CN107070167B - A kind of transverse magnetic flux magnetic-field modulation-type linear motor - Google Patents
A kind of transverse magnetic flux magnetic-field modulation-type linear motor Download PDFInfo
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- 230000004907 flux Effects 0.000 title claims abstract description 17
- 238000004804 winding Methods 0.000 claims abstract description 45
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 31
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims 1
- 239000004020 conductor Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 17
- 230000005415 magnetization Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 14
- 239000000696 magnetic material Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 150000003376 silicon Chemical class 0.000 description 1
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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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Abstract
本发明公开了一种横向磁通磁场调制式直线电机，包括：初级和次级；其中，次级包括次级铁心和永磁体，两个次级铁心呈“C”型形状、镜像设置，永磁体均匀分布在次级铁心的内侧三面，初级与次级之间存在三面气隙；初级包括两个相同的初级铁心以及连接两个初级铁心的连接梁，初级铁心的上面、下面以及和连接梁反向的面均设有等距分布的、相同的多个凸极齿；凸极齿靠近气隙端开设有等距的虚齿，虚齿的齿宽与两个虚齿之间的虚槽宽相等；凸极齿上绕有电枢绕组，三相初级上分别绕有三相电枢绕组；虚齿的齿数等于永磁体的极对数加上电枢绕组的极对数。在本发明中，虚齿的加入对于调节磁通回路起到很大促进作用，使得有用的谐波得到很大程度的提高。
The invention discloses a transverse flux magnetic field modulation type linear motor, comprising: a primary and a secondary; wherein, the secondary includes a secondary iron core and a permanent magnet, and the two secondary iron cores are in the shape of a "C" mirror image, and the permanent The magnets are evenly distributed on the inner three sides of the secondary core, and there are three air gaps between the primary and the secondary; the primary includes two identical primary cores and a connecting beam connecting the two primary cores, the upper, lower and connecting beams of the primary core The reverse faces are equipped with equally spaced and identical salient pole teeth; the salient pole teeth are provided with equidistant virtual teeth near the end of the air gap, and the tooth width of the virtual teeth is equal to the virtual groove between the two virtual teeth. The width is equal; the armature windings are wound on the salient pole teeth, and the three-phase armature windings are respectively wound on the three-phase primary; the number of virtual teeth is equal to the number of pole pairs of the permanent magnet plus the number of pole pairs of the armature winding. In the present invention, the addition of virtual teeth greatly promotes the adjustment of the magnetic flux circuit, so that the useful harmonics are greatly improved.
Description
技术领域technical field
本发明涉及一种磁场调制式直线电机，尤其涉及一种横向磁通磁场调制式直线电机。The invention relates to a magnetic field modulation type linear motor, in particular to a transverse flux magnetic field modulation type linear motor.
背景技术Background technique
直线直驱运动系统省去了复杂的机械转换装置，系统结构简单、运行可靠，响应速度快和控制精度高，在航空、航天等军事工业及民用工业领域有着广泛的需求和应用。而作为直线直驱运动系统中的核心部件，直线电机一直以来都是直线直驱运动系统的首选电驱动方案，也是解决上述问题的有效手段。基于磁场调制式的直线电机以其结构紧凑、高功率密度和高效率等优点得到了迅速发展，但是其相与相之间磁场存在耦合，容错性能降低，为此提出一种横向磁通磁场调制式直线电机，一方面其电枢绕组与定子齿槽在空间上互相垂直，实现了电负荷与磁负荷的解耦，可以在一定范围内通过提高磁能变化率来提高出力；另一方面各相之间相互解耦，便于独立控制，且易于设计成多相结构，在多相运行时即使缺少一相也能正常工作，容错性能好，提高了电机的可靠性。The linear direct drive motion system eliminates the need for complex mechanical conversion devices. The system has a simple structure, reliable operation, fast response and high control precision. It has a wide range of needs and applications in military and civilian industries such as aviation and aerospace. As the core component of the linear direct drive motion system, the linear motor has always been the preferred electric drive solution for the linear direct drive motion system, and it is also an effective means to solve the above problems. The linear motor based on magnetic field modulation has been developed rapidly due to its advantages of compact structure, high power density and high efficiency, but there is coupling between the phases of the magnetic field, and the fault tolerance performance is reduced. Therefore, a transverse flux magnetic field modulation is proposed. On the one hand, the armature winding and the stator slots are perpendicular to each other in space, which realizes the decoupling of the electric load and the magnetic load, and can increase the output by increasing the rate of change of magnetic energy within a certain range; on the other hand, each phase They are decoupled from each other, which is convenient for independent control, and is easy to design into a multi-phase structure. During multi-phase operation, even if one phase is missing, it can still work normally. The fault tolerance performance is good, and the reliability of the motor is improved.
