CN112117863A - Mechanical-jamming-free high-thrust-density direct-drive type electric actuator - Google Patents
Mechanical-jamming-free high-thrust-density direct-drive type electric actuator Download PDFInfo
- Publication number
- CN112117863A CN112117863A CN202010819408.7A CN202010819408A CN112117863A CN 112117863 A CN112117863 A CN 112117863A CN 202010819408 A CN202010819408 A CN 202010819408A CN 112117863 A CN112117863 A CN 112117863A
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- rotor
- stator
- lvdt
- iron core
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
-
- 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
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke 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
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- 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
- H02K3/18—Windings for salient poles
-
- 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
- H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
- H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
- H02K49/102—Magnetic gearings, i.e. assembly of gears, linear or rotary, by which motion is magnetically transferred without physical contact
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
- H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
- H02K49/104—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
- H02K49/106—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element with a radial air gap
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a mechanical-jamming-free high-thrust-density direct-drive type electric actuator, which comprises an inner rotor type permanent-magnet fault-tolerant vernier motor, a permanent-magnet lead screw pair and a support measuring part, wherein the inner rotor type permanent-magnet fault-tolerant vernier motor is connected with the support measuring part through a bearing; the inner rotor type permanent magnet fault-tolerant vernier motor comprises a stator winding, a stator, stator teeth, a magnetic flux modulation pole, a rotor permanent magnet and a rotor iron core; the permanent magnet lead screw pair comprises a permanent magnet lead screw and a permanent magnet nut; the support measuring component comprises a bearing, a shell, a linear displacement transducer LVDT and a rotary transformer. According to the mechanical-jamming-free high-thrust-density direct-drive electric actuator, the rotary motion of the permanent magnet vernier motor is converted into the linear motion of the electromechanical actuator by using the permanent magnet screw pair, so that the problem of mechanical jamming of a ball screw pair or a roller screw pair of a common direct-drive electric actuator is avoided; meanwhile, an inner rotor type permanent magnet fault-tolerant vernier motor is used as a driving motor, and the electromechanical actuator has higher reliability and thrust density due to the strong fault-tolerant performance and high torque density of the motor.
Description
Technical Field
The invention belongs to the technical field of electric actuation, and particularly relates to a high-thrust-density direct-drive type electric actuator without mechanical jamming.
Background
With the progress of electric actuating technology, electric servo mechanisms are replacing traditional pneumatic servo mechanisms and hydraulic servo mechanisms, and are being practically applied to control surface control of airplanes and missiles and thrust vector control systems of airplanes and rocket engines. The electric servo mechanism can be divided into an electro-hydrostatic actuator and an electromechanical actuator according to the structure. The electro-hydrostatic actuator drives the reversible hydraulic pump to drive the hydraulic loop inside the actuator to work by the servo motor, so that the advantages of partial hydraulic actuators are reserved, and the mechanical blockage phenomenon does not exist. However, the electro-hydrostatic actuator still has poor maintainability because the electro-hydrostatic actuator still has a hydraulic circuit, and thus the influence of hydraulic oil leakage cannot be completely eliminated. The electromechanical actuator adopts a ball screw pair or a roller screw pair and other transmission mechanisms to convert the rotary motion of a servo motor into linear motion required by the actuator, completely eliminates a hydraulic loop to solve the problem of hydraulic oil leakage, has good maintainability, and is superior to an electro-hydrostatic actuator in efficiency and dynamic response performance. However, the electromechanical actuator has potential risk of mechanical jamming, seriously affects the flight reliability of the airplane missile rocket and easily causes catastrophic flight accidents, so the engineering application degree of the electromechanical actuator is not as good as that of the electro-hydrostatic actuator, and the electromechanical actuator is only applied to some control surfaces which are not important, such as 'lungwash' carrier rockets, boeing 787 airplane spoilers and the like[1-3]。
