefore space harmonic overlapping becomes the main cause that radial electromagnetic force fr increases., reduce space harmonic and just can realize the minimizing of torque pulsation, and then realize the minimizing of electric electromechanics magnetic noise and the raising of drive efficiency.

[several 6]

$B=\underset{t=1}{\overset{t}{\mathrm{\&Sigma;}}}{B}_t\sin t\left(\mathrm{\&theta;}{+\mathrm{\&delta;}}_t\right)\&CenterDot;\&CenterDot;\&CenterDot;\left(11\right)$

In the case of the turning motor 10 of 3 phase IPM motor of the distribution winding method of groove number=2 as unit pole unit's phase, corresponding 12 grooves 18 of every 1 pole pair, therefore within 1 cycle of electric angle, there are 12 places in the groove 18 that magnetic resistance is large, due to the magnetic resistance of corresponding groove 18,11 times, 13 times space harmonic n can be overlapped in flux waveforms.These 11 times, 13 times space harmonic n is commonly referred to as groove high order harmonic component, can easily reduce by have the angle of deviation of reversing according to the setting position on direction of principal axis of permanent magnet 16 centered by axle center.

But, in the case of the IPM structure of 3 phases, as shown in Figure 58, the flux waveforms of magnetic flux and 1 stator tooth 15 interlinkage is essentially rectangular ripple, therefore n(6f time=6 times high order harmonic components of 5 times, 7 times space harmonics structurally) also easily overlapping and be difficult to reduce.

Therefore,, for torque ripple reduction, need to adopt the structure that reduces by 5 times, 7 times space harmonics.

Fourier transform formula f(t when flux waveforms in 1 stator tooth 15 of the IPM structure of this 3 phase is approximately to square wave) represent like that the illustrated flux waveforms F(t of Figure 58 as shown in the formula (12)) can represent like that as shown in the formula (13).If this flux waveforms F(t) be that the approximate expression that covers the space harmonic till 7 times represents like that as shown in the formula (14), if with trigonometric function launch to arrange that can be deformed into following formula (15) such with long-pending formula, knownly want to reduce 5 times or 7 high order harmonic components need to meet following condition 1 or condition 2 from this formula.

Condition 1: " cos5 ω L1=0 "

Condition 2: " cos7 ω L1=0 "

[several 7]

$f\left(t\right)=\frac{4}{\mathrm{\&pi;}}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\frac{\sin \left\{(2k-1)\mathrm{\&omega;t}\right\}}{2k-1}\&CenterDot;\&CenterDot;\&CenterDot;\left(12\right)$

$\begin{array}{c}F\left(t\right)=\frac{1}{2}[f(t-L1)+f(t+L1)]\\ =\frac{1}{2}[\frac{4}{\mathrm{\&pi;}}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\frac{\sin \left\{(2k-1)\mathrm{\&omega;}(t-L1)\right\}}{2k-1}+\frac{4}{\mathrm{\&pi;}}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\frac{\sin \left\{(2k-1)\mathrm{\&omega;}(t+L1)\right\}}{2k-1}]\end{array}\&CenterDot;\&CenterDot;\&CenterDot;\left(13\right)$

