CN107733106B - Permanent-magnet fault-tolerant rim propulsion motor for integrated motor propeller - Google Patents
Permanent-magnet fault-tolerant rim propulsion motor for integrated motor propeller Download PDFInfo
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- CN107733106B CN107733106B CN201711029288.5A CN201711029288A CN107733106B CN 107733106 B CN107733106 B CN 107733106B CN 201711029288 A CN201711029288 A CN 201711029288A CN 107733106 B CN107733106 B CN 107733106B
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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
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/16—Stator cores with slots for windings
- H02K1/165—Shape, form or location of the slots
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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
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
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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
- H02K5/12—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
The invention relates to a permanent-magnet fault-tolerant rim propulsion motor for an integrated motor propeller, belonging to motors for underwater propellers. The motor comprises a stator core, stator slots, armature teeth, isolation teeth, an armature winding, a large air gap, a magnetic pole protective sleeve, a magnetic pole protective layer, a centrifugal permanent magnet, a rotor core and a propeller welded on the inner side of the rotor core. The number of stator slots is 2km, wherein k is a positive integer, m is the number of motor phases, the stator is provided with unequal-distance armature teeth and isolation teeth, and the number of rotor poles is 2k (m +/-1). The motor is characterized in that the motor can continue to stably operate after an open circuit fault or a short circuit fault occurs in a motor winding. Compared with other motors for integrated motor propellers at present, the invention firstly provides the rim propulsion motor with fault-tolerant capability, and the permanent magnet fault-tolerant motor is firstly applied to the underwater vehicle, so that the reliability of the ship propulsion system is effectively improved. The permanent magnet fault-tolerant rim propulsion motor has the characteristics of small torque pulsation, strong fault-tolerant performance, relatively simple structure, convenience in manufacturing and the like.
Description
Technical Field
The invention relates to a driving device which can be applied to an electric propulsion system of water surface and underwater vehicles such as ships, unmanned boats, underwater robots, submarines, torpedoes and the like, in particular to a permanent magnet fault-tolerant rim propulsion motor for an integrated motor propeller.
Background
Regarding the technical field of motor body design and working principle thereof, chinese patent document CN106911237A discloses a magnetic flux switching memory motor with less rare earth elements and multiple excitation sources and double stators, which is formed by sleeving an outer stator, a rotor and an inner stator which are coaxial in sequence from outside to inside; radial air gaps are arranged between the outer stator and the rotor and between the rotor and the inner stator; the outer stator comprises armature iron core teeth, fault-tolerant teeth and a stator yoke part, the rotor comprises a rotor bracket, a magnetic-conductive silicon steel block and a magnetic insulation block, and the inner stator comprises an inner stator iron core and a mixed permanent magnet unit block.
Furthermore, chinese patent document CN107017754A discloses a cylindrical permanent magnet fault-tolerant linear vernier motor, which comprises a primary (1), a secondary (2), an armature winding (3), a permanent magnet array (4), and an air gap (5); an air gap (5) is provided between the primary (1) and secondary (2); the primary (1) comprises three unit modules (11) which have the same structure type and are arranged at equal intervals, each unit module (11) consists of two adjacent armature teeth A (12) and B (13), a groove is formed between the two adjacent armature teeth A (12) and B (13), and a pie winding (3) is embedded in the groove; the permanent magnet array (4) is embedded in the tooth end of the primary (1) unit module (11).
Further, chinese patent document CN106712426A proposes a five-phase permanent magnet wind power generator with independent phases, which includes a stator core, an outer rotor core, a permanent magnet, an armature winding, a stator fixing block and a shaft, and belongs to the technical field of special motors. The motor outer rotor iron core is provided with 16X rotor poles protruding inwards, wherein X is a positive integer, and 16X rotor poles are uniformly distributed; the stator iron core has 5X sub-iron cores, each sub-iron core has three stator poles, wherein the pole arc length of one stator pole in the middle is 1.53 times of the pole arc length of the rotor, and the stator pole widths on two sides are equal to the pole width of the rotor; permanent magnets are embedded between the stator poles at the middle and the stator poles at the two sides of the sub-iron core.
Compared with the three patent documents, the fault-tolerant performance of the motor is remarkably improved. The double-stator structure of the motor related to the first document realizes the separation of an armature winding and a permanent magnet, solves the problem of spatial mutual drag of multiple excitation sources in the traditional flux switching permanent magnet motor, and is easy to improve the power density and the torque density of the motor; the use amount of rare earth permanent magnet materials is effectively reduced, high air gap flux density is guaranteed, power density and torque density of the motor are guaranteed, flexible adjustment of an air gap magnetic field of the motor can be achieved, and the rotating speed operation range is widened.