Aiming at the problem of mechanical jamming of an electromechanical actuator, the current solutions mainly comprise two types: one method is to apply the current increasingly mature artificial intelligence method and carry out health assessment and fault prediction based on a large amount of simulation data or experimental data so as to eliminate faults in time and reduce the probability of mechanical jamming of the electromechanical actuator[4]. However, this method has the disadvantage that if the fault data is from a simulation, then it is accurateThe accuracy depends on the accuracy of a fault model of the electromechanical actuator, and the fault model can be verified only by artificially simulating some faults through partial experiments and is difficult to reflect the actual situation; however, if experimental data are adopted, the problem that the experimental data are difficult to obtain exists, and after all, the number of the airplanes and rockets adopting the electromechanical actuators is too small, and no precedent is given for application on the main control surface. The other method is to improve the structure of the electromechanical actuator to reduce the probability of mechanical jamming, and the method can be divided into two solutions, namely a method for removing a direct-drive type electromechanical actuator represented by an intermediate gear box of the electromechanical actuator[5]However, this method can only eliminate the mechanical jamming of the gearbox but not the ball screw pair or the roller screw pair, and after the direct drive method is adopted, the servo motor is required to provide a lower rotating speed and a larger torque, which increases the weight and the volume of the servo motor. The second is a method of using a clutch as in patent CN201711162688.6[6]When the actuator fails, the clutch is used for releasing the blocking contact, and the method can better solve the problem of mechanical blocking of the electromechanical actuator. However, due to the introduction of the clutch, the weight and the volume of the system are increased, and meanwhile, the problems of mechanical jamming identification and clutch control need to be solved, so that the complexity of the system is increased, and the reliability of the system is reduced.
[1] Bull Sarlioglu, and Casey T.Morris, "More Electric air in Review, Challeges, and opportunities for Commercial Transport air in IEEE Transactions on transfer Electric selection 2015,1(1), pp.54-64.[2] Guogong, King finger. 1-5.
[3] The configuration scheme of the flight control actuation system of the large passenger plane is designed according to the following steps of J, hydraulic pressure and pneumatic pressure, 2014, 4 (5): 19-27.
[4]Cristobal Ruiz-Carcel,and Andrew Starr,“Data-Based Detection and Diagnosis of Faults in Linear Actuators,”IEEE Transactions on Instrumentation and Measurement,2018,67(9),pp.2035-2047.
[5]F.Jian,J.C.Mare′b,F.Yongling,“Modelling and simulation of flight control electromechanical actuators with special focus on model architecting,multidisciplinary effects and power flows,”Chinese Journal of Aerenautics,2017,30(1),pp.47-65.
[6] Consider sea front, an electromechanical actuator: china, 201711162668.6[ P ], 2017-11-21.
Disclosure of Invention
The invention aims to provide a high-thrust-density direct-drive type electric actuator without mechanical jamming, which aims to solve the problems of mechanical jamming and large volume and mass and low thrust density of a common direct-drive type electric actuator.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mechanical-jamming-free high-thrust-density direct-drive type electric actuator comprises an inner rotor type permanent magnet fault-tolerant vernier motor, a permanent magnet lead screw pair and a support measuring part;
the inner rotor type permanent magnet fault-tolerant vernier motor comprises a stator winding, a stator, a rotor permanent magnet, a rotor iron core, stator teeth and a magnetic flux modulation pole; the permanent magnet screw pair comprises a permanent magnet screw and a permanent magnet nut; the support measuring component comprises a bearing, a shell, a linear displacement transducer LVDT and a rotary transformer;
the stator is fixed in the shell, a plurality of stator teeth are uniformly distributed on the stator, and the lower parts of the stator teeth are connected with the magnetic flux modulation poles into a whole; the stator winding tooth separation ring surrounds each stator tooth; the rotor permanent magnet is fixed outside the rotor iron core, and a permanent magnet screw pair is arranged inside the rotor iron core;
the permanent magnet lead screw pair comprises a permanent magnet nut and a permanent magnet lead screw; the spiral permanent magnet of the permanent magnet nut is fixed on the inner surface of the rotor core; the permanent magnet screw comprises a hollow screw and a screw-type permanent magnet, and the screw-type permanent magnet is fixed on the outer surface of the hollow screw; the front end of the hollow screw rod is connected with a pull ring;
the bearings are positioned at the front end and the rear end of the rotor, the outer ring of the bearing is connected with the shell, and the inner ring of the bearing is connected with the fixed supporting part of the integrated rotor; the linear displacement sensor LVDT comprises an LVDT iron core, a winding part and an LVDT rod-shaped armature, the front ends of the LVDT iron core and the winding part are positioned at the rear part of the hollow screw rod cavity, and the rear end of the LVDT iron core and the winding part is fixedly connected with the center position of the tail part of the shell; one end of the rod-shaped armature of the LVDT is fixedly connected with the pull ring, and the other end of the rod-shaped armature of the LVDT is positioned inside the iron core and the winding part of the LVDT; the stator part of the rotary transformer is fixed in the shell, and the rotor part is fixedly connected with the fixed supporting part.
