CN105305747A

CN105305747A - Novel constant-force constant-torque uniform magnetic field induction servo motor

Info

Publication number: CN105305747A
Application number: CN201510185461.5A
Authority: CN
Inventors: 王晓明; 王元秀; 梅玉林
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-04-17
Filing date: 2015-04-17
Publication date: 2016-02-03
Anticipated expiration: 2035-04-17
Also published as: CN105305747B

Abstract

The invention belongs to the technical field of AC induction servo motors, and relates to a constant-output torque uniform magnetic field induction servo motor and a constant-output force uniform magnetic field induction servo motor. The novel constant-force constant-torque uniform magnetic field induction servo motor is mainly characterized by being composed of N independent motor units; each independent unit has the same or similar structure and power is provided via single-phase AC; and the N units have the equal power supply voltage and the phases form an arithmetic progression. A stator magnetic inductive silicon steel of a rotary motor independent unit has a simple structure; an excitation winding is similar to a solenoid, and the winding form is simple; power supply for a rotor winding is carried out through induction, and no sliding ring vulnerable part exists; the motor can work under a fixed power supply voltage frequency, the output torque and the power supply voltage are directly proportional, and control is executed through adjusting voltage amplitude. The constant-output torque uniform magnetic field induction servo motor does not adopt a permanent magnet material, the structure is simple, the torque features are good, the controller is simple to design, the control precision is high, and the constant-output torque uniform magnetic field induction servo motor can be designed into a constant-output force uniform magnetic field induction linear servo motor type based on the same principle.

Description

One class Novel constant force permanent moment of torsion uniform magnetic field induction servomotor

Technical field

The invention belongs to induction machine technical field, relate to alternating current impression servomotor, be related specifically to a class based on brand-new design principle, Novel constant force permanent moment of torsion uniform magnetic field induction servomotor, comprise the novel permanent output torque uniform magnetic field induction servomotor of rotary type and novel permanent power output uniform magnetic field induction linear servo-actuator.

Background technology

Servomotor is the electromagnetic and mechanical device of energy converting between mechanical, and its principal character is that the output torque of this motor or speed can be controlled quickly and accurately.According to requirements with the difference of power supply, DC servo motor, AC synchronous servomotor and alternating current impression servomotor etc. can be divided into.

DC servo motor has that speed governing is good, detent torque is large and the simple advantage of control system, but complex structure, manufacturing cost are high, maintenance cost is high, poor reliability.

AC synchronous servomotor structural shape has two kinds: one to be AC permanent-magnet synchronous servo motor, and rotor adopts permanent magnetic material to produce high density permanent magnetic field, but needs the rare earth resources of shortage; Two is exchange wound rotor synchronous servo motor, and rotor produces magnetic field by excitation, but needs additional field power supply, introduces electric current by slip ring, so complex structure, manufacturing cost is high, maintenance cost is high.

Alternating current impression servomotor is also referred to as alternating current asynchronous servomotor, and structure is simple, easily manufactured, reliable, and maximum defect is that controller is complicated, low-speed torque characteristic is poor, control precision is low.

The invention discloses a class based on brand-new design principle, Novel constant force permanent moment of torsion uniform magnetic field induction servomotor, comprise the novel permanent output torque uniform magnetic field induction servomotor of rotary type and novel permanent power output uniform magnetic field induction linear servo-actuator.Wherein permanent power output uniform magnetic field induction linear servo-actuator is the Deformation mode of rotary type permanent output torque uniform magnetic field induction servomotor.This class New-type electric machine does not adopt rotating magnetic field or the travelling-magnetic-field principle of general AC servo motor, and its major advantage is: do not have the consumable accessorys such as slip ring, and maintenance cost is low; Simply, rotor (secondary) does not adopt permanent magnetic material, does not therefore need the high deficient resources such as rare earth, low cost of manufacture for stator (elementary) coiling and structure; Adopt ac power supply, power source being operable is in fixed frequency, and by means of only regulating power source voltage, the accurate torque that just can realize motor requirement exports or power output; Control system does not adopt the principle of vector control of present alternating current impression servomotor, and owing to adopting power of fixed frequency to power during machine operation, electric machine control system is similar to DC servo motor control system, simplicity of design.

The novel permanent output torque uniform magnetic field induction servomotor of rotary type disclosed by the invention and permanent power output uniform magnetic field induction linear servo-actuator, have no any relevant report, document and Patent Publication both at home and abroad so far.

Summary of the invention

In order to solve, current servo motor or complex structure, maintenance cost are high, poor reliability; Or need the deficient resources such as rare earth, manufacturing cost high; Or the problem such as speed adjusting performance is poor, control system is complicated, the invention discloses a class based on brand-new design principle, Novel constant force permanent moment of torsion uniform magnetic field induction servomotor, comprise the novel permanent output torque uniform magnetic field induction servomotor of rotary type and novel permanent power output uniform magnetic field induction linear servo-actuator.

The technical scheme that technical solution problem of the present invention adopts is as follows:

A class disclosed by the invention based on brand-new design principle, Novel constant force permanent moment of torsion uniform magnetic field induction servomotor, comprise the novel permanent output torque uniform magnetic field induction servomotor of rotary type and novel permanent power output uniform magnetic field induction linear servo-actuator, they are based on identical principle.Wherein permanent power output uniform magnetic field induction linear servo-actuator is the evolving form of rotary type permanent output torque uniform magnetic field induction servomotor.First the technical scheme of novel permanent output torque uniform magnetic field induction servomotor is elaborated below.

Novel permanent output torque uniform magnetic field induction servomotor disclosed by the invention, belongs to rotating electric machine, it is characterized in that: motor is made up of N number of independently electric motor units, axle, bearing, end cap and cooling system.Wherein each individual motor unit is powered by single-phase alternating current, the supply power voltage equal and opposite in direction of these unit, but voltage-phase becomes arithmetic progression, and tolerance is 360 degree/N or 180 degree/N.Realize the output of permanent moment of torsion in theory and require that N is more than or equal to 3, such as make tolerance be 360 degree/N, then, as N=3, the alternating supply voltage phase place of 3 individual motor unit is respectively 0 degree, 120 degree and 240 degree, consistent with the voltage-phase of current three-phase alternating-current powered.But, as N=4,4 individual motor unit alternating supply voltage phase places are respectively 0 degree, 90 degree, 180 degree and 270 degree, but wherein voltage-phase be 0 degree identical with two individual motor unit output characteristic of 180 degree, 90 degree identical with two individual motor unit output characteristic of 270 degree, so identical two the individual motor unit power supplies of output characteristic can realize simply by exchange wiring, motor during such N=4 also can deteriorate to the structural shape of employing two individual motor unit.Therefore, novel permanent output torque uniform magnetic field induction servomotor structural shape disclosed by the invention comprises the situation of two or more individual motor unit.

Each individual motor cellular construction is identical, mainly comprises stators and rotators two parts.

Wherein, stator is made up of stator casing, stator magnetic conduction silicon steel, stator excitation winding coil.Stator magnetic conduction silicon steel is formed by stacking by silicon steel sheet, and shape is the annulus post having annular groove.The similar several-layer solenoid pattern of stator excitation winding coil, is arranged in the annular groove of stator magnetic conduction silicon steel.Stator casing and stator magnetic conduction silicon steel are connected, and keep maintaining static during machine operation.

When stator excitation winding coil is by single-phase alternating current, in stator magnetic conduction silicon steel, will produce single-phase alternating flux around stator excitation winding coil, single-phase alternating flux is closed by the air gap between stators and rotators and rotor magnetic conduction silicon steel.According to the mutual alignment relation of air gap and rotor gyroaxis between stator magnetic conduction silicon steel and rotor magnetic conduction silicon steel, individual motor cellular construction pattern can be divided into the axial arranged and large class of radial arrangement two.Further, axial arranged and individual motor unit that is radial arrangement can be subdivided into again single-sided arrangement respectively and be arranged symmetrically with two kinds of structural shapes.

The stator of axial single-sided arrangement pattern: along motor shaft direction, relative to rotor magnetic conduction silicon steel, stator magnetic conduction silicon steel is arranged in left side or right side.When stator magnetic conduction silicon steel is arranged in left side, the annular groove on stator magnetic conduction silicon steel is on right side; When stator magnetic conduction silicon steel is arranged in right side, the annular groove on stator magnetic conduction silicon steel is in left side.Stator excitation winding coil is arranged in the annular groove of stator magnetic conduction silicon steel.

Axially be arranged symmetrically with the stator of pattern: be arrange stator magnetic conduction silicon steel respectively in the both sides of rotor magnetic conduction silicon steel, be called as stator left magnetic conduction silicon steel and the right magnetic conduction silicon steel of stator respectively.Annular groove on the left magnetic conduction silicon steel of stator is on right side, and the annular groove on the right magnetic conduction silicon steel of stator, in left side, is the combination of above-mentioned two kinds of axial single-sided arrangement pattern stators.At this moment, stator excitation winding coil has two groups, is arranged on respectively in the annular groove of stator left and right magnetic conduction silicon steel.

The stator of radial single-sided arrangement pattern: relative to rotor axis, stator magnetic conduction silicon steel is arranged in inner side or the outside of rotor magnetic conduction silicon steel.When stator magnetic conduction silicon steel is arranged in outside, the annular groove on stator magnetic conduction silicon steel is in inner side; When stator magnetic conduction silicon steel is arranged in inner side, the annular groove on stator magnetic conduction silicon steel is in outside.This layout, structure is similar to the inner and outer Rotator pattern of common alternating current machine, but they have the difference of essence, difference shows, single-phase winding installed by the stator magnetic conduction silicon steel of this electric motor units, and winding mode is similar to solenoidal banked winding pattern.

The stator of radial symmetric layout pattern: relative to rotor axis, in rotor magnetic conduction silicon steel, stator magnetic conduction silicon steel is arranged in outside respectively, is called as magnetic conduction silicon steel and the outer magnetic conduction silicon steel of stator in stator respectively.Annular groove in stator on magnetic conduction silicon steel is in outside, and the annular groove on the outer magnetic conduction silicon steel of stator, in inner side, is the combination of above-mentioned two kinds of radial single-sided arrangement pattern stators.At this moment, stator excitation winding coil has two groups, is arranged on respectively in the annular groove of magnetic conduction silicon steel inside and outside stator.But rotor overall structure should be designed to cup type in this case, to export motion.

