CN108599414A - Sleeve rotor annular permanent magnet servo motor - Google Patents
Sleeve rotor annular permanent magnet servo motor Download PDFInfo
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- CN108599414A CN108599414A CN201810345667.3A CN201810345667A CN108599414A CN 108599414 A CN108599414 A CN 108599414A CN 201810345667 A CN201810345667 A CN 201810345667A CN 108599414 A CN108599414 A CN 108599414A
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- servo motor
- rotor
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- phase
- permanent magnet
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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
-
- 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
- H02K1/32—Rotating parts of the magnetic circuit with channels or ducts for flow of cooling medium
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K17/00—Asynchronous induction motors; Asynchronous induction generators
- H02K17/02—Asynchronous induction motors
- H02K17/16—Asynchronous induction motors having rotors with internally short-circuited windings, e.g. cage rotors
- H02K17/165—Asynchronous induction motors having rotors with internally short-circuited windings, e.g. cage rotors characterised by the squirrel-cage or other short-circuited windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
Abstract
Sleeve rotor annular permanent magnet servo motor, there are permanent-magnet material or pawl pole inner concentric to have magnetic circuit cylinder and permanent-magnet material in the gap of pawl pole and adjacent portions pawl pole, sleeve rotor pawl pole is set as trapezoidal or tile shape, the trapezoidal gradient is 10 °, and consistency of thickness, the gap that adjacent trapezoidal pawl pole is formed are magnetic slot；Adjacent tile shape pawl pole is formed as the welding groove at 90 ° of right angle；There is reinforcing rib on the inside of cylindrical rotor.Cost is extremely low, avoid traditional design stupidly, greatly, again, slightly, the permanent-magnet material of the more applicable smaller size smaller of ultralight air-core armature is equipped with, effectively substitute for that the prior art is of high cost, technique is loaded down with trivial details, power consumption is big, efficiency is low, structure is immature, reliability is low, fragile, the defects of can not promoting the advantages that high dependable with function, the unexpected technique effect of people is brought, there is huge economic benefit and social benefit.
Description
Technical field
The invention belongs to technical field of industrial automatic control, more particularly to a kind of sleeve rotor annular permanent magnet servo electricity
Machine.
Background technology
There is energy consumption height, especially normal asynchronous for existing threephase motor or three-phase permanent-magnetic synchronous motors
Efficiency and all relatively low zero load of power factor and underloading electric current are big, and there is idle excitation losses, waste a large amount of energy in China
Source, and increase user cost.Even more existing permasyn morot, it is immature that there is rotor structures, is common asynchronous
Symmetrical grooving inserts magnet steel on the basis of motor rotor and on the inside of mouse cage, substantially reduces the mechanical strength and output power of rotor
It does less, farther out from rotor surface, mouse cage stops magnetic flux to magnet steel, and there is magnet steel significantly leakage fields in rotor core for magnet steel
The defects of, some rotors face paste magnet steel is gone back, uses and is easy to fly off, and easily demagnetization etc., and can not promote.Also some are forever
The producer of magneto fills stainless steel magnetic shield in magnetic shield circumference on motor shaft, fills magnetic pole and magnet steel with lead screw, there is axial direction
It is fixed, have radially fixed, also fluting dress copper bar makes the cost that damping cage significantly increases motor on magnetic pole, and useless
When work is given up, the production cycle is longer, in a word structure topsy-turvy none can reach the shortcomings such as practical value.
In addition to this, permanent magnet synchronous servo motor because of it with higher energy density, close to linear power producing characteristics and
The features such as less maintenance cost, is widely used in the occasion that numerically-controlled machine tool, robot etc. need precise flange, and
In order to give full play to its functional characteristics, the position of magnetic pole (or " phase ") that rotor is known when powering on is needed, therefore,
It needs to be detected the position of magnetic pole of rotor.Existing detection method is that sensor special is installed on motor, directly
The position of magnetic pole of rotor is measured and recorded, or is found, in estimation using direct current method or high-frequency signal injection
Initial phase when electric.So-called direct current method refers to being sought in mutually action special, to motor be passed through constant size, direction electricity
Stream makes rotor be attracted in known phase by current field effect；High-frequency signal injection is according to certain sequentially to electrical-coil
Injection high-frequency voltage signal works as rotor due to the non-linear saturated characteristic of iron core and the difference of core material and air permeability
The voltage injected when in different location the electric current different by amplitude is generated, is demodulated, filtered and is seen to this current signal
Rotor phase information is can get after surveying device estimation.
