CN108683319B - Low-speed high-thrust-density cylindrical linear motor with double-layer fractional slot windings - Google Patents
Low-speed high-thrust-density cylindrical linear motor with double-layer fractional slot windings Download PDFInfo
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- CN108683319B CN108683319B CN201810553633.3A CN201810553633A CN108683319B CN 108683319 B CN108683319 B CN 108683319B CN 201810553633 A CN201810553633 A CN 201810553633A CN 108683319 B CN108683319 B CN 108683319B
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
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Abstract
The invention provides a low-speed high-thrust-density cylindrical linear motor with double-layer fractional slot windings, and belongs to the technical field of linear motors. The permanent magnet motor comprises a motor primary, a motor secondary, a primary iron core, an air gap, a primary wire groove, a primary half wire groove, a primary tooth, a primary side end tooth, a primary yoke, a pancake winding, a permanent magnet, a magnetic conduction ring and the like. The double-layer fractional slot winding structure is adopted, the pole pitch of the motor is reduced, the working frequency is effectively improved, the efficiency of the motor is improved, and the motor has a certain speed regulation range. The width of the side end slot is set to be half of that of the normal primary slot, the thickness of the primary side end tooth is smaller than that of the primary tooth, meanwhile, the primary effective length of the motor is equal to (n +1/2) x tau, obvious restraining effect on the thrust fluctuation of the motor is generated, the positioning force of the motor is reduced, and the motor runs more stably and reliably. The speed-regulating device has the advantages of simple structure, lower cost, extremely high efficiency, larger speed-regulating range, large thrust density, stable and reliable operation and the like, and is very suitable for low-speed and high-thrust occasions.
Description
Technical Field
The invention relates to a cylindrical linear motor, in particular to a low-speed high-thrust-density cylindrical linear motor with double-layer fractional slot windings. Belongs to the technical field of linear motors.
Background
The linear motor is a motor which directly converts electric energy into linear motion mechanical energy without any conversion device in the middle, and compared with a transmission mode of a rotating motor, the linear motor can save a middle conversion mechanism, reduce the occupied space of equipment and improve the system efficiency. As a structural form of the linear motor, the cylindrical linear motor has more advantages: high operation efficiency, high power and force density, good servo performance and a closed structure. However, in the case of low speed and high thrust density, the cylindrical linear motor needs a lower synchronous speed, and the pole pitch of the single-winding permanent magnet motor is generally larger, so that the working frequency is too low, and the efficiency of the motor is low.
Therefore, for the occasions with low speed and high thrust density, the double-layer fractional slot winding technology is adopted, and under the condition of a certain synchronous speed, the pole pitch is reduced, so that the frequency can be effectively improved, the motor efficiency is improved, the thrust density of the motor is increased, the thrust fluctuation of the linear motor can be inhibited, and the motor has a certain speed regulation range. Therefore, the double-winding component slot winding technology is applied to the design of the cylindrical permanent magnet linear motor, and the design of a proper pole slot matching mode has great significance for optimizing the steady-state performance of the cylindrical linear motor.
At present, the field has some related researches and technologies aiming at a low-speed high-thrust-density linear motor, for example, a Chinese patent 'low-speed high-thrust-density linear motor' (application number: 201110443116.9), and provides 'a novel magnetic field modulation type permanent magnet direct-drive linear motor, non-contact variable-speed transmission is realized through the magnetic field modulation effect of stator teeth in the motor, and meanwhile, the permanent magnet is additionally arranged on a stator, so that the air gap magnetic density is improved, and the magnetic leakage is reduced'. But the motor adopts a single winding structure, so the pole distance is larger and the speed regulation range is smaller; when the motor works in a low-speed occasion, the working frequency is too low, so that the efficiency of the motor is low, and the requirements of low speed and high thrust density cannot be met. As another example, the present invention relates to a high-thrust permanent-magnet direct-drive linear motor (201110028079.5), which utilizes a special structure of the motor to modulate the air gap reluctance distribution of the motor, so that when the motor operates, the movement speed of the permanent magnet flux in the primary side of the motor is doubled to the movement speed of the secondary side of the motor, thereby realizing the speed-up effect, and is suitable for low-speed direct-drive application occasions. However, the motor winding is concentrated or distributed, and the distributed winding cannot be applied to a cylindrical structure, so that the cylindrical motor is difficult to be applied to low-speed direct-drive application occasions according to the expectation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a low-speed high-thrust-density double-layer fractional-slot winding cylindrical linear motor, which solves the problems of low efficiency, small speed regulation range and small thrust density of the conventional cylindrical permanent magnet linear motor under the conditions of low speed and high thrust density. Meanwhile, the thrust fluctuation of the linear motor is inhibited, and the motor has a certain speed regulation range. The speed-regulating device has the advantages of simple structure, lower cost, higher efficiency, larger speed-regulating range, large thrust density and the like, and is very suitable for low-speed and high-thrust occasions.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the cylindrical linear motor with the low-speed high-thrust-density double-layer windings comprises a motor primary (1) and a motor secondary (2).
