CN107154691B - Low-voltage large-current servo motor - Google Patents
Low-voltage large-current servo motor Download PDFInfo
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- CN107154691B CN107154691B CN201710245408.9A CN201710245408A CN107154691B CN 107154691 B CN107154691 B CN 107154691B CN 201710245408 A CN201710245408 A CN 201710245408A CN 107154691 B CN107154691 B CN 107154691B
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- motor
- permanent magnet
- gear ring
- end cover
- sleeve
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
- H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
Abstract
The invention discloses a low-voltage high-current servo motor, which is characterized in that a permanent magnet and a sleeve are equally divided in the axial direction, the equal component of the permanent magnet is larger than that of the sleeve, and the permanent magnet and the sleeve are installed in a staggered manner, so that the eddy current loss is reduced from 2 times to 1.3 times, the loss of the motor is reduced, the specific power density of the motor is improved, the volume and the weight of the motor are reduced, and the requirements of small space volume and light weight of the servo motor in the aerospace field are met.
Description
Technical Field
The invention relates to a low-voltage high-current servo motor, and belongs to the field of servo motors of aerospace electromechanical servo systems.
Background
After the electromechanical servo technology is successfully applied to strategic weapon models for the first time, electromechanical servo systems of 96V, 160V, 270V and 400V voltage systems are gradually formed, and the electromechanical servo systems generally comprise servo power supplies, servo control drivers, servo motors and servo transmission mechanisms. The servo power supply provides direct current for the servo control driver, the servo control driver inverts the direct current into three-phase alternating current to supply to the servo motor, and the servo motor drives the servo transmission mechanism to rotate and outputs linear displacement after conversion.
The electromechanical servo system is found in model development and application: the higher the direct current bus voltage of the servo power supply is, the stricter the design requirements on the internal circuit of the servo control driver are; the more the number of the servo power supply thermal battery series monomers is, the larger the volume is; under the condition of low air pressure, the higher the probability of dielectric breakdown arcing discharge of the system is, and the greater influence is exerted on the reliability of the system.
At present, the research and application of an electromechanical servo system of a low-voltage system are blank, a servo motor in the electromechanical servo system of the low-voltage system is used as a power element, the electromechanical servo system has the characteristic of low voltage and large current, in order to meet the requirement of the low voltage and large current, the number of turns of a motor winding is too low and the number of strands is too high, and the coil inserting process is difficult to realize; compared with a high-voltage system, under the same working condition, the eddy current loss of the permanent magnet and the sleeve is overlarge due to large current, and the adverse effect is brought to the improvement of the specific power density of the motor.
Disclosure of Invention
The technical problem of the invention is solved: in order to overcome the defects of the prior art, the low-voltage large-current servo motor is provided, the eddy current loss is reduced by adopting a sectional dislocation type design, the heat dissipation capacity is improved by a dynamic balance type weight reduction method, the loss of the motor is reduced, the specific power density of the motor is improved, and the requirements of narrow space volume and light weight of the servo motor in the aerospace field are met.
The technical solution of the invention is as follows:
a low-voltage high-current servo motor comprises a stator component, a rotor component, a rear end cover and a rotary transformer, wherein the rotor component is arranged in the stator component through a bearing,
the stator assembly comprises a motor shell, a stator core and a front end cover,
the rotor component comprises a motor shaft, a magnet yoke, a permanent magnet, a left retaining ring, a right retaining ring and a sleeve,
the rotary transformer is coaxially arranged at one end of the motor shaft to detect the position of the motor shaft, the magnetic yoke, the permanent magnet and the sleeve are sequentially and coaxially arranged on the outer side of the motor shaft, and the left retaining ring and the right retaining ring are respectively arranged on two sides of the magnetic yoke and the permanent magnet to realize axial limiting of the magnetic yoke and the permanent magnet;
the stator core is arranged in the motor shell,
the front end cover is in interference fit with one end of the motor shell in the radial direction, one end of the front end cover in the axial direction is limited through a spigot end face of the inner wall of the motor shell, and the other end of the front end cover in the axial direction is limited through a spigot end face of an external transmission mechanism, so that the front end cover is fixed in the radial direction and the axial direction;
the rear end cover is arranged at the other end of the motor shell;
the permanent magnet and the sleeve are equally divided in the axial direction, the equal component of the permanent magnet is larger than that of the sleeve, and the permanent magnet and the sleeve are installed in a staggered mode, so that the eddy current loss of the servo motor of a 56V voltage system is the same as that of the permanent magnet and the sleeve of the servo motor of a 160V voltage system under the working conditions of the same torque and the same rotating speed;
the left gear ring and the right gear ring are provided with a weight removing hole in the circumferential direction, and the size of the aperture of the weight removing hole is adjusted to realize the dynamic balance of the rotor assembly; when the motor shaft rotates, the left gear ring and the right gear ring form a fan effect to take away partial heat generated by eddy current loss of the permanent magnet and the sleeve, so that the temperature is raised and lowered to at least 20%.
