CN110518771B - A series-parallel DC motor - Google Patents

A series-parallel DC motor Download PDF

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CN110518771B
CN110518771B CN201810497428.XA CN201810497428A CN110518771B CN 110518771 B CN110518771 B CN 110518771B CN 201810497428 A CN201810497428 A CN 201810497428A CN 110518771 B CN110518771 B CN 110518771B
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series
parallel
excitation
brushes
pole
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CN110518771A (en
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金爱娟
李少龙
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Priority to CN201810497428.XA priority Critical patent/CN110518771B/en
Priority to PCT/CN2018/114621 priority patent/WO2019223253A1/en
Priority to US17/052,534 priority patent/US11211855B2/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K23/00—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors
    • H02K23/02—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors characterised by arrangement for exciting
    • H02K23/10—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors characterised by arrangement for exciting having compound connection of excitation windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K23/00—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors
    • H02K23/26—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors characterised by the armature windings
    • H02K23/30—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors characterised by the armature windings having lap or loop windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information

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  • Power Engineering (AREA)
  • Dc Machiner (AREA)

Abstract

本发明提供了一种串并励直流电机。本发明提供的串并励直流电机，与外部直流电源装置相连接，具有与外部直流电源装置相对应的额定输入电流，其特征在于，包括：机壳；m对电刷；定子，包含与m对电刷相对应的m对主磁极、一个串励磁绕组部和一个并励磁绕组部；以及转子，其中，串励磁绕组部含有m个串励磁绕组单元，该m个串励磁绕组单元与m对电刷分别相对应，并励磁绕组部含有m个并励磁绕组单元，该m个并励磁绕组单元与m对电刷分别相对应，串励磁绕组单元由分别在设置在每一个主磁极上的共2m个串励磁线圈连接成，并励磁绕组单元由分别在设置在每一个主磁极上的共2m个并励磁线圈连接成，m为不小于2的正整数。

Figure 201810497428

The invention provides a series-parallel DC motor. The series-parallel-excited DC motor provided by the present invention is connected with an external DC power supply device and has a rated input current corresponding to the external DC power supply device, and is characterized in that it includes: a casing; m pairs of brushes; M pairs of main magnetic poles, a series excitation winding part and a parallel excitation winding part corresponding to the brushes; and a rotor, wherein the series excitation winding part contains m series excitation winding units, the m series excitation winding units and m pairs The brushes correspond respectively, and the parallel excitation winding part contains m parallel excitation winding units, the m parallel excitation winding units correspond to m pairs of brushes, respectively, and the series excitation winding units are respectively provided on each main pole. 2m series excitation coils are connected, and the parallel excitation winding unit is connected by a total of 2m parallel excitation coils respectively arranged on each main magnetic pole, m is a positive integer not less than 2.

Figure 201810497428

Description

Series-parallel excitation direct current motor
Technical Field
The invention belongs to the field of direct current motors, and particularly relates to a series-parallel excitation direct current motor.
Background
The series-parallel excitation direct current motor is a compound excitation direct current motor and comprises 2 sets of excitation windings, namely a series excitation winding and a parallel excitation winding. The armature winding and the series excitation winding of the series-parallel excitation direct current motor are excited in series and then are excited in parallel with the parallel excitation winding. The motor with the magnetic fields generated by the series excitation winding and the parallel excitation winding enhanced in the same direction is an integral compound excitation direct current motor. The product compound excitation motor integrates the advantages of a series excitation direct current motor and a parallel excitation direct current motor, has large starting torque at low speed, runs at high speed under light load, avoids the possibility of galloping, is particularly suitable for the running working condition of the crane, namely heavy-load large-torque starting, can run at low speed under heavy load, and can run at high speed under light load so as to ensure the safety and efficiency of operation. The device has obvious advantages in the driving of large-load vehicles such as electric porters, rail cars, sightseeing vehicles, trucks, ships and the like.
The DC motor is generally used together with a chopper to form a speed regulating device of the DC motor, and in order to ensure the reliability of a system, the maximum output current of the chopper is generally 2 to 3 times of the rated current of the motor. The chopper adopts the pulse width modulation technology to control the on-off of the power switch tube to change the output voltage and the output current, the size of the output current ripple is inversely proportional to the switching frequency of the power switch tube, and the size of the switching frequency of the power switch tube is directly proportional to the switching loss (or temperature rise and fault rate). And the motor output torque ripple is proportional to the square of the current ripple. Therefore, in order to reduce the motor output torque ripple or reduce the current ripple, it is necessary to increase the switching frequency; in order to reduce the switching losses, the switching frequency must be reduced. This contradiction affects the development of speed regulating device for high power and high performance DC motor. Which makes it difficult to apply to devices such as numerically controlled machine tools, which have high requirements for torque ripple.
Series-parallel excitation direct current motors applied to defense equipment are particularly sensitive to vibration and electromagnetic interference due to stealth requirements, namely the ripple requirements on the output torque of the motor and the ripple requirements on current are particularly strict. At present, the traditional series-parallel excitation direct current motor applied to high-power national defense electric equipment is difficult to deal with the detection technology with the increasingly developed technology.
For the reasons, the development of a high-power series-parallel excitation direct-current motor is restricted and influenced, and economic construction and national defense construction are influenced.