Furthermore, the stator winding adopts a double three-phase centralized armature winding wound by spaced teeth.
Further, the rotor permanent magnets are fixed on the outer part of the rotor iron core in a radial direction in a manner that N, S poles are arranged at intervals.
Furthermore, the spiral permanent magnet of the permanent magnet nut corresponds to the screw spiral permanent magnet and has the same screw pitch.
Furthermore, the axis of the rod-shaped armature of the LVDT, the axis of the hollow lead screw, the axis of the inner rotor type permanent magnet fault-tolerant vernier motor, the axis of the linear displacement sensor LVDT, the axis of the rotary transformer and the axis of the casing are positioned on the same straight line.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention adopts a direct-drive structure integrating an inner rotor type permanent magnet fault-tolerant vernier motor and a permanent magnet lead screw pair, and can bring the following three technical effects to an electromechanical actuator:
the permanent magnet vernier motor and the permanent magnet lead screw pair realize non-contact transmission of force and torque between each part through a magnetic field, solve the problem of mechanical jamming of the electromechanical actuator, improve the reliability and maintainability of the electromechanical actuator and reduce the noise and vibration of the electromechanical actuator. Meanwhile, rigid mechanical damage does not exist when the electromechanical actuator is overloaded, and the overload capacity of the electromechanical actuator is improved.
The permanent magnet vernier motor works by adopting a magnetic field modulation principle, and a magnetic gear effect is generated by arranging a magnetic flux modulation pole, so that the motor has the characteristics of low speed and large torque.
The permanent magnet vernier motor adopts an inner rotor structure, and the structure enables a cavity part inside the rotor to be provided with a permanent magnet lead screw pair and a linear displacement transducer (LVDT), so that the space utilization rate of the electromechanical actuator can be effectively improved, and the volume of the electromechanical actuator is reduced.
And fourthly, the stator winding of the permanent magnet vernier motor adopts an armature winding wound by double three-phase centralized separated teeth, so that the effect that other surrounding windings are not influenced when a certain phase winding of the motor has a short-circuit fault is facilitated. Meanwhile, the double three-phase windings can provide two redundancies for the motor, the motor can still ensure the whole working performance of the electromechanical actuator under the condition of single electrical fault, and the reliability of the actuator is improved.
Drawings
Fig. 1 is a transverse cross-sectional view of a direct drive type electromechanical actuator.
Fig. 2 is a schematic view of a connection structure of a permanent magnet vernier motor and a permanent magnet screw pair.
Fig. 3 is a schematic structural diagram of an integrated rotor composed of a rotor part of a permanent magnet vernier motor and a nut part of a permanent magnet screw pair.
Wherein: 1-pull ring, 2-LVDT rod-shaped armature, 3-hollow lead screw, 4-lead screw spiral permanent magnet, 5-stator winding, 6-stator, 7-rotor permanent magnet, 8-rotor iron core, 9-permanent magnet nut, 10-bearing, 11-rotary transformer, 12-LVDT iron core and winding part, 13-machine shell, 14-stator tooth, 15-magnetic flux modulation pole and 16-fixed support component.
Detailed Description
The present invention will be described in further detail below.
