CN104901508B - A kind of Linear-rotation permanent-magnet actuator and control method using consequent pole structure - Google Patents
A kind of Linear-rotation permanent-magnet actuator and control method using consequent pole structure Download PDFInfo
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- CN104901508B CN104901508B CN201510284034.2A CN201510284034A CN104901508B CN 104901508 B CN104901508 B CN 104901508B CN 201510284034 A CN201510284034 A CN 201510284034A CN 104901508 B CN104901508 B CN 104901508B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2746—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets arranged with the same polarity, e.g. consequent pole type
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- Power Engineering (AREA)
- Linear Motors (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
The invention discloses a kind of Linear-rotation permanent-magnet actuators and control method using consequent pole structure, 12 toothings are used in the circumferential including shell (3), stator, mover, permanent magnet (5) and shaft (9) stator, and the angle of adjacent stators tooth is 30 °；It is provided with three groups of stator units in the axial direction, there are 12 stator poles on stator unit circumferencial direction；The mover includes more than one sub- mover in the axial direction；The permanent magnet (5) is embedded in inside sub- mover, while permanent magnet (5) is provided at both ends with non-magnetizer (7) along sub- mover circumferential direction；On same sub- mover circumferential direction section, permanent magnet magnetizing direction is identical, and in the axial direction, the permanent magnet magnetizing direction on the circumference of the sub- mover where consecutive roots is opposite.Present invention substantially reduces the dosages of permanent magnet, reduce the volume of actuator, reduce the production cost, and permanent-magnet torque and reluctance torque collectively constitute electromagnetic torque, improve power density.
Description
Technical field
The present invention relates to one kind capable of realizing straight line, rotation and screw Linear-rotation permanent-magnet actuator, is a kind of high
The electromagnetic actuator of performance, high power density belongs to the scope of motor and control field.
Background technology
Realize that straight line and rotary motion, traditional implementation are to establish two sets of independent electric systems and its transmission dress
It sets and respectively drives straight line and rotary motion, system bulk is big, low-response.With the rapid development of hyundai electronics industry, defect is
Through being more and more obvious, there is an urgent need to small size, high-performance, can stable motion straight line rotate two-freedom motor.
Patent " magnetic combination linear rotating driver " (CN201398162Y) uses rodding structure, realizes ultrahigh vacuum ring
Linear drives and rotation in border drive, and driving is simple, is constructed, can be prolonged the service life using non-contacting magnetic drive.But
It is that this structure axial dimension is long, it is high to the requirement on machining accuracy of driver.
Patent " novel dual freedom mechanism " (203579294 U of CN) proposes a kind of novel double freedom mechanism, will
Linear motor and electric rotating machine combine, and eliminate intermediate transmission link, improve precision and efficiency, compared to traditional knot
Structure, volume greatly reduce, but the form of motor combination, and the volume-diminished of motor is restricted, and can not be suitable for small size and transport
Capable environment.
The motor that patent " a kind of moving magnet type linear rotation two-degree-of-freedom motor " (102497080 A of CN) proposes can pass through
Front winding driving mover rotates, and mover can be driven for linear motion by rear winding, realizes on a motor
Output has both the two-freedom compound motion of rotary motion and linear motion.Using double winding, cost of manufacture is increased, and not
Conducive to the heat dissipation of motor, system low-response.
Patent " straight line rotates double freedom servo motor " (103427588 A of CN) can be same on same root output shaft
When provide straight line and rotate two degree of freedom movement, simplify the complexity of equipment, reduce the cost of production and maintenance.
Intermediate conversion links are reduced, full closed loop control is realized, substantially increases the precision of movement.But its disadvantage is：Stroke is short,
Load capacity is low.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of using consequent pole structure
Linear-rotation permanent-magnet actuator, which can greatly reduce the dosage of permanent magnetism, save cost of manufacture, while power is close
Degree is high, performance is good.