发明内容Contents of the invention
为了克服现有技术的缺陷，本发明针对磁场调制式电机研究现状结合横向磁通电机提出一种横向磁通磁场调制式直线电机，包括：初级和次级；其中，所述次级包括次级铁心和永磁体，两个所述次级铁心呈“C”型形状、镜像设置，所述永磁体均匀分布在所述次级铁心的内侧三面，所述初级与所述次级之间存在三面气隙；所述初级包括两个相同的初级铁心以及连接两个初级铁心的连接梁，所述初级铁心的上面、下面以及和连接梁反向的面均设有等距分布的、相同的多个凸极齿；所述凸极齿靠近气隙端开设有等距的虚齿，所述虚齿的齿宽与两个虚齿之间的虚槽宽相等；所述凸极齿上绕有电枢绕组，三相初级上分别绕有三相电枢绕组；所述虚齿的齿数等于所述永磁体的极对数加上所述电枢绕组的极对数；其中，相邻的电枢绕组首尾相连，且上面的凸极齿的电枢绕组绕制方向与下面的凸极齿的电枢绕组绕制方向相反，和连接梁反向的面上的凸极齿的电枢绕组绕制方向与下面的凸极齿的电枢绕组绕制方向相同，三个面上的凸极齿的电枢绕组相互串联形成一相绕组。In order to overcome the defects of the prior art, the present invention proposes a transverse flux magnetic field modulation linear motor in combination with a transverse flux motor based on the research status of the magnetic field modulation motor, including: a primary and a secondary; wherein the secondary includes a secondary The iron core and the permanent magnet, the two secondary iron cores are in the shape of a "C" mirror image, the permanent magnets are evenly distributed on the inner three sides of the secondary iron core, and there are three sides between the primary and the secondary Air gap; the primary includes two identical primary iron cores and connecting beams connecting the two primary iron cores, and the upper, lower, and opposite surfaces of the primary iron cores are equipped with equidistantly distributed, identical multiple air gaps. two salient pole teeth; the salient pole teeth are provided with equidistant virtual teeth near the end of the air gap, and the tooth width of the virtual teeth is equal to the width of the virtual groove between the two virtual teeth; the salient pole teeth are wound with Armature windings, three-phase armature windings are respectively wound on the three-phase primary; the number of teeth of the virtual teeth is equal to the number of pole pairs of the permanent magnet plus the number of pole pairs of the armature winding; wherein, the adjacent armature The windings are connected end to end, and the winding direction of the armature winding of the upper salient pole tooth is opposite to that of the lower salient pole tooth, and the winding direction of the armature winding of the salient pole tooth on the opposite side of the connecting beam is The direction is the same as the winding direction of the armature windings of the salient teeth below, and the armature windings of the salient teeth on the three surfaces are connected in series to form a phase winding.
在上述技术方案的基础上，本发明还可以做如下改进。On the basis of the above technical solutions, the present invention can also be improved as follows.
进一步地，所述电机内的磁场磁力线分别从次级上下两部分的永磁体N极出发经过次级铁心，到达次级中间的永磁体S极，通过次级中间气隙进入初级中间凸极齿的虚齿经过初级中间凸极齿，穿过初级铁心分别进入初级上下凸极齿、虚齿、上下气隙回到起始的永磁体S极，形成两个主磁通回路A和B，其磁力线所在平面与电机运动方向相垂直，电机主磁场为横向磁场。Further, the magnetic field lines in the motor respectively start from the N poles of the permanent magnets in the upper and lower parts of the secondary, pass through the secondary iron core, reach the S poles of the permanent magnets in the middle of the secondary, and enter the primary middle salient pole teeth through the secondary middle air gap. The imaginary teeth pass through the primary middle salient pole teeth, pass through the primary iron core, respectively enter the primary upper and lower salient pole teeth, the imaginary teeth, the upper and lower air gaps, and return to the original permanent magnet S pole, forming two main magnetic flux circuits A and B. The plane where the magnetic field lines are located is perpendicular to the direction of motion of the motor, and the main magnetic field of the motor is a transverse magnetic field.
