CN108880184A - A kind of Linear-rotation permanent-magnet actuator of novel short mover salient-pole structure - Google Patents
A kind of Linear-rotation permanent-magnet actuator of novel short mover salient-pole structure Download PDFInfo
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 229910052742 iron Inorganic materials 0.000 claims abstract description 17
- 238000004804 winding Methods 0.000 claims abstract description 14
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 6
- 230000005415 magnetization Effects 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 2
- 239000002356 single layer Substances 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000005284 excitation Effects 0.000 abstract 1
- 239000000696 magnetic material Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
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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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- 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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Abstract
本发明提供一种新型短动子凸极结构的直线旋转永磁作动器，它是一种高性能的电磁机构。该作动器由定子、动子和绕组组成，其定子是由定子磁轭(2)、定子极(9)、极靴(7)和绕在定子铁心上的线圈(3)构成，圆周方向上有12个定子极，定子安装在非导磁的机壳(1)上，轴承通过套筒与机壳(1)相连。定子轴向有两个电周期，线圈采用集中绕组绕置，动子包含动子铁心(10)、铁极(5)、永磁体(4)和磁桥(8)，径向充磁永磁体间隔嵌入到动子铁极内部，永磁体充磁方向相同。此结构在传统的动子凸极结构的基础上，添加了永磁体，增加了动子永磁励磁磁场，永磁转矩和磁阻转矩共同组成电磁转矩，提高了转矩密度，实现了直线、旋转或螺旋运动。
The invention provides a novel linear rotary permanent magnet actuator with a salient pole structure of a short mover, which is a high-performance electromagnetic mechanism. The actuator is composed of a stator, a mover and a winding. The stator is composed of a stator yoke (2), a stator pole (9), a pole piece (7) and a coil (3) wound on the stator core. There are 12 stator poles, the stator is installed on the non-magnetic casing (1), and the bearing is connected with the casing (1) through the sleeve. There are two electrical cycles in the axial direction of the stator, and the coils are wound with concentrated windings. The mover includes the mover iron core (10), iron poles (5), permanent magnets (4) and magnetic bridges (8), and the radially magnetized permanent magnets The intervals are embedded inside the iron poles of the mover, and the permanent magnets are magnetized in the same direction. On the basis of the traditional mover salient pole structure, this structure adds permanent magnets and increases the permanent magnet excitation field of the mover. The permanent magnet torque and reluctance torque together form the electromagnetic torque, which improves the torque density and realizes linear, rotary or helical motion.
Description
技术领域technical field
本发明涉及电机设计领域，是一种可以实现直线、旋转或螺旋运动的高性能、高转矩密度的新型电磁机构。The invention relates to the field of motor design, and is a novel electromagnetic mechanism with high performance and high torque density that can realize linear, rotary or helical motion.
背景技术Background technique
传统的实现直线和旋转运动的实现方案是建立两套独立的电机系统及其传动装置分别驱动直线和旋转运动，此系统缺点是体积大，响应慢。随着现代电子业的迅速发展，其缺陷已经越来越明显，迫切需要小体积、高性能、可稳定实现直线旋转两自由度运动的电机。The traditional solution to achieve linear and rotary motion is to establish two sets of independent motor systems and their transmissions to drive the linear and rotary motions respectively. The disadvantages of this system are large volume and slow response. With the rapid development of the modern electronics industry, its defects have become more and more obvious, and there is an urgent need for a small-volume, high-performance motor that can stably realize two-degree-of-freedom motion in linear rotation.
