CN107493003A - A kind of bilateral 60 ° of permanent magnetic linear synchronous motors of side set of unit motor moduleization - Google Patents
A kind of bilateral 60 ° of permanent magnetic linear synchronous motors of side set of unit motor moduleization Download PDFInfo
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Abstract
本发明提供一种单元电机模块化双边错齿60°永磁同步直线电机，属电机技术领域。它包括初级组件一、初级组件二和次级组件，初级组件均由多个单元电机组成。永磁体粘贴在轭板的上下两个表面上形成次级组件。初级组件一和初级组件二位于次级组件的两边，并与次级组件形成两个气隙结构。初级组件一和初级组件二在纵向上错开位移为S1＝(2k1+1/3)τ(k1为整数，τ为电机的极距)。初级组件上相邻单元电机之间设置调磁结构，调磁结构的宽度为S2＝(2k2+1/3)τ(k2为整数，τ为电机的极距)。初级铁心上开槽，槽内设置电枢绕组。初级组件一上每个单元电机的三相绕组和初级组件二上每个单元电机的三相绕组绕制顺序和方向不同。该结构利于降低电机的推力波动，同时降低单边磁拉力及其波动。
The invention provides a unit motor modular bilateral staggered teeth 60° permanent magnet synchronous linear motor, which belongs to the technical field of motors. It includes primary assembly one, primary assembly two, and secondary assembly, each of which is composed of multiple unit motors. Permanent magnets are pasted on the upper and lower surfaces of the yoke plate to form the secondary assembly. Primary assembly one and primary assembly two are located on both sides of the secondary assembly and form two air gap structures with the secondary assembly. The staggered displacement of primary assembly 1 and primary assembly 2 in the longitudinal direction is S 1 =(2k 1 +1/3)τ (k 1 is an integer, τ is the pole pitch of the motor). A magnetic modulation structure is arranged between adjacent unit motors on the primary assembly, and the width of the magnetic modulation structure is S 2 =(2k 2 +1/3)τ (k 2 is an integer, τ is the pole pitch of the motor). Slots are slotted on the primary iron core, and armature windings are arranged in the slots. The winding sequence and direction of the three-phase windings of each unit motor on primary assembly 1 are different from those of each unit motor on primary assembly 2. This structure is beneficial to reduce the thrust fluctuation of the motor, and at the same time reduce the unilateral magnetic pull and its fluctuation.
Description
技术领域technical field
本发明属电机领域，特别涉及到一种单元电机模块化双边错齿60°永磁同步直线电机。The invention belongs to the field of motors, and in particular relates to a unit motor modular bilateral staggered teeth 60° permanent magnet synchronous linear motor.
背景技术Background technique
双初级永磁同步直线电机，采用两个初级组件和一个次级组件，能充分利用体积空间，具有推力及推力密度大，利于消除单边磁拉力等优点，因此在各种高精度直线运动控制场合具有广泛的应用前景。但是，由于端部效应、齿槽效应和电枢反应的共同影响，使得此类电机存在推力波动大的缺点。为抑制推力波动，一种有效的方法是采用双边错齿结构设计(如图7所示)，该电机上两个初级组件的结构及绕组设置完全一样，但是两个初级组件在横向上错开一定的距离S，该距离通常需依据大量模型的优化设计结果来选取最佳值。这种结构使电机具有类似斜槽的效果，能在一定程度上削弱推力波动。但是其缺点在于，使电机的平均推力下降，同时改变了原来次级组件承受来自上下两个初级组件的单边磁拉力正好完全抵消的特性，因此造成次级组件承受单边磁拉力及其波动增大，从而影响电机装配难度增加，并影响直线电机系统的控制精度。Double primary permanent magnet synchronous linear motor, using two primary components and one secondary component, can make full use of the volume space, has the advantages of high thrust and thrust density, and is beneficial to eliminate unilateral magnetic pull. Therefore, it is used in various high-precision linear motion control It has broad application prospects. However, due to the common influence of end effect, cogging effect and armature reaction, this type of motor has the disadvantage of large thrust fluctuation. In order to suppress thrust fluctuations, an effective method is to adopt a bilateral staggered tooth structure design (as shown in Figure 7). The structure and winding settings of the two primary assemblies on the motor are exactly the same, but the two primary assemblies are staggered by a certain amount in the lateral direction. The distance S, which usually needs to select the optimal value based on the optimization design results of a large number of models. This structure makes the motor have the effect of a chute, which can weaken the thrust fluctuation to a certain extent. But its disadvantage is that it reduces the average thrust of the motor, and at the same time changes the original characteristic that the secondary component bears the unilateral magnetic pull from the upper and lower primary components, which just completely cancels out, thus causing the secondary component to bear the unilateral magnetic pull and its fluctuations. Increase, which will affect the difficulty of motor assembly and affect the control accuracy of the linear motor system.
