CN108574393A - A kind of double-stator and double-salient pole permanent-magnetism linear motor - Google Patents
A kind of double-stator and double-salient pole permanent-magnetism linear motor Download PDFInfo
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- CN108574393A CN108574393A CN201810511683.5A CN201810511683A CN108574393A CN 108574393 A CN108574393 A CN 108574393A CN 201810511683 A CN201810511683 A CN 201810511683A CN 108574393 A CN108574393 A CN 108574393A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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Abstract
The present invention discloses a kind of double-stator and double-salient pole permanent-magnetism linear motor, it is respectively a long stator in the both sides up and down of short mover, two long stators are symmetrical above and below relative to the center of short mover, and for short mover by sequentially connection forms before and after m subunit module, m is number of motor phases；Each subunit module is including a prime and respectively in two secondary movers of prime front and rear sides, and one piece of permanent magnet is inlayed in the yoke portion of prime, and the yoke portion of secondary mover is wound with armature winding；In each subunit module, when the secondary mover carnassial tooth of first secondary mover of front and back side aligns up and down with stator tooth, the secondary mover carnassial tooth of second secondary mover of the other side aligns with stator slot, and two secondary movers differ 180 ° of electrical angles in space phase；The present invention can eliminate the force oscillation and influence that normal force in unilateral stator structure generates motor operation, improve the stability and reliability of motor operation.
Description
Technical field
The invention belongs to motor body design fields, are related to a kind of permanent-magnetism linear motor.
Background technology
Linear motor is that one kind not needing intermediate conversion mechanism and directly converts electrical power to linear motion mechanical output
Electromechanical assembly, add the movement conversion mechanisms such as ball-screw compared to traditional electric rotating machine to realize the scheme of linear motion and
Speech, linear motor can not only reduce cost, reduce system bulk, while have high efficiency, high-precision and simple in structure etc. excellent
Point.
Currently, linear motor is just applying to the fields such as rail traffic, cordless elevator, tidal power generation and numerically-controlled machine tool.It is common
Linear motor type mainly have three classes, i.e. line inductance electromotor, linear switched reluctance motor and linear permanent magnet synchronous motor.
Line inductance electromotor is although simple in structure, but its efficiency and power factor are low, high to the susceptibility of air gap；Straight line switch magnetic resistance electricity
Although machine has many advantages, such as low cost, easy care and has fault freedom, there are power factors low, force oscillation is greatly and not
The shortcomings of easy to control, largely influences the stability of motor operation.Compared to line inductance electromotor and straight line switch magnetic resistance electricity
Machine, the pushing force density of permanent magnet linear synchronous motor and efficient is small, light-weight, has magneto and linear motor concurrently
Two-fold advantage.However, since the armature winding and permanent magnet of traditional permanent magnet linear synchronous motor are placed in mover respectively and determine
On son, it either is laid with permanent magnet or armature winding along stator track, it is all highly difficult in long stroke occasion.
Stator permanent-magnet salient-pole machine is a kind of novel permanent-magnet motor, has many advantages, such as that speed-regulating range width, power density are high,
And have better heat dissipation performance compared to rotor permanent magnet formula motor, to reduce influence of the temperature to permanent magnet performance.Due to
Using double-salient-pole structure, there is no permanent magnet and coil windings on rotor, therefore its structure is simply firm, system reliability is high.
Permanent magnet is placed on stator, while air gap excitation field is strengthened, is also prone to adjust, it is made to be very suitable for requirement
Efficiently, the occasion of speed governing and high-speed cruising.
More and more occasions need to be driven using linear motor at present, and salient pole permanent-magnetism linear motor has structure letter
The advantages such as single, efficient and manufacturing cost is low.There are normal force, normal force can make traditional unilateral stator permanent magnet linear motor
Spring bearing bears additional load force and frictional resistance is made to increase, and influences the runnability of motor.Meanwhile rationally improving motor
The utilization rate of middle permanent magnet and the pushing force density of motor are always the critical issue in studying.