$\begin{array}{c}F\left(t\right)=\frac{1}{2}\left[\frac{4}{\mathrm{\&pi;}}\right\{\sin \mathrm{\&omega;}(t-L1)+\frac{1}{3}\mathrm{<figure-callout\; id="3"\; label="sin"\; filenames="HDA0000402158300000181.png,HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}3\mathrm{\&omega;}(t-L1)+\frac{1}{5}\mathrm{<figure-callout\; id="5"\; label="sin"\; filenames="HDA0000402158300000181.png,HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}5\mathrm{\&omega;}(t-L1)+\frac{1}{7}\mathrm{<figure-callout\; id="7"\; label="sin"\; filenames="HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}7\mathrm{\&omega;}(t-L1)\}\\ +\frac{4}{\mathrm{\&pi;}}\{\sin \mathrm{\&omega;}(t+L1)+\frac{1}{3}\mathrm{<figure-callout\; id="3"\; label="sin"\; filenames="HDA0000402158300000181.png,HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}3\mathrm{\&omega;}(t+L1)+\frac{1}{5}\mathrm{<figure-callout\; id="5"\; label="sin"\; filenames="HDA0000402158300000181.png,HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}5\mathrm{\&omega;}(t+L1)+\frac{1}{7}\mathrm{<figure-callout\; id="7"\; label="sin"\; filenames="HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}7\mathrm{\&omega;}(t+L1)\}]\end{array}\&CenterDot;\&CenterDot;\&CenterDot;\left(14\right)$

$\begin{array}{c}F\left(t\right)=\frac{4}{\mathrm{\&pi;}}[\sin \mathrm{\&omega;t}\&CenterDot;\cos \mathrm{\&omega;<figure-callout\; id="1"\; label="L"\; filenames="HDA0000402158300000041.png,HDA0000402158300000181.png"\; state="\{\{state\}\}">L</figure-callout>}1+\frac{1}{3}\mathrm{<figure-callout\; id="3"\; label="sin"\; filenames="HDA0000402158300000181.png,HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}3\mathrm{\&omega;t}\&CenterDot;\cos \mathrm{\&omega;<figure-callout\; id="1"\; label="L"\; filenames="HDA0000402158300000041.png,HDA0000402158300000181.png"\; state="\{\{state\}\}">L</figure-callout>}1\\ +\frac{1}{5}\mathrm{<figure-callout\; id="5"\; label="sin"\; filenames="HDA0000402158300000181.png,HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}5\mathrm{\&omega;t}\&CenterDot;\mathrm{<figure-callout\; id="5"\; label="cos"\; filenames="HDA0000402158300000181.png,HDA0000402158300000351.png"\; state="\{\{state\}\}">cos</figure-callout>}5\mathrm{\&omega;<figure-callout\; id="1"\; label="L"\; filenames="HDA0000402158300000041.png,HDA0000402158300000181.png"\; state="\{\{state\}\}">L</figure-callout>}1+\frac{1}{7}\mathrm{<figure-callout\; id="7"\; label="sin"\; filenames="HDA0000402158300000351.png"\; state="\{\{state\}\}">sin</figure-callout>}7\mathrm{\&omega;t}\&CenterDot;\mathrm{<figure-callout\; id="7"\; label="cos"\; filenames="HDA0000402158300000351.png"\; state="\{\{state\}\}">cos</figure-callout>}7\mathrm{\&omega;L}1]\end{array}\&CenterDot;\&CenterDot;\&CenterDot;\left(15\right)$

And, be following formula (16) with reference to the flux waveforms of Figure 58, if the deformation type of therefore substitution condition 1, shown in (17).At this, due to " L1, L2 > 0 ", therefore it is arranged, known can be zero by 5 space harmonics inhibition by meeting following condition 1A.

Angular frequency (angular speed) ω=2 π/T=2 π/(4L1+2L2) ... (16)

Condition 1:5 ω L1=52 π L1/(4L1+2L2)=± pi/2 ... (17)

Condition 1A:L1=L2/8

Equally, the deformation type of condition 2 is such as shown in the formula (18), due to " L1, L2 > 0 ", therefore it is arranged, and known can be zero by 7 space harmonics inhibition by meeting following condition 2A.

Condition 2:7 ω L1=72 π L1/(4L1+2L2)=± pi/2 ... (18)

Condition 2A:L1=L2/12

And, in the turning motor 10 of groove number=2 of unit pole unit's phase, use the outer radius R1 of rotor 12, there is following relation, therefore can arrange like that as shown in the formula (19), formula (20) with peripheral speed V.