Wherein, rotor is made up of rotor hub, rotor magnetic conduction silicon steel, rotor induced excitation winding coil, rotor torque winding coil.Its rotor magnetic conduction silicon steel is circumferentially evenly arranged by M silicon steel part to form, and each silicon steel part shape is identical, has gap between adjacent silicon steel part, the similar annulus post having multiple gap of global shape.Each silicon steel part has groove in a circumferential direction, and to make rotor magnetic conduction silicon steel form annular groove on the whole, the position of annular groove is corresponding with annular groove stator magnetic conduction silicon steel being installed stator excitation winding coil.Different according to individual motor cellular construction arrangement, each silicon steel part slot is in a circumferential direction put also different, or opens on the face of cylinder inside and outside radial direction, or opens on the transverse plane of axial both sides.Meanwhile, each silicon steel part is also designed with groove at middle part, and its direction is vertical from annular groove and different according to electric motor units structural configuration mode, or designs in radial direction or design at axial direction, for installing rotor torque winding coil; Rotor induced excitation winding coil adopts and is similar to solenoidal banked winding form, is arranged in the annular groove of rotor magnetic conduction silicon steel.Rotor torque winding coil by the groove on rotor magnetic conduction silicon steel around on rotor magnetic conduction silicon steel.Rotor magnetic conduction silicon steel is connected on rotor hub, and during machine operation, rotor magnetic conduction silicon steel, rotor hub rotate together with axle.

The rotor of axial single-sided arrangement pattern: each silicon steel part in rotor magnetic conduction silicon steel, the square-section fan annulated column that geometrically can be described as by multilayer segment angle is identical is radially formed by connecting, coupling part in the middle of the fan annulated column of adjacent two layers square-section is a place or many places, the connector shape of each connection function is fan annulated column or general cylinder, and size is less.Relative to rotor axis, inside and outside each silicon steel part, both sides are square-section fan annulated column, have been that connector and the square-section fan annulated column of connection function is alternately arranged in the middle of silicon steel part; Because each intermediate connector size is less, its axial width and the segment angle formed relative to rotor axis all less, multiple axial pass trough and elongated slot along the circumferential direction can be formed on each silicon steel part.M silicon steel part is circumferentially evenly arranged, and multilayer rectangle cross section fan annulated column forms the multilayer rectangle cross section annulus post circumferentially having M air gap, between adjacent two layers annulus post, form multiple axial pass trough by connector, and forms annular groove in left side or right side.Rotor induced excitation winding coil is arranged in annular groove.Rotor torque winding coil, by the groove between multilayer annulus post on rotor magnetic conduction silicon steel, respectively around on the multilayer annulus post of rotor magnetic conduction silicon steel, forms the inside and outside many group moment of torsion winding coils of rotor.

Axially be arranged symmetrically with the rotor of pattern: rotor magnetic conduction silicon steel is the equal of merged by the rotor magnetic conduction silicon steel of two axial single-sided arrangement, be jointly arranged on a rotor hub, the rotor hub plane of symmetry that they are relatively orthogonal to rotor axis becomes mirror, is referred to as rotor left magnetic conduction silicon steel and the right magnetic conduction silicon steel of rotor respectively.Annular groove rotor left magnetic conduction silicon steel being installed the left induced excitation winding coil of rotor is in left side, corresponding with the annular groove on the stator left magnetic conduction silicon steel installing the left excitation winding pole coil of stator.Annular groove rotor right magnetic conduction silicon steel being installed the right induced excitation winding coil of rotor is on right side, corresponding with the annular groove on the stator right magnetic conduction silicon steel installing the right excitation winding pole coil of stator.Rotor induced excitation winding coil has two groups, is arranged on respectively in the annular groove of rotor left and right magnetic conduction silicon steel.Rotor torque winding coil, by the groove between multilayer annulus post, respectively around on the multilayer annulus post of rotor left and right magnetic conduction silicon steel, forms the inside and outside many group moment of torsion winding coils of rotor.In this case, the inside and outside many group moment of torsion winding coils of rotor are the equal of the result that the inside and outside many group moment of torsion winding coils of rotor of two axial single-sided arrangement merge respectively.

The rotor of radial single-sided arrangement pattern: each silicon steel part in rotor magnetic conduction silicon steel, the square-section fan annulated column that geometrically can be described as multilayer segment angle identical is formed by connecting vertically, middle interconnecting piece is divided into a place or many places, its shape of the connector of each connection function is fan annulated column or general cylinder, and size is less.Along rotor axis, the left and right sides of each silicon steel part is square-section fan annulated column, has been that connector and the square-section fan annulated column of connection function is alternately arranged in the middle of silicon steel part; Because each intermediate connector size is less, its radial thickness and relative to rotor axis formed segment angle all less, multiple radial groove can be formed between the adjacent rectangle cross section fan annulated column of composition silicon steel part, and be circumferentially formed one or more elongated slot in outside or inner side.M silicon steel part is circumferentially evenly arranged in after on wheel hub, the multilayer rectangle cross section fan annulated column of silicon steel part forms the multilayer rectangle cross section annulus post circumferentially having M air gap, connector forms multiple radial groove between multilayer annulus post simultaneously, and forms annular groove in outside or inner side.Rotor induced excitation winding coil is arranged in annular groove.Rotor torque winding coil, by the groove between multilayer annulus post on rotor magnetic conduction silicon steel, respectively around on the multilayer annulus post of rotor magnetic conduction silicon steel, forms rotor left, center, right moment of torsion winding coil.

The rotor of radial symmetric layout pattern: the motor adopting radial symmetric layout pattern individual motor unit, structural design belongs to inside and outside Double-stator motor, rotor overall structure need be designed to cup type.Rotor magnetic conduction silicon steel, can regard as and the rotor magnetic conduction silicon steel of two radial single-sided arrangement is arranged on outside in rotor cup respectively, is referred to as magnetic conduction silicon steel and the outer magnetic conduction silicon steel of rotor in rotor respectively.Inside and outside rotor, the silicon steel number of packages of magnetic conduction silicon steel is identical, and radial symmetric face is identical.Rotor installed by the outer magnetic conduction silicon steel of rotor and responds to the annular groove of excitation winding pole coil outward in outside, in rotor, magnetic conduction silicon steel is installed the annular groove of rotor internal induction excitation winding pole coil in inner side.Annular groove inside and outside rotor on magnetic conduction silicon steel is corresponding with the annular groove on magnetic conduction silicon steel inside and outside stator respectively.Rotor induced excitation winding coil has two groups, is arranged on respectively in the annular groove of magnetic conduction silicon steel inside and outside rotor.Rotor torque winding coil, by the radial groove between multilayer annulus post on rotor magnetic conduction silicon steel, respectively around on the multilayer annulus post of magnetic conduction silicon steel inside and outside rotor, forms rotor left, center, right moment of torsion winding coil.In this case, rotor left, center, right moment of torsion winding coil is the equal of the result that the rotor left, center, right moment of torsion winding coil of two radial single-sided arrangement merges respectively.

So far, set forth basic structure pattern and the composition of rotary type novel permanent output torque uniform magnetic field induction servomotor individual motor unit, comprised axial single-sided arrangement, be axially arranged symmetrically with, radial single-sided arrangement and radial symmetric layout etc. four kinds.These four kinds of basic structure patterns also can combine, and comprise axially and axially combination, radial direction and Radial Combinations, axis and Radial Combinations etc.Such as axially and axially combine, for increasing moment of torsion, for axial single-sided arrangement or the individual motor unit that is axially arranged symmetrically with, add the diameter of greater trochanter and stator, and along radial arrangement many groups stator of rotor and stator, rotor magnetic conduction silicon steel and corresponding winding coil; Such as axis and Radial Combinations, on the rotor radial direction of the individual motor unit that can be arranged symmetrically with in axial single-sided arrangement or axis, one-sided radial rotor magnetic conduction silicon steel and corresponding winding coil are installed, and at the position of stator of correspondence, one-sided radial stator magnetic conduction silicon steel and winding coil are installed.In addition, in order to reduce axial dimension, also can by multiple individual motor cell layout in a shaft section, similar disc type electric machine, at this moment each individual motor unit radial size is by difference, and export to obtain permanent moment of torsion, reply physical dimension is adjusted accordingly.

In the basic structure pattern of individual motor unit, stator excitation winding coil and rotor induced excitation winding coil adopt with electrical axis the large loop coil of the several-layer solenoid pattern being axis.Certainly, these coils also can adopt the structural shape of many group small coils combination to replace, and small coil are made many group solenoid patterns, and along stators and rotators magnetic conduction silicon steel even circumferential distributing installation.

Another feature of this novel permanent output torque uniform magnetic field induction servomotor is, under single phase alternating current power supply is powered, the stator excitation magnetic field of each individual motor unit is produced by several-layer solenoid formula Circular Winding coil, motor stator magnetic conduction silicon steel and rotor magnetic conduction silicon steel are installed around the winding of excitation winding pole coil, alternating magnetic field in stator magnetic conduction silicon steel and air gap, magnetic line of force direction is constant, diminishes when the magnetic field of each point becomes Datong District simultaneously, does not produce rotating excitation magnetic field or row ripple excitation field.Rotor magnetic conduction silicon steel is tied with two class coils, a class is rotor induced excitation winding coil, and another kind of is rotor torque winding coil.Rotor induced excitation winding coil and stator excitation winding coil similar, it by and the mutual inductance of stator excitation winding coil in moment of torsion winding coil, produce torque current.Rotor torque winding coil direction of winding is spatially perpendicular with rotor induced excitation winding coil direction of winding, and the magnetic line of force direction that rotor torque winding coil produces is the great-circle direction along taking axis as rotor axis.

The torque direction that individual motor unit produces is relevant with the wiring of rotor induced excitation winding coil and rotor torque winding coil, exchange wiring and can change torque direction, therefore the both forward and reverse directions in order to realize motor drives, following three kinds of methods can be adopted, (1) two groups of individual motor unit are adopted in motor, one group realizes rotating forward driving, and another group realizes reversion and drives, and this is equivalent to the series connection of two motors; (2) in individual motor unit, electromagnetic switch is increased, to exchange the mode of connection of winding coil in rotor.At this moment need in rotor to increase induction controller, to realize the control to electromagnetic switch; (3) for the individual motor unit be arranged symmetrically with, in rotor two group induced excitation winding coil series opposing is connected, together for the rotor torque winding coil in rotor is powered, execute alive relative size by the excitation winding pole coil in adjustment stator simultaneously, change the current phase of rotor torque winding coil, realize motor both forward and reverse directions and drive.