The method that record is directly measured using sensor special is most intuitive, but system cost is higher, cannot meet permanent magnetism
The requirement of synchronous servo motor use cost；It is to realize simple that direct current method, which seeks the characteristics of phase, but rotor can when seeking phase
Larger displacement can be generated, is easy to generate impact to load；The characteristics of high-frequency signal injection be seek that the phase time is short, and rotor displacement is small, but
It is that its algorithm realizes complicated, it is desirable that motor must have saliency, and adaptability is not strong.Therefore it needs to study and a kind of new seeks phase
Method can meet and seek the small and with high accuracy requirement of phase shift, moreover it is possible to ensures to realize simply, it is at low cost, and it is adaptable.
In conclusion being directed to the shortcomings of the prior art, it is necessary to provide sleeve rotor annular permanent magnet servo
Motor.
Invention content
It is an object of the invention to provide a kind of at low cost, technology maturations, simple in structure, light-weight, reliable operation, energy saving
With sleeve rotor annular permanent magnet servo motor with long service life, be moving to maturity of internal rotor permanent magnet synchronous motor industry,
One quantum leap of unified standard may replace the industry that all asynchronous machines use.It is effective for the abundant rare earth resources in China
Solid foundation has been established in utilization.
The present invention is achieved through the following technical solutions：Sleeve rotor annular permanent magnet servo motor, by permanent magnetism main rotor, mouse
Cage starts rotor and main shaft is constituted, and the permanent magnetism main rotor is described with mouse cage starting rotor and by being set in the main shaft
Permanent magnetism main rotor is set as the combination of sleeve rotor Lundell, has permanent-magnet material or pawl pole in the gap of pawl pole and adjacent portions pawl pole
Inner concentric has magnetic circuit cylinder and permanent-magnet material, sleeve rotor pawl pole to be set as trapezoidal or tile shape, and the trapezoidal gradient is 10 °,
And consistency of thickness, the gap that adjacent trapezoidal pawl pole is formed are magnetic slot；Adjacent tile shape pawl pole is formed as the weldering at 90 ° of right angle
Access slot；There is reinforcing rib on the inside of cylindrical rotor.
As a kind of perferred technical scheme, the pawl pole is whole is interference fitted with the shaft, and is provided with magnetic shield.
As a kind of perferred technical scheme, the pawl pole has stainless steel lath with the magnet steel notch that the pawl pole is combined into
And with non-magnet material welded closure.
As a kind of perferred technical scheme, it is welded by non-magnet material at the reinforcing rib, is stainless steel welded；It is described
Sleeve rotor Lundell combination settings are that sleeve rotor is combined with reinforcing rib；The deep trouth at the pawl pole center is kelvin effect slot,
Copper bar is added in slot constitutes damping cage increase starting torque.
As a kind of perferred technical scheme, the tile shape pawl pole or the trapezoidal pawl pole both ends are equipped with ventilation hole and spiral shell
Wire hole, the screw hole are that pawl pole rotor is fixed for output torque and holding dynamic balancing together with the steel cylinder of inside；
The sleeve rotor is set as HALBACH external magnetic field magnet structures, and the permanent-magnet material is neodymium iron boron, the sleeve rotor by
The preferable soft magnetic materials die sinking finish forge of magnetic property or essence casting form.