Spend=electric angle of mechanical angle 45 cycle T/2

V（m/sec）＝2πR1·（45°/360°）/（T/2）

＝2πR1·（45°/360°）/（（4L1＋2L2）/2）

＝R1（m）·ω（rad/sec）……（19）

2L1＋L2＝π/4ω……（20）

To its substitution condition 1A and condition 2A, can derive following condition.

Thus, in turning motor 10, carry out layout and make it meet following relational expression (21), thereby be tending towards reducing 5 times and 7 space harmonics, can be torque pulsation inhibited.

π/5ω≤L2≤3π/14ω（sec）……（21）

At this, " L2 " of this relational expression (21) is equivalent to the region of the magnetic circuit of rotor 12 sides that formation in the flux waveforms of Figure 58 and stator tooth 15 face, can be as comprising until the opening angle θ 6 centered by axle center of the scope in the region of the outer end of the magnetic flux wall 17b of the both sides of permanent magnet 16, in other words, can serve as magnetic pole opening degree θ 6.

With reference to the flux waveforms of this Figure 58, the relational expression of " θ=ω t " is set up, and therefore can be replaced into " θ 1=ω L2 ", and various representations can represent as follows.For example, in the turning motor 10 of groove number=2 of unit pole unit's phase of the structure (answering the structure of 6 grooves for 1 pole pair) of 8 magnetic pole 48 slot motors, take 2 magnetic poles in 8 magnetic poles as 1 cycle, therefore 360 ° of rotations in 1 cycle of mechanical angle of rotor 12 are equivalent to 4 cycles of electric angle, and following relational expression is set up.

π/5(rad)≤θ 6(mechanical angle)≤3 π/14(rad)

36(degree)≤θ 6(mechanical angle)≤270/7(degree)

θ 6(mechanical angle)=(8 magnetic pole/2 magnetic pole) θ 6(electric angle)

144(degree)≤θ 6(electric angle)≤154.3(degree)

Therefore, in turning motor 10, as shown in Figure 59, the magnetic pole opening degree θ 6 that comprises 1 magnetic pole till the outer end of permanent magnet 16 and both end sides magnetic flux wall 17b by following layout setting in rotor 12.In addition, the θ 7 in Figure 59 is corresponding to the opening degree of q between centers.

36 °≤θ 6(mechanical angle)≤38.6 °

144 °≤θ 6(electric angle)≤154.3 °

And, now, the magnetic pole opening degree θ 6 of 1 magnetic pole in rotor 12 corresponding to the magnetic flux in the approximate waveform of flux waveforms as shown in Figure 58 and stator tooth 15 interlinkages during L2, as shown in Figure 59, during this interlinkage, L2 is positioned at the center of q between centers θ 7, and be d axle with this interlinkage during the flux waveforms of the consistent timing of the center line of L2.In addition, the angle that the angle θ 7 in Figure 57 is equivalent to q between centers is 45 ° of mechanical angles, in addition, is the electrical degree θ of the half period in flux waveforms.

Therefore, in turning motor 10, the magnetic pole opening degree θ 6 that comprises magnetic flux wall 17b of the permanent magnet 16 in rotor 12 is made as inhibition 6f (n=5 to the effective specific times of torque ripple reduction when as the m=1 of the basic waveform of the time high order harmonic component m of phase current, 7) angular range of 5 times, 7 times (144 °≤θ 6(electric angle) of the space harmonic n of phase voltage≤154.3 °), thereby can torque ripple reduction, vibration, noise are tailed off, in high quality rotating shaft 13 is rotated to driving.In addition, meanwhile, due to torque ripple reduction, can make vibration tail off, thereby can suppress the iron loss of thermal loss and magnetic hysteresis loss and vortex flow loss, can lose few high efficiency and rotarily actuate.