The technical scheme related to the second document emphasizes that the combination of the cylindrical motor and the vernier effect enables the motor to have higher thrust density and higher efficiency, and meanwhile, due to the adoption of the primary modular complementary structure, the fault-tolerant performance of the motor is improved, and the adverse effect of the cylindrical linear motor caused by the longitudinal side end effect is eliminated.
The third document relates to an electrical machine in which the stator cores are independent of each other and the windings wound on the stator poles are thus isolated from each other, so that when one of the phases fails, the remaining windings can operate in fault-tolerant, thereby increasing the reliability of the system.
In addition to the above documents, there are several related patent documents: patent cn201510786583.x, CN201210129358.5, CN 103818535A. In the technical field of underwater propellers, a large-air-gap rim propeller adopts a permanent magnet motor as a built-in motor of the rim propeller, and a large air gap is formed between a stator and a rotor; the permanent magnet is placed by adopting a Halbach array; the propeller and the motor are of an integrated structure, and the propeller is directly embedded in the rotor. The problem of high noise of the underwater propulsion motor can be solved, the motor can be lightened, the rotational inertia is reduced, and the underwater propulsion motor has good dynamic response characteristics; meanwhile, the rotor is solid and does not need to start a winding, so the structure is simple and the starting torque is large; the large air gap of the motor can make the resistance of water when overflowing smaller. However, the built-in motor of the rim propeller is mainly a brushless direct current motor and a permanent magnet synchronous motor at present, the brushless direct current motor has the defect of large output torque pulsation, and the traditional permanent magnet synchronous motor overcomes the defect of large torque pulsation of the brushless direct current motor but has no fault tolerance capability. Because the rim propeller is immersed in water for long-term work, the built-in motor is easy to have electrical faults such as open circuit, short circuit and the like, and the ship loses propulsion power at the moment.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a permanent magnet fault-tolerant rim propulsion motor for an integrated motor propeller, which replaces a brushless direct current motor and a permanent magnet synchronous motor for a traditional integrated motor propeller, so that the aims of reducing motor torque pulsation and improving the fault tolerance capability of a propulsion system are fulfilled.
Therefore, the technical scheme for solving the problems is as follows: a permanent-magnet fault-tolerant rim propulsion motor for an integrated motor propeller is characterized in that a motor body is of a flat structure and is installed in a guide pipe, the motor body comprises a stator core, stator slots, armature teeth, isolation teeth, stator windings, a large air gap arranged in the motor body, a magnetic pole protective sleeve, a magnetic pole protective layer, a centrifugal permanent magnet, a rotor core and a propeller welded on the inner side of the rotor core; the number of the stator slots is 2km, wherein k is a positive integer, m is the number of motor phases, and the number of the magnetic poles of the rotor is 2k (m +/-1).
Preferably, the armature teeth are not equidistant from the spacer teeth.
Preferably, the stator winding adopts a centralized stator winding.
Preferably, the stator is a permanent magnet fault-tolerant rim propulsion motor stator with an inductance value capable of suppressing short-circuit current after optimized design.
Preferably, the large air gap is a large air gap structure in which seawater can freely flow.
Preferably, a magnetic pole protective layer is arranged between the magnetic pole protective sleeve and the magnetic pole.
Compared with the prior art, the permanent magnet fault-tolerant rim propulsion motor designed by the invention can continue to stably operate after an open circuit fault or a short circuit fault occurs in a motor winding. Compared with other motors for integrated motor propellers at present, the invention firstly provides the permanent magnet fault-tolerant rim propulsion motor with fault tolerance capability, and the permanent magnet fault-tolerant rim propulsion motor is firstly applied to an underwater vehicle, so that the reliability of a ship propulsion system is effectively improved. The permanent magnet fault-tolerant rim propulsion motor for the integrated motor propeller has the advantages of small torque pulsation, strong fault-tolerant capability, good control performance, relatively simple structure, easiness in processing and the like.
Drawings
FIG. 1 is a schematic diagram of a permanent magnet fault tolerant rim propulsion motor configuration;
FIG. 2 is a schematic diagram of a partial configuration of a permanent magnet fault tolerant rim propulsion motor;
FIG. 3 is a waveform of phase A inductance of a permanent magnet fault tolerant rim propulsion motor;
FIG. 4 is a graph of a permanent magnet fault tolerant rim propulsion motor no-load back EMF waveform;
FIG. 5 is a permanent magnet fault tolerant rim propel motor cogging torque ripple waveform.
In the figure: 1-permanent magnet fault-tolerant rim propulsion motor stator core, 2-stator slot, 3-armature tooth, 4-isolation tooth, 5-stator winding, 6-large air gap, 7-protective sleeve for fixing magnetic pole, 8-magnetic pole protective layer (protective layer formed by filling resin and other anticorrosive materials), 9-centrifugal permanent magnet, 10-rotor core, 11-propeller and 12-permanent magnet fault-tolerant rim propulsion motor body.