Invention content
The technical problem to be solved by the present invention is to propose a kind of structure novel, reliable for operation for the deficiency of background technology
Novel double-stator bisalient-pole permanent-magnet structure of the linear motion actuator, can eliminate what the unilateral normal force of linear motor was generated in motor operation
Adverse effect, while greatly improving the pushing force density of the utilization rate of permanent magnet and motor in motor.
The present invention uses following technical scheme to solve above-mentioned technical problem：The present invention is made of short mover and long stator,
It is respectively a long stator in the both sides up and down of short mover, two long stators are symmetrical above and below relative to the center of short mover.
For the short mover by sequentially connection forms before and after m subunit module, m is number of motor phases；Each mover list
For element module all including a prime and respectively in two secondary movers of prime front and rear sides, the yoke portion of prime inlays one piece
The yoke portion of permanent magnet, secondary mover is wound with armature winding.
Further, the middle of the upper and lower ends of each secondary mover is respectively opened there are one secondary mover slot, each to form two
Secondary mover carnassial tooth；The upper and lower ends of each prime are respectively opened there are three active pilot trench, each to form four prime carnassial tooths.
Further, in each subunit module, the secondary mover carnassial tooth of first of front and back side secondary mover with it is fixed
When sub- tooth aligns up and down, the secondary mover carnassial tooth of second secondary mover of the other side aligns with stator slot, and two secondary movers exist
180 ° of electrical angles are differed in space phase.
The present invention is had the following technical effects using above technical scheme：
1. the present invention uses double-stator structure, i.e., short mover both sides to have long stator, prime and secondary mover structure on two sides
Upper full symmetric, the force oscillation generated so as to eliminating normal force in unilateral stator structure to motor operation and influence carry
The stability and reliability of high motor operation.
2. the subunit module in the present invention is made of prime and the secondary mover positioned at front and rear sides, dynamic at each
In submodule, permanent magnet is all embedded in prime yoke, the secondary mover of front and rear sides shares a permanent magnet, not only considerably increases
The utilization rate of permanent magnet, and reduce influence of the detent force to motor thrust.
3. armature winding and permanent magnet are all placed in the side of linear motor, i.e., short mover side, long stator by the present invention
It is only made of simple permeability magnetic material, such design can reduce being manufactured into for motor significantly in the application scenario of long stroke
This so that electric machine structure is simpler.
4. the present invention uses modularized design, between each unit module independently of each other, decoupling between phase and phase is realized, from
And the fault freedom of motor operation system can be improved, enhance the stability and reliability of motor operation.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of double-stator and double-salient pole permanent-magnetism linear motor of the present invention；
Fig. 2 is single subunit modular structure enlarged drawing in Fig. 1；
Fig. 3 is the flux density distribution map of motor permanent magnet magnetic field shown in Fig. 1；
Fig. 4 is A phases magnetic linkage and A phase winding zero load induced electromotive force oscillograms in motor shown in Fig. 1；
Fig. 5 is B phases magnetic linkage and B phase winding zero load induced electromotive force oscillograms in motor shown in Fig. 1；
Fig. 6 is C phases magnetic linkage and C phase winding zero load induced electromotive force oscillograms in motor shown in Fig. 1；
Fig. 7 is A phases magnetic linkage and A phase winding electrical current oscillograms in motor shown in Fig. 1；
Fig. 8 is B phases magnetic linkage and B phase winding electrical current oscillograms in motor shown in Fig. 1；
Fig. 9 is C phases magnetic linkage and C phase winding electrical current oscillograms in motor shown in Fig. 1；
Figure 10 is the normal force oscillogram of motor shown in Fig. 1；
Figure 11 is the thrust oscillogram of motor shown in Fig. 1；
In figure：1. mover；2. stator；3. subunit module；4. subunit module is connected every magnetic patch；5. major-minor mover
Connection is every magnetic patch；6. prime；7. secondary mover；8. armature winding；9. permanent magnet；10. secondary mover carnassial tooth；11. prime carnassial tooth；
Ψa、Ψb、ΨcA, B, C phase magnetic linkage in armature winding；ea、eb、ec- A, B, C phase winding zero load induced electromotive force；
ia、ib、icElectric current in armature winding；Fy1Normal force on the upside of motor suffered by carnassial tooth；Fy2On the downside of motor suffered by carnassial tooth
Normal force；Fy3Normal force suffered by mover；FxThrust caused by mover.