A mechanical-jamming-free high-thrust-density direct-drive type electric actuator mainly comprises an inner rotor type permanent magnet fault-tolerant vernier motor, a permanent magnet screw pair and a support measuring part. The stator part of the inner rotor type permanent magnet fault-tolerant vernier motor is provided with twelve stator teeth 14, and two sets of independent and symmetrical three-phase single-layer centralized armature stator windings 5 are wound on the upper teeth; the rotor part is formed by directly coupling a rotor permanent magnet 7, a rotor iron core 8 and a permanent magnet nut 9 of a permanent magnet lead screw pair, wherein the rotor permanent magnet 7 of the permanent magnet vernier motor is radially arranged outside the rotor iron core 8, and the permanent magnet lead screw pair is arranged inside the rotor iron core; the permanent magnet screw pair consists of a permanent magnet nut 9 and a permanent magnet screw, wherein a spiral permanent magnet of the permanent magnet nut 9 is fixed on the inner layer of a rotor core 8 and is coupled with a rotor part of the permanent magnet vernier motor to form an integrated rotor, the permanent magnet screw comprises a screw spiral permanent magnet 4 and a hollow screw 3, the screw spiral permanent magnet 4 is fixed on the outer surface of the hollow screw 3, and the screw pitch of the screw spiral permanent magnet is the same as that of the spiral permanent magnet of the permanent magnet nut 9; the bearing 10 plays a role of supporting the integrated rotor, the outer ring of the bearing is connected with a shell 13 of the actuator, and the inner ring of the bearing is connected with a fixed supporting part 16 of the integrated rotor; the linear displacement sensor (LVDT) is arranged in a cavity of the hollow screw rod 3 and used for measuring the linear displacement output by the electromechanical actuator, and comprises an LVDT iron core and winding part 12 and an LVDT rod-shaped armature 2, wherein the LVDT iron core and winding part 12 are fixedly connected with the tail part of a shell 13 of the actuator, and the LVDT rod-shaped armature 2 is fixedly connected with a pull ring 1 of the actuator; the stator portion of the resolver 11 is fixed inside the housing 13, and the rotor portion is connected to a fixed support member 16 of the integrated rotor for measuring the rotation angle and rotation speed of the integrated rotor.
The present invention is further described with reference to the following drawings and specific embodiments, it should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes based on the technical solutions of the present application fall within the protection scope of the present invention.
The invention provides a mechanical-jamming-free high-thrust-density direct-drive type electric actuator which mainly comprises an inner rotor type permanent-magnet fault-tolerant vernier motor, a permanent-magnet lead screw pair and a support measuring part, wherein the inner rotor type permanent-magnet fault-tolerant vernier motor is connected with the support measuring part through a bearing;
the inner rotor type permanent magnet fault-tolerant vernier motor comprises: a stator winding 5, a stator 6, a rotor permanent magnet 7, a rotor iron core 8, stator teeth 14 and a magnetic flux modulation pole 15; the stator winding 5 adopts a double three-phase centralized armature winding, and the separating teeth are surrounded on the stator teeth 14; the stator 6 is fixed inside the casing 13; the rotor permanent magnet 7 is radially fixed outside the rotor iron core 8 in a manner of N, S poles spaced, and the rotor permanent magnet 7 adopts different pole pairs to enable the permanent magnet vernier motor to have different transmission ratios, and can be flexibly selected according to specific conditions in actual application; the outer surface of the rotor iron core 8 is provided with a rotor permanent magnet 7, the inner surface is provided with a spiral permanent magnet of a permanent magnet nut 9, and the rotor permanent magnet 7 and the spiral permanent magnet of the permanent magnet nut 9 share the rotor iron core 8; the magnetic flux modulation pole 15 is positioned at the lower part of the stator teeth 14, is connected with the stator teeth 14 into a whole and plays a role of magnetic field modulation; when the permanent magnet vernier motor is electrified, two groups of three-phase windings of the motor respectively emit half power to jointly generate a circular rotating magnetic field, the magnetic field is modulated by a magnetic flux modulation pole 15, the speed is reduced, the torque is increased, and the magnetic flux modulation pole interacts with a rotor permanent magnet 7 to enable a rotor to drive a permanent magnet nut 9 of a permanent magnet screw pair to rotate; when the stator winding 5 is in short circuit or open circuit fault, one group of three-phase windings can be cut off immediately to enable the other group of three-phase windings to work at full power, so that the output power of the electromechanical actuator is ensured, and in addition, the stator winding 5 wound by the separating teeth is beneficial to isolating adverse effects such as high temperature and sparks caused by short circuit of the windings, so that the influence on surrounding windings is reduced, and the high reliability of the electromechanical actuator is ensured.
