CN105591520A - Linear motor and integrated control chip - Google Patents
Linear motor and integrated control chip Download PDFInfo
- Publication number
- CN105591520A CN105591520A CN201610101242.9A CN201610101242A CN105591520A CN 105591520 A CN105591520 A CN 105591520A CN 201610101242 A CN201610101242 A CN 201610101242A CN 105591520 A CN105591520 A CN 105591520A
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- Prior art keywords
- electric motors
- linear electric
- magnetic
- stator
- magnetic conduction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
Abstract
The invention is suitable for the motor field, and provides a linear motor comprising a casing, a stator, a rotor, a supporting shaft, and a control mechanism. The stator comprises a plurality of magnetic conductive rings and a plurality of separation rings, and the separation rings are used for the electric conduction, and are not used for the magnetic conduction. The magnetic conductive rings and the separation rings are in an alternately laminated arrangement. The rotor comprises a supporting skeleton and a driving coil. The control mechanism comprises a magnetic conductive arm and a control coil. The stator can use the magnetic conductive rings and the separation rings, which are in an alternately laminated arrangement. The size of the stator is small, and the driving coil of the stator can be used to generate the driving magnetic field along the axial direction of the supporting shaft. When the current pulse passes through the driving coil, the induction current can be generated in the stator, and therefore the magnetic field can be used to drive the rotor to move, and the fast response of the linear motor can be realized, and when the large instantaneous pulse current passes through the linear motor, the lager power can be generated, and the size can be small. The position of the rotor can be controlled by adjusting the interaction between the magnetic force of the control coil and the magnetic conductive ring of the stator, and the control is more accurate.
Description
Technical field
The invention belongs to machine field, relate in particular to a kind of linear electric motors and integrated control chip.
Background technology
Linear electric motors also claim linear electric machine, and its principle is: linear electric motors are that one is directly changed into electric energy directlyLine motion mechanical energy, and without any need for the transmission device of intermediate conversion mechanism. It can be regarded one as and revolveRotating motor is by radially cutting open, and generate plane forms. By stator develop and come a side be called elementary, by turningSon develop and come a side be called secondary. In the time of practical application, primary and secondary is manufactured to different length,To ensure that the coupling between elementary and secondary in required stroke range remains unchanged. Linear electric motors can be shortElementary length is secondary, can be also long elementary short secondary. In the time that armature winding passes into AC power, just at air gapMiddle generation travelling-magnetic-field, secondary being expert under ripple magnetic field intercepts, will induce electromotive force generation current, this electricityStream acts on mutually and just produces electromagnetic push with the magnetic field in air gap. If elementary fixing, secondary in thrustUnder do rectilinear motion; Otherwise, the elementary rectilinear motion that does. Thereby the stator of existing linear electric motors be generallyOn long straight guide, interval arranges the permanent magnet or the coil that produce magnetic field, and same interval on rotor guide rail arrangesCoil forms. But this stator and rotor structure, owing to wanting interval that multiple coils or permanent magnet are set, because ofAnd volume is larger, be separately limited by volume size, no matter be stator or rotor, its coil or permanent magnet produceMagnetic field intensity is less, cause the volume of linear electric motors large, and power is less, controls difficulty.
Summary of the invention
The object of the present invention is to provide a kind of linear electric motors, be intended to solve existing linear electric motors volume large, movingPower is little, control difficult problem.
The present invention is achieved in that a kind of linear electric motors, comprises casing, is installed on determining on described casingSon, be slidably mounted on the rotor in described stator and support the back shaft of described rotor, described back shaft is installedIn described casing, if described stator comprises for some magnetic guiding loops of magnetic conduction and non-magnetic for conductionDry shading ring, and described magnetic guiding loop and the alternately laminated setting of described shading ring, described rotor comprises and is installed on instituteState support frame on back shaft and the drive coil for generation of driving magnetic field, described driving magnetic field along described inBack shaft axially, described drive coil is wound on described support frame, described linear electric motors also comprise useIn the controlling organization of controlling described rotor-position, described controlling organization comprises and leading that described support frame is connectedMagnetic arm and be wound in the control coil on magnetic conduction arm.
The stator of linear electric motors of the present invention uses magnetic guiding loop and the shading ring of alternately laminated setting, and shading ringConduction and magnetic conduction not, can make the volume of stator littlely, and the drive coil of rotor produces along supportingThe driving magnetic field that axle is axial, when drive coil is during by current impulse, the induced-current that can produce in stator,And then the generation magnetic field contrary with above-mentioned driving magnetic field, to drive rotor movement, thereby these linear electric motors canRealize response fast; In addition, when drive coil passes through larger transient pulse electric current, can produce larger movingPower; And the magnetic conduction arm being connected with support frame is set, and on magnetic conduction arm, be wound around control coil, can pass throughThe position of rotor is controlled in the interaction of the magnetic force of control coil and the magnetic guiding loop of stator, controls more accurate;Because drive coil produces along the axial driving magnetic field of back shaft, drive coil direction of winding is around back shaftAxially, thus the volume of rotor can be made less, so that the volume of these linear electric motors can be made is less.
Another object of the present invention is to provide a kind of integrated control chip of linear electric motors as above, useIn detect as described in linear electric motors drag the mass M of loadFApply described linear electric motors effect with the external worldPower FW, comprise control circuit, detection module, memory and the processing module of controlling drive coil, described controlCircuit processed comprise control described drive coil on-off circuit, connect the electric capacity at described on-off circuit two ends and rightThe power supply circuits of described capacitor charging, described detection module is measured described capacitor charging voltage and described switch electricityRoad ON time TonAnd time TonCorresponding velocity variations value Δ Von, described in described detection module is also measuredOn-off circuit cuts out rear a period of time ToffCorresponding velocity variations value Δ Voff, and by this time TonAnd ToffAnd Δ VonWith Δ VoffBe stored in described memory, described processing module is during according to the conducting of described on-off circuitBetween Ton, described electric capacity charging voltage, obtain driving electromagnetic force FQAnd electromagnetic resistance FZValue, then basisFormula (FQ-FW)*Ton＝MF*ΔVonWith (FZ+FW)*Toff＝MF*ΔVoffCalculate the mass M of described loadFApply directed force F with the described external worldW。
Integrated control chip of the present invention can fast detecting goes out the mass M that drags load of linear electric motorsFWithThe external world applies this linear electric motors directed force FW, and then can control better this linear electric motors.