The magnetic energy product of the permanent magnet is at least 47MGOe, the intrinsic coercive force is at least 35KOe, and the working temperature is not lower than 230 ℃.
The permanent magnet is made of neodymium iron boron materials or samarium cobalt materials.
The stator iron core is formed by laminating stator silicon steel sheets, a notch for embedding a winding is formed in the inner circle of the stator iron core, when the stator iron core is off line, the number of winding strands is divided equally, the sectional area of each winding turn after equal division is matched with the size of the notch, each winding turn after embedding is connected to a copper plate through a leading-out terminal to realize parallel connection of each winding turn after equal division, a three-phase lead is also connected to the copper plate through the leading-out terminal to be led out in three phases, the copper plate is fixed on an insulating bottom plate, and the insulating bottom plate is fixed on a motor shell to realize insulation of each winding turn.
The insulating bottom plate material is polytetrafluoroethylene, and the thickness is not less than 3 mm.
Compared with the prior art, the invention has the following beneficial effects:
(1) the eddy current loss is in direct proportion to the rotating speed and the current of the motor, the current of the servo motor of a 56V voltage system is 2.5 times that of the servo motor of a 160V voltage system under the working conditions of the same torque and the same rotating speed, so the eddy current loss is 2 times that of the servo motor of the 160V voltage system under the condition of not adopting a structure design for reducing the eddy current loss, the eddy current loss is also 2 times that of the servo motor of the 160V voltage system, the invention adopts the structure design that the permanent magnet and the sleeve are equally divided in the axial direction, the equal component of the permanent magnet is more than that of the sleeve, and the eddy current loss is reduced from 2 times to 1.3 times by staggered installation, the loss of the motor is reduced, the specific power density of the motor is improved, the volume and the weight of the motor are;
(2) in the prior art, a baffle ring is mostly of a cylindrical tubular solid structure and is usually used for a servo motor of a voltage system higher than 96V, the current of the motor of the voltage system is moderate, and the eddy current loss proportion of a permanent magnet and a sleeve is small; the voltage system of the servo motor is 56V, the eddy current loss of the permanent magnet and the sleeve is increased rapidly due to the reduction of the voltage system of the servo motor, the heat dissipation problem of the permanent magnet and the sleeve needs to be solved, the temperature rise of the permanent magnet and the sleeve is reduced by at least 20 percent through the design of the weight removing holes, the specific power density of the motor is improved, the volume and the weight of the motor are reduced, and the requirements of small space volume and light weight of the servo motor in the aerospace field are met;
(3) in the prior art, the front end cover is connected with the motor shell through screws, and the space size needs to be reserved, so that the space occupied by the front end cover and the motor shell is overlarge, and meanwhile, the weight is correspondingly increased; according to the invention, the front end cover is in interference fit with one end of the motor shell in the radial direction, one end of the front end cover in the axial direction is limited by the spigot end face of the inner wall of the motor shell, and the other end of the front end cover is limited by the spigot end face of the external transmission mechanism, so that the mounting space of the front end cover can be saved, and the size of the motor is further reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a stator assembly of the present invention;
FIG. 3 is a schematic structural view of a front end cap according to the present invention;
FIG. 4 is a schematic view of a rotor assembly according to the present invention;
FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4 in accordance with the present invention;
FIG. 6 is a schematic view of the left and right shift rings of the present invention;
FIG. 7 is a permanent magnet temperature cloud diagram of a 56V voltage system motor at operating point 2;
FIG. 8 is a permanent magnet temperature cloud diagram of a 160V voltage system motor at operating point 2;
FIG. 9 is a cloud graph of permanent magnet temperature at operating point 2 after the 56V voltage system motor of the present invention takes action 1;
fig. 10 is a permanent magnet temperature cloud diagram at operating point 2 after the 56V voltage system motor takes measures 1 and 2.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings.