As a kind of perferred technical scheme, a kind of automatic seeking phase side for sleeve rotor annular permanent magnet servo motor
Method, the phase current of seeking that program control is passed through in permanent-magnet servo motor coil cause permanent magnetic servo motor rotor fine motion finally quilt
Attract during fixed position, calculates the phase angle of permanent magnetic servo motor rotor, entirely seek phase process and closed using speed
Ring controls, and uses the speed regulator with zero-speed target in order to control to receive velocity feedback, and exports adjusting electric current, adjust electric current
It is the correction value for seeking phase current phase with the mutual remaining acute angle of phase current angle is sought, makes to seek the phase of phase current by repeatedly recycling
Angle is approached on the d axis of permanent-magnet servo motor phase and locks permanent magnetic servo motor rotor with electromagnetic attraction, to be determined
Permanent magnetic servo motor rotor phase angle, including：
Step A is passed through into permanent-magnet servo motor and seeks phase current instruction I, and sets the initial phase for seeking phase current instruction I
Angle is α 0；
Step B, with zero-speed in order to control target speed regulator generate q axis adjust current-order Iq, and with seek phase current
Instruction I inputs arcsine accumulator jointly, acquires the arcsine angle value α and its cumulative amount ∑ α of the quotient of two current values,
Middle α=sin-1 (Iq/I)；
Step C, current regulator receive the cumulant ∑ α of arcsine angle value α and seek the initial phase of phase current instruction I
The sum of parallactic angle α 0, i.e. ∑ α+α 0, and phase current instruction I is sought, the vector angle and Vector Mode as given value of current are long, generate
New one claps current-order, and is sent out by PWM generations/power stage, is applied on permanent-magnet servo motor, drives permanent magnetic servo electric
Machine is rotated together with the feedback element on its axis；
The location information of step D, feedback element feedback become velocity feedback information after once differentiation, and input speed is adjusted
Device；
Whether velocity feedback information in step E, judgment step D is zero and is kept for 0.5 second or more, if it is, seeking phase
Process terminates, and the phase angle of permanent magnetic servo motor rotor d axis is ∑ α+α 0；If it is not, then executing step F；
The phase angle for seeking phase current I is modified to α 0+ ∑ α, then goes to step B by step F, is continued to seek and is mutually acted.
As a kind of perferred technical scheme, the starting phase angle α 0 for seeking phase current instruction I is zero.
As a kind of perferred technical scheme, the speed regulator can be real by way of proportional-integral-differential
It is existing.
As a kind of perferred technical scheme, the permanent-magnet servo motor can be permanent magnet synchronous type electro spindle, also may be used
To be permanent magnet synchronous type torque motor or permanent magnet synchronous type linear motor, or it is permanent magnet synchronous type electric rotating machine.
As a kind of perferred technical scheme, the permanent-magnet servo motor can be permanent magnet synchronous type electro spindle, also may be used
To be permanent magnet synchronous type torque motor or permanent magnet synchronous type linear motor, or it is permanent magnet synchronous type electric rotating machine.
Compared with prior art, the beneficial effects of the present invention are：
(1) for the present invention compared with existing permasyn morot, cost is extremely low, avoids traditional design stupidly, greatly, again, slightly,
The advantages that permanent-magnet material of the more applicable smaller size smaller of ultralight air-core armature is equipped with, high dependable with function is effectively
It is of high cost instead of the prior art, technique is loaded down with trivial details, power consumption is big, efficiency is low, structure is immature, reliability is low, fragile, nothing
The defects of method is promoted, brings the unexpected technique effect of people, there is huge economic benefit and social benefit.
(2) the method for the present invention eliminates the component of recording magnetic pole position, saves cost, and the method for the present invention is sought and mutually being walked
Rapid few, it is fast to seek mutually action, calculates simple, and precision is high, realize thin tail sheep, small impact automatic seeking phase, be applicable not only to permanent magnetism
Synchronous mode electric rotating machine is also applied for permanent magnet synchronous type linear motor, permanent magnet synchronous type electro spindle and permanent magnet synchronous type torque
The permanent magnet synchronous motors such as motor.