发明内容Contents of the invention
本发明为解决已有双初级永磁同步直线电机推力波动大问题，提出一种单元电机模块化双边错齿60°永磁同步直线电机。In order to solve the problem of large thrust fluctuations of the existing double-primary permanent magnet synchronous linear motors, the present invention proposes a unit motor modular bilateral staggered teeth 60° permanent magnet synchronous linear motor.
本发明的具体技术方案如下：Concrete technical scheme of the present invention is as follows:
一种单元电机模块化双边错齿60°永磁同步直线电机，它包括初级组件一1、初级组件二2和次级组件3。初级组件一1由铁心轭1-1、铁心齿1-2、电枢绕组1-3和铁心开槽1-4组成，包括单元电机1-5和单元电机1-6。初级组件二2由铁心轭2-1，铁心齿2-2、电枢绕组2-3和铁心开槽2-4组成，包括单元电机2-5和单元电机2-6。次级组件3由永磁体3-1和轭板3-2构成，每一对极下包括四块永磁体，位于轭板3-2两边的永磁体3-1-1和3-1-3的充磁方向相同，永磁体3-1-2和永磁体3-1-4的充磁方向相同，位于轭板同一边的相邻永磁体3-1-1和3-1-2的充磁方向相反。初级组件一1和初级组件二2位于次级组件3的两边，并与次级组件形成气隙4和气隙5结构。初级组件一1和初级组件二2在纵向上错开位移为S1＝(2k1+1/3)τ(τ为电机的极距，k1为任意整数)。A unit motor modular bilateral staggered tooth 60° permanent magnet synchronous linear motor, which includes a primary assembly 1, a primary assembly 2 and a secondary assembly 3. Primary assembly one 1 is composed of core yoke 1-1, core teeth 1-2, armature winding 1-3 and core slot 1-4, including unit motor 1-5 and unit motor 1-6. The primary component 2 is composed of core yoke 2-1, core teeth 2-2, armature winding 2-3 and core slot 2-4, including unit motor 2-5 and unit motor 2-6. The secondary assembly 3 is composed of a permanent magnet 3-1 and a yoke plate 3-2, each pair of poles includes four permanent magnets, and the permanent magnets 3-1-1 and 3-1-3 on both sides of the yoke plate 3-2 The magnetization directions of the permanent magnets 3-1-2 and the permanent magnets 3-1-4 are the same, and the magnetization directions of the adjacent permanent magnets 3-1-1 and 3-1-2 located on the same side of the yoke plate The magnetic direction is opposite. The first primary component 1 and the second primary component 2 are located on both sides of the secondary component 3 and form an air gap 4 and an air gap 5 structure with the secondary component. The longitudinal displacement of the first primary assembly 1 and the second primary assembly 2 is S 1 =(2k 1 +1/3)τ (τ is the pole pitch of the motor, and k 1 is an arbitrary integer).
初级组件一1上单元电机1-5和单元电机1-6之间设置调磁结构6-1。单元电机1-5上A相绕组1-3-1，B相绕组1-3-2和C相绕组1-3-3按照A-B-C顺序设置在铁心开槽1-4内。单元电机1-6上A相绕组1-3-1，B相绕组1-3-2和C相绕组1-3-3按照C-A-B顺序设置在铁心开槽1-4内，并且绕组反接。A magnetic modulation structure 6-1 is arranged between the unit motor 1-5 and the unit motor 1-6 on the first primary assembly 1 . The A-phase winding 1-3-1, the B-phase winding 1-3-2 and the C-phase winding 1-3-3 of the unit motor 1-5 are arranged in the iron core slot 1-4 in the order of A-B-C. The A-phase winding 1-3-1, B-phase winding 1-3-2 and C-phase winding 1-3-3 on the unit motor 1-6 are arranged in the iron core slot 1-4 in the order of C-A-B, and the windings are reversed.
