CN110649729B - Multi-excitation single-pole vernier permanent magnet motor - Google Patents

Multi-excitation single-pole vernier permanent magnet motor Download PDF

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CN110649729B
CN110649729B CN201910850589.7A CN201910850589A CN110649729B CN 110649729 B CN110649729 B CN 110649729B CN 201910850589 A CN201910850589 A CN 201910850589A CN 110649729 B CN110649729 B CN 110649729B
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iron core
permanent magnet
magnetic
excitation
motor
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CN110649729A (en
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李大伟
谢康福
曲荣海
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Huazhong University of Science and Technology
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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
    • H02K1/2713—Inner rotors the magnetisation axis of the magnets being axial, e.g. claw-pole type
    • 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
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • 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
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/16—Stator cores with slots for windings
    • 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
    • H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)

Abstract

The invention discloses a multi-excitation single-pole vernier permanent magnet motor, belonging to the field of permanent magnet motors, which comprises: a stator and a rotor in a nested arrangement; the rotor comprises two sections of iron cores which are distributed at intervals along the same axis; each section of iron core is of a hollow cylindrical structure, the hollow cylindrical structure is composed of a plurality of iron core units which are provided with through holes and protruding teeth, Halbach magnetic steel arrays are distributed between the protruding teeth of each iron core unit, and adjacent iron core units are separated by magnetic barriers; a plurality of connecting magnetic conduction blocks are inserted between the through holes of the two sections of iron core units, and the outer sides of the magnetic conduction blocks between the two sections of iron cores are distributed with magnetic steel which is magnetized in the axial direction or windings which are introduced with circumferential current. The invention ensures the magnetic circuit of the excitation in the axial direction through the single-pole structure, adopts the magnetic barrier to break the armature magnetic field in the radial plane, improves the power factor of the motor, reduces the capacity of the driver and reduces the application cost; and meanwhile, a Halbach magnetic steel array is added to further improve the torque density of the motor by further improving the excitation magnetic field, so that the performance of the motor is improved.