Disclosure of Invention
The present invention has been made to solve the above problems, and provides a series-parallel excited dc motor.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a series-parallel excitation direct current motor, which is connected with a direct current power supply and has rated input current, and is characterized by comprising the following components: a housing; m pairs of electric brushes are fixed in the shell and are arranged according to rated input current; the stator is arranged in the machine shell and comprises m pairs of main magnetic poles corresponding to m pairs of electric brushes, a series excitation winding part and a parallel excitation winding part; and a rotor disposed in the stator and including a plurality of armature windings connected in a lap winding manner, wherein each pair of main poles includes an S-polarity main pole and an N-polarity main pole, each pair of brushes includes an S-pole corresponding brush corresponding to the S-polarity main pole and an N-pole corresponding brush corresponding to the N-polarity main pole, the series winding portion includes m series winding units corresponding to the m pairs of brushes, respectively, the shunt winding portion includes m shunt winding units corresponding to the m pairs of brushes, respectively, each series winding unit is formed by making a series coil on the m pairs of main poles through an insulated conductor bar composed of a metal wire wrapped with an insulating layer, each shunt winding unit is formed by making a shunt coil on the m pairs of main poles through an insulated conductor bar composed of a metal wire wrapped with an insulating layer, respectively, the insulated conductor strip in each series excitation winding unit is provided with a series excitation end and a series excitation other end, the insulated conductor strip in each parallel excitation winding unit is provided with a parallel excitation end and a parallel excitation other end, m pairs of main magnetic poles comprise a preset pair of main magnetic poles as a pair of preset main magnetic poles, and all series excitation ends of the insulated conductor strips are electrically connected with corresponding electric brushes of S poles in all electric brushes; or all the series ends of all the insulated conductor bars are electrically connected with the brushes corresponding to the N poles in all the brushes, and all the ends of all the insulated conductor bars correspond to the main poles with the same polarity in a pair of preset main poles and are electrically connected with the brushes corresponding to the S poles in all the brushes; or all ends of each insulated conductor bar correspond to the main magnetic poles with the same polarity in a pair of preset main magnetic poles and are electrically connected with the brushes corresponding to the N poles in all the brushes, m series ends of each series excitation winding unit are used as m first external terminals and are electrically connected with one pole of an external direct-current power supply device, m brushes which are not connected with the series ends of the series excitation winding unit are respectively provided with terminals as m second external terminals and are electrically connected with the other pole of the external direct-current power supply device, m shunt ends of each shunt excitation winding unit are electrically connected with the m first external terminals, and m shunt ends are electrically connected with the m second external terminals; or, m shunt excitation ends of each shunt excitation winding unit are electrically connected with m second external terminals, m shunt excitation other ends are electrically connected with m first external terminals, and m is a positive integer not less than 2.
The invention provides a series-parallel excitation direct current motor, which is connected with an external direct current power supply device and has rated input current corresponding to the external direct current power supply device, and is characterized by comprising the following components: a housing; m pairs of electric brushes fixed in the machine shell; the stator is arranged in the machine shell and comprises m pairs of main magnetic poles corresponding to m pairs of electric brushes, a series excitation winding part and a parallel excitation winding part; and a rotor disposed in the stator and including a plurality of armature windings, wherein the series winding portion includes m series excitation winding units corresponding to the m pairs of brushes, respectively, the shunt winding portion includes m shunt winding units corresponding to the m pairs of brushes, respectively, the series excitation winding units are connected by a total of 2m series excitation coils disposed on each main pole, the shunt winding units are connected by a total of 2m shunt excitation coils disposed on each main pole, each main pole includes m series excitation coils and m shunt excitation coils, the series excitation coils and the shunt excitation coils are wound on the main poles by insulating conductor strips made of strip conductors wrapped with insulating layers, respectively, the insulating conductor strips in each series excitation winding unit have one end and the other end of the series excitation coil divided according to a predetermined current direction of the series excitation coil, the insulated conductor strips in each shunt excitation winding unit are provided with a shunt excitation end and a shunt excitation other end which are distinguished according to the preset current direction of the shunt excitation coil, each pair of main magnetic poles comprises an S-polarity main magnetic pole and an N-polarity main magnetic pole which correspond to the winding direction of the shunt excitation coil and the preset current direction of the series excitation coil, each pair of electric brushes comprises an S-pole corresponding electric brush corresponding to the S-polarity main magnetic pole and an N-pole corresponding electric brush corresponding to the N-polarity main magnetic pole, and all the series excitation ends of the insulated conductor strips of each series excitation winding unit are electrically connected with the S-pole corresponding electric brushes in all the electric brushes; or all series excitation ends of the insulated conductor bars of each series excitation winding unit are electrically connected with N pole corresponding brushes in all the brushes, m series excitation other ends of each series excitation winding unit are used as m first external terminals and are electrically connected with one pole of an external direct-current power supply device, m brushes which are not connected with the series excitation ends of the series excitation winding units are respectively provided with a terminal which is used as m second external terminals and is electrically connected with the other pole of the external direct-current power supply device, m shunt excitation ends of each shunt excitation winding unit are electrically connected with the m first external terminals, and m shunt excitation other ends are electrically connected with the m second external terminals; or, m shunt excitation ends of each shunt excitation winding unit are electrically connected with m second external terminals, m shunt excitation other ends are electrically connected with m first external terminals, and m is a positive integer not less than 2.
The series-parallel excitation direct current motor provided by the invention can also have the technical characteristics that: and a junction box fixed on the chassis, wherein the m first external terminals and the m second external terminals are disposed in the junction box.
The series-parallel excitation direct current motor provided by the invention can also have the technical characteristics that: wherein one first external terminal and a corresponding one second external terminal constitute one wiring unit.
The series-parallel excitation direct current motor provided by the invention can also have the technical characteristics that: wherein, m wiring units are correspondingly and electrically connected with at least one external direct current power supply device.
The series-parallel excitation direct current motor provided by the invention can also have the technical characteristics that: wherein, the insulated conductor strip is any one of enameled wires and insulated copper conducting bars.
The series-parallel excitation direct current motor provided by the invention can also have the technical characteristics that: the winding direction and the number of turns of the m series exciting coils on each main magnetic pole are the same, and the winding direction and the number of turns of the m parallel exciting coils are the same.
The series-parallel excitation direct current motor provided by the invention can also have the technical characteristics that: in each series excitation winding unit, the connection relationship of the plurality of series excitation coils is any one of series connection, parallel connection and series-parallel connection, the connection relationship of the plurality of series excitation coils in each series excitation winding unit is the same, in each parallel excitation winding unit, the connection relationship of the plurality of parallel excitation coils is any one of parallel connection, parallel connection and series-parallel connection, and the connection relationship of the plurality of parallel excitation coils in each parallel excitation winding unit is the same.
The series-parallel excitation direct current motor provided by the invention can also have the technical characteristics that: wherein, the connection mode of the armature windings is any one of single-layer folding, overlapping and complex wave.