初级组件二2上单元电机2-5和单元电机2-6之间设置调磁结构6-2。单元电机2-5上A相绕组2-3-1，B相绕组2-3-2和C相绕组2-3-3按照C-A-B顺序设置在铁心开槽1-4内，并且绕组反接。单元电机2-6上A相绕组2-3-1，B相绕组2-3-2和C相绕组2-3-3按照B-C-A顺序设置在铁心开槽2-4内。A magnetic modulation structure 6-2 is arranged between the unit motor 2-5 and the unit motor 2-6 on the primary assembly two 2 . The A-phase winding 2-3-1, the B-phase winding 2-3-2 and the C-phase winding 2-3-3 on the unit motor 2-5 are arranged in the iron core slot 1-4 in the order of C-A-B, and the windings are reversed. The A-phase winding 2-3-1, the B-phase winding 2-3-2 and the C-phase winding 2-3-3 on the unit motor 2-6 are arranged in the iron core slot 2-4 in the order of B-C-A.
本发明的进一步设计在于：A further design of the present invention is:
调磁结构6-1和6-2采用导磁材料，并分别与铁心轭1-1和2-1形成一体。Magnetic adjustment structures 6-1 and 6-2 are made of magnetically permeable materials, and are integrated with iron core yokes 1-1 and 2-1 respectively.
调磁结构6-1包括调磁轭部6-1-1和调磁齿部6-1-2，调磁轭部6-1-1的宽度为S2＝(2k2+1/3)τ(k2为整数，τ为电机的极距)，调磁齿部6-1-2的宽度S3≤S2，调磁齿部6-1-2的高度h1≤h(h1可为0)，h为单元电机铁心齿1-2和2-2的高度。调磁结构6-2与调磁结构6-1完全相同。The magnetic adjustment structure 6-1 includes a magnetic adjustment yoke 6-1-1 and a magnetic adjustment tooth 6-1-2, and the width of the magnetic adjustment yoke 6-1-1 is S 2 =(2k 2 +1/3) τ (k 2 is an integer, τ is the pole pitch of the motor), the width S 3 of the magnetic adjustment tooth part 6-1-2 ≤ S 2 , the height h 1 of the magnetic adjustment tooth part 6-1-2 ≤ h(h 1 Can be 0), h is the height of the core teeth 1-2 and 2-2 of the unit motor. The magnetic modulation structure 6-2 is exactly the same as the magnetic modulation structure 6-1.
本发明的优点是：The advantages of the present invention are:
(1)通过双边错开位移S1＝(2k1+1/3)τ(τ为电机的极距，k1为整数)和单元电机设置调磁结构S2＝(2k2+1/3)τ(k2为整数，τ为电机的极距)的设计，以及上下初级组件上三相绕组顺序和绕组绕制方向的调整，一方面使上下两个初级组件上同相绕组的电角度完全相同，从而不影响输出推力均值；另一方面调节端部磁场分布，使两个初级组件上各相绕组与端部的相对位置不同，从而调节端部效应对三相绕组不对称性的影响，最终达到抑制推力波动，利于提高控制系统性能的效果。(1) Through the bilateral stagger displacement S 1 =(2k 1 +1/3)τ (τ is the pole pitch of the motor, k 1 is an integer) and the unit motor to set the magnetic adjustment structure S 2 =(2k 2 +1/3) The design of τ (k 2 is an integer, τ is the pole pitch of the motor), and the adjustment of the three-phase winding sequence and winding direction on the upper and lower primary components, on the one hand, make the electrical angles of the same-phase windings on the upper and lower primary components exactly the same , so as not to affect the average value of the output thrust; on the other hand, adjust the magnetic field distribution at the end, so that the relative positions of each phase winding on the two primary components and the end are different, so as to adjust the influence of the end effect on the asymmetry of the three-phase winding, and finally The thrust fluctuation is suppressed, which is conducive to improving the performance of the control system.
