CN106253508A - A kind of angular vibration exciting device - Google Patents

Abstract

A kind of angular vibration exciting device, including support, stator core, stator winding, unslotted rotor, permanent magnetic steel, self-contained bearing and end cap.Wherein stator core is fixed on inside support, and stator core is provided with slot for winding, and stator winding embeds in stator core slot for winding；Stator winding is biphase, and biphase winding axis is the most orthogonal, and the number of turn is identical；Unslotted rotor is fixed with end cap by self-contained bearing, then fixes with support；Unslotted rotor is provided with square opening, and permanent magnetic steel is fixed in square opening.During exciting bank work, biphase stator winding is passed through frequency-adjustable, the adjustable alternating current of amplitude, the amplitude of unslotted rotor output correspondence, the angular velocity of rotation of frequency-adjustable, angular acceleration value.A kind of angular vibration exciting device of the present invention, directly can trace to the source to angular velocity of rotation, angular acceleration, and output signal frequency wide ranges；Bigger driving torque can be produced, it is possible to achieve the relatively dynamic calibration of large rotating inertia angular motion sensor during work.

Description

A kind of angular vibration exciting device

Technical field

The present invention relates to a kind of angular vibration exciting device, more particularly to one can directly produce simultaneously frequency, The adjustable angular velocity of rotation of amplitude and the exciting bank of rotating angular acceleration value.

Background technology

Angular velocity of rotation and angular acceleration are two very important dynamic angular parameters, by adding angular velocity of rotation and angle The measurement of speed, it is possible to analyze the rotary system rotating shaft response condition to various excitations.Therefore, angular velocity of rotation and angle are accelerated Degree is measured and is widely used in multiple fields such as automobile, military affairs, Aero-Space, industry, electronics.

Owing to the certainty of measurement of angular velocity of rotation and angular acceleration is largely dependent upon the accuracy of demarcation, therefore angle Vibration calibration technology also begins to come into one's own, and on the one hand lot of domestic and international scholar has carried out substantial amounts of research at this.China is from 20 The seventies and eighties in century begins to the development of high frequency angle vibration table, the main thinking using direct current torque motor to drive, this scheme There is the most key problem is that constant of the machine is difficult to meet high frequency sound needs, electric machine structure and drive shaft attachment structure again Miscellaneous, make machinery natural frequency also be difficult to promote, due to electromagnetic interference and friction, make waveform distortion big, for reducing wave distortion, The main way taked just is by closed loop control, and from the point of view of current research effect, effect is not highly desirable.

German National physical technique academy (PTB) establishes angular oscillation measurement criteria, uses special Lithographic motor As the driving element of angular oscillation driving source, due to the slab construction restriction to coiling multilamellar driving wire, make driving moment difficult To promote, built standard is only used for magnitude tracing, it is difficult to carry out the dynamic calibration of relatively large rotating inertia angular motion sensor.Russia sieve This, for improving the waveform quality under motor drive mode, uses torsion bar resonance principle, obtains reasonable ripple at torsion bar resonance point Form quality amount, but excited frequency can not continuously adjustabe, often change a frequency band it is necessary to change a torsion bar, and upper frequency limit Also it is limited with 100Hz；France, for solving this problem, develops special brushless D. C. torque motor, uses angular displacement and angular velocity Composite feedback, upper frequency limit is also limited with hundreds of hertz, and angular acceleration waveform quality is difficult to control to below 5%.In addition with Carry out differential by diagonal displacement or angle and process the indirect calibration method of collimation angle acceleration later, but measurement error is relatively Greatly, the approach of tracing to the source of dynamic angular quantity of motion measurement criteria it is not suitable as.

Summary of the invention

It is an object of the invention to for the deficiencies in the prior art, it is proposed that a kind of angular vibration exciting device, it is possible to the most straight Practice midwifery raw frequency, the adjustable angular velocity of rotation of amplitude and rotating angular acceleration value.

The purpose of the present invention takes following technical proposals to realize:

A kind of angular vibration exciting device, including support, stator core, stator winding, unslotted rotor, permanent magnetic steel, supporting Bearing and left and right end cap；

Described stator core is fixed on the inner side of support, and stator core is provided with slot for winding；

Described stator winding embeds in the slot for winding of stator core, and stator winding is biphase, the axis of two phase windings The most orthogonal, the number of turn is identical；

Described unslotted rotor is fixed with left and right end cap respectively by self-contained bearing, then fixes with support；

Described unslotted rotor is provided with square opening, and permanent magnetic steel is fixed in square opening；

Described biphase stator winding is passed through alternating current, and the amplitude of two-phase alternating current, frequency-adjustable, 90 ° of electricity of phase shifting Angle；

The square hole number of described unslotted rotor is two, for upper and lower symmetrical structure；

The described permanent magnetic steel embedded in unslotted rotor square hole is two pieces, and the discharge order of magnetic pole is SN, SN；

Described unslotted rotor mid portion is relatively thick, and with stator core concentric and there is air-gap, two end portions is relatively thin, and One end is stretched out as rotating shaft；

Described stator core uses silicon steel plate packing to form, and stator winding uses electromagnetic enamel-covered wire coiling to form.

