CN113162314A - Three-degree-of-freedom magnetic suspension switch reluctance integrated motor - Google Patents

Three-degree-of-freedom magnetic suspension switch reluctance integrated motor Download PDF

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CN113162314A
CN113162314A CN202110366564.7A CN202110366564A CN113162314A CN 113162314 A CN113162314 A CN 113162314A CN 202110366564 A CN202110366564 A CN 202110366564A CN 113162314 A CN113162314 A CN 113162314A
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stator
radial
teeth
suspension
axial
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CN113162314B (en
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刘泽远
王振
魏明霞
郭鸿浩
张文峰
姜永将
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Nanjing University of Posts and Telecommunications
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Nanjing University of Posts and Telecommunications
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    • 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
    • H02K7/08—Structural association with bearings
    • H02K7/09—Structural association with bearings with magnetic bearings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
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    • Y02T10/64—Electric machine technologies in electromobility

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Abstract

本发明公布了一种三自由度磁悬浮开关磁阻集成电机。所述电机的转矩定子与径向力定子、轴向力定子相互隔离，因此产生转矩的转矩磁路与产生悬浮力的偏置磁路、悬浮磁路也相互隔离；由于悬浮定子齿的极弧角等于一个转子周期角，径向悬浮磁路不产生转矩，而且轴向悬浮磁路与转矩磁路无交叠，也不产生转矩；另外，三相转矩磁路均为短磁路结构，相与相间相互隔离，容错性和可靠性高。本发明集旋转和三自由度悬浮功能于一体，且转矩和三个悬浮力在结构上自然解耦，轴向长度短，有利于减小电机体积和重量，铁心损耗小，临界转矩和功率密度高；偏置磁通可由永磁励磁、电励磁和混合励磁等三种方法产生，可根据需要选择，应用场合和工况适应性强。

Figure 202110366564

The invention discloses a three-degree-of-freedom magnetic suspension switched reluctance integrated motor. The torque stator of the motor is isolated from the radial force stator and the axial force stator, so the torque magnetic circuit that generates torque is also isolated from the bias magnetic circuit and suspension magnetic circuit that generates suspension force; The pole arc angle is equal to a rotor cycle angle, the radial suspension magnetic circuit does not generate torque, and the axial suspension magnetic circuit and the torque magnetic circuit do not overlap, and no torque is generated; in addition, the three-phase torque magnetic circuit It is a short magnetic circuit structure, the phases are isolated from each other, and the fault tolerance and reliability are high. The invention integrates rotation and three-degree-of-freedom suspension functions, and the torque and the three suspension forces are naturally decoupled in structure, and the axial length is short, which is conducive to reducing the volume and weight of the motor, and the core loss is small, and the critical torque and High power density; bias magnetic flux can be generated by three methods: permanent magnet excitation, electric excitation and hybrid excitation, which can be selected according to needs, and has strong adaptability to application occasions and working conditions.

