CN105577070A - Electric device and driving and braking method thereof - Google Patents

Abstract

The invention discloses a magnetic flow control-based electric device. The electric device includes a power source modulator (1), a speed reducing/torque varying device (2), a driving control device (9a), a stator (5) and a rotor (6); the rotor is an annular mechanical ring with a rotating shaft and is provided with a plurality of rotor units (3b) at intervals, wherein the rotor units comprise at least one permanent magnet rotor unit (3b1) and at least one magnetic conductor rotor unit (3B2); the polarities of the plurality of permanent magnet rotor units on the rotor are the same; the stator is a mechanical disc with a fixed rotation; at least one stator unit (3a) is arranged in the stator and is adjacent to the rotor; the stator and the rotor are arranged coaxially; the relative air gap (3d) of the stator and the rotor is not greater than 25mm; the power source modulator obtains the instructions of a user through the driving control device and outputs current to the windings of the stator units according to a corresponding time sequence, so that the electric device can realize driving and brake.

Description

A kind of electric device and driving thereof, braking method

Technical field

The present invention relates to the mains power design field of electric motor car, particularly a kind of Machine Design of electric device and power supply modulator thereof produce the method for designing of Timing driver electric current and stalling current.

Background technology

Electric bicycle market normally adapted is arranged on the motor on wheel shaft, and motor designs is external rotor form, and external rotor, by the wheel rim mechanical attachment of spoke and wheel, makes rotation of wheel by motor torque.During concrete manufacture, the market mainstream is that spoke is carried out integrated manufacture with the wheel rim of wheel, and outward appearance is Electric Motor Wheel, and spoke is deformed into power transmission rib, by power transmission rib, motor torque is passed to wheel rim.Domestic electric machine industry also attempts the technology successful experience being used in electric bicycle, is extended to the hub-type electric machine that electric automobile uses.

The wheel hub motor technology that electric automobile uses is also known as wheel inner electric machine technology, power, transmission and brake apparatus are all incorporated in wheel hub by its maximum feature exactly, wheel hub motor technology is not new things, as far back as 1900, first Porsche has just produced the electric automobile of front-wheel equipment wheel hub motor, at 20 century 70s, this technology is applied in fields such as Mine haul cars, and current electric automobile industry focus is exploitation passenger car wheel hub motor.

Industry specialists generally believes, because the structure of current wheel hub motor is except hub body, component weight is far beyond hub body (generally comprising wheel hub motor, brake disc, brake callipers, Active Suspensions motor, suspension, damping spring etc.), and automobile requires higher to the deadweight of wheel hub, aluminium alloy wheel hub only light about the 2kg average than conventional steel wheel hub of conventional car, when the speed of a motor vehicle is 60km/h, oil-saving rate can reach 5%-7%; Therefore, if motor can not subtract pound in multiple, the technical meaning of wheel hub inner electric machine is very limited; Only weigh with power density index of unit volume, existing motor does not reach the general designing requirement of wheel hub inner electric machine far away.

Current electric motor car Market and Technology development mainly contains both direction, and one is definite purpose motor manufacture, and two is electrical machine energy-saving control technologys, but in technical development thinking, receive the larger limitation of the way of thinking.

Fig. 1 a is a kind of structural representation of traditional 4 pole permanent magnet brush direct current inner rotor motors, permanent magnet 13 magnetic pole replaces symmetry arrangement, at a distance of certain interval 14 along the inner edge N/S determining body 5, some windings are arranged on turns in 6 annular regions relative with permanent magnet, the outer direct current that supplies is energized to winding by mechanical contact reversing arrangement, rotating magnetic field can be formed and the rotation that makes to turn, by rotating shaft outputting power in inside.

Permanent-magnet brushless DC electric machine is obtaining fast development in recent years, it forms primarily of motor body, position detector and power inverter controller, permanent magnet is generally arranged on upper, N/S magnetic pole alternately certain interval arrangement apart of turning, some windings are arranged on to be determined in body, position detector forms electronic commutator and replaces mechanical contact reversing arrangement together with inverter, and winding energising forms rotating magnetic field and makes rotation of turning.Control aspect generally have employed PWQ technology, the subject matter of this permanent-magnet brushless DC electric machine is the degree of approximation control of deformed sine wave, although its power is powered adopt the modulation of PWQ technology, control thought method is limited to the traditional design of motor interior rotating magnetic field.

Summary of the invention

Object of the present invention, be the defect of the internal structure overcoming existing electric vehicle DC motor, a kind of inside is provided to be different from the structure of traditional design, by power supply modulator, direct current is changed into the sequential electrical current scheme of a kind of non-energized direction checker simultaneously, structure is simple, torque is large, and technique easily realizes.

A kind of electric device controlled based on magnetic current provided by the invention, described electric device comprises power supply modulator 1, deceleration/torque changing apparatus 2, drives actuation means 9a, determines body 5 and turn 6; Described power supply modulator comprises power input 1a, sequential current output terminal 1b and driving signal input 1d, the both positive and negative polarity of power input electrical connection battery pack 8; Described turning is an annular machinery circle with rotation axis, alternately it on is provided with some rotor unit 3b, and described rotor unit comprises at least one permanent magnet rotor unit 3b1 and at least one magnetic conductor rotor unit 3b2; Several poles when arranging on turning of described permanent magnet rotor unit are to identical; Described to determine body be a mechanical disk with fixed axis, innerly at least arranges a stator unit 3a and be arranged on the position near turning; Describedly determine body and arrange with concentric of turning, both are relative, and air gap 3d is not more than 25mm; Described deceleration/torque changing apparatus is arranged with concentric of turning;

The inside winding of the sequential current output terminal electrical connection stator unit of described power supply modulator, driving signal input electrical connection drives actuation means; Described power supply modulator obtains the instruction of user by driving actuation means, and in the inside winding output current of corresponding time sequence to stator unit, makes electric device realize driving/braking.

Preferably, the rated power of described power supply modulator is no more than 12kW.

Described rotor unit 3b (3b1/3b2) is alternate to be arranged at and to turn on 6, its installation site comprise be embedded in turn outer rim, inner edge, turn inside or with integrated design manufacture of turning, do not limit shape not affecting under the prerequisite being installed on and turning; Several rotor units 3b1/3b2 preferably evenly arranges when turning 6 installation.

Preferably, described permanent magnet rotor unit 3b1 several at homopolarity of turning on 6 to setting, comprise N/S the two poles of the earth line to overlap with 6 coaxial normals 10 of turning/vertical 4 kinds of typical combination states, and line deflection in N/S the two poles of the earth is no more than 20 degree on 4 kinds of typical combination state bases.

Preferably, described deceleration/torque changing apparatus 2 comprises some gear combination, the whirligig mechanical attachment of its drive input and turn mechanical attachment, its transmission output and electric device outside; Deceleration/torque changing apparatus 2 is independent to be arranged, or is arranged at the outside of turning with 6 integrated coaxials of turning.

Preferably, described stator unit 3a is formed around the magnetic core of magnetic media material by least one group of good conductor loop, and its Inside coil winding can connect by series, parallel arbitrarily, or by drawing the multi-thread external loop of centre tap composition between different winding; The mode of external electrical connection can be the loop of two lines or multi-thread formation; The arrangement state of the electromagnetic pole corresponding permanent magnet rotor unit 3b1 that stator unit energising is formed is set to contrary with its motion polarity in opposite directions

Described stator unit around core arrangement or several combinations, it is preferred for obtaining maximum with its inner winding energising through the magnetic flux of air gap 3d.

Preferably, described electric device also comprises sensing device, and described sensing device comprises some sensing unit 3c that can respond to described rotor unit and stator unit relative position; Described sensing unit is electrically connected with the transducing signal input 1c of described power supply modulator; Described electric device is at least at the inside of turning or outer setting one sensing unit;

Preferably, described sensing device comprises the inside winding of stator unit, and described inner winding comprises around the winding of stator unit magnetic core or by the multi-thread external loop be in series between some stator unit windings.