专利“一种产生螺旋直线运动的圆筒状压电马达”(CN 104506081)提出的电机在定子与转子之间有相互配合的螺纹，并通过对定子的压电陶瓷外圆筒施加一对交流信号激发定子产生沿圆周方向的行波，通过螺纹副传动，使转子产生螺旋直线运动。专利“一种动磁式直线旋转二自由度电机”(CN 102497080 A)提出的电机可通过前绕组驱动动子作旋转运动，又可通过后绕组驱动动子作直线运动，实现了在一台电机上输出兼具旋转运动和直线运动的两自由度复合运动。采用两套绕组，增加了制作成本，且不利于电机的散热，系统响应慢。专利“直线旋转耦合输出型压电驱动装置”(CN103219916)，仅可作螺旋运动，结构简单、位移和转角精度高的特点，但行程有限。专利“直线旋转双自由度伺服电机”(CN103427588 A)可以在同一根输出轴上同时提供直线和旋转两个自由度的运动，简化了设备的复杂程度，降低了生产和维护的成本。减少中间的转换环节，实现全闭环控制，大大提高了运动的精度。但其最大缺点是：行程短，带载能力低。专利“直线旋转永磁作动器”(CN101997389 A)的永磁体在周向和轴向均互相交错排列，定子采用硅钢片叠加，抑制了定子损耗。专利“一种直线旋转两自由度哈尔巴赫永磁作动器”(CN 02013739 A)、专利“可实现直线与旋转协调控制的永磁作动器”(CN 201854100 U)和专利“一种双定子直线旋转哈尔巴赫永磁作动器”(CN 103280939 A)采用了哈尔巴赫永磁体阵列，作动器结构简单紧凑，可靠性好。The patent "A Cylindrical Piezoelectric Motor Produces Helical Linear Motion" (CN 104506081) proposes that the motor has mutually matching threads between the stator and the rotor, and applies a pair of alternating current to the piezoelectric ceramic outer cylinder of the stator. The signal excites the stator to generate traveling waves along the circumferential direction, and through the screw pair transmission, the rotor produces a helical linear motion. The patent "a moving magnet linear rotation two-degree-of-freedom motor" (CN 102497080 A) proposes that the motor can drive the mover to make rotary motion through the front winding, and can also drive the mover to make linear motion through the rear winding. The output on the machine is a two-degree-of-freedom compound motion with both rotary motion and linear motion. The use of two sets of windings increases the manufacturing cost and is not conducive to the heat dissipation of the motor, resulting in slow system response. The patented "Linear Rotation Coupling Output Type Piezoelectric Drive" (CN103219916) can only perform spiral motion. It has the characteristics of simple structure, high displacement and rotation angle precision, but the stroke is limited. The patented "Linear Rotary Dual-DOF Servo Motor" (CN103427588 A) can simultaneously provide linear and rotational two-degree-of-freedom motion on the same output shaft, which simplifies the complexity of the equipment and reduces the cost of production and maintenance. Reduce the conversion links in the middle, realize full closed-loop control, and greatly improve the accuracy of motion. But its biggest disadvantage is: short stroke and low load capacity. The permanent magnets of the patented "Linear Rotary Permanent Magnet Actuator" (CN101997389 A) are arranged alternately in the circumferential and axial directions, and the stator is superimposed with silicon steel sheets, which suppresses stator loss. Patent "a linear rotation two degrees of freedom Halbach permanent magnet actuator" (CN 02013739 A), patent "permanent magnet actuator that can realize linear and rotational coordinated control" (CN 201854100 U) and patent "a "Double Stator Linear Rotation Halbach Permanent Magnet Actuator" (CN 103280939 A) uses Halbach permanent magnet arrays, the actuator has a simple and compact structure and good reliability.
本发明动子采用凸极结构，在动子铁极内部间隔铁极内嵌入永磁体，增加了永磁转矩，提高了作动器的功率密度，实现了直线、旋转和螺旋运动，达到了小体积、高性能的要求。The mover of the present invention adopts a salient pole structure, and permanent magnets are embedded in the interval iron poles inside the mover iron poles, which increases the permanent magnet torque, improves the power density of the actuator, and realizes linear, rotary and spiral motions, achieving Small size, high performance requirements.
