CN105305747B - A kind of Novel constant force perseverance torque uniform magnetic field senses servo motor - Google Patents

A kind of Novel constant force perseverance torque uniform magnetic field senses servo motor Download PDF

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CN105305747B
CN105305747B CN201510185461.5A CN201510185461A CN105305747B CN 105305747 B CN105305747 B CN 105305747B CN 201510185461 A CN201510185461 A CN 201510185461A CN 105305747 B CN105305747 B CN 105305747B
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silicon steel
magnetic conduction
rotor
conduction silicon
coil
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CN105305747A (en
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王晓明
王元秀
梅玉林
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Abstract

The invention belongs to alternating current impression servo motor technical fields, are related to a kind of permanent output torque uniform magnetic field sensing servo motor and permanent power output uniform magnetic field sensing linear servo-actuator, are mainly characterized by：It is made of N number of individual motor unit；Each separate unit structure is same or similar, is powered by single-phase alternating current；The supply voltage of N number of unit is equal in magnitude but phase is into arithmetic progression.The stator magnetic conduction silicon steel construction of turning motor separate unit is simple；For Exciting Windings for Transverse Differential Protection similar to solenoid, winding mode is simple；Rotor windings do not have slip ring vulnerable part by inductive power supply；Motor can be operated under fixed supply voltage frequency, and output torque is directly proportional to supply voltage, controlled by adjusting voltage magnitude.This perseverance output torque uniform magnetic field sensing servo motor does not use permanent-magnet material, and simple in structure, torque characteristics is good, and controller design is simple, and control accuracy is high, and may be designed to the permanent power output uniform magnetic field sensing linear servo-actuator pattern based on same principle.

Description

A kind of Novel constant force perseverance torque uniform magnetic field senses servo motor
Technical field
The invention belongs to induction machine technical fields, are related to alternating current impression servo motor, are related specifically to one kind and are based on Brand-new design principle, Novel constant force perseverance torque uniform magnetic field sensing servo motor, it is equal including the novel permanent output torque of swinging Even magnetic field induction servo motor and novel permanent power output uniform magnetic field sensing linear servo-actuator.
Background technology
Servo motor is the electromagnetic and mechanical device of energy converting between mechanical, be mainly characterized by this motor output torque or Speed can be controlled quickly and accurately.According to requirements with the difference of power supply, DC servo motor, AC synchronous can be divided into Servo motor and alternating current impression servo motor etc..
DC servo motor has the advantages that speed governing is good, detent torque is big and control system is simple, but complicated, system Make that of high cost, maintenance cost is high, poor reliability.
There are two types of AC synchronous servo motor structural shapes:First, AC permanent-magnet synchronous servo motor, rotor uses permanent magnetism Material generates high density permanent magnetic field, but needs the rare earth resources of shortage；Second is that exchange wound rotor synchronous servo motor, rotor lead to Overexcitation generates magnetic field, but needs additional field power supply, and electric current is introduced by slip ring, so complicated, manufacture is of high cost, dimension It protects costly.
Alternating current impression servo motor is also referred to as alternating current asynchronous servo motor, simple in structure, easily manufactured, reliable, The defects of maximum is that controller is complicated, low-speed torque characteristic is poor, control accuracy is low.
The invention discloses one kind based on brand-new design principle, Novel constant force perseverance torque uniform magnetic field sensing servo electricity Machine, including the novel permanent output torque uniform magnetic field sensing servo motor of swinging and novel permanent power output uniform magnetic field sensing straight line Servo motor.Wherein permanent power output uniform magnetic field sensing linear servo-actuator is that the sensing of swinging perseverance output torque uniform magnetic field is watched Take the Deformation mode of motor.This kind of New-type electric machine does not use the rotating excitation field of general AC servo motor or travelling-magnetic-field former Reason, major advantage are：There is no the vulnerable parts such as slip ring, maintenance cost is low；Stator (primary) coiling and simple in structure, rotor is (secondary Grade) permanent-magnet material is not used, therefore do not need to the high deficient resources such as rare earth, manufacture is at low cost；It is powered using AC power, electricity Source can be operated in fixed frequency, be adjusted merely by supply voltage, and accurate torque output or the power that can be achieved with motor requirement are defeated Go out；Control system does not use the principle of vector control of present alternating current impression servo motor, and is fixed due to being used when motor works Frequency power source is powered, and electric machine control system is similar to DC servo motor control system, and design is simple.
The novel permanent output torque uniform magnetic field sensing servo motor of swinging disclosed by the invention and the uniform magnetic of permanent power output Field sensing linear servo-actuator, has no any relevant report, document and Patent Publication both at home and abroad so far.
Invention content
In order to solve current servo motor or it is complicated, maintenance cost is high, poor reliability；Or need the shortage money such as rare earth Source, manufacture are of high cost；Or the problems such as speed adjusting performance is poor, control system is complicated, it is former based on brand-new design the invention discloses one kind Reason, Novel constant force perseverance torque uniform magnetic field sensing servo motor, including the novel permanent output torque uniform magnetic field sensing of swinging Servo motor and novel permanent power output uniform magnetic field sensing linear servo-actuator.
It is as follows that the present invention solves the technical solution that technical problem uses：
A kind of based on brand-new design principle, Novel constant force perseverance torque uniform magnetic field sensing servo electricity disclosed by the invention Machine, including the novel permanent output torque uniform magnetic field sensing servo motor of swinging and novel permanent power output uniform magnetic field sensing straight line Servo motor, they are based on identical principle.Wherein permanent power output uniform magnetic field sensing linear servo-actuator is that swinging perseverance is defeated Go out the evolving form of torque uniform magnetic field sensing servo motor.Novel permanent output torque uniform magnetic field sense is elaborated first below Answer the technical solution of servo motor.
Novel permanent output torque uniform magnetic field sensing servo motor disclosed by the invention, belongs to rotating electric machine, feature It is：Motor is made of N number of independent electric motor units, axis, bearing, end cap and cooling system.Wherein each individual motor unit leads to Single-phase alternating current power supply is crossed, the supply voltage of these units is equal in magnitude, but voltage-phase is into arithmetic progression, tolerance 360 Degree/N or 180 degree/N.Theoretically realize that permanent torque output requires N to be more than or equal to 3, such as tolerance is enabled then to work as N=3 for 360 degree/N When, the alternating supply voltage phase of 3 individual motor units is respectively 0 degree, 120 degree and 240 degree, with current three-phase alternating-current powered Voltage-phase it is consistent.However, as N=4,4 individual motor unit alternating supply voltage phases are respectively 0 degree, 90 degree, 180 degree and 270 degree, but wherein voltage-phase is identical with two individual motor unit output characteristics of 180 degree for 0 degree, 90 degree with 270 degree of two individual motor unit output characteristics are identical, so two individual motor units power supply electricity that output characteristics is identical Source can realize simply by exchanging wiring, and motor during such N=4 can also degenerate for using two individual motor units Structural shape.Therefore, include two on novel permanent output torque uniform magnetic field sensing servo motor structural shape disclosed by the invention The situation of a Yi Shang individual motor unit.
Each individual motor cellular construction is identical, mainly includes stator and rotor two parts.
Wherein, stator is made of stator casing, stator magnetic conduction silicon steel, stator excitation winding coil.Stator magnetic conduction silicon steel by Silicon steel sheet is formed by stacking, and shape is to be provided with the annulus column of annular groove.Stator excitation winding coil is similar to several-layer solenoid pattern, installation In the annular groove of stator magnetic conduction silicon steel.Stator casing and stator magnetic conduction silicon steel are connected, and motor remains stationary when working.
When stator excitation winding coil passes through single-phase alternating current, stator excitation winding is surrounded in stator magnetic conduction silicon steel Coil will generate single-phase alternating flux, and single-phase alternating flux is closed by the air gap between stator and rotor and rotor magnetic conduction silicon steel It closes.According to the mutual alignment relation of air gap between stator magnetic conduction silicon steel and rotor magnetic conduction silicon steel and rotor rotating shaft, individual motor list Meta structure pattern can be divided into axial arranged and two major class of radial arrangement.Further, axial arranged and radial arrangement independent electrical Machine unit, which is divided into, can not be subdivided into single-sided arrangement and be arranged symmetrically two kinds of structural shapes.
The stator of axial single-sided arrangement pattern：Along motor axis direction, relative to rotor magnetic conduction silicon steel, stator magnetic conduction silicon steel cloth It puts in left 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 is led When magnetic 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 mounted on stator magnetic conduction In the annular groove of silicon steel.
The stator for the pattern that is axially and symmetrically disposed：It is to be respectively arranged stator magnetic conduction silicon steel in the both sides of rotor magnetic conduction silicon steel, point It is not referred to as the left magnetic conduction silicon steel of stator and the right magnetic conduction silicon steel of stator.Annular groove on the left magnetic conduction silicon steel of stator on right side, lead by the stator right side Annular groove on magnetic silicon steel is the combination of above two axial direction single-sided arrangement pattern stator in left side.At this moment, stator excitation winding line Circle has two groups, is separately mounted in the annular groove of stator or so magnetic conduction silicon steel.
The stator of radial direction single-sided arrangement pattern：Relative to rotor axis, stator magnetic conduction silicon steel is arranged in rotor magnetic conduction silicon steel Inner or outer side.When stator magnetic conduction silicon steel is arranged in outside, the annular groove on stator magnetic conduction silicon steel is in inside；When stator magnetic conduction When silicon steel is arranged in inside, the annular groove on stator magnetic conduction silicon steel is on the outside.This arrangement, similar in construction to common alternating current generator Inner and outer Rotator pattern, but they have essence difference, difference is shown, on the stator magnetic conduction silicon steel of this electric motor units Single-phase winding is installed, winding mode is analogous to solenoidal banked winding pattern.
The stator of radial symmetric layout pattern：It is to distinguish cloth in the interior outside of rotor magnetic conduction silicon steel relative to rotor axis Stator magnetic conduction silicon steel is put, is known respectively as magnetic conduction silicon steel and the outer magnetic conduction silicon steel of stator in stator.Ring in stator on magnetic conduction silicon steel On the outside, annular groove on the outer magnetic conduction silicon steel of stator is the combination of above two radial direction single-sided arrangement pattern stator in inside to slot.This When, stator excitation winding coil has two groups, is separately mounted to inside and outside stator in the annular groove of magnetic conduction silicon steel.But motor in this case Rotor overall structure should be designed to cup type, to export movement.