Preferably, described electric device also comprises electro-magnetic braking device 9b, described power supply modulator 1 also comprises brake signal input 1e, it is electrically connected electro-magnetic braking device, by electro-magnetic braking device obtain user brake instruction and in the winding output current of corresponding time sequence to the stator unit of electric device.

Described driving actuation means 9a can be set to conventional rotating handles formula, plug-type joystick or other any manual control modes, is set to remote control outside comprising.

In the present invention, DC power supply is converted to sequential electric current by described power supply modulator, and the stator unit in electric device is energized and power-off with being limited at the time domain periodic of power supply modulator setting.

The present invention contains the electric motor car of above-mentioned arbitrary electric device, and described electric motor car comprises the electric motor car of one or more wheel and electronic, autocycle; The wheel of described electric motor car at least arranges a set of electric device, and the wheel installing electric device comprises the accurate single-wheel structure of single-wheel and coaxial compact installation two wheel.

The invention also discloses a kind of driving method of aforementioned electric device, the method is rotated by the position relationship output timing Current Control electric device of power supply modulator by described rotor unit 3a and stator unit 3b;

Described sequential is according to turning direction of rotation and defining, described sequential electric current combines the rotor unit number on turning according to the useful effect interval of stator unit electromagnetic field on turning and arranges several make and break periods T, and each make and break period T comprises power supply time domain and power-off time domain; Described power supply time domain is positioned at the corresponding time period, described in the normal determined around axle and with axle for rotor unit and stator unit and axle determine the dynamic angle that normal is formed, described in for rotor unit around axle tangential direction and stator unit electromagnetic force direction coincidence status suffered by it determined value; Power supply modulator 1 not output current in described power-off time domain.

Preferably, the electric current of described power supply time domain not notch shape, frequency and duty ratio.

Preferably, described power supply modulator at least comprises the different period of the day from 11 p.m. to 1 a.m territory of two sections of different current amplitudes in power supply time domain, and up time sequence be amplitude diminishes successively, and the amplitude in time domain of powering or its period of the day from 11 p.m. to 1 a.m territory linearly to be successively decreased relation with sequential; Or in 2 ^kto successively decrease relation, described index K value 0.45 to 0.95; Or be following relation: I _t/ A=(I ₀-I _g) wherein I ₀for initial energising intensity, I _gfor the current strength of the end time that is energized.

Preferably, described energising time domain T ₁in the magnetic flux density of initial electric current, voltage or stator unit obtain by sensing device rotating speed instantaneous value of turning and combine the instruction that drives actuation means 9a to provide and adjust.

Preferably, described method also comprises aligning step; Described aligning step be by stator unit and rotor unit periodically relative, the state that is in same normal of trapping gap ( be 0) as benchmark coordinate and fiducial time, when each forward of rotor unit is to reference seat timestamp, power supply modulator carries out a time and returns 0 calibration and record this cycle time, by comparing cycle time to reference seat target with rotor unit forward last time, thus know spin cycle time of turning, and control output current.

The invention also discloses the braking method of described electric device, the method according to described rotor unit convergence stator unit, rotor unit relative with the same normal in stator unit place ( be 0) and in being in away from state at least one time domain, by electro-magnetic braking device 9b, power supply modulator 1 output timing Current Control electric device is braked;

Described sequential is according to turning direction of rotation and defining; Described rotor unit convergence stator unit is the corresponding time period of state, described in the normal determined around axle and with axle for rotor unit and stator unit and axle determine the dynamic angle that normal is formed, described in for rotor unit turn around axle tangential direction and stator unit electromagnetic force direction coincidence status suffered by it determined value.

Preferably, described method also comprises aligning step, and φ is 0 as benchmark coordinate and fiducial time by described aligning step, knows rotor unit convergence/relatively/away from the location status of stator unit by sensing device.

The logical relation of described power supply modulator to the driving of electric device energising and braking energising be set to or.

Preferably, described output current rate-determining steps comprises:

1) when driving actuation means 9 pairs of power supply modulators 1 without input instruction, power supply modulator 1 dormancy;

2) when driving actuation means 9 to provide assisted instruction, power supply modulator 1 output timing electric current;

3) when electric device rotating speed or energising frequency reach the threshold value of setting, described power supply modulator power-off.

The present invention is directed to the magnetic current feature of electric device inside, the numerical control programming logic that modulator enters optimization is planted to power supply, makes it to use the sequential logic electric current of setting to realize efficient electricity-saving.The magnetic interaction of stator unit and rotor unit, be controlled in periodically corresponding selectivity energising time domain, the signal that power supply modulator obtains from sensing device is processed in real time by data/address bus, thus corresponding sending has regular sequential electric current.This design can with two obvious energy-saving efficiencies: one is do not needing the time domain dormancy of work at power supply modulator in electric device, has both saved electric energy and has additionally reduced energising accumulated heat; Two is within the work period of power supply modulator setting, and the regularity of energising intensity in setting changes and interrupt, and the service efficiency of electric energy is improved further, and energising accumulated heat reduces further.

The invention has the advantages that: there is the sequential power supply energy-saving effect that periodic magnetic current control is brought, simple with the electric device structure that this scheme carries out designing, to may correspond to various electric motor car wheel variation is combined, cost is low, effectively adapts to the designing requirement of high-end energy-saving electric vehicle.

Accompanying drawing explanation

Fig. 1 a is a kind of structural representation of traditional 4 pole permanent magnet brush direct current inner rotor motors.

Fig. 1 b is a kind of foundation structure schematic diagram of electric device motor body of the present invention.

Fig. 1 c is a kind of partial structurtes schematic diagram that the present invention is applied to electro-tricycle.

Fig. 1 d is a kind of partial structurtes schematic diagram that the present invention is applied to electric four-wheel vehicle.

Fig. 2 a is that a kind of magnetic pole that permanent magnet rotor unit is being turned arranges schematic diagram.

Fig. 2 b is that the another kind of magnetic pole that permanent magnet rotor unit is being turned arranges schematic diagram.

Fig. 2 c is that the one that magnetic conductor rotor unit is being turned arranges schematic diagram.

Fig. 3 a is that stator unit column type is set to the schematic diagram vertical with normal of turning around core.

Fig. 3 b is the schematic diagram that stator unit column type is set to around core overlap with normal of turning.

Fig. 3 c be stator unit matrix around core top just to the structural representation of rotating inner edge.

Fig. 4 a is rotor unit rotating shaft formative dynamics angle and suffered electromagnetic force Directional Decomposition schematic diagram.

Fig. 4 b is that rotor unit is in the view of coaxial normal with stator unit.

Fig. 5 a is the groundwork logical schematic of power supply modulator.

Fig. 5 b is a kind of block combiner schematic diagram realizing the digital technology logic of power supply modulator.

Fig. 5 c is the work-based logic schematic diagram that power supply modulator sets up electro-magnetic braking device input.

Fig. 6 a is the time diagram of power supply modulator output current in periodicity break-make.

Fig. 6 b is that a kind of two rank constant currents taper off the electric current time diagram of relation.

Fig. 6 c is the time diagram of a kind of first rank current constant, the curved relation of successively decreasing of second order electric current.

Fig. 6 d is the time diagram of a kind of multi-stage current in relation of successively decreasing continuously.

Fig. 6 e is the pulse subset envelope schematic diagram of the curved relation of successively decreasing of a kind of amplitude.

Fig. 6 f is the one energising logical schematic that a corresponding stator unit combines a rotor unit.

Fig. 7 a is a kind of partial structurtes schematic diagram that a stator unit combines 8 rotor units.

Fig. 7 b is the power on/off time domain schematic diagram of swing circle corresponding power modulator of turning.

Fig. 7 c is the one energising logical schematic that a corresponding stator unit combines 8 rotor units.

Fig. 8 is a kind of partial structurtes schematic diagram that two stator units combine 8 rotor units.

Fig. 9 is a kind of partial structurtes schematic diagram that 12 stator units combine 12 rotor units.