The motor primary (1) comprises a primary wire groove (101), a primary half wire groove (102), a primary tooth (103), a primary side end tooth (104), a primary yoke (105) and a pie winding (106). The slots at the two ends of the primary motor (1) are primary half wire slots (102), and the rest slots are primary wire slots (101). A group of pie windings (106) are respectively arranged in the primary half wire grooves (102) at the two ends; two groups of independent pie windings (106) are arranged in the primary wire slot (101) side by side; two adjacent primary wire grooves (101) are separated by primary teeth (102), and primary side end teeth (104) are arranged on the outer sides of primary half wire grooves (102) at two ends of a primary (1) of the motor; the primary wire groove (101), the primary half wire groove (102), the primary tooth (103), the primary side end tooth (104) and the primary yoke (105) jointly form a primary iron core (3).
The motor secondary (2) comprises a permanent magnet (201), a magnetic conduction ring (202) and a secondary iron core (203). The primary motor (1) is fixed, and the secondary motor (2) does reciprocating linear motion along the motor motion direction. The permanent magnet (201) and the magnetic conduction ring (202) are cylindrical structures and have the same thickness; the permanent magnet (201) and the magnetic conduction ring (202) are sequentially arranged along the axis direction of the secondary iron core (203) and are nested on the outer surface of the secondary iron core (203).
The inner diameter of the motor primary (1) is larger than the outer diameter of the motor secondary (2), and an air gap (4) is formed between the motor primary (1) and the motor secondary (2).
Further, the sum of the numbers of the primary line grooves (101) and the primary half line grooves (102) is the same as the number of poles of the corresponding permanent magnets (201). The groove width of the primary semi-wire groove (102) is half of that of the primary wire groove (101), so that the difference between the sum of the numbers of the primary wire groove (101) and the primary semi-wire groove (102) and the effective number of the grooves of the motor is 1. The number of the slots arranged in each phase under each pole is a fraction, and the slots belong to fractional slot windings.
Further, the thickness of the primary teeth (103) of the motor primary (1) is different from that of the primary side end teeth (104), and the thickness of the primary teeth (103) is thicker than that of the side end primary teeth (104) and is about 1/3 tooth pitches. The primary side end teeth (104) of the primary motor (1) are subjected to tooth shearing, so that the tooth space force of the linear motor can be obviously reduced, and the thrust fluctuation is restrained.
Further, assuming that the number of poles is n, the pole pitch is τ, and the effective length of the motor primary (1) is equal to (n +1/2) × τ. The end force of the linear motor is minimal when the effective length of the motor primary (1) is equal to (n +1/2) × τ.
Furthermore, the winding arrangement mode of the cylindrical motor is A +, A-A-, A + A +, A-A-, A + A +, A-B +, B-B-, B + B +, B-B-, B + B +, B-C +, C-C-, C + C +, C-C-, C + C-. The side end winding A + and the side end winding C-are positioned in the primary half wire slot (102), and the rest windings are positioned in the primary wire slots (101).
Further, the magnetizing direction of the permanent magnet (201) is parallel to the axial direction of the secondary iron core (203).