发明内容Contents of the invention
技术问题：本发明旨在提出一种采用在转子凸极结构中嵌入永磁体结构的高功率密度、高性能的永磁作动器，它大大提高了功率密度，增加了动子强度。Technical problem: The present invention aims to propose a permanent magnet actuator with high power density and high performance, which adopts a permanent magnet structure embedded in the salient pole structure of the rotor, which greatly improves the power density and increases the strength of the mover.
技术方案：本发明实现发明目的采用如下技术方案：Technical scheme: the present invention realizes the purpose of the invention and adopts the following technical scheme:
一种新型短动子凸极结构的直线旋转永磁作动器，由动子部分和定子部分组成，定子部分是由定子磁轭、定子极、极靴和集中绕组构成，安装在非导磁的机壳上；动子部分由动子铁心、铁极和永磁体组成，永磁体间隔嵌入在动子铁极内部，动子部分位于非导磁轴承上，动子轴承通过套筒与机壳相连接，周向上有12个定子极，轴向上有两个电周期，永磁体嵌入在动子内部，动子铁心嵌入的永磁体在周向上充磁方向相同，在轴向上，相邻永磁体充磁方向相反，各永磁体选用钕铁硼永磁材料。A new type of linear rotary permanent magnet actuator with short salient pole structure, which is composed of a mover part and a stator part. The stator part is composed of a stator yoke, a stator pole, a pole piece and a concentrated winding. The mover part is composed of mover iron core, iron pole and permanent magnet. The permanent magnet is embedded in the mover iron pole at intervals. The mover part is located on the non-magnetic bearing. The mover bearing passes through the sleeve and the casing. There are 12 stator poles in the circumferential direction, and there are two electrical cycles in the axial direction. The permanent magnets are embedded inside the mover, and the permanent magnets embedded in the mover core have the same magnetization direction in the circumferential direction. In the axial direction, adjacent The magnetization directions of the permanent magnets are opposite, and each permanent magnet is made of NdFeB permanent magnet material.
作为优选，本发明提供的一种新型短动子凸极结构的直线旋转永磁作动器，其特征在于定子铁心在周向上均采用了12极结构，除以其与极对数的最大公约数为3的倍数，有利于抑制谐波，在轴向上，有效运动范围内采用3槽4极结构，绕组采用单层集中绕组，易于安装。As a preference, the present invention provides a new type of linear rotary permanent magnet actuator with a short salient pole structure, which is characterized in that the stator core adopts a 12-pole structure in the circumferential direction, divided by its maximum convention with the number of pole pairs The number is a multiple of 3, which is conducive to suppressing harmonics. In the axial direction, 3 slots and 4 poles are used within the effective range of motion. The winding adopts single-layer concentrated winding, which is easy to install.
作为优选，本发明提供的一种新型短动子凸极结构的直线旋转永磁作动器，其特征在于永磁极嵌入在动子铁极内部，周向和轴向上充磁方向相同，对永磁体有很好的防护作用，在运动时，永磁转矩和磁阻转矩共同作用构成电磁转矩，有利于提高转矩/推力密度。As a preference, the present invention provides a new linear rotary permanent magnet actuator with a short salient pole structure, which is characterized in that the permanent magnet poles are embedded inside the iron poles of the mover, and the magnetization directions in the circumferential and axial directions are the same. The permanent magnet has a good protective effect. During the movement, the permanent magnet torque and the reluctance torque work together to form an electromagnetic torque, which is beneficial to increase the torque/thrust density.
作为优选，本发明提供的一种新型短动子凸极结构的直线旋转永磁作动器，其特征在于定子铁心和动子铁心均采用高导磁材料硅钢片50W470轴向叠制。As a preference, the present invention provides a novel linear rotary permanent magnet actuator with a short mover salient pole structure, which is characterized in that both the stator core and the mover core are made of high magnetic permeability silicon steel sheets 50W470, which are axially laminated.