A low-voltage high-current servo motor is disclosed as figure 1, comprising a stator component 1, a rotor component 2, a rear end cover 3 and a rotary transformer 7, wherein the rotor component 2 is arranged inside the stator component 1 through bearings 2-8,
as shown in fig. 2, the stator assembly 1 includes a motor housing 1-1, a stator core 1-3 and a front cover 1-5,
as shown in fig. 4 and 5, the rotor assembly 2 includes a motor shaft 2-1, a yoke 2-3, a permanent magnet 2-4, a left shift ring 2-7, a right shift ring 2-2 and a sleeve 2-6,
the rotary transformer 7 is coaxially arranged at one end of the motor shaft 2-1 to detect the position of the motor shaft 2-1, the magnetic yoke 2-3, the permanent magnet 2-4 and the sleeve 2-6 are coaxially arranged outside the motor shaft 2-1 in sequence, the left gear ring 2-7 and the right gear ring 2-2 are respectively arranged at two sides of the magnetic yoke 2-3 and the permanent magnet 2-4 to realize axial limit of the magnetic yoke 2-3 and the permanent magnet 2-4;
the stator iron core 1-3 is installed inside the motor shell 1-1, the stator iron core 1-3 is formed by laminating stator silicon steel sheets, a notch for embedding a winding is formed in the inner circle of the stator iron core, when the winding is off, the number of winding strands is divided equally, the sectional area of each winding after being divided equally is matched with the size of the notch, each winding after being embedded is connected to a copper plate through a leading-out terminal to realize parallel connection of each winding after being divided equally, a three-phase lead is also connected to the copper plate through the leading-out terminal to carry out three-phase leading-out, the copper plate is fixed on an insulating bottom plate, the insulating bottom plate is fixed on a motor shell to realize each winding, lead and the insulating motor shell, the problems of off-line and lead are effectively solved, the insulating bottom plate material is polytetrafluoroethylene, the thickness is not less.
As shown in fig. 3, the front end cover 1-5 is in interference fit with one end of the motor housing 1-1 in the radial direction, one end of the front end cover 1-5 in the axial direction is limited by a spigot end surface (surface 1) of the inner wall of the motor housing 1-1, and the other end of the front end cover is limited by a spigot end surface of the external transmission mechanism in a fit manner with a spigot end surface (surface 2) of the inner wall of the motor housing 1-1, so that the front end cover 1-5 is fixed in the radial direction and the axial direction;
in the prior art, the front end cover is connected with the motor shell through screws, and the space size needs to be reserved, so that the space occupied by the front end cover and the motor shell is overlarge, and meanwhile, the weight is correspondingly increased; according to the invention, the front end cover is in interference fit with one end of the motor shell in the radial direction, one end of the front end cover in the axial direction is limited by the spigot end face of the inner wall of the motor shell, and the other end of the front end cover is limited by the spigot end face of the external transmission mechanism, so that the mounting space of the front end cover can be saved, and the size of the motor is further reduced.
The rear end cover 3 is arranged at the other end of the motor shell 1-1;
the permanent magnets 2-4 can be preferably axially trisected, the sleeves 2-6 can be preferably axially quartered, the requirement that the equant quantity of the permanent magnets 2-4 is greater than that of the sleeves 2-6 is met, and the permanent magnets and the sleeves are installed in a staggered mode, so that the eddy current loss of the servo motor of the 56V voltage system is the same as that of the servo motor of the 160V voltage system under the working conditions of the same torque and the same rotating speed; the magnetic energy product of the permanent magnets 2-4 is at least 47MGOe, the intrinsic coercive force is at least 35KOe, the working temperature is not lower than 230 ℃, and the permanent magnets 2-4 are made of neodymium iron boron materials or samarium cobalt materials.
The eddy current loss is in direct proportion to the rotating speed and the current of the motor, and the current of the servo motor with a 56V voltage system is 2.5 times that of the servo motor with a 160V voltage system under the working conditions of the same torque and rotating speed, so that the eddy current loss is 2 times that of the servo motor with the 160V voltage system under the condition of not adopting an eddy current loss reducing structural design. The permanent magnet and the sleeve are equally divided in the axial direction, the equal component of the permanent magnet is larger than that of the sleeve, and the structure design of staggered installation is adopted, so that the eddy current loss is reduced to 1.3 times from 2 times, the loss of the motor is reduced, the specific power density of the motor is improved, the volume and the weight of the motor are reduced, and the requirements of small space volume and light weight of a servo motor in the aerospace field are met.