Accompanying drawing identifies:

1, power supply modulator; 1a, DC supply input; 1b, sequential current output terminal; 1c, induced signal input; 1d, train signal input; 1e, brake signal input; 2, deceleration/torque changing apparatus; 3a, stator unit; 3b, rotor unit; 3c, sensing unit; 3d, air gap; 4, vehicle frame; 5, kinetoplast; 6, turn; 7, wheel shaft; 8, battery pack; 9a, driving actuation means; 9b, electro-magnetic braking device; 10, coaxial normal; 11, wheel tangent line; 12, winding two extreme direction line; 13, permanent magnet; 14, interval; φ, electromagnetic force angle.

Embodiment

Below in conjunction with drawings and Examples, the present invention is described in detail further.

See Fig. 1 b, electric device of the present invention is except the method to set up of drive current is different from routine techniques, and the foundation structure of mechanical structure body also has with Conventional permanent magnet brushes or brushless DC motor exists and obviously distinguishes:

1, determine body to divide: electromagnetic force is the separate unit coming from good wire wounded core, and the base case that winding is arranged on stator groove by this structure and routine techniques is different; Described good wire uses copper material or copper-plated metal usually, and magnetic core uses conventional magnetic media material, such magnetizing mediums be known to the skilled person a kind of under magnetic fields internal state change and affect conversely magnetic field exist or distribution material.

2, rotor sections: upper rotor part unit of turning has permanent magnet and magnetic conductor bi-material, and when several permanent magnet rotor unit are arranged, N/S magnetic pole in the same way, and does not resemble routine techniques N/S magnetic pole alternately arrangement on turning.

See Fig. 2 a, 6 outer rims of turning are provided with a permanent magnet rotor unit 3b1, S pole-face is to interior setting of turning, determine body 5 and the position of turning is provided with a stator unit 3a, relative air gap 3d is enough little in both motions, if stator unit energising N pole-face to turning, then permanent magnet rotor unit convergence energising stator unit time, its electromagnetic attracting force can be subject to and make to turn accelerated motion; In another embodiment, the S polar motion stator unit in opposite directions of permanent magnet rotor unit, body direction of rotation is reversed corresponding thereto in the N pole of stator unit winding energising, and both magnetic action are similarly attracting, as shown in Figure 2 b; If turned, 6 outer rims arrange magnetic conductor rotor unit 3b2, and because its year magnetic is for by stator unit electromagnetic field inducing institute extremely, no matter how the energising direction of stator unit winding is arranged, and both magnetic action are attracting, as shown in Figure 2 c; It is the basic model of electric device of the present invention that this stator unit electromagnetic pole and the attracting relation of rotor unit are arranged, the rotor unit arranging two kinds of different substrate materials on turning is because permanent magnet and magnetic conductor have and initiatively carry magnetic and by two kinds of different qualities of dynamic load magnetic, can combine according to its different qualities variation, to adapt to the control that electronic dynamic device drove, braked multiple real-time status.

As shown in fig. 4 a, when the stator unit that upper rotor part unit of turning (comprising permanent magnet rotor unit 3b1 and magnetic conductor rotor unit 3b2) is energized around axle convergence, electromagnetic attraction F suffered by it can be analyzed to coaxial normal 10 direction F ₁₀with around axle tangent line 11 direction F ₁₁, wherein contributive around axle to rotor unit is F ₁₁.Rotor unit around axle stressed relevant in the interval of turning to stator unit electromagnetic field effect, be the stator unit of column to one around core, its electromagnetism line of force passes through the maximum interval of air gap, corresponding to the state of electromagnetic pole the two poles of the earth line 12 vertical to the corresponding normal 10 of turning (parallel with corresponding tangent line 11), as shown in Figure 3 a; The two poles of the earth line that column also can be set to electromagnetic pole around core overlaps to the corresponding normal of turning, and as shown in Figure 3 b, selects when this set-up mode is generally multiple stator unit combination arrangement.For matrix around core, its electromagnetic force, between the active region of rotor unit, is positioned at matrix around core top just to the two ends scope of turning, as shown in Figure 3 c.

Rotor unit is on turning when axle moves, and itself and the determined normal of axle and stator unit and the determined normal of axle are a dynamic angle , it is a special state, now angle that its tangential direction around axle convergence stator unit overlaps with suffered electromagnetic force F action direction for definite value the useful effect of electromagnetic force suffered by rotor unit is interval, be positioned at to be 0 state be benchmark ± in lane place (described ± relatively to define according to the direction of rotation of turning).When when being 0, F ₁₀for maximum, F ₁₁be 0, now to rotor unit around axle without contribution, as shown in Figure 4 b.To this real-time status, routine techniques continues to run by controlling electric current paraphase, direct current is modulated to energising direction checker by general use brush or electronic installation, thus supervenes the conventional arts such as current phase, induced current and corresponding phase angle position control thereof.

F ₁₁and F ₁₀at rotor unit is a pair shifting kinematic variables in axle motion process, its theoretical strong and weak conversion with for separation, when power supply modulator correspondence exists state area between be energized, to show as actuating force F ₁₁be main; And when power supply modulator correspondence exists state area between be energized, to show as braking force F ₁₀be main.The drive scheme principle of electric device of the present invention uses F ₁₁be be energized between main state area, between all the other state areas, power-off continues to run to make full use of the moment of inertia of turning; In addition, also F can be used ₁₀be between main state area and rotor unit deviate from stator unit state area between energising electric device is braked; Turn by the real-time transmission of deceleration/torque changing apparatus, corresponding driving/braking state transfer on wheel hub.

The technical scheme of electric device driving power supply of the present invention is: power supply modulator is corresponding state time domain energising, all the other time domain power-off; When main design goal is for economize on electricity, preferably even corresponding time domain energising; When needing to make full use of the moment of inertia of turning, preferably even corresponding time domain energising; Cause state with considerable F ₁₀, state energising rotates driving and has lost optimal design meaning; The break-make time domain of this drive current described as shown in Figure 6 a, wherein T ₁for conduction time, T ₂and T ₀be power-off time, (T ₁+ T ₂+ T ₀) constitute Timing driver current cycle T.The technical scheme of electric device braking power supply of the present invention is: the corresponding T of power supply modulator ₂and T ₀part time domain or all time domain be set to energising, described T ₂for rotor unit is corresponding around axle time domain, described T ₀for rotor unit is away from the corresponding time domain of stator unit, preferably this braking time domain be due to ? extremely there is considerable tangential force F in corresponding states ₁₁, unhelpful to Brake Design.Described drive current and stalling current in its corresponding energising time domain, not notch shape, frequency and duty ratio, its sequential work-based logic relation be set to or.

Above-mentioned basis the switching electric control of corresponding states, in the scope that industrial design error allows, can approximate transform be that relative time controls, because be 0 state and state is aobvious state, and power supply modulator is easily sentenced by timing alignment and known from to 0, i.e. (T ₁+ T ₂) time period, as long as setting T ₁with T ₂relative time, it is right to be namely equivalent to the switching electricity temporal scalable of corresponding state; Such as control corresponding extremely time domain energising, can briefly be set as: at (T ₁+ T ₂) time period initial 1/2 time domain energising, 1/2 time domain power-off afterwards; In like manner, control is worked as corresponding to the time domain energising of 0, can briefly be set as: at (T ₁+ T ₂) time period initial 2/3 time domain power-off, afterwards 1/3 time domain energising; But (T ₁+ T ₂) be an amount relevant to rotating speed of turning, determine with the relative time of timing cycles state there will be deviation when speed change state, this relative time-offsets is corresponding by power supply modulator be 0 state calibrate, correct in next cycle.

After stator unit setting (comprising combination) scheme is determined, aobvious state position determined simultaneously, during actual design, normally use aobvious state position judge the one foundation of the inner relative position of electric device as sensing device; exact position be one with radian of turning, air-gap separation, stator unit around the value of the parameter correlations such as core shape and arrangement thereof, have multiple theoretical model, should through test inhabitant area during specific design.The corresponding work-based logic exporting driving or stalling current of power supply modulator can be realized by ordinary tap control circuit, and CPU also can be adopted to programme in conjunction with power model group circuit realiration, or the special chip adopting large scale integrated circuit technology to manufacture realizes.