Description of the drawings
Fig. 1 is the trapezoidal pawl pole rotor of the present invention and cage rotor combining structure schematic diagram；
Fig. 2 is that tile shape pawl pole of the present invention combines A-A sectional views with steel cylinder；
Fig. 3 is that tile shape pawl pole of the present invention combines welding schematic diagram；
Fig. 4 is claw-pole rotor Combination Welding schematic diagram in octupole of the present invention；
Fig. 5 is that pawl pole rotor combination of the octupole of the present invention with kelvin effect slot and reinforcing rib welds schematic diagram；
Fig. 6 is the control system block diagram of the method for the present invention.
Fig. 7 is that phase current instruction I approaching to sleeve rotor annular permanent magnet servo motor d axis is sought in the embodiment of the present invention
Journey schematic diagram.
In figure：1, trapezoidal pawl pole；2, cage rotor；3, fan；4, main shaft；5, magnetic slot；6, kelvin effect slot；7, prevent
Backplate；8, screw；9, magnetic circuit cylinder；10, ventilation hole；11, screw hole；12, groove portion is welded；13, spindle hole.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention.
Fig. 1 is that the trapezoidal pawl pole rotor of the present invention combines signal, trapezoidal pawl pole consistency of thickness, trapezoidal gradient with cage rotor
It is magnetic slot to combine adjacent gap for 10 ° of trapezoidal pawl poles and pawl pole, and rotor circumference magnetic slot is oblique in alternateing
Slot effectively offsets the influence of rotor field and stator tooth socket caulking groove torque (cogging torque), improves electric efficiency.Pawl pole is by magnetic conduction
The soft magnetic materials die sinking finish forge or essence casting of better performances.Pawl pole using interference fit hot jacket on main shaft, adjacent tile shape
Pawl pole is formed as the welding groove at 90 ° of right angle, and magnetic slot is inserted into after false magnet steel and is welded in welding groove welding, pawl pole with stainless steel electrode
The magnet steel notch being combined into pawl pole has a stainless steel lath non-magnet material welded closure, by non-magnet material at reinforcing rib
Welding is stainless steel welded；Bore template is placed in two ends of rotor on drilling machine after rough turn, smart car after welding, is drilled rotor
The false magnet steel in magnetic slot, after being put into magnet steel with specific purpose tool, both ends protective plate spiral shell are taken out after both ends ventilation hole and screw hole
Silk is fixed together.Screw hole is that pawl pole rotor is fixed for output torque together with the steel cylinder of inside and keeps dynamic balancing, mouse
Cage rotor is using deep trouth, multiple-grooved corresponding configuration starting torque, and there are cast aluminium fan, there are big ventilation holes for fan inner circle, effectively
Mitigate rotor weight and ventilation and heat.
It is suitable for manufacturing servo motor, frequency-conversion synchronous motor using Fig. 2 or Fig. 3 embodiments, and the combination of cooperation mouse cage is directly
Starting synchronous motor process is identical with Fig. 1, and sleeve rotor is set as HALBACH external magnetic field magnet structures, is suitable for servo
Motor or variable-frequency motor or non iron-core motor.Fig. 4, Fig. 5 are the tangential parallel circuits schematic diagram of the present invention, and process is the same as Fig. 1 bases
This is identical.