可选地，所述永磁体充磁方式为纵向—法向—纵向充磁。Optionally, the permanent magnet magnetization method is longitudinal-normal-longitudinal magnetization.
可选地，所述永磁体充磁方式为halbach充磁。Optionally, the magnetization method of the permanent magnet is Halbach magnetization.
优选地，所述凸极齿的宽度大于等于所述凸极齿间的槽距。Preferably, the width of the salient pole teeth is greater than or equal to the slot pitch between the salient pole teeth.
优选地，所述凸极齿的高度小于所述初级铁心的高度。Preferably, the salient pole teeth have a height smaller than that of the primary core.
优选地，所述初级铁心三面与“C”型形状的次级铁心三面有等距离气隙。Preferably, there are equidistant air gaps between the three sides of the primary core and the three sides of the "C"-shaped secondary core.
优选地，所述连接梁为不导磁材料。Preferably, the connecting beam is made of non-magnetic material.
优选地，所述次级铁心和初级铁心皆用硅钢片叠制而成。Preferably, both the secondary iron core and the primary iron core are laminated with silicon steel sheets.
优选地，所述永磁体采用钕铁硼材质的材料。Preferably, the permanent magnet is made of NdFeB material.
本发明的有益效果是：结构简单，次级上不需要绕有电枢绕组，制作工艺简单；初级上均匀独立分布的凸极齿、虚齿与外次级相互结合作用，对称性的结构，可以减小定位力，初级铁心采用模块化设计，三相电枢绕组之间实现了电磁解耦，容错性能提升；模块化的设计使得该电机便于采用多相结构。而且，次级三面都可以得到利用；电机空间利用率提高，三相独立，每相皆可以单独控制，因此运动方向的调节既简单又高效；虚齿的加入对于调节磁场回路起到很大促进作用，使得有用的谐波得到很大程度的提高。同时兼具有高可靠性、高力密度、高效率的优点，且结构简单易于加工。本发明可用于对系统的可靠运行有较高要求的领域，特别是对系统体积及连续运行有严格要求的航空航天、军事装备等应用场合。The beneficial effects of the present invention are: the structure is simple, the secondary does not need to be wound with an armature winding, and the manufacturing process is simple; the salient pole teeth and virtual teeth distributed uniformly and independently on the primary interact with the outer secondary, and the symmetrical structure, The positioning force can be reduced, the primary iron core adopts a modular design, the electromagnetic decoupling between the three-phase armature windings is realized, and the fault tolerance performance is improved; the modular design makes the motor easy to adopt a multi-phase structure. Moreover, all three sides of the secondary can be utilized; the space utilization rate of the motor is improved, the three phases are independent, and each phase can be controlled separately, so the adjustment of the direction of motion is simple and efficient; the addition of virtual teeth greatly promotes the adjustment of the magnetic field circuit The effect makes the useful harmonics greatly improved. At the same time, it has the advantages of high reliability, high force density and high efficiency, and has a simple structure and is easy to process. The invention can be used in fields with higher requirements for reliable operation of the system, especially in aerospace, military equipment and other application occasions with strict requirements for system volume and continuous operation.
附图说明Description of drawings
图1为本发明的横向磁通磁场调制式直线电机的结构示意图；Fig. 1 is the structural representation of the transverse flux magnetic field modulation type linear motor of the present invention;
图2为本发明的次级示意图；Fig. 2 is a secondary schematic diagram of the present invention;
图3为本发明的初级示意图；Fig. 3 is a preliminary schematic diagram of the present invention;
图4为本发明的磁力线走向示意图；Fig. 4 is the schematic diagram of the direction of the lines of force of the present invention;
图5a～5c为本发明的永磁体充磁方式示意图一；Figures 5a to 5c are a schematic diagram of a permanent magnet magnetization method of the present invention;
图6a～6c为本发明的永磁体充磁方式示意图二；Figures 6a to 6c are the second schematic diagram of the permanent magnet magnetization method of the present invention;
在附图中，各标号所表示的部件名称列表如下：In the accompanying drawings, the names of the parts represented by each label are listed as follows:
1——次级铁心；2——永磁体；3——虚齿；4——凸极齿；5——电枢绕组；6——连接梁；7——初级铁心。1—secondary core; 2—permanent magnet; 3—empty teeth; 4—salient pole teeth; 5—armature winding; 6—connecting beam; 7—primary core.