Brief description of the drawings
Fig. 1 is the sectional structure schematic diagram of a kind of linear electric motors of providing of the embodiment of the present invention one;
Fig. 2 is the sectional structure schematic diagram along A-A line in Fig. 1;
Fig. 3 is the structure for amplifying schematic diagram of N part in Fig. 1;
Fig. 4 is that the magnetic guiding loop of the linear electric motors rotor of Fig. 1 is displaced to the second magnetic guiding loop one contiguous on statorStressed schematic diagram when side;
It is another that Fig. 5 is that the magnetic guiding loop of the linear electric motors rotor of Fig. 1 is displaced on stator the second contiguous magnetic guiding loopStressed schematic diagram when one side;
Fig. 6 is the rotor of Fig. 1 while moving in stator, the stressed schematic diagram of magnetic guiding loop;
Fig. 7 is the schematic diagram of mean forced position between the linear electric motors rotor of Fig. 1 and stator;
Fig. 8 is the schematic diagram of the control circuit of the drive coil of the linear electric motors of Fig. 1;
Fig. 9 is the control procedure schematic diagram of the drive coil of the linear electric motors of Fig. 1.
Figure 10 is the sectional structure schematic diagram of a kind of linear electric motors of providing of the embodiment of the present invention two;
Figure 11 is the sectional structure schematic diagram along G-G line in Figure 10.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and realityExecute example, the present invention is further elaborated. Only should be appreciated that specific embodiment described hereinOnly, in order to explain the present invention, be not intended to limit the present invention.
Embodiment mono-:
Refer to Fig. 1-Fig. 9, a kind of linear electric motors 100 that the embodiment of the present invention provides, comprise casing 11,Stator 20, rotor 30, back shaft 13 and controlling organization 40; Stator 20 is installed on casing 11. This realityExecute in example, stator 20 is installed in casing 11, can support and protect stator 20 by casing 11.Rotor 30 is slidably mounted in stator 20, so that rotor 30 can move in stator 20, and rotor30 are arranged on back shaft 13, can support rotor 30 by back shaft 13, and make the rotor 30 canTo move along back shaft 13. Back shaft 13 is arranged in casing 11, so that casing 11 supports back shaft13. Stator 20 comprises some magnetic guiding loops 21 and some shading rings 22, and magnetic guiding loop 21 is handed over shading ring 22For stacked setting, magnetic guiding loop 21 is for magnetic conduction and conduction, and shading ring 22 is magnetic conduction not for conduction; Along propping upSupport axle 13 axially, arrange one deck magnetic guiding loop 21, one deck shading ring 22, one deck magnetic guiding loop 21, one deck everyBe arranged alternately like this from ring 22. Rotor 30 comprises support frame 31 and drive coil 32, support frame 31Be installed on back shaft 13, drive coil 32 is wound on support frame 31, when drive coil 32 is switched onTime, drive coil 32 can produce the axial driving magnetic field along back shaft 13, and drive coil 32 is wound aroundOn support frame 31 time, drive coil 32 is actual is around back shaft 13. When drive coil 32 passes throughWhen current impulse, the induced-current that can produce in stator 20, and then the generation magnetic contrary with above-mentioned driving magnetic field, to drive rotor 30 to move; When current impulse is large and the time more in short-term, can produce larger drivingPower, thus realize the quick response of rotor 30. Controlling organization 40 is for coordinating stator 20 to control rotor 30Position, controlling organization 40 comprises magnetic conduction arm 41 and control coil 42, magnetic conduction arm 41 and support frame 31 phasesConnect, thereby can move with rotor 30, control coil 42 is wound on magnetic conduction arm 41, when to control coilIn 42 whens energising, can produce controlling magnetic field, then lead by magnetic conduction arm 41, and then can be with stator 20Magnetic guiding loop 21 interacts, and uses thereby not only can play to slow down, can also be relative with rotor according to statorAcceleration is realized in position, and realize accurately and regulating, and after drive coil 32 power-off, can be by magnetic conductionArm 41 is located, and then rotor 30 is located, thereby can realize the position of controlling rotor 30.
The stator 20 of linear electric motors 100 uses the magnetic guiding loop 21 and shading ring 22 of alternately laminated setting, and everyFrom ring 22 conductions and magnetic conduction not, the volume of stator 20 can be made less, and the drive wire of rotor 30Circle 32 produces along the axial driving magnetic field of back shaft 13, when drive coil 32 is during by current impulse, and statorThe induced-current that can produce in 20, and then the generation magnetic field contrary with above-mentioned driving magnetic field, to drive rotor 30Mobile, thereby these linear electric motors 100 can be realized quick response; In addition, drive coil is by more instantaneousWhen pulse current, larger power can produced; And the magnetic conduction arm 41 that setting is connected with support frame 31,And on magnetic conduction arm 41, be wound around control coil 42, can be by the magnetic force of control coil 42 and stator 20The position of rotor 30 is controlled in the interaction of magnetic guiding loop 21, controls precisely; Because drive coil 32 producesDriving magnetic field axial along back shaft 13, drive coil 32 direction of windings are axial around back shaft 13, because ofAnd the volume of rotor 30 can be made less, so that the volume of these linear electric motors 100 can be made is less.