Based on the novel permanent output torque uniform magnetic field induction servomotor of the front rotary type addressed, set forth the technical scheme of permanent power output uniform magnetic field induction linear servo-actuator below.

Permanent power output uniform magnetic field induction linear servo-actuator is the differentiation pattern of the novel permanent output torque uniform magnetic field induction servomotor of above-mentioned rotary type.The individual motor unit of novel for rotary type permanent output torque uniform magnetic field induction servomotor is circumferentially launched, its stators and rotators is developed into respectively the primary and secondary of linear servo-actuator individual motor unit, just can obtain the individual motor unit of permanent power output uniform magnetic field induction linear servo-actuator.According to the relative position relation of primary and secondary, the structural shape of this individual motor unit comprises single-sided arrangement, be arranged symmetrically with and many sides layout etc.

Each individual motor unit of permanent power output uniform magnetic field induction linear servo-actuator, mainly comprises primary and secondary two parts.

Individual motor unit elementary, is made up of pedestal, primary magnetic conduction silicon steel and elementary excitation winding pole coil.Primary magnetic conduction silicon steel is the linear structure having annular groove; Install single-phase elementary excitation winding pole coil in annular groove, winding mode adopts and is similar to solenoidal banked winding form; Primary magnetic conduction silicon steel is connected on pedestal, keeps maintaining static during machine operation.According to single-sided arrangement, be arranged symmetrically with or cellular construction type that many sides are arranged, individual motor unit comprises one or more primary magnetic conduction silicon steel, and the annular groove of each primary magnetic conduction silicon steel is opened near secondary side; Corresponding elementary excitation winding pole coil also comprises one or more groups, is arranged on respectively in the annular groove of primary magnetic conduction silicon steel.

Individual motor unit secondary, is made up of moving member, secondary magnetic conduction silicon steel, secondary induction excitation winding pole coil, secondary power output winding coil and secondary end yoke.Secondary magnetic conduction silicon steel is arranged by the silicon steel part that M shape is identical point-blank to form, and leave gap between adjacent silicon steel part, forms the linear structure with gap, multiple cross section on the whole.On linear structure side, each silicon steel part is designed with groove, annular groove is formed in side on the whole to make the secondary magnetic conduction silicon steel of linear pattern, after motor assembling, the position of this annular groove is corresponding with annular groove primary magnetic conduction silicon steel being installed excitation winding pole coil, to make elementary excitation winding pole coil and secondary induction excitation winding pole coil be coupled.Meanwhile, each silicon steel part is also designed with the groove for installing power output winding coil, groove is mutually vertical with side annular groove, and its direction or level or vertical, determined by the arrangement of primary magnetic conduction silicon steel and secondary magnetic conduction silicon steel.Secondary induction excitation winding pole coil is arranged in the side annular groove of secondary magnetic conduction silicon steel, adopts and is similar to solenoidal banked winding form.Secondary power output winding coil, by the groove on secondary magnetic conduction silicon steel part, is wrapped on each silicon steel part of secondary magnetic conduction silicon steel.The winding direction of secondary power output winding coil and the direction of winding of secondary induction excitation winding pole coil are spatially mutually vertical.Secondary magnetic conduction silicon steel is connected on moving member, and secondary end yoke is arranged on the two ends of secondary magnetic conduction silicon steel, is also connected on moving member.According to single-sided arrangement, be arranged symmetrically with or cellular construction type that many sides are arranged, individual motor unit comprises one or more secondary magnetic conduction silicon steel, and the annular groove of each secondary magnetic conduction silicon steel is opened near elementary side; Corresponding secondary induction excitation winding pole coil also comprises one or more groups, is arranged in the annular groove of secondary magnetic conduction silicon steel respectively; Certainly, power output winding coil also comprises one or more groups, is wrapped on M the silicon steel part forming secondary magnetic conduction silicon steel by the groove on secondary magnetic conduction silicon steel.

Wherein, gap is left between the primary and secondary of permanent power output uniform magnetic field induction linear servo-actuator individual motor unit.Primary magnetic conduction silicon steel, secondary magnetic conduction silicon steel and secondary end yoke are all formed by stacking by silicon steel sheet.Secondary induction excitation winding pole coil is connected with secondary power output winding coil.Because permanent power output uniform magnetic field induction linear servo-actuator individual motor unit is powered conveniently, the primary and secondary structure of individual motor unit can be exchanged, elementary, short secondary or short elementary, the long secondary structure and design is grown up.

So far, the technical scheme of the permanent power output uniform magnetic field induction linear servo-actuator of the novel permanent output torque uniform magnetic field induction servomotor of rotary type of the present invention and differentiation thereof has been set forth complete.

In a word, the novel permanent output torque uniform magnetic field induction servomotor that the present invention proposes, structure is simple, shows especially on stator silicon steel and stator winding structure, does not adopt permanent magnetic material, low cost of manufacture; Do not have slip ring consumable accessory, maintenance cost is low; Though rotor windings, by inductive power supply, has permanent torque characteristics, is similar to direct current machine; Motor output torque can be realized by regulating supply power voltage size or frequency to control, but the working method that actual design motor can adopt power of fixed frequency to power, to select suitable or best machine operation frequency, reduce energy loss; Unsaturated and when ignoring wire resistor at stator rotor magnetic conduction silicon steel magnetic flux density, motor output torque is directly proportional to stator excitation voltage, and have nothing to do with rotor speed, simplify Design of Servo Controller, control precision is high, reliable operation; The axis of motor is arranged symmetrically with pattern, easily realizes low speed, high pulling torque design.Meanwhile, novel permanent output torque uniform magnetic field induction servomotor of the present invention, also can develop into the permanent power output uniform magnetic field induction linear servo-actuator based on same principle.

Accompanying drawing explanation

Fig. 1 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit)

Fig. 2 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit) partial enlarged drawing

Fig. 3 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit) A-A cutaway view

Fig. 4 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit) B-B profile

Fig. 5 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit) B-B section partial enlarged drawing

Fig. 6 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit) C-C cutaway view

Fig. 7 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit) rotor hub and rotor silicon steel

Fig. 8 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit) rotor hub and rotor silicon steel D-D cutaway view

Fig. 9 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit) stator casing and the right magnetic conduction silicon steel of stator

Figure 10 is Unit three permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit) stator casing and stator right magnetic conduction silicon steel profile

Figure 11 is permanent output torque uniform magnetic field induction servomotor axial single-sided arrangement individual motor unit

Figure 12 is permanent output torque uniform magnetic field induction servomotor axial single-sided arrangement individual motor unit partial enlarged drawing

Figure 13 is permanent output torque uniform magnetic field induction servomotor radial single-sided arrangement individual motor unit

Figure 14 is permanent output torque uniform magnetic field induction servomotor radial single-sided arrangement individual motor unit partial enlarged drawing

Figure 15 is permanent power output uniform magnetic fields induction linear servo-actuator (being arranged symmetrically with individual motor unit) of Unit three

Figure 16 is Unit three permanent power output uniform magnetic field induction linear servo-actuator (being arranged symmetrically with individual motor unit) E-E cutaway view

Figure 17 is permanent power output uniform magnetic field induction linear servo-actuator (being arranged symmetrically with individual motor unit) the secondary power output winding coil of Unit three and moving member cutaway view

Figure 18 is permanent power output uniform magnetic field induction linear servo-actuator (being arranged symmetrically with individual motor unit) the secondary magnetic conduction silicon steel of Unit three and moving member cutaway view

In figure: the outer moment of torsion winding coil of 1 rotor; 2 rotor internal torque winding coils; 3 rotor hubs; 4 axles; 5 bearings; 6 end caps; 7 stator casings; The left magnetic conduction silicon steel of 8 stator; The left excitation winding pole coil of 9 stator; The left induced excitation winding coil of 10 rotor; The left magnetic conduction silicon steel of 11 rotor; The right magnetic conduction silicon steel of 12 rotor; The right induced excitation winding coil of 13 rotor; The right excitation winding pole coil of 14 stator; The right magnetic conduction silicon steel of 15 stator; 16 stator magnetic conduction silicon steel; 17 stator excitation winding coils; The left moment of torsion winding coil of 18 rotor; 19 rotor induced excitation winding coils; 20 rotor magnetic conduction silicon steel; The right moment of torsion winding coil of 21 rotor; 22 moving members; 23 elementary left magnetic conduction silicon steel; 24 left magnetic conduction silicon steel of level; 25 right magnetic conduction silicon steel of level; 26 elementary right magnetic conduction silicon steel; 27 elementary left excitation winding pole coils; 28 left induced excitation winding coils of level; 29 right induced excitation winding coils of level; 30 elementary right excitation winding pole coils; Power output winding coil under 31 levels; Power output winding coil in 32 levels; Power output winding coil in 33 levels; 34 pedestals; 35 guide rails; 36 secondary end yokes.

Embodiment

Because the place of application is different with requirement, concrete pattern and the structure of the permanent power output uniform magnetic field induction linear servo-actuator of the novel permanent output torque uniform magnetic field induction servomotor of rotary type of the present invention and differentiation thereof will change to some extent.

Below for example, combination technology scheme and accompanying drawing are described in detail.

Embodiment 1: three unit permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit)

This permanent output torque uniform magnetic field induction servomotor as shown in Figure 1, is made up of axle 4, bearing 5, end cap 6 and three individual motor unit.Motor adopts fixed frequency three-phase alternating current to power, and every cross streams electricity is that an individual motor unit is powered, and voltage-phase is respectively 0 degree, 120 degree and 240 degree, and during work, supply power voltage frequency is constant, controls motor output torque by regulating supply power voltage size.

Three individual motor cellular constructions are as shown in Figure 1 identical, and each individual motor unit adopts and is axially arranged symmetrically with pattern, and stators and rotators structure is see partial enlargement Fig. 2.

The stator of individual motor unit is made up of stator casing 7, stator left magnetic conduction silicon steel 8, the left excitation winding pole coil of stator 9, the right excitation winding pole coil of stator 14 and the right magnetic conduction silicon steel 15 of stator.The right magnetic conduction silicon steel 15 of stator is the square-section annulus post having annular groove in the middle of left surface, is connected on stator casing 7, as shown in Fig. 9,10; Stator left magnetic conduction silicon steel 8 is substantially identical with stator right magnetic conduction silicon steel 15 structure, and difference is that annular groove is opened at right flank.The right excitation winding pole coil of stator 14 and the left excitation winding pole coil of stator 9 are arranged in the annular groove of stator right magnetic conduction silicon steel 15 and the left magnetic conduction silicon steel 8 of stator respectively, as shown in Figure 6, and right induced excitation winding coil 13 and the left induced excitation winding coil 10 of rotor are coupled, see Fig. 2 with rotor respectively.