Furthermore, a plurality of cylindrical linear motors are connected in series to operate, so that the output thrust is increased under the condition that other performances are not changed.
Compared with the prior art, the invention has the following advantages:
1. the double-layer fractional slot winding structure is adopted, the pole pitch of the permanent magnet is reduced, the working frequency is effectively improved, and the problems of low efficiency, small speed regulation range and small thrust density of the existing cylindrical permanent magnet linear motor under the occasions of low speed and high thrust density are solved. And the motor has a certain speed regulation range. The device has the advantages of simple structure, low cost and the like, and is very suitable for low-speed and high-thrust occasions.
2. The width of the side end slot of the double-layer fractional slot winding cylindrical linear motor is set to be half of that of a normal primary slot, the thickness of primary side end teeth is smaller than that of primary teeth, meanwhile, the primary effective length of the motor is equal to (n +1/2) x tau, the pole slot matching mode has an obvious restraining effect on the thrust fluctuation of the motor, and meanwhile, the positioning force of the motor is reduced, so that the motor runs more stably and reliably.
Drawings
FIG. 1: double-layer fractional slot winding cylindrical linear motor structure diagram.
FIG. 2: and comparing the efficiency of the motors with two structures under different frequencies.
FIG. 3: and (5) comparing the thrust of the motors with two structures under different frequencies.
FIG. 4: and the thrust fluctuation percentage of the motors with two structures under different frequencies is compared.
In the figure: 1-motor primary, 2-motor secondary, 3-primary iron core, 4-air gap, 101-primary wire groove, 102-primary semi-wire groove, 103-primary tooth, 104-primary side end tooth, 105-primary yoke, 106-pie winding, 201-permanent magnet, 202-magnetic conductive ring, 203-secondary iron core.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
fig. 1 shows a cylindrical linear motor with a low-speed high-thrust-density double-layer winding, which comprises a motor primary (1) and a motor secondary (2).
The motor primary (1) comprises a primary wire groove (101), a primary half wire groove (102), a primary tooth (103), a primary side end tooth (104), a primary yoke (105) and a pie winding (106). The slots at two ends of the primary motor (1) are primary half slots (102), and the rest slots are primary slots (101); a group of pie windings (106) are respectively arranged in the primary half wire grooves (102) at the two ends; two groups of independent pie windings (106) are arranged in the primary wire slot (101) side by side; two adjacent primary wire grooves (101) are separated by primary teeth (102), and primary side end teeth (104) are arranged on the outer sides of primary half wire grooves (102) at two ends of a primary (1) of the motor; the primary wire groove (101), the primary half wire groove (102), the primary tooth (103), the primary side end tooth (104) and the primary yoke (105) jointly form a primary iron core (3).
The motor secondary (2) comprises a permanent magnet (201), a magnetic conduction ring (202) and a secondary iron core (203). The primary motor (1) is fixed, and the secondary motor (2) does reciprocating linear motion along the motor motion direction. The magnetizing direction of the permanent magnet (201) is parallel to the axis direction of the secondary iron core (203); the permanent magnet (201) and the magnetic conduction ring (202) are cylindrical structures and have the same thickness; the permanent magnet (201) and the magnetic conduction ring (202) are sequentially arranged along the axis direction of the secondary iron core (203) and are nested on the outer surface of the secondary iron core (203).
The inner diameter of the motor primary (1) is larger than the outer diameter of the motor secondary (2), and an air gap (4) is formed between the motor primary (1) and the motor secondary (2).
The sum of the numbers of the primary line grooves (101) and the primary half line grooves (102) is the same as the number of poles of the corresponding permanent magnets (201). The groove width of the primary semi-wire groove (102) is half of that of the primary wire groove (101), so that the difference between the sum of the numbers of the primary wire groove (101) and the primary semi-wire groove (102) and the effective number of the grooves of the motor is 1. The number of the slots arranged in each phase under each pole is a fraction, and the slots belong to fractional slot windings.