Specific implementation mode
The specific implementation mode of the present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1, double-stator and double-salient pole permanent-magnetism linear motor structure of the present invention is by 2 groups of short mover 1 and long stator
At being respectively a long stator 2 in the both sides up and down of short mover 1, totally two long stators 2, two long stators 2 are relative to short mover 1
Center it is symmetrical above and below, there are air gaps between short mover 1 and two long stators 2.Long stator 2 in face of short mover 1 this first
Equipped with long stator tooth.Long stator 2 is the salient-pole structure being made of permeability magnetic material.
Short mover 1 is used by sequentially connection forms before and after m subunit module 3 between each two subunit module 3
The connection of subunit module is connected every magnetic patch 4, and the fore-and-aft clearance between each two subunit module 3 meets (n+1/m)
τ, wherein n=0,1,2,3....., m are the number of phases of number, that is, armature winding of the subunit module 3 of motor, and τ is fixed
Sub- tooth pitch, m subunit module 3 constitute m phase motors.Fig. 1 only shows three phase electric machine, i.e. m takes 3, if taking n=1, defines one
Stator tooth is away from being spatially 360 ° of electrical angles, then difference 4/3rds is determined between each two subunit module 3 of motor
Sub- tooth pitch τ, three subunit modules 3 of motor, 120 ° of electrical angles of phase mutual deviation in space phase.
Referring to Fig. 2, each subunit module 3 includes a prime 6 and two secondary movers 7, and two secondary movers 7 divide
It is not placed in the front and rear sides of prime 6, prime 6 is in centre.Prime 6 and secondary mover 7 are all stamped to form by silicon steel sheet.
It is connected every magnetic patch 5 using the connection of major-minor mover between prime 6 and secondary mover 7.
The middle of the upper and lower ends of each pair mover 7 is respectively opened there are one secondary mover slot, side before and after a secondary mover slot
Secondary 10 structure of mover carnassial tooth is then formed, the tooth pitch between two secondary mover carnassial tooths 10 is a stator tooth away from τ.Each pair mover 7
Interlude be secondary mover yoke portion, be wound with armature winding 8 in secondary mover yoke portion, armature winding 8 uses concentratred winding, is motor
Electrical power is provided when work.120 ° of electrical angles of induced electromotive force mutual deviation in armature winding 8 per subunit module 3.
The upper and lower ends of each prime 6 are respectively opened there are three active pilot trench, and upper and lower ends respectively form four prime carnassial tooths
11.In four prime carnassial tooths 11, intermediate two prime carnassial tooths 11 are at a distance of one and half stator tooth pitch τ, and the two of front and rear sides
At a distance of a stator tooth away from τ between a prime carnassial tooth 11 and the prime carnassial tooth 11 of adjacent centre.In each prime 6
Between section be prime yoke portion, it is fixed in prime yoke portion to inlay one piece of permanent magnet 9, front and rear edges and the prime yoke of permanent magnet 9
Front and rear edges it is concordant.All permanent magnets 9 are that upper and lower directions magnetizes, and magnetizing direction is identical.Each subunit mould
Two secondary movers 7 in block 3 share one piece of permanent magnet 9.Permanent magnet 9 is made of Nd-Fe-B permanent magnet.