The rotor of individual motor unit is made up of, see Fig. 1 and Fig. 2 rotor hub 3, rotor left magnetic conduction silicon steel 11, rotor right magnetic conduction silicon steel 12, rotor left induced excitation winding coil 10, the right induced excitation winding coil 13 of rotor, the outer moment of torsion winding coil 1 of rotor and rotor internal torque winding coil 2.Its rotor entirety is installed on the motor shaft (4) by rotor hub 3.

Rotor left magnetic conduction silicon steel 11 and the right magnetic conduction silicon steel 12 of rotor are made up of eight silicon steel parts respectively, and eight silicon steel parts distribute along rotor hub 3 even circumferential and are connected on rotor hub 3, leave gap, see Fig. 7,8 between adjacent silicon steel part.Each silicon steel part geometrically can regard that fanning annulated column by two square-sections is radially formed by connecting as, and relative to rotor axis, the coupling part between the fan annulated column of inside and outside both sides is also a square-section fan annulated column, and its segment angle and axial width are all less.After the silicon steel part that eight shapes are identical is circumferentially evenly arranged, because its circumferential size is less than the girth of its place circumference, composition is circumferentially had the square-section annulus post of eight air gaps by outside and inner side fan annulated column, eight middle fan annulated columns are also evenly arranged, and are coupled together by inside and outside two square-section annulus posts.Because centre fan annulated column segment angle is less, eight fan-shaped grooves of axis can be formed between inside and outside circle annulated column, simultaneously because its axial width is less, form annular groove on the right side of the left magnetic conduction silicon steel 11 of rotor, form annular groove in the left side of the right magnetic conduction silicon steel 12 of rotor.

The design feature of rotor left and right magnetic conduction silicon steel is, annular groove is had respectively in the middle of their left side and in the middle of right side, simultaneously they with eight gaps for line of symmetry has eight identical fan ring shaped axial grooves, eight fan ring shaped axial grooves and inside and outside two groups of square-sections fan annulated column is defined on the whole, see Fig. 7,8 at rotor left and right magnetic conduction silicon steel.Rotor left induced excitation winding coil 10 and rotor right induced excitation winding coil 13 are arranged in the annular groove of rotor left magnetic conduction silicon steel 11 and the right magnetic conduction silicon steel 12 of rotor respectively, as shown in Figures 2 and 3.The outer moment of torsion winding coil 1 of rotor and rotor internal torque winding coil 2 comprise eight groups of coils respectively, they are by rotor left and right magnetic conduction silicon steel eight fan ring shaped axial grooves on the whole, be wrapped on the outer interior square-section fan annulated column of rotor magnetic conduction silicon steel respectively, see Fig. 2,3,4,5.Wherein, Fig. 4,5 is profiles of the outer moment of torsion winding coil 1 of rotor and rotor internal torque winding coil 2, represent that they fan the relation of annulated column with the outer interior square-section of rotor magnetic conduction silicon steel, its winding direction is spatially mutually vertical with the direction of winding of rotor left and right induced excitation winding coil 10,13, see Fig. 2,3.

Air gap is left between the stators and rotators of individual motor unit.After rotor left induced excitation winding coil 10 and the right induced excitation winding coil 13 of rotor are connected, be connected with the outer moment of torsion winding coil 1 of rotor and rotor internal torque winding coil 2.

Permanent output torque uniform magnetic field induction servomotor (axial single-sided arrangement individual motor unit) of embodiment 2: four unit

This permanent output torque uniform magnetic field induction servomotor is similar to Example 1, and the main distinction is that individual motor cellular construction is different with unit number, so introduce the individual motor cellular construction that the present embodiment adopts below.

This permanent output torque uniform magnetic field induction servomotor, is made up of axle 4, bearing 5, end cap 6 and four individual motor unit.Motor adopts the power supply of fixed frequency four cross streams electricity, every cross streams electricity is that an individual motor unit is powered, voltage-phase is respectively 0 degree, 90 degree, 180 degree and 270 degree, and during work, supply power voltage frequency is constant, controls motor output torque by regulating supply power voltage size.

Four individual motor cellular constructions are identical, all adopt axial single-sided arrangement pattern, and as shown in figure 11, Figure 12 is its partial enlarged drawing.

The stator of individual motor unit is made up of stator casing 7, stator left magnetic conduction silicon steel 8 and the left excitation winding pole coil 9 of stator.The left magnetic conduction silicon steel 8 of stator is fixed on stator casing 7, and the left excitation winding pole coil of stator 9 is arranged in the right side annular groove of the left magnetic conduction silicon steel 8 of stator, and the stator being equivalent to individual motor unit in embodiment 1 removes right part.

The rotor of individual motor unit is made up of rotor hub 3, rotor left magnetic conduction silicon steel 11, the left induced excitation winding coil 10 of rotor, the outer moment of torsion winding coil 1 of rotor and rotor internal torque winding coil 2.The left magnetic conduction silicon steel 11 of rotor is fixed on rotor hub 3, is also made up of eight silicon steel parts, has gap after installing between adjacent silicon steel part, identical with enforcement 1.But the rotor in the present embodiment with implement 1 unlike, rotor magnetic conduction silicon steel is only made up of the left magnetic conduction silicon steel of rotor, does not have rotor right magnetic conduction silicon steel part.The outer moment of torsion winding coil 1 of rotor left induced excitation winding coil 10, rotor is identical with embodiment 1 with the mounting means of rotor internal torque winding coil 2 on rotor magnetic conduction silicon steel.Rotor is connected with motor shaft 4 by rotor hub 3, output torque.

Other and embodiment 1 are together.

Embodiment 3: two unit permanent output torque uniform magnetic field induction servomotor (being axially arranged symmetrically with individual motor unit)

This permanent output torque uniform magnetic field induction servomotor is the comprehensive and simplification of embodiment 1 and embodiment 2.

This permanent output torque uniform magnetic field induction servomotor, is made up of axle 4, bearing 5, end cap 6 and two individual motor unit.

In embodiment 2, motor adopts fixed frequency four cross streams electricity to be respectively four individual motor unit and powers, and alternating current voltage phase place is respectively 0 degree, 90 degree, 180 degree and 270 degree, and during work, supply power voltage frequency is constant.But because 0 degree is identical with 180 degree of individual motor unit output torque characteristics, 90 degree identical with the individual motor unit output torque characteristic of 270 degree, therefore the present embodiment is reduced to Unit two permanent moment of torsion induction servomotor of employing two individual motor unit, and its power supply difference is 90 degree.

Individual motor unit adopts and is axially arranged symmetrically with pattern, and unit concrete structure is see embodiment 1.

Permanent output torque uniform magnetic field induction servomotor (radial single-sided arrangement individual motor unit) of embodiment 4: three unit

This permanent output torque uniform magnetic field induction servomotor is similar to Example 2, and the main distinction is that individual motor cellular construction is different with element number, so introduce the individual motor cellular construction that the present embodiment adopts below.

This permanent output torque uniform magnetic field induction servomotor, is made up of axle 4, bearing 5, end cap 6 and three individual motor unit.Motor adopts fixed frequency three-phase alternating current to power, and every cross streams electricity is that an individual motor unit is powered, and voltage-phase is respectively 0 degree, 120 degree and 240 degree, and during work, supply power voltage frequency is constant, controls motor output torque by regulating supply power voltage size.

Three individual motor cellular constructions are identical, all adopt radial single-sided arrangement pattern, and as shown in figure 13, Figure 14 is its partial enlarged drawing.

The stator of individual motor unit is made up of stator casing 7, stator magnetic conduction silicon steel 16 and stator excitation winding coil 17.Stator magnetic conduction silicon steel 16 is fixed on stator casing 7, and stator magnetic conduction silicon steel 16 is square-section annulus post, and have annular groove in the middle of inside it, stator excitation winding coil 17 is arranged in the inner side annular groove of stator magnetic conduction silicon steel 16, as shown in Figure 13,14.

The rotor of individual motor unit is made up of rotor hub 3, rotor magnetic conduction silicon steel 20, rotor induced excitation winding coil 19, rotor left moment of torsion winding coil 18 and the right moment of torsion winding coil 21 of rotor.Rotor magnetic conduction silicon steel 20 is fixed on rotor hub 3, is also made up of eight silicon steel parts, has gap after installing between adjacent silicon steel part, similar to Example 2.But the rotor in the present embodiment with implement 2 unlike, the annular groove of the rotor magnetic conduction silicon steel 20 that rotor magnetic conduction silicon steel part is formed after installing is in the middle of radial outside, groove is simultaneously also along radial direction, for the scallop hole of square-section, two groups of square-section fan annulated columns that it is formed on rotor magnetic conduction silicon steel 20 lay respectively at rotor magnetic conduction silicon steel 20 left and right sides, the approximate structure can regarding embodiment 2 rotor magnetic conduction silicon steel shaft section 90-degree rotation as on structural shape.

Rotor induced excitation winding coil 19 is arranged in the middle outside annular groove of rotor magnetic conduction silicon steel 20, as shown in Figure 13 and Figure 14.Rotor left moment of torsion winding coil 18 and the right moment of torsion winding coil 21 of rotor comprise eight groups of coils respectively, and they are by eight fan-shaped radial grooves on rotor magnetic conduction silicon steel 20, are wrapped in respectively on square-section, the left and right fan annulated column of rotor magnetic conduction silicon steel.

Other and embodiment 2 are together.

Permanent power output uniform magnetic field induction linear servo-actuator (being arranged symmetrically with individual motor unit) of embodiment 5: three unit

This permanent power output uniform magnetic field induction linear servo-actuator as shown in figure 15, forms primarily of guide rail 35 and three individual motor unit.Motor adopts fixed frequency three-phase alternating current to power, and every cross streams electricity is that an individual motor unit is powered, and voltage-phase is respectively 0 degree, 120 degree and 240 degree, and during work, supply power voltage frequency is constant, controls motor power output size by regulating supply power voltage size.

Three individual motor cellular constructions are identical, as Figure 15,16, shown in 17 and 18, each individual motor unit adopts and is arranged symmetrically with pattern.