Figure 202110366564

Description

Three-degree-of-freedom magnetic suspension switch reluctance integrated motor
Technical Field
The invention relates to a three-degree-of-freedom magnetic suspension switch reluctance integrated motor, and belongs to the field of magnetic suspension motors.
Background
The switched reluctance motor has a simple structure, the stator and the rotor are both in a salient pole structure, the stator is wound with a centralized winding, the rotor has no winding and no permanent magnet, the high-speed performance is good, the fault-tolerant performance is strong, the high-temperature resistance and the grease resistance are realized, the environmental suitability is strong, and the switched reluctance motor is widely applied in the fields of aerospace, electric automobiles, flywheel energy storage, textile petroleum mines and the like. The magnetic suspension bearing has the advantages of no contact, no friction, convenient maintenance and the like, can effectively solve the bearing supporting problem of the high-speed motor, and is widely applied in the field of motors. The magnetic suspension function is integrated into the switched reluctance motor, so that the bearingless switched reluctance motor is formed. The bearingless switched reluctance motor integrates two functions of rotation and suspension, so that the problems of loss, heating and the like caused by bearing friction during high-speed operation can be effectively solved, and the high-speed adaptability of the switched reluctance motor can be further exerted, thereby strengthening the application basis of the switched reluctance motor in the high-speed fields of aerospace, flywheel energy storage, ships and warships and the like. However, the bearingless switched reluctance motor can only realize two-degree-of-freedom radial suspension operation, and at least one axial magnetic suspension bearing is required to be matched with the bearingless switched reluctance motor if a stable five-degree-of-freedom magnetic suspension motor system is to be formed. Further, the axial length of the motor system is increased, the critical rotating speed and power density are reduced, and the ultra-high speed and high-power operation of the motor is not facilitated.
The bearingless switched reluctance motor with two-degree-of-freedom suspension capability and the axial magnetic suspension bearing are further structurally integrated, the axial length of the motor is shortened, the volume of the magnetic suspension motor is reduced, the critical rotating speed and the power density of a system are improved, the important theoretical significance and the engineering practice value are achieved, and the high-speed adaptability of the switched reluctance motor is fully exerted.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom magnetic suspension switched reluctance integrated motor which has axial and radial suspension capacity, natural decoupling of torque and suspension force and high integration level.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-degree-of-freedom magnetic suspension switched reluctance integrated motor comprises a radial force stator, a torque stator, a non-magnetic-conduction support frame, a torque coil, a radial suspension coil, a bias coil, a permanent magnet, a stator annular magnetic guide yoke, an axial force stator I, an axial force stator II, an axial suspension coil I, an axial suspension coil II, a rotor annular magnetic guide yoke and a rotating shaft;
the radial force stator is of a salient pole structure, the number of teeth is 6, 6 teeth of the radial force stator are uniformly distributed in space, and the teeth are separated by 60 degrees;
the torque stator consists of 6C-shaped stators, the C-shaped stators are in salient pole structures, and the number of teeth is 2; the tooth-to-tooth difference of each C-shaped stator is 22.5 degrees;
the non-magnetic-conductive support frame consists of 6C-shaped non-magnetic-conductive structures;
the permanent magnets are of rectangular structures, and the number of the permanent magnets is 6;
the annular magnetic guide yoke of the stator is of an annular structure, and the annular magnetic guide yoke of the rotor is of an annular structure;
the rotor is of a salient pole structure, the number of teeth is 16, 16 rotor teeth are uniformly distributed, and the teeth are separated by 22.5 degrees;
the axial force stator I and the axial force stator II are both
Figure BDA0003007295780000021
A mold structure of
Figure BDA0003007295780000022
The salient pole of the structure forms a ring-shaped tooth in the direction of the salient pole, the
Figure BDA0003007295780000023
1 through hole is arranged in the profile structure, and the center line of the through hole is superposed with the center line of the annular tooth;
the inner diameter of the through hole is larger than the outer diameter of the rotating shaft; the rotating shaft penetrates through the axial stator I and the axial stator II and is arranged in the through hole;
the torque stator, the non-magnetic-conduction support frame and the radial force stator are closely arranged, and the non-magnetic-conduction support frame is closely arranged between the torque stator and the radial force stator; 1C-shaped stator and 1C-shaped non-magnetic structure are uniformly arranged between teeth and teeth of the radial force stator, and 6C-shaped stators and 6C-shaped non-magnetic structures are arranged in total; the center line of the C-shaped stator and the center line of the C-shaped non-magnetic structure are superposed with the center lines of two adjacent teeth of the radial force stator;