(2)传统的双边错齿电机(如图7所示)，其原理是类似斜极斜槽原理，双边错开一定距离的设计，虽然能抑制推力波动，但是会导致推力均值下降和单边磁拉力增大。本结构与之不同，电机的推力均值不会下降，且理论上次级上承受的单边磁拉力为0。(2) The principle of the traditional double-sided staggered tooth motor (as shown in Figure 7) is similar to the principle of oblique pole chute. The design of a certain distance between the two sides can suppress the thrust fluctuation, but it will lead to a decrease in the average value of the thrust and a single-sided magnetic The pulling force increases. This structure is different, the average thrust of the motor will not drop, and theoretically the unilateral magnetic pull on the secondary is 0.
附图说明Description of drawings
图1为实施方式一单元电机模块化双边错齿60°永磁同步直线电机。Fig. 1 is a one-unit motor modular bilateral staggered teeth 60° permanent magnet synchronous linear motor according to the embodiment.
图2为实施方式一初级组件一的结构示意图。Fig. 2 is a schematic structural diagram of a primary component of Embodiment 1.
图3为实施方式一初级组件二的结构示意图。Fig. 3 is a schematic structural diagram of the primary assembly of Embodiment 1 and II.
图4为次级组件的结构示意图。Figure 4 is a schematic diagram of the structure of the secondary assembly.
图5为次级组件上一对极的结构示意图。Fig. 5 is a schematic structural diagram of a pair of poles on the secondary assembly.
图6为调磁结构示意图。Fig. 6 is a schematic diagram of the magnetic modulation structure.
图7为传统双边错齿永磁同步直线电机结构示意图。Fig. 7 is a schematic structural diagram of a conventional double-sided staggered-tooth permanent magnet synchronous linear motor.
图中，1：初级组件一；2：初级组件二；3：次级组件；4：气隙；5：气隙；1-1：初级组件一上铁心轭；1-2：初级组件一上铁心齿；1-3：初级组件一上电枢绕组；1-4：初级组件一上铁心开槽；1-5：初级组件一上单元电机一；1-6：初级组件一上单元电机二；2-1：初级组件二上铁心轭；2-2：初级组件二上铁心齿；2-3：初级组件二上电枢绕组；2-4：初级组件二上铁心开槽；2-5：初级组件二上单元电机一；2-6：初级组件二上单元电机二；3-1：永磁体；3-2：轭板；1-3-1：初级组件一上A相绕组；1-3-2：初级组件一上B相绕组；1-3-3：初级组件一上C相绕组；2-3-1：初级组件二上A相绕组；2-3-2：初级组件二上B相绕组；2-3-3：初级组件二上C相绕组；3-1-1：永磁体；3-1-2：永磁体；3-1-3：永磁体；3-1-4：永磁体；6-1：调磁结构；6-2：调磁结构；6-1-1：调磁轭；6-1-2：调磁齿In the figure, 1: primary component 1; 2: primary component 2; 3: secondary component; 4: air gap; 5: air gap; 1-1: primary component 1 on core yoke; 1-2: primary component 1 on Iron core teeth; 1-3: primary component 1 upper armature winding; 1-4: primary component 1 upper core slotting; 1-5: primary component 1 upper unit motor 1; 1-6: primary component 1 upper unit motor 2 ;2-1: Iron core yoke on the second primary component; 2-2: Iron core teeth on the second primary component; 2-3: Armature winding on the second primary component; 2-4: Slot on the iron core on the second primary component; 2-5 : primary component 2 upper unit motor 1; 2-6: primary component 2 upper unit motor 2; 3-1: permanent magnet; 3-2: yoke plate; 1-3-1: primary component 1 upper phase A winding; 1 -3-2: B-phase winding on primary component one; 1-3-3: C-phase winding on primary component one; 2-3-1: A-phase winding on primary component two; 2-3-2: Primary component two Upper B-phase winding; 2-3-3: Primary component two upper C-phase winding; 3-1-1: Permanent magnet; 3-1-2: Permanent magnet; 3-1-3: Permanent magnet; 3-1- 4: Permanent magnet; 6-1: Magnetic adjustment structure; 6-2: Magnetic adjustment structure; 6-1-1: Magnetic adjustment yoke; 6-1-2: Magnetic adjustment teeth
具体实施方式detailed description