Individual motor unit elementary, comprises pedestal 34, elementary left magnetic conduction silicon steel 23, elementary right magnetic conduction silicon steel 26, elementary left excitation winding pole coil 27 and elementary right excitation winding pole coil 30, as shown in figure 15.Wherein, elementary left magnetic conduction silicon steel 23 and elementary right magnetic conduction silicon steel 26 are all connected on pedestal 34.

Elementary left magnetic conduction silicon steel 23 and elementary right magnetic conduction silicon steel 26 are all the long columns of square-section, have the annular groove of a square-section, to install corresponding excitation winding pole coil in side.The annular groove of elementary left magnetic conduction silicon steel 23 is driveed on right side, and the annular groove of elementary right magnetic conduction silicon steel 26 is driveed in left side.Elementary left excitation winding pole coil 27 and elementary right excitation winding pole coil 30 are arranged in the annular groove of elementary left magnetic conduction silicon steel 23 and elementary right magnetic conduction silicon steel 26 respectively, as shown in Figure 15,16.

Individual motor unit secondary, comprise moving member 22, secondary left magnetic conduction silicon steel 24, secondary right magnetic conduction silicon steel 25, secondary left induced excitation winding coil 28, secondary right induced excitation winding coil 29, secondary lower power output winding coil 31, secondary middle power output winding coil 32 and secondary upper power output winding coil 33 and secondary end yoke 36 etc., as shown in figure 15.Wherein, secondary left magnetic conduction silicon steel 24 and secondary right magnetic conduction silicon steel 25 are connected on moving member 22.

Secondary left magnetic conduction silicon steel 24 and secondary right magnetic conduction silicon steel 25 similar are all be made up of ten silicon steel parts, and the main distinction is the annular groove of installing induced excitation winding coil at not homonymy, as shown in figure 15.Each silicon steel part geometrically can be regarded as and formed by five cuboid longitudinal stack, and wherein outermost upper and lower two cuboid dimensions are identical; A middle cuboid thickness is comparatively large, and other size is identical with outermost two cuboids; Outermost and three middle cuboids couple together by the narrower cuboid of all the other two width, similar " king " font, but due to middle two cuboid length playing connection functions less, silicon steel part forms four grooves, as shown in figure 18.These four grooves, for installing upper, middle and lower three groups of power output winding coils.Simultaneously, because two cuboid width playing connection functions middle on each silicon steel part are narrower, two grooves can be formed in silicon steel part side, when ten silicon steel parts are arranged in a line, when being arranged on moving member 22, these grooves just define the annular groove can installing induced excitation winding coil on the whole, as shown in figure 17.Secondary left magnetic conduction silicon steel 24 and secondary right magnetic conduction silicon steel 25 leave gap, as shown in Figure 17,18 between adjacent silicon steel part.

Secondary left induced excitation winding coil 28 and secondary right induced excitation winding coil 29 are arranged in the annular groove of secondary left magnetic conduction silicon steel 24 and secondary right magnetic conduction silicon steel 25 respectively, be coupled with elementary left excitation winding pole coil 27 and elementary right excitation winding pole coil 30 respectively, as shown in figure 15.Secondary upper power output winding coil 33, secondary middle power output winding coil 32 and secondary lower power output winding coil 31 comprise ten groups of coils respectively, they are by the groove on the magnetic conduction silicon steel of secondary left and right, be wrapped in the outermost on each silicon steel part of secondary magnetic conduction silicon steel respectively with on three rectangular section columns of centre, see Figure 15,17 and 18.Wherein, Figure 17 is the layout plan of secondary upper power output winding coil 33, secondary middle power output winding coil 32, secondary lower power output winding coil 31 and moving member 22, and Figure 18 is the layout plan of secondary magnetic conduction silicon steel 24 and moving member 22 and secondary end yoke 36.Figure 17 and Figure 18 indicates the relation between five cuboids of secondary power output winding coil and each silicon steel part of secondary left magnetic conduction silicon steel, and the winding direction of secondary power output winding coil 31,32,33 and the direction of winding of secondary left and right induced excitation winding coil 28,29 are spatially mutually vertical.

Air gap is left between the primary and secondary of individual motor unit.Secondary left induced excitation winding coil 28 and secondary right induced excitation winding coil 29 are connected with secondary upper power output winding coil 33, secondary middle power output winding coil 32 and secondary lower power output winding coil 31 after connecting.Primary magnetic conduction silicon steel, secondary magnetic conduction silicon steel and secondary end yoke are all be formed by stacking by silicon steel sheet.

Permanent power output uniform magnetic field induction linear servo-actuator (being arranged symmetrically with individual motor unit) of embodiment 6: three unit

By elementary, the secondary exchange in embodiment 5, and keep long elementary, short secondary structure.

Claims

1. a class Novel constant force permanent moment of torsion uniform magnetic field induction servomotor, comprises the novel permanent output torque uniform magnetic field induction servomotor of rotary type and permanent power output uniform magnetic field induction linear servo-actuator; It is characterized in that,

(1) rotary type permanent output torque uniform magnetic field induction servomotor

The structure of rotary type permanent output torque uniform magnetic field induction servomotor is made up of N number of individual motor unit; Each individual motor cellular construction is identical, but when N number of individual motor cell layout perpendicular in the same plane of motor revolving shaft time, its physical dimension is different; Motor adopts the power supply of N cross streams electricity, phase difference is equal, be 360 degree/N or 180 degree/N, the mode of connection is the cross streams electricity that each individual motor unit only connects in N cross streams electricity, and in each individual motor unit, stator excitation winding coil only applies a cross streams voltage; Stator magnetic conduction silicon steel adopts with motor revolving shaft line symmetrical structure pattern, stator excitation winding coil is circumferentially uniformly distributed on stator magnetic conduction silicon steel, be centrosymmetric with motor revolving shaft line, produce in the air gap between stator magnetic conduction silicon steel and rotor magnetic conduction silicon steel and be uniformly distributed magnetic field along rotor circumference; Each individual motor unit rotor magnetic conduction silicon steel adopts circumferentially the structural shape being uniformly distributed gap, multiple radial axle cross section, and rotor magnetic conduction silicon steel is wound with two type winding coils, their winding mode is spatially orthogonal, is called rotor induced excitation winding coil and rotor torque winding coil; Rotor torque winding coil is directly connected with rotor induced excitation winding coil; Stator excitation winding coil is corresponding with rotor induced excitation winding coil installation site, produces mutual inductance and provides torque current for rotor torque winding coil;

The individual motor unit of novel permanent output torque uniform magnetic field induction servomotor, mainly comprises stators and rotators two parts;

Wherein, stator is made up of stator casing, stator magnetic conduction silicon steel, stator excitation winding coil; Stator magnetic conduction silicon steel is the annulus post having annular groove; Single-phase stator excitation winding pole coil is arranged in annular groove, adopts the winding mode of solenoid type; Single-phase stator excitation winding pole coil adopts coil axis one group of overlapping with electrical axis, or employing coil axis circumferentially equally distributed many groups; Stator casing and stator magnetic conduction silicon steel are connected, and keep maintaining static during machine operation;

Wherein, rotor is made up of rotor hub, rotor magnetic conduction silicon steel, rotor induced excitation winding coil, rotor torque winding coil; Its rotor magnetic conduction silicon steel is circumferentially evenly arranged by M silicon steel part and forms, and each silicon steel part shape is identical, has gap between adjacent silicon steel part, the similar annulus post having multiple gap of global shape; Each silicon steel part has groove in a circumferential direction, and to make rotor magnetic conduction silicon steel form annular groove on the whole, the position of annular groove is corresponding with annular groove stator magnetic conduction silicon steel being installed stator excitation winding coil; Different according to individual motor cellular construction arrangement, the position of each silicon steel part groove is in a circumferential direction also different, opens on the face of cylinder inside and outside radial direction or opens on the transverse plane of axial both sides; Meanwhile, each silicon steel part has groove at middle part, and its direction is vertical from annular groove and different according to electric motor units structural configuration mode, in radial direction or at axial direction, for installing rotor torque winding coil; Rotor induced excitation winding coil adopts and is similar to solenoidal coiling form, is arranged in the annular groove of rotor magnetic conduction silicon steel; Rotor torque winding coil by the groove on rotor magnetic conduction silicon steel around on rotor magnetic conduction silicon steel; Rotor magnetic conduction silicon steel is connected on rotor hub, and during machine operation, rotor magnetic conduction silicon steel, rotor hub rotate together with axle;

Wherein, in the individual motor unit of permanent output torque uniform magnetic field induction servomotor: have even air gap between stators and rotators, form magnetic resistance; Stator magnetic conduction silicon steel and rotor magnetic conduction silicon steel are all formed by stacking by silicon steel sheet; Stator excitation winding coil is arranged on stator magnetic conduction silicon steel, they relative electrical axis structure axisymmetricly; When stator excitation winding coil adopts one group of solenoid type winding coil, its axis and stator rotor dead in line; When stator excitation winding coil adopts many group solenoid type winding coils, its axis distributes along stator magnetic conduction silicon steel even circumferential; Rotor structure has symmetry, rotor magnetic conduction silicon steel is installed two groups of coils, during installation require rotor torque winding coil and rotor induced excitation winding coil direction of winding spatially orthogonal, on the magnetic field space making them produce, direction is substantially orthogonal; Rotor torque winding coil is directly connected with rotor induced excitation winding coil, and rotor induced excitation winding coil is corresponding with stator excitation winding coil, produces mutual inductance and provides torque current; During each individual motor cell operation, single-phase AC voltage is applied to stator excitation winding coil, its structural shape determines the magnetic field that stator excitation magnetic field is equivalent to the generation of several-layer solenoid type Circular Winding coil, in even air gap between motor stator magnetic conduction silicon steel and rotor magnetic conduction silicon steel, produce circumferentially equally distributed magnetic field, magnetic line of force direction is constant, and magnetic field size is with applying change in voltage; Alternating magnetic field in stator magnetic conduction silicon steel and air gap does not form rotating magnetic field;

(2) permanent power output uniform magnetic field induction linear servo-actuator