The permanent magnetism lead screw is vice includes: a permanent magnet screw and a permanent magnet nut 9; the permanent magnet screw consists of a hollow screw rod 3 and a screw-type permanent magnet 4, the front end of the hollow screw rod 3 is fixedly connected with a pull ring 1, an LVDT rod-shaped armature 2 is placed in an internal cavity, and the LVDT iron core and a winding part 12 are also partially positioned in the internal cavity of the hollow screw rod 3; the screw-type permanent magnet 4 is fixed on the outer surface of the hollow screw 3 and corresponds to the screw-type permanent magnet of the permanent magnet nut 9; the permanent magnet nut 9 is mainly composed of a spiral permanent magnet which is fixed on the inner surface of the rotor iron core 8, and the pitch of the permanent magnet is the same as that of the screw spiral permanent magnet 4; when the permanent magnet vernier motor drives the integrated rotor to rotate, the spiral permanent magnet of the permanent magnet nut 9 and the spiral permanent magnet 4 of the screw rod are interacted through a magnetic field, the rotary motion of the permanent magnet nut 9 is converted into the linear motion of the permanent magnet screw rod, the pull ring 1 drives the control surface to swing, and no mechanical contact exists in the conversion process, so that mechanical jamming is avoided.
The support measurement member includes: the device comprises a bearing 10, a shell 13, an LVDT rod-shaped armature 2, an LVDT iron core and winding part 12 and a rotary transformer 11; the bearings 10 are positioned at the front end and the rear end of the rotor and play a role of supporting the integrated rotor, the outer ring of each bearing is connected with the shell 13, and the inner ring of each bearing is connected with the fixed supporting part 16 of the integrated rotor; the casing 13 of the electromechanical actuator is fixedly connected with the outer ring of the bearing 10 and the tail of the LVDT iron core and the winding part 12, so as to play a role in supporting and fixing; one end of the LVDT rod-shaped armature 2 is fixedly connected with the pull ring 1, the other end of the LVDT rod-shaped armature 2 is positioned in the LVDT iron core and the winding part 12, and when the permanent magnet lead screw moves linearly, the LVDT rod-shaped armature 2 is driven by the pull ring 1 to move back and forth, so that the linear displacement of the electromechanical actuator is measured; the front ends of the LVDT iron core and the winding part 12 are positioned at the rear part of the hollow cavity of the hollow lead screw 3, and the rear ends are fixedly connected with the central position of the tail part of the shell 13; structurally, the axial line of the rod-shaped armature 2 of the LVDT, the axial line of the hollow screw rod 3, the axial line of the permanent magnet vernier motor, the axial line of the linear displacement sensor LVDT, the axial line of the rotary transformer 11 and the axial line of the casing 13 are the same, so that the electromechanical actuator has better consistency; the stator part of the rotary transformer 11 is fixed inside the casing 13, the rotor part is fixedly connected with the fixed supporting part 16 of the integrated rotor, and when the electromechanical actuator works, the rotor of the permanent magnet vernier motor drives the rotor of the rotary transformer 11 to rotate, so that the rotary transformer 11 can measure the rotating speed and the rotating angle of the integrated rotor.