Wherein, rotor is by rotor hub, rotor magnetic conduction silicon steel, rotor induced excitation winding coil, rotor torque winding wire Circle composition.Wherein rotor magnetic conduction silicon steel is circumferentially to be evenly arranged to form by M silicon steel part, and each silicon steel part shape is identical, phase There are gap, the similar annulus column for there are multiple gaps of global shape between adjacent silicon steel part.Each silicon steel part is opened in a circumferential direction Have slot so that rotor magnetic conduction silicon steel generally forms annular groove, the position of annular groove and installation stator excitation on stator magnetic conduction silicon steel around The annular groove of group coil is corresponding.According to individual motor cellular construction arrangement difference, each silicon steel part is in a circumferential direction Groove location is also different or is opened on radially inner and outer cylindrical surface or is opened on the transverse plane of axial both sides.Meanwhile each silicon steel Part is also devised with straight slot at middle part, and direction is vertical from annular groove and different according to electric motor units structure arrangement or design exists Radial direction is designed in the axial direction, for installing rotor torque winding coil；Rotor induced excitation winding coil uses class Solenoidal banked winding form is similar to, in the annular groove of rotor magnetic conduction silicon steel.Rotor torque winding coil passes through rotor Straight slot on magnetic conduction silicon steel is wound on rotor magnetic conduction silicon steel.Rotor magnetic conduction silicon steel is connected on rotor hub, is turned when motor works Sub- magnetic conduction silicon steel, rotor hub and axis rotate together.
The rotor of axial single-sided arrangement pattern：Each silicon steel part in rotor magnetic conduction silicon steel, geometrically can be described as by more The identical rectangular section fan annulated column of layer segment angle is radially formed by connecting, the connecting portion among the fan annulated column of adjacent two layers rectangular section It is divided into one or more, each connection shape for playing connection function is smaller for fan annulated column or general cylinder, size.Relative to turn Sub- axis, fans annulated column inside and outside each silicon steel part for rectangular section, has been the connector and square of connection function among silicon steel part Tee section fan annulated column is alternately arranged；Since each intermediate connecting body size is smaller, axial width and linear relative to armature spindle Into segment angle it is all smaller, can multiple axial pass troughs and in the circumferential direction elongated slot be formed on each silicon steel part.M silicon steel part It is circumferentially evenly arranged, the fan annulated column formation of multilayer rectangle section circumferentially has the multilayer rectangle section annulus column of M air gap, in phase Multiple axial pass troughs are formed, and form annular groove in left or right side by connector between adjacent two layers of annulus column.Rotor induced excitation Winding coil is mounted in annular groove.Rotor torque winding coil by the straight slot between multilayer annulus column on rotor magnetic conduction silicon steel, Rotating around on the multilayer annulus column of rotor magnetic conduction silicon steel, multigroup torque winding coil inside and outside rotor is formed.
The rotor for the pattern that is axially and symmetrically disposed：Rotor magnetic conduction silicon steel is the equal of to lead the rotor of two axial single-sided arrangements Magnetic silicon steel merges, is commonly mounted on a rotor hub, they be relatively orthogonal to the rotor hub plane of symmetry of rotor axis into Mirror, respectively referred to as the left magnetic conduction silicon steel of rotor and the right magnetic conduction silicon steel of rotor.Rotor is installed left on the left magnetic conduction silicon steel of rotor The annular groove of induced excitation winding coil is in left side, the annular groove on the left magnetic conduction silicon steel of stator with installing the left excitation winding pole coil of stator It is corresponding.The annular groove of the right induced excitation winding coil of rotor is installed on right side on the right magnetic conduction silicon steel of rotor, is encouraged with the installation stator right side Annular groove on the right magnetic conduction silicon steel of stator of magnetic winding coil is corresponding.Rotor induced excitation winding coil has two groups, installs respectively In the annular groove of rotor or so magnetic conduction silicon steel.Rotor torque winding coil by the straight slot between multilayer annulus column, rotating around On the multilayer annulus column of rotor or so magnetic conduction silicon steel, multigroup torque winding coil inside and outside rotor is formed.In this case, in rotor Outer multigroup torque winding coil is the equal of that multigroup torque winding coil merges respectively inside and outside the rotor of two axial single-sided arrangements Result.
The rotor of radial direction single-sided arrangement pattern：Each silicon steel part in rotor magnetic conduction silicon steel, geometrically can be described as multilayer Annulated column is axially connecting forms for segment angle identical rectangular section fan, and middle interconnecting piece is divided into one or more, each to play connection Its shape of the connector of effect is smaller for fan annulated column or general cylinder, size.Along rotor axis, the left and right sides of each silicon steel part Annulated column is fanned for rectangular section, has been that the connector of connection function and rectangular section fan annulated column are alternately arranged among silicon steel part；Due to Each intermediate connecting body size is smaller, radial thickness and all smaller relative to the segment angle that rotor axis is formed, and can form Form multiple radially through grooves between the adjacent rectangle section fan annulated column of silicon steel part, and on the outside or inside be circumferentially formed one or Multiple elongated slots.After M silicon steel part is circumferentially evenly arranged on wheel hub, the multilayer rectangle section fan annulated column of silicon steel part is formed along circle There is the multilayer rectangle section annulus column of M air gap week, while connector forms multiple radially through grooves between multilayer annulus column, and On the outside or inside forms annular groove.Rotor induced excitation winding coil is mounted in annular groove.Rotor torque winding coil is by turning Straight slot on sub- magnetic conduction silicon steel between multilayer annulus column rotating around on the multilayer annulus column of rotor magnetic conduction silicon steel, forms rotor Left, center, right torque winding coil.
The rotor of radial symmetric layout pattern：Using the motor of radial symmetric layout pattern individual motor unit, structure is set Belong to inside and outside Double-stator motor on meter, rotor overall structure need to be designed to cup type.Rotor magnetic conduction silicon steel, can regard as by The rotor magnetic conduction silicon steel of two radial direction single-sided arrangements is separately mounted to the interior outside of rotor cup, respectively referred to as magnetic conduction silicon in rotor Steel and the outer magnetic conduction silicon steel of rotor.The silicon steel number of packages of magnetic conduction silicon steel is identical inside and outside rotor, and radial symmetric face is identical.The outer magnetic conduction silicon of rotor The annular groove that sensing excitation winding pole coil outside rotor is installed on steel on the outside, installs induced excitation in rotor on magnetic conduction silicon steel in rotor The annular groove of winding coil is in inside.Annular groove inside and outside rotor on magnetic conduction silicon steel respectively with the annular groove pair inside and outside stator on magnetic conduction silicon steel It should.Rotor induced excitation winding coil has two groups, is separately mounted to inside and outside rotor in the annular groove of magnetic conduction silicon steel.Rotor torque winding Coil is by the radially through groove between multilayer annulus column on rotor magnetic conduction silicon steel, rotating around the multilayer of the magnetic conduction silicon steel inside and outside rotor On annulus column, rotor left, center, right torque winding coil is formed.In this case, rotor left, center, right torque winding coil, is equivalent to It is the result that the rotor left, center, right torque winding coil of two radial direction single-sided arrangements merges respectively.
So far, the base of the novel permanent output torque uniform magnetic field sensing servo motor individual motor unit of swinging has been elaborated This structural shape and composition, including axial single-sided arrangement, axially symmetric disposition, radial direction single-sided arrangement and radial symmetric arrangement etc. four Kind.These four basic structure patterns can also be combined, including axial and axial combination, radial direction and Radial Combinations, it is axial and Radial Combinations etc..Such as axial and axial combination, to increase torque, for the independence of axial single-sided arrangement or axially symmetric disposition Electric motor units, increase the diameter of rotor and stator, and along the multigroup stator of radial arrangement of rotor and stator, rotor magnetic conduction silicon steel and Corresponding winding coil；Such as axially and radially combine, it can be in the individual motor list of axial single-sided arrangement or axially symmetric disposition On the rotor radial direction of member, unilateral radial rotor magnetic conduction silicon steel and corresponding winding coil are installed, and in corresponding stator position Put the unilateral radial stator magnetic conduction silicon steel of installation and winding coil.In addition, in order to reduce axial dimension, it can also be by multiple independent electricals Machine unit is arranged in a shaft section, and similar disc type electric machine, at this moment each individual motor unit radial size will be different, in order to Permanent torque output is obtained, reply structure size is adjusted accordingly.
In the basic structure pattern of individual motor unit, stator excitation winding coil and rotor induced excitation winding coil Use the big loop coil using electrical axis as the several-layer solenoid pattern of axis.Certainly, these coils can also use multigroup The structural shape of small coil combination replaces, and small coil is made multigroup solenoid pattern, and along stator and rotor magnetic conduction silicon steel Even circumferential distributing installation.
Another feature of the utility model perseverance output torque uniform magnetic field sensing servo motor is powered in single phase alternating current power supply Under, the stator excitation magnetic field of each individual motor unit is generated by several-layer solenoid formula Circular Winding coil, and motor stator is led Magnetic silicon steel and rotor magnetic conduction silicon steel are installed around the winding of excitation winding pole coil, the alternation magnetic in stator magnetic conduction silicon steel and air gap , magnetic line of force direction is constant, and the magnetic field of each point becomes larger while becomes smaller simultaneously, does not generate rotating excitation magnetic field or traveling wave excitation magnetic .Two class coils are tied on rotor magnetic conduction silicon steel, one kind is rotor induced excitation winding coil, and another kind of is rotor torque winding Coil.Rotor induced excitation winding coil is similar with stator excitation winding coil, it by with stator excitation winding coil mutual inductance Torque current is generated in torque winding coil.Rotor torque winding coil direction of winding spatially with rotor induced excitation winding Coil-winding direction is perpendicular, and the magnetic line of force direction that rotor torque winding coil generates is along the great circle using axis as rotor axis Direction.
Torque direction and rotor induced excitation winding coil that individual motor unit generates and rotor torque winding coil Wiring is related, exchanges the i.e. changeable torque direction of wiring, therefore in order to realize that the both forward and reverse directions of motor drive, can be used following three Kind of method is driven forward using two groups of individual motor units, one group of realization in (1) motor, and another group of realization is driven reverse, this phase When in the series connection of two motors；(2) increase electromagnetic switch in individual motor unit, to exchange the wiring of winding coil in rotor Mode.At this moment it needs to increase induction controller in rotor, to realize the control to electromagnetic switch；(3) for symmetrical cloth The individual motor unit put connects two groups of induced excitation winding coil series opposings in rotor, together to turn in rotor Sub- torque winding coil power supply, while alive relative size is applied by adjusting the excitation winding pole coil in stator, to change The current phase of rotor torque winding coil realizes the driving of motor both forward and reverse directions.
Based on the novel permanent output torque uniform magnetic field sensing servo motor of the preceding swinging addressed, permanent output is described below Power uniform magnetic field senses the technical solution of linear servo-actuator.
Permanent power output uniform magnetic field sensing linear servo-actuator is the novel permanent output torque uniform magnetic field sense of above-mentioned swinging Answer the differentiation pattern of servo motor.By the individual motor unit of the novel permanent output torque uniform magnetic field sensing servo motor of swinging Circumferentially it is unfolded, its stator and rotor is developed into the primary and secondary of linear servo-actuator individual motor unit respectively, Obtain the individual motor unit of permanent power output uniform magnetic field sensing linear servo-actuator.It is closed according to the relative position of primary and secondary System, the structural shape of this individual motor unit includes single-sided arrangement, is arranged symmetrically and more sides arrangement etc..