As shown in fig. 6, the closed loop control module of the present invention includes：Current-order module 11, speed regulator 12, anyway
String accumulator 13, current regulator 14, PWM generations/power stage 15, permanent magnet synchronous servo motor 16, feedback element 17 and differential
Link 18.The phase process of seeking of the method for the present invention includes：
Step 1, current-order module 1, which is sent out, seeks phase current I, which is zero；
Step 2, with zero-speed in order to control target speed regulator 12 generate q axis adjusting current-order Iq, and with seek phase
Current-order I inputs arcsine accumulator 13 jointly, acquires the arcsine angle value α and its cumulative amount of the quotient of two current values
∑ α, wherein α=sin-1 (Iq/I)；
Step 3, current regulator 14 receive the cumulant ∑ α of arcsine angle value α and seek phase current instruction I, make
It is long for the vector angle and Vector Mode of given value of current, new one current-order clapped is generated, and sent out by PWM generations/power stage 15
Go out, be applied on permanent-magnet servo motor 16, permanent-magnet servo motor 16 is driven to be rotated together with the feedback element 17 on its axis；
Step 4, the location information that feedback element 17 is fed back become velocity feedback letter after 18 once differentiation of differentiation element
Breath, input speed adjuster 12；
Step 5, whether the velocity feedback information in judgment step four is zero and is kept for 0.5 second or more, if it is, seeking
Phase process terminates, and the phase angle of permanent magnetic servo motor rotor d axis is the accumulative of obtained arcsine angle value α in step 2
Measure ∑ α；If it is not, then executing step 6；
The phase angle for seeking phase current I is modified to ∑ α, then goes to step 2 by step 6, is continued to seek and is mutually acted.
Fig. 7, which explains the embodiment of the present invention and seeks the phase angle of phase current I, constantly to be forced to the actual phase angle of rotor d axis
Close process.
The starting phase angle for seeking phase current I is zero, and medium velocity adjuster 12 is recycled at first and generates q axis adjusting electric current Iq1,
The mutual remaining acute angle of it and the angle for seeking phase current I is α 1, in recycling at first, fails that velocity feedback information is made to remain zero
Speed, therefore the phase angle for seeking phase current I need to be modified to α 1 to position 110, it is recycled subsequently into second；It is followed at second
In ring, the mutual remaining acute angle that the q axis that speed regulator 12 generates adjusts the angle that phase current I is sought in electric current Iq2 and position 110 is α
2, velocity feedback information still fails to reach and keep zero-speed, thus the phase angle for seeking phase current I need to be modified to α 1+ α 2 to
Position 111 is recycled subsequently into third time；Third time recycle in, speed regulator 12 generate q axis adjust electric current Iq3 with
The mutual remaining acute angle that the angle of phase current I is sought in position 111 is α 3, and in this cycle, velocity feedback information reaches and keeps zero
Speed, if will seek phase current I is modified to α 1+ α 2+ α 3 to post-11.2, sought the d axis of phase current I and rotor more than 0.5 second
It overlaps, therefore, the phase angle of rotor d axis is α 1+ α 2+ α 3.
In conclusion the method for the present invention permanent-magnet servo motor power on initial rotor phase it is unknown when, by being watched to permanent magnetism
It taking and injects electric current of the target phase on d axis in electrical-coil, the deviation of actual phase and target phase causes rotor to rotate,
It is calculated using cumulative arcsine and corrects target phase, so that target phase is converged on rapidly on the d axis of actual phase, whole process
Caused rotor displacement very little, and operation is simple, without configuring the component of recording magnetic pole position, saves cost, versatility
By force.
For the present invention compared with existing permasyn morot, cost is extremely low, avoids traditional design stupidly, greatly, again, slightly, ultralight
The permanent-magnet material of the more applicable smaller size smaller of air-core armature be equipped with, the advantages that high dependable with function, effectively replaces
The prior art is of high cost, technique is loaded down with trivial details, power consumption is big, efficiency is low, structure is immature, reliability is low, it is fragile, can not push away
The defects of wide, brings the unexpected technique effect of people, there is huge economic benefit and social benefit.
The method of the present invention eliminates the component of recording magnetic pole position, saves cost, and the method for the present invention seeks phase step
Few, it is fast to seek mutually action, calculates simple, and precision is high, realize thin tail sheep, small impact automatic seeking phase, it is same to be applicable not only to permanent magnetism
Step formula electric rotating machine is also applied for permanent magnet synchronous type linear motor, permanent magnet synchronous type electro spindle and permanent magnet synchronous type torque electricity
The permanent magnet synchronous motors such as machine.