For power supply modulator switching electricity timing Design, T ₂the little then T of value ₁time domain is large, larger around the contribution of axle to rotor unit; But T ₁time domain is with the F showing as braking force ₁₀, have one and drive the optimal selection problem with braking, useful work and power consumption/heat radiation.Due to cannot by F in drive current ₁₀thorough separation, a kind of weakening F ₁₀on the preferred version of the potential accumulated heat impact of electric device be: energising intensity/amplitude is set to successively decrease with sequential, comprise and m>=2 subset that energising intensity sequential is successively decreased is set, m can be set to 2,20,3K or 30K etc., the constant current that the constant current that such as, after arranging two sections rank are less than front rank intensity, 5 stage strengths successively decrease successively or 30K stage amplitude are successively decreased the unidirectional pulse subset formed continuously, and energising in like manner can be set to intensity/amplitude and successively decreases according to sequential in period of the day from 11 p.m. to 1 a.m territory.The energising intensity sequential decrement scheme that described power supply modulator is built-in, be different from by driving actuation means 9a to reduce electric current mean intensity to the action effect of electric device, because the optimum amounts of current of manual control always exists real-time micro-deviation, can not in very short time, fall stream in time by due optimal way and fully save electric energy.The current maxima of described energising time domain, includes T ₁sequential arranges maximum when starting, or startup is no more than T ₁/ 3 time domains reach maximum, successively decrease in any way afterwards with sequential, to T ₁sequential arranges minimum value or returns 0 when stopping.

The scheme that energising intensity sequential is successively decreased is numerous, such as, be set to, with sequential linear decrease, also can be set to by maximum by 2 ^krelation sequential is successively decreased, and K span is 0.45 to 0.95, etc.; Shown in Fig. 6 b is the design that a kind of two rank constant currents are successively decreased with sequential, Fig. 6 c is a kind of first rank current constant, the curved design of successively decreasing of second order electric current, Fig. 6 d is a kind of multi-stage current is the design of successively decreasing continuously, and the amplitude envelope of its multi-stage current intensity is more close to I _t/ A=(I ₀-I _g) preference relation, power savings is better; The amplitude envelope trend schematic diagram that Fig. 6 e successively decreases to be a kind of electric current of the sequential end time that is energized be not 0, therebetween intensity sequential.

Concerning a stator unit 3a combines the analysis case of turn a upper permanent magnet rotor unit and a magnetic conductor rotor unit, the electromagnetic force useful effect that rotor unit is not in stator unit around the axial period π most of the time is interval, first should consider T break period of electric current timing cycles T during programming ₀, and then preferred power-off time T ₂with driving T conduction time ₁, improve the utilance of electric energy, Fig. 6 f is that this analysis case permanent magnet rotor unit 3b1 and magnetic conductor rotor unit 3b2 are separated by 180 degree when being symmetrical arranged, the driving energising sequential logic schematic diagram of corresponding one of them rotor unit 3b1/3b2.The advantage that upper combination of turning arranges bi-material rotor unit is: if only arrange permanent magnet rotor unit on turning, because its magnetic pole is fixing, in the foundation motion model of the present invention's application, no matter how pole orientation arranges, all can not follow the electromagnetic force of stator unit with dynamic antipole form, energy conversion efficiency is high not as the magnetic conductor rotor unit of induction magnetisation; If only arrange magnetic conductor rotor unit on turning, just because of its magnetic pole is induction magnetisation, when its be just in be in stator unit trapping gap same normal 10, when being 0, electric motor car is difficult to start from static state, easily occurs stall.Above alternately be provided with permanent magnet rotor unit 3b1 when turning, power supply modulator is sentenced by induction installation and is known permanent magnet rotor unit be the position of 0, the corresponding static state that sends starts sequential electric current; The so-called static simple example starting sequential electric current, encounter above-mentioned stall, power supply modulator when setting-up time maximum can not get sensing device feedback signal, send the starting current contrary with normal drive current direction in real time, above at least one the permanent magnet rotor unit 3b1 that makes to turn is subject to the same polarity effect of repelling each other and departs from the state being in same normal with stator unit trapping gap, avoids stall to occur.

Concerning a stator unit 3a combines the analysis case of n rotor unit 3b (3b1/3b2), stator unit 3a is, with n rotor unit 3b, electromagnetic action occurs at the swing circle π that turns, power supply modulator 1 preferably sends the energising sequential that n cycle is T, and the correspondence swing circle π that turns has n T ₁, a n T ₂and n T ₀sequential working logic, this Combination Design proposes high requirement to power supply modulator.Rotor unit not arranges The more the better, and its number n on turning is limited to the interval corresponding space occupy-place of suffered stator unit electromagnetic force useful effect, otherwise the sequential current cycle that power supply modulator correspondence exports can be overlapping.

Fig. 7 a is the partial structurtes schematic diagram that a stator unit combines 8 rotor units, stator unit turn a swing circle π respectively with 8 rotor unit generation magnetic action, the theoretical sequential electric current that power supply modulator is corresponding is divided into 8 (T ₁+ T ₂+ T ₀) cycle, Fig. 7 b denote a kind of T of setting be π/8, at T corresponding to direction of rotation of turning ₁, T ₂and T ₀schematic frequency domain, Fig. 7 c is the energising logical schematic of one of them cycle T.

As shown in Figure 8, inside of turning is provided with two stator unit 3a, is provided with 8 rotor unit 3b (3b1/3b2) on turning, and in the swing circle of turning, power supply modulator will provide 8 cycles for (T for two stator units respectively ₁+ T ₂+ T ₀) sequential electric current, this combination proposes higher designing requirement to power supply modulator.8 stator units can be selected further to combine 10 rotor units, 12 stator units combine 12 rotor units (as shown in Figure 9), etc.In theory when H stator unit and n rotor unit Combination Design, if power supply modulator is to H the discrete power supply of stator unit winding, need corresponding design n*H electric current sequential, i.e. n*H (T ₁+ T ₂+ T ₀) electric current sequential, programming will be very complicated; Therefore in the utility system design of multiple stator unit 3a, preferred H stator unit winding electric tandem compound, or H stator unit winding is divided into some groups of external power supply modulators; The such as windings in series of 12 stator units, tap totally three external electric connection of power supply modulators of line are drawn in the middle of every 4 windings, the difference of the differetial-potential that technically these three lines also can be utilized to compare between two, as the signal source that a kind of rotor unit and stator unit relative position differentiate, substitute the independent sensing unit arranged.

In theory, also can combine at turn installation rotor unit and several stator units, though this equivalent arrangements can be implemented technically, but because of the cost of stator unit relatively high, not preferred scheme.

Power supply modulator can realize by ordinary tap circuit design or pulse digit technology, the fundamental functional modules of the latter generally comprises power converting circuit, the microprocessor of internal memory contain working procedure and signal input and output circuit, correspondingly controls by sensing unit 3c feedback signal the sequential electric current that driver module exports; Groundwork logic such as Fig. 5 a of power supply modulator shows, and Fig. 5 b is a kind of block combiner schematic diagram realizing digital technology logic.

The work-based logic transformation directive signal of power supply modulator normally obtains from the sensing unit being connected in turn inside or outside, sensing unit is not limited to use magnetoelectric induction winding or Hall element, also photoelectric encoder etc. can be used, when rotor unit is around axle 7 cycle movement, the rate of change that sensing unit can obtain electric current (voltage) feeds back to power supply modulator, and power supply modulator is sentenced according to this induced signal the relative position of knowing rotor unit 3b1/3b2 and correspondingly sent electric current sequential.According to the operating accuracy of sensing unit 3c and reliability requirement, sensing unit can turn inside or outer setting one or several, even be deformed into become the mode of multi-thread circuit feedback from above-mentioned multiple stator unit windings in series and use stator unit 3a Double-wire ring around winding feedback mode obtain work-based logic transformation directive signal, now the induced signal input 1c of power supply modulator is corresponding built-in, and its response process proposes high requirement to the working procedure logic of power supply modulator.Due to the development of large scale integrated circuit technology, the programming technique realizing the conversion of above-mentioned work-based logic is that industry professional person is known, and institute is it is to be understood that sequential current cycle, energising subset time domain and the basic design parameter such as amplitude change and power-off time domain therebetween.