The series-parallel excitation direct current motor provided by the invention can also have the technical characteristics that: wherein, the direct current power supply device is one of a chopper, a battery and a rectification power supply.
The series-parallel excitation direct current motor provided by the invention can also have the technical characteristics that: wherein the number m of pairs of brushes is set according to the rated input current.
Action and Effect of the invention
According to the series-parallel excitation direct current motor provided by the invention, each pair of main magnetic poles comprises an S-pole main magnetic pole and an N-pole main magnetic pole which correspond to the winding direction of the series excitation coil and the preset current direction of the series excitation coil, each pair of electric brushes comprises an S-pole corresponding electric brush corresponding to the S-pole main magnetic pole and an N-pole corresponding electric brush corresponding to the N-pole main magnetic pole, and all series excitation ends of the insulated conductor bars of each series excitation winding unit are electrically connected with S-pole corresponding electric brushes in all the electric brushes; or all series excitation ends of the insulated conductor bars of each series excitation winding unit are electrically connected with N pole corresponding brushes in all the brushes, m series excitation other ends of each series excitation winding unit are used as m first external terminals and are electrically connected with one pole of an external direct-current power supply device, m brushes which are not connected with the series excitation ends of the series excitation winding units are respectively provided with a terminal which is used as m second external terminals and is electrically connected with the other pole of the external direct-current power supply device, m shunt excitation ends of each shunt excitation winding unit are electrically connected with the m first external terminals, and m shunt excitation other ends are electrically connected with the m second external terminals; or m shunt excitation ends of each shunt excitation winding unit are electrically connected with m second external terminals, and the other end of the m shunt poles is electrically connected with the m first external terminals, that is, each first external terminal and the corresponding second external terminal are connected with a series field winding unit, a shunt field winding unit and a pair of electric brushes, an armature winding branch is connected between the pair of electric brushes, each pair of electric brushes and the left and right adjacent electric brushes are respectively connected with an armature winding branch, therefore, each first external terminal and the corresponding second external terminal can be independently supplied by an external direct current power supply device, and each external direct current power supply device only bears the working current of one series excitation winding unit, one parallel excitation winding unit and at most 2 armature winding branches, and only has one m-th of the motor current. With the increase of the motor current, as long as m is large enough, the m external direct current power supply devices independently supply power, and the output current of each external direct current power supply device can be small enough without adopting a power module or a parallel current sharing technology, so that the cost is reduced.
Moreover, when the electric brush, the excitation winding unit and the connecting wire in the external direct-current power supply device and the motor have faults, only the part where the fault is located needs to be shielded, and other normal parts can still work, so that the reliability and the safety of the system are improved.
Every outside DC power supply device can adopt different control for every output current's wave form is inconsistent, reduces ripple and ripple coefficient of the sum of all outside DC power supply device's output current, and the ripple coefficient that also is the motor exciting current and armature current all reduce, thereby reduces the ripple and the ripple coefficient of the output torque of motor, and then reduces the ripple and the ripple coefficient of motor output rotational speed, reduces the electromagnetic interference, the vibration and the noise of motor.
Compared with the traditional series-parallel excitation direct current motor with only two terminals, the series-parallel excitation direct current motor has more terminals, the current of each terminal is only one m times of the current of the motor, and the connecting wire and the connecting piece between the motor and an external direct current power supply device have lower requirements on contact resistance and insulation, reduce the production cost and contribute to improving the reliability and safety of the system.
In addition, the invention can break monopoly and blockade of foreign countries on the power module, the controller and the high-performance electric driving device, not only applies the series-parallel excitation direct current motor to large-load electric equipment such as an electric automobile, an electric carrier, a rail car, a sightseeing bus, a truck, a ship and the like, but also can improve the performance of the electric equipment, is applied to high-performance electric equipment such as a numerical control machine, a submarine and the like, and realizes the localization of the high-performance electric driving device.
In a word, the series-parallel excitation direct current motor driving device has the advantages of reasonable and simple structural design, high reliability and safety, and can be applied to high-power and high-performance series-parallel excitation direct current motor driving devices and electric equipment.
Drawings
Fig. 1 is a schematic longitudinal sectional view of a series-parallel excited dc motor according to an embodiment of the present invention;
fig. 2 is a schematic cross-sectional view of a series-parallel excited dc motor according to an embodiment of the present invention;
fig. 3 is a schematic diagram of the circuit connection of the armature winding and the field winding of the series-parallel excited direct current motor of the present invention;
fig. 4 is a schematic diagram of the circuit connection between the armature winding and the field winding of the series-parallel excited dc motor according to the embodiment of the present invention;
fig. 5 is a schematic diagram of the development of a single-lap joint of armature windings of a series-parallel excited dc motor according to an embodiment of the present invention;
fig. 6 is a schematic circuit connection diagram of a conventional series-parallel excited dc motor;
fig. 7 is a waveform diagram of input currents of three pairs of brushes of a series-parallel excitation dc motor according to an embodiment of the present invention;
fig. 8 is a waveform diagram of input currents of three excitation winding units of a series-parallel excited dc motor in the embodiment of the present invention;
fig. 9 is a graph comparing the current of a series-parallel excited dc motor according to an embodiment of the present invention and the armature current of a conventional series-parallel excited dc motor;
fig. 10 is a graph comparing the current of the series-parallel excited dc motor in the embodiment of the present invention and the exciting current of the conventional series-parallel excited dc motor; and
fig. 11 is a torque comparison chart of the series-parallel excited dc motor in the embodiment of the present invention and the conventional series-parallel excited dc motor.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
Fig. 1 is a schematic longitudinal sectional view of a series-parallel excited dc motor according to an embodiment of the present invention; fig. 2 is a schematic cross-sectional view of a series-parallel excited dc motor according to an embodiment of the present invention; fig. 3 is a schematic diagram of the circuit connection of the armature winding and the field winding of the series-parallel excited direct current motor of the present invention; fig. 4 is a schematic diagram of the circuit connection between the armature winding and the field winding of the series-parallel excited dc motor according to the embodiment of the present invention; fig. 5 is a schematic unfolded view of an armature winding single-lap joint of a series-parallel excited dc motor according to an embodiment of the present invention.