Magnetic guiding loop 21 can be iron hoop, steel loop, silicon steel, electrical pure iron, permalloy, metal nano alloyThe ring plate that the permeability magnetic materials such as material are made. Shading ring 22 can be the non-magnetic material of the conduction such as copper ring, aluminium ringThe ring plate that material is made.
Further, drive coil 32 can arrange at least two groups, when at least two group drive coils 32 are pressed notWith time sequencing during by current impulse, drive coil 32 can produce straight-line traveling wave magnetic field, and linear rowsThe size and Orientation in ripple magnetic field is relevant with ON time order with the size of current of many group drive coils 32, due toThere is slip speed in the row wave speed in straight-line traveling wave magnetic field and stator 20, in stator 20, produces induced-current,And then the generation magnetic field contrary with above-mentioned straight-line traveling wave magnetic field, to drive rotor 30 to move. Certainly, at anotherIn a little embodiment, the magnetic field that can also make at least two group drive coils 32 produce other waveform, and then at statorIn 20, produce induced-current, and produce contrary magnetic field, to drive rotor 30 to move.
Each group drive coil 32 can adopt sectional area is large, resistivity is low anaerobic fine copper enamel-covered wire around supportOn skeleton 31 1～2 layer. To can pass through transient high-current.
Further, magnetic conduction arm 41 comprises some magnetic conduction sheets 411 and some insulating trips 412, magnetic conduction sheet 411With the alternately laminated setting of insulating trip 412, and along back shaft 13 axially: one deck magnetic conduction sheet 411, is setLayer insulating trip 412, one deck magnetic conduction sheet 411, one deck insulating trip 412 are arranged alternately like this. Each insulating trip 412Isolate adjacent two magnetic conduction sheets 411. The magnetic conduction arm 41 of this structure setting can produce by control coil 42Controlling magnetic field. Further, magnetic conduction sheet 411 can be iron plate, steel disc, silicon steel, electrical pure iron, slopeThe sheet that permeability magnetic material such as alloy, metal nano alloy material is not made. Insulating trip 412 can be plastic sheet,The sheet that the insulating materials such as resin sheet are made. Certainly, also can the insulation such as wrap insulate paint on magnetic conduction sheet 411Covering, then the magnetic conduction sheet 411 that these are surrounded by insulated cladding is superimposed together, and forms magnetic conduction arm 41.
Refer to Fig. 3-Fig. 7, further, adjacent a slice magnetic conduction sheet 411 and a slice insulating trip 412Thickness sum equates with the thickness sum of a slice shading ring 22 with adjacent a slice magnetic guiding loop 21. Work as magnetic conduction sheet411 thickness is D11, the thickness of insulating trip 412 is D12, the thickness of magnetic guiding loop 21 is D21, shading ring22 thickness is D22, D11+D12＝D21+D22,, in the time switching on to control coil 42, this structure canTo realize the fixed function of automatic positioning lock. Particularly, in the time passing through controlling magnetic field B in magnetic conduction arm 41, fixedAlso can be by corresponding magnetic field B, to interact with magnetic conduction arm 41 in the magnetic guiding loop 21 of son 20. Refer toFig. 4, in the time that the magnetic conduction sheet 411 of magnetic conduction arm 41 is positioned at the left side of the contiguous magnetic guiding loop 21 of stator 20, is subject toControlling magnetic field suction F to the right uses, and can move right. Refer to Fig. 5, when the magnetic conduction of magnetic conduction arm 41When sheet 411 is positioned at the right side of the contiguous magnetic guiding loop 21 of stator 20, is controlled magnetic field suction F left and makesWith, can be moved to the left. Refer to Fig. 6 and Fig. 7, when the middle part of the magnetic conduction sheet 411 of magnetic conduction arm 41 is with fixedWhen the middle part alignment of the contiguous magnetic guiding loops 21 of son 20, as with Fig. 7 in S0、S2、S4, at once, lead positionThe magnetic conduction sheet 411 of magnetic arm 41 is controlled suction left and right balance or magnetic force F minimum, now the magnetic conduction arm in magnetic field41 magnetic conduction sheet 411 is in stable state. And middle part and the stator 20 of working as the magnetic conduction sheet 411 of magnetic conduction arm 41 are close toMiddle part when alignment of dead ring, as with Fig. 7 in S1、S3Position is at once, the magnetic conduction sheet of magnetic conduction arm 41411 suction that are controlled magnetic field also can left and right balance, if but now magnetic conduction sheet 411 be slightly offset or be subject toExternal Force Acting, can break this balance, makes the magnetic conduction sheet 411 of magnetic conduction arm 41 move to contiguous magnetic guiding loop21 corresponding positions. , in the time switching in control coil 42, can play deceleration, and then rotor 30 is located,Can also rotor be accelerated according to the relative position of stator and rotor, it be more accurate to regulate.
Refer to Fig. 1, Fig. 2 and Fig. 3, further, magnetic conduction arm 41 arranges in pairs, and magnetic conduction arm 41For at least one pair of, two magnetic conduction arms 41 of every pair are located at respectively the relative both sides of back shaft 13. By magnetic conduction arm41 arrange in pairs, can make the stressed steady of rotor 30 both sides, so that rotor 30 can be more reposefully along propping upSupport axle 13 moves. In the present embodiment, magnetic conduction arm 41 is two pairs, and magnetic conduction arm 41 is four, and evenly dividesThe surrounding of cloth back shaft 13. In other embodiments, magnetic conduction arm 41 can be also other logarithm, as three pairs,Four pairs etc. Also having in some embodiment, magnetic conduction arm 41 also can be ringwise.