The structure of permanent power output uniform magnetic field induction linear servo-actuator is made up of N number of individual motor unit; Each individual motor cellular construction is identical; Motor adopts the power supply of N cross streams electricity, and phase difference is equal is 360 degree/N or 180 degree/N, and the mode of connection is the cross streams electricity that each individual motor unit only connects in N cross streams electricity; In each individual motor unit, primary magnetic conduction silicon steel adopts linear structure pattern; Elementary excitation winding pole coil is arranged on the side of primary magnetic conduction silicon steel, adjoining with secondary magnetic conduction silicon steel; The rectilinear direction of elementary excitation winding pole coil linearly type primary magnetic conduction silicon steel is uniformly distributed; During machine operation, a cross streams voltage is applied to the elementary excitation winding pole coil in each individual motor unit, in the even air gap between primary magnetic conduction silicon steel and secondary magnetic conduction silicon steel, produce and be uniformly distributed magnetic field along primary magnetic conduction silicon steel rectilinear direction; In each individual motor unit, secondary magnetic conduction silicon steel adopts linear structure pattern, and the rectilinear direction along secondary magnetic conduction silicon steel is uniformly distributed multiple gap, cross section perpendicular to this rectilinear direction; Secondary magnetic conduction silicon steel is wound with two type winding coils, their winding mode is spatially orthogonal, is called secondary induction excitation winding pole coil and secondary power output winding coil; Secondary power output winding coil is directly connected with secondary induction excitation winding pole coil; Elementary excitation winding pole coil is corresponding with secondary induction excitation winding pole coil installation site, produces mutual inductance and provides power output electric current for secondary power output winding coil; Elementary secondary structure pattern in above-mentioned individual motor unit is interchangeable;

The individual motor unit of novel permanent power output uniform magnetic field induction linear servo-actuator, mainly comprises primary and secondary two parts;

Wherein, to be elementaryly made up of pedestal, primary magnetic conduction silicon steel and elementary excitation winding pole coil; Primary magnetic conduction silicon steel is the linear structure having annular groove; Single-phase elementary excitation winding pole coil is arranged in annular groove, adopts the winding mode of solenoid type; When elementary excitation winding pole coil adopts the structural shape of one group of coil, excitation winding pole coil linearly type primary magnetic conduction silicon steel total length around; When elementary excitation winding pole coil adopts the structural shape of many group coil combination, during installation, linear pattern primary magnetic conduction silicon steel is divided into some parts along its length, every part is around one group of excitation winding pole coil; Primary magnetic conduction silicon steel is connected on pedestal, keeps maintaining static during machine operation;

Wherein, to be secondaryly made up of moving member, secondary magnetic conduction silicon steel, secondary induction excitation winding pole coil, secondary power output winding coil and secondary end yoke; Secondary magnetic conduction silicon steel to be arranged along straight line by the identical silicon steel part of M shape and forms, and has gap, form the linear structure having gap, multiple cross section along this straight line on the whole between adjacent silicon steel part; On the side that secondary magnetic conduction silicon steel is adjacent with primary magnetic conduction silicon steel, the silicon steel part of the secondary magnetic conduction silicon steel of each composition there is groove, annular groove is formed on the whole on a side of the secondary magnetic conduction silicon steel of linear pattern, after motor assembling, the position of secondary magnetic conduction silicon steel side annular groove is corresponding with annular groove primary magnetic conduction silicon steel being installed excitation winding pole coil; Simultaneously, the silicon steel part of the secondary magnetic conduction silicon steel of each composition also has the groove for installing power output winding coil, require that groove is mutually vertical with side annular groove, the direction of groove or level or vertical, depend on the mounting arrangements mode of primary magnetic conduction silicon steel and secondary magnetic conduction silicon steel; Secondary induction excitation winding pole coil is arranged in the side annular groove of secondary magnetic conduction silicon steel, adopts the winding mode of solenoid type; When secondary induction excitation winding pole coil adopts the structural shape of one group of coil, induced excitation winding coil linearly the secondary magnetic conduction silicon steel of type total length around; When secondary induction excitation winding pole coil adopts the structural shape of many group coil combination, during installation, secondary for linear pattern magnetic conduction silicon steel is divided into some parts along its length, divide partly or using multiple silicon steel part as a part by the silicon steel part forming secondary magnetic conduction silicon steel, every part is around one group of induced excitation winding coil; Secondary power output winding coil, by the groove on secondary magnetic conduction silicon steel, is wrapped on each silicon steel part of secondary magnetic conduction silicon steel; Secondary magnetic conduction silicon steel is connected on moving member, and secondary end yoke is arranged on the two ends of secondary magnetic conduction silicon steel, is also connected on moving member;

Wherein, permanent power output uniform magnetic field is responded in the individual motor unit of linear servo-actuator: have even air gap between primary and secondary, forms magnetic resistance; Primary magnetic conduction silicon steel, secondary magnetic conduction silicon steel and secondary end yoke are all formed by stacking by silicon steel sheet; Elementary excitation winding pole coil is arranged on primary magnetic conduction silicon steel, is uniformly distributed along primary magnetic conduction silicon steel length direction; Secondary magnetic conduction silicon steel is installed two groups of coils, require during installation that the direction of winding of secondary power output winding coil is spatially mutually vertical with the direction of winding of secondary induction excitation winding pole coil, on the magnetic field space making them produce, direction is substantially orthogonal; Secondary power output winding coil is connected with secondary induction excitation winding pole coil, and elementary excitation winding pole coil is corresponding with secondary induction excitation winding pole coil, produces mutual inductance and provides power output electric current; During each individual motor cell operation, single-phase AC voltage is applied to elementary excitation winding pole coil, its structural shape determines in the even air gap of elementary excitation winding pole coil between electric motor primary magnetic conduction silicon steel and secondary magnetic conduction silicon steel, produce linearly equally distributed magnetic field, magnetic line of force direction is constant, and magnetic field size is with applying change in voltage; Alternating magnetic field in primary magnetic conduction silicon steel and air gap does not form travelling-magnetic-field.

2. a class Novel constant force according to claim 1 permanent moment of torsion uniform magnetic field induction servomotor, it is characterized in that: described rotary type novel permanent output torque uniform magnetic field induction servomotor, the basic structure pattern of its each individual motor unit has axial single-sided arrangement, is axially arranged symmetrically with, radial single-sided arrangement and radial symmetric arrange four kinds; The structural shape of each individual motor unit, comprises the combination of four kinds of basic structure patterns and four kinds of basic structure patterns, specific as follows:

(1) the individual motor unit of axial single-sided arrangement pattern, (1), along motor shaft direction, stator magnetic conduction silicon steel is arranged in left side or the right side of rotor magnetic conduction silicon steel; When stator magnetic conduction silicon steel is in left side, its annular groove is on right side; When stator magnetic conduction silicon steel is on right side, its annular groove is in left side; (2) each silicon steel part in rotor magnetic conduction silicon steel, the square-section fan annulated column that geometrically can be described as by multilayer segment angle is identical is radially formed by connecting, coupling part in the middle of the fan annulated column of adjacent two layers square-section is a place or many places, the connector shape of each connection function is fan annulated column or general cylinder, and size is less; Relative to rotor axis, inside and outside each silicon steel part, both sides are square-section fan annulated column, have been that connector and the square-section fan annulated column of connection function is alternately arranged in the middle of silicon steel part; Because each intermediate connector size is less, its axial width and the segment angle formed relative to rotor axis all less, multiple axial pass trough and elongated slot along the circumferential direction can be formed on each silicon steel part; M silicon steel part is circumferentially evenly arranged, and multilayer rectangle cross section fan annulated column forms the multilayer rectangle cross section annulus post circumferentially having M air gap, between adjacent two layers annulus post, form multiple axial pass trough by connector, and forms annular groove in left side or right side; Rotor induced excitation winding coil is arranged in annular groove; Rotor torque winding coil, by the groove between multilayer annulus post on rotor magnetic conduction silicon steel, respectively around on the multilayer annulus post of rotor magnetic conduction silicon steel, forms the inside and outside many group moment of torsion winding coils of rotor;

(2) be axially arranged symmetrically with the individual motor unit of pattern, (1) two stator magnetic conduction silicon steel is arranged in left side and the right side of rotor magnetic conduction silicon steel, is called as stator left magnetic conduction silicon steel and the right magnetic conduction silicon steel of stator respectively; Annular groove on the left magnetic conduction silicon steel of stator is on right side, and the annular groove on the right magnetic conduction silicon steel of stator, in left side, is the combination of two kinds of axial single-sided arrangement pattern stators; Stator excitation winding coil has two groups, is arranged in the annular groove of stator left and right magnetic conduction silicon steel respectively; (2) rotor magnetic conduction silicon steel is the equal of merged by the rotor magnetic conduction silicon steel of two axial single-sided arrangement, be jointly arranged on a rotor hub, the rotor hub plane of symmetry that they are relatively orthogonal to rotor axis becomes mirror, is referred to as rotor left magnetic conduction silicon steel and the right magnetic conduction silicon steel of rotor respectively; Annular groove rotor left magnetic conduction silicon steel being installed the left induced excitation winding coil of rotor is in left side, corresponding with the annular groove on the stator left magnetic conduction silicon steel installing the left excitation winding pole coil of stator; Annular groove rotor right magnetic conduction silicon steel being installed the right induced excitation winding coil of rotor is on right side, corresponding with the annular groove on the stator right magnetic conduction silicon steel installing the right excitation winding pole coil of stator; Rotor induced excitation winding coil has two groups, is arranged in the annular groove of rotor left and right magnetic conduction silicon steel respectively; Rotor torque winding coil, by the groove between multilayer annulus post, respectively around on the multilayer annulus post of rotor left and right magnetic conduction silicon steel, forms the inside and outside many group moment of torsion winding coils of rotor; In this case, the inside and outside many group moment of torsion winding coils of rotor are the equal of the result that the inside and outside many group moment of torsion winding coils of rotor of two axial single-sided arrangement merge respectively;

(3) the individual motor unit of radial single-sided arrangement pattern, (1), relative to rotor axis, stator magnetic conduction silicon steel is arranged in inner side or the outside of rotor magnetic conduction silicon steel; When stator magnetic conduction silicon steel is arranged in outside, the annular groove on stator magnetic conduction silicon steel is in inner side; When stator magnetic conduction silicon steel is arranged in inner side, the annular groove on stator magnetic conduction silicon steel is in outside; (2) each silicon steel part in rotor magnetic conduction silicon steel, the square-section fan annulated column that geometrically can be described as multilayer segment angle identical is formed by connecting vertically, middle interconnecting piece is divided into a place or many places, and the connector shape of each connection function is fan annulated column or general cylinder, and size is less; Along rotor axis, the left and right sides of each silicon steel part is square-section fan annulated column, has been that connector and the square-section fan annulated column of connection function is alternately arranged in the middle of silicon steel part; Because each intermediate connector size is less, its radial thickness and relative to rotor axis formed segment angle all less, multiple radial groove can be formed between the adjacent rectangle cross section fan annulated column of composition silicon steel part, and be circumferentially formed one or more elongated slot in outside or inner side; M silicon steel part is circumferentially evenly arranged in after on wheel hub, the multilayer rectangle cross section fan annulated column of silicon steel part forms the multilayer rectangle cross section annulus post circumferentially having M air gap, connector forms multiple radial groove between multilayer annulus post simultaneously, and forms annular groove in outside or inner side; Rotor induced excitation winding coil is arranged in annular groove; Rotor torque winding coil, by the groove between multilayer annulus post on rotor magnetic conduction silicon steel, respectively around on the multilayer annulus post of rotor magnetic conduction silicon steel, forms rotor left, center, right moment of torsion winding coil;