Beneficial effects of the present invention: a kind of angular vibration exciting device of the present invention, simple in construction, it is not necessary to use complicated closing Ring control algolithm, reliable, capacity of resisting disturbance is strong；Can directly produce frequency, amplitude continuously adjustable anglec of rotation speed simultaneously Degree and rotating angular acceleration value, frequency, amplitude adjustable extent big and easy and simple to handle, only need to regulate the amplitude of electrical current With frequency.Additionally, the angular vibration exciting device of the present invention can produce bigger driving torque when working, it is possible to achieve relatively The dynamic calibration of large rotating inertia angular motion sensor.

Accompanying drawing explanation

Fig. 1 is the structure chart of a kind of angular vibration exciting device of the present invention；

Fig. 2 is the Section A-A figure of a kind of angular vibration exciting device of the present invention；

Fig. 3 is the rotating excitation field schematic diagram of a kind of angular vibration exciting device stator winding generation of the present invention；

Fig. 4 is the angular velocity of rotation oscillogram in a kind of angular vibration exciting device magnetic field of the present invention；

Fig. 5 is the rotating angular acceleration oscillogram in a kind of angular vibration exciting device magnetic field of the present invention；

Fig. 6 is the fundamental diagram of a kind of angular vibration exciting device of the present invention.

Detailed description of the invention

The enforcement of a kind of angular vibration exciting device of the present invention is further described below in conjunction with accompanying drawing.

As shown in Figure 1 and Figure 2, a kind of angular vibration exciting device, including bearing 1, left end cap 2, support 3, stator core 4, determine Sub-winding 5, right end cap 6, unslotted rotor 7, permanent magnetic steel 8 and bearing 9；

Described stator core 4 is fixed on the inner side of support 3, and stator core 4 is provided with slot for winding；

Described stator winding 5 embeds in the slot for winding of stator core 4, and stator winding 5 is biphase, respectively 501- 502,503-504, the axis of two phase windings is the most orthogonal, and the number of turn is identical；

Described unslotted rotor 7 is fixed with left and right end cap 2,6 respectively by self-contained bearing 1,9, then fixes with support 3；

Described unslotted rotor 7 is provided with square opening, and permanent magnetic steel 8 is fixed in square opening；

Described biphase stator winding 501-502 and 503-504 is passed through alternating current, and the amplitude of two-phase alternating current, frequency can Adjust, 90 ° of electrical angles of phase shifting；

The square hole number of described unslotted rotor 7 is two, for upper and lower symmetrical structure；

The described permanent magnetic steel 8 embedded in unslotted rotor 7 square hole is two pieces, respectively 801 and 802, the discharge of magnetic pole Order is SN, SN；

It is relatively thick that described slotless turns the mid portion of 7, and with stator core 4 concentric and there is air-gap, two end portions is relatively thin, And one end stretches out as rotating shaft；

Described stator core 4 uses silicon steel plate packing to form, and stator winding 5 uses electromagnetic enamel-covered wire coiling to form.

Fig. 3 is the rotating excitation field schematic diagram of a kind of angular vibration exciting device stator winding generation of the present invention: winding 501- 502, the electric current that 503-504 is passed through is respectively

$\{\begin{array}{c}{i}_a=\sqrt{2}{I}_C\cos \mathrm{\ω}t\\ i_b=\sqrt{2}{I}_D\cos (\mathrm{\ω}t-90)=\sqrt{2}{I}_D\sin \mathrm{\ω}t\end{array}---\left(1\right),$

The magnetomotive force that then two phase windings produce in air gap is respectively