Each individual motor unit of permanent power output uniform magnetic field sensing linear servo-actuator, mainly including primary and secondary Two parts.
The primary of individual motor unit is made of pedestal, primary magnetic conduction silicon steel and primary excitation winding pole coil.Primary magnetic conduction Silicon steel is the linear structure for being provided with annular groove；Single-phase primary excitation winding pole coil is installed, winding mode is used and is similar in annular groove Solenoidal banked winding form；Primary magnetic conduction silicon steel is connected on pedestal, and motor remains stationary when working.According to unilateral side It arranges, be arranged symmetrically or the cellular construction type of more sides arrangement, individual motor unit include one or more primary magnetic conduction silicon steel, The annular groove of each primary magnetic conduction silicon steel is opened in close to the side of secondary；Corresponding primary excitation winding pole coil also includes one group or more Group is separately mounted in the annular groove of primary magnetic conduction silicon steel.
The secondary of individual motor unit, it is defeated by moving member, secondary magnetic conduction silicon steel, secondary induction excitation winding pole coil, secondary Output winding coil and secondary end yoke composition.Secondary magnetic conduction silicon steel is to be arranged in one by the identical silicon steel part of M shape It is formed on straight line, and there are gaps between adjacent silicon steel part, generally form the linear structure with multiple section gaps. On linear structure side, slot is designed on each silicon steel part, so that linear type secondary magnetic conduction silicon steel is on the whole in side shape Into annular groove, after motor assembling, the position of the annular groove is corresponding with the annular groove that excitation winding pole coil is installed on primary magnetic conduction silicon steel, So that primary excitation winding pole coil and secondary induction excitation winding pole coil is made to be coupled.Meanwhile it is also devised on each silicon steel part For installing the straight slot of power output winding coil, straight slot and side annular groove are mutually perpendicular to, direction or horizontally or vertically, by primary The arrangement of magnetic conduction silicon steel and secondary magnetic conduction silicon steel determines.Secondary induction excitation winding pole coil is mounted on secondary magnetic conduction silicon steel In the annular groove of side, using similar to solenoidal banked winding form.Secondary power output winding coil passes through secondary magnetic conduction silicon steel Straight slot on part is wrapped on each silicon steel part of secondary magnetic conduction silicon steel.The winding direction of secondary power output winding coil and time The direction of winding of grade induced excitation winding coil is spatially mutually perpendicular to.Secondary magnetic conduction silicon steel is connected on moving member, secondary End yoke is mounted on the both ends of secondary magnetic conduction silicon steel, is also connected on moving member.According to single-sided arrangement, it is arranged symmetrically or more sides The cellular construction type of arrangement, individual motor unit include one or more secondary magnetic conduction silicon steel, each secondary magnetic conduction silicon steel Annular groove is opened in close to the side of primary；Secondary induction excitation winding pole coil also includes one or more groups of accordingly, is separately mounted to In the annular groove of secondary magnetic conduction silicon steel；Certainly, power output winding coil also includes one or more groups of, by secondary magnetic conduction silicon steel Straight slot is wrapped on M silicon steel part for forming secondary magnetic conduction silicon steel.
Wherein, between the primary and secondary of permanent power output uniform magnetic field sensing linear servo-actuator individual motor unit there are Gap.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 around Group coil is connect with secondary power output winding coil.Since permanent power output uniform magnetic field senses linear servo-actuator individual motor list It is convenient that member is powered, and can exchange the primary and secondary structure of individual motor unit, and it is primary, short secondary or short first to design growth Grade, long secondary structure.
So far, the permanent output of the novel permanent output torque uniform magnetic field sensing servo motor of swinging of the invention and its differentiation The technical solution of power uniform magnetic field sensing linear servo-actuator, which has illustrated, to be finished.
In short, novel permanent output torque uniform magnetic field sensing servo motor proposed by the present invention, simple in structure, especially show On stator silicon steel and stator winding structure, permanent-magnet material is not used, manufacture is at low cost；There is no slip ring vulnerable part, maintenance cost It is low；Though rotor windings have permanent torque characteristics, similar to direct current generator by inductive power supply；It is big by adjusting supply voltage Small or frequency can realize motor output torque control, but the work side of power of fixed frequency power supply can be used in actual design motor Formula to select suitable or best motor working frequency, reduces energy loss；In stator rotor magnetic conduction silicon steel magnetic induction intensity Unsaturated and in the case of ignoring wire resistor, motor output torque is directly proportional to stator excitation voltage, unrelated with rotor speed, Design of Servo Controller is simplified, control accuracy is high, reliable operation；The axially symmetric disposition pattern of motor easily realizes low speed, big Torque design.Meanwhile novel permanent output torque uniform magnetic field sensing servo motor of the invention, can also it develop into based on identical original The permanent power output uniform magnetic field sensing linear servo-actuator of reason.
Description of the drawings
Fig. 1 is three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit)
Fig. 2 is three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit) office Portion's enlarged drawing
Fig. 3 is three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit) A- A sectional views
Fig. 4 is three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit) B- B sectional views
Fig. 5 is three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit) B- B section partial enlarged views
Fig. 6 is three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit) C- C sectional views
Fig. 7 is that three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit) turns Sub- wheel hub and rotor silicon steel
Fig. 8 is that three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit) turns Sub- wheel hub and rotor silicon steel D-D sectional views
Fig. 9 is that three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit) is fixed Subshell and the right magnetic conduction silicon steel of stator
Figure 10 is three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor unit) Stator casing and the right magnetic conduction silicon steel sectional view of stator
Figure 11 is permanent output torque uniform magnetic field sensing servo motor axial direction single-sided arrangement individual motor unit
Figure 12 is permanent output torque uniform magnetic field sensing servo motor axial direction single-sided arrangement individual motor unit partial enlargement Figure
Figure 13 is permanent output torque uniform magnetic field sensing servo motor radial direction single-sided arrangement individual motor unit
Figure 14 is permanent output torque uniform magnetic field sensing servo motor radial direction single-sided arrangement individual motor unit partial enlargement Figure
Figure 15 is three unit perseverance power output uniform magnetic fields sensing linear servo-actuator (being arranged symmetrically individual motor unit)
Figure 16 is three unit perseverance power output uniform magnetic fields sensing linear servo-actuator (being arranged symmetrically individual motor unit) E-E Sectional view
Figure 17 is that three unit perseverance power output uniform magnetic fields sensing linear servo-actuator (being arranged symmetrically individual motor unit) is secondary Grade power output winding coil and moving member sectional view
Figure 18 is that three unit perseverance power output uniform magnetic fields sensing linear servo-actuator (being arranged symmetrically individual motor unit) is secondary Grade magnetic conduction silicon steel and moving member sectional view
In figure：The outer torque winding coil of 1 rotor；2 rotor internal torque winding coils；3 rotor hubs；4 axis；5 bearings；6 ends Lid；7 stator casings；The left magnetic conduction silicon steel of 8 stators；The left excitation winding pole coil of 9 stators；The left induced excitation winding coil of 10 rotors；11 The left magnetic conduction silicon steel of rotor；The right magnetic conduction silicon steel of 12 rotors；The right induced excitation winding coil of 13 rotors；The right Exciting Windings for Transverse Differential Protection line of 14 stators Circle；The right magnetic conduction silicon steel of 15 stators；16 stator magnetic conduction silicon steel；17 stator excitation winding coils；The left torque winding coil of 18 rotors；19 Rotor induced excitation winding coil；20 rotor magnetic conduction silicon steel；The right torque winding coil of 21 rotors；22 moving members；It leads on a 23 primary left sides Magnetic silicon steel；The left magnetic conduction silicon steel of 24 grades；The right magnetic conduction silicon steel of 25 grades；26 primary right magnetic conduction silicon steel；27 primary left Exciting Windings for Transverse Differential Protection lines Circle；The left induced excitation winding coil of 28 grades；The right induced excitation winding coil of 29 grades；30 primary right excitation winding pole coils；31 The lower power output winding coil of secondary；Power output winding coil in 32 grades；Power output winding coil in 33 grades；34 pedestals；35 Guide rail；36 secondary end yokes.
Specific embodiment
Since the place of application is different with requirement, the novel permanent output torque uniform magnetic field sensing servo of swinging of the invention The specific pattern and structure of motor and its permanent power output uniform magnetic field of differentiation sensing linear servo-actuator will be varied from.
Below for example, combination technology scheme and attached drawing are described in detail.
Embodiment 1：Three unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor list Member)
This perseverance output torque uniform magnetic field senses servo motor as shown in Figure 1, by axis 4, bearing 5, end cap 6 and three independences Electric motor units form.Motor is powered using fixed frequency three-phase alternating current, is powered per phase alternating current for an individual motor unit, Voltage-phase is respectively 0 degree, 120 degree and 240 degree, and supply voltage frequency is constant during work, by adjusting supply voltage size control Motor output torque processed.
Three individual motor cellular constructions are identical as shown in Figure 1, each individual motor unit is using axially symmetric disposition Pattern, stator and rotor structure are referring to partial enlargement Fig. 2.
The stator of individual motor unit is by stator casing 7, the left magnetic conduction silicon steel 8 of stator, the left excitation winding pole coil 9 of stator, fixed The right excitation winding pole coil 14 of son and the right magnetic conduction silicon steel 15 of stator form.The right magnetic conduction silicon steel 15 of stator is is provided with annular groove among left side Rectangular section annulus column, be connected on stator casing 7, as shown in Fig. 9,10；The left magnetic conduction silicon steel 8 of stator and the right magnetic conduction silicon of stator 15 structure of steel is essentially identical, and difference is that annular groove is opened in right side.The right excitation winding pole coil 14 of stator and the left Exciting Windings for Transverse Differential Protection line of stator Circle 9 is separately mounted in the annular groove of the right magnetic conduction silicon steel 15 of stator and the left magnetic conduction silicon steel 8 of stator, as shown in fig. 6, and respectively with rotor Right induced excitation winding coil 13 and the left induced excitation winding coil 10 of rotor are coupled, referring to Fig. 2.
The rotor of individual motor unit is by rotor hub 3, the left magnetic conduction silicon steel 11 of rotor, the right magnetic conduction silicon steel 12 of rotor, rotor The outer torque winding coil 1 of the right induced excitation winding coil 13 of left induced excitation winding coil 10, rotor, rotor and rotor internal torque Winding coil 2 forms, referring to Fig. 1 and Fig. 2.Wherein rotor is installed on the motor shaft (4) entirely through rotor hub 3.