Description

Multi-excitation single-pole vernier permanent magnet motor
Technical Field
The invention belongs to the technical field of permanent magnet motors, and particularly relates to a multi-excitation single-pole vernier permanent magnet motor.
Background
A control system and an automatic product of an industrial robot mainly relate to a servo motor, a speed reducer, a controller, a sensor and the like. The servo motor is a power system of an industrial robot, is generally arranged at a joint of the robot, and is a heart of the robot. At present, joints of a robot can not be driven to separate from a servo system, the more the joints are, the higher the flexibility and the precision of the robot are, and the more the number of servo motors to be used is. The robot has higher requirements on a servo system, must meet the requirements of quick response, high starting torque, large dynamic torque inertia ratio and wide speed regulation range, is suitable for the conditions of small size, light weight, acceleration and deceleration running and the like of the body of the robot, and needs high reliability and stability; the electric propulsion system gradually becomes the first-choice propulsion mode of the future ship by virtue of the advantages of strong vitality, low noise, low operation cost, flexible arrangement and the like. The volume weight of the propulsion motor is proportional to its output torque, while the ship requires a low-speed, high-torque propulsion system, and the volume weight of the propulsion motor often limits the application of electric propulsion.
In recent years, researchers develop a kind of motors with unequal numbers of poles of a stator and a rotor, the magnetic circuit structure of the motors is special, and a stator tooth groove not only has a magnetic conduction function, but also has a function of modulating an air gap magnetic field. Under the action of a stator tooth slot, a low-speed multi-pole excitation magnetomotive force forms a few-pole high-speed excitation magnetic field on a stator, the special electromagnetic phenomenon enables the motor to be equivalent to a high-speed permanent magnet motor and a magnetic gear box in external characteristics and to have ultrahigh torque density, the academic community refers to the working principle of the special motor electromagnetic field, which is called a magnetic field modulation motor in general, and as shown in fig. 1, a vernier permanent magnet motor is a typical motor topology. Compared with a conventional permanent magnet synchronous motor, the vernier permanent magnet motor has the characteristics of high torque density, good back electromotive force sine degree, small torque pulsation and the like, under the condition that power supply, materials and sizes are the same as cooling conditions, the torque density of the vernier permanent magnet motor can reach 2-4 times of that of the conventional permanent magnet motor theoretically, the torque density advantage is very obvious, and the vernier permanent magnet motor has wide application in industrial robots and electric propulsion systems.
However, the main disadvantage of the conventional vernier permanent magnet motor is that the power factor is low, and therefore, under the condition of a given output power, the capacity of a driving converter needs to be increased, so that the problems of increasing the cost, reducing the operation reliability of a system and the like are caused. Therefore, how to improve the power factor of the vernier permanent magnet motor becomes a key problem for large-scale application of the motor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-excitation single-pole vernier permanent magnet motor, which aims to solve the problem of low system operation reliability caused by low power factor of the conventional vernier permanent magnet motor.
In order to achieve the above object, the present invention provides a multi-excitation single-pole vernier permanent magnet motor, comprising: a stator and a rotor in a nested arrangement;
the rotor comprises a first iron core and a second iron core which are distributed at intervals along the same axis; the first iron core and the second iron core are both hollow cylindrical structures, each hollow cylindrical structure is composed of a plurality of iron core units which are provided with through holes and protruding teeth, a Halbach magnetic steel array is distributed between the protruding teeth of each iron core unit, and adjacent iron core units are separated by magnetic barriers; and the plurality of connecting magnetic conduction blocks are inserted between the iron core unit through holes of the first iron core and the iron core unit through holes of the second iron core.
Furthermore, magnetic steel which is magnetized in the axial direction or a winding which is introduced with circumferential current is distributed on the outer side of the magnetic conduction block which is positioned between the first iron core and the second iron core.
Furthermore, the first iron core and the second iron core are staggered by 180 electrical degrees in the upward direction, and the Halbach magnetic steel array positioned on the outer side of the first iron core and the Halbach magnetic steel array positioned on the outer side of the second iron core have the same magnetizing direction.
Furthermore, the first iron core and the second iron core are aligned in axial position, and the Halbach magnetic steel array positioned on the outer side of the first iron core and the Halbach magnetic steel array positioned on the outer side of the second iron core are opposite in magnetizing direction.
Further, the number of the through holes of the core unit is one or more, and the number of the protruding teeth is one or more.