Claims (5)
1. A mechanical-jamming-free high-thrust-density direct-drive type electric actuator is characterized by comprising an inner rotor type permanent magnet fault-tolerant vernier motor, a permanent magnet lead screw pair and a support measuring component;
the inner rotor type permanent magnet fault-tolerant vernier motor comprises a stator winding (5), a stator (6), a rotor permanent magnet (7), a rotor iron core (8), stator teeth (14) and a magnetic flux modulation pole (15); the permanent magnet screw pair comprises a permanent magnet screw and a permanent magnet nut (9); the support measuring component comprises a bearing (10), a shell (13), a linear displacement transducer LVDT and a rotary transformer (11);
the stator (6) is fixed in the shell (13), a plurality of stator teeth (14) are uniformly distributed on the stator (6), and the lower parts of the stator teeth (14) are connected with the magnetic flux modulation poles (15) into a whole; the stator winding (5) surrounds each stator tooth (14) at intervals; the rotor permanent magnet (7) is fixed outside the rotor iron core (8), and a permanent magnet screw pair is arranged inside the rotor iron core (8);
the permanent magnet lead screw pair comprises a permanent magnet nut (9) and a permanent magnet lead screw; the spiral permanent magnet of the permanent magnet nut (9) is fixed on the inner surface of the rotor iron core (8); the permanent magnet screw comprises a hollow screw rod (3) and a screw-type permanent magnet (4), and the screw-type permanent magnet (4) is fixed on the outer surface of the hollow screw rod (3); the front end of the hollow screw rod (3) is connected with a pull ring (1);
the bearings (10) are positioned at the front end and the rear end of the rotor, the outer ring of the bearing (10) is connected with the shell (13), and the inner ring of the bearing is connected with the fixed supporting part (16) of the integrated rotor; the linear displacement transducer LVDT comprises an LVDT iron core, a winding part (12) and an LVDT rod-shaped armature iron (2), wherein the front ends of the LVDT iron core and the winding part (12) are positioned at the rear part of a cavity of the hollow lead screw (3), and the rear end of the LVDT iron core and the winding part is fixedly connected with the central position of the tail part of the shell (13); one end of the LVDT rod-shaped armature (2) is fixedly connected with the pull ring (1), and the other end is positioned inside the LVDT iron core and the winding part (12); the stator part of the rotary transformer (11) is fixed inside the casing (13), and the rotor part is fixedly connected with the fixed supporting part (16).
2. The mechanical-jamming-free high-thrust-density direct-drive type electric actuator as claimed in claim 1, wherein the stator winding (5) is a double three-phase centralized armature winding wound by teeth.
3. The mechanical-jamming-free high-thrust-density direct-drive type electric actuator as claimed in claim 1, wherein the rotor permanent magnets (7) are fixed on the outer portion of the rotor iron core (8) in a manner that N, S poles are arranged at intervals in a radial direction.
4. The mechanical-jamming-free high-thrust-density direct-drive type electric actuator as claimed in claim 1, wherein the screw type permanent magnet of the permanent magnet nut (9) corresponds to the screw type permanent magnet (4) of the lead screw and has the same pitch.
5. The mechanical-jamming-free high-thrust-density direct-drive type electric actuator is characterized in that the axis of the rod-shaped armature (2) of the LVDT, the axis of the hollow lead screw (3), the axis of the inner rotor type permanent magnet fault-tolerant vernier motor, the axis of the linear displacement sensor LVDT, the axis of the rotary transformer (11) and the axis of the casing (13) are located on the same straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010819408.7A CN112117863A (en) | 2020-08-14 | 2020-08-14 | Mechanical-jamming-free high-thrust-density direct-drive type electric actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010819408.7A CN112117863A (en) | 2020-08-14 | 2020-08-14 | Mechanical-jamming-free high-thrust-density direct-drive type electric actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112117863A true CN112117863A (en) | 2020-12-22 |
Family