The connection of major-minor mover is fixedly connected on every magnetic patch 5 between prime carnassial tooth 11 and secondary mover carnassial tooth 10.Subunit
Module connects between magnetic patch 4 is fixedly connected on the secondary mover carnassial tooth 10 of two neighboring subunit module 3.
About 6 prime in each subunit module 3 is full symmetric, and about 7 secondary mover is full symmetric, and two pairs are dynamic
Son 7 is relative to symmetrical before and after the center of prime 6.
It is air gap between prime carnassial tooth 11, secondary mover carnassial tooth 10 and the long stator tooth of upper and lower the same side.
Referring to Fig. 1, in each subunit module 3, it is current after side first secondary mover 7 secondary mover carnassial tooth 10 with
When stator tooth aligns up and down, the secondary mover carnassial tooth 10 of second secondary mover 7 of the other side aligns with stator slot, and two pairs are dynamic
Son 7 differs 180 ° of electrical angles in space phase.
By taking three-phase double-stator and double-salient pole permanent-magnetism linear motor as an example, when empty load of motor, 8 electric current of armature winding is zero, forever
The flux density distribution map in 9 magnetic field of magnet is as shown in Figure 3.At this point, there was only the generation of permanent magnet 9 magnetic field inside motor, two before and after prime 6
The secondary mover 7 of side is a part for magnetic circuit, inside there is magnetic flux to flow through, respectively constitute front and back two magnetic circuits.9 magnetic of permanent magnet
The magnetic flux path of field is sequentially permanent magnet 9, prime tooth, air gap, long stator 2, air gap, secondary mover 7, air gap, long stator 2, gas
Gap, prime tooth, permanent magnet 9.Magnetic circuit is independent of each other independently of each other between each subunit module 3.With short mover 1
It moves forward and backward, relative motion, 6 front and rear sides of prime is generated between prime carnassial tooth 11, secondary mover carnassial tooth 10 and long stator tooth
Magnetic resistance in magnetic circuit changes, and the magnetic flux in secondary mover 7 is caused alternately to increase and reduce, to be generated in armature winding 8
In the magnetic linkage that piecewise linearity changes, and then generate the induced electromotive force of approximate rectangular wave.
Referring to the three-phase magnetic linkage of double-stator and double-salient pole permanent-magnetism linear motor of the present invention shown in Fig. 4-6 and three-phase around
Group induced potential waveform.Three-phase magnetic linkage waveform is completely the same, and magnetic linkage waveform is approximately the trapezoidal wave of 120 ° of electrical angles of each difference.When
When magnetic linkage increases, the induced electromotive force in armature winding 8 is positive value；When magnetic linkage is reduced, the induced electromotive force in armature winding 8
For negative value.Three-phase induction EMF waveform is identical, is approximately the rectangular wave of 120 ° of electrical angles of each difference.
Since induced electromotive force is in approximate rectangular wave, motor can be made to generate so being passed through square wave current to armature winding 8
Thrust.When induced electromotive force is positive value, positive value square wave current is passed through in corresponding armature winding 8, when induced electromotive force is
When negative value, negative value square wave current is passed through in corresponding armature winding 8, positive and negative values square wave current amplitude is equal, and per phase armature
8 conduction time of winding is 120 ° of electrical angles, and three-phase windings are orderly powered successively, ensures that motor generates effective thrust, to make
Short mover 1 continuously moves.Referring to the three-phase magnetic linkage and three-phase windings electrical current wave of the motor of the present invention of Fig. 7-9
Shape.
Figure 10 is the normal force oscillogram of double-stator and double-salient pole permanent-magnetism linear motor of the present invention, Fy1For the short mover of motor
Normal force suffered by the prime carnassial tooth 11 of 1 upside, secondary mover carnassial tooth 10, Fy2Prime for short 1 downside of mover of motor is split
Normal force suffered by tooth 11, secondary mover carnassial tooth 10, Fy3For the normal force suffered by entire short mover 1.Splitting per side up and down
Normal force suffered by tooth is equal in magnitude, direction is mutually cancelled out each other instead so that and the normal force resultant force of upper and lower both sides is zero, to
Eliminate the adverse effect that normal direction fluctuation is brought to motor operation.