In fact, as shown in Figure 60, produced leakage flux for the flux waveforms that is approximately square wave at two shoulders, therefore can small departing from occur from theoretical value (waveform).What this was small depart from can be in 144 °≤magnetic pole opening degree θ 6(electric angle) adjust by magnetic field analysis etc. in≤the scope of 154.3 °.

In this turning motor 10, at busy hour, armature flux Ψ r flows into the impact of magnet magnetic flux Ψ m than (q axle magnetic circuit) near the few q axle of d axle side, and magnetic flux density has the trend uprising, thus therefore when this q axle magnetic circuit approaches magnetic saturation permeability decline torque reduce.Therefore, make torque (magnetic flux passes through efficiency) improve in order to guarantee as far as possible q axle magnetic circuit, magnetic pole opening degree θ 6 less (narrow) is more favourable, is made as the value that approaches 144 ° (electric angles).About this magnetic pole opening degree θ 6, carry out magnetic field analysis according to the dependency relation in the face of the air gap width AG between A/F SO, rotor 12 and the stator tooth 15 of width TB, groove 18 etc. of the stator tooth 15 of stator 11, as reducing by 5 times, 7 times space harmonics and also can reduce the optimum value of cogging torque and determine to be 146.8 ° (electric angles).

In addition, in turning motor 10, decide magnet opening degree θ 2 according to the torque characteristics of the torque shown in Figure 61, Figure 62 as parameter, 6 times, 12 times high order harmonic component torques, torque pulsation.In addition, in this Figure 61, Figure 62, using θ 2=90 ° (electric angle) as benchmark (1.0[p.u.]), illustrate these torque characteristics.

First, as shown in Figure 61, magnet opening degree θ 2(mechanical angle) if 27.5 ° of busy hour less thaies torque meeting significantly reduce, if exceed in addition 72.5 ° of torque pulsations, high order harmonic component torque meeting change greatly, therefore be preferably accommodated in the scope E of 27.5 °～72.5 °, from torque, be more preferably made as in the scope F of 37.5 °～67.5 ° of degree.

In addition, as shown in Figure 62, magnet opening degree θ 2(mechanical angle) if in the time of underload 37.5 ° of less thaies torque meeting sharply reduce, in addition, if exceed 82.5 ° along with the whereabouts rapidly of torque, torque pulsation, high order harmonic component torque also can become greatly, are therefore preferably accommodated in the scope G of 37.5 °～82.5 °, from torque, be more preferably made as in the scope H of 42.5 °～67.5 ° of degree.

During from these busy hours and underload, preferably magnet opening degree θ 2(mechanical angle) be accommodated in 37.5 °～72.5 °, from torque, more preferably be made as the degree of 42.5 °～67.5 °, and, be made as 52.5 ° can be torque pulsation inhibited, high order harmonic component torque and make torque maximum, thereby suitable.

; as shown in Figure 63; turning motor 10 adopts the IPM structure of imbedding permanent magnet 16 in rotor 12 by V font; therefore except above-mentioned central bridge 20; also possess side bridge 30 magnetic flux wall 17b outer distolateral, thus the Feng meter Si stress that centrifugal force was caused when the magnetic pole High Rotation Speed that comprises pair of permanent magnets 16 with antagonism and the mode that maintains shape links support.Central bridge 20 is extended to the normal direction consistent with d axle from the axle center of rotor 12, and magnetic pole is linked to support.Side bridge 30 is formed between the outer peripheral face 12a of rotor 12 and the outer distolateral inner face 17b1 of magnetic flux wall 17b, in rotor 12, links support forming between the d axle side in outside (outer peripheral face 12a side) of pair of permanent magnets 16 of a magnetic pole and the q axle side of adjacent another magnetic pole side.

As shown in magnetic flux vector figure during as Figure 64 zero load, side bridge 30 is (although ideal situation is to think to suppress as far as possible the place that magnetic flux enters) between the d of magnetic pole axle side and q axle side, therefore also as the magnet magnetic flux Ψ m(of permanent magnet 16 be illustrated as in the drawings vector V m) enter magnetic circuit performance function.In addition, side bridge 30 also as along with the rotation of rotor 12 via air gap G and stator tooth 15 between make magnet magnetic flux Ψ m interlinkage the magnetic circuit performance function of region during q axle side and d axle side are switched.This side bridge 30 can be adjusted magnetic resistance according to the shape of outer distolateral inner face 17b1 of magnetic flux wall 17b of rear side of the outer peripheral face 12a that is positioned at rotor 12, can change the magnetic flux density of the magnet magnetic flux Ψ m passing through in modes such as interlinkages along with the rotation of this rotor 12.

As shown in Figure 65 A, when zero load, this magnet magnetic flux Ψ m is at stator 11(stator tooth 15) and rotor 12 between air gap G in magnetic flux density by the wave form varies that approaches square wave, the variation of the magnetic flux density by this magnet magnetic flux Ψ m produces cogging torque.Ideal situation is to make the magnetic flux density of magnet magnetic flux Ψ m by the wave form varies of near sinusoidal ripple, drive thereby can realize smoothly, but be difficult to realize, therefore make the temporal variation (d Ψ/dt) of this magnetic flux diminish and can reduce cogging torque, because of but effective.Particularly as shown in Figure 65 B, in the elevated areas of magnetic flux (by density waveform diagram), in bringing region together, temporal variation being become is effective gently.Therefore, want to reduce cogging torque, can consider the shape optimization of the outer distolateral inner face 17b1 that makes the magnetic flux wall 17b that forms side bridge 30.

In addition, as shown in the magnetic flux vector figure of the busy hour of Figure 66, side bridge 30 equally also as along with the rotation of rotor 12 by air gap G and stator tooth 15 between make armature flux Ψ r(be illustrated as in the drawings the r) region of the interlinkage magnetic circuit performance function during q axle side and d axle side are switched of vector V.This armature flux Ψ r and magnet magnetic flux Ψ m are similarly the flux waveforms that is approximately square wave, therefore described above, and easily overlapping 5 times, 7 times, 11 times, 13 inferior (6f ± 1) inferior space harmonic, therefore can produce torque pulsation.Therefore, side bridge 30 equally particularly makes the shape optimization of the outer distolateral inner face 17b1 of magnetic flux wall 17b, make in the elevated areas of magnetic flux, bring region together in the temporal variation (d Ψ/dt) of armature flux Ψ r become gently, so just can torque ripple reduction, because of but effectively.

Therefore, in this turning motor 10, make to adjust the thickness (width in figure) of side bridge 30 in the face of the shape smooth variation of the outer distolateral inner face 17b1 of the magnetic flux wall 17b of the outer peripheral face 12a of rotor 12 thus adjust the magnetic resistance in the G of air gap.

As shown in Figure 67, this side bridge 30 links support to the region in outside (outer peripheral face 12a side) of the pair of permanent magnets 16 that is positioned at rotor 12 together with central bridge 20, and therefore Feng meter Si stress when High Rotation Speed concentrates on the d axle lateral areas territory MS1 of outer peripheral face 12a of rotor 12 and the q axle lateral areas territory MS2 of the outer distolateral inner face 17b1 of magnetic flux wall 17b.In addition,, in central bridge 20 sides, Feng meter Si stress concentrates on the outer peripheral face lateral areas territory MS3 of rotor 12.

Therefore, return to Figure 63, in side bridge 30, make distolateral inner face 17b1 bending outside it make thickness (width on the accompanying drawing) thickening of q axle side at the intermediate point 17b1m place of the both end sides bight 17b1c of the outer distolateral inner face 17b1 of magnetic flux wall 17b, form so-called fillet (fillet) shape.Thereby offside bridge 30 is adjusted, make q axle lateral areas territory MS2 become the shape favourable with respect to Feng meter Si stress, and the magnetic resistance in the G of air gap is reduced gently, make magnet magnetic flux Ψ m, armature flux Ψ r smooth variation in the G of this air gap.

Specifically, the outer distolateral inner face 17b1 of the magnetic flux wall 17b of rotor 12 inside of side bridge 30 has d axle side inner face 17b1d and q axle side inner face 17b1q in the both sides of intermediate point 17b1m.This outer distolateral inner face 17b1 is that the characteristic of the torque that obtained during as parameter change to the angle theta 9 between extended surface and the q axle side inner face 17b1q of q axle side by the angle theta 8 between the straight line of the axle center by rotor 12 and intermediate point 17b1m and d axle and d axle side inner face 17b1d, cogging torque, torque pulsation determines.In addition, this characteristic relatively in, will angle theta 8=74.2 ° (angle theta 9=0, without bending) in above-mentioned magnetic pole opening degree θ 6 optimized structures be illustrated by per unit as benchmark.In addition, form curved shape at both end sides bight 17b1c, the intermediate point 17b1m place of the outer distolateral inner face 17b1 of this magnetic flux wall 17b, make d axle side inner face 17b1d and q axle side inner face 17b1q both end sides separately continuous smoothly, form so-called chamfer shape.

First, as shown in Figure 68, in the outer distolateral inner face 17b1 of the known magnetic flux wall 17b at side bridge 30, the angle theta 8(electric angle of intermediate point 17b1m) be the scope I of 74.2 ° of 64.7 ° of above and less thaies, thus can reduce the cogging torque when zero load.Known more preferably this angle theta 8 is the scope J of 66 °～72 °, thereby can more effectively reduce cogging torque.

In addition, as shown in Figure 69, in the outer distolateral inner face 17b1 of the known magnetic flux wall 17b at side bridge 30, the angle theta 8(electric angle of intermediate point 17b1m) be made as 64.9 ° above and less than the scope K of 74.2 °, thereby the reduction of busy hour torque can be suppressed to minimum and can torque ripple reduction.Known more preferably this angle theta 8 is the range L of 66 °～78 °, thereby torque ripple reduction more effectively in addition, approaches 72 ° in the scope M of 70 °～72 °, thereby can further suppress the reduction of torque and torque ripple reduction effectively.

On the other hand, as shown in Figure 70, in the outer distolateral inner face 17b1 of the known magnetic flux wall 17b at side bridge 30, angle theta 9(mechanical angle between the extended surface of d axle side inner face 17b1d and q axle side inner face 17b1q), in other words, q axle side inner face 17b1q is with respect to the angle of bend θ 9(mechanical angle of d axle side inner face 17b1d) be made as and be greater than 0 ° and be less than or equal to the scope N of 37 °, thus the reduction of the torque of busy hour can be suppressed to minimum and torque ripple reduction more effectively.Known more preferably this angle theta 9 approaches 10 ° in the scope P of 10 °～27 °, thereby can further suppress the reduction of torque and torque ripple reduction effectively.

Like this, in the present embodiment, cut down permanent magnet 16 d axle side scope B and be replaced into large magnetic flux wall 17c, therefore can eliminate the magnet magnetic flux Ψ m of the direction of offsetting armature flux Ψ r, eliminate phase mutual interference (offseting), in addition, also can limit armature flux Ψ r by this scope B.

Therefore, can cut down the use amount of permanent magnet 16, and effectively apply flexibly armature flux Ψ r, the magnet magnetic flux Ψ m of d axle side, can obtain large magnet torque Tm and reluctance torque Tr.In addition, can seek the increase of the output of the high rotating speed side that the reduction of induced voltage constant brings, and can suppress the heating that the vortex flow of permanent magnet 16 causes, suppress the demagnetization that variations in temperature causes, reduce cost thereby reduce thermal endurance class.

In addition, be set to the separation distance R2 of center axis end of magnetic flux wall 17c and the relation (size shape) of the outer radius R1 of rotor 12 and inside radius R3 is 0.56≤R2/R1≤0.84 and 0.54≤R3/R2≤0.82, thereby can produce efficiently large torque T.

In addition, in magnetic flux wall 17c, making the separation distance DLd of the outer peripheral face of rotor 12 is 0.098≤DLd/R1 < 0.194 with respect to the outer radius R1 of rotor 12, thereby can produce efficiently large torque.And preferably this magnetic flux wall 17c is 0.12≤DLd/R1≤0.14 and 1.2≤magnetic flux wall opening angle θ, 1/ magnet angular aperture θ 2≤1.7, and is DLd/R1=0.139 and θ 1/ θ 2=1.52, thereby can produce efficiently larger torque.

In addition, about the central sulcus 21 of rotor 12, be 0.98≤R4/R1 < 1.0 by being made as with respect to the outer radius R1 of rotor 12 to the length R4 of bottom of trench 21a, thereby can suppress high order harmonic component torque, effectively torque ripple reduction.

And, this central sulcus 21 is made as to following size shape: 2 × tan ^-1((flank of tooth is to width TB/2)/(rotor outer radius R1+ air gap width AG))≤external-open bicker θ a≤2 × tan ^-1((the channel opening width S O+(flank of tooth is to width TB/2))/(rotor outer radius R1+ air gap width AG)), 0 °≤inner opening angle θ b≤2 × tan ^-1((the channel opening width S O+(flank of tooth is to width TB/2))/(rotor outer radius R1+ air gap width AG)), tooth leading section width TW≤flank of tooth is to width TB, thereby can further suppress high order harmonic component torque, further cut down torque pulsation.

In addition, the lateral sulcus of rotor 12 22 is made as to the outer angle theta of outer angle theta 4≤magnet end subtended angle θ 3,0.945≤interior angle theta 5/ 4≤0.98,0.00 < trench depth RG/ air gap width AG≤0.73, thereby, can suppress will be overlapping with gap flux waveforms space harmonic, can prevent due to the increase of cogging torque, torque pulsation, iron loss make drive efficiency decline.

And, as the structure of the pair of permanent magnets 16 of imbedding with V font, be made as 144 °≤magnetic pole opening degree θ 6(electric angle)≤154.3 ° and 27.5 °～37.5 °≤magnet opening degree θ 2(mechanical angle)≤72.5 °～82.5 °, more preferably 37.5 °≤θ 2(mechanical angle)≤72.5 °, thereby the torque can make busy hour, underload time uprises, torque pulsation and 6 times, 12 times high order harmonic component torques now be can suppress, electric and magnetic oscillation, electromagnetic noise reduced.

And, on the basis of said structure, angle theta 8 between the d axle side inner face 17b1d of side bridge 30 and intermediate point 17b1m and the d axle of q axle side inner face 17b1q is made as to 64.9 °～74.2 ° (electric angle), angle theta 9 between the extended surface of this d axle side inner face 17b1d and q axle side inner face 17b1q is made as to 0 °～37 ° (mechanical angle), reduces cogging torque, torque pulsation thereby can reduce hardly torque.Therefore, also can reduce the electric and magnetic oscillation that torque pulsation causes the stator core producing, also can reduce the electromagnetic noise that it is followed.In addition,, to reduce cogging torque as object in the situation that, it is more than 64.7 ° also condition can being relaxed as making angle theta 8.

And angle theta 8 is made as 66 °～68 °, 70 °～72 °, in addition, angle theta 9 is made as 10 °～27 °, reduces cogging torque, torque pulsation thereby can more effectively reduce hardly torque.

Consequently can, with the rotor 12 in low cost fabrication stator 11, be rotated in high quality driving with high-energy-density.