In sum, described power supply modulator is a logic power switching system comprising the design of two-stage period/frequency, and one is T ₁the period/frequency design of m subset in energising time domain, the amplitude that this frequency is more high is more beneficial to approaching theory economize on electricity optimization is successively decreased relational design; Two is sequential power cycles/frequencies, reflect unit interval internal stator unit 3a to the energization action number of times of rotor unit 3b1/3b2, the rotating speed that this time sequence frequency remote definition is turned and the energising amplitude needed for stator unit or electromagnetic force (coming from power supply modulator to be energized to the winding of stator unit), because T ₁the amplitude of energising time domain is larger, and unit interval internal stator unit energising is larger to the active force of rotor unit, effect number of times is more, and the rotating speed of consequently turning is faster.The time sequence frequency of power supply modulator institute output current, rotates the implicit (T of one-period with turning ₁+ T ₂+ T ₀) sequential effect number of times, energising mean intensity and the speed of a motor vehicle be mutually corresponding all physical quantity relations, therefore after power supply modulator many imposes a condition and enter logic working state, the frequency controlling sequential energising namely controls the rotating speed of electric device.The rotating speed of this Artificial Control electric device is by driving the input 1d of actuation means 9a electric connection of power supply modulator to realize.

As utilization T ₂time domain energising is when setting up the electromagnetic force braking function of electric device, and the corresponding brake signal input 1e set up of power supply modulator is electrically connected with electro-magnetic braking device 9b, as shown in Figure 5 c, the both sides relation logic of drive current and stalling current be or; From the design concept of safety first, too much need not consider for the power saving of braking energising; Electro-magnetic braking device 9b can be set to a continuous or multistage rheostat, the braking energising intensity that its function exports for controllable power modulator, and braking electrical current is larger, and electromagnetic braking effect is better.

Stator unit interior arranges main points turning, the relative air gap 3d that will make rotor unit that magnetic action effectively occurs with its formation in Periodic Rotating, this air gap is that stator unit transmits the energy channel of electromagnetic force to rotor unit, air gap is more little is more conducive to magnetic energy effect transmission, but the too small easy generation Mechanical Contact of air gap, needs comprehensive rigidity and the machining accuracy of holding material during design.

Described deceleration/torque changing apparatus 2 is generally formed by some gear combination, the rotating speed changing machine driving input or the technical goal changing torque can be reached by the combination of some gears, the design of deceleration/torque changing apparatus is more, is preferably coaxially arranged at outside of turning with turning; Deceleration/torque changing apparatus both can independently be arranged, also can in outside implementation integral design of turning; Even be deformed into and design with outer buttons rotary device disjunctor; But when outside non-coaxial of turning arranges deceleration/torque changing apparatus, the adjustment such as suspension, damping spring center of gravity usually need be configured, not preferred scheme.

Drive rheostat that the traditional product of actuation means 9a is a deformation design, that manually easily manipulate or potentiometer, with technical development in recent years, much be based upon special actuation means that is photosensitive, Hall control technology basis to reach its maturity, generally be designed to conventional rotating handles formula, also can be designed to plug-type joystick or other any manual control modes, comprise remote control.Electric device of the present invention is with electric motor car for stating example, and its application can be used as active force, also can as auxiliary power, but its application is not limited to electric motor car, is applicable to all electronic rotation systems.Described preference is only recommendation, and some technical schemes may be combined with and use, also partly can use or add other mature technologies.As long as according to the magnetic current energy feature of electric device, by the sequential electric current that can accurately control power supply modulator design, the basic fundamental target of the present invention program can be realized.

To the professional person that electric motor car and motor technology are comparatively understood in depth, be all not difficult on scheme basis of the present invention, be out of shape with drawing inferences about other cases from one instance and implement content of the present invention.Such as on existing pulse direct-current motor basis, market, carry out part by the change of sensing mode and the conversion of controller current sequence and implement the present invention.Successively decrease design feature, the infrastructure arrangement of electric device and the distortion of derivative technology thereof of the amplitude of the electric current sequential control method of power supply modulator of the present invention and energising time domain is implemented, and all should be put into protection scope of the present invention.

Embodiment 1,

An electric device for assistance type electro-tricycle, is configured in front-wheel, and as illustrated in figure 1 c, wheel circumference is 1000mm to the partial structurtes of vehicle frame 4, and battery pack 8 selects ferric phosphate lithium cell, and battery pack 8 is arranged on the inside of vehicle frame.Electric device determine the disk that body 5 is designed in addition dead axle, dead axle exterior mechanical parameter with reference to the design data of conventional electric two-wheel vehicle wheel shaft, and is installed for replacing conventional two wheeler wheel shaft; Turning of electric device 6 is the annular titanium-aluminium alloy circle that has rotation axis, girth is 100mm, can be sleeved on the outside that body determined by disk with determining body concentric; Determine body installs a stator unit 3a at disk; Outer setting of turning has one by the deceleration/torque changing apparatus 2 of some gear combination, and it is installed with concentric of turning, and as shown in Figure 1 b, the speed reducing ratio of deceleration/torque changing apparatus is 10:1; The outer setting of deceleration/torque changing apparatus has some mechanical holes, and the perforation of one end of some spokes is fixing, and the other end is connected the wheel hub inner edge of front-wheel, and electric device is realized front wheel drive.

Rotor unit on turning is designed to two, 180 degree of installations of being separated by turning, and one of them is permanent magnet rotor unit 3b1, and material is neodymium iron boron, another is magnetic conductor rotor unit 3b2, selects the ferromagnet that market is easily purchased, wherein, the two poles of the earth line of permanent magnet rotor unit 3b1 is parallel with the tangent line of turning, S pole-face to wheel 5 direction of rotation, as shown in Figure 2 b, two rotor units are processed into box-like junior unit, and length is 10mm, and width and thickness get maximum when not affecting installation, snugly fit into the outer rim of turning, stator unit 3a selects market to be easy to the channel magnet purchased around core, there is more magnetic domain in this ferromagnet inside, under outside magnetic field effect, magnetic domain easily turns to and produces the complementary field consistent and much better than with outer magnetic field direction, winding is formed around spill magnetic core 50 circle by the copper cash of a diameter 0.60mm, Installation features: body region determined by the disk be arranged on by stator unit near rotating inner edge 4mm, captive screw is fixed, spill to be turned circular arc and installing around the arc correspondence of core, top is just to rotating inner edge (as shown in Figure 3 c), two ends correspondence is turned occupy-place 32 degree of mechanical angles.

Setting electric device joins car maximum speed per hour 20km/h and 5.6m/s (5.6 turns/s), and meter is picked up the car and taken turns corresponding spin cycle time is 180ms; Electric device turn 6 through the speed limits of deceleration/torque changing apparatus 2 correspondences be 56 turns/s, corresponding spin cycle time 18ms, i.e. power supply modulator (T that electric device is powered ₁+ T ₂+ T ₀) timing cycles minimum value T is 18ms; Power supply modulator 1 is realized by conventional electrical control circuit, design maximum overload capacity 450W, setting sequential T ₁: (T ₂+ T ₀) be 1:35, i.e. the corresponding T of speed limit ₁value 0.5ms, all the other 17.5ms are off-position; Another measure the current strength of the max speed is 17A when rated voltage is 48V, the current strength that this max speed is corresponding be one according to complete vehicle weight, the specified body weight of driver in conjunction with electric device design and through the value of test inhabitant area.The power input 1a of power supply modulator is electrically connected the both positive and negative polarity of battery pack 8, Timing driver current output terminal 1b is electrically connected the coil windings of stator unit, induced signal input 1c is electrically connected sensing unit 3c, train signal input 1d is electrically connected and drives actuation means 9a, the energising direction of the inner winding of stator unit, is set to reverse body 6 direction of rotation around core N pole shown in Fig. 2 b.Sensing unit 3c selects a conventional magnetoelectric induction winding, and captive screw is connected in the position of turn inside close its inner rim.