有益效果：本发明与现有技术相比，其有益效果体现在：该作动器定子铁心和动子铁心都是采用硅钢片叠制而成，永磁体嵌入到动子铁极内部，增加了动子的强度。各定子铁心安装在非导磁材料的机壳上。由于采用了硅钢片叠制，有效的减少了电机的漏磁通，从而可以提高作动器的功率因数，可以通过绕组中电流产生的电枢磁场调节周向和轴向的磁场强度，可以有效的降低损耗。Beneficial effects: Compared with the prior art, the present invention has the beneficial effects that: the stator core and the mover core of the actuator are both made of silicon steel sheets, and the permanent magnets are embedded in the mover iron poles, increasing the The strength of the mover. Each stator core is mounted on a casing made of non-magnetic material. Due to the use of silicon steel sheet stacking, the leakage flux of the motor is effectively reduced, so that the power factor of the actuator can be improved, and the circumferential and axial magnetic field strength can be adjusted through the armature magnetic field generated by the current in the winding, which can effectively reduce loss.
附图说明Description of drawings
图1是一种新型短动子凸极结构的直线旋转永磁作动器周向结构示意图。Figure 1 is a schematic diagram of the circumferential structure of a new type of short mover salient pole structure of a linear rotary permanent magnet actuator.
包括非导磁外壳1、定子磁轭2、线圈3、永磁体4、铁极5、非导磁材料6、极靴7、磁桥8、定子极9和动子铁心10。It includes non-magnetic shell 1 , stator yoke 2 , coil 3 , permanent magnet 4 , iron pole 5 , non-magnetic material 6 , pole shoe 7 , magnetic bridge 8 , stator pole 9 and mover core 10 .
图2是一种新型短动子凸极结构的直线旋转永磁作动器轴向剖面图。Fig. 2 is an axial sectional view of a linear rotary permanent magnet actuator with a new salient pole structure of a short mover.
包括非导磁外壳1、定子磁轭2、线圈3、永磁体4、铁极5、磁桥8、定子极9和动子铁心10。It includes a non-magnetic shell 1 , a stator yoke 2 , a coil 3 , a permanent magnet 4 , an iron pole 5 , a magnetic bridge 8 , a stator pole 9 and a mover core 10 .
图3是采用中间磁极结构的直线旋转永磁作动器动子结构示意图。Fig. 3 is a schematic diagram of the mover structure of a linear rotary permanent magnet actuator with an intermediate magnetic pole structure.
包括永磁体N极4_1、永磁体S极4_2、铁极5、非导磁材料6和定子极9。Including permanent magnet N pole 4_1, permanent magnet S pole 4_2, iron pole 5, non-magnetic material 6 and stator pole 9.
具体实施方式Detailed ways
所述一种新型短动子凸极结构的直线旋转永磁作动器，如图2所示，该作动器由定子和动子组成，定子由定子磁轭(2)、线圈(3)和定子极(9)构成，固定在非导磁的机壳(1)上，动子由动子铁心(10)、永磁体(4)、磁桥(8)和铁极(5)构成。在周向上，定子采用12齿结构，相邻定子齿的夹角为30°。定子轴向有两个电周期，定子铁心和动子铁心均采用高导磁材料硅钢片沿轴向叠制。绕组采用集中绕组的形式，线圈由铜导线绕制，易于安装。The straight-line rotary permanent magnet actuator of described a kind of novel short mover salient pole structure, as shown in Figure 2, this actuator is made up of stator and mover, and stator is made up of stator yoke (2), coil (3) Composed of stator poles (9), fixed on a non-magnetically conductive casing (1), the mover is composed of a mover iron core (10), a permanent magnet (4), a magnetic bridge (8) and iron poles (5). In the circumferential direction, the stator adopts a 12-tooth structure, and the angle between adjacent stator teeth is 30°. There are two electrical cycles in the axial direction of the stator. Both the stator core and the mover core are made of silicon steel sheets of high magnetic permeability material and are laminated along the axial direction. The winding adopts the form of concentrated winding, and the coil is wound by copper wire, which is easy to install.