In the present embodiment, the series-parallel excitation dc motor 100 is connected to an external dc power supply device (not shown), and has a rated input current corresponding to the external dc power supply device.
As shown in fig. 1 and 2, the series-parallel excited direct current motor 100 includes a housing 11, a stator 12, brushes 13, a rotor 14, and a junction box (not shown in the drawings). As shown in fig. 3, the number of pairs of brushes is set to m according to the value of the rated input current. As shown in fig. 4 and 5, m is set to 3 in the present embodiment. When the maximum output current borne by the contact of the power switch tube is I1Maximum line current of the polyphase AC motor is ImaxThe logarithm m of the brushes satisfies the following condition: m is more than Imax÷I1。
The stator 12 is arranged in the casing 11 and comprises 3 pairs of 6 main magnetic poles 121, a series excitation winding part and a parallel excitation winding part; each main pole 121 includes 3 series- excited coils 12211 and 3 shunt-excited coils 12311, each series-excited coil 12211 and the shunt-excited coil 12311 are formed by winding an insulated conductor bar formed by a strip conductor bar wrapped with an insulating layer on the main pole 121, the insulated conductor bar is any one of an enameled wire and an insulated copper conductor bar, and in this embodiment, the insulated conductor bar is an enameled wire. In this embodiment, the 3 field coils on each main pole 121 have the same winding direction and number of turns.
As shown in fig. 2, 6 series excitation coils 12211, which are one series excitation coil 12211, are extracted from each main pole 121, and are connected to form a series excitation winding unit 1221 shown in fig. 4, the series excitation winding portion 122 includes 3 series excitation winding units 1221, and the insulated conductor strip in each series excitation winding unit 1221 has a series excitation end and a series excitation end that are distinguished according to the preset current direction of the series excitation coil 12211.
Each main pole 121 is provided with 6 shunt excitation coils 12311, which are extracted from the shunt excitation coils 12311, respectively, and connected to form a shunt excitation winding unit 1231 as shown in fig. 4, the shunt excitation winding part 123 includes 3 shunt excitation winding units 1231, and the insulated conductor bars in each shunt excitation winding unit 1231 have a shunt excitation end and a shunt excitation end that are distinguished according to the preset current direction of the shunt excitation coil 12311.
Each pair of main poles includes an S-polarity main pole 1211 and an N-polarity main pole 1212 corresponding to a winding direction of the series excitation coil 12211 and a predetermined current direction of the excitation coil. The 3 series excitation coils 12211 on each main pole have the same winding direction and number of turns, and the 3 parallel excitation coils 12311 have the same winding direction and number of turns.
In each series field winding unit 1221, the connection relationship of the 6 field coils is any one of series connection, parallel connection, and series-parallel connection, and the connection relationship of the 6 field coils in each series field winding unit 1221 is the same, and in this embodiment, the connection relationship of the 6 field coils is series connection.
In each shunt excitation winding unit 1231, the connection relationship of the 6 excitation coils is any one of series connection, parallel connection, and series-parallel connection, and the connection relationship of the 6 excitation coils in each shunt excitation winding unit 1231 is the same, and in this embodiment, the connection relationship of the 6 excitation coils is series connection.
As shown in fig. 1 and 2, 6 brushes 13 in 3 pairs are disposed in the housing 11, and each pair of brushes 13 includes an S-pole corresponding brush 131 corresponding to the S-polarity main pole 1211 and an N-pole corresponding brush 132 corresponding to the N-polarity main pole 1212. The brush 13 is either a narrow brush or a wide brush, and the brush 13 is a narrow brush in this embodiment.
As shown in fig. 2, the rotor 14 is disposed in the stator, and as shown in fig. 5, includes a plurality of armature windings 141, and the plurality of armature windings 141 are coupled by any one of a single stack, a multiple stack, and a multiple wave. In this embodiment, the plurality of armature windings are connected in a single stack.
A junction box (not shown) is fixed to the housing 11, and as shown in fig. 4, 3 first external terminals 1511 and 3 second external terminals 1512 are provided in the junction box, and one first external terminal 1511 and a corresponding one second external terminal 1512 constitute a junction unit 151. The 3 wiring units 151 are electrically connected correspondingly to the other pole (e.g., the negative pole of the direct current power supply device) of at least one external direct current power supply device, which is one of a chopper, a battery, and a rectified power supply. In this embodiment, 3 wiring units 151 are electrically connected to 3 chopper power supply devices (not shown) in a one-to-one correspondence, and the switching frequencies of the 3 choppers are all 1 khz.
All series excitation ends of the insulated conductor bars of all the series excitation winding units are electrically connected with the brushes corresponding to the S poles in all the brushes; or all the series ends of the insulated conductor bars of each series excitation winding unit are electrically connected with the corresponding brushes with the N poles in all the brushes. In the present embodiment, all the series ends of the insulated conductor bars of each series field winding unit 1221 are electrically connected to the S-pole corresponding brushes 131 in all the brushes 13. The 3 series ends of each series field winding unit serve as 3 first external terminals for electrically connecting with one pole of an external direct-current power supply device (for example, the positive pole of the direct-current power supply device). And 3 electric brushes which are not connected with the series excitation end of the series excitation winding unit are respectively provided with a terminal as 3 second external terminals for electrically connecting with an external direct current power supply device.
3 shunt excitation ends of the shunt excitation winding units are electrically connected with 3 first external terminals, and 3 shunt excitation other ends of the shunt excitation winding units are electrically connected with 3 second external terminals; alternatively, 3 shunt-excited ends of each shunt-excited winding unit are electrically connected to 3 second external terminals, and 3 shunt-excited ends are electrically connected to 3 first external terminals. In the present embodiment, all shunt ends of the insulated conductor bars of each shunt winding unit 1231 are electrically connected to all first external terminals. The 3 shunt-excited other ends of the respective shunt-excited winding units and the 3 second external terminals are used for electrically connecting with the other pole of the external direct-current power supply device (for example, the negative pole of the direct-current power supply device).
The 3 first external terminals and the 3 second external terminals are for electrical connection with an external direct current power supply device.