As shown in fig. 6, the left gear ring 2-7 and the right gear ring 2-2 are provided with a weight-removing hole in the circumferential direction, preferably 8 holes are uniformly distributed in the circumferential direction, unbalance can be removed in a reaming manner when the rotor assembly 2 performs dynamic balance, and when the motor shaft 2-1 rotates, the left gear ring 2-7 and the right gear ring 2-2 form a fan effect to take away part of heat generated by eddy current loss of the permanent magnet 2-4 and the sleeve 2-6, so that the temperature is raised and lowered to at least 20%.
In the prior art, a baffle ring is mostly of a cylindrical tubular solid structure and is usually used for a servo motor of a voltage system higher than 96V, the current of the motor of the voltage system is moderate, and the eddy current loss proportion of a permanent magnet and a sleeve is small; the voltage system of the servo motor is 56V, the eddy current loss of the permanent magnet and the sleeve is increased rapidly due to the reduction of the voltage system of the servo motor, the heat dissipation problem of the permanent magnet and the sleeve needs to be solved, the temperature rise of the permanent magnet and the sleeve is reduced by at least 20% through the design of the weight removing holes, the specific power density of the motor is improved, the volume and the weight of the motor are reduced, and the requirements of small space volume and light weight of the servo motor in the aerospace field are met.
From table 1, it can be seen that the spatial volume and output capacity of the motor are kept unchanged, only the voltage system is reduced from the original 160V to 56V, and the motor parameters are changed as follows:
1) the number of strands increases, which causes process difficulties for the production of wires and leads;
2) the peak torque working current is increased, and the eddy current loss of the permanent magnet and the sleeve is increased;
3) the temperature rise of the permanent magnet and the sleeve increases.
After the measure that this patent was adopted, the motor loss is like table 2 with the temperature rise contrast condition: after the measure 1 is adopted, the eddy current loss of the permanent magnet and the sleeve is reduced to 12.8W from 17.1W at the working condition point 1; the temperature is reduced from 123W to 92.2W at the working condition point 2, and the temperature rise is increased from 25 ℃ to 37.6 ℃; after the measure 2 is adopted, the temperature rise of the permanent magnet at the working condition point 2 is increased from 25 ℃ to 33.4 ℃; if the loss is further increased when the speed of the motor is further increased, the loss and the temperature rise of the motor can be greatly reduced by adopting the two measures.
The simulation shows that measures 1 and 2 are adopted, so that the eddy current loss is reduced from 2 times to 1.3 times, the loss of the motor is reduced, the temperature rise of the permanent magnet and the sleeve is reduced by at least 20%, the specific power density of the motor is improved, the volume and the weight of the motor are reduced, and the requirements of small space volume and light weight of the servo motor in the aerospace field are met.
TABLE 156V VOLTAGE SYSTEM AND 160V VOLTAGE SYSTEM MOTOR PARAMETER COMPARATIVE
Comparison of motor parameters of 256V voltage system and 160V voltage system in table
Measure 1: the permanent magnets 2-4 can be preferably axially trisected, and the sleeves 2-6 can be preferably axially quartered, so that the equant amount of the permanent magnets 2-4 is larger than that of the sleeves 2-6, and the sleeves are installed in a staggered mode.