动子部分，永磁体间隔嵌入在动子铁极内部，动子铁心安装在非导磁的轴承上，该轴承通过套筒与机壳(6)相连。动子铁心在轴向上做直线运动，动子铁心的轴向长度小于定子的长度，有效的减少了作动器的体积。动子结构紧凑，可靠性好，在同一周向剖面上，永磁体充磁方向一致，极对数为8，轴向上同一运动方向上永磁充磁方向一致，极对数为2，相邻极永磁体的充磁方向相反，如图3所示。与传统的永磁体极交错排布的结构相比，此结构永磁体的用量少、磁路饱和程度低，动子体积小，降低了制作成本。由于在动子铁极内部嵌入了永磁体，与传统的结构相比，作动器的功率密度得以提高，输出转矩脉动降低，实现直线、旋转和螺旋运动。In the mover part, the permanent magnets are embedded in the iron poles of the mover at intervals, and the mover iron core is installed on a non-magnetic bearing, and the bearing is connected with the casing (6) through a sleeve. The mover core moves linearly in the axial direction, and the axial length of the mover core is smaller than the length of the stator, which effectively reduces the volume of the actuator. The mover has a compact structure and good reliability. On the same circumferential section, the magnetization direction of the permanent magnet is the same, and the number of pole pairs is 8. The magnetization directions of adjacent permanent magnets are opposite, as shown in Figure 3. Compared with the traditional structure in which permanent magnet poles are staggered, this structure requires less permanent magnets, lower saturation of the magnetic circuit, and smaller volume of the mover, which reduces the production cost. Since the permanent magnet is embedded inside the iron pole of the mover, compared with the traditional structure, the power density of the actuator is improved, the output torque ripple is reduced, and linear, rotary and helical motions are realized.
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.
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| CN110466302A (en) * | 2019-07-08 | 2019-11-19 | 江苏大学 | A kind of heavy vehicle linear rotating motor formula steering feed energy suspension |
| CN110481257A (en) * | 2019-07-08 | 2019-11-22 | 江苏大学 | A kind of steering feed energy suspension based on switching magnetic-resistance linear rotating motor |
| CN112532016A (en) * | 2020-12-15 | 2021-03-19 | 安徽理工大学 | Cylindrical permanent magnet reciprocating linear motion motor and control method thereof |
| CN113489282A (en) * | 2021-06-17 | 2021-10-08 | 江苏大学 | Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof |
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| CN110182013A (en) * | 2019-05-20 | 2019-08-30 | 江苏大学 | A kind of two-freedom electromagnetism feed energy suspension based on double winding mixed magnetic circuit linear rotation permanent magnet motor actuator |
| CN110466302A (en) * | 2019-07-08 | 2019-11-19 | 江苏大学 | A kind of heavy vehicle linear rotating motor formula steering feed energy suspension |
| CN110481257A (en) * | 2019-07-08 | 2019-11-22 | 江苏大学 | A kind of steering feed energy suspension based on switching magnetic-resistance linear rotating motor |
| CN110466302B (en) * | 2019-07-08 | 2022-11-18 | 江苏大学 | A heavy-duty vehicle linear rotary motor type steering feed energy suspension |
| CN110481257B (en) * | 2019-07-08 | 2022-12-16 | 江苏大学 | A Steering Feedback Suspension Based on Switched Reluctance Linear Rotary Motor |
| CN112532016A (en) * | 2020-12-15 | 2021-03-19 | 安徽理工大学 | Cylindrical permanent magnet reciprocating linear motion motor and control method thereof |
| CN113489282A (en) * | 2021-06-17 | 2021-10-08 | 江苏大学 | Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof |
| CN113489282B (en) * | 2021-06-17 | 2022-09-16 | 江苏大学 | Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof |
| CN114531006A (en) * | 2022-04-01 | 2022-05-24 | 浙江舜宇智领技术有限公司 | Linear rotating motor and vehicle-mounted anti-shake camera device |
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| CN114977705A (en) * | 2022-04-29 | 2022-08-30 | 河北工业大学 | Primary and secondary dual permanent magnet type two degrees of freedom flux reversal motor |
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