The thickness of a primary tooth (103) of the motor primary (1) is different from that of a primary side end tooth (104), and the thickness of the primary tooth (103) is 1/3 tooth pitches thicker than that of the side end primary tooth (104). The primary side end teeth (104) of the primary motor (1) are subjected to tooth shearing, so that the tooth space force of the linear motor can be obviously reduced, and the thrust fluctuation is restrained.
Assuming that the number of poles is n and the pole pitch is tau, the effective length of the primary (1) of the motor is equal to (n +1/2) x tau. The end force of the linear motor is minimal when the effective length of the motor primary (1) is equal to (n +1/2) × τ.
The winding arrangement mode of the cylindrical motor is A +, A-A-, A + A +, A-A-, A + A +, A-B +, B-B-, B + B +, B-B-, B + B +, B-C +, C-C-, C + C +, C + C-, C + C +, C-. The side end winding A + and the side end winding C-are positioned in the primary half wire slot (102), and the rest windings are positioned in the primary wire slots (101).
Under the condition that key parameters are the same, the thrust performance of the single-layer fractional-slot winding cylindrical permanent magnet linear motor is compared with that of the double-layer fractional-slot winding. When an excitation source is added to the single-winding motor, the thrust of the single-winding motor is about 6.95kN, the minimum force is 6.25kN, the maximum force is 7.65kN, and the thrust fluctuation is 20.14%; when an excitation source is added to the double-winding motor, the thrust of the double-winding motor is about 9.61kN, the minimum force is 9.29kN, the maximum force is 9.93kN, and the thrust fluctuation is 7.3%. Obviously, the motor with the single-layer fractional slot winding structure and the motor with the double-layer fractional slot winding structure have the advantages that the motor thrust and the thrust fluctuation percentage of the double-layer fractional slot winding are far superior to those of the motor with the single-layer fractional slot winding under the conditions of the same rated power of 7.5KW and the same synchronous speed of 0.45 m/s.
Under the condition that key parameters are the same, only the working frequency is changed (namely the synchronous speed of the motor is different), and the steady-state performance of the single-layer fractional-slot winding cylindrical permanent magnet linear motor is compared with that of the double-layer fractional-slot winding, as shown in fig. 2, 3 and 4.
As can be seen from fig. 2 and 3, the working frequency of the linear motor is below 30Hz, and the efficiency and thrust density of the double-winding cylindrical linear motor adopting fractional slots are far superior to those of a single-winding structure motor. However, when the working frequency of the linear motor is near 30Hz, the efficiency and the thrust density performance of the double-winding cylindrical linear motor adopting the fractional slot are similar to those of a single-winding structure motor. However, when the working frequency of the linear motor exceeds 30Hz, the efficiency and the thrust density of the double-winding cylindrical linear motor adopting the fractional slot are slightly superior to those of a single-winding structure motor. As can be seen from fig. 4, when the linear motor works at any frequency, the thrust fluctuation percentage of the double-winding motor is far better than that of the single-winding structure motor. Therefore, the double-winding cylindrical linear motor adopting the fractional slot has important significance for improving the thrust density of the motor, inhibiting the thrust fluctuation of the linear motor, improving the efficiency of the motor and improving the stability of the permanent magnet linear motor, and the cylindrical linear motor with the structure is very suitable for low-speed and high-thrust occasions.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The cylindrical linear motor with the low-speed high-thrust-density double-layer fractional slot windings is characterized in that: comprises a motor primary (1) and a motor secondary (2);
the motor primary (1) comprises a primary wire slot (101), a primary half wire slot (102), a primary tooth (103), a primary side end tooth (104), a primary yoke (105) and a pie winding (106);
the slots at two ends of the primary motor (1) are primary half slots (102), and the rest slots are primary slots (101);