Further, stator 20 is cylindric, and magnetic conduction arm 41 is with fixed away from one end 415 of back shaft 13The circular arc that son 20 coordinates. Magnetic conduction arm 41 is arranged and is circular arc away from one end 415 of back shaft 13, canTo increase the area coordinating with the magnetic guiding loop 21 of stator 20, to improve control coil 42 magnetic that produces controlling magnetic fieldSuction. In other embodiments, stator 20 also can ovalize or the cross section of stator 20 be frame shape.
Further, gap between magnetic conduction arm 41 and stator 20 can be arranged littlely, and then reduce magnetic forceLoss, raising control coil 42 produces the magnetic attraction of controlling magnetic field.
Further, axle sleeve 12 is installed in casing 11, and axle sleeve 12 is sleeved on back shaft 13.Axle sleeve 12 is set to support back shaft 13, can better reduces back shaft 13 and wear and tear.
Further, the controlling magnetic field that control coil 42 produces perpendicular to back shaft 13 axially. To controlMagnetic field processed is axial perpendicular to back shaft 13, controlling magnetic field vertical drive magnetic field, thus can prevent from controllingInfluencing each other between magnetic field and driving magnetic field.
Further, on magnetic conduction arm 41, the one end near back shaft 13 is provided with permanent magnet 45. At magnetic conduction arm 41Upper one end near back shaft 13 arranges permanent magnet 45, can make to have all the time magnetic force on magnetic conduction arm 41,In the time that rotor 30 stops moving, can realize the effect of automatically locking. In the present embodiment, permanent magnet 45 is coverTubular, and magnetic conduction arm 41 is fixed on permanent magnet 45.
Refer to Fig. 1-Fig. 9, when linear electric motors 100 power-off of this embodiment, the magnetic field B on magnetic conduction arm 41Cut apart by permeability magnetic material and the non-magnet_conductible material of the magnetic circuit part of stator 20 and magnetic conduction arm 41 in the axial direction,Magnetic conduction sheet 411 by the magnetic guiding loop 21 of stator 20 and magnetic conduction arm 41 is cut apart. When stator 20 and magnetic conduction arm 41Permeability magnetic material between distance enough little, i.e. the magnetic guiding loop 21 of stator 20 and the magnetic conduction sheet of magnetic conduction arm 41Enough hour of distance between 411, if the relative axial position of the magnetic conduction sheet 411 of magnetic guiding loop 21 and vicinityHave skew, magnetic field B makes on the position that remains on magnetic resistance minimum of magnetic conduction arm 41 producing static magnetic force F,This position is Fig. 4 and position shown in dotted lines in Figure 5 namely, departs from distance S and the magnetic force of dotted line positionThe magnitude relationship of F as shown in Figure 6. S in Fig. 6 and Fig. 71And S3Although position active force is 0, this positionBe set to labile state, disturb S as long as the external world has a bit1And S3Position can not keep. And S0、S2、S4These positions are stable state, as long as the applied external force being applied on these linear electric motors 100 is less than maximumStatic magnetic force F, stator 20 and the rotor 30 of linear electric motors 100 will keep this relative position, thereforeThe function that has position automatically to keep after linear electric motors 100 power-off.
When after control coil 42 energisings of controlling organization 40, the magnetic field that produces magnetic field and permanent magnet 45 is mutually foldedAdd, will strengthen or weaken the magnetic field in whole magnetic circuit between stator 20 and magnetic conduction arm 41. Produce in stack magnetic fieldRelative position, stator 20 between size, stator 20 rotors 30 in the big or small direction of raw power and stack magnetic fieldGap length between magnetic conduction arm 41 is relevant, chooses length, the permanent magnet of linear electric motors 100 magnetic circuit partsThe size in 45 magnetic fields, the number of turn of control coil 42, the maximum force that the magnetic field that makes to superpose produces is greater than straight lineThe peak load that motor 100 bears while work. This active force is used for controlling the axial straight line fortune of linear electric motors 100Moving position and speed. When linear electric motors 100 structures determine after, when static according to stator 20 and rotor 30Relative position departs from the distance of magnetic resistance minimum position, the size of control coil 42 electric currents, can obtain the external world and executeBe added in the size of linear electric motors 100 active forces. Linear electric motors 100 stators 20 and rotor 30 and magnetic conduction arm 41The structure of magnetic circuit known, these linear electric motors 100 axial location precision are D21+D22, axial location control does not haveThere is accumulated error. And in production process, by regulating the thickness of stator 20 and magnetic conduction arm 41 magnetic circuit materials,Be thickness and shading ring 22 and the insulating trip of the magnetic guiding loop 21 of stator 20 and the magnetic conduction sheet 411 of magnetic conduction arm 41412 thickness, meets the axial location control accuracy requirement of linear electric motors 100. In order to reach higherControl performance, the assemblage gap between stator 20 and magnetic conduction arm 41 requires as far as possible little. And work as stator 20 and leadThe thickness setting of magnetic arm 41 and permeability magnetic material and non-magnet_conductible material as far as possible hour, can make this linear electric motors 100Precision reach higher precision, even can reach the precision of 1 μ m, certainly, for 1 μ m required precision1 μ m is also wanted in the gap of stator rotor, otherwise gap is too large, and the control moment that control coil produces movesIn time, does not almost change, and causes influence on Harmonic Armature, so the motion control precision of linear electric motors reality is limitedGap length between stator and magnetic conduction arm, is limited to the thickness limits of magnetic conduction and non-magnet material in addition.
See also Fig. 8 and Fig. 9, these linear electric motors 100 also comprise the control of controlling drive coil 32 electric currentsDevice processed, is provided with control circuit 50 in this controller. Controller is set, can reduces the body of linear electric motors 100Long-pending, also facilitate and control these linear electric motors 100 simultaneously. Controller can be arranged in support frame 31. SupportIn skeleton 31, can offer accommodating cavity 33, so that this controller to be installed.