Detailed Description
The following embodiments describe the present invention in conjunction with the accompanying drawings as a permanent magnet fault tolerant rim propulsion motor for an integrated motor-based propeller for underwater vehicles. Fig. 1 shows an example of a 6-phase 48-slot 40-pole permanent magnet fault-tolerant rim propulsion motor.
The permanent magnet fault-tolerant rim propulsion motor designed by the invention adopts the H-bridge inverter to independently supply power to each phase of winding, and cannot be coupled to other normal phases when the short circuit or open circuit fault of the winding occurs, so that the electrical isolation between the motor phases is realized. The motor windings are driven by sine waves with a difference of 60 electrical degrees, and the torque pulsation is small.
As shown in figure 1, the stator winding adopts concentrated windings A +, B +, C +, D +, E +, F-to realize the physical isolation, thermal isolation and magnetic isolation between the phases, avoid the interphase short circuit and reduce the failure rate. The centralized winding is easy to manufacture and embed, and the winding can be mechanically wound, so that the cost is reduced. The winding end is short, the resistance is small, and the generated copper loss is small. The concentrated winding cogging torque ripple is small, and as shown in fig. 5, the cogging torque ripple of this example is less than 0.24% of the rated torque.
As shown in fig. 1: the air gap 6 in the permanent magnet fault-tolerant rim propulsion motor body 12 is filled with seawater, the seawater can freely flow over, heat generated by each winding is absorbed by the seawater, and the motor body has good heat dissipation capacity.
In order to obtain a better no-load back electromotive force waveform, the invention adopts a centrifugal permanent magnet, and the centrifugal height of the permanent magnet fault-tolerant rim propulsion motor shown in figure 1 is 112 mm. The optimal centrifugal heights of different motor sizes are different, as shown in fig. 4, the permanent magnet fault-tolerant rim propulsion motor has no-load back electromotive force with high sine degree, and compared with a complicated design scheme of a Halbach array, the centrifugal permanent magnet is simple in design and easy to optimize.
The motor in the embodiment is a six-phase motor, the phase number selection has better redundancy capability, and the six-phase 48-slot motor has radial-phase magnetic density symmetry and lower radial unbalanced magnetic pull force. The phase number slot number selection reduces the vibration noise of the permanent magnet fault-tolerant rim propulsion motor.
As shown in fig. 1, the number-slot ratio of the poles of the motor is 5:6, and the pole slots have a larger fundamental wave winding coefficient under the winding distribution shown in fig. 1: 0.966.
as shown in figure 1, the stator windings A-, A +, B-, B +, C-, C +, D-, D +, E-, E +, F-and F + are provided with isolation teeth 4 at intervals, so that thermal and magnetic isolation between the phases is realized. Meanwhile, the performance of the motor is optimized by optimizing the size of the spacing teeth by adopting a scheme of unequal tooth pitches. Because the yoke part of the permanent magnet fault-tolerant rim propulsion motor is thin and cannot adopt a built-in magnetic pole structure, the embodiment adopts the surface-mounted magnetic poles as shown in fig. 1, and N, S poles are alternately arranged.
Still as shown in fig. 1, a permanent magnet fault tolerant rim propulsion motor requires good corrosion resistance in order to be adaptable to underwater operating environments. Considering that the permanent magnet fault-tolerant rim propulsion motor body 12 is subjected to heat dissipation through seawater in an air gap, the thickness of an anticorrosive material, the thickness of a protective sleeve and the mechanical performance requirements caused by a large diameter, compared with the traditional motor, the permanent magnet fault-tolerant rim propulsion motor has a large air gap 6, and the width of the air gap of the permanent magnet fault-tolerant rim propulsion motor is 2mm in practice.
In the embodiment, the propeller 11 is welded on the rotor core 10, so that a shaftless rotation scheme is realized and a transmission shaft system is eliminated. Furthermore, in order to meet the size of the propeller and also to adapt to the shape of the duct, the propeller is designed to be flat. In practice, in order to reduce the fluid resistance and improve the efficiency of the propulsion device, the overall thickness of the stator and the rotor of the propulsion motor in the embodiment is as small as possible, and in order to reduce the magnetic density of the yoke part and reduce the influence caused by the large air gap, multi-pole design schemes including the embodiment and others can be adopted.