In the description of the present invention, it is to be understood that, term " one end ", " front upper place ", " end ", " length ", " width
The orientation or position of the instructions such as degree ", "inner", "upper", " other end ", " both ends ", "horizontal", " coaxial ", " bottom ", " lower section "
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or imply that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore cannot manage
Solution is limitation of the present invention.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can be bright
Show or implicitly include one or more this feature.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the present invention unless specifically defined or limited otherwise, term " setting ", " engagement ", " connection ", " embedded ",
Terms such as " the covers " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
The interaction relationship of connection or two elements inside two elements, unless otherwise restricted clearly.For the general of this field
For logical technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every utilization
Equivalent structure transformation made by present specification, directly or indirectly with the technology for being attached to other Related products
Field is included within the scope of the present invention.
Claims (10)
1. sleeve rotor annular permanent magnet servo motor starts rotor by permanent magnetism main rotor, mouse cage and main shaft is constituted, feature exists
In：The permanent magnetism main rotor starts rotor with the mouse cage and by being set in the main shaft, the permanent magnetism main rotor is set as empty
Heart rotor Lundell combines, and has permanent-magnet material or pawl pole inner concentric to have magnetic circuit cylinder and forever in the gap of pawl pole and adjacent portions pawl pole
Magnetic material, sleeve rotor pawl pole are set as trapezoidal or tile shape, and the trapezoidal gradient is 10 °, and consistency of thickness, adjacent trapezoidal pawl
The gap that pole is formed is magnetic slot；Adjacent tile shape pawl pole is formed as the welding groove at 90 ° of right angle；Have on the inside of cylindrical rotor and adds
Strengthening tendons.
2. sleeve rotor annular permanent magnet servo motor according to claim 1, it is characterised in that：The pawl pole entirety and institute
Shaft interference fit is stated, and is provided with magnetic shield.
3. sleeve rotor annular permanent magnet servo motor according to claim 1, it is characterised in that：The pawl pole and the pawl
The magnet steel notch that pole is combined into has stainless steel lath and with non-magnet material welded closure.
4. sleeve rotor annular permanent magnet servo motor according to claim 1, it is characterised in that：By non-at the reinforcing rib
Permeability magnetic material welds, and is stainless steel welded；The sleeve rotor Lundell combination settings are that sleeve rotor is combined with reinforcing rib；Institute
The deep trouth for stating pawl pole center is kelvin effect slot, and copper bar is added in slot and constitutes damping cage increase starting torque.
5. sleeve rotor annular permanent magnet servo motor according to claim 1, it is characterised in that：The tile shape pawl pole or
The trapezoidal pawl pole both ends be equipped with ventilation hole and screw hole, the screw hole be by pawl pole rotor together with the steel cylinder of inside
It is fixed for output torque and keeps dynamic balancing；The sleeve rotor is set as HALBACH external magnetic field magnet structures, the permanent magnetism
Material is neodymium iron boron, and the sleeve rotor is formed by the preferable soft magnetic materials die sinking finish forge of magnetic property or essence casting.