ID=73804667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010819408.7A Pending CN112117863A (en) | 2020-08-14 | 2020-08-14 | Mechanical-jamming-free high-thrust-density direct-drive type electric actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112117863A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113700814A (en) * | 2021-07-16 | 2021-11-26 | 北京精密机电控制设备研究所 | Electromechanical actuator and method for forcibly unlocking fuzzy jamming fault of transmission mechanism |
| CN117713398A (en) * | 2024-02-05 | 2024-03-15 | 西南交通大学 | High-precision direct-drive electromechanical actuator |
| WO2024060971A1 (en) * | 2022-09-19 | 2024-03-28 | 亿航智能设备（广州）有限公司 | Linear actuator integrated with gear nonius encoder and control method therefor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202713100U (en) * | 2012-06-13 | 2013-01-30 | 江苏大学 | Low-speed and large-torque five-phase permanent magnetism fault tolerance motor for electromobile |
| CN203942388U (en) * | 2013-12-12 | 2014-11-12 | 北京曙光航空电气有限责任公司 | A kind of motor direct-drive actuator |
| CN207830501U (en) * | 2017-10-24 | 2018-09-07 | 河南理工大学 | A kind of permanent magnetism leading screw |
-
2020
- 2020-08-14 CN CN202010819408.7A patent/CN112117863A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202713100U (en) * | 2012-06-13 | 2013-01-30 | 江苏大学 | Low-speed and large-torque five-phase permanent magnetism fault tolerance motor for electromobile |
| CN203942388U (en) * | 2013-12-12 | 2014-11-12 | 北京曙光航空电气有限责任公司 | A kind of motor direct-drive actuator |
| CN207830501U (en) * | 2017-10-24 | 2018-09-07 | 河南理工大学 | A kind of permanent magnetism leading screw |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113700814A (en) * | 2021-07-16 | 2021-11-26 | 北京精密机电控制设备研究所 | Electromechanical actuator and method for forcibly unlocking fuzzy jamming fault of transmission mechanism |
| WO2024060971A1 (en) * | 2022-09-19 | 2024-03-28 | 亿航智能设备（广州）有限公司 | Linear actuator integrated with gear nonius encoder and control method therefor |
| CN117713398A (en) * | 2024-02-05 | 2024-03-15 | 西南交通大学 | High-precision direct-drive electromechanical actuator |
| CN117713398B (en) * | 2024-02-05 | 2024-05-07 | 西南交通大学 | High-precision direct-drive electromechanical actuator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112117863A (en) | Mechanical-jamming-free high-thrust-density direct-drive type electric actuator | |
| US7154192B2 (en) | Electrical machine with double-sided lamination stack | |
| EP3104519B1 (en) | Varying quantities of motor poles for noise reduction | |
| US7548008B2 (en) | Electrical machine with double-sided lamination stack | |
| US10663041B2 (en) | Jam-tolerant electric linear actuator | |
| CN101197520A (en) | Double-sided starter-generator for aircraft | |
| CN101951091B (en) | Double-rotor multi-pole motor of micro unmanned aerial vehicle | |
| CN110168863A (en) | High-speed motor with embedded rotor magnet | |
| US11060593B2 (en) | Jam-tolerant electric rotary actuator | |
| CN103441651B (en) | A kind of multi-port energy conversion device | |
| CN103346639A (en) | Novel permanent magnet motor | |
| CN109600015B (en) | Stator excitation type linear rotating motor structure | |
| CN117311135A (en) | Modeling method of dual-redundancy EHA (electro-hydraulic actuator) driven propeller fan engine variable-pitch system | |
| CN110868042B (en) | Scheme of high-rotating-speed high-power-density airborne full-superconducting generator | |
| US20180183310A1 (en) | Magnetically geared lead screw | |
| CN103219850A (en) | Compact permanent magnet brushless motor with equal-resistance duplex-winding structure | |
| CN201004589Y (en) | Serial dual rotor wind power generator and its rate-varying and excitation-varying system | |
| Nataraj et al. | Modeling and FEA analysis of axial flux PMG for low speed wind turbine applications | |
| RU2380733C1 (en) | Speed control | |
| CN210297458U (en) | Unmanned aerial vehicle propeller | |
| CN107528441A (en) | A kind of external rotor wind driven electric generator | |
| CN108100272A (en) | A kind of aircraft dynamic transfer system | |
| Zhang et al. | Design of a novel limited angle toque motor with compound Halbach array for electric direct-drive servo system in aerospace vehicle | |
| Long et al. | Design of an electromechanical actuator driven by SRM for the steering vane control system on the landing craft air cushion hovercraft | |
| CN109951017A (en) | A kind of integrated electro-mechanical actuator of aerospace high power density |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201222 |