(4) the individual motor unit of radial symmetric layout pattern, (1), relative to rotor axis, two stator magnetic conduction silicon steel are arranged in the interior outside of rotor magnetic conduction silicon steel, are called as magnetic conduction silicon steel and the outer magnetic conduction silicon steel of stator in stator respectively; Annular groove in stator on magnetic conduction silicon steel is in outside, and the annular groove on the outer magnetic conduction silicon steel of stator, in inner side, is the combination of two kinds of radial single-sided arrangement pattern stators; Stator excitation winding coil has two groups, is arranged in the annular groove of magnetic conduction silicon steel inside and outside stator respectively; (2) adopt the motor of radial symmetric layout pattern individual motor unit, structural design belongs to inside and outside Double-stator motor, rotor overall structure need be designed to cup type; Rotor magnetic conduction silicon steel the rotor magnetic conduction silicon steel of two radial single-sided arrangement is arranged on respectively outside in rotor cup, is called as magnetic conduction silicon steel and the outer magnetic conduction silicon steel of rotor in rotor respectively; Inside and outside rotor, the silicon steel number of packages of magnetic conduction silicon steel is identical, radial symmetric face is identical; The outer magnetic conduction silicon steel of rotor installs the annular groove of rotor induced excitation winding coil in outside, in rotor, magnetic conduction silicon steel is installed the annular groove of rotor induced excitation winding coil in inner side; Annular groove inside and outside rotor on magnetic conduction silicon steel is corresponding with the annular groove on magnetic conduction silicon steel inside and outside stator respectively; Rotor induced excitation winding coil has two groups, is arranged in the annular groove of magnetic conduction silicon steel inside and outside rotor respectively; Rotor torque winding coil, by the radial groove between multilayer annulus post on rotor magnetic conduction silicon steel, respectively around on the multilayer annulus post of magnetic conduction silicon steel inside and outside rotor, forms rotor left, center, right moment of torsion winding coil; In this case, rotor left, center, right moment of torsion winding coil is the equal of the result that the rotor left, center, right moment of torsion winding coil of two radial single-sided arrangement merges respectively;

(5) the individual motor unit of layout pattern is combined, specifically comprise: the axially combination of one-sided and axial single-sided arrangement pattern, the axially one-sided and axial combination being arranged symmetrically with pattern, the axially combination of one-sided and radial single-sided arrangement pattern, the axially combination of one-sided and radial symmetric layout pattern, the axially symmetrical and axial combination being arranged symmetrically with pattern, the combination of axial symmetry and radial single-sided arrangement pattern, the axially combination of symmetry and radial symmetric layout pattern, the combination of radial one-sided and radial single-sided arrangement pattern, the combination of radial one-sided and radial symmetric layout pattern, the combination of radial symmetric and radial symmetric layout pattern.

3. a class Novel constant force according to claim 1 permanent moment of torsion uniform magnetic field induction servomotor, it is characterized in that: described permanent power output uniform magnetic field induction linear servo-actuator, the basic structure pattern of its each individual motor unit has single-sided arrangement and is arranged symmetrically with two kinds; The structural shape of each individual motor unit, comprises the combination of two kinds of basic structure patterns and two kinds of basic structure patterns, specific as follows:

(1) the individual motor unit of single-sided arrangement pattern, (1) primary magnetic conduction silicon steel is arranged in the side of secondary magnetic conduction silicon steel, and the annular groove on primary magnetic conduction silicon steel is in the side of contiguous secondary magnetic conduction silicon steel; (2) each silicon steel part of secondary magnetic conduction silicon steel, geometrically can be described as and be formed by connecting by multilayer rectangle cylinder, middle interconnecting piece is divided into a place or many places; Each connector is general cylinder, but size is less, can form multiple groove between adjacent two layers rectangle cylinder, and forms elongated slot in side; When being arranged on moving member when being arranged in a line by M silicon steel part, can form elongated slot in secondary magnetic conduction silicon steel side on the whole, adjacent two elongated slots can regard annular groove as, have a lot of groove perpendicular to elongated slot on secondary magnetic conduction silicon steel simultaneously; Induced excitation winding coil is arranged in the annular groove of secondary magnetic conduction silicon steel; Power output winding coil respectively around on the rectangle cylinder of each silicon steel part, forms many group power output winding coils by groove;

(2) be arranged symmetrically with the individual motor unit of pattern, (1) primary magnetic conduction silicon steel is arranged in the relative both sides of secondary magnetic conduction silicon steel, is called as elementary left magnetic conduction silicon steel and elementary right magnetic conduction silicon steel respectively; Annular groove on the magnetic conduction silicon steel of elementary left and right, respectively in the side of contiguous secondary magnetic conduction silicon steel, is the elementary combination of two kinds of single-sided arrangement patterns; (2) secondary magnetic conduction silicon steel is the equal of merged, be jointly arranged on a moving member by the secondary magnetic conduction silicon steel of two single-sided arrangement, they geometrically become mirror relative to the composition surface of two magnetic conduction silicon steel, are referred to as secondary left magnetic conduction silicon steel and secondary right magnetic conduction silicon steel respectively; Secondary left magnetic conduction silicon steel is installed the annular groove of secondary left induced excitation winding coil in left side, secondary right magnetic conduction silicon steel is installed the annular groove of secondary right induced excitation winding coil on right side, corresponding with the annular groove installing elementary left and right excitation winding pole coil respectively; Secondary induction excitation winding pole coil is arranged in the annular groove of secondary left and right magnetic conduction silicon steel respectively; Groove on the magnetic conduction silicon steel of secondary left and right is corresponding, and power output winding coil respectively around on the rectangle cylinder of each silicon steel part, forms many group power output winding coils by corresponding groove; At this moment secondary many group power output winding coils are the equal of the result that secondary many group power output winding coils of two single-sided arrangement merge respectively;

(3) the individual motor unit of many sides layout pattern, comprises one-sided and single-sided arrangement pattern combination, one-sided and be arranged symmetrically with pattern combination, symmetrical and be arranged symmetrically with pattern combination;

(4) primary and secondary in (), (two) and the induction linear servo-actuator individual motor unit described in (three) is adopted long elementary, short secondary or short elementary, long secondary structure type, primary and secondary structural shape can be exchanged.

4. the novel permanent output torque uniform magnetic field induction servomotor of a class rotary type according to claim 1 and 2, it is characterized in that: the layout pattern of multiple individual motor unit comprises, (1) multiple individual motor unit is axial arranged along motor revolving shaft direction, and is coupled together by motor revolving shaft; (2) by radius difference, multiple individual motor cell layout is formed collar plate shape motor in a shaft section; (3) by multiple individual motor unit grouping, first the individual motor unit often organized is arranged in motor shaft section by radius difference, and is coupled together by disk; And then individual motor unit will be organized along motor revolving shaft direction layout, and coupled together by motor revolving shaft more; This layout pattern of multiple individual motor unit is the combination of (1) and (2) two kinds of layout patterns.

5. the permanent moment of torsion uniform magnetic field induction of the class Novel constant force according to claim 1 or 2 or 3 servomotor, it is characterized in that: for permanent output torque uniform magnetic field induction servomotor, the measure realized output torque controls comprises: (1) adopts the working method that the alternating current voltage frequency of applying is constant, only executes by regulating the size that alive amplitude controls output torque; (2) working method adopting the alternating voltage amplitude of applying constant, only by regulating the size executing alive FREQUENCY CONTROL output torque; (3) be that (1) and (2) is combined, by regulating the size executing alive amplitude or FREQUENCY CONTROL output torque; Important feature is, when machine operation is in the working method that the alternating current voltage frequency applied is constant, unsaturated and when ignoring wire resistor at stator rotor magnetic conduction silicon steel magnetic flux density, motor output torque is directly proportional to applying voltage swing, has nothing to do with motor speed;

For permanent power output uniform magnetic field induction linear servo-actuator, the measure realized power output controls comprises: (1) adopts the working method that the alternating current voltage frequency of applying is constant, only executes by regulating the size that alive amplitude controls power output; (2) working method adopting the alternating voltage amplitude of applying constant, only by regulating the size executing alive FREQUENCY CONTROL power output; (3) be that (1) and (2) is combined, by regulating the size executing alive amplitude or FREQUENCY CONTROL power output; Important feature is, when machine operation is in the working method that the alternating current voltage frequency applied is constant, unsaturated and when ignoring wire resistor at elementary secondary magnetic conduction silicon steel magnetic flux density, motor power output is directly proportional to applying voltage swing, has nothing to do with motor removing speed.

6. the novel permanent output torque uniform magnetic field induction servomotor of a class rotary type according to claim 4, it is characterized in that: the measure realized output torque controls comprises: (1) adopts the working method that the alternating current voltage frequency of applying is constant, only executing by regulating the size that alive amplitude controls output torque; (2) working method adopting the alternating voltage amplitude of applying constant, only by regulating the size executing alive FREQUENCY CONTROL output torque; (3) be that (1) and (2) is combined, by regulating the size executing alive amplitude or FREQUENCY CONTROL output torque; Important feature is, when machine operation is in the working method that the alternating current voltage frequency applied is constant, unsaturated and when ignoring wire resistor at stator rotor magnetic conduction silicon steel magnetic flux density, motor output torque is directly proportional to applying voltage swing, has nothing to do with motor speed.