Further, the stator includes stator teeth and stator slots, and an armature winding is embedded.
Further, the stator teeth are single teeth or split teeth.
Further, the vernier permanent magnet motor is a rotating motor or a linear motor.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
(1) the invention provides a multi-excitation single-pole vernier permanent magnet motor which adopts a single-pole structure, and magnetic steel between two sections of iron cores is used as an excitation source to form an axial magnetic flux loop; in the radial plane, the rotor core is composed of the separated core units, and the magnetic circuit of the armature magnetic field is broken, so that the armature magnetic field is weakened on the basis that the permanent magnetic circuit and the armature magnetic circuit are decomposed, the inductance of an armature winding is reduced, and the power factor of the motor is increased.
(2) According to the multi-excitation single-pole vernier permanent magnet motor, the Halbach (Halbach) magnetic steel arrays are arranged on the outer sides of the two iron cores, and the Halbach magnetic steel arrays can form a magnetic flux loop without the iron cores, so that the excitation magnetic field can be further increased while the blocking effect of the armature magnetic field is not influenced, and the torque performance of the motor is improved.
Drawings
FIG. 1 is a schematic diagram of a conventional vernier permanent magnet motor;
FIG. 2 is a schematic structural diagram of a multi-excitation single-pole vernier permanent magnet motor according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of a first rotor core of a multi-excitation single-pole vernier permanent magnet motor according to an embodiment of the invention;
fig. 4 is a schematic view of a magnetic conductive block of the multi-excitation single-pole vernier permanent magnet motor according to the embodiment of the invention;
FIG. 5 is a schematic connection diagram of the multi-excitation single-pole vernier permanent magnet motor rotor with two sections of iron cores staggered by 180 electrical degrees upwards according to the embodiment of the invention;
FIG. 6 is a schematic structural diagram of a rotor of a multi-excitation single-pole vernier permanent magnet motor according to an embodiment of the invention;
FIG. 7 is a schematic view of the magnetizing directions of Halbach magnetic steel arrays at the outer sides of two iron cores when the two iron cores are staggered by 180 electrical degrees upwards;
FIG. 8 is a schematic connection diagram of two segments of the rotor of the multi-excitation single-pole vernier permanent magnet motor aligned in the upward position of the iron core shaft according to the embodiment of the invention;
fig. 9(a) and 9(b) are schematic diagrams of magnetizing directions of halbach magnetic steel arrays on outer sides of two iron cores respectively when the two iron cores are aligned in the upward positions;
fig. 10 is a schematic view of a second rotor core structure of the multi-excitation single-pole vernier permanent magnet motor according to the embodiment of the invention;
FIG. 11 is a schematic view of a second rotor core attachment of the embodiment of the present invention;
FIG. 12 is a graph of neglecting armature winding voltage drop, at IdA motor phase diagram under a 0 control mode;
FIG. 13 is a schematic view of a stator structure according to an embodiment of the present invention;
FIG. 14 is a schematic view of another stator configuration of an embodiment of the present invention;
the magnetic coupling structure comprises a stator 1, a stator tooth 11, an armature winding 12, a rotor 2, a first iron core 21, a second iron core 22, a Halbach magnetic steel array 23, two sections of rotor iron core magnetic steel 24 and a connecting magnetic block 25.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 2, an embodiment of the present invention provides a multi-excitation single-pole vernier permanent magnet motor, including: a stator 1 and a rotor 2 in a nested arrangement; the rotor 2 comprises a first iron core 21 and a second iron core 22 which are distributed at intervals along the same axial center; as shown in fig. 3, the first core 21 and the second core 22 are each a hollow cylindrical structure composed of a plurality of core units opened with through holes and having protruding teeth, and adjacent core units are separated by magnetic barriers; a plurality of connecting flux guiding blocks 25 shown in fig. 4 are inserted between the core unit through holes of the first core 21 and the core unit through holes of the second core 22 to form a structure shown in fig. 5; a Halbach magnetic steel array 23 is distributed between the protruding teeth of each iron core unit, and magnetic steel 24 which is magnetized in the axial direction or a winding which is electrified with circumferential current is distributed on the outer side of the magnetic conduction block which is positioned between the distribution intervals of the first iron core and the second iron core, so that a complete rotor 2 structure is formed as shown in fig. 6. The first iron core 21 and the second iron core 22 are staggered by 180 degrees of electric angles in the axial direction (as shown in fig. 5), and meanwhile, the halbach magnetic steel arrays on the outer sides of the two iron cores have the same magnetizing direction (as shown in fig. 7), so that a complete magnetic flux loop can be formed in the axial direction; the first iron core 21 and the second iron core 22 can also be axially aligned (as shown in fig. 8), the magnetization direction of the halbach magnetic steel array on the outer side of the first iron core 21 is shown in fig. 9(a), and the magnetization direction of the halbach magnetic steel array on the outer side of the second iron core 22 is shown in fig. 9(b), that is, the magnetization directions of the outer magnetic steels on the outer sides of the two iron cores are opposite, so that an axial magnetic flux loop can be formed.