Figure 11 is the thrust waveform of double-stator and double-salient pole permanent-magnetism linear motor of the present invention.
Double-stator and double-salient pole permanent-magnetism linear motor of the present invention, by by mover modularized design, realize mutually with
Decoupling between phase, simplifies electric machine structure, facilitates manufacture and advantageously reduces production cost；Using double-stator structure, eliminate
The influence that normal force generates motor operation under unilateral stator structure.Meanwhile permanent magnet 9 is embedded in the present invention in prime 6, and
It is shared for the secondary mover 7 of both sides, is conducive to improve the utilization rate of permanent magnet 9 and the pushing force density of motor in motor.
Claims (10)
1. a kind of double-stator and double-salient pole permanent-magnetism linear motor is made of short mover (1) and long stator (2), it is characterized in that：Short dynamic
The both sides up and down of sub (1) are respectively a long stators (2), and two long stators (2) are symmetrical above and below relative to the center of short mover (1).
2. a kind of double-stator and double-salient pole permanent-magnetism linear motor according to claim 1, it is characterized in that：Short mover (1) is by m
The front and back sequentially connection composition of subunit module (3), m is number of motor phases；Each subunit module (3) includes an active
Sub (6) and respectively in two secondary movers (7) of prime (6) front and rear sides, one piece of permanent magnet is inlayed in the yoke portion of prime (6)
(9), the yoke portion of secondary mover (7) is wound with armature winding (8).
3. a kind of double-stator and double-salient pole permanent-magnetism linear motor according to claim 2, it is characterized in that：Each pair mover (7)
The middles of upper and lower ends all respectively open that there are one secondary mover slots, it is each to form two secondary mover carnassial tooths (10)；Each prime (6)
Upper and lower ends respectively open there are three active pilot trench, respectively form four prime carnassial tooths (11).
4. a kind of double-stator and double-salient pole permanent-magnetism linear motor according to claim 3, it is characterized in that：Each subunit mould
In block (3), when the secondary mover carnassial tooth (10) of first secondary mover (7) of front and back side aligns up and down with stator tooth, the other side
The secondary mover carnassial tooth (10) of second secondary mover (7) align with stator slot, two pair movers (7) differ in space phase
180 ° of electrical angles.
5. a kind of double-stator and double-salient pole permanent-magnetism linear motor according to claim 3, it is characterized in that：Two secondary mover carnassial tooths
(10) tooth pitch between is a stator tooth away from the prime carnassial tooth (11) of centre two in four prime carnassial tooths (11) is apart
One and half stator tooth pitches, phase between the two prime carnassial tooths (11) and the prime carnassial tooth (11) of adjacent centre of front and rear sides
Away from a stator tooth away from.
6. a kind of double-stator and double-salient pole permanent-magnetism linear motor according to claim 1, it is characterized in that：Each two subunit
Fore-and-aft clearance between module (3) meets (n+1/m) τ, n=0,1,2,3....., τ be stator tooth away from.
7. a kind of double-stator and double-salient pole permanent-magnetism linear motor according to claim 2, it is characterized in that：Each two subunit
It is connected every magnetic patch (4) using the connection of subunit module between module (3)；Major-minor is used between prime (6) and secondary mover (7)
Mover connection is connected every magnetic patch (5).
8. a kind of double-stator and double-salient pole permanent-magnetism linear motor according to claim 2, it is characterized in that：Each subunit mould
120 ° of electrical angles of the induced electromotive force mutual deviation of armature winding (8) in block (3).