Further, in controller, be also provided with the integrated control chip of controlling this control circuit 50. Arrange integratedControl chip can better be controlled the conducting of drive coil 32 electric currents, and then can better control this straight lineMotor 100. Arrange integrated control chip can also fast detecting go out the suffered applied external force of linear electric motors andLoad quality size.
Drive coil 32 adopts sectional area is large, resistivity is low wire around by not magnetic conduction electrically non-conductive material of heat conductionOn the support frame 31 of making. Drive coil 32 can bear larger electric current. Further, control electricityRoad 50 comprises and connects the on-off circuit of drive coil 32 and the charging circuit 58 being connected with on-off circuit. This is openedClose in circuit and be provided with the electric capacity 55 that drive coil 32 is powered. Use on-off circuit, can control easilyThe break-make of drive coil 32, to control rotor 30 and mobile. Further, in the present embodiment, switch electricityDevice can be H bridge circuit. Refer to Fig. 8 and Fig. 9, in Fig. 9, a is the H bridge of controlling drive coil 32Brachium pontis 52 grid voltages, b is the size of the power that produces of drive coil 32, c is the rotor of linear electric motors 100The 30 axial speeds of service, d is the size of the power that produces of control coil 42. Integrated control chip passes through charged electricalThe charging voltage of road 58 control capacittances 55. After electric capacity 55 has charged, integrated control chip produces oneThe very narrow control impuls of pulsewidth is loaded into H bridge circuit wherein on a pair of brachium pontis 52, and this is during to brachium pontis 52 conductingThis electric capacity 55 is sparked to rotor 30 drive coils 32, and now drive coil 32 is similar to coilgunIn primary coil; And when drive coil 32 is during at least two groups, drive coil 32 can form similarIn the drive coil of asynchronous induction coilgun, transient switching electric current I c is very large, the driving magnetic field of generation and closeThe conductive material of the stator 20 of support frame 31 outer rims of drive coil 32 interacts, and produces large electromagnetic forceFQDrive rotor 30 axial linear movement. The pulsewidth of control impuls is very narrow, the conducting brachium pontis 52 of H bridge circuitClose very soon, now the electric current I n in drive coil 32 reduces and passes through the other a pair of brachium pontis of H bridge gradually52 inversions telegram in reply appearance 55 and power supplys, this electric current will produce the electromagnetic resistance F of opposite directionZHinder rotor 30Motion. When integrated control chip drives with the charging voltage height of certain periodic Control electric capacity 55, each groupThe conducting order of coil 32 on-off circuits and can change the stressed size and Orientation of rotor 30 interval time.
Due to mutually vertical on the direction of winding space of control coil 42 and drive coil 32, they produceMagnetic field influences each other low. The heat that drive coil 32 and control circuit 50 produce is by the support rib of rotor 30Frame 31 and back shaft 13 dispel the heat. This control mode of drive coil 32 can provide in a short period of timeLarger driving force.
Because drive coil 32 controlled frequencies are very high, control coil 42, due to self inductance, is controlledFrequency is lower, and the control mode of these linear electric motors 100 is: the speed that need to move according to rotor and position,High-frequency control drive coil 32 size of current and direction, when rotor 30 moves when very fast, displacement isD11+D12Time, active force a period of time that control coil 42 and stator 20 produce slows down, and a period of time accelerates,Offset the effect of rotor 30 is most of, at this moment control speed and the position of motor by controlling drive coil 32Put. When rotor 30 translational speeds are when slower, the active force that control coil 32 and stator 20 produce is to rotor20 effect is increasing, when the momentum of rotor 20 is not enough to offset control coil 32 and stator 20 producesActive force produce momentum, rotor 30 will be fixed on relevant position.
In the time that the rotor 30 of linear electric motors 100 needs axial linear movement, drag negative if establish linear electric motors 100The quality of lotus is MF, the active force that the external world is applied to linear electric motors 100 is FW, between the conducting of on-off circuitInterval Ton, now drive coil 32 produces large driving electromagnetic force FQDrive linear electric motors 100 to move,The pass of these parameters is (FQ-FW)*Ton＝MF*ΔVon. Regulate stator 20 by control coil 42 simultaneouslyWith the controlling magnetic field of magnetic conduction arm 41, controlling magnetic field produces electromagnetic force FKRegulate the motion of mover, linear electric motorsThe velocity variations value that 100 rotors 30 produce is Δ Von. When linear electric motors 100 movement velocitys are when very fast, straight lineThe relative position of motor 100 stator 20 rotors 30 is every through one group of magnetic guiding loop 21 and shading ring 22 thickness phasesAdd distance time, FKDirection occur once change, therefore FKTo the shadow of linear electric motors 100 velocity variationsRing most of counteracting. After on-off circuit cuts out, drive coil 32 electric currents start to reduce and produce electromagnetic resistanceFZ, the rotor 30 of linear electric motors 100 keeps inertia to continue motion, gets wherein movement velocity faster one section timeBetween be shut-in time Toff, measure velocity variations value Δ Voff, the pass of these parameters is (FZ+FW)*Toff＝MF*ΔVoff. When linear electric motors 100 speed reduce gradually, the momentum of linear electric motors 100 be not enough toF disappearsKOn the impact of linear electric motors 100 speed, the now whole directed force F of linear electric motors 100K-FW-FZProduceRaw momentum is greater than the momentum of linear electric motors 100 rotors, makes linear electric motors 100 keep balance in new position.If T in whole control procedureonAnd ToffTime is very short, linear electric motors 100 drive coil 32 motion controlsFrequency can be very high, and then can make the movement velocity of linear electric motors 100 soft level and smooth.