The external driving actuation means 9a of electric device adopts the rotating potentiometer of stepless variable resistance, Conventional hand grips formula, by the Aided design with electronic control circuit, control the current strength of power supply modulator output in real time by changing resistance, thus control the normal speed of a motor vehicle of electric two-wheel vehicle.The control unit 2 of the power on/off such as illuminating lamp, turning/stop, tail and number plate light, the sound ring manipulation that electric two-wheel vehicle routine uses, all adopts commercial products supporting.

The work-based logic of power supply modulator setting is: relative with stator unit 3a and rotor unit 3b periodicity trapping gap 3d, be in same normal 10 ( be 0) state be designated as benchmark coordinate and fiducial time, when manpower assistant or drive actuation means 9a to provide drive singal and sensing unit 3c perception rotor unit 3b around axle forward extremely reach in the moment of position (about 16 degree of angles, respective rotor unit enters the spill initial time that trapping gap is relative within the scope of core two ends, and this meticulous moment is as the criterion with experiment value), power supply modulator starts output 10A electric current; When rotor unit at every turn around axle to reference seat timestamp, power supply modulator carries out a time and returns 0 calibration and record this cycle time, by comparing cycle time around to reference seat target last time with rotor unit, know the instantaneous value of this cycle time, and according to real-time status, further work logic is judged: if drive actuation means without input instruction, power supply modulator dormancy; If the instruction driving actuation means to provide accelerates, then power supply modulator is corresponding in next cycle in the moment of position, position, perform T ₁with (T ₂+ T ₀) ratio is the switching electricity sequential of 1:35, the mean intensity of in real time energising provides by driving actuation means; If power supply modulator output current maintains the state close to 17A, the logic of above-mentioned setting will make the sequential of power supply modulator energising frequency more and more higher, in corresponding wheel each cycle, stator unit 3a gets more and more to the electromagnetic force number of times of rotor unit 3b, and the speed of a motor vehicle is more and more faster; When sequential energising frequency higher than set 1/18ms (correspondence turn rotating speed 56 turns/s) or the continuous 5s of power supply modulator output current maintains the state of 12A time, the unconditional power-off of power supply modulator and reach the design object of automatic speed-limiting.

Embodiment 2,

The sequential electric current of the power supply modulator of embodiment 1 electric device is changed into: T ₁energising time domain is set to the mutually corresponding constant current of two sections of time and intensities, and feature is the current strength I of rear 1/3 time ₂/ A is front 2/3 time current intensity I ₁the half of/A; Power supply modulator work-based logic is adjusted to: when stator unit winding starts energising, power supply modulator is enabled in 4s with I ₁intensity 12A (corresponding I ₂for 6A) for benchmark, corresponding rotation of wheel cycle every next cycle strengthen the electric current sequential of 12% output intensity automatically, the ratio of two periods of conduction times is 2:1; Further work instruction from actuation means to be driven such as 5s are initial: if drive actuation means 9a without input instruction, power supply modulator 1 dormancy; If the instruction driving actuation means to provide accelerates, then power supply modulator is when next cycle starts energising, performs T ₁with (T ₂+ T ₀) ratio is 1:35 and I ₁with I ₂current strength 2:1, conduction time ratio 1:1 electric current sequential, the mean intensity of in real time energising provides by driving actuation means.

All the other are identical with embodiment 1, and this slow acceleration mode more adapts to the safe design requirement of electric motor car.Stator former unit winding starts the moment of energising, also can change into reach the state position of 15.5 degree.

Embodiment 3,

The basis of embodiment 2 electric device is optimized the power-up procedure of power supply modulator: by T ₁energising time domain is set to the electric current that 5 periods of conduction time, identical but current strength rule was successively decreased, and 5 sections of energising intensity press K*I ₁the linear relationship hierarchical subtractive clustering of/A, degradation factor K is 0.69, namely when the initial current intensity of 5 periods of conduction times is 12.0A, T ₁current strength in sequential is successively decreased in 12.0A, 8.3A, 5.7A, 3.9A, 2.7A rule automatically.The design that this power-up procedure logic uses conventional electronic circuitry to realize controlling is more complicated, and manufacturing cost is also higher, is changed into by power supply modulator and adopts ripe pulse digit technology to realize.

The power supply modulator nucleus module of electric device comprises the driver module of a conventional CPU and design power 500W, its refinement work-based logic as shown in Figure 5 b, wherein impulse transfer modulate circuit mainly completes and pulse signal is converted to step signal, pulse signal generator mainly produces required pulse signal, secondly through the pulse of differential circuit output spike, then through the negative half period filtering of amplitude limiter circuit by spike, only remaining positive axis spike, carry out integration with the integrating circuit of integrated transporting discharging composition to add up, add voltage comparator and control circuit, just constitute complete step pulse signal, parameter adjustment is carried out to each element of circuit, thus be met the step signal of work-based logic requirement.Power supply modulator is at T ₁in energising sequential, by the pulse current that control chip (CPU) makes driver module produce a series of amplitude to successively decrease with sequential, pulse frequency 30KHz, all the other and embodiment 2 are roughly the same, acquired power performance is similar to Example 2, but power savings is relatively good.

Embodiment 4,

The pulse subset amplitude of embodiment 3 electric device is changed and is set to successively decrease continuously, be i.e. the corresponding T of power supply modulator ₁when starting current is 12A, the amplitude envelope trend of energising time domain is in (12-2.7) rule successively decrease.For improving the functional reliability of position signalling sensing, sensing unit is set to two by the present embodiment.

The saving electric energy effect of the present embodiment is better than embodiment 3.Electric device described in the present embodiment, also can correspondingly be arranged on the front-wheel of two wheeler, trailing wheel and single block; May correspond to each wheel and a set of electric device is installed, also may correspond to wheel installation two cover and much more even to overlap electric device.

Embodiment 5,

Use T ₂time domain energising sets up electromagnetic force braking function to embodiment 4 electric device.Power supply modulator corresponding increase brake signal input 1e is electrically connected electro-magnetic braking device 9b, and as shown in Figure 5 c, electro-magnetic braking device is ten grades of rheostats; When Artificial Control electro-magnetic braking device sends brake signal, power supply modulator cuts off T ₁the electric current of corresponding sequential, starts T ₂time domain is energized, and braking energising time domain is set as sensing unit 3c perception rotor unit 3b around axle extremely be 4 degree to arrive it is the time period of 0 position; This braking energising time domain T ₂also may correspond to relative time to be briefly set as: at (T ₁+ T ₂) in sequential, initial 3/4 time domain power-off, afterwards 1/4 time domain energising.

The stalling current that power supply modulator exports, ten grades of resistance shelves of corresponding electro-magnetic braking device 9b are set to ten grades of intensity, and the current strength that setting exports is: chopped-off head 5A, final stage 16A, ten grades of electric currents are on average arranged.

The present embodiment is owing to having additional the soft brake type brake apparatus of electromagnetism, and slowing effect is mild.

Embodiment 6,

The brake logic of embodiment 5 electric device is optimized for further: power supply modulator starts T ₂while time domain energising, by T ₀the work-based logic of part time domain is synchronously transformed to energising, this T ₀numerical value and the (T of part time domain ₁+ T ₂) equal, T ₀energising Startup time with it is 0 beginning timing; Power supply modulator is at this T ₀the current strength that part time domain exports and T ₂time domain is identical.The present embodiment strengthens the braking effect of electromagnetic brake greatly.

The present embodiment adds rotor unit and stator unit to the braking of stator unit winding energising and is in time domain away from state, and this two section break energising time domain also can corresponding cycle sequential T and being briefly set as: at (T ₁+ T ₂+ T ₀) in sequential, initial 3/8 time domain power-off, 5/8 time domain reads aloud electricity afterwards.