And 2, measure 2: the left gear ring 2-7 and the right gear ring 2-2 are provided with weight removing holes in the circumferential direction, preferably 8 holes are uniformly distributed in the circumferential direction, and unbalance can be removed in a reaming mode when the rotor assembly 2 performs dynamic balance.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (1)
1. A low-voltage high-current servo motor is characterized by comprising a stator component (1), a rotor component (2), a rear end cover (3) and a rotary transformer (7), wherein the rotor component (2) is arranged in the stator component (1) through bearings (2-8),
the stator component (1) comprises a motor shell (1-1), a stator core (1-3) and a front end cover (1-5),
the rotor component (2) comprises a motor shaft (2-1), a magnet yoke (2-3), a permanent magnet (2-4), a left gear ring (2-7), a right gear ring (2-2) and a sleeve (2-6),
the rotary transformer (7) is coaxially arranged at one end of the motor shaft (2-1) to detect the position of the motor shaft (2-1), the magnetic yoke (2-3), the permanent magnet (2-4) and the sleeve (2-6) are sequentially and coaxially arranged on the outer side of the motor shaft (2-1), the left gear ring (2-7) and the right gear ring (2-2) are respectively arranged on two sides of the magnetic yoke (2-3) and the permanent magnet (2-4), and axial limiting of the magnetic yoke (2-3) and the permanent magnet (2-4) is achieved;
the stator iron core (1-3) is arranged inside the motor shell (1-1),
the front end cover (1-5) is in interference fit with one end of the motor shell (1-1) in the radial direction, one end of the front end cover (1-5) in the axial direction is limited by a spigot end face of the inner wall of the motor shell (1-1), and the other end of the front end cover is limited by a spigot end face of an external transmission mechanism, so that the front end cover (1-5) is fixed in the radial direction and the axial direction;
the rear end cover (3) is arranged at the other end of the motor shell (1-1);
the permanent magnets (2-4) and the sleeves (2-6) are equally divided in the axial direction, the equally divided amount of the permanent magnets (2-4) is larger than that of the sleeves (2-6), the permanent magnets (2-4) are equally divided in the axial direction, the sleeves (2-6) are equally divided in the axial direction and are installed in a staggered mode, the magnetic energy product of the permanent magnets (2-4) is at least 47MGOe, the intrinsic coercive force is at least 35KOe, the working temperature is not lower than 230 ℃, and therefore the eddy current loss of a servo motor of a 56V voltage system is the same as that of a servo motor permanent magnet of a 160V voltage system and that of the sleeves under the working conditions of the same torque and the same rotating speed;
the left gear ring (2-7) and the right gear ring (2-2) are provided with weight removing holes in the circumferential direction, 8 holes are uniformly distributed in the circumferential direction, and unbalance can be removed in a reaming mode when the rotor assembly (2) performs dynamic balance; when the motor shaft (2-1) rotates, the left gear ring (2-7) and the right gear ring (2-2) form a fan effect to take away part of heat generated by eddy current loss of the permanent magnet (2-4) and the sleeve (2-6) and enable the temperature to rise and fall to at least 33%;
the stator iron core (1-3) is formed by laminating stator silicon steel sheets, a notch for embedding a winding is formed in the inner circle of the stator iron core, when the stator iron core is off line, the number of winding strands is divided equally, the sectional area of each winding turn after equal division is matched with the size of the notch, each winding turn after embedding is connected to a copper plate through a leading-out terminal to realize parallel connection of each winding turn after equal division, a three-phase lead is also connected to the copper plate through the leading-out terminal to carry out three-phase leading-out, the copper plate is fixed on an insulating bottom plate, the insulating bottom plate is fixed on a motor shell (1-1), and each winding turn and the lead are insulated from the motor shell; the insulating bottom plate material is polytetrafluoroethylene, and the thickness is not less than 3 mm; the permanent magnets (2-4) are made of neodymium iron boron materials or samarium cobalt materials.
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| CN201710245408.9A CN107154691B (en) | 2017-04-14 | 2017-04-14 | Low-voltage large-current servo motor |
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| CN201710245408.9A CN107154691B (en) | 2017-04-14 | 2017-04-14 | Low-voltage large-current servo motor |
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| CN107154691B true CN107154691B (en) | 2020-04-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8415854B2 (en) * | 2008-07-28 | 2013-04-09 | Direct Drive Systems, Inc. | Stator for an electric machine |
| CN201918814U (en) * | 2010-11-22 | 2011-08-03 | 重庆红宇精密工业有限责任公司 | Rotor of servo permanent-magnet synchronous motor |
| CN104600945A (en) * | 2013-10-31 | 2015-05-06 | 北京精密机电控制设备研究所 | High-specific-power and wide-speed-regulation servo motor |
| CN203911617U (en) * | 2014-05-20 | 2014-10-29 | 武汉华大新型电机科技股份有限公司 | A sleeve used for a fractional-slot concentrated winding permanent magnet synchronous servo motor |
| CN204597667U (en) * | 2015-05-28 | 2015-08-26 | 湘电莱特电气有限公司 | A kind of magneto rotor and comprise the motor of this rotor |
| CN105515328A (en) * | 2015-07-01 | 2016-04-20 | 刘国建 | High power density brushless motor for power tool |
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