In the time that linear electric motors are worked, drag the mass M of loadF, the external world is applied to the active force of linear electric motorsFW, these two parameters need to detect in real time. Wherein extraneous amount of force and the direction that is applied to linear electric motorsPossible each moment is all changing, and the quality that drags load also may change moment. The straight-line electric of prior artMachine all detects the size and Orientation of active force by pressure sensor, but the work detecting by this modeFirmly size is relevant with acceleration with the speed of above-mentioned two parameters and linear electric motors motion, thereby is difficult to obtainThe external world is applied to the directed force F of linear electric motorsWWith drag load mass MFThese two refinement parameters. Existing skillThe control of the linear electric motors of art is degenerative control mode, and what first linear electric motors applied to external world is certain largeLittle active force, after a period of time, linear electric motors position, speed and acceleration change, and detect relevant ginsengData and the target components of number contrast, then adjust the size of the active force that linear electric motors apply to external world.After the active force applying to external world due to linear electric motors, the change of linear electric motors speed and acceleration needs certainTime, therefore this control mode controlled frequency is low, needs the larger torques of mechanical device increase such as reductorOffset and drag load mass and the extraneous continuous variation that is applied to the active force of linear electric motors, increased wholeThe volume of control system.
After linear electric motors 100 structures of the present embodiment and control circuit 50 are fixing, the control of drive coil 32The ON time T of electric capacity 55 charging voltages, on-off circuit in circuit 50onOne timing, the driving electricity of generationMagnetic force FQWith electromagnetic resistance FZSize also fix. In the time that linear electric motors 100 move, integrated controlChip, by electric capacity 55 charging voltages and control impuls ON time in acquisition control circuit 50, can obtainLinear electric motors 100 drive electromagnetic force F while movingQWith electromagnetic resistance FZSize, drive electromagnetic force FQWithElectromagnetic resistance FZFor known parameters; Again in conjunction with above-mentioned two equatioies: (FZ+FW)*Toff＝MF*ΔVoff；(FQ-FW)*Ton＝MF*ΔVon; And Toff、ΔVoff、TonWith Δ VonAll can directly draw or directly measure,Be Toff、ΔVoff、TonWith Δ VonAlso be known parameters. Thereby according to these associ-ated motion parameters data,Can calculate size, direction and the linear electric motors 100 that the external world is applied to linear electric motors 100 active forces dragsThese two refinement parameters of load mass. In the time that linear electric motors 100 are static, measure stator 20 and rotor30 depart from the distance of magnetic resistance minimum position, the size of control coil 42 electric currents, and then obtain the external world and be applied toThe size of linear electric motors 100 active forces, and the active force that applies to external world of this value and linear electric motors 100Equate. Because the frequency of linear electric motors 100 motion controls is very high, each control can be in a short period of timeCalculate the size that the external world imposes on the active force of linear electric motors 100 and linear electric motors 100 and drag load mass,Adjust in time the driving electromagnetic force F of drive coil 32QAnd ON time, in addition because control coil 42 providesFKStill can offer the moment that linear electric motors 100 are larger and offset extraneous quality and the external world that drags loadBe applied to the impact of the active force variation of linear electric motors 100, therefore linear electric motors 100 whole systems can be goneThe mechanical adjustable speed drives such as reductor are fallen. This control mode can adapt to the external world and be applied to linear electric motors 100Active force and linear electric motors 100 drag load mass and do not stop situation about changing.
Thereby according to the structure of the linear electric motors 100 of the present embodiment, the present embodiment also provides a kind of linear electric motorsControl method, comprise step: control drive coil 32 by pulse current by control circuit 50, logicalThe electricity time is Ton, and at TonIn time, according to pulse current size, show that drive coil 32 produces largeDriving electromagnetic force FQWith measure rotor 30 velocity variations value Δ Von; And draw equation:(FQ-FW)*Ton＝MF*ΔVon；
After getting pulse power-off, a period of time is T to rotor 30 movement velocitys fasteroff, draw drive coil 32Electric current produces electromagnetic resistance FZWith measure respective rotor 30 velocity variations value Δ Voff, and draw equation: (FZ+FW)*Toff＝MF*ΔVoff；
Calculate out linear electric motors 100 and drag the mass M of load according to above two equatioiesF, the external world is applied to directlyThe directed force F of line motor 100W；
According to the mass M of the load detectingFAnd directed force FW, the pulse current size of adjusting drive coil 32Control speed and the position of these linear electric motors with the time. Above-mentioned time ToffCan be according to the essence of checkout equipmentDegree arranges, as is set to tens nanoseconds or several microseconds etc.
Further, in the control method of these linear electric motors, the control circuit 50 of drive coil 32 comprises switchThe electric capacity 55 at circuit, connecting valve circuit two ends and power supply circuits 57. Above-mentionedly get rotor after pulse power-offA period of time is T to 30 movement velocitys fasteroff, can arrange according to the precision of checkout equipment, asBe set to tens nanoseconds or several microseconds etc. In the present embodiment, on-off circuit can be H bridge circuit.
The present embodiment also discloses a kind of integrated control chip, for detection of as described in linear electric motors drag loadMass MFApply described linear electric motors directed force F with the external worldW, comprise the control electricity of controlling drive coilRoad, detection module, memory and processing module, described control circuit comprises controls opening of described drive coilClose circuit, connect the electric capacity at described on-off circuit two ends and the power supply circuits to described capacitor charging, described inspectionSurvey module and measure described capacitor charging voltage and described on-off circuit ON time TonAnd time TonCorrespondingVelocity variations value Δ Von, described detection module is also measured described on-off circuit and is closed rear a period of time ToffCorrespondingVelocity variations value Δ Voff, and by this time TonAnd ToffAnd Δ VonWith Δ VoffBe stored in described memory,Described processing module is according to the ON time T of described on-off circuiton, described electric capacity charging voltage, drivenMoving electromagnetic force FQAnd electromagnetic resistance FZValue, then according to formula (FQ-FW)*Ton＝MF*ΔVonWith(FZ+FW)*Toff＝MF*ΔVoffCalculate the mass M of described loadFApply directed force F with the described external worldW。
Further, integrated control chip can be connected with outer computer or server, by computer orServer carrys out control integration control chip, and then controls linear electric motors 100.