The left magnetic conduction silicon steel 11 of rotor and the right magnetic conduction silicon steel 12 of rotor are made of respectively eight silicon steel parts, and eight silicon steel parts edges turn Sub- 3 even circumferential of wheel hub is distributed and is connected on rotor hub 3, there are gap between adjacent silicon steel part, referring to Fig. 7,8.Each Silicon steel part is geometrically considered as radially being formed by connecting by two rectangular sections fan annulated columns, relative to rotor axis, inside and outside two Coupling part between the fan annulated column of side is also a rectangular section fan annulated column, and segment angle and axial width are all smaller.Eight shapes After the identical silicon steel part of shape is circumferentially evenly arranged, the perimeter of circumference, outside and inside where being less than it due to its circumferential size Fan annulated column circumferentially has the rectangular section annulus column of eight air gaps by forming, and intermediate eight fan annulated columns are also evenly arranged, by Two outer rectangular section annulus columns connect.It, can shape between interior outer circle annulated column since centre fan annulated column segment angle is smaller Into eight axial fan-shaped straight slots, simultaneously as its axial width is smaller, annular groove is formed on the right side of the left magnetic conduction silicon steel 11 of rotor, The left side of the right magnetic conduction silicon steel 12 of rotor forms annular groove.
Rotor or so magnetic conduction silicon steel is structurally characterized in that there is annular groove among their left side and among right side respectively, together When they have eight identical fan ring shaped axial straight slots by line of symmetry of eight gaps, in rotor or so magnetic conduction silicon steel shape on the whole Into eight fan ring shaped axial straight slots and inside and outside two groups of rectangular sections fan annulated column, referring to Fig. 7,8.The left induced excitation winding wire of rotor Circle 10 and the right induced excitation winding coil 13 of rotor are separately mounted to the left magnetic conduction silicon steel 11 of rotor and the right magnetic conduction silicon steel 12 of rotor In annular groove, as shown in Figures 2 and 3.The outer torque winding coil 1 of rotor and rotor internal torque winding coil 2 respectively include eight groups of lines Circle, they are respectively wound around rotor magnetic conduction silicon steel by the whole eight fan ring shaped axial straight slots of rotor or so magnetic conduction silicon steel Outer interior rectangular section fan annulated column on, referring to Fig. 2,3,4,5.Wherein, Fig. 4,5 are in the outer torque winding coil 1 of rotor and rotor The sectional view of torque winding coil 2 represents their relationships with the outer interior rectangular section fan annulated column of rotor magnetic conduction silicon steel, winding The direction of winding of direction and rotor or so induced excitation winding coil 10,13 is spatially mutually perpendicular to, referring to Fig. 2,3.
There are air gaps between the stator and rotor of individual motor unit.The left induced excitation winding coil 10 of rotor and rotor are right After induced excitation winding coil 13 is connected, it is connect with torque winding coil 1 outside rotor and rotor internal torque winding coil 2.
Embodiment 2：Four unit perseverance output torque uniform magnetic fields sense servo motor (axial single-sided arrangement individual motor list Member)
This perseverance output torque uniform magnetic field sensing servo motor is similar to Example 1, and the main distinction is individual motor unit Structure and unit number difference, so introducing the individual motor cellular construction that the present embodiment is adopted below.
This perseverance output torque uniform magnetic field senses servo motor, is by axis 4, bearing 5, end cap 6 and four individual motor lists Member composition.Motor uses four phase AC power supply of fixed frequency, powers per phase alternating current for an individual motor unit, voltage phase Position is respectively 0 degree, 90 degree, 180 degree and 270 degree, and supply voltage frequency is constant during work, by adjusting the control of supply voltage size Motor output torque.
Four individual motor cellular constructions are identical, and all using axial single-sided arrangement pattern, as shown in figure 11, Figure 12 is it Partial enlarged view.
The stator of individual motor unit is by 9 groups of stator casing 7, the left magnetic conduction silicon steel 8 of stator and the left excitation winding pole coil of stator Into.The left magnetic conduction silicon steel 8 of stator is fixed on stator casing 7, and the left excitation winding pole coil 9 of stator is mounted on the left magnetic conduction silicon steel 8 of stator Right side annular groove in, the stator for being equivalent to individual motor unit in embodiment 1 removes right part.
The rotor of individual motor unit is by rotor hub 3, the left magnetic conduction silicon steel 11 of rotor, the left induced excitation winding coil of rotor 10th, the outer torque winding coil 1 of rotor and rotor internal torque winding coil 2 form.The left magnetic conduction silicon steel 11 of rotor is fixed on rotor wheel It is formed on hub 3 and by eight silicon steel parts, has gap between adjacent silicon steel part after installation, it is identical with implementing 1.But the present embodiment In rotor from implement 1 unlike, rotor magnetic conduction silicon steel is only made of the left magnetic conduction silicon steel of rotor, without the right magnetic conduction silicon steel of rotor Part.The outer torque winding coil 1 of the left induced excitation winding coil 10 of rotor, rotor and rotor internal torque winding coil 2 are in rotor Mounting means on magnetic conduction silicon steel is same as Example 1.Rotor is connected by rotor hub 3 with motor shaft 4, output torque.
It is other same with embodiment 1.
Embodiment 3：Two unit perseverance output torque uniform magnetic fields sensing servo motor (axially symmetric disposition individual motor list Member)
This perseverance output torque uniform magnetic field sensing servo motor is synthesis and the simplification of embodiment 1 and embodiment 2.
This perseverance output torque uniform magnetic field senses servo motor, is by axis 4, bearing 5, end cap 6 and two individual motor lists Member composition.
In embodiment 2, motor is respectively that four individual motor units are powered using four phase alternating current of fixed frequency, alternating current Voltage-phase is respectively 0 degree, 90 degree, 180 degree and 270 degree, and supply voltage frequency is constant during work.But due to 0 degree and 180 degree it is only Vertical electric motor units output torque characteristic is identical, and 90 degree identical with 270 degree of individual motor unit output torque characteristic, therefore this reality It applies example to be reduced to sense servo motor using two unit perseverance torques of two individual motor units, power supply difference is 90 degree.
Individual motor unit is using axially symmetric disposition pattern, and unit concrete structure is referring to embodiment 1.
Embodiment 4：Three unit perseverance output torque uniform magnetic fields sense servo motor (radial direction single-sided arrangement individual motor list Member)
This perseverance output torque uniform magnetic field sensing servo motor is similar to Example 2, and the main distinction is individual motor unit Structure and element number difference, so introducing the individual motor cellular construction that the present embodiment is adopted below.
This perseverance output torque uniform magnetic field senses servo motor, is by axis 4, bearing 5, end cap 6 and three individual motor lists Member composition.Motor is powered using fixed frequency three-phase alternating current, is powered per phase alternating current for an individual motor unit, voltage phase Position is respectively 0 degree, 120 degree and 240 degree, and supply voltage frequency is constant during work, by adjusting supply voltage size control motor Output torque.
Three individual motor cellular constructions are identical, and all using radial direction single-sided arrangement pattern, as shown in figure 13, Figure 14 is it Partial enlarged view.
The stator of individual motor unit is made 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 rectangular section annulus column, and inside is intermediate ring Slot, stator excitation winding coil 17 is mounted in the inside annular groove of stator magnetic conduction silicon steel 16, as shown in Figure 13,14.
The rotor of individual motor unit by rotor hub 3, rotor magnetic conduction silicon steel 20, rotor induced excitation winding coil 19, The left torque winding coil 18 of rotor and the right torque winding coil 21 of rotor form.Rotor magnetic conduction silicon steel 20 is fixed on rotor hub 3 On and be made of eight silicon steel parts, have gap between adjacent silicon steel part after installation, it is similar to Example 2.But in the present embodiment Rotor from implementing unlike 2, the annular groove of rotor magnetic conduction silicon steel 20 that is formed is outside in diameter after rotor magnetic conduction silicon steel part is installed Among side, while intermediate straight slot is also along radial direction, is the scallop hole of rectangular section, it is formed on rotor magnetic conduction silicon steel 20 Two groups of rectangular sections fan annulated column be located at the left and right sides of rotor magnetic conduction silicon steel 20 respectively, approximation can regard real as on structural shape Apply the structure that rotor magnetic conduction silicon steel shaft section is rotated by 90 ° in example 2.
Rotor induced excitation winding coil 19 is mounted in the intermediate outside annular groove of rotor magnetic conduction silicon steel 20, such as Figure 13 and figure Shown in 14.The left torque winding coil 18 of rotor and the right torque winding coil 21 of rotor respectively include eight groups of coils, they are by turning Eight fan-shaped radially through grooves on sub- magnetic conduction silicon steel 20 are respectively wound around the left and right rectangular section fan annulated column of rotor magnetic conduction silicon steel On.
It is other same with embodiment 2.
Embodiment 5：Three unit perseverance power output uniform magnetic fields sensing linear servo-actuator (being arranged symmetrically individual motor unit)
This perseverance power output uniform magnetic field sensing linear servo-actuator is as shown in figure 15, mainly by guide rail 35 and three independent electricals Machine unit forms.Motor is powered using fixed frequency three-phase alternating current, is powered per phase alternating current for an individual motor unit, electricity It is respectively 0 degree, 120 degree and 240 degree to press phase, and supply voltage frequency is constant during work, by adjusting the control of supply voltage size Motor power output size.
Three individual motor cellular constructions are identical, and as shown in Figure 15,16,17 and 18, each individual motor unit uses It is arranged symmetrically pattern.
The primary of individual motor unit, including pedestal 34, primary left magnetic conduction silicon steel 23, primary right magnetic conduction silicon steel 26, primary Left excitation winding pole coil 27 and primary right excitation winding pole coil 30, as shown in figure 15.Wherein, primary left magnetic conduction silicon steel 23 and primary Right magnetic conduction silicon steel 26 is all connected on pedestal 34.
Primary left magnetic conduction silicon steel 23 and primary right magnetic conduction silicon steel 26 are all the long columns of rectangular section, open that there are one squares in side The annular groove of tee section, to install corresponding excitation winding pole coil.The annular groove of primary left magnetic conduction silicon steel 23 is opened in right side, primary right The annular groove of magnetic conduction silicon steel 26 is opened in left side.Primary left excitation winding pole coil 27 and primary right excitation winding pole coil 30 are separately mounted to In the annular groove of primary left magnetic conduction silicon steel 23 and primary right magnetic conduction silicon steel 26, as shown in Figure 15,16.
The secondary of individual motor unit, including moving member 22, secondary left magnetic conduction silicon steel 24, secondary right magnetic conduction silicon steel 25, secondary In the left induced excitation winding coil 28 of grade, secondary right induced excitation winding coil 29, secondary lower power output winding coil 31, secondary 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, it is secondary The left magnetic conduction silicon steel 24 of grade and secondary right magnetic conduction silicon steel 25 are connected on moving member 22.
Secondary left magnetic conduction silicon steel 24 is similar with secondary right 25 structure of magnetic conduction silicon steel, is all to be made of ten silicon steel parts, mainly Difference is to install the annular groove of induced excitation winding coil in not homonymy, as shown in figure 15.Each silicon steel part is geometrically considered as It is formed by five cuboid longitudinal stacks, wherein outermost two cuboid dimensions up and down are identical；An intermediate cuboid thickness Spend larger, other sizes are identical with outermost two cuboids；The cuboid of other two narrower width is by outermost in Between three cuboids connect, similar " king " font, but since intermediate two rectangular body lengths for playing connection functions are smaller, Four straight slots are formed on silicon steel part, as shown in figure 18.This four straight slots, for installing three groups of power output winding wires of upper, middle and lower Circle.Simultaneously as intermediate two cuboid narrower widths for playing connection function on each silicon steel part, can form in silicon steel part side Two slots are arranged in a line when by ten silicon steel parts, and when on moving member 22, these slots, which have just generally formed, to pacify The annular groove of induced excitation winding coil is filled, as shown in figure 17.It is adjacent on secondary left magnetic conduction silicon steel 24 and secondary right magnetic conduction silicon steel 25 There are gap between silicon steel part, as shown in Figure 17,18.
Secondary left induced excitation winding coil 28 and secondary right induced excitation winding coil 29 are separately mounted to a secondary left side and lead In the annular groove of magnetic silicon steel 24 and secondary right magnetic conduction silicon steel 25, respectively with primary left excitation winding pole coil 27 and the right Exciting Windings for Transverse Differential Protection of primary Coil 30 is coupled, as shown in figure 15.In secondary in power output winding coil 33, secondary under power output winding coil 32 and secondary Power output winding coil 31 respectively includes ten groups of coils, they are respectively wound around by the straight slot on secondary left and right magnetic conduction silicon steel In outermost and three intermediate rectangular section columns on the secondary each silicon steel part of magnetic conduction silicon steel, referring to Figure 15,17 and 18.Its In, Figure 17 is power output winding coil 33 in secondary, power output winding coil 32, secondary lower power output winding coil 31 in secondary With the layout drawing of moving member 22, Figure 18 is secondary magnetic conduction silicon steel 24 and moving member 22 and the layout drawing of secondary end yoke 36. Figure 17 and Figure 18 is shown between five cuboids of secondary power output winding coil and the secondary left each silicon steel part of magnetic conduction silicon steel Relationship, the winding direction of secondary power output winding coil 31,32,33 and secondary left and right induced excitation winding coil 28,29 Direction of winding is spatially mutually perpendicular to.
There are air gaps between the primary and secondary of individual motor unit.Secondary left induced excitation winding coil 28 and secondary are right After induced excitation winding coil 29 is connected, with power output winding coil 33 in secondary, it is secondary in power output winding coil 32 and secondary The lower power output winding coil 31 of grade connects.Primary magnetic conduction silicon steel, secondary magnetic conduction silicon steel and secondary end yoke are all by silicon steel sheet It is formed by stacking.
Embodiment 6：Three unit perseverance power output uniform magnetic fields sensing linear servo-actuator (being arranged symmetrically individual motor unit)
Primary, secondary in embodiment 5 is exchanged, and keeps long primary, short secondary structure.

Claims (21)

1. a kind of Novel constant force perseverance torque uniform magnetic field sensing servo motor, including the novel permanent output torque uniform magnetic field of swinging Sense servo motor and permanent power output uniform magnetic field sensing linear servo-actuator；It is characterized in that,
(1) swinging perseverance output torque uniform magnetic field sensing servo motor
It is made of in the structure of swinging perseverance output torque uniform magnetic field sensing servo motor N number of individual motor unit；It is each only Vertical electric motor units structure is identical, but when N number of individual motor unit is arranged in the approximately the same plane of motor revolving shaft, Its structure size is different；Motor uses N phase AC power supply, and phase difference is equal, is for 360 degree/N or 180 degree/N, the mode of connection Each individual motor unit only connects the phase alternating current in N phase alternating currents, stator excitation winding in each individual motor unit Coil only applies a phase alternating voltage；Stator magnetic conduction silicon steel is used with the symmetrical structural shape of motor revolving shaft, stator excitation Winding coil is distributed in stator magnetic conduction silicon steel upper edge even circumferential, is centrosymmetric with motor revolving shaft line, in stator magnetic conduction silicon It is generated in air gap between steel and rotor magnetic conduction silicon steel along rotor circumference and is uniformly distributed magnetic field；Each individual motor unit Middle rotor magnetic conduction silicon steel uses the structural shape for circumferentially having and being uniformly distributed multiple radial direction shaft section gaps, and rotor magnetic conduction silicon steel On be wound with two types winding coil, their winding mode is spatially orthogonal, is referred to as rotor induced excitation winding wire Circle and rotor torque winding coil；Rotor torque winding coil is connected directly with rotor induced excitation winding coil；Stator excitation Winding coil is corresponding with rotor induced excitation winding coil installation site, generates mutual inductance and provides torsion for rotor torque winding coil Square electric current；
The individual motor unit of novel perseverance output torque uniform magnetic field sensing servo motor, mainly includes stator and rotor two Point；
Wherein, stator is made of stator casing, stator magnetic conduction silicon steel, stator excitation winding coil；Stator magnetic conduction silicon steel is that have ring The annulus column of slot；Single-phase stator excitation winding pole coil is mounted in annular groove, using the winding mode of solenoid type；Single-phase stator is encouraged Magnetic winding coil uses one group or circumferentially equally distributed more using coil axis that coil axis is overlapped with electrical axis Group；Stator casing and stator magnetic conduction silicon steel are connected, and motor remains stationary when working；
Wherein, rotor is by rotor hub, rotor magnetic conduction silicon steel, rotor induced excitation winding coil, rotor torque winding coil group Into；Wherein rotor magnetic conduction silicon steel is circumferentially evenly arranged by M silicon steel part and formed, and each silicon steel part shape is identical, adjacent silicon steel There are gap, the similar annulus column for there are multiple gaps of global shape between part；Each silicon steel part has slot in a circumferential direction, so that Rotor magnetic conduction silicon steel generally forms annular groove, the position of annular groove and the ring of installation stator excitation winding coil on stator magnetic conduction silicon steel Slot is corresponding；According to individual motor cellular construction arrangement difference, each silicon steel part in a circumferential direction slot position not yet Together, it is opened on radially inner and outer cylindrical surface or is opened on the transverse plane of axial both sides；Meanwhile each silicon steel part have at middle part it is logical Slot, direction is vertical from annular groove and different according to electric motor units structure arrangement, in radial direction or in the axial direction, is used for Rotor torque winding coil is installed；Rotor induced excitation winding coil use be similar to solenoidal coiling form, mounted on turn In the annular groove of sub- magnetic conduction silicon steel；Rotor torque winding coil is wound on rotor magnetic conduction silicon steel by the straight slot on rotor magnetic conduction silicon steel On；Rotor magnetic conduction silicon steel is connected on rotor hub, and rotor magnetic conduction silicon steel, rotor hub and axis rotate together when motor works；
Wherein, in the individual motor unit of permanent output torque uniform magnetic field sensing servo motor：Have between stator and rotor Even air gap forms 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 On stator magnetic conduction silicon steel, they are with respect to electrical axis axisymmetricly structure；When stator excitation winding coil uses one group During solenoid type winding coil, axis is overlapped with stator rotor axis；When stator excitation winding coil uses multigroup solenoid During formula winding coil, axis is distributed along stator magnetic conduction silicon steel even circumferential；Rotor structure has symmetry, rotor magnetic conduction silicon steel Two groups of coils of upper installation, requirement rotor torque winding coil and rotor induced excitation winding coil direction of winding are in space during installation It is upper orthogonal, make direction on the magnetic field space of their generations substantially orthogonal；Rotor torque winding coil and rotor induced excitation winding Coil is directly connected to, and rotor induced excitation winding coil and stator excitation winding coil are corresponding, is generated mutual inductance and is provided torque electricity Stream；During each individual motor cell operation, single-phase AC voltage is applied to stator excitation winding coil, structural shape determines Stator excitation magnetic field is equivalent to the magnetic field of several-layer solenoid type ring shape winding coil generation, in motor stator magnetic conduction silicon steel and rotor In even air gap between magnetic conduction silicon steel, circumferentially equally distributed magnetic field is generated, magnetic line of force direction is constant, and magnetic field size is with applying Making alive changes；Alternating magnetic field in stator magnetic conduction silicon steel and air gap does not form rotating excitation field；
(2) permanent power output uniform magnetic field sensing linear servo-actuator
It is made of in the structure of permanent power output uniform magnetic field sensing linear servo-actuator N number of individual motor unit；Each independent electrical Machine cellular construction is identical；Motor uses N phase AC power supply, and it is 360 degree/N that phase difference is equal or 180 degree/N, the mode of connection are Each individual motor unit only connects the phase alternating current in N phase alternating currents；Primary magnetic conduction silicon steel in each individual motor unit Using linear structure pattern；Primary excitation winding pole coil is mounted on the side of primary magnetic conduction silicon steel, adjacent with secondary magnetic conduction silicon steel Closely；Primary excitation winding pole coil is uniformly distributed along the rectilinear direction of linear type primary magnetic conduction silicon steel；When motor works, to each only Primary excitation winding pole coil in vertical electric motor units applies a phase alternating voltage, primary magnetic conduction silicon steel and secondary magnetic conduction silicon steel it Between even air gap in, generate along primary magnetic conduction silicon steel rectilinear direction and be uniformly distributed magnetic field；It is secondary in each individual motor unit Grade magnetic conduction silicon steel is uniformly distributed multiple perpendicular to the straight line side using linear structure pattern along the rectilinear direction of secondary magnetic conduction silicon steel To section gap；Two types winding coil is wound on secondary magnetic conduction silicon steel, their winding mode is spatially orthogonal, point Also known as make secondary induction excitation winding pole coil and secondary power output winding coil；Secondary power output winding coil is encouraged with secondary induction Magnetic winding coil is connected directly；Primary excitation winding pole coil is corresponding with secondary induction excitation winding pole coil installation site, generates Mutual inductance provides power output electric current for secondary power output winding coil；Primary secondary structure pattern in above-mentioned individual motor unit can It exchanges；
The individual motor unit of novel perseverance power output uniform magnetic field sensing linear servo-actuator, mainly includes primary and secondary two Point；
Wherein, it is primary to be made of pedestal, primary magnetic conduction silicon steel and primary excitation winding pole coil；Primary magnetic conduction silicon steel has annular groove Linear structure；Single-phase primary excitation winding pole coil is mounted in annular groove, using the winding mode of solenoid type；When primary excitation Winding coil using one group of coil structural shape when, excitation winding pole coil is surround along the overall length of linear type primary magnetic conduction silicon steel； When primary excitation winding pole coil uses the structural shape of multigroup coil combination, by linear type primary magnetic conduction silicon steel along long during installation If degree direction is divided into stem portion, one group of excitation winding pole coil is often partially surrounded；Primary magnetic conduction silicon steel is connected on pedestal, motor work As when remain stationary；Wherein, it is secondary by moving member, secondary magnetic conduction silicon steel, secondary induction excitation winding pole coil, secondary output Power winding coil and secondary end yoke composition；Secondary magnetic conduction silicon steel is arranged by the identical silicon steel part of M shape along straight line It forms, has gap between adjacent silicon steel part, generally form the linear structure for having multiple section gaps along this straight line；Secondary On grade magnetic conduction silicon steel and the adjacent side of primary magnetic conduction silicon steel, there is slot on the silicon steel part of each secondary magnetic conduction silicon steel of composition, it is whole Annular groove is formed on a side of linear type secondary magnetic conduction silicon steel on body, after motor assembling, secondary magnetic conduction silicon steel side ring The position of slot is corresponding with the annular groove that excitation winding pole coil is installed on primary magnetic conduction silicon steel；Meanwhile each secondary magnetic conduction silicon of composition The straight slot of installation power output winding coil is also useful on the silicon steel part of steel, it is desirable that straight slot and side annular groove are mutually perpendicular to, straight slot Direction or horizontally or vertically, the mounting arrangements mode depending on primary magnetic conduction silicon steel and secondary magnetic conduction silicon steel；Secondary induction is encouraged Magnetic winding coil is mounted in the side annular groove of secondary magnetic conduction silicon steel, using the winding mode of solenoid type；When secondary induction is encouraged Magnetic winding coil using one group of coil structural shape when, overall length of the induced excitation winding coil along linear type secondary magnetic conduction silicon steel It surround；When secondary induction excitation winding pole coil uses the structural shape of multigroup coil combination, when installation, leads linear type secondary If magnetic silicon steel is divided into stem portion along its length, part is divided or by multiple silicon steel parts by the silicon steel part for forming secondary magnetic conduction silicon steel As a part, one group of induced excitation winding coil is often partially surrounded；Secondary power output winding coil passes through secondary magnetic conduction silicon steel On straight slot, be wrapped on each silicon steel part of secondary magnetic conduction silicon steel；Secondary magnetic conduction silicon steel is connected on moving member, secondary end Yoke is mounted on the both ends of secondary magnetic conduction silicon steel, is also connected on moving member；
Wherein, in the individual motor unit of permanent power output uniform magnetic field sensing linear servo-actuator：Have between primary and secondary Even air gap 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；Just Grade excitation winding pole coil is mounted on primary magnetic conduction silicon steel, is uniformly distributed along primary magnetic conduction silicon steel length direction；Secondary magnetic conduction silicon Two types winding coil on steel is installed, the direction of winding and secondary induction excitation of secondary power output winding coil are required during installation The direction of winding of winding coil is spatially mutually perpendicular to, and makes direction on the magnetic field space of their generations substantially orthogonal；It is secondary defeated Output winding coil is connect with secondary induction excitation winding pole coil, primary excitation winding pole coil and secondary induction excitation winding pole coil It is corresponding, it generates mutual inductance and power output electric current is provided；During each individual motor cell operation, primary excitation winding pole coil is applied single Phase alternating voltage, structural shape determine primary excitation winding pole coil electric motor primary magnetic conduction silicon steel and secondary magnetic conduction silicon steel it Between even air gap in, generate the magnetic field being distributed along straight uniform, magnetic line of force direction is constant, magnetic field size with apply voltage become Change；Alternating magnetic field in primary magnetic conduction silicon steel and air gap does not form travelling-magnetic-field.
2. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor according to claim 1, it is characterized in that：It is described The novel permanent output torque uniform magnetic field sensing servo motor of swinging, the basic structure pattern of each of which individual motor unit have axis Four kinds are arranged to single-sided arrangement, axially symmetric disposition, radial direction single-sided arrangement and radial symmetric；The structure of each individual motor unit Pattern, the combination including four kinds of basic structure patterns and four kinds of basic structure patterns are specific as follows：
(1) the individual motor unit of axial single-sided arrangement pattern
(1) along motor axis direction, stator magnetic conduction silicon steel is arranged in the left or right side of rotor magnetic conduction silicon steel；When stator magnetic conduction silicon steel At left side, annular groove is on right side；When stator magnetic conduction silicon steel is on right side, annular groove is in left side；
(2) each silicon steel part in rotor magnetic conduction silicon steel geometrically can be described as being fanned by the identical rectangular section of multilayer segment angle Annulated column is radially formed by connecting, and the coupling part among the fan annulated column of adjacent two layers rectangular section is one or more, each company of rising The connection shape for connecing effect is smaller for fan annulated column or general cylinder, size；Relative to rotor axis, two inside and outside each silicon steel part Annulated column is fanned in side for rectangular section, has been that the connector of connection function and rectangular section fan annulated column are alternately arranged among silicon steel part；By Smaller in each intermediate connecting body size, axial width and all smaller relative to the segment angle that rotor axis is formed can every Multiple axial pass troughs and in the circumferential direction elongated slot are formed on a silicon steel part；M silicon steel part is circumferentially evenly arranged, multilayer rectangle Section fan annulated column formation circumferentially has the multilayer rectangle section annulus column of M air gap, by connecting between adjacent two layers annulus column Body forms multiple axial pass troughs, and forms annular groove in left or right side；Rotor induced excitation winding coil is mounted in annular groove；Turn Sub- torque winding coil is by the straight slot between multilayer annulus column on rotor magnetic conduction silicon steel, rotating around in the more of rotor magnetic conduction silicon steel On layer annulus column, multigroup torque winding coil inside and outside rotor is formed；
(2) the individual motor unit for the pattern that is axially and symmetrically disposed
(1) two stator magnetic conduction silicon steel is arranged in the left side and right side of rotor magnetic conduction silicon steel, is known respectively as a stator left side and leads Magnetic silicon steel and the right magnetic conduction silicon steel of stator；Annular groove of the annular groove on right side, the right magnetic conduction silicon steel of stator on the left magnetic conduction silicon steel of stator exists Left side is the combination of two kinds of axial single-sided arrangement pattern stators；Stator excitation winding coil has two groups, is separately mounted to a stator left side In the annular groove of right magnetic conduction silicon steel；
(2) rotor magnetic conduction silicon steel is the equal of to merge the rotor magnetic conduction silicon steel of two axial single-sided arrangements, be commonly mounted on one On a rotor hub, the rotor hub plane of symmetry that they are relatively orthogonal to rotor axis is mirrored into relationship, respectively referred to as rotor Left magnetic conduction silicon steel and the right magnetic conduction silicon steel of rotor；The annular groove that the left induced excitation winding coil of rotor is installed on the left magnetic conduction silicon steel of rotor exists Left side, the annular groove on the left magnetic conduction silicon steel of stator with installing the left excitation winding pole coil of stator are corresponding；On the right magnetic conduction silicon steel of rotor The annular groove of the right induced excitation winding coil of rotor is installed in right side, the right magnetic conduction silicon of stator with installing the right excitation winding pole coil of stator Annular groove on steel is corresponding；Rotor induced excitation winding coil has two groups, is separately mounted to the annular groove of rotor or so magnetic conduction silicon steel In；Rotor torque winding coil is by the straight slot between multilayer annulus column, rotating around the multilayer circle in rotor or so magnetic conduction silicon steel On annulated column, multigroup torque winding coil inside and outside rotor is formed；In this case, multigroup torque winding coil inside and outside rotor, quite Then the result that multigroup torque winding coil merges respectively inside and outside the rotor of two axial single-sided arrangements；
(3) the individual motor unit of radial direction single-sided arrangement pattern
(1) relative to rotor axis, stator magnetic conduction silicon steel is arranged in the inner or outer side of rotor magnetic conduction silicon steel；When stator magnetic conduction silicon When steel is arranged in outside, the annular groove on stator magnetic conduction silicon steel is in inside；When stator magnetic conduction silicon steel is arranged in inside, stator magnetic conduction Annular groove on silicon steel is on the outside；
(2) each silicon steel part in rotor magnetic conduction silicon steel geometrically can be described as the identical rectangular section fan ring of multilayer segment angle Column is axially connecting to be formed, and middle interconnecting piece is divided into one or more, and each connection shape for playing connection function is fan annulated column Or general cylinder, size are smaller；Along rotor axis, annulated column is fanned in the left and right sides of each silicon steel part for rectangular section, in silicon steel part Between be connection function connector and rectangular section fan annulated column be alternately arranged；Since each intermediate connecting body size is smaller, Radial thickness and relative to rotor axis formed segment angle it is all smaller, can composition silicon steel part adjacent rectangle section fan annulated column Between form multiple radially through grooves, and on the outside or inside is circumferentially formed one or more elongated slots；M silicon steel part is circumferentially equal It is even be arranged on wheel hub after, the fan annulated column formation of the multilayer rectangle section of silicon steel part circumferentially has the multilayer rectangle section of M air gap Annulus column, while connector forms multiple radially through grooves between multilayer annulus column, and on the outside or inside forms annular groove；Rotor Induced excitation winding coil is mounted in annular groove；Rotor torque winding coil passes through between multilayer annulus column on rotor magnetic conduction silicon steel Straight slot, rotating around on the multilayer annulus column of rotor magnetic conduction silicon steel, form rotor left, center, right torque 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 claimed respectively For magnetic conduction silicon steel outside magnetic conduction silicon steel in stator and stator；Annular groove in stator on magnetic conduction silicon steel on the outside, the outer magnetic conduction silicon steel of stator On annular groove in inside, be the combination of two kinds of radial direction single-sided arrangement pattern stators；Stator excitation winding coil has two groups, pacifies respectively In the annular groove of magnetic conduction silicon steel inside and outside stator；
(2) using the motor of radial symmetric layout pattern individual motor unit, belong to inside and outside Double-stator motor in structure design, electricity Machine rotor overall structure need to be designed to cup type；Rotor magnetic conduction silicon steel is by the rotor magnetic conduction silicon steel point of two radial direction single-sided arrangements Not An Zhuan rotor cup interior outside, be known respectively as the outer magnetic conduction silicon steel of magnetic conduction silicon steel and rotor in rotor；Magnetic conduction inside and outside rotor The silicon steel number of packages of silicon steel is identical, radial symmetric face is identical；Installation rotor induced excitation winding coil on the outer magnetic conduction silicon steel of rotor Annular groove on the outside, the annular groove of rotor induced excitation winding coil is installed in inside in rotor on magnetic conduction silicon steel；Magnetic conduction inside and outside rotor Annular groove on silicon steel is corresponding with the annular groove inside and outside stator on magnetic conduction silicon steel respectively；Rotor induced excitation winding coil has two groups, point It An Zhuan not be inside and outside rotor in the annular groove of magnetic conduction silicon steel；Rotor torque winding coil passes through multilayer annulus column on rotor magnetic conduction silicon steel Between radially through groove, rotating around inside and outside rotor on the multilayer annulus column of magnetic conduction silicon steel, forming rotor left, center, right torque winding Coil；In this case, rotor left, center, right torque winding coil is the equal of that the rotor left, center, right of two radial direction single-sided arrangements is turned round The result that square winding coil merges respectively；
(5) the individual motor unit of layout pattern is combined, is specifically included：The combination of axial unilateral and axial single-sided arrangement pattern, It is axial unilateral and axially symmetric disposition pattern combine, it is axial it is unilateral and radial direction single-sided arrangement pattern combine, it is axial unilateral and The combining of radial symmetric layout pattern, axially and symmetrically and the combining of axially symmetric disposition pattern, axially and symmetrically and radially unilateral cloth Put the combining of pattern, axially and symmetrically and the combination of radial symmetric layout pattern, radially unilateral and radial direction single-sided arrangement pattern group It closes, radial direction is unilateral and the combination of the combination of radial symmetric layout pattern, radial symmetric and radial symmetric layout pattern.
3. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor according to claim 1, it is characterized in that：It is described Permanent power output uniform magnetic field senses linear servo-actuator, the basic structure pattern of each of which individual motor unit have single-sided arrangement and It is arranged symmetrically two kinds；The structural shape of each individual motor unit, including two kinds of basic structure patterns and two kinds of basic structure types The combination of formula, it is 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 led in neighbouring secondary The side of magnetic silicon steel；
(2) each silicon steel part of secondary magnetic conduction silicon steel, geometrically can be described as being formed by connecting by multilayer rectangle cylinder, centre connects Socket part is divided into one or more；Each connector is general cylinder, but size is smaller, can be between adjacent two layers rectangle cylinder Multiple straight slots are formed, and elongated slot is formed in side；It is whole when arranging in a line M silicon steel part on moving member On can form elongated slot in secondary magnetic conduction silicon steel side, two neighboring elongated slot can regard annular groove as, be led both perpendicular to elongated slot in secondary There are many straight slots on magnetic silicon steel；Induced excitation winding coil is mounted in the annular groove of secondary magnetic conduction silicon steel；Power output winding coil By straight slot rotating around on the rectangle cylinder of each silicon steel part, multigroup power output winding coil is formed；
(2) it is arranged symmetrically the individual motor unit of pattern
(1) primary magnetic conduction silicon steel is arranged in the opposite sides of secondary magnetic conduction silicon steel, is known respectively as primary left magnetic conduction silicon steel With primary right magnetic conduction silicon steel；Annular groove on primary left and right magnetic conduction silicon steel is two kinds respectively in the side of neighbouring secondary magnetic conduction silicon steel The combination of single-sided arrangement pattern primary；
(2) secondary magnetic conduction silicon steel is the equal of to merge the secondary magnetic conduction silicon steel of two single-sided arrangements, be commonly mounted on a shifting On moving part, they are geometrically mirrored into relationship with respect to the composition surface of two magnetic conduction silicon steel, are referred to as secondary left magnetic conduction silicon steel respectively With secondary right magnetic conduction silicon steel；The annular groove of the secondary left induced excitation winding coil of installation is in left side, secondary on secondary left magnetic conduction silicon steel The annular groove of secondary right induced excitation winding coil is installed on right side on right magnetic conduction silicon steel, respectively with the primary left and right Exciting Windings for Transverse Differential Protection of installation The annular groove of coil is corresponding；Secondary induction excitation winding pole coil is separately mounted in the annular groove of secondary left and right magnetic conduction silicon steel；It is secondary Straight slot on the magnetic conduction silicon steel of left and right is corresponding, and power output winding coil is by corresponding straight slot rotating around in each silicon steel part On rectangle cylinder, multigroup power output winding coil is formed；At this moment the multigroup power output winding coil of secondary, is the equal of two The result that the multigroup power output winding coil of secondary of single-sided arrangement merges respectively；
(3) the individual motor unit of more side layout patterns including the combination of unilateral and single-sided arrangement pattern, unilateral side and is arranged symmetrically It is pattern combination, symmetrical and be arranged symmetrically pattern combination；
(4) primary and secondary in the sensing linear servo-actuator individual motor unit described in (one), (two) and (three) is used Long primary, short secondary or short primary, long secondary structure type, primary and secondary structural shape can be exchanged.
4. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor according to claim 1 or 2, it is characterized in that： In the novel permanent output torque uniform magnetic field sensing servo motor of swinging, the layout pattern of multiple individual motor units includes,
(1) multiple individual motor units are axial arranged along motor revolving shaft direction, and pass through motor revolving shaft and connect；
(2) multiple individual motor units are arranged in a shaft section by radius difference, form collar plate shape motor；
(3) multiple individual motor units are grouped, every group of individual motor unit is arranged in motor one by radius difference first In a shaft section, and pass through disk and connect；Then multigroup individual motor unit is arranged along motor revolving shaft direction again, and It is connected by motor revolving shaft；This layout pattern of multiple individual motor units is (1) and (2) two kinds of layout patterns Combination.
5. a kind of Novel constant force perseverance torque uniform magnetic field sensing servo motor according to claims 1 or 2 or 3, feature It is：Servo motor is sensed for permanent output torque uniform magnetic field, realizes that the measure controlled output torque includes：
(1) using the constant working method of the alternating current voltage frequency applied, only alive amplitude control output is applied by adjusting The size of torque；
(2) using the constant working method of the alternating voltage amplitude applied, only alive FREQUENCY CONTROL output is applied by adjusting The size of torque；
(3) it is to combine (1) and (2), the size of alive amplitude or FREQUENCY CONTROL output torque is applied by adjusting；Weight It wants to be characterized in, when motor is operated in the constant working method of alternating current voltage frequency of application, in stator rotor magnetic conduction silicon steel Magnetic induction intensity is unsaturated and in the case of ignoring wire resistor, and motor output torque is directly proportional with application voltage swing, with electricity Machine rotating speed is unrelated；
Linear servo-actuator is sensed for permanent power output uniform magnetic field, realizes that the measure controlled power output includes：
(1) using the constant working method of the alternating current voltage frequency applied, only alive amplitude control output is applied by adjusting The size of power；
(2) using the constant working method of the alternating voltage amplitude applied, only alive FREQUENCY CONTROL output is applied by adjusting The size of power；
(3) it is to combine (1) and (2), the size of alive amplitude or FREQUENCY CONTROL power output is applied by adjusting；It is important It is characterized in, when motor is operated in the constant working method of alternating current voltage frequency of application, in primary secondary magnetic conduction silicon steel magnetic Induction is unsaturated and in the case of ignoring wire resistor, and motor power output is directly proportional with applying voltage swing, with motor shifting Dynamic speed is unrelated.
6. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor according to claim 4, it is characterized in that：It is returning In rotatable novel permanent output torque uniform magnetic field sensing servo motor, realize that the measure controlled output torque includes：
(1) using the constant working method of the alternating current voltage frequency applied, only alive amplitude control output is applied by adjusting The size of torque；
(2) using the constant working method of the alternating voltage amplitude applied, only alive FREQUENCY CONTROL output is applied by adjusting The size of torque；
(3) it is to combine (1) and (2), the size of alive amplitude or FREQUENCY CONTROL output torque is applied by adjusting；Weight It wants to be characterized in, when motor is operated in the constant working method of alternating current voltage frequency of application, in stator rotor magnetic conduction silicon steel Magnetic induction intensity is unsaturated and in the case of ignoring wire resistor, and motor output torque is directly proportional with application voltage swing, with electricity Machine rotating speed is unrelated.
7. a kind of Novel constant force perseverance torque uniform magnetic field sensing servo motor as described in claims 1 or 2 or 3 or 6, feature It is：Swinging perseverance output torque uniform magnetic field sensing servo motor is realized there are three types of the measures of both forward and reverse directions driving：
(1) using two groups of individual motor units, one group of realization forward drive, another group of realization reverse drive in motor；
(2) in individual motor unit, increase electromagnetic switch, to exchange the mode of connection of winding coil in rotor, increase simultaneously Induction controller, to realize the control to electromagnetic switch；
(3) for being arranged symmetrically the individual motor unit of pattern, by two groups of induced excitation winding coil series opposings on rotor Connection is together the rotor torque winding coil power supply in rotor, while by adjusting the excitation on two stator magnetic conduction silicon steel Winding coil applies alive relative size, to change the current phase of rotor torque winding coil, realizes motor both forward and reverse directions Driving；
Permanent power output uniform magnetic field sensing linear servo-actuator is realized there are three types of the measures of both forward and reverse directions driving：(1) it is adopted in motor With two groups of individual motor units, one group of realization forward drive, another group of realization reverse drive；
(2) in individual motor unit, increase electromagnetic switch, to exchange the mode of connection of winding coil in secondary, increase simultaneously Induction controller, to realize the control to electromagnetic switch；
(3) for being arranged symmetrically the individual motor unit of pattern, by two groups of induced excitation winding coil series opposings in secondary Connection is together the secondary power output winding coil power supply in secondary, while by adjusting encouraging on two primary magnetic conduction silicon steel Magnetic winding coil applies alive relative size, to change the current phase of secondary power output winding coil, realizes that motor is positive and negative Direction drives.
8. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor as claimed in claim 4, it is characterized in that：It is turning round In the novel permanent output torque uniform magnetic field sensing servo motor of formula, realize there are three types of the measures that motor both forward and reverse directions drive：
(1) using two groups of individual motor units, one group of realization forward drive, another group of realization reverse drive in motor；
(2) in individual motor unit, increase electromagnetic switch, to exchange the mode of connection of winding coil in rotor, increase simultaneously Induction controller, to realize the control to electromagnetic switch；
(3) for being arranged symmetrically the individual motor unit of pattern, by two groups of induced excitation winding coil series opposings on rotor Connection is together the rotor torque winding coil power supply in rotor, while by adjusting the excitation on two stator magnetic conduction silicon steel Winding coil applies alive relative size, to change the current phase of rotor torque winding coil, realizes motor both forward and reverse directions Driving.
9. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor as claimed in claim 5, it is characterized in that：Swinging Permanent output torque uniform magnetic field sensing servo motor is realized there are three types of the measures of both forward and reverse directions driving：
(1) using two groups of individual motor units, one group of realization forward drive, another group of realization reverse drive in motor；
(2) in individual motor unit, increase electromagnetic switch, to exchange the mode of connection of winding coil in rotor, increase simultaneously Induction controller, to realize the control to electromagnetic switch；
(3) for being arranged symmetrically the individual motor unit of pattern, by two groups of induced excitation winding coil series opposings on rotor Connection is together the rotor torque winding coil power supply in rotor, while by adjusting the excitation on two stator magnetic conduction silicon steel Winding coil applies alive relative size, to change the current phase of rotor torque winding coil, realizes motor both forward and reverse directions Driving；
Permanent power output uniform magnetic field sensing linear servo-actuator is realized there are three types of the measures of both forward and reverse directions driving：
(1) using two groups of individual motor units, one group of realization forward drive, another group of realization reverse drive in motor；
(2) in individual motor unit, increase electromagnetic switch, to exchange the mode of connection of winding coil in secondary, increase simultaneously Induction controller, to realize the control to electromagnetic switch；
(3) for being arranged symmetrically the individual motor unit of pattern, by two groups of induced excitation winding coil series opposings in secondary Connection is together the secondary power output winding coil power supply in secondary, while by adjusting encouraging on two primary magnetic conduction silicon steel Magnetic winding coil applies alive relative size, to change the current phase of secondary power output winding coil, realizes that motor is positive and negative Direction drives.