the axial force stator I, the radial force stator and the axial force stator II are all arranged in a stator annular magnetic yoke, the radial force stator is arranged between the axial force stator I and the axial force stator II, and the axial force stator I and the axial force stator II are tightly arranged at two ends of the stator annular magnetic yoke; the distance between the axial force stator I and the radial force stator is equal to the distance between the axial force stator II and the radial force stator; the salient pole annular teeth of the axial force stator I and the salient pole annular teeth of the axial force stator II point to the radial force stator;
the rotor is arranged in the radial force stator and the torque stator, the rotor is sleeved on the rotor annular magnetic conduction ring, and the rotor annular magnetic conduction yoke is sleeved on the rotating shaft;
each tooth of the C-shaped stator is wound with 1 torque coil, and the torque coils on two teeth of each C-shaped stator are connected in series to form 1 torque coil string, wherein 6 torque coils are formed; 2 torque coil strings with 180-degree spatial difference are connected in series to form 1 torque winding, and the number of the torque windings is 3, and A, B torque windings and C-phase torque windings are sequentially arranged;
1 axial suspension coil I is wound on an annular tooth in the axial force stator I, 1 axial suspension coil II is wound on an annular tooth in the axial force stator II, and the axial suspension coil I and the axial suspension coil II are connected in series to form 1 axial suspension winding;
the three-degree-of-freedom magnetic suspension switched reluctance integrated motor has three excitation modes for generating bias magnetic flux, namely a permanent magnet excitation mode, an electric excitation mode and a mixed excitation mode;
(1) in the permanent magnet excitation mode, the permanent magnet generates bias magnetic flux; 6 permanent magnets are tightly arranged between the radial force stator and the stator annular magnetic guide yoke, the central lines of the 6 permanent magnets are respectively superposed with the central lines of 6 teeth of the radial force stator, and the central lines of 2 teeth of the radial force stator are superposed with the horizontal direction;
each tooth of the radial force stator is wound with 1 radial suspension coil, and the number of the radial suspension coils is 6; 2 radial suspension coils on the stator teeth of the horizontal radial force are connected in series to form 1 horizontal radial suspension winding; the rest 4 radial suspension coils are connected in series to form 1 vertical radial suspension winding;
(2) in an electric excitation mode, the bias winding generates bias magnetic flux; the radial force stator is tightly arranged in the stator annular magnetic yoke;
each tooth of the radial force stator is wound with 1 radial suspension coil and 1 bias coil, and 6 radial suspension coils and 6 bias coils are formed in total; 2 radial suspension coils on the stator teeth of the horizontal radial force are connected in series to form 1 horizontal radial suspension winding; the rest 4 radial suspension coils are connected in series to form 1 vertical radial suspension winding; 6 bias coils are connected in series to form 1 bias winding;
(3) in the hybrid excitation mode, the permanent magnet and the bias winding jointly generate bias magnetic flux; 6 permanent magnets are tightly arranged between the radial force stator and the stator annular magnetic guide yoke, the central lines of the 6 permanent magnets are respectively superposed with the central lines of 6 teeth of the radial force stator, and the central lines of 2 teeth of the radial force stator are superposed with the horizontal direction;
each tooth of the radial force stator is wound with 1 radial suspension coil and 1 bias coil, and 6 radial suspension coils and 6 bias coils are formed in total; 2 radial suspension coils on the stator teeth of the horizontal radial force are connected in series to form 1 horizontal radial suspension winding; the rest 4 radial suspension coils are connected in series to form 1 vertical radial suspension winding; 6 bias coils are connected in series to form 1 bias winding.
The pole arc angle of each tooth of the radial force stator is a rotor period angle, namely 22.5 degrees; when the torque coils on the two teeth of each C-shaped stator apply current, the polarities of magnetic fluxes generated on the two teeth of each C-shaped stator are opposite, and a series magnetic circuit is formed on the two teeth; when the horizontal radial suspension winding applies current, a two-pole magnetic flux is generated, and the polarities of the magnetic fluxes generated on two horizontal direction teeth in the radial force stator are opposite; defining a horizontal positive direction as a zero-degree space angle position, wherein a space angle is positive when the anticlockwise direction changes, when the vertical radial suspension winding applies current, two-pole magnetic flux is generated, the magnetic flux polarities generated on two teeth of the radial force stator at the positions with the space angles of 60 degrees and 120 degrees are the same, the magnetic flux polarities generated on two teeth of the radial force stator at the positions with the space angles of 240 degrees and 300 degrees are the same, and the magnetic flux polarities on two teeth of the radial force stator at the positions with the space angles of 60 degrees and 120 degrees are opposite to the magnetic flux polarities on two teeth of the radial force stator at the positions with the space angles of 240 degrees and 300 degrees; when current is applied to the axial suspension winding, a two-pole magnetic flux is generated, and the polarity of the magnetic flux generated on the annular teeth in the axial force stator I is opposite to that of the magnetic flux generated on the annular teeth in the axial force stator II.
When a permanent magnet excitation mode is adopted, the permanent magnets adopt a radial magnetizing mode, and 6 permanent magnets have the same magnetizing direction.
When the electric excitation mode is adopted, when the bias winding applies current, the polarities of magnetic fluxes generated on the radial force stator teeth