Further, on-off circuit can be H bridge circuit, better to control the conducting of drive coil 32Time and the sense of current, and then can better control rotor 30 and shift position and direction.
Further, in this integrated control chip, be also provided with temperature detecting module, with detection of straight lines motor 100Temperature when operation, drives electromagnetic force F so that this integrated control chip better detectsQAnd electromagnetic resistanceFZ, and then make the mass M of the described load detectingFApply directed force F with the described external worldWMore accurate.
Further, when this integrated control chip uses on these linear electric motors 100, can realize above-mentioned controlMethod processed, accurately to control this linear electric motors 100.
Further, can polish or electroplate the inner surface of magnetic guiding loop 21 and the inner surface of shading ring 22, makeThe inner surface of magnetic guiding loop 21 coordinates formation grating scale with the inner surface of shading ring 22, at support frame 31In offer accommodating cavity 33, in accommodating cavity 33, be provided with and coordinate the light of grating scale detection rotor 30 shift positionsGrid checkout gear. Using the inner surface of the inner surface of magnetic guiding loop 21 and shading ring 22 as grating scale, structureSimply, and detection system volume is reduced, and grating checkout gear can detect the position of grating scale,And then accurately control the position of rotor 30. Particularly, choose stator 20 magnetic guiding loop 21 inner surface withThe light reflection parameter of the inner surface of shading ring 22, grating checkout gear sends light to grating scale, through saturatingMirror focuses on, and a part projects on grating scale, and the light being reflected back is through the indication grating of grating checkout gearAfter lens focus, then received by optoelectronic position testing circuit, between stator 20 and rotor 30 axiallyRelative displacement and the direction of motion are carried out high-resolution and are detected in real time. A part of light projects definitely position of representative in additionPut on the position of information coding, the light being reflected back also receives and parses absolute position by optoelectronic position testing circuitPut information. Integrated control chip or controller according to above-mentioned detection data can obtain in real time rotor 30 positions,The kinematic parameter such as speed, acceleration. Further, can be in integrated control chip integrated electro positionTesting circuit, and only the lens of grating checkout gear are arranged separately in support frame 31.
Grating checkout gear also can be connected with controller or integrated control chip, can be at integrated control chipIn optoelectronic position testing circuit is set, thereby can carry out 30 of real-time detection rotors by integrated control chipPut, the kinematic parameter such as speed, acceleration. In other embodiments, also can paste at the inner surface of stator 20Film, makes the inner surface of magnetic guiding loop 21 coordinate formation grating scale with the inner surface of shading ring 22.
Further, the linear electric motors 100 of the present embodiment can use above-mentioned integrated control chip.
Embodiment bis-:
Refer to Figure 10 and Figure 11, the linear electric motors 100 of the present embodiment and the linear electric motors of embodiment mono-Difference is: on each magnetic guiding loop 21, inwardly convex with some the first double wedges 23, these first double wedges 23 evenly divideCloth is on each magnetic guiding loop 21; Magnetic conduction arm 41 convexes with some the second double wedges away from one end 415 of back shaft 13416; Along stator 20 radially: between the spacing of adjacent two first double wedges 23 and adjacent two second double wedges 416Apart from equating. The first double wedge 23 is set on each magnetic guiding loop 21, the second double wedge 416 is set on magnetic conduction arm 41,Can form the function of stepper motor, do by the suction between the second double wedge 416 of the first double wedge 23 and vicinityWith, can automatically adjust the radial position of rotor 30. These linear electric motors 100 not only can be realized rectilinear motion,Can also realize the rotational motion of stepper motor.
Further, on each shading ring 22, also convex with isolation tooth corresponding to the position of the first double wedge 23. IfPutting isolation tooth can increase the intensity of the first double wedge 23.
In addition, the controlling organization 40 of the linear electric motors 100 of the present embodiment comprises three pairs of magnetic conduction arms 41.
Other structure phase of other structure of the linear electric motors 100 of the present embodiment and the linear electric motors of embodiment mono-With, no longer burdensome at this.
Intelligent machine refers to that computer passes through control bus and can control the device of mechanical relative position. General nextSay, intelligent machine also wants that cube is little, multiaxis multi-joint multiple degrees of freedom, motion fast response time, bear negativeLotus is large and load variations fast, the control accuracy of locus requires high. Intelligent machine comprises various bionical machinesTool, Digit Control Machine Tool, automatic production line and can substitute mankind's manual labor or complete the dress of difference in functionalityPut, for example manipulator, operating robot, service robot etc. Because the function that intelligent machine needs is multipleAssorted, so the freedom of motion needing is many. And linear electric motors 100 of the present invention can be accomplished microminiaturization, logicalOverdrive coil 32 by large pulse current, produce larger magnetic field, thereby larger power can be provided,Thereby multiple linear electric motors 100 can be installed under same volume so that freedom of motion is more. In addition,These linear electric motors 100 can also fast detecting go out the variation of load, to realize quick response and control. AndWith respect to existing linear electric motors and AC/DC motor free degree control system, linear electric motors of the present invention can goFall the use of reductor.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, not all at thisAny amendment of doing within bright spirit and principle, be equal to and replace and improvement etc., all should be included in the present inventionProtection domain within.