As shown in fig. 3, the phase a winding inductance of the present embodiment is obtained by decreasing the axial length, increasing the thickness of the notch, and decreasing the width of the notch to increase the winding inductance in practice; data show that the phase A (the other phases are the same as the phase A and are not shown) has extremely large self-inductance, the mutual inductance value is less than 2% of the self-inductance, and the short-circuit current under the self-inductance is less than 1.25 times of the rated current. The technical scheme can fully embody the good magnetic isolation and the capability of inhibiting short-circuit current of the invention.
As shown in fig. 1, in order to reduce the radial length of the permanent magnet fault-tolerant rim propulsion motor, the shape of the stator slots is a shallow and wide slot type that reduces the outer diameter of the stator.
In order to keep the propulsion motor in a good working condition all the time, as shown in fig. 2, in the embodiment, it is emphasized that a protective sleeve 7 is provided on the magnetic pole, and a magnetic pole protective layer 8 made of an anticorrosive material such as resin is provided at the gap of the magnetic pole.
In conclusion, the permanent magnet fault-tolerant rim propulsion motor for the ship integrated motor propeller has strong magnetic, physical, electrical and thermal isolation capabilities, can inhibit short-circuit current, can stably run under the short-circuit and open-circuit faults of the stator windings, and has the characteristics of high power density, strong fault-tolerant capability and the like.
Claims (4)
1. A permanent-magnet fault-tolerant rim propulsion motor for an integrated motor propeller comprises a motor body, a stator and a rotor, and is characterized in that the motor body is of a flat structure and is installed in a guide pipe, and comprises a stator core, a stator groove, armature teeth, isolation teeth, a stator winding, a large air gap arranged in the motor body, a magnetic pole protective sleeve, a magnetic pole protective layer, a centrifugal permanent magnet, a rotor core and a propeller welded on the inner side of the rotor core; the number of the stator slots is 2km, wherein k is a positive integer, m is the number of motor phases, the number of magnetic poles of the rotor is 2k (m +/-1), and the stator is a permanent-magnet fault-tolerant rim propulsion motor stator which is optimally designed and has an inductance value capable of inhibiting short-circuit current; the stator winding adopts centralized stator winding, and every looks stator winding adopts H bridge inverter independent power supply moreover, the optimal design is including reducing axial length, increases stator core's notch thickness, reduces the notch width in order to increase the winding inductance.
2. The integrated motor-propeller permanent magnet fault tolerant rim propulsion motor of claim 1, wherein the armature teeth are not equidistant from the isolation teeth.
3. The fault tolerant permanent magnet rim propulsion motor for an integrated motor propeller as in claim 1, wherein the large air gap is a large air gap structure in which seawater freely overflows.
4. The fault tolerant permanent magnet rim propulsion motor for an integrated motor propeller as in claim 1, wherein a pole protection layer is provided between the pole protection sleeve and the poles.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711029288.5A CN107733106B (en) | 2017-10-27 | 2017-10-27 | Permanent-magnet fault-tolerant rim propulsion motor for integrated motor propeller |
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| CN201711029288.5A CN107733106B (en) | 2017-10-27 | 2017-10-27 | Permanent-magnet fault-tolerant rim propulsion motor for integrated motor propeller |
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| CN107733106B true CN107733106B (en) | 2020-04-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111193336B (en) * | 2020-01-17 | 2022-03-25 | 大连海事大学 | Few-groove multi-pole permanent magnet fault-tolerant rim propulsion motor |
| CN112688454B (en) * | 2020-12-15 | 2023-01-31 | 大连海事大学 | Permanent magnet fault-tolerant vernier rim propulsion motor with optimized surface shape of alternating-pole rotor |
| CN113277053B (en) * | 2021-04-30 | 2022-03-25 | 大连海事大学 | Marine air pressure drive rim propeller |
| CN115123510B (en) * | 2022-08-03 | 2023-07-14 | 江南造船(集团)有限责任公司 | Ship electric propulsion system and electric propulsion method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107070016A (en) * | 2017-04-18 | 2017-08-18 | 苏州汇川联合动力系统有限公司 | Double remaining stators and double remaining motors |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101546931B (en) * | 2009-04-28 | 2011-07-27 | 中国船舶重工集团公司第七一二研究所 | Integrated propeller |
| CN102195403B (en) * | 2011-05-19 | 2013-04-24 | 乔鸣忠 | Large-gap and low-noise engine-propeller integrated permanent magnet propulsion unit |
| CN102632982A (en) * | 2012-04-28 | 2012-08-15 | 中国船舶重工集团公司第七○二研究所 | Shaftless driven type integrated motor propeller |
| CN106992652A (en) * | 2017-04-12 | 2017-07-28 | 浙江大学 | Five mutually fault-tolerant direct current generators of 270V high power densities |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107070016A (en) * | 2017-04-18 | 2017-08-18 | 苏州汇川联合动力系统有限公司 | Double remaining stators and double remaining motors |
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