具体实施方式Detailed ways
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.
请先参照图1所示，其为本发明的横向磁通磁场调制式直线电机的结构示意图，所述直线电机包括：初级和次级；本发明是在横向磁通的基础上结合磁场调制所提出的一种磁场调制式电机，请再结合参照图2和图3所示，图2为本发明的次级示意图，图3为本发明的初级示意图；所述次级包括次级铁心1和永磁体2，两个所述次级铁心1呈“C”型形状、镜像设置，所述永磁体2均匀分布在所述次级铁心1的内侧三面，所述初级与所述次级之间存在三面气隙；所述初级包括两个相同的初级铁心7以及连接两个初级铁心7的连接梁6，所述初级铁心7的上面、下面以及和连接梁反向的面均设有等距分布的、相同的凸极齿4，且三个面上的所述凸极齿4的排列方式相同，凸极齿4的高度小于初级铁心7的高度，由此可保证横向主磁通最大漏磁通最小；凸极齿4的宽度大于等于凸极齿间的槽距，凸极齿4靠近气隙端开有等距的虚齿3，所述虚齿3的齿宽与两个虚齿之间的槽宽相等；凸极齿上绕有电枢绕组5；三相初级上分别绕有三相电枢绕组；其中，相邻的电枢绕组首尾相连，且上面的凸极齿的电枢绕组绕制方向与下面的凸极齿的电枢绕组绕制方向相反，和连接梁反向的面上的凸极齿的电枢绕组绕制方向与下面的凸极齿的电枢绕组绕制方向相同，三个面上的凸极齿的电枢绕组相互串联形成一相绕组。Please refer to Fig. 1 first, which is a structural schematic diagram of a transverse flux magnetic field modulation linear motor of the present invention, the linear motor includes: a primary and a secondary; the present invention combines the magnetic field modulation on the basis of transverse flux A kind of magnetic field modulation type motor proposed, please refer to shown in Fig. 2 and Fig. 3 again, Fig. 2 is the secondary schematic diagram of the present invention, Fig. 3 is the primary schematic diagram of the present invention; The secondary includes secondary iron core 1 and The permanent magnet 2, the two secondary iron cores 1 are in the shape of a "C" mirror image, the permanent magnets 2 are evenly distributed on the inner three sides of the secondary iron core 1, between the primary and the secondary There are three air gaps; the primary includes two identical primary iron cores 7 and a connecting beam 6 connecting the two primary iron cores 7, and the upper, lower, and opposite surfaces of the primary iron core 7 are equidistant Distributed and identical salient pole teeth 4, and the arrangement of the salient pole teeth 4 on the three surfaces is the same, the height of the salient pole teeth 4 is smaller than the height of the primary core 7, thus ensuring the maximum leakage of the transverse main magnetic flux The magnetic flux is the smallest; the width of the salient pole teeth 4 is greater than or equal to the slot distance between the salient pole teeth, and the salient pole teeth 4 are provided with equidistant virtual teeth 3 near the end of the air gap. The slot widths between them are equal; the armature winding 5 is wound on the salient pole teeth; the three-phase armature windings are respectively wound on the three-phase primary; wherein, the adjacent armature windings are connected end to end, and the armature of the salient pole teeth above The winding direction is opposite to the armature winding direction of the lower salient teeth, and the armature winding direction of the salient teeth on the opposite side of the connecting beam is the same as the armature winding direction of the lower salient teeth. The direction is the same, and the armature windings of the salient pole teeth on the three faces are connected in series to form a phase winding.
具体地，初级铁心三面与“C”型形状的次级铁心三面有等距离气隙；所述连接梁为不导磁材料；虚齿3的齿数ns等于永磁体2极对数nr加上电枢绕组5极对数np。Specifically, there are equidistant air gaps between the three sides of the primary core and the three sides of the "C"-shaped secondary core; the connecting beam is made of non-magnetic material; the number of teeth n s of the virtual teeth 3 is equal to the number of pole pairs n r of the permanent magnet 2 plus Upper armature winding 5 pole pairs n p .
优选地，次级铁心用硅钢片叠制而成，永磁体则采用钕铁硼材质的材料。Preferably, the secondary iron core is made of laminated silicon steel sheets, and the permanent magnet is made of NdFeB material.