9. a kind of double-stator and double-salient pole permanent-magnetism linear motor according to claim 2, it is characterized in that：All permanent magnets
(9) it is that upper and lower directions magnetizes and magnetizing direction is identical.
10. a kind of double-stator and double-salient pole permanent-magnetism linear motor according to claim 2, it is characterized in that：Each subunit
Prime (6) in module (3) is symmetrical above and below, and secondary mover (7) is symmetrical above and below, and two secondary movers (7) are relative to prime (6)
It is symmetrical before and after center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810511683.5A CN108574393B (en) | 2018-05-25 | 2018-05-25 | Double-stator and double-salient-pole permanent magnet linear motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810511683.5A CN108574393B (en) | 2018-05-25 | 2018-05-25 | Double-stator and double-salient-pole permanent magnet linear motor |
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| Publication Number | Publication Date |
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| CN108574393A true CN108574393A (en) | 2018-09-25 |
| CN108574393B CN108574393B (en) | 2020-03-31 |
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| CN201810511683.5A Active CN108574393B (en) | 2018-05-25 | 2018-05-25 | Double-stator and double-salient-pole permanent magnet linear motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111106733A (en) * | 2019-12-11 | 2020-05-05 | 南京理工大学 | Asynchronous starting permanent magnet synchronous linear motor and control method thereof |
| CN112953159A (en) * | 2021-04-26 | 2021-06-11 | 合肥工业大学 | Double-side permanent magnet auxiliary linear synchronous reluctance motor with high thrust density |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1376184A1 (en) * | 1986-06-09 | 1988-02-23 | Львовский политехнический институт им.Ленинского комсомола | Linear stepping motor |
| CN1461096A (en) * | 2003-06-12 | 2003-12-10 | 国家磁浮交通工程技术研究中心 | Permanent magnetic and electromagnetic composite excitation long-stator linear synchronous motor |
| JP2005137140A (en) * | 2003-10-30 | 2005-05-26 | Okuma Corp | Linear motor |
| CN104967275A (en) * | 2015-07-06 | 2015-10-07 | 东南大学 | Double-salient-pole permanent magnet linear motor and motor module group using same |
-
2018
- 2018-05-25 CN CN201810511683.5A patent/CN108574393B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1376184A1 (en) * | 1986-06-09 | 1988-02-23 | Львовский политехнический институт им.Ленинского комсомола | Linear stepping motor |
| CN1461096A (en) * | 2003-06-12 | 2003-12-10 | 国家磁浮交通工程技术研究中心 | Permanent magnetic and electromagnetic composite excitation long-stator linear synchronous motor |
| JP2005137140A (en) * | 2003-10-30 | 2005-05-26 | Okuma Corp | Linear motor |
| CN104967275A (en) * | 2015-07-06 | 2015-10-07 | 东南大学 | Double-salient-pole permanent magnet linear motor and motor module group using same |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111106733A (en) * | 2019-12-11 | 2020-05-05 | 南京理工大学 | Asynchronous starting permanent magnet synchronous linear motor and control method thereof |
| CN111106733B (en) * | 2019-12-11 | 2022-04-01 | 南京理工大学 | Asynchronous starting permanent magnet synchronous linear motor and control method thereof |
| CN112953159A (en) * | 2021-04-26 | 2021-06-11 | 合肥工业大学 | Double-side permanent magnet auxiliary linear synchronous reluctance motor with high thrust density |
| CN112953159B (en) * | 2021-04-26 | 2022-07-12 | 合肥工业大学 | Double-side permanent magnet auxiliary linear synchronous reluctance motor with high thrust density |
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| CN108574393B (en) | 2020-03-31 |
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Effective date of registration: 20221027 Address after: Room 3, No. 1299, Fuchunjiang Road, Kunshan Development Zone, Suzhou City, Jiangsu Province 215335 Patentee after: KUNSHAN TONGMAO ELECTRONICS Co.,Ltd. Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |