CN107612262B - Limited angle motor with large angle range - Google Patents
Limited angle motor with large angle range Download PDFInfo
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- CN107612262B CN107612262B CN201711072872.9A CN201711072872A CN107612262B CN 107612262 B CN107612262 B CN 107612262B CN 201711072872 A CN201711072872 A CN 201711072872A CN 107612262 B CN107612262 B CN 107612262B
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Abstract
The invention discloses a limited-angle motor with a large angle range, which comprises a stator core, a sine winding, a cosine winding, a permanent magnet which is magnetized in the radial direction and a rotating shaft, wherein the sine winding and the cosine winding are wound on the stator core, the rotating shaft is arranged at the axis of the stator core, the radial-magnetized permanent magnet is adhered on the outer circle of the rotating shaft, the sine winding and the cosine winding are windings with turns which are respectively selected and arranged according to a sine curve and a cosine curve, and the two sets of windings are wound on teeth of the stator core according to a corresponding relation of the sine and the cosine. The invention is based on sin alpha 2 +cosα 2 The principle of 1, the problem that the traditional limited angle motor has small angle range, large torque fluctuation, only the limit position can be positioned, the middle position is not easy to position, the rotation angle needs to be additionally provided with a position feedback element for feedback is solved, the application occasion is widened, the limited angle servo system is simplified, the cost is reduced, and the operation reliability is improved.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a limited-angle motor with a large angle range.
Background
In the field of high-precision optical instruments, a driving system of the optical instrument usually adopts a limited-angle motor. When the existing limited angle motor is used, the angle range is small, the torque fluctuation is large, the rotation angle is fed back by additionally adding a position feedback element, the cost of the servo system is increased, the structure is more complex, and the use situation is limited.
Disclosure of Invention
The invention aims to provide a limited-angle motor with a large angle of rotation range, which solves the problems of small angle of rotation range and large torque fluctuation of the existing limited-angle motor.
The invention adopts the technical scheme that the limited-angle motor with the large angle range comprises a stator core, a sine winding, a cosine winding, a radial magnetizing permanent magnet and a rotating shaft, wherein the sine winding and the cosine winding are wound on the stator core, the rotating shaft is arranged at the axis center of the stator core, the radial magnetizing permanent magnet is adhered on the outer circle of the rotating shaft, the sine winding and the cosine winding are windings with turns which are respectively selected and arranged according to a sine curve and a cosine curve, and the two sets of windings are wound on teeth of the stator core according to a corresponding relation of the sine and the cosine at the same time.
The present invention is also characterized in that,
the stator core is made by lamination of punching sheets.
The sine winding is supplied with voltage which changes according to the sine rule, and the cosine winding is supplied with cosine voltage which corresponds to the voltage supplied by the sine winding in angle and magnitude.
The peak position of the composite magnetic field formed by each of the sine winding and the cosine winding is changed in proportion to the voltage angle applied by each of the sine winding and the cosine winding, and the position of the radial magnetizing permanent magnet is changed in proportion to the peak position of the composite magnetic field formed by each of the sine winding and the cosine winding.
Two outgoing lines are respectively led out from the two sets of windings.
The limited-angle motor with the large angle range has the beneficial effects that the limited-angle motor is based on sin alpha 2 +cosα 2 The driving mode is completely different from the traditional limited angle motor, and the problems that the traditional limited angle motor has small angle range, large torque fluctuation, only the limit position can be positioned, the middle position is not easy to position, and the rotating angle needs to be additionally provided with a position feedback element for feedback are solved. The application occasion of the limited angle motor is greatly widened, the limited angle servo system is simplified, the cost of the servo system is reduced, and the operation reliability of the servo system is improved.
Drawings
FIG. 1 is a cross-sectional view of a limited angle motor of the present invention having a large angle of rotation;
FIG. 2 is a schematic diagram of the winding of sine and cosine windings of a limited angle motor having a large angle of rotation in accordance with the present invention;
FIG. 3 is a schematic diagram of the operation of the present invention with sine winding energization sin 0N and cosine winding energization cos 0N for a limited angle motor having a large angle range;
FIG. 4 is a graph of resultant magnetic field peaks versus permanent magnet position for sine winding energization voltage sin 0N and cosine winding energization cos 0N for a limited-angle motor of the present invention having a large angle range;
FIG. 5 is a schematic diagram of the operation of the present invention with sine winding energization voltage sin 45N and cosine winding energization voltage cos 45N for a limited angle motor having a large angle range;
FIG. 6 is a graph of resultant magnetic field peaks versus permanent magnet position for sine winding energization voltage sin 45N and cosine winding energization cos 45N for a limited-angle motor having a large angle range of the present invention;
FIG. 7 is a schematic diagram of the operation of the present invention with sine winding energization sin 90N and cosine winding energization cos 90N for a limited angle motor having a large angle range;
fig. 8 is a graph of the resultant magnetic field peak value and the permanent magnet position change when sine winding energization voltage sin90×n and cosine winding energization cos90×n of the limited-angle motor with a large angle range of the present invention.
In the figure, 1 a stator core, 2 a sine winding, 3 a cosine winding, 4 a radial magnetizing permanent magnet and 5 a rotating shaft.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
The invention relates to a limited-angle motor with a large angle range, which is shown in figure 1 and comprises a stator core 1, a sine winding 2, a cosine winding 3, a radial magnetized permanent magnet 4 and a rotating shaft 5, wherein the sine winding 2 and the cosine winding 3 are wound on the stator core 1, the rotating shaft 5 is arranged at the axis of the stator core 1, the radial magnetized permanent magnet 4 is adhered on the outer circle of the rotating shaft 5, the sine winding 2 and the cosine winding 3 are windings with turns which are respectively selected and arranged according to a sine curve and a cosine curve, and the two sets of windings are wound on teeth of the stator core 1 according to corresponding relation of sine and cosine respectively.
The stator core 1 is laminated by using punching sheets.
The sine winding 2 is supplied with voltage which changes according to the sine rule, and the cosine winding 3 is supplied with cosine voltage which corresponds to the voltage supplied by the sine winding 2 in angle and magnitude.
The peak position of the resultant magnetic field formed by each of the sine winding 2 and the cosine winding 3 is changed in proportion to the voltage angle applied by each of the sine winding 2 and the cosine winding 3, and the position of the radial magnetizing permanent magnet 4 is changed in proportion to the peak position of the resultant magnetic field formed by each of the sine winding 2 and the cosine winding 3.
Two outgoing lines are respectively led out from the two sets of windings.
When the motor runs, the sine winding 2 is supplied with voltage which changes according to a sine rule, the cosine winding 3 is supplied with cosine voltage which corresponds to the voltage angle and the magnitude of the sine winding 2, the synthesized magnetic field generated by the sine winding 2 and the cosine winding 3 forms a sine magnetic field with the peak position directly related to the voltage angle of the sine winding 2 and the cosine winding 3, when the voltage angle of the sine winding 2 and the cosine winding 3 changes, the peak position of the synthesized magnetic field formed by the two sets of windings changes, the synthesized magnetic field attracts the radial magnetized permanent magnet 4 to drive the rotating shaft to rotate along with the peak position, namely the position of the radial magnetized permanent magnet 4 coincides with the peak value of the synthesized magnetic field of the two sets of windings, namely the position of the radial magnetized permanent magnet 4 is directly related to the voltage angle of the sine winding 2 and the cosine winding 3. The conversion relation between the position of the permanent magnet 4 and the voltage angle is that the position angle of the permanent magnet = the angular range of the motor/(90 degrees x voltage angle, 90 degrees means that the sine winding and the cosine winding with quarter wavelength are distributed in the angular range of the motor, and other angles corresponding to the actual winding wavelength can be adopted, that is, the motor is a servo driving element and a position feedback element, and a self-closing loop servo system which does not contain the position feedback element and has high-precision operation characteristics can be formed.
As shown in fig. 2, the dark color is a sine winding 2, the light color is a cosine winding 3, and the two windings are copper wires with the same wire diameter and are wound on a stator core together according to the mode shown in fig. 2, specifically: the abscissa of fig. 2 is the distribution angular coordinate of the windings, the ordinate is the number of turns value coordinate, seven vertical lines including the number of turns value coordinate line represent seven teeth of the stator core 1 along the clockwise direction, namely, the seven teeth of the motor are distributed with sine and cosine windings of quarter wavelength, the intersection point of each vertical line and the sine curve and the cosine curve is the number of turns ratio factor of the corresponding winding on the corresponding stator teeth, and the actual number of turns is calculated according to the motor performance requirement but the value of the actual number of turns is the same multiple of the number of turns ratio factor to be rounded. In addition, the sine and cosine curve in the coordinate system is a standard sine and cosine curve, and the actual pitch angle of the motor, namely the winding distribution angle, can be selected according to actual conditions only for obtaining the turns ratio factor. The seven teeth of the motor and the sine and cosine windings distributed with quarter wavelength in the full working range are only examples, other tooth numbers and winding distribution wavelengths can be selected, but the relation between the number of turns and the corresponding teeth is required to be consistent with that shown in fig. 2. When the coordinate of the number of turns is extended to the negative limit, the coil of the corresponding winding is only needed to be rewound compared with the coil of the positive limit, and the number of turns ratio factor takes the absolute value. Two outgoing lines are respectively led out from the two sets of windings, namely four outgoing lines in total. The number of turns wound by the sine winding 2 and the cosine winding 3 and the number of teeth of the stator core 1 are as follows: the number of teeth of the stator core 1 is a node with a value of turns, and the number of teeth of the stator core 1 is always uniformly distributed in the whole sine and cosine period, so that the number of turns is taken according to the distribution sequence of the number of teeth of each stator core 1 corresponding to the node with the value of turns of a sine and cosine curve and is rounded.
As shown in fig. 3-8, when the sine winding 2 of the limited-angle motor is electrified with direct current, the voltage is sin alpha x N, the cosine winding 3 is electrified with direct current at the same time, the voltage is cos alpha x N, and N is any value, and the voltage is determined according to the actual working condition of the motor. At this time, two sets of windings act together to generate a resultant magnetic field between the inner circle of the stator core 1 and the outer circle of the radial magnetizing permanent magnet 4, the conversion relation between the peak position and the voltage angle α is that the peak position angle of the resultant magnetic field = the angular range of the motor ≡90 ° ×α,90 ° refers to a sine winding and a cosine winding distributed with a quarter wavelength in the angular range of the motor, and the peak positions of the resultant magnetic field are respectively 0 °, 108 ° and 216 °, namely the left end limit position, the central middle and right end limit positions of the limited angular motor, are completely consistent with the sine distribution relation, and when the voltage angle α is changed, the peak position of the resultant magnetic field is changed along with the change of the position of the permanent magnet under the action of attractive force.
The limited angle motor with a large angle range is based on sin alpha 2 +cosα 2 The principle of the method is operated by the principle of the method of the combination of the number of the positive and the negative voltages, the operating rotating speed is synchronous with the angle change rate of the positive and the negative voltages, the operating torque is proportional to the magnitude of the positive and the negative voltages, the running stability is extremely high and has the characteristic of being stationary and maintaining torque at any position in the running range. In addition, according to the operation principle of the motor, the maximum rotation angle range of the motor can reach 360 degrees, and the motor is the maximum rotation angle range which can be reached by the motor.
Claims (1)
1. The limited-angle motor with the large angle range is characterized by comprising a stator core (1), a sine winding (2), a cosine winding (3), a radial magnetizing permanent magnet (4) and a rotating shaft (5), wherein the sine winding (2) and the cosine winding (3) are wound on the stator core (1), the rotating shaft (5) is arranged at the axis of the stator core (1), the radial magnetizing permanent magnet (4) is adhered on the outer circle of the rotating shaft (5), the sine winding (2) and the cosine winding (3) are windings with turns respectively selected and arranged according to a sine curve and a cosine curve, and the sine winding (2) and the cosine winding (3) are wound on teeth of the stator core (1) simultaneously according to corresponding relation of sine and cosine;
the sine winding (2) is charged with direct current with voltage sin alpha multiplied by N, the cosine winding (3) is simultaneously charged with direct current with voltage cos alpha multiplied by N, alpha is a voltage angle, N is an arbitrary value, the peak position of a synthesized magnetic field formed by the sine winding (2) and the cosine winding (3) is changed in proportion to the voltage angle charged by the sine winding (2) and the cosine winding (3), and the position of the radial magnetizing permanent magnet (4) is overlapped with the peak position of the synthesized magnetic field;
the stator core (1) is manufactured by lamination of punching sheets;
two outgoing lines are respectively led out from two ends of the two sets of windings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711072872.9A CN107612262B (en) | 2017-11-03 | 2017-11-03 | Limited angle motor with large angle range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711072872.9A CN107612262B (en) | 2017-11-03 | 2017-11-03 | Limited angle motor with large angle range |
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| Publication Number | Publication Date |
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| CN107612262A CN107612262A (en) | 2018-01-19 |
| CN107612262B true CN107612262B (en) | 2023-09-19 |
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| CN201711072872.9A Active CN107612262B (en) | 2017-11-03 | 2017-11-03 | Limited angle motor with large angle range |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202663205U (en) * | 2012-01-13 | 2013-01-09 | 上海赢双电机有限公司 | Rotary transformer for high rotation speed |
| CN103280936A (en) * | 2013-05-15 | 2013-09-04 | 广东威灵电机制造有限公司 | Winding method of stator and product thereof |
| CN104200973A (en) * | 2014-09-17 | 2014-12-10 | 哈尔滨工业大学 | Harmonic-wave eliminating type radial magnetic circuit multipolar rotary transformer and winding method of signal windings |
| CN105304299A (en) * | 2014-05-30 | 2016-02-03 | 日本航空电子工业株式会社 | Resolver |
| CN207442671U (en) * | 2017-11-03 | 2018-06-01 | 西安广源机电技术有限公司 | The finite angle motor of big corner scope |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4199826B2 (en) * | 2003-02-19 | 2008-12-24 | ミネベア株式会社 | Variable reluctance angle detector using iron core winding and method of manufacturing the iron core winding |
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2017
- 2017-11-03 CN CN201711072872.9A patent/CN107612262B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202663205U (en) * | 2012-01-13 | 2013-01-09 | 上海赢双电机有限公司 | Rotary transformer for high rotation speed |
| CN103280936A (en) * | 2013-05-15 | 2013-09-04 | 广东威灵电机制造有限公司 | Winding method of stator and product thereof |
| CN105304299A (en) * | 2014-05-30 | 2016-02-03 | 日本航空电子工业株式会社 | Resolver |
| CN104200973A (en) * | 2014-09-17 | 2014-12-10 | 哈尔滨工业大学 | Harmonic-wave eliminating type radial magnetic circuit multipolar rotary transformer and winding method of signal windings |
| CN207442671U (en) * | 2017-11-03 | 2018-06-01 | 西安广源机电技术有限公司 | The finite angle motor of big corner scope |
Non-Patent Citations (1)
| Title |
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| 黄晓凡 ; .旋转变压器正余弦绕组的确定方法.华电技术.2012,第34卷(第11期),第39-40、44页. * |
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