$\left\{\begin{array}{c}{f}_a({\mathrm{\θ}}_S,t)=\frac{4}{\mathrm{\π}}\frac{\sqrt{2}{N}_C{I}_C}{2}{\mathrm{cos\θ}}_S\cos \mathrm{\ω}t=\frac{4}{\mathrm{\π}}\frac{\sqrt{2}{N}_C{I}_C}{2}\[\frac{1}{2}\cos (\mathrm{\ω}t-{\mathrm{\θ}}_S)+\frac{1}{2}\cos (\mathrm{\ω}t+{\mathrm{\θ}}_S)\]\\ f_b({\mathrm{\θ}}_S,t)=\frac{4}{\mathrm{\π}}\frac{\sqrt{2}{N}_D{I}_D}{2}{\mathrm{sin\θ}}_S\sin \mathrm{\ω}t=\frac{4}{\mathrm{\π}}\frac{\sqrt{2}{N}_D{I}_D}{2}\[\frac{1}{2}\cos (\mathrm{\ω}t-{\mathrm{\θ}}_S)-\frac{1}{2}\cos (\mathrm{\ω}t+{\mathrm{\θ}}_S)\]\end{array}\right.---\left(2\right),$

N in formula_CAnd N_DIt is the effective turn of two phase windings respectively.The magnetomotive force synthesis that two phase windings are produced, then

$\begin{array}{c}{f}_1({\mathrm{\θ}}_S,t)=\frac{4}{\mathrm{\π}}\frac{\sqrt{2}{N}_C{I}_C}{2}({\mathrm{cos\θ}}_S\cos \mathrm{\ω}t+{\mathrm{sin\θ}}_S\sin \mathrm{\ω}t)\\ =\frac{\sqrt{2}(N_C{I}_C+N_D{I}_D)}{\mathrm{\π}}\[\cos (\mathrm{\ω}t-{\mathrm{\θ}}_S)\]+\frac{\sqrt{2}(N_C{I}_C-N_D{I}_D)}{\mathrm{\π}}\[\cos (\mathrm{\ω}t+{\mathrm{\θ}}_S)\]\end{array}---\left(3\right).$

Understanding is now still two circular rotating fields in air gap, and rotating speed is identical, turns to contrary, but amplitude, point It is not

$\left\{\begin{array}{c}{F}_{1+}=\frac{\sqrt{2}{N}_C(I_C+I_D)}{\mathrm{\π}}\\ F_{1-}=\frac{\sqrt{2}{N}_C(I_C-I_D)}{\mathrm{\π}}\end{array}\right.---\left(4\right).$

Circular rotating fields different for two amplitudes is carried out Vector modulation, as it is shown on figure 3, for ELLIPTIC REVOLUTION magnetic after completing ?.Wherein synthesize magnetomotive maximum, for major axis amplitude F of oval magnetic field₁₊+F_1-, synthesize magnetomotive minima, for ellipse The short axle amplitude of circular field | F₁₊-F_1-|。

Set the circular magnetic field rotating original position major axis position as oval magnetic field of two amplitudes not grade, as it is shown on figure 3, And angular velocity of rotation is all ω, then arbitrarily t elliptic rotating field turns over the tangent value of angular displacement δ, is two circular rotatings The amplitude in magnetic field is at the difference of transverse projection components and the ratio of ellipse short shaft projection components sum, i.e.

$\mathrm{\δ}\left(t\right)=arctg\left(\frac{F_{1+}\sin \mathrm{\ω}t-F_{1-}\sin \mathrm{\ω}t}{F_{1+}cos\mathrm{\ω}t+F_{1-}\cos \mathrm{\ω}t}\right)---\left(5\right).$

Above formula is simplified, can obtain

$\mathrm{\δ}\left(t\right)=arctg\left(\frac{F_{1+}-F_{1-}}{F_{1+}+F_{1-}}ctg\mathrm{\ω}t\right)---\left(6\right).$

The definition short axle of elliptic rotating field and the ovality that ratio is magnetic field of major axis, i.e.

$\mathrm{\α}=\frac{F_{1+}-F_{1-}}{F_{1+}+F_{1-}}=\frac{I_D}{I_C}---\left(7\right),$

Then formula (6) can be write as

δ (t)=arctg (α ctg ω t) (8).

Formula (8) is carried out derivation, and the angular velocity of available any time elliptic rotating field is

${\mathrm{\ω}}_e\left(t\right)={\mathrm{\δ}}^{\′}\left(t\right)={\[arctg(\mathrm{\α}\·ctg\mathrm{\ω}t)\]}^{\′}=\frac{\mathrm{\ω}\mathrm{\α}}{{\mathrm{\α}}^2{\sin }^2\mathrm{\ω}t+{\cos }^2\mathrm{\ω}t}---\left(9\right).$

Use numerical simulation software, set α=0.8, ω=2 π f=100 π, obtain the angular velocity of rotating excitation field now Waveform is as shown in Figure 4.