a group of pie windings (106) are respectively arranged in the primary half wire grooves (102) at the two ends; two groups of independent pie windings (106) are arranged in the primary wire slot (101) side by side; two adjacent primary wire grooves (101) are separated by primary teeth (103), and primary side end teeth (104) are arranged on the outer sides of primary half wire grooves (102) at two ends of a primary (1) of the motor; the primary wire groove (101), the primary semi-wire groove (102), the primary tooth (103), the primary side end tooth (104) and the primary yoke (105) jointly form a primary iron core (3);
the motor secondary (2) comprises a permanent magnet (201), a magnetic conduction ring (202) and a secondary iron core (203);
the permanent magnet (201) and the magnetic conduction ring (202) are cylindrical structures and have the same thickness; the permanent magnet (201) and the magnetic conduction ring (202) are sequentially arranged along the axis direction of the secondary iron core (203) and are nested on the outer surface of the secondary iron core (203);
the inner diameter of the motor primary (1) is larger than the outer diameter of the motor secondary (2), and an air gap (4) is formed between the motor primary (1) and the motor secondary (2);
the primary motor (1) is fixed, and the secondary motor (2) does reciprocating linear motion along the motor motion direction;
the sum of the numbers of the primary wire grooves (101) and the primary semi-wire grooves (102) is the same as the number of poles of the corresponding permanent magnets (201); the number of the slots arranged in each phase under each pole is a fraction, the slots belong to fractional slot windings, and the difference between the number of the poles and the number of the effective slots is 1;
the thickness of a primary tooth (103) of the motor primary (1) is different from that of a primary side end tooth (104), and the primary tooth (103) is thicker than the primary side end tooth (104);
assuming that the number of poles is n and the pole pitch is tau, the effective length of the primary (1) of the motor is equal to (n +1/2) x tau.
2. The low-speed high-thrust-density double-layer fractional-slot-winding cylindrical linear motor according to claim 1, wherein: the arrangement of the windings is A +, A-A-, A + A +, A-A-, A + A +, A-B +, B-B-, B + B +, B-B-, B + B +, B-C +, C-C-, C + C +, C-C-, C + C +, C-.
3. The low-speed high-thrust-density double-layer fractional-slot-winding cylindrical linear motor according to claim 1, wherein: the magnetizing direction of the permanent magnet (201) is parallel to the axial direction of the secondary iron core (203).
4. The low-speed high-thrust-density double-layer fractional-slot-winding cylindrical linear motor according to claim 1, wherein: and a plurality of cylindrical linear motors are connected in series for operation.
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| CN109861494B (en) * | 2019-04-12 | 2024-05-21 | 河南理工大学 | Combined low-cogging force permanent magnet linear motor and implementation method thereof |
| CN112202312B (en) * | 2020-09-30 | 2022-05-27 | 中车株洲电机有限公司 | Linear induction motor and motor primary thereof |
Citations (1)
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| CN1430805A (en) * | 2000-04-19 | 2003-07-16 | 株式会社安川电机 | Permanent magnet synchronous linear motor |
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| JP4304999B2 (en) * | 2003-02-14 | 2009-07-29 | 株式会社安川電機 | Three-phase armature winding and motor using the same |
| CN102013785A (en) * | 2010-11-23 | 2011-04-13 | 江苏大学 | Thrust optimization design method for tubular permanent magnet synchronous linear motor |
| CN104836413B (en) * | 2015-04-08 | 2017-06-20 | 宁波亿文特自动化科技有限公司 | The permanent-magnetism linear motor of low-thrust pulsation |
| CN204993013U (en) * | 2015-07-22 | 2016-01-20 | 王国军 | Poor step of combination switch magnetic resistance linear electric motor on drum type |
| CN107171530A (en) * | 2017-07-19 | 2017-09-15 | 南京航空航天大学 | Low-thrust fluctuates continuous pole permanent magnetic linear synchronous motor |
| CN207010523U (en) * | 2017-08-07 | 2018-02-13 | 日照原野机械制造有限公司 | A kind of new-type linear motor rotor |
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| CN1430805A (en) * | 2000-04-19 | 2003-07-16 | 株式会社安川电机 | Permanent magnet synchronous linear motor |
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| 分数槽集中绕组永磁同步直线电机性能分析与计算;王培龙;《中国优秀硕士学位论文全文数据库》;20160615(第06期);第1-64页 * |
| 飞行模拟器用圆筒型直线永磁电机设计研究;唐炎;《中国优秀硕士学位论文全文数据库》;20170515(第05期);第1-57页 * |
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