Aforementioned braking time domain it is the time period that also can change to time period of 4 ~ 0 degree of positions 2 ~ 0 degree of positions.

Embodiment 7,

The electric devices of two wheels are coaxially installed at crossbeam two ends respectively, and each wheel respectively arranges a set of electromechanical device, and the electromechanical devices of two wheels share power supply modulators; The underlying parameter of electric device designs with reference to embodiment 1 and adjusts, wheel circumference is 1500mm, each turning 6 is the annular alloy steel ring that has rotation axis, girth is 500mm, inner homogeneous is chimeric 8 rotor unit 3b respectively, comprising 4 permanent magnet rotor unit 3b1 and 4 magnetic conductor rotor unit 3b2, the S of 4 permanent magnet rotor unit 3b1 is extremely whole just to the axle of turning, the average setting alternate with magnetic conductor of the permanent magnet of 8 rotor units, and its partial structurtes as shown in Figure 7a; The coil windings of stator unit 3a is adjusted to 60 circles, and the turn mechanical angle of occupy-place of correspondence is 45 degree, with rotating inner edge spacing 5mm; Deceleration/torque changing apparatus 2 and coaxial integrated design and installation of turning, speed reducing ratio is 9:1.

Electric device is designed to join car speed limit 20Km/h and 5.6m/s (3.7 turns/s), turn through the speed limit that deceleration/torque changing apparatus is corresponding be 33.3 turns/s, its speed limit spin cycle time got by meter is 30ms, be arranged on the inner stator unit 3a that turns and with 8 rotor unit 3b, electromagnetic force occur respectively turning in swing circle, the cycle time that namely speed limit is corresponding is 3.75ms; The energising direction of power supply modulator to stator unit winding is set to reverse body direction of rotation around core N pole, to the driving power supply timing (T of electric device shown in Fig. 2 b ₁+ T ₂+ T ₀) be set as: (T ₁: T ₂: T ₀) be 0.8:1.075:1.875, the energising time domain T that namely speed limit is corresponding ₁for 0.8ms, (the T of all the other 2.95ms ₂+ T ₀) time domain is off-position; Power supply modulator selects large scale digital logic switch integrated circuit to realize, design maximum overload capacity 1200W.

The method of the thermoacoustic prime engine logical AND embodiment 1 of power supply modulator setting roughly the same, by the sequential energising frequency of period regulation record, the real-time speed of a motor vehicle can be known, when sequential energising frequency is higher than 1/3.75ms (correspondence turn rotating speed 33.3 turns/s), the unconditional power-off of power supply modulator and reach the design object of automatic speed-limiting.

In the present embodiment, drive power supply time domain T ₁also may be defined as the corresponding time period from 22.5 degree to 11.25 degree, be briefly set as: at (T ₁+ T ₂+ T ₀) in sequential, initial 1/4 time domain energising, 3/4 time domain power-off afterwards.

The present embodiment, in the technical scheme of crossbeam two ends configuration electric device, can be implemented at the front-wheel of the trailing wheel of coaxial parallel two wheeler, tricycle and carriage, trailing wheel; There is differential during this technical scheme turning driving, speed limit should be designed especially, or by the built-in differential program of power supply modulator, make turning driving more stable.

Embodiment 8,

On embodiment 7 basis, often the stator unit 3a overlapped in electromechanical device sets up is two, and alloy is turned and is fitted together to the rotor unit 3b of 8 alternate settings with integrated forming technique in inside; Rotor unit comprises 4 permanent magnet rotor unit 3b1 and 4 magnetic conductor rotor unit 3b2, and the S of 4 permanent magnet rotor unit 3b1 is extremely all just to the axle of turning, and the permanent magnet of 8 rotor units and magnetic conductor be alternate average setting between two.

Changing into around core of two stator units is cylindrical, and umber of turn is all 60 circles, cylindrical vertical to the normal 10 of turning corresponding around core two ends during installation, as shown in Figure 3 a; Two stator units be arranged on 6 inner plane normal of turning center, determine body annular position near rotating inner edge 5mm, the mechanical spacing that technical requirement and direction of rotation adjoin rotor unit 3b is identical, the winding electric of two stator units is connected in series, at common 8 rotor unit generation electromagnetic forces equally distributed with it in swing circle of turning.

In the present embodiment, power supply modulator correspondence spin cycle time of turning is identical; Power supply time domain is driven to be defined as from extremely the time period of position, braking power supply time domain is defined as from extremely it is the time period of 0.

The mechanical layout of two stator unit 3a in the present embodiment, also can change into and inner monosymmetricly determine body region installation turning, namely be benchmark with the center line of inner plane normal of turning, determining the installation of body region bilateral symmetry accordingly, the winding electric of two stator units is connected in series, and electromagnetic pole direction is identical.

Embodiment 9,

Be arranged on the electric device of electric four-wheel vehicle two trailing wheels as shown in Figure 1 d, electric device determine body and fixed axis is connected, turning of electric device is connected with the wheel hub inner edge of wheel; The present embodiment arranges 12 stator unit 3a determining body 5 inside, stator unit is cylindrical around core, and umber of turn 65 encloses, and cylindrically during installation overlaps to the normal 10 of turning corresponding around core two ends line 12, as shown in Figure 3 b, and be uniformly distributed near the annular position of rotating inner edge 5mm; Titanium-aluminium alloy is turned the 6 rotor unit 3b being fitted together to 12 alternate settings with integrated forming technique in inside, comprising 3 permanent magnet rotor unit 3b1 and 9 magnetic conductor rotor unit 3b2, the N of 3 permanent magnet rotor unit 3b1 is extremely all just to the axle of turning, during installation, alternate 1 the permanent magnet rotor unit of every 3 magnetic conductor rotor units, 12 rotor unit alternate average settings on turning.

The winding electric of 12 stator units is connected in series, tap is drawn in the middle of the winding of every 4 stator units, external formation 3 electric external loops of line composition (being similar to the Δ shape connection of the inner winding of conventional motors), at 12 rotor unit generation electromagnetic forces equally distributed with it in swing circle of turning; The electric connection mode correspondence of power supply modulator is designed to three wire circuit, time sequential pulse electric current mean allocation in each loop that three lines are formed of its corresponding output; What the present embodiment can utilize the external two-phase of stator unit 3a winding to feed back further compares differetial-potential difference between two, as the signal source that a kind of interior location differentiates, substitutes the independent sensing unit arranged.

The driving of the present embodiment electric device, brake control mode and stator former unit are arranged at turns inner method roughly the same, drives power supply time domain to be defined as from extremely the position corresponding time period, braking power supply time domain is defined as from to 0 degree of corresponding time period.Drive power supply time domain T ₁also can briefly be set as: at (T ₁+ T ₂+ T ₀) in sequential, initial 1/8 time domain energising, 7/8 time domain power-off afterwards.Braking power supply time domain also can briefly be set as: at (T ₁+ T ₂+ T ₀) in sequential, initial 3/8 time domain power-off, afterwards 5/8 time domain energising.

The present embodiment is because have employed 12 stator unit combinations, and power effect strengthens greatly.There is differential when the technical scheme turning driving of crossbeam two ends configuration electric device in the present embodiment, should design speed limit especially, or by the built-in differential program of power supply modulator, make turning driving more stable.

Embodiment 10,

In embodiment 1 spill in the design basis of core top just to the inner edge of turning, spill is reversed body direction of rotation deflection 5 degree angles around the top of core, the clockwise body direction of rotation of permanent magnet rotor unit 3b1 deflects 5 degree of angles, and all the other and embodiment 1 are roughly the same.The present embodiment is because forming the deflection angle of electromagnetic field after the inner winding energising of stator unit 3a, more meet rotor unit around the axle dynamic model attracting with stator unit periodicity, effect is better than embodiment 1.