Formula (9) is carried out derivation, and the angular acceleration of available any time elliptic rotating field is

${\mathrm{\γ}}_e\left(t\right)={{\mathrm{\ω}}_e}^{\′}\left(t\right)={\[\frac{\mathrm{\ω}\mathrm{\α}}{{\mathrm{\α}}^2{\sin }^2\mathrm{\ω}t+{\cos }^2\mathrm{\ω}t}\]}^{\′}=\frac{2{\mathrm{\ω}}^2\mathrm{\α}\·\sin 2\mathrm{\ω}t}{{\[\frac{1+{\mathrm{\α}}^2}{1-{\mathrm{\α}}^2}+\cos 2\mathrm{\ω}t\]}^2}---\left(10\right).$

Use numerical simulation software, set α=0.8, ω=2 π f=100 π, obtain the rotating angular acceleration in now magnetic field Waveform is as shown in Figure 5.

Fig. 6 is the fundamental diagram of a kind of angular vibration exciting device of the present invention, when producing after biphase stator winding electrifying After rotating excitation field, its effect is similar to a pair magnetic pole N, S and spatially rotates, and rotating speed is n_s.Owing to the square hole of unslotted rotor filling Having permanent magnetic steel, the polarity of magnetic pole is mated with the pole polarity of rotating excitation field, produces driving moment Te, and unslotted rotor can follow rotation Turn magnetic field to rotate.Therefore, unslotted rotor and the angular velocity of rotation of rotating excitation field, angular acceleration are identical, i.e. achieve rotating excitation field Angular velocity, effective output of angular acceleration value.

Understand according to formula (9) and formula (10), change energising frequency f, angular velocity of rotation and the angle in magnetic field can be changed The frequency of acceleration；Change the ratio of biphase current amplitude, the value of magnetic field rotating angular velocity and angular acceleration can be changed.And Eventually through unslotted rotor, the angular velocity of rotating excitation field, angular acceleration are outwards exported.

Additionally, due to employing unslotted rotor, its rotor surface can be regarded as without several slivers, when rotating excitation field rotates with Surface sliver cutting, produces certain detent torque, can effectively prevent the angular vibration exciting device of the present invention from causing when starting Rotor oscillating.

Beneficial effects of the present invention: a kind of angular vibration exciting device of the present invention, simple in construction, it is not necessary to use complicated closing Ring control algolithm, reliable, capacity of resisting disturbance is strong；Can directly produce frequency, amplitude continuously adjustable anglec of rotation speed simultaneously Degree and rotating angular acceleration value, frequency, amplitude adjustable extent big and easy and simple to handle, only need to regulate the amplitude of electrical current With frequency.Additionally, the angular vibration exciting device of the present invention can produce bigger driving torque when working, it is possible to achieve relatively The dynamic calibration of large rotating inertia angular motion sensor.

Embodiment is not construed as limitation of the present invention, but any spiritual improvements introduced based on the present invention, all should be Within protection scope of the present invention.

Claims (6)

1. an angular vibration exciting device, including support, stator core, stator winding, unslotted rotor, permanent magnetic steel, supporting axle Hold and left and right end cap；

It is characterized in that: described stator core is fixed on the inner side of support, and stator core is provided with slot for winding；

Described stator winding embeds in the slot for winding of stator core, and stator winding is biphase, and the axis of two phase windings is at sky Between upper the most orthogonal, the number of turn is identical；

Described unslotted rotor is fixed with left and right end cap respectively by self-contained bearing, then fixes with support；

Described unslotted rotor is provided with square opening, and permanent magnetic steel is fixed in square opening.

A kind of angular vibration exciting device the most according to claim 1, it is characterised in that: biphase stator winding is passed through exchange Electricity, and the amplitude of two-phase alternating current, frequency-adjustable, 90 ° of electrical angles of phase shifting.

A kind of angular vibration exciting device the most according to claim 1, it is characterised in that: the square hole number of unslotted rotor is two Individual, for upper and lower symmetrical structure.

A kind of angular vibration exciting device the most according to claim 1, it is characterised in that: embed in unslotted rotor square hole Permanent magnetic steel is two pieces, and the discharge order of magnetic pole is SN, SN.

A kind of angular vibration exciting device the most according to claim 1, it is characterised in that: unslotted rotor mid portion is relatively thick, With stator core concentric and there is air-gap, two end portions is relatively thin, and one end is stretched out as rotating shaft.

A kind of angular vibration exciting device the most according to claim 1, it is characterised in that: stator core uses silicon steel plate packing Forming, biphase stator winding uses electromagnetic enamel-covered wire coiling to form.