请参照图4所示，其为本发明的磁力线走向示意图；电机内的磁场磁力线分别从次级上下两部分的永磁体N极出发经过次级铁心，到达次级中间的永磁体S极，通过次级中间气隙进入初级中间凸极齿的虚齿经过初级中间凸极齿，穿过初级铁心分别进入初级上下凸极齿、虚齿、上下气隙回到起始的永磁体S极，形成两个主磁通回路A和B，其磁力线所在平面与电机运动方向相垂直，即电机主磁场为横向磁场。Please refer to Fig. 4, which is a schematic diagram of the direction of the magnetic field lines of the present invention; the magnetic field lines in the motor respectively start from the N poles of the permanent magnets in the upper and lower parts of the secondary, pass through the secondary iron core, and arrive at the S poles of the permanent magnets in the middle of the secondary. The secondary intermediate air gap enters the primary intermediate salient pole teeth. The virtual teeth pass through the primary intermediate salient pole teeth, pass through the primary iron core respectively enter the primary upper and lower salient pole teeth, virtual teeth, and the upper and lower air gaps return to the initial permanent magnet S pole, forming Two main magnetic flux loops A and B, the planes where the magnetic force lines are located are perpendicular to the direction of motion of the motor, that is, the main magnetic field of the motor is a transverse magnetic field.
具体地，图5a～5c为本发明的永磁体充磁方式示意图一，图6a～6c为本发明的永磁体充磁方式示意图二；其中，图5a为电机上部分永磁体纵向—法向—纵向充磁方式示意图，图5b为电机中间部分逆时针向上旋转永磁体纵向—法向—纵向充磁方式示意图，图5c为电机下部分永磁体纵向—法向—纵向充磁方式示意图，图6a为电机上部分永磁体halbach充磁方式示意图，图6b为电机中间部分逆时针向上旋转永磁体halbach充磁方式示意图，图6c为电机下部分永磁体halbach充磁方式示意图。Specifically, Figures 5a to 5c are schematic diagrams of the permanent magnet magnetization method 1 of the present invention, and Figures 6a to 6c are schematic diagrams of the permanent magnet magnetization method 2 of the present invention; wherein, Figure 5a is the longitudinal direction—normal direction—of the permanent magnet on the motor. Schematic diagram of the longitudinal magnetization method, Figure 5b is a schematic diagram of the longitudinal-normal direction-longitudinal magnetization method of the permanent magnet rotating counterclockwise in the middle part of the motor, Figure 5c is a schematic diagram of the longitudinal-normal direction-longitudinal magnetization method of the permanent magnet in the lower part of the motor, Figure 6a It is a schematic diagram of the halbach magnetization method of the permanent magnet on the upper part of the motor, Fig. 6b is a schematic diagram of the halbach magnetization method of the permanent magnet rotating counterclockwise in the middle part of the motor, and Fig. 6c is a schematic diagram of the halbach magnetization method of the permanent magnet in the lower part of the motor.
在本发明的横向磁通磁场调制式直线电机中，初级铁心7凸极齿4上的电枢绕组5以及次级上的永磁体2产生的磁力线经过虚齿3的虚槽进入次级与初级之间的气隙形成完整磁力线回路，对于同一个初级上的两个初级铁心7的凸极齿4上绕有相同的电枢绕组5形成三相电机中的一相；电枢绕组5通电之后产生的磁场与次级永磁体2上产生的磁场通过虚齿的调制之后相互作用使电机在预期的方向运动，通过改变电枢绕组电流可以轻易改变电机运动方向控制简单。In the transverse flux magnetic field modulation linear motor of the present invention, the magnetic field lines generated by the armature winding 5 on the salient pole teeth 4 of the primary core 7 and the permanent magnet 2 on the secondary enter the secondary and primary through the virtual slots of the virtual teeth 3 The air gap between them forms a complete magnetic field line loop, and the same armature winding 5 is wound on the salient pole teeth 4 of the two primary iron cores 7 on the same primary to form one phase of the three-phase motor; after the armature winding 5 is energized The generated magnetic field interacts with the magnetic field generated on the secondary permanent magnet 2 through the modulation of the virtual teeth to make the motor move in the expected direction. The direction of motor movement can be easily changed by changing the armature winding current, and the control is simple.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.
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