10. a kind of Novel constant force perseverance torque uniform magnetic field sensing servo electricity as described in claims 1 or 2 or 3 or 6 or 8 or 9 Machine, it is characterized in that：In swinging perseverance output torque uniform magnetic field sensing servo motor, stator excitation winding coil and rotor sensing The structural shape of excitation winding pole coil includes three kinds：
(1) by stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel as a whole, using along whole winding mode, several-layer solenoid is formed The integral ring-shaped coil of formula；
(2) if stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel are divided into stem portion, each section is formed using local winding mode The part annular coil of solenoid type independently installed along magnetic conduction silicon steel, multigroup, to substitute integral ring-shaped coil；
(3) stator excitation winding coil and rotor induced excitation winding coil use the combination form of (1) and (2)；
In permanent power output uniform magnetic field sensing linear servo-actuator, primary excitation winding pole coil and secondary induction excitation winding pole coil Structural shape include three kinds：
(1) by primary magnetic conduction silicon steel or secondary magnetic conduction silicon steel as a whole, using along whole winding mode, several-layer solenoid is formed The integral ring-shaped coil of formula；
(2) if primary magnetic conduction silicon steel or secondary magnetic conduction silicon steel are divided into stem portion, each section is formed using local winding mode The part annular coil of solenoid type independently installed along magnetic conduction silicon steel, multigroup, to substitute integral ring-shaped coil；
(3) primary excitation winding pole coil and secondary induction excitation winding pole coil use the combination form of (1) and (2).
11. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor as claimed in claim 4, it is characterized in that：It is returning In rotatable novel permanent output torque uniform magnetic field sensing servo motor, stator excitation winding coil and rotor induced excitation winding wire The structural shape of circle includes three kinds：
(1) by stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel as a whole, using along whole winding mode, several-layer solenoid is formed The integral ring-shaped coil of formula；
(2) if stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel are divided into stem portion, each section is formed using local winding mode The part annular coil of solenoid type independently installed along magnetic conduction silicon steel, multigroup, to substitute integral ring-shaped coil；
(3) stator excitation winding coil and rotor induced excitation winding coil use the combination form of (1) and (2).
12. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor as claimed in claim 5, it is characterized in that：Revolution In formula perseverance output torque uniform magnetic field sensing servo motor, the knot of stator excitation winding coil and rotor induced excitation winding coil Configuration formula includes three kinds：
(1) by stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel as a whole, using along whole winding mode, several-layer solenoid is formed The integral ring-shaped coil of formula；
(2) if stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel are divided into stem portion, each section is formed using local winding mode The part annular coil of solenoid type independently installed along magnetic conduction silicon steel, multigroup, to substitute integral ring-shaped coil；
(3) stator excitation winding coil and rotor induced excitation winding coil use the combination form of (1) and (2)；
In permanent power output uniform magnetic field sensing linear servo-actuator, primary excitation winding pole coil and secondary induction excitation winding pole coil Structural shape include three kinds：
(1) by primary magnetic conduction silicon steel or secondary magnetic conduction silicon steel as a whole, using along whole winding mode, several-layer solenoid is formed The integral ring-shaped coil of formula；
(2) if primary magnetic conduction silicon steel or secondary magnetic conduction silicon steel are divided into stem portion, each section is formed using local winding mode The part annular coil of solenoid type independently installed along magnetic conduction silicon steel, multigroup, to substitute integral ring-shaped coil；
(3) primary excitation winding pole coil and secondary induction excitation winding pole coil use the combination form of (1) and (2).
13. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor as claimed in claim 7, it is characterized in that：Revolution In formula perseverance output torque uniform magnetic field sensing servo motor, the knot of stator excitation winding coil and rotor induced excitation winding coil Configuration formula includes three kinds：
(1) by stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel as a whole, using along whole winding mode, several-layer solenoid is formed The integral ring-shaped coil of formula；
(2) if stator magnetic conduction silicon steel or rotor magnetic conduction silicon steel are divided into stem portion, each section is formed using local winding mode The part annular coil of solenoid type independently installed along magnetic conduction silicon steel, multigroup, to substitute integral ring-shaped coil；
(3) stator excitation winding coil and rotor induced excitation winding coil use the combination form of (1) and (2)；
In permanent power output uniform magnetic field sensing linear servo-actuator, primary excitation winding pole coil and secondary induction excitation winding pole coil Structural shape include three kinds：
(1) by primary magnetic conduction silicon steel or secondary magnetic conduction silicon steel as a whole, using along whole winding mode, several-layer solenoid is formed The integral ring-shaped coil of formula；
(2) if primary magnetic conduction silicon steel or secondary magnetic conduction silicon steel are divided into stem portion, each section is formed using local winding mode The part annular coil of solenoid type independently installed along magnetic conduction silicon steel, multigroup, to substitute integral ring-shaped coil；
(3) primary excitation winding pole coil and secondary induction excitation winding pole coil use the combination form of (1) and (2).
14. a kind of uniform magnetic of Novel constant force perseverance torque according to claims 1 or 2 or 3 or 6 or 8 or 9 or 11 or 12 or 13 Field sensing servo motor, it is characterized in that：Servo motor is sensed for permanent output torque uniform magnetic field, is realized to rotor torque winding The measure that torque current size controls in coil includes three kinds：
(1) adjust composition rotor magnetic conduction silicon steel adjacent silicon steel part between air gap size；
(2) magnetic resistance between the adjacent silicon steel part of composition rotor magnetic conduction silicon steel is adjusted；
(3) number of turn of rotor induced excitation winding coil is adjusted；
Servo motor is sensed for permanent power output uniform magnetic field, is realized to power output size of current in secondary power output winding coil The measure of control includes three kinds：
(1) size of air gap between the adjacent silicon steel part of the secondary magnetic conduction silicon steel of composition is adjusted；
(2) magnetic resistance between the adjacent silicon steel part of the secondary magnetic conduction silicon steel of composition is adjusted；
(3) number of turn of secondary induction excitation winding pole coil is adjusted.
15. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor according to claim 4, it is characterized in that： In the novel permanent output torque uniform magnetic field sensing servo motor of swinging, realize big to torque current in rotor torque winding coil The measure of small control includes three kinds：
(1) adjust composition rotor magnetic conduction silicon steel adjacent silicon steel part between air gap size；
(2) magnetic resistance between the adjacent silicon steel part of composition rotor magnetic conduction silicon steel is adjusted；
(3) number of turn of rotor induced excitation winding coil is adjusted.
16. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor according to claim 5, it is characterized in that：It is right Sense servo motor in permanent output torque uniform magnetic field, realize and torque current size control in rotor torque winding coil is arranged It applies including three kinds：
(1) adjust composition rotor magnetic conduction silicon steel adjacent silicon steel part between air gap size；
(2) magnetic resistance between the adjacent silicon steel part of composition rotor magnetic conduction silicon steel is adjusted；
(3) number of turn of rotor induced excitation winding coil is adjusted；
Servo motor is sensed for permanent power output uniform magnetic field, is realized to power output size of current in secondary power output winding coil The measure of control includes three kinds：
(1) size of air gap between the adjacent silicon steel part of the secondary magnetic conduction silicon steel of composition is adjusted；
(2) magnetic resistance between the adjacent silicon steel part of the secondary magnetic conduction silicon steel of composition is adjusted；
(3) number of turn of secondary induction excitation winding pole coil is adjusted.
17. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor according to claim 7, it is characterized in that：It is right Sense servo motor in permanent output torque uniform magnetic field, realize and torque current size control in rotor torque winding coil is arranged It applies including three kinds：
(1) adjust composition rotor magnetic conduction silicon steel adjacent silicon steel part between air gap size；
(2) magnetic resistance between the adjacent silicon steel part of composition rotor magnetic conduction silicon steel is adjusted；
(3) number of turn of rotor induced excitation winding coil is adjusted；
Servo motor is sensed for permanent power output uniform magnetic field, is realized to power output size of current in secondary power output winding coil The measure of control includes three kinds：
(1) size of air gap between the adjacent silicon steel part of the secondary magnetic conduction silicon steel of composition is adjusted；
(2) magnetic resistance between the adjacent silicon steel part of the secondary magnetic conduction silicon steel of composition is adjusted；
(3) number of turn of secondary induction excitation winding pole coil is adjusted.
18. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor according to claim 10, it is characterized in that：It is right Sense servo motor in permanent output torque uniform magnetic field, realize and torque current size control in rotor torque winding coil is arranged It applies including three kinds：
(1) adjust composition rotor magnetic conduction silicon steel adjacent silicon steel part between air gap size；
(2) magnetic resistance between the adjacent silicon steel part of composition rotor magnetic conduction silicon steel is adjusted；
(3) number of turn of rotor induced excitation winding coil is adjusted；
Servo motor is sensed for permanent power output uniform magnetic field, is realized to power output size of current in secondary power output winding coil The measure of control includes three kinds：
(1) size of air gap between the adjacent silicon steel part of the secondary magnetic conduction silicon steel of composition is adjusted；
(2) magnetic resistance between the adjacent silicon steel part of the secondary magnetic conduction silicon steel of composition is adjusted；
(3) number of turn of secondary induction excitation winding pole coil is adjusted.
19. the novel perseverance of one kind as described in claims 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 Power perseverance torque uniform magnetic field senses servo motor, it is characterized in that：Magnetic conduction silicon steel and the material of end yoke are silicon steel, selenium steel, electricity Work pure iron, iron-nickel alloy, ferroaluminium or ferrocobalt.
20. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor as claimed in claim 4, it is characterized in that：It is returning In rotatable novel permanent output torque uniform magnetic field sensing servo motor, the material of stator and rotor magnetic conduction silicon steel be silicon steel, selenium steel, Electrical pure iron, iron-nickel alloy, ferroaluminium or ferrocobalt.
21. one kind Novel constant force perseverance torque uniform magnetic field sensing servo motor as claimed in claim 10, it is characterized in that：Magnetic conduction Silicon steel and the material of end yoke are silicon steel, selenium steel, electrical pure iron, iron-nickel alloy, ferroaluminium or ferrocobalt.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0091125A1 (en) * 1982-04-07 1983-10-12 Roger Martire Permanent magnet electrical motor
CN103683767A (en) * 2013-12-31 2014-03-26 余仁伟 Modular multilayer disc type motor based on effective magnetic domain technology

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0091125A1 (en) * 1982-04-07 1983-10-12 Roger Martire Permanent magnet electrical motor
CN103683767A (en) * 2013-12-31 2014-03-26 余仁伟 Modular multilayer disc type motor based on effective magnetic domain technology

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