7. the permanent moment of torsion uniform magnetic field induction of the class Novel constant force as described in claim 1 or 2 or 3 or 6 servomotor, it is characterized in that: the measure that rotary type permanent output torque uniform magnetic field induction servomotor realizes both forward and reverse directions driving has three kinds, (1) two groups of individual motor unit are adopted in motor, one group realizes forward drive, and another group realizes reverse drive; (2) in individual motor unit, increase electromagnetic switch, to exchange the mode of connection of winding coil in rotor, increase induction controller, to realize the control to electromagnetic switch simultaneously; (3) for the individual motor unit being arranged symmetrically with pattern, epitrochanterian two groups of induced excitation winding coil series opposings are connected, together for the rotor torque winding coil in rotor is powered, execute alive relative size by the excitation winding pole coil on adjustment two stator magnetic conduction silicon steel simultaneously, change the current phase of rotor torque winding coil, realize motor both forward and reverse directions and drive;

The measure that permanent power output uniform magnetic field induction linear servo-actuator realizes both forward and reverse directions driving has three kinds, and adopt two groups of individual motor unit in (1) motor, one group realizes forward drive, and another group realizes reverse drive; (2) in individual motor unit, increase electromagnetic switch, to exchange the mode of connection of secondary middle winding coil, increase induction controller, to realize the control to electromagnetic switch simultaneously; (3) for the individual motor unit being arranged symmetrically with pattern, two groups of induced excitation winding coil series opposings on secondary are connected, together for the secondary power output winding coil in secondary is powered, execute alive relative size by the excitation winding pole coil on adjustment two primary magnetic conduction silicon steel simultaneously, change the current phase of secondary power output winding coil, realize motor both forward and reverse directions and drive.

8. the novel permanent output torque uniform magnetic field induction servomotor of a class rotary type as claimed in claim 4, it is characterized in that: the measure realizing the driving of motor both forward and reverse directions has three kinds, (1) two groups of individual motor unit are adopted in motor, one group realizes forward drive, and another group realizes reverse drive; (2) in individual motor unit, increase electromagnetic switch, to exchange the mode of connection of winding coil in rotor, increase induction controller, to realize the control to electromagnetic switch simultaneously; (3) for the individual motor unit being arranged symmetrically with pattern, epitrochanterian two groups of induced excitation winding coil series opposings are connected, together for the rotor torque winding coil in rotor is powered, execute alive relative size by the excitation winding pole coil on adjustment two stator magnetic conduction silicon steel simultaneously, change the current phase of rotor torque winding coil, realize motor both forward and reverse directions and drive.

9. a class Novel constant force as claimed in claim 5 permanent moment of torsion uniform magnetic field induction servomotor, it is characterized in that: the measure that rotary type permanent output torque uniform magnetic field induction servomotor realizes both forward and reverse directions driving has three kinds, (1) two groups of individual motor unit are adopted in motor, one group realizes forward drive, and another group realizes reverse drive; (2) in individual motor unit, increase electromagnetic switch, to exchange the mode of connection of winding coil in rotor, increase induction controller, to realize the control to electromagnetic switch simultaneously; (3) for the individual motor unit being arranged symmetrically with pattern, epitrochanterian two groups of induced excitation winding coil series opposings are connected, together for the rotor torque winding coil in rotor is powered, execute alive relative size by the excitation winding pole coil on adjustment two stator magnetic conduction silicon steel simultaneously, change the current phase of rotor torque winding coil, realize motor both forward and reverse directions and drive;

10. the permanent moment of torsion uniform magnetic field induction of the class Novel constant force as described in claim 1 or 2 or 3 or 6 or 8 or 9 servomotor, it is characterized in that: in rotary type permanent output torque uniform magnetic field induction servomotor, the structural shape of stator excitation winding coil and rotor induced excitation winding coil comprises three kinds, (1) by stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel as a whole, adopt along overall winding mode, form the integral ring-shaped coil of several-layer solenoid formula; (2) stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel are divided into some parts, every part adopts local winding mode, forms the part annular coil of that independently install along magnetic conduction silicon steel, many group solenoid types, to substitute integral ring-shaped coil; (3) stator excitation winding coil and rotor induced excitation winding coil adopt the combination form of (1) and (2);

In permanent power output uniform magnetic field induction linear servo-actuator, the structural shape of elementary excitation winding pole coil and secondary induction excitation winding pole coil comprises three kinds, (1) by primary magnetic conduction silicon steel or secondary magnetic conduction silicon steel as a whole, adopt along overall winding mode, form the integral ring-shaped coil of several-layer solenoid formula; (2) primary magnetic conduction silicon steel or secondary magnetic conduction silicon steel are divided into some parts, every part adopts local winding mode, forms the part annular coil of that independently install along magnetic conduction silicon steel, many group solenoid types, to substitute integral ring-shaped coil; (3) elementary excitation winding pole coil and secondary induction excitation winding pole coil adopt the combination form of (1) and (2).

The novel permanent output torque uniform magnetic field induction servomotor of a 11. class rotary type as claimed in claim 4, it is characterized in that: the structural shape of stator excitation winding coil and rotor induced excitation winding coil comprises three kinds, (1) by stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel as a whole, adopt along overall winding mode, form the integral ring-shaped coil of several-layer solenoid formula; (2) stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel are divided into some parts, every part adopts local winding mode, forms the part annular coil of that independently install along magnetic conduction silicon steel, many group solenoid types, to substitute integral ring-shaped coil; (3) stator excitation winding coil and rotor induced excitation winding coil adopt the combination form of (1) and (2).

A 12. class Novel constant force as claimed in claim 5 permanent moment of torsion uniform magnetic field induction servomotor, it is characterized in that: in rotary type permanent output torque uniform magnetic field induction servomotor, the structural shape of stator excitation winding coil and rotor induced excitation winding coil comprises three kinds, (1) by stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel as a whole, adopt along overall winding mode, form the integral ring-shaped coil of several-layer solenoid formula; (2) stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel are divided into some parts, every part adopts local winding mode, forms the part annular coil of that independently install along magnetic conduction silicon steel, many group solenoid types, to substitute integral ring-shaped coil; (3) stator excitation winding coil and rotor induced excitation winding coil adopt the combination form of (1) and (2);

A 13. class Novel constant force as claimed in claim 7 permanent moment of torsion uniform magnetic field induction servomotor, it is characterized in that: in rotary type permanent output torque uniform magnetic field induction servomotor, the structural shape of stator excitation winding coil and rotor induced excitation winding coil comprises three kinds, (1) by stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel as a whole, adopt along overall winding mode, form the integral ring-shaped coil of several-layer solenoid formula; (2) stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel are divided into some parts, every part adopts local winding mode, forms the part annular coil of that independently install along magnetic conduction silicon steel, many group solenoid types, to substitute integral ring-shaped coil; (3) stator excitation winding coil and rotor induced excitation winding coil adopt the combination form of (1) and (2);

A 14. class Novel constant force permanent moment of torsion uniform magnetic field induction servomotors according to claim 1 or 2 or 3 or 6 or 8 or 9 or 11 or 12 or 13, it is characterized in that: for permanent output torque uniform magnetic field induction servomotor, the measure realized torque current size in rotor torque winding coil controls comprises three kinds, the size of air gap between the adjacent silicon steel part of (1) adjustment composition rotor magnetic conduction silicon steel; (2) magnetic resistance between the adjacent silicon steel part forming rotor magnetic conduction silicon steel is regulated; (3) number of turn of rotor induced excitation winding coil is regulated;

For permanent power output uniform magnetic field induction servomotor, the measure realized power output size of current in secondary power output winding coil controls comprises three kinds, the size of air gap between the adjacent silicon steel part of the secondary magnetic conduction silicon steel of (1) adjustment composition; (2) magnetic resistance between the adjacent silicon steel part forming secondary magnetic conduction silicon steel is regulated; (3) number of turn of secondary induction excitation winding pole coil is regulated.

The novel permanent output torque uniform magnetic field induction servomotor of a 15. class rotary type according to claim 4, it is characterized in that: the measure realized torque current size in rotor torque winding coil controls comprises three kinds, the size of air gap between the adjacent silicon steel part of (1) adjustment composition rotor magnetic conduction silicon steel; (2) magnetic resistance between the adjacent silicon steel part forming rotor magnetic conduction silicon steel is regulated; (3) number of turn of rotor induced excitation winding coil is regulated.

A 16. class Novel constant force according to claim 5 permanent moment of torsion uniform magnetic field induction servomotor, it is characterized in that: for permanent output torque uniform magnetic field induction servomotor, the measure realized torque current size in rotor torque winding coil controls comprises three kinds, the size of air gap between the adjacent silicon steel part of (1) adjustment composition rotor magnetic conduction silicon steel; (2) magnetic resistance between the adjacent silicon steel part forming rotor magnetic conduction silicon steel is regulated; (3) number of turn of rotor induced excitation winding coil is regulated;

A 17. class Novel constant force according to claim 7 permanent moment of torsion uniform magnetic field induction servomotor, it is characterized in that: for permanent output torque uniform magnetic field induction servomotor, the measure realized torque current size in rotor torque winding coil controls comprises three kinds, the size of air gap between the adjacent silicon steel part of (1) adjustment composition rotor magnetic conduction silicon steel; (2) magnetic resistance between the adjacent silicon steel part forming rotor magnetic conduction silicon steel is regulated; (3) number of turn of rotor induced excitation winding coil is regulated;

A 18. class Novel constant force according to claim 10 permanent moment of torsion uniform magnetic field induction servomotor, it is characterized in that: for permanent output torque uniform magnetic field induction servomotor, the measure realized torque current size in rotor torque winding coil controls comprises three kinds, the size of air gap between the adjacent silicon steel part of (1) adjustment composition rotor magnetic conduction silicon steel; (2) magnetic resistance between the adjacent silicon steel part forming rotor magnetic conduction silicon steel is regulated; (3) number of turn of rotor induced excitation winding coil is regulated;

A 19. class Novel constant force permanent moment of torsion uniform magnetic field induction servomotors as described in claim 1 or 2 or 3 or 6 or 8 or 9 or 11 or 12 or 13 or 15 or 16 or 17 or 18, is characterized in that: the material of magnetic conduction silicon steel and end yoke is silicon steel, selenium steel, electrical pure iron, iron-nickel alloy, ferroaluminium, ferrocobalt.

The novel permanent output torque uniform magnetic field induction servomotor of a 20. class rotary type as claimed in claim 4, is characterized in that: the material of stators and rotators magnetic conduction silicon steel is silicon steel, selenium steel, electrical pure iron, iron-nickel alloy, ferroaluminium, ferrocobalt.

A 21. class Novel constant force as claimed in claim 10 permanent moment of torsion uniform magnetic field induction servomotor, is characterized in that: the material of magnetic conduction silicon steel and end yoke is silicon steel, selenium steel, electrical pure iron, iron-nickel alloy, ferroaluminium, ferrocobalt.