Embodiment 11,

Sensing unit 3c described in embodiment 1 is the 3e inside of turning being connected in electric device, sensing unit 3c is arranged on the vehicle frame 4 of front-wheel by the present embodiment, annular region any part in the front-wheel cycle in the face of sensing unit 3c, one piece of permanent magnet is set specially, make the induction winding of sensing unit periodically obtain induced signal with rotation of wheel, acquired implementation result and embodiment 1 are roughly the same.

Embodiment 12,

The electric device that accurate single-wheel structure electric is automobile-used, described accurate single-wheel structure is coaxial compact installation two wheels, and the mechanical structure portion of electric device is located on the axle between two wheels; 10 rotor unit 3b that 6 all built-in integrated designs of turning manufacture, wherein each 5 of permanent magnet rotor unit 3b1 and magnetic conductor rotor unit 3b2, determine the stator unit 3a that body 5 is provided with 4 electricity series connection, stator unit and between turning air gap 3d be 6mm, deceleration/torque changing apparatus 2 that outer setting of turning two is coaxial with it, the speed reducing ratio of deceleration/torque changing apparatus is 12:1; The outer setting of each deceleration/torque changing apparatus has some power transmission muscle to be engaged in, and its one end is connected by the outside of mechanical device and deceleration/torque changing apparatus 2, and the other end is connected the wheel rim of wheel, makes electric device realize aiming at the machine driving of single-wheel.

In the present embodiment, power supply time domain is driven to be defined as from extremely the position corresponding time period, braking power supply time domain is defined as from extremely be 0 corresponding time period, drive actuation means 9a to be set to remote control.

Structure described in the present embodiment also can be taken turns above electric motor car at one and be implemented, and makes electric running effect more stable.

Embodiment 13,

The stator unit of embodiment 1 is changed into two-wire wounded core, and winding is formed around spill magnetic core 50 circle by the copper cash of two diameter 0.60mm, and one of them winding loop is used for power and powers, electric connection of power supply modulator 1; Another winding loop is used as to substitute the independent sensing unit 3c arranged, as the judgment signal source of rotor unit 3b with position of rotation of turning.

The present embodiment can also be optimized for the Winding Design of stator unit further: power power winding by a diameter 0.60mm copper cash around spill magnetic core 50 enclose form, sensing winding is formed around spill magnetic core 15 circle by the copper cash of a diameter 0.20mm, more can save copper material.

Above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is modified or equivalent replacement, do not depart from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.

Claims (12)

1. an electric device, is characterized in that, described electric device comprises power supply modulator (1), deceleration/torque changing apparatus (2), drives actuation means (9a), determines body (5) and turn (6); Described power supply modulator comprises power input (1a), sequential current output terminal (1b) and driving signal input (1d), the both positive and negative polarity of power input electrical connection battery pack (8); Described turning is an annular machinery circle with rotation axis, alternately on it be provided with some rotor units (3b), described rotor unit comprises at least one permanent magnet rotor unit (3b1) and at least one magnetic conductor rotor unit (3b2); Several poles when arranging on turning of described permanent magnet rotor unit are to identical; Described to determine body be a mechanical disk with fixed axis, and inside at least arranges a stator unit (3a) and is arranged on the position near turning; Describedly determine body and arrange with concentric of turning, both are not more than 25mm by relative air gap (3d); Described deceleration/torque changing apparatus is arranged with concentric of turning;

The inside winding of the sequential current output terminal electrical connection stator unit of described power supply modulator, driving signal input electrical connection drives actuation means; Described power supply modulator obtains the instruction of user by driving actuation means, and in the inside winding output current of corresponding time sequence to stator unit, makes electric device realize driving/braking.

2. electric device according to claim 1, it is characterized in that, described deceleration/torque changing apparatus (2) is formed by some gear combination, the whirligig mechanical attachment of its drive input and turn (6) mechanical attachment, transmission output and electric device outside; Deceleration/torque changing apparatus (2) is independent to be arranged, or is arranged at the outside of turning with (6) integrated coaxial of turning.

3. electric device according to claim 1, it is characterized in that, described stator unit (3a) is formed around the magnetic core of magnetic media material by least one group of good conductor loop, by connected in series or in parallel between the winding that its several combination obtains, or by drawing the multi-thread external loop of centre tap composition between different winding, the electromagnetic pole that its energising is formed is contrary with the polarity that described permanent magnet rotor unit 3b1 moves in opposite directions.

4. electric device according to claim 1, it is characterized in that, described electric device also comprises sensing device, and described sensing device comprises some sensing units (3c) responding to described rotor unit (3b) and stator unit (3a) relative position; Described sensing unit is electrically connected with the transducing signal input (1c) of described power supply modulator; Described electric device is at least at the inside of turning or outer setting one sensing unit.

5. electric device according to claim 4, it is characterized in that, described sensing device also comprises the inside winding of stator unit (3a), and described inner winding comprises around the winding of stator unit magnetic core and by the multi-thread external loop be in series between some stator unit windings.

6. electric device according to claim 1, it is characterized in that, described electric device also comprises electro-magnetic braking device (9b), described power supply modulator also comprises brake signal input (1e), it is electrically connected electro-magnetic braking device, by electro-magnetic braking device obtain user braking instruction and in the inside winding output current of corresponding time sequence to the stator unit (3a) of electric device.

7. the electric motor car containing the arbitrary electric device of claim 1 ~ 6, described electric motor car comprises the electric motor car of one or more wheel and electronic, autocycle; The wheel of described electric motor car at least arranges a set of electric device, and the wheel installing electric device comprises the accurate single-wheel structure of single-wheel and coaxial compact installation two wheel.

8., based on the driving method of the arbitrary electric device of claim 1 ~ 6, the method is rotated by the position relationship output timing Current Control electric device of power supply modulator by described rotor unit (3b) and stator unit (3a);

Described sequential is according to turning direction of rotation and defining, described sequential electric current combines the rotor unit number on turning according to the useful effect interval of stator unit electromagnetic field on turning and arranges several make and break periods T, and each make and break period comprises power supply time domain and power-off time domain; Described power supply time domain is positioned at the corresponding time period, described in the normal determined around axle and with axle for rotor unit and stator unit and axle determine the dynamic angle that normal is formed, described in for rotor unit overlaps determined around axle tangential direction with electromagnetic force direction suffered by it value;

Power supply modulator (1) not output current in described power-off time domain.

9. method according to claim 8, is characterized in that, described power supply modulator at least comprises two sections of different current amplitudes in power supply time domain, and diminishes successively in amplitude chronologically, and the amplitude in power supply time domain or its period of the day from 11 p.m. to 1 a.m territory linearly to be successively decreased relation with sequential;

Or in 2 ^kto successively decrease relation, described index K value 0.45 to 0.95;

Or be following relation: wherein I ₀for initial energising intensity, I _gfor the current strength of the end time that is energized.

10. method according to claim 8 or claim 9, it is characterized in that, the magnetic flux density of electric current initial in described energising time domain, voltage or stator unit (3a) obtains by sensing device rotating speed instantaneous value of turning and combines the instruction that drives actuation means (9a) to provide and adjust.

11. methods according to claim 8 or claim 9, it is characterized in that, described method also comprises aligning step; Described aligning step be rotor unit is relative with the coaxial normal in stator unit place, be that the state of 0 is as benchmark coordinate and fiducial time, when each forward of rotor unit is to reference seat timestamp, power supply modulator (1) carries out a time and returns 0 calibration and record this cycle time, by comparing cycle time to reference seat target with rotor unit forward last time, thus know the spin cycle time of turning, and control output current.

12. based on the braking method of the arbitrary electric device of claim 1 ~ 6, at described rotor unit convergence stator unit, rotor unit, and rotor unit relative with the coaxial normal in stator unit place and stator unit are at least one time domain away from state the method, and output timing Current Control electric device is braked;

Described rotor unit convergence stator unit is the corresponding time period of state, described in the normal determined around axle and with axle for rotor unit and stator unit and axle determine the dynamic angle that normal is formed, described in for rotor unit overlaps determined around axle tangential direction with electromagnetic force direction suffered by it value.