Claims (10)
1. linear electric motors, comprise casing, be installed on stator on described casing, be slidably mounted on described inThe back shaft of the rotor in stator and the described rotor of support, described back shaft is installed in described casing, its spyLevy and be, described stator comprises for some magnetic guiding loops of magnetic conduction and non-magnetic some isolation for conductionRing, and described magnetic guiding loop and the alternately laminated setting of described shading ring, described rotor comprises and is installed on described supportSupport frame on axle and for generation of the drive coil of driving magnetic field, described driving magnetic field is along described back shaftAxially, described drive coil is wound on described support frame, described linear electric motors also comprise for controllingThe controlling organization of described rotor-position, described controlling organization comprise the magnetic conduction arm that is connected with described support frame andBe wound in the control coil on magnetic conduction arm.
2. linear electric motors as claimed in claim 1, is characterized in that, described magnetic conduction arm comprises along describedSome insulating trips of some magnetic conduction sheets of the axial stacked setting of support axle and the adjacent two described magnetic conduction sheets of isolation.
3. linear electric motors as claimed in claim 2, is characterized in that, adjacent a slice on described magnetic conduction armMagnetic guiding loop described in adjacent a slice on the thickness sum of insulating trip and described stator described in described magnetic conduction sheet and a sliceEquate with the thickness sum of shading ring described in a slice.
4. the linear electric motors as described in claim 1-3 any one, is characterized in that, described magnetic conduction arm is pairedArrange, and described magnetic conduction arm is at least one pair of, two described magnetic conduction arms of every pair are located at respectively described back shaftRelative both sides.
5. the linear electric motors as described in claim 1-3 any one, is characterized in that, described stator is cylinderShape, described magnetic conduction arm is the circular arc coordinating with described stator away from one end of described back shaft.
6. linear electric motors as claimed in claim 5, is characterized in that, each described magnetic guiding loop is inwardly evenly protrudingBe provided with some the first double wedges, described magnetic conduction arm convexes with some the second double wedges away from one end of described back shaft;Along described stator radially: the spacing of the second double wedge described in the spacing of the first double wedge and adjacent two described in adjacent twoEquate.
7. the linear electric motors as described in claim 1-3 any one, is characterized in that, on described magnetic conduction arm, lean onOne end of nearly described back shaft is provided with permanent magnet.
8. the linear electric motors as described in claim 1-3 any one, is characterized in that, also comprise described in controlThe controller of drive coil electric current, described controller is installed on described support frame.
9. the linear electric motors as described in claim 1-3 any one, is characterized in that, in described magnetic guiding loopSurperficial cooperation with the inner surface of described shading ring forms grating scale, in described support frame, offers accommodating cavity,In described accommodating cavity, be provided with the grating checkout gear that coordinates described grating scale to detect described rotor movement position.
10. an integrated control chip for the linear electric motors as described in claim 1-9 any one, for inspectionSurvey as described in linear electric motors drag the mass M of loadFApply described linear electric motors active force with the external worldFW, it is characterized in that, comprise control circuit, detection module, memory and the processing mould of controlling drive coilPiece, described control circuit comprise control described drive coil on-off circuit, connect described on-off circuit two endsElectric capacity and the power supply circuits to described capacitor charging, described detection module measure described capacitor charging voltage andDescribed on-off circuit ON time TonAnd time TonCorresponding velocity variations value Δ Von, described detection moduleAlso measure described on-off circuit and close rear a period of time ToffCorresponding velocity variations value Δ Voff, and by this timeTonAnd ToffAnd Δ VonWith Δ VoffBe stored in described memory, described processing module is according to described on-off circuitON time Ton, described electric capacity charging voltage, obtain driving electromagnetic force FQAnd electromagnetic resistance FZValue,Again according to formula (FQ-FW)*Ton＝MF*ΔVonWith (FZ+FW)*Toff＝MF*ΔVoffCalculate the matter of described loadAmount MFApply directed force F with the described external worldW。
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108591346A (en) * | 2018-06-18 | 2018-09-28 | 北京光宇之勋科技有限公司 | A kind of combined type damping |
| CN113765327A (en) * | 2020-07-06 | 2021-12-07 | 北京沃东天骏信息技术有限公司 | Electromagnetic power device |
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| JPH07222414A (en) * | 1994-01-31 | 1995-08-18 | Oriental Motor Co Ltd | Linear rotary combination pulse motor |
| JP2005224037A (en) * | 2004-02-06 | 2005-08-18 | Matsushita Electric Ind Co Ltd | Linear brushless motor |
| JP2007209159A (en) * | 2006-02-03 | 2007-08-16 | Nippon Pulse Motor Co Ltd | Composite drive motor and composite drive unit |
| CN101431262A (en) * | 2007-11-09 | 2009-05-13 | 杨泰和 | Electric machinery with a conduction winding excited magnetic poles sandwiched pm magnetic pole |
| CN205509831U (en) * | 2016-02-24 | 2016-08-24 | 刘华 | Linear motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH07222414A (en) * | 1994-01-31 | 1995-08-18 | Oriental Motor Co Ltd | Linear rotary combination pulse motor |
| JP2005224037A (en) * | 2004-02-06 | 2005-08-18 | Matsushita Electric Ind Co Ltd | Linear brushless motor |
| JP2007209159A (en) * | 2006-02-03 | 2007-08-16 | Nippon Pulse Motor Co Ltd | Composite drive motor and composite drive unit |
| CN101431262A (en) * | 2007-11-09 | 2009-05-13 | 杨泰和 | Electric machinery with a conduction winding excited magnetic poles sandwiched pm magnetic pole |
| CN205509831U (en) * | 2016-02-24 | 2016-08-24 | 刘华 | Linear motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108591346A (en) * | 2018-06-18 | 2018-09-28 | 北京光宇之勋科技有限公司 | A kind of combined type damping |
| CN113765327A (en) * | 2020-07-06 | 2021-12-07 | 北京沃东天骏信息技术有限公司 | Electromagnetic power device |
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