The core unit shown in fig. 3 is provided with a through hole having two protruding teeth; however, the present invention is not limited thereto, and the present invention does not limit the number of the through holes and the protruding teeth of the core unit, as shown in fig. 10, the core unit is provided with two through holes having one protruding tooth, and the connection structure of the two segments of cores is shown in fig. 11.
FIG. 12 shows the case where the armature winding voltage drop is ignored and I is useddObtaining a motor phase quantity diagram in a 0 control mode, wherein the obtained motor power factor expression is as follows:
Figure GDA0002629351630000051
wherein PF represents the power factor of the electric machine, E0Representing no-load back-emf, I representing armature winding current, XsRepresents the synchronous impedance and is proportional to the armature winding inductance.
It can be seen that the power factor of the motor is related to the no-load back emf and the synchronous impedance (i.e. the armature winding inductance), and that by increasing the no-load back emf or decreasing the synchronous impedance, the power factor can be increased. In the multi-excitation single-pole vernier permanent magnet motor shown in the embodiment, an axial magnetic flux loop can be formed by adopting a single-pole structure and taking magnetic steel between two sections of iron cores as an excitation source; in the radial plane, the rotor core is composed of the separated core units, and the magnetic circuit of the armature magnetic field is broken, so that the armature magnetic field is weakened on the basis that the permanent magnetic circuit and the armature magnetic circuit are decomposed, the armature winding inductance is reduced, and the effect of increasing the power factor can be achieved. On the basis, Halbach magnetic steel arrays are arranged on the outer sides of the two sections of iron cores, and the Halbach magnetic steel arrays can form a magnetic flux loop without the iron cores, so that the exciting magnetic field can be further increased while the blocking effect of the armature magnetic field is not influenced, and the torque performance of the motor is improved.
The stator 1 is of a tooth groove structure, and an armature winding 12 is embedded in the stator; the stator teeth 11 may be a split tooth structure as shown in fig. 13, or a single tooth structure as shown in fig. 14.
The vernier permanent magnet motor provided by the invention can be a rotating motor or a linear motor.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. A multi-excitation single-pole vernier permanent magnet motor is characterized by comprising: a stator (1) and a rotor (2) in a nested arrangement;
the rotor (2) comprises a first iron core (21) and a second iron core (22) which are distributed at intervals along the same axial center; the first iron core (21) and the second iron core (22) are both of hollow cylindrical structures, each hollow cylindrical structure is composed of a plurality of iron core units which are provided with through holes and protruding teeth, a Halbach magnetic steel array (23) is distributed between the protruding teeth of each iron core unit, and adjacent iron core units are separated by magnetic barriers; a plurality of connecting magnetic conduction blocks (25) are inserted between the core unit through holes of the first core (21) and the core unit through holes of the second core (22);
and magnetic steel (24) which is magnetized in the axial direction or a winding which is introduced with circumferential current is distributed on the outer side of the connecting magnetic conduction block which is positioned between the first iron core (21) and the second iron core (22) at intervals.
2. The multi-excitation single-pole vernier permanent magnet motor as claimed in claim 1, wherein the first iron core (21) and the second iron core (22) are axially staggered by 180 electrical degrees, and the halbach magnetic steel array positioned outside the first iron core (21) and the halbach magnetic steel array positioned outside the second iron core (22) have the same magnetizing direction.
3. A multi-excitation single-pole vernier permanent magnet motor as claimed in claim 1, wherein the first iron core (21) and the second iron core (22) are aligned in axial position, and the halbach magnetic steel array located outside the first iron core (21) and the halbach magnetic steel array located outside the second iron core (22) are oppositely charged.
4. The multi-excitation single-pole vernier permanent magnet motor as claimed in claim 1, wherein the number of the through holes of the core unit is one or more, and the number of the protruding teeth is one or more.
5. A multiple excitation monopole vernier permanent magnet machine according to claim 1, wherein the stator (1) comprises stator teeth and stator slots and embedded armature windings.
6. The multi-excitation monopole vernier permanent magnet motor as claimed in claim 5, wherein the stator teeth are single teeth or split teeth.
7. A multi-excitation single-pole vernier permanent magnet motor as claimed in any one of claims 1 to 6, which is a rotary motor or a linear motor.
CN201910850589.7A 2019-09-10 2019-09-10 Multi-excitation single-pole vernier permanent magnet motor Active CN110649729B (en)

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