下面结合附图与实施例对本发明作进一步说明Below in conjunction with accompanying drawing and embodiment the present invention will be further described
实施方式一：Implementation mode one:
如图1、2、3、4、5、6所示，本实施例为一种单元电机模块化双边错齿60°永磁同步直线电机，其极槽配合为16极18槽结构。单元电机模块化双边错齿60°永磁同步直线电机，它包括初级组件一1、初级组件二2和次级组件3。初级组件一1由铁心轭1-1、铁心齿1-2、电枢绕组1-3和铁心开槽1-4组成，包括单元电机1-5和单元电机1-6。初级组件二2由铁心轭2-1，铁心齿2-2、电枢绕组2-3和铁心开槽2-4组成，包括单元电机2-5和单元电机2-6。次级组件3由永磁体3-1和轭板3-2构成，每一对极下包括四块永磁体，位于轭板3-2两边的永磁体3-1-1和3-1-3的充磁方向相同，永磁体3-1-2和永磁体3-1-4的充磁方向相同，位于轭板同一边的相邻永磁体3-1-1和3-1-2的充磁方向相反。初级组件一1和初级组件二2位于次级组件3的两边，并与次级组件形成气隙4和气隙5结构。永磁体发出的磁通，经初级组件1、初级组件2、次级组件3及气隙4和气隙5形成串联磁路。As shown in Figures 1, 2, 3, 4, 5, and 6, this embodiment is a modular double-sided staggered-tooth 60° permanent magnet synchronous linear motor with a pole slot structure of 16 poles and 18 slots. A unit motor is a modular bilateral staggered tooth 60° permanent magnet synchronous linear motor, which includes a primary component 1, a primary component 2 and a secondary component 3. Primary assembly one 1 is composed of core yoke 1-1, core teeth 1-2, armature winding 1-3 and core slot 1-4, including unit motor 1-5 and unit motor 1-6. The primary component 2 is composed of core yoke 2-1, core teeth 2-2, armature winding 2-3 and core slot 2-4, including unit motor 2-5 and unit motor 2-6. The secondary assembly 3 is composed of a permanent magnet 3-1 and a yoke plate 3-2, each pair of poles includes four permanent magnets, and the permanent magnets 3-1-1 and 3-1-3 on both sides of the yoke plate 3-2 The magnetization directions of the permanent magnets 3-1-2 and the permanent magnets 3-1-4 are the same, and the magnetization directions of the adjacent permanent magnets 3-1-1 and 3-1-2 located on the same side of the yoke plate The magnetic direction is opposite. The first primary component 1 and the second primary component 2 are located on both sides of the secondary component 3 and form an air gap 4 and an air gap 5 structure with the secondary component. The magnetic flux emitted by the permanent magnet forms a series magnetic circuit through the primary assembly 1 , the primary assembly 2 , the secondary assembly 3 , and the air gaps 4 and 5 .
初级组件一1和初级组件二2在纵向上错开位移为S1＝τ/3(τ为电机的极距)，即错开60°电角度。The longitudinal displacement of the first primary assembly 1 and the second primary assembly 2 is S 1 =τ/3 (τ is the pole pitch of the motor), that is, the electrical angle is staggered by 60°.
初级组件一1上，单元电机1-5和单元电机1-6之间设置调磁结构6-1。绕组采用集中绕组结构，第一个槽为半填槽。单元电机一1-5上A相绕组1-3-1设置在第1-第4个槽内，B相绕组1-3-2设置在第4-第7个槽内，C相绕组1-3-3设置在第7-第10个槽内。单元电机二1-6上A相绕组1-3-1设置在第13-第16个槽内，B相绕组1-3-2设置在第16-第19个槽内，C相绕组1-3-3设置在第10-第13个槽内，并且绕组反接。On the first primary assembly 1, a magnetic modulation structure 6-1 is arranged between the unit motor 1-5 and the unit motor 1-6. The winding adopts a concentrated winding structure, and the first slot is a half-filled slot. The A-phase winding 1-3-1 on the unit motor 1-5 is set in the 1st-4th slot, the B-phase winding 1-3-2 is set in the 4th-7th slot, and the C-phase winding 1- 3-3 set in slots 7-10. On the unit motor 2 1-6, the A-phase winding 1-3-1 is set in the 13th-16th slot, the B-phase winding 1-3-2 is set in the 16th-19th slot, and the C-phase winding 1- 3-3 is set in the 10th-13th slot, and the windings are reversed.