6. a kind of automatic seeking phase method for sleeve rotor annular permanent magnet servo motor described in claim 1 is used, forever
The phase current of seeking that program control is passed through in magnetic servo motor coil causes permanent magnetic servo motor rotor fine motion to be finally attracted solid
During positioning is set, the phase angle of permanent magnetic servo motor rotor is calculated, it is characterised in that：Entire phase process of seeking uses speed
Closed-loop control uses the speed regulator with zero-speed target in order to control to receive velocity feedback, and exports adjusting electric current, adjust electric current
It is the correction value for seeking phase current phase with the mutual remaining acute angle of phase current angle is sought, makes to seek the phase angle of phase current by repeatedly recycling
It approaches on the d axis of permanent-magnet servo motor phase and permanent magnetic servo motor rotor is locked with electromagnetic attraction, to obtain determination
Permanent magnetic servo motor rotor phase angle, including：
Step A, be passed through into permanent-magnet servo motor seek phase current instruction I, and set seek phase current instruct I starting phase angle as
α0；
Step B, with zero-speed in order to control target speed regulator generate q axis adjust current-order Iq, and with seek phase current instruct I
Common input arcsine accumulator, acquire the quotient of two current values arcsine angle value α and its cumulative amount ∑ α, wherein α=
sin-1(Iq/I)；
Step C, current regulator receive the cumulant ∑ α of arcsine angle value α and seek the starting phase angle α 0 of phase current instruction I
The sum of, i.e. ∑ α+α 0, and phase current instruction I is sought, the vector angle and Vector Mode as given value of current are long, generate new one and clap electricity
Stream instruction, and sent out by PWM generations/power stage, it is applied on permanent-magnet servo motor, drives permanent-magnet servo motor together with its axis
On feedback element rotation；
The location information of step D, feedback element feedback become velocity feedback information, input speed adjuster after once differentiation；
Whether velocity feedback information in step E, judgment step D is zero and is kept for 0.5 second or more, if it is, seeking phase process
Terminate, the phase angle of permanent magnetic servo motor rotor d axis is ∑ α+α 0；If it is not, then executing step F；
The phase angle for seeking phase current I is modified to α 0+ ∑ α, then goes to step B by step F, is continued to seek and is mutually acted.
7. a kind of automatic seeking phase method for sleeve rotor annular permanent magnet servo motor according to claim 6, special
Sign is that the starting phase angle α 0 for seeking phase current instruction I is zero.
8. a kind of automatic seeking phase method for sleeve rotor annular permanent magnet servo motor described according to claim 6 or 7,
It is characterized in that, the speed regulator can be realized by way of proportional-integral-differential.
9. a kind of automatic seeking phase method for sleeve rotor annular permanent magnet servo motor described according to claim 6 or 7,
It is characterized in that, the permanent-magnet servo motor forever can be permanent magnet synchronous type electro spindle, can also be permanent magnet synchronous type torque electricity
Machine or permanent magnet synchronous type linear motor, or be permanent magnet synchronous type electric rotating machine.
10. a kind of automatic seeking phase method for sleeve rotor annular permanent magnet servo motor according to claim 8, special
Sign is that the permanent-magnet servo motor can be permanent magnet synchronous type electro spindle, can also be permanent magnet synchronous type torque motor, or
Person is permanent magnet synchronous type linear motor, or is permanent magnet synchronous type electric rotating machine.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109728668A (en) * | 2018-12-19 | 2019-05-07 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | A kind of ventilation cooling structure of rotor |
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| CN102487236A (en) * | 2009-12-17 | 2012-06-06 | 王乃兵 | Rotor of permanent magnet synchronous motor |
| CN102969969A (en) * | 2012-12-14 | 2013-03-13 | 北京精雕科技有限公司 | Automatic phase hunting method used for permanent magnet synchronous servo motor |
| CN203166691U (en) * | 2013-04-15 | 2013-08-28 | 张健瑜 | Three-phase synchronous coaxial electromagnetic adjustable-speed motor |
| CN106505818A (en) * | 2016-11-29 | 2017-03-15 | 大连碧蓝节能环保科技有限公司 | Segmentation phase shift outer rotor permanent magnet motor |
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| CN102487236A (en) * | 2009-12-17 | 2012-06-06 | 王乃兵 | Rotor of permanent magnet synchronous motor |
| CN102969969A (en) * | 2012-12-14 | 2013-03-13 | 北京精雕科技有限公司 | Automatic phase hunting method used for permanent magnet synchronous servo motor |
| CN203166691U (en) * | 2013-04-15 | 2013-08-28 | 张健瑜 | Three-phase synchronous coaxial electromagnetic adjustable-speed motor |
| CN106505818A (en) * | 2016-11-29 | 2017-03-15 | 大连碧蓝节能环保科技有限公司 | Segmentation phase shift outer rotor permanent magnet motor |
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| CN109728668A (en) * | 2018-12-19 | 2019-05-07 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | A kind of ventilation cooling structure of rotor |
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