Technical solution：To achieve the above object, the technical solution adopted by the present invention is：It is a kind of using consequent pole structure
Linear-rotation permanent-magnet actuator, including shell (3), stator, mover, permanent magnet (5) and shaft (9), the stator are mounted on
On shell (3), mover is mounted in shaft (9), and the mover is set in stator, while the shaft (9) passes through sleeve
It is connected with shell；The stator uses 12 toothings in the circumferential, and the angle of adjacent stators tooth is 30 °；It is arranged in the axial direction
There are three groups of stator units, the coil that the stator unit includes stator yoke (1), stator poles (4) and be wound in stator core
(2), there are 12 stator poles on the stator unit circumferencial direction；The mover includes more than one sub- mover in the axial direction；
The permanent magnet (5) is embedded in inside sub- mover, while permanent magnet (5) is provided at both ends with non-magnetizer along sub- mover circumferential direction
(7), and in axial direction, pass through non-magnetizer (7) between the iron plate in sub- mover core；On same sub- mover circumferential direction section, turn
Sub- number of pole-pairs is 8, and permanent magnet magnetizing direction is identical, and in the axial direction, rotor number of pole-pairs is 3, the circle of the sub- mover where consecutive roots
Permanent magnet magnetizing direction on week is opposite.
Preferably：The distance between each stator unit meets τ/3* (1+2*k), and k=0,1,2 ..., τ are mover axial poles
Away from.
Preferably：The winding of the coil (2) uses single layer concentratred winding.
Preferably：The stator core and mover core are all made of high permeability material silicon steel sheet and axially fold, and silicon steel sheet is adopted
Use 50W470.
Preferably：The mover length is less than stator length in the axial direction.
During exercise, permanent-magnet torque and reluctance torque collective effect constitute electromagnetic torque.
A kind of Linear-rotation permanent-magnet actuator control method using consequent pole structure, by regulating winding (2) around
The size of the exciting current of group, can be with the size of control magnetic flux amount, to increase actuator linear motion and rotary motion speed
Adjustable range reaches and adjusts torque and thrust, controls the purpose of rotating speed and point-to-point speed.
When needing to move in a straight line, Current Decomposition is excitation component and controls component in concentratred winding, and electricity is encouraged in winding
Magnetic and permanent magnetism collectively form the armature field interaction that current control component generates in mover excitation field and winding, make work
Dynamic device moves in a straight line；
When needing to rotate, mover excitation field is the excitation and permanent magnetism composition week that electric current generates in winding at this time
The armature field that current control component generates into rotating excitation field, with winding rotates；
When needs spin movement, the excitation component I of electric current generation in windingeIt is 0, the permanent magnetic field that permanent magnet is formed
At helical magnetic field, at this time in winding electric current generate control component IarmThe armature field of formation interacts, and can spin fortune
Dynamic, at this point, the size by adjusting exciting current, the size of control magnetic flux amount achievees the purpose that control screw.
Make the adjusting method that actuator moves in a straight line：Take electric current I=I in windingerect(t/T)+Iarmcos(wrnt+θn
+ψn)cos(wlnz+θm+ψm), wherein rect (t/T)=u (t+T/2+krzπ+φ)-2u(t-T/2+krzπ+φ), T=2 π/wrn,
Or T=2 π/wln, wrnFor the synchronous angular frequency of rotation, wlnFor the synchronous angular frequency of linear motion, ψnFor the initial of direction of rotation electric current
Phase, ψmThe initial phase of electric current, k when to move along a straight linerzπ is phase of the exciting current between circumferential or axial upper excitation component
Potential difference, φ are starting phase angle of the exciting current in circumferential direction or axial direction in winding, and in the circumferential, there are four stators the electric period,
Rotor has 8 pairs of poles, krzRespectively 0,1/2 and 3/2, in the axial direction, there are three electric period, rotors 3 pairs of poles for stator；Rotation and
On linear movement direction, θm, θn0,120 ° and 240 ° are taken as, by the frequency rate formula v=2 τ f to move along a straight line and frequency angle
Frequency reduction formula f=w/2 π, it may be determined that initial position wlnz；By adjusting IeSize, axial magnetic field strength can be adjusted,
And then the size of axial thrust is controlled, expand the adjustable range of axial thrust；
Actuator is set to spin the adjusting method of movement：By adjusting IeSize, control the size of circumferential magnetic flux, expand
The adjustable range of circumferential torque；
Actuator is set to spin the adjusting method of movement：By adjusting the size of exciting current, the size of control magnetic flux amount
Reach control screw.
Advantageous effect：A kind of Linear-rotation permanent-magnet actuator and controlling party using consequent pole structure provided by the invention
Method has the advantages that compared with prior art：
1. using consequent pole structure, the dosage of permanent magnetism is greatly saved, advantageously reduces the saturation degree of actuator.
2. the excitation component that can be generated by electric current in winding adjusts the magnetic field intensity of circumferential and axial, can be effective
Reduce loss.Therefore its power density is high, performance is good.
3. since permanent magnet is embedded into inside mover, the intensity of mover is increased.
4. actuator mover core is formed using silicon steel plate packing, stator core is also to be formed with silicon steel plate packing, each fixed
Sub- iron core is mounted on the shell of non-magnet material.
Description of the drawings
Fig. 1 is the Linear-rotation permanent-magnet actuator axial section using consequent pole structure；
Fig. 2 is a kind of Linear-rotation permanent-magnet actuator circumferential direction structural schematic diagram using consequent pole structure；
Fig. 3 is the Linear-rotation permanent-magnet actuator Structure of mover schematic diagram using consequent pole structure；
Wherein, 1 it is stator yoke, 2 be coil, 3 be non-magnetic shell, 4 be stator poles, 5 be permanent magnet, 6 is mover iron
The heart, 7 be non-magnet material, 8 is pole shoe, 9 is non-magnetic shaft；
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
A kind of Linear-rotation permanent-magnet actuator using consequent pole structure, as shown in Fig. 2, including shell 3, stator, moving
Son, permanent magnet 5 and shaft 9, shell 3, shaft 9 are all made of non-magnet material making；The stator is mounted on shell 3, is moved
Son is mounted in shaft 9, and the mover is set in stator, while the shaft 9 is connected by sleeve with shell.Respectively forever
Magnet 5 selects NdFeB material.
As shown in Figure 1, stator uses 12 toothings in the circumferential, the angle of adjacent stators tooth is 30 °；It is arranged in the axial direction
It includes stator yoke 1,4 and of stator poles to have three groups of stator units, respectively three groups of stator units I, II, III, the stator unit
The coil 2 being wound in stator core has 12 stator poles on the stator unit circumferencial direction.The distance between each stator unit
Meet τ/3* (1+2*k), k=0,1,2 ..., τ be mover axial poles away from.The winding of the coil 2 uses single layer concentratred winding, easily
In installation.Stator shaft orientation uses three electric periods.
Stator core uses 12 pole structures divided by the greatest common divisor of itself and number of pole-pairs as 3 natural number in the circumferential
Multiple is conducive to harmonic carcellation in this way.
As shown in figure 3, mover includes more than one sub- mover in the axial direction；The permanent magnet 5 is embedded in sub- mover
There is good protective action in portion since permanent magnet is embedded in inside mover to permanent magnetism.Permanent magnet 5 is along sub- mover circumferential direction simultaneously
It is provided at both ends with non-magnetizer 7, and in axial direction, passes through non-magnetizer 7 between the iron plate in sub- mover core；In same sub- mover
On circumferential section, rotor number of pole-pairs is 8, and permanent magnet magnetizing direction is identical, and in the axial direction, rotor number of pole-pairs is 3, where consecutive roots
Sub- mover circumference on permanent magnet magnetizing direction it is opposite.
As shown in figure 3, the arrangement of permanent magnet uses consequent pole structure, permanent magnet to be embedded in inside mover.In axial direction, move
It is connected by non-magnet material between son, mover core is mounted on non-magnetic bearing, which passes through sleeve and 3 phase of shell
Even.Structure of mover is compact, good reliability；On same circumferential section, permanent magnet magnetizing direction is consistent, and rotor number of pole-pairs is 8, axis
Permanent magnetism magnetizing direction is consistent in the upward same direction of motion, and rotor number of pole-pairs is 3, the magnetizing direction of consecutive roots permanent magnet on the contrary,
As shown in Figure 3.Compared with the staggered structure of traditional permanent magnet pole, this structure greatly reduces the dosage of permanent magnet, magnetic
Road degree of saturation and volume, reduce the production cost.Due to the structure using consequent pole, mover d, q axis reactance is changed, is dropped
The size of magnetic resistance on low circuit, compared with traditional structure, the electromagnetic property of actuator is basically unchanged, and output can be improved and turn
Square, thrust and power density realize straight line, rotation and screw.
Stator core and mover core are all made of high permeability material silicon steel sheet and axially fold, and silicon steel sheet uses 50W470.
Mover core moves in a straight line in the axial direction, and the axial length of mover core is less than the length of stator, effectively subtracts
The volume of actuator is lacked, and has used consequent pole structure, has reduced the dosage of mover and permanent magnet material, reduce and be fabricated to
This.Winding uses the form of concentratred winding, coil to be easily installed by copper conductor coiling.
During exercise, permanent-magnet torque and reluctance torque collective effect constitute electromagnetic torque.
A kind of Linear-rotation permanent-magnet actuator control method using consequent pole structure passes through winding in regulating winding 2
Exciting current size, can be with the size of control magnetic flux amount, to increase actuator linear motion and rotary motion speed tune
Adjusting range reaches and adjusts torque and thrust, controls the purpose of rotating speed and point-to-point speed.
When needing to move in a straight line, Current Decomposition is excitation component and controls component in concentratred winding, and electricity is encouraged in winding
Magnetic and permanent magnetism collectively form the armature field interaction that current control component generates in mover excitation field and winding, make work
Dynamic device moves in a straight line；Take electric current I=I in windingerect(t/T)+Iarmcos(wrnt+θn+ψn)cos(wlnz+θm+ψm),
In, rect (t/T)=u (t+T/2+krzπ+φ)-2u(t-T/2+krzπ+φ), T=2 π/wrn, or T=2 π/wln, wrnFor rotation
Synchronous angular frequency, wlnFor the synchronous angular frequency of linear motion, ψnFor the initial phase of direction of rotation electric current, ψmElectricity when to move along a straight line
The initial phase of stream, krzπ is phase difference of the exciting current between circumferential or axial upper excitation component, and φ is excitation electricity in winding
The starting phase angle in circumferential direction or axial direction is flowed, in the circumferential, for stator there are four the electric period, rotor number of pole-pairs is 8, krzRespectively
0,1/2 and 3/2；In the axial direction, for stator there are three the electric period, rotor number of pole-pairs is 3；In rotation and linear movement direction, θm,
θnIt is taken as 0,120 ° and 240 ° respectively, by the frequency rate formula v=2 τ f and frequency angular frequency reduction formula f to move along a straight line
=w/2 π, it may be determined that initial position wlnz；By adjusting IeSize, axial magnetic field strength can be adjusted, and then control axial push away
The size of power expands the adjustable range of axial thrust.
When needing to rotate, mover excitation field is the excitation and permanent magnetism composition week that electric current generates in winding at this time
The armature field that current control component generates into rotating excitation field, with winding rotates.Equally, motor is being made
When rotary motion, by adjusting IeSize, control the size of circumferential magnetic flux, expand the adjustable range of circumferential torque.
When needs spin movement, the excitation component I of electric current generation in windingeIt is 0, the permanent magnetic field that permanent magnet is formed
At helical magnetic field, at this time in winding electric current generate control component IarmThe armature field of formation interacts, and can spin fortune
Dynamic, at this point, the size by adjusting exciting current, the size of control magnetic flux amount achievees the purpose that control screw.In short, around
The excitation component that electric current generates in group, the permanent magnetic field collective effect generated with permanent magnet, either in circumferential direction, or in axial direction
On, Distribution of Magnetic Field makes the counter potential waveform of coil be sine all close to Sine distribution.Actuator is making straight line, rotation
And screw, excitation component is consistent with the control current phase of component in winding, can be with by adjusting the size of exciting current
The size of control magnetic flux amount, to increase actuator linear motion and rotary motion speed adjustable range, reach adjust torque and
Thrust controls the purpose of rotating speed and point-to-point speed.
From the foregoing, it will be observed that present invention substantially reduces the dosage of permanent magnet, reduces the volume of actuator, reduce and be fabricated to
This, permanent-magnet torque and reluctance torque collectively constitute electromagnetic torque, improve power density.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of control method of Linear-rotation permanent-magnet actuator using consequent pole structure, the straight line rotation of consequent pole structure
It includes shell (3), stator, mover, permanent magnet (5) and shaft (9) to turn permanent magnetic actuator, and the stator is mounted on shell (3)
On, mover is mounted in shaft (9), and the mover is set in stator, while the shaft (9) passes through sleeve and outer shell phase
Connection；The stator uses 12 toothings in the circumferential, and the angle of adjacent stators tooth is 30 °；Three groups are provided in the axial direction to determine
Subelement, the stator unit include stator yoke (1), stator poles (4) and the coil (2) being wound in stator core, described fixed
There are 12 stator poles on subelement circumferencial direction；The mover includes more than one sub- mover in the axial direction；The permanent magnet
(5) it is embedded in inside sub- mover, while permanent magnet (5) is provided at both ends with non-magnetizer (7) along sub- mover circumferential direction, and axial
On, pass through non-magnetizer (7) between the iron plate in sub- mover core；On same sub- mover circumferential direction section, rotor number of pole-pairs is
8, permanent magnet magnetizing direction is identical, and in the axial direction, rotor number of pole-pairs is 3, the permanent magnetism on the circumference of the sub- mover where consecutive roots
Body magnetizing direction is opposite；
It is characterized in that：Pass through the size of the exciting current of winding in regulating winding (2), the size of control magnetic flux amount, to increase
Add actuator linear motion and rotary motion speed adjustable range, reach and adjust torque and thrust, controls rotating speed and linear motion
The purpose of speed；
When needing to move in a straight line, Current Decomposition is excitation component and control component in concentratred winding, in winding electrical excitation and
Permanent magnetism collectively forms the armature field interaction that current control component generates in mover excitation field and winding, makes actuator
It moves in a straight line；Take electric current I=I in windingerect(t/T)+Iarmcos(wrnt+θn+ψn)cos(wlnz+θm+ψm), wherein
Rect (t/T)=u (t+T/2+krzπ+φ)-2u(t-T/2+krzπ+φ), T=2 π/wrn, or T=2 π/wln, wrnIt is same to rotate
Walk angular frequency, wlnFor the synchronous angular frequency of linear motion, ψnFor the initial phase of direction of rotation electric current, ψmElectric current when to move along a straight line
Initial phase, krzπ is phase difference of the exciting current between circumferential or axial upper excitation component, and φ is exciting current in winding
Starting phase angle in circumferential direction or axial direction, in the circumferential, there are four electric period, rotors 8 pairs of poles, k for statorrzRespectively 0,1/