At this, in the present embodiment, the turning motor 10 of the formation of 8 magnetic pole 48 slot motors is illustrated as an example, but be not limited to this, the structure of counting q=2 as long as the groove of unit pole unit's phase, can both former state apply suitably, also can former state be applied to for example electric motor structure of 6 magnetic pole 36 grooves, 4 magnetic pole 24 grooves, 10 magnetic pole 60 grooves.

Scope of the present invention is not limited to the illustrative execution mode that diagram is recorded, and also comprises whole execution modes that can bring the effect being equal to object of the present invention.And scope of the present invention is also not limited to the combination of the feature of the invention being limited by each claim, but by special characteristic in whole disclosed each features combination likely limit.

description of reference numerals

10 turning motors (IPM type)

11 stators

12 rotors

12a outer peripheral face

13 rotating driveshafts

15 stator tooths

16 permanent magnets

17 V figure spaces

17b, 17c magnetic flux wall

The outer distolateral inner face of 17b1

17b1d d axle side inner face

17b1m intermediate point

17b1q q axle side inner face

18 grooves

20 central bridge

21 central sulcuses

22 lateral sulcus

30 side bridges

B d axle side scope

G air gap

The angle of θ 8 from d axle to intermediate point

Angle between θ 9 d axle side inner faces and the extended surface of q axle side inner face

Claims (2)

1. an IPM type turning motor, possesses: rotor, wherein imbed permanent magnet, and rotate with driving shaft one; And stator, it is accommodated with the described rotor freely of rotation that is arranged on its opposite, and coil is accommodated in the groove between multiple teeth that this rotor faces, and this stator has armature function, and in above-mentioned turning motor, the groove number of unit pole unit's phase is 2,

Above-mentioned IP M type turning motor is characterised in that,

Above-mentioned permanent magnet configuration is the V-shape opening towards the outer peripheral face of above-mentioned rotor,

While this permanent magnet being existed near the d axle side consistent when the central shaft of this permanent magnet of the each magnetic pole forming with above-mentioned permanent magnet, the magnet magnetic flux of the direction of the armature flux producing at the above-mentioned armature of permanent magnet generation counteracting of this d axle side, in the scope that produces above-mentioned magnet magnetic flux, above-mentioned permanent magnet is replaced into the space that permeability is little

On the above-mentioned d axle of the outer peripheral face of above-mentioned rotor, be formed with the central authorities of axis parallel and adjust ditch, and be formed with an offside of axis parallel and adjust ditch in two outer end sides of the above-mentioned permanent magnet of this outer peripheral face,

Possess from above-mentioned permanent magnet two the distolateral magnetic flux wall stretching out towards the outer peripheral face of above-mentioned rotor,

Link the side bridge supporting being formed with between the outer distolateral inner face of this magnetic flux wall and the outer peripheral face of above-mentioned rotor between the q axle side of the flow direction between the above-mentioned magnetic pole at this rotor and above-mentioned d axle side,

The outer distolateral inner face of above-mentioned magnetic flux wall has d axle side inner face and q axle side inner face in the both sides of intermediate point in both end sides bight of rear side of the outer peripheral face that is positioned at above-mentioned rotor,

In the case of the angle between the straight line of the intermediate point of the outer distolateral inner face of the axle center by above-mentioned rotor and above-mentioned magnetic flux wall and above-mentioned d axle is made as θ 8, meet

64.7 °≤θ 8(electric angle)≤the relation of 74.2 °,

The intermediate point of above-mentioned d axle side inner face distolateral inner face from above-mentioned magnetic flux wall extends to the direction parallel with the outer peripheral face of above-mentioned rotor,

In the case of the angle between the extended surface of above-mentioned q axle side of above-mentioned q axle side inner face and above-mentioned d axle side inner face is made as θ 9, meet

0 ° of < θ 9(mechanical angle)≤the relation of 37 °.

2. IPM type turning motor according to claim 1, is characterized in that,

Above-mentioned angle theta 8 meets

64.9 °≤θ 8(electric angle)≤the relation of 74.2 °.

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