初级组件二2上，单元电机2-5和单元电机2-6之间设置调磁结构6-2。绕组采用集中绕组结构，第一个槽为半填槽。单元电机一2-5上A相绕组2-3-1设置在第4-第7个槽内，B相绕组2-3-2设置在第7-第10个槽内，C相绕组2-3-3设置在第1-第4个槽内，并且绕组反接。单元电机二2-6上A相绕组2-3-1设置在第16-第19个槽内，B相绕组2-3-2设置在第10-第13个槽内，C相绕组2-3-3设置在第13-第16个槽内。On the primary assembly two 2, a magnetic modulation structure 6-2 is arranged between the unit motor 2-5 and the unit motor 2-6. The winding adopts a concentrated winding structure, and the first slot is a half-filled slot. The A-phase winding 2-3-1 on the unit motor 1 2-5 is set in the 4th-7th slot, the B-phase winding 2-3-2 is set in the 7th-10th slot, and the C-phase winding 2- 3-3 is set in the 1st-4th slot, and the windings are reversed. The A phase winding 2-3-1 on the unit motor 2 2-6 is set in the 16th to the 19th slot, the B phase winding 2-3-2 is set in the 10th to the 13th slot, and the C phase winding 2- 3-3 set in slots 13-16.
调磁结构6-1和6-2采用导磁材料，并分别与铁心轭1-1和2-1形成一体。Magnetic adjustment structures 6-1 and 6-2 are made of magnetically permeable materials, and are integrated with iron core yokes 1-1 and 2-1 respectively.
调磁结构6-1包括调磁轭部6-1-1和调磁齿部6-1-2，调磁轭部6-1-1的宽度为S2＝τ/3(τ为电机的极距)，调磁齿部6-1-2的宽度S3≤S2，调磁齿部6-1-2的高度h1≤h(h1可为0)，h为单元电机铁心齿1-2和2-2的高度。调磁结构6-2与调磁结构6-1完全相同。The magnetic adjustment structure 6-1 includes a magnetic adjustment yoke part 6-1-1 and a magnetic adjustment tooth part 6-1-2, and the width of the magnetic adjustment yoke part 6-1-1 is S 2 =τ/3 (τ is the motor's pole pitch), the width S 3 ≤ S 2 of the magnetic adjustment tooth part 6-1-2, the height h 1 ≤ h of the magnetic adjustment tooth part 6-1-2 (h 1 can be 0), h is the core tooth of the unit motor 1-2 and 2-2 heights. The magnetic modulation structure 6-2 is exactly the same as the magnetic modulation structure 6-1.
该结构抑制推力波动的原理为：通过双边错齿结构和单元电机模块化，调节初级组件端部磁场分布；通过初级组件一1和初级组件二2上绕组位置和绕制方向的不同设置，一方面确保同相位绕组的相角相同，另一方面使各相绕组与端部的相位位置不同，使初级组件一1的端部效应和初级组件二2的端部效应对各相绕组的影响相互削弱，从而改善直线电机三相绕组不对称现象。综合这两方面作用，最终起到抑制推力波动的效果。The principle of this structure to suppress thrust fluctuations is: adjust the magnetic field distribution at the end of the primary assembly through the bilateral staggered tooth structure and the modularization of the unit motor; through the different settings of the winding position and winding direction on the primary assembly 1 and primary assembly 2, the On the one hand, ensure that the phase angles of the same-phase windings are the same, on the other hand, make the phase positions of the windings of each phase and the ends different, so that the end effect of the primary component 1 and the end effect of the primary component 2 2 have mutual influence on the windings of each phase. Weaken, thereby improving the asymmetry of the three-phase winding of the linear motor. Combining these two aspects, it finally has the effect of suppressing thrust fluctuations.
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Effective date of registration: 20220926 Address after: No. 20, Honghu Road, Yang City, Luoshe Town, Huishan District, Wuxi City, Jiangsu Province, 214000 Patentee after: Jiangsu Lingcha Zhidrive Electrical Equipment Co.,Ltd. Address before: 211106 No. 29 Yudao Street, Qinhuai District, Nanjing City, Jiangsu Province Patentee before: Nanjing University of Aeronautics and Astronautics |