2 and 3/2, in the axial direction, there are three electric period, rotors 3 pairs of poles for stator；In rotation and linear movement direction, θm, θnIt is taken as
It 0,120 ° and 240 °, can by the frequency rate formula v=2 τ f and frequency angular frequency reduction formula f=w/2 π to move along a straight line
Determine initial position wlnz；By adjusting IeSize, axial magnetic field strength can be adjusted, and then control the size of axial thrust,
Expand the adjustable range of axial thrust；
When needing to rotate, mover excitation field is the excitation and the circumferential rotation of permanent magnetism composition that electric current generates in winding at this time
Turn magnetic field, the armature field generated with current control component in winding rotates；By adjusting IeSize,
The size of the circumferential magnetic flux of control, expands the adjustable range of circumferential torque；
When needs spin movement, the excitation component I of electric current generation in windingeIt is 0, the permanent magnetic field that permanent magnet is formed is at spiral shell
Rotating Magnetic Field, the control component I generated at this time with electric current in windingarmThe armature field of formation interacts, and can spin movement,
At this point, the size by adjusting exciting current, the size of control magnetic flux amount achievees the purpose that control screw, by adjusting electricity
The size of the excitation component generated in stream adjusts the magnetic flux size of helical magnetic field, reaches control screw.
2. the control method of the Linear-rotation permanent-magnet actuator according to claim 1 using consequent pole structure, special
Sign is：The distance between each stator unit meets τ/3* (1+2*k), k=0,1,2 ..., τ be mover axial poles away from.
3. the control method of the Linear-rotation permanent-magnet actuator according to claim 1 using consequent pole structure, special
Sign is：The winding of the coil (2) uses single layer concentratred winding.
4. the control method of the Linear-rotation permanent-magnet actuator according to claim 1 using consequent pole structure, special
Sign is：The stator core and mover core are all made of high permeability material silicon steel sheet and axially fold, and silicon steel sheet uses 50W470.
5. the control method of the Linear-rotation permanent-magnet actuator according to claim 1 using consequent pole structure, special
Sign is：The mover length is less than stator length in the axial direction.
6. the control method of the Linear-rotation permanent-magnet actuator according to claim 1 using consequent pole structure, special
Sign is：During exercise, permanent-magnet torque and reluctance torque collective effect constitute electromagnetic torque.
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| CN201510284034.2A CN104901508B (en) | 2015-05-28 | 2015-05-28 | A kind of Linear-rotation permanent-magnet actuator and control method using consequent pole structure |
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| CN201510284034.2A CN104901508B (en) | 2015-05-28 | 2015-05-28 | A kind of Linear-rotation permanent-magnet actuator and control method using consequent pole structure |
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| CN104901508B true CN104901508B (en) | 2018-09-18 |
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| CN113991967B (en) * | 2021-09-30 | 2023-07-14 | 清华大学 | Non-contact permanent magnet supporting device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1375907A (en) * | 2001-03-16 | 2002-10-23 | 刘粤荣 | Rotary motor with motor with equidirectinoal magnetic pole layout structure |
| CN201846217U (en) * | 2010-11-11 | 2011-05-25 | 东南大学 | Linear rotating permanent magnetic actuator |
| CN102315754A (en) * | 2010-07-01 | 2012-01-11 | 株式会社安川电机 | Actuator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006311715A (en) * | 2005-04-28 | 2006-11-09 | Oriental Motor Co Ltd | Linear/rotary combined motor |
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2015
- 2015-05-28 CN CN201510284034.2A patent/CN104901508B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1375907A (en) * | 2001-03-16 | 2002-10-23 | 刘粤荣 | Rotary motor with motor with equidirectinoal magnetic pole layout structure |
| CN102315754A (en) * | 2010-07-01 | 2012-01-11 | 株式会社安川电机 | Actuator |
| CN201846217U (en) * | 2010-11-11 | 2011-05-25 | 东南大学 | Linear rotating permanent magnetic actuator |
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