As shown in fig. 4, in the present embodiment, 3 ends of 3 series field winding units 1221 are electrically connected to 3N-pole corresponding brushes 132 of 6 brushes, 3 other ends of 3 series field winding units 1221 are used as 3 first external terminals 1511 for electrically connecting to one pole of an external dc power supply device (positive pole of the dc power supply device), 3 ends of 3 parallel field winding units 1231 are electrically connected to 3 first external terminals 1511, and 3 other ends of 3 parallel field winding units 1231 are electrically connected to 3 second external terminals 1512. The excitation effect of the 3 series excitation winding units and the corresponding 3 shunt excitation winding units may be one of integral excitation and differential excitation, and in the present embodiment, integral excitation.
Fig. 6 is a schematic circuit connection diagram of a conventional series-parallel excited dc motor; fig. 7 is a waveform diagram of input currents of three wiring units of a series-parallel excited dc motor according to an embodiment of the present invention; fig. 8 is a graph comparing the current of a series-parallel excited dc motor according to an embodiment of the present invention with the current of a conventional series-parallel excited dc motor; fig. 9 is a torque comparison graph of a series-parallel excited dc motor according to an embodiment of the present invention and a torque comparison graph of a conventional series-parallel excited dc motor; fig. 10 is a graph comparing the current of the series-parallel excited dc motor in the embodiment of the present invention and the exciting current of the conventional series-parallel excited dc motor; and fig. 11 is a torque comparison diagram of a series-parallel excited dc motor in the embodiment of the present invention and a torque comparison diagram of a conventional series-parallel excited dc motor.
Fig. 6 is a schematic diagram showing the circuit connection of a conventional series-parallel excited dc motor, which has only one wiring unit electrically connected to 1 chopper power supply device (not shown), and the switching frequency of the chopper is 1 khz.
In steady state, the current ripple is the difference between the maximum and minimum values, and the ripple factor is the percentage of the difference between the maximum and minimum values and the average value.
As shown in fig. 7, in the embodiment of the present invention, the current ripples of the three pairs of brushes A1B1, A2B2, and A3B3 of the series-parallel excited dc motor are all equal to 130.38-120.40-9.98 amperes, the average value is all equal to 125.39 amperes, and the ripple coefficients are all equal to 9.98/125.39 × 100% -7.96%.
As shown in fig. 8, in the embodiment of the present invention, the current ripples of the three series-excited winding units 1221 of the series-parallel excited dc motor are all equal to 130.38-120.40-9.98 amperes, the average value is all equal to 125.39 amperes, and the ripple coefficients are all equal to 9.98/125.39 × 100% -7.96%. The current ripples of the three shunt excitation winding units 1231 are all equal to 72.29-71.59-0.70 amperes, the average value is all equal to 71.94 amperes, and the ripple coefficients are all equal to 0.70/71.94 × 100% -0.97%.
As shown in fig. 9, in a steady state, the armature current of the series-parallel excitation dc motor in the embodiment of the present invention is equal to the sum of the currents of the three pairs of brushes A1B1, A2B2, and A3B3, the ripple of the armature current is 377.82-374.51-3.31 amperes, the average value is 376.16 amperes, and the ripple coefficients are all equal to 3.31/376.16 × 100% — 0.88%. The armature current ripple of the traditional motor is equal to 391.14-361.17-29.97 amperes, the average value is equal to 376.16 amperes, and the ripple factor is equal to 29.97/376.16 × 100% -7.97%. Although the average value of the armature current of the series-parallel excited dc motor in the embodiment of the present invention is the same as that of the conventional motor, the ripple and the ripple factor of the armature current of the series-parallel excited dc motor in the embodiment of the present invention are only one ninth of those of the conventional motor.
As shown in fig. 10, in a steady state, the excitation current of the series-parallel excitation dc motor in the embodiment of the present invention is equal to the sum of the currents of the three series excitation winding units 1221 and the three parallel excitation winding units 1231, the ripple of the excitation current is 593.76-590.22 ═ 3.54 amperes, the average value is 591.99 amperes, and the ripple coefficients are all equal to 3.54/591.99 × 100% ═ 0.60%. The armature current ripple of the traditional motor is equal to 608.02-575.95-32.07 ampere, the average value is equal to 591.99 ampere, and the ripple factor is equal to 32.07/591.99 multiplied by 100-5.42%. Although the average value of the excitation current of the series-parallel excitation direct current motor in the embodiment of the present invention is the same as that of the conventional motor, the ripple factor and the ripple factor of the excitation current of the series-parallel excitation direct current motor in the embodiment of the present invention are only one ninth of those of the conventional motor.
As is known, the electromagnetic torque and the equation of motion of the series-parallel excited dc motor are as follows
Figure GDA0002764541400000101
Wherein, TemIs an electromagnetic torque; cTIs a torque constant; phi is the magnetic flux of the main magnetic field; l isafIs the mutual inductance of the excitation winding part and the armature winding and is a constant; i isfIs the excitation winding part current; i isaIs the armature winding current; t isloadIs the load torque; j is the moment of inertia of the load, which is a constant; Ω is output angular velocity; in the formula (1), the electromagnetic torque TemAnd armature current IaProportional to the product of the magnetic flux phi of the main magnetic field excited by the field winding of the DC motor fed by the chopper, and the electromagnetic torque T is shown by the equation (1)emAnd armature current IaAnd field winding part current IfIs proportional to the product of (a) and the current I of the field winding partfRipple factor and armature winding current IaWill result in an electromagnetic torque TemThe ripple factor, ripple or ripple of the output angular velocity Ω, which is larger, is more poor, and the performance of the driving device and the electric equipment is worse.
In this embodiment, LafTaking 1, in a steady state, as shown in fig. 10, the motor torque ripple of the series-parallel excitation direct current in the embodiment of the present invention is 224331.78-221042.30-3289.48 n.m, the average value is 222686.66n.m, and the ripple factor is 3289.48/222686.66-1.48%. The torque ripple of the conventional series-parallel excitation direct current motor is 237820.34-208017.82-29802.52 n.m, the average value is 222765.80n.m, and the ripple coefficient is 29802.52/222765.80-13.38%.
That is to say, although the average torque value of the series-parallel excitation dc motor in this embodiment is substantially the same as that of the conventional motor, the ripple and the ripple coefficient of the torque of the series-parallel excitation dc motor in this embodiment are only one ninth of those of the conventional motor, which reduces the ripple and the ripple coefficient of the output torque of the motor, further reduces the ripple and the ripple coefficient of the output rotation speed of the motor, and finally achieves the purpose of reducing the electromagnetic interference, vibration, and noise of the motor.
Effects and effects of the embodiments
According to the series-parallel excitation direct current motor provided by the embodiment, each pair of main magnetic poles comprises an S-pole main magnetic pole and an N-pole main magnetic pole corresponding to the winding direction of the series excitation coil and the preset current direction of the series excitation coil, each pair of electric brushes comprises an S-pole corresponding electric brush corresponding to the S-pole main magnetic pole and an N-pole corresponding electric brush corresponding to the N-pole main magnetic pole, and all series excitation ends of the insulated conductor bars of each series excitation winding unit are electrically connected with S-pole corresponding electric brushes in all the electric brushes; or all series excitation ends of the insulated conductor bars of each series excitation winding unit are electrically connected with N pole corresponding brushes in all the brushes, m series excitation other ends of each series excitation winding unit are used as m first external terminals for being electrically connected with the outside, m brushes which are not connected with the series excitation ends of the series excitation winding units are respectively provided with terminals as m second external terminals for being electrically connected with the outside, m shunt excitation ends of each shunt excitation winding unit are electrically connected with the m first external terminals, and m shunt excitation other ends are electrically connected with the m second external terminals; or m shunt excitation ends of each shunt excitation winding unit are electrically connected with m second external terminals, and the other end of the m shunt poles is electrically connected with the m first external terminals, that is, each first external terminal and the corresponding second external terminal are connected with a series field winding unit, a shunt field winding unit and a pair of electric brushes, an armature winding branch is connected between the pair of electric brushes, each pair of electric brushes and the left and right adjacent electric brushes are respectively connected with an armature winding branch, therefore, each first external terminal and the corresponding second external terminal can be independently supplied by an external direct current power supply device, and each external direct current power supply device only bears the working current of one series excitation winding unit, one parallel excitation winding unit and at most 2 armature winding branches, and only has one m-th of the motor current. With the increase of the motor current, as long as m is large enough, the m external direct current power supply devices independently supply power, and the output current of each external direct current power supply device can be small enough without adopting a power module or a parallel current sharing technology, so that the cost is reduced.
Moreover, when the armature winding, the electric brush, the excitation winding unit and the connecting wire in the external direct-current power supply device and the motor have faults, only the fault part needs to be shielded, and other normal parts can still work, so that the reliability and the safety of the system are improved.
Every outside DC power supply device can adopt different control for every output current's wave form is inconsistent, reduces ripple and ripple coefficient of the sum of all outside DC power supply device's output current, and the ripple coefficient that also is the motor exciting current and armature current all reduce, thereby reduces the ripple and the ripple coefficient of the output torque of motor, and then reduces the ripple and the ripple coefficient of motor output rotational speed, reduces the electromagnetic interference, the vibration and the noise of motor.
Compared with a traditional series-parallel excitation direct current motor with only two terminals, the motor has more terminals, the current of each terminal is only one third of the current of the motor, and the connecting wire and the connecting piece between the motor and an external direct current power supply device have lower requirements on contact resistance and insulation, so that the production cost is reduced, and the reliability and the safety of a system are improved.
In addition, the invention can break monopoly and blockade of foreign countries on the power module, the controller and the high-performance electric driving device, so that the invention not only can be applied to large-load electric equipment such as electric automobiles, electric carriers, rail cars, sightseeing vehicles, trucks and ships, but also can improve the performance of the electric equipment and realize the localization of the high-performance electric driving device.
In a word, the embodiment has the advantages of reasonable and simple structural design, high reliability and safety, and can be applied to high-power and high-performance electric driving devices and electric equipment.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1.一种串并励直流电机，与直流电源相连接，具有额定输入电流，其特征在于，包括：1. A series-parallel-excited DC motor is connected with a DC power supply and has a rated input current, characterized in that it comprises: 机壳；chassis; m对电刷，固定在所述机壳内，根据所述额定输入电流设置而成；m pairs of brushes, fixed in the casing, and set according to the rated input current; 定子，设置在所述机壳内，包含与m对所述电刷相对应的m对主磁极、一个串励磁绕组部和一个并励磁绕组部；以及a stator, disposed within the casing, comprising m pairs of main magnetic poles corresponding to m pairs of the brushes, a series field winding portion and a shunt field winding portion; and 转子，设置在所述定子内，包含采用叠绕组方式连接的多个电枢绕组，The rotor is arranged in the stator and includes a plurality of armature windings connected in a stacked winding manner, 其中，每一对所述主磁极含有S极性主磁极和N极性主磁极，Wherein, each pair of the main magnetic poles contains an S-polarity main magnetic pole and an N-polarity main magnetic pole, 每一对所述电刷含有一个与S极性主磁极相对应的S极对应电刷和一个与N极性主磁极相对应的N极对应电刷，Each pair of said brushes includes an S-pole corresponding brush corresponding to the S-pole main magnetic pole and an N-pole corresponding brush corresponding to the N-pole main magnetic pole, 所述串励磁绕组部含有m个串励磁绕组单元，该m个串励磁绕组单元与所述m对电刷分别相对应，The series excitation winding part includes m series excitation winding units, and the m series excitation winding units correspond to the m pairs of brushes, respectively, 所述并励磁绕组部含有m个并励磁绕组单元，该m个并励磁绕组单元与所述m对电刷分别相对应，The shunt winding part includes m shunt winding units, and the m shunt winding units correspond to the m pairs of brushes, respectively, 每一个所述串励磁绕组单元通过由包裹有绝缘层的金属线构成的绝缘导体条在所述m对主磁极上分别制成串励磁线圈而形成，Each of the series excitation winding units is formed by respectively forming a series excitation coil on the m pairs of main magnetic poles by an insulated conductor bar composed of a metal wire wrapped with an insulating layer, 每一个所述并励磁绕组单元通过由包裹有绝缘层的金属线构成的绝缘导体条在所述m对主磁极上分别制成并励磁线圈而形成，Each of the parallel excitation winding units is formed by separately forming and exciting coils on the m pairs of main magnetic poles by an insulated conductor bar composed of a metal wire wrapped with an insulating layer, 每个所述串励磁绕组单元中的所述绝缘导体条具有串励一端和串励另一端，The insulated conductor bar in each of the series excitation winding units has one end of the series excitation and the other end of the series excitation, 每个所述并励磁绕组单元中的所述绝缘导体条具有并励一端和并励另一端，The insulated conductor bars in each of the shunt winding units have one shunt end and the other shunt end, 所述m对的所述主磁极含有预定的一对所述主磁极作为一对预定主磁极，The m pairs of the main magnetic poles contain a predetermined pair of the main magnetic poles as a pair of predetermined main magnetic poles, 所述绝缘导体条的所有所述串励一端与所有所述电刷中的所述S极对应电刷电气连接；或者，各个所述绝缘导体条的所有所述串励一端与所有所述电刷中的所述N极对应电刷电气连接，All the series excitation ends of the insulated conductor bars are electrically connected to the S-pole corresponding brushes in all the brushes; or, all the series excitation ends of the insulated conductor bars are electrically connected to all the electric brushes. The N pole in the brush corresponds to the electrical connection of the brush, 各个所述绝缘导体条的所有所述一端对应于所述一对预定主磁极中相同极性的所述主磁极，并且与所有所述电刷中的所述S极对应电刷电气连接；或者各个所述绝缘导体条的所有所述一端对应于所述一对预定主磁极中相同极性的所述主磁极，并且与所有所述电刷中的所述N极对应电刷电气连接，All the one ends of each of the insulated conductor bars correspond to the main magnetic poles of the same polarity in the pair of predetermined main magnetic poles, and are electrically connected to the S-pole corresponding brushes of all the brushes; or all the one ends of each of the insulated conductor bars correspond to the main magnetic poles of the same polarity in the pair of predetermined main magnetic poles, and are electrically connected to the N-pole corresponding brushes of all the brushes, 各个所述串励磁绕组单元的m个所述串励一端作为m个第一外部接线端用于与外部直流电源装置的一极电气连接，The m one ends of the series excitation of each of the series excitation winding units are used as m first external terminals for electrical connection with one pole of an external DC power supply device, 未与所述串励磁绕组单元的所述串励一端相连接的m个所述电刷上分别设有接线端作为m个第二外部接线端用于与所述外部直流电源装置的另一极电气连接，The m brushes not connected to the series excitation end of the series excitation winding unit are respectively provided with terminals as m second external terminals for connecting with the other pole of the external DC power supply device Electrical connections, 各个所述并励磁绕组单元的m个所述并励一端与m个第一外部接线端电气连接，并且m个所述并励另一端与m个第二外部接线端电气连接；或者，各个所述并励磁绕组单元的m个所述并励一端与m个第二外部接线端电气连接，并且m个所述并励另一端与m个第一外部接线端电气连接，The m shunt one ends of each of the shunt winding units are electrically connected to m first external terminals, and the m shunt other ends are electrically connected to m second external terminals; The m parallel excitation ends of the parallel excitation winding units are electrically connected with m second external terminals, and the m parallel excitation other ends are electrically connected with m first external terminals, 所述m为不小于2的正整数。The m is a positive integer not less than 2. 2.一种串并励直流电机，与外部直流电源装置相连接，具有额定输入电流，其特征在于，包括：2. A series-parallel-excited DC motor, connected with an external DC power supply device and having a rated input current, is characterized in that, comprising: 机壳；chassis; m对电刷，固定在所述机壳内；m pairs of brushes, fixed in the casing; 定子，设置在所述机壳内，包含与m对所述电刷相对应的m对主磁极、一个串励磁绕组部和一个并励磁绕组部，以及a stator, disposed within the casing, comprising m pairs of main magnetic poles corresponding to m pairs of the brushes, a series field winding portion and a shunt field winding portion, and 转子，设置在所述定子内，包含多个电枢绕组，a rotor, disposed within the stator, comprising a plurality of armature windings, 其中，所述串励磁绕组部含有m个串励磁绕组单元，该m个串励磁绕组单元与所述m对电刷分别相对应，Wherein, the series excitation winding part includes m series excitation winding units, and the m series excitation winding units correspond to the m pairs of brushes, respectively, 所述并励磁绕组部含有m个并励磁绕组单元，该m个并励磁绕组单元与所述m对电刷分别相对应，The shunt winding part includes m shunt winding units, and the m shunt winding units correspond to the m pairs of brushes, respectively, 所述串励磁绕组单元由分别设置在每一个所述主磁极上的共2m个串励磁线圈连接成，The series excitation winding unit is connected by a total of 2m series excitation coils respectively arranged on each of the main magnetic poles, 所述并励磁绕组单元由分别设置在每一个所述主磁极上的共2m个并励磁线圈连接成，The parallel excitation winding unit is connected by a total of 2m parallel excitation coils respectively arranged on each of the main magnetic poles, 每个所述主磁极上包含m个串励磁线圈和m个并励磁线圈，所述串励磁线圈和所述并励磁线圈分别通过由包裹有绝缘层的条形导体构成的绝缘导体条在所述主磁极上分别绕制而成，Each of the main magnetic poles includes m series excitation coils and m parallel excitation coils, and the series excitation coils and the parallel excitation coils are respectively connected to the The main magnetic poles are wound separately, 每个所述串励磁绕组单元中的所述绝缘导体条具有根据所述串励磁线圈的预设电流方向而区分的串励一端和串励另一端，The insulated conductor bar in each of the series excitation winding units has one end of the series excitation and the other end of the series excitation distinguished according to the preset current direction of the series excitation coil, 每个所述并励磁绕组单元中的所述绝缘导体条具有根据所述并励磁线圈的预设电流方向而区分的并励一端和并励另一端，The insulated conductor bar in each of the shunt winding units has one shunt end and the other shunt end distinguished according to the preset current direction of the shunt coil, 每一对所述主磁极含有与所述串励磁线圈绕制方向和所述串励磁线圈的预设电流方向相对应的S极性主磁极和N极性主磁极，每一对所述电刷含有一个与S极性主磁极相对应的S极对应电刷和一个与N极性主磁极相对应的N极对应电刷，Each pair of the main magnetic poles contains an S-polarity main magnetic pole and an N-polarity main magnetic pole corresponding to the winding direction of the series excitation coil and the preset current direction of the series excitation coil, and each pair of the brushes It contains an S-pole corresponding brush corresponding to the S-pole main magnetic pole and an N-pole corresponding brush corresponding to the N-pole main magnetic pole, 各个所述串励磁绕组单元的所述绝缘导体条的所有所述串励一端与所有所述电刷中的所述S极对应电刷电气连接；或者，各个所述串励磁绕组单元的所述绝缘导体条的所有所述串励一端与所有所述电刷中的所述N极对应电刷电气连接，All the series excitation ends of the insulated conductor bars of each of the series excitation winding units are electrically connected to the brushes corresponding to the S poles of all the brushes; or, the All the series excitation ends of the insulated conductor bars are electrically connected to the N-pole corresponding brushes of all the brushes, 各个所述串励磁绕组单元的m个所述串励另一端作为m个第一外部接线端用于与所述外部直流电源装置的一极电气连接，The other ends of the m series excitations of each of the series excitation winding units are used as m first external terminals for electrical connection with one pole of the external DC power supply device, 未与所述串励磁绕组单元的所述串励一端相连接的m个所述电刷上分别设有接线端作为m个第二外部接线端用于与所述外部直流电源装置的另一极电气连接，The m brushes not connected to the series excitation end of the series excitation winding unit are respectively provided with terminals as m second external terminals for connecting with the other pole of the external DC power supply device Electrical connections, 各个所述并励磁绕组单元的m个所述并励一端与m个第一外部接线端电气连接，并且m个所述并励另一端与m个第二外部接线端电气连接；或者，各个所述并励磁绕组单元的m个所述并励一端与m个第二外部接线端电气连接，并且m个所述并励另一端与m个第一外部接线端电气连接，The m shunt one ends of each of the shunt winding units are electrically connected with m first external terminals, and the m shunt other ends are electrically connected with m second external terminals; The m parallel excitation ends of the parallel excitation winding units are electrically connected with m second external terminals, and the m parallel excitation other ends are electrically connected with m first external terminals, 所述m为不小于2的正整数。The m is a positive integer not less than 2. 3.根据权利要求1或2所述的串并励直流电机，其特征在于，还包括：3. The series-parallel DC motor according to claim 1 or 2, further comprising: 接线盒，固定在所述机壳上，a junction box, fixed on the casing, 其中，m个所述第一外部接线端和m个所述第二外部接线端被设置在所述接线盒内。Wherein, m of the first external terminals and m of the second external terminals are arranged in the junction box. 4.根据权利要求3所述的串并励直流电机，其特征在于：4. The series-parallel DC motor according to claim 3 is characterized in that: 其中，一个所述第一外部接线端和相对应的一个所述第二外部接线端构成一个接线单元。Wherein, one of the first external terminals and the corresponding one of the second external terminals constitute a wiring unit. 5.根据权利要求4所述的串并励直流电机，其特征在于：5. The series-parallel DC motor according to claim 4, wherein: 其中，m个所述接线单元与至少一个所述外部直流电源装置对应电气连接。Wherein, the m wiring units are correspondingly electrically connected to at least one of the external DC power supply devices. 6.根据权利要求2所述的串并励直流电机，其特征在于：6. The series-parallel DC motor according to claim 2, wherein: 其中，所述绝缘导体条为漆包线和绝缘铜导条中的任意一种。Wherein, the insulated conductor bar is any one of enameled wire and insulated copper conductor bar. 7.根据权利要求2所述的串并励直流电机，其特征在于：7. The series-parallel DC motor according to claim 2, wherein: 其中，每个所述主磁极上的m个所述串励磁线圈的绕制方向和匝数都相同，Wherein, the winding direction and the number of turns of the m series excitation coils on each of the main magnetic poles are the same, m个所述并励磁线圈的绕制方向和匝数都相同。The winding directions and the number of turns of the m parallel excitation coils are the same. 8.根据权利要求2所述的串并励直流电机，其特征在于：8. The series-parallel DC motor according to claim 2, wherein: 其中，在每个所述串励磁绕组单元中，多个所述串励磁线圈的连接关系是串联、并联和串并联中的任意一种，Wherein, in each of the series excitation winding units, the connection relationship of the plurality of the series excitation coils is any one of series, parallel and series-parallel, 各个所述串励磁绕组单元中的多个所述串励磁线圈的连接关系相同，The connection relationship of the plurality of series excitation coils in each of the series excitation winding units is the same, 在每个所述并励磁绕组单元中，多个所述并励磁线圈的连接关系是并联、并联和串并联中的任意一种，In each of the parallel excitation winding units, the connection relationship of the plurality of parallel excitation coils is any one of parallel, parallel and series-parallel, 各个所述并励磁绕组单元中的多个所述并励磁线圈的连接关系相同。The connection relationship of the plurality of parallel excitation coils in each of the parallel excitation winding units is the same. 9.根据权利要求2所述的串并励直流电机，其特征在于：9. The series-parallel DC motor according to claim 2, wherein: 其中，多个所述电枢绕组的联结方式是单叠、复叠和复波中的任意一种。Wherein, the connection manner of a plurality of the armature windings is any one of single stack, complex stack and complex wave. 10.根据权利要求2所述的串并励直流电机，其特征在于：10. The series-parallel DC motor according to claim 2, wherein: 其中，所述直流电源装置为斩波器、电池和整流电源中的一种。Wherein, the DC power supply device is one of a chopper, a battery and a rectified power supply.
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US11211855B2 (en) 2018-05-22 2021-12-28 University Of Shanghai For Science And Technology Direct current motor
CN117674519B (en) * 2024-02-03 2024-06-14 泉州开普勒车用电机有限公司 Production method of compound excitation type stator

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JP2010098930A (en) * 2008-09-22 2010-04-30 Asmo Co Ltd Brushed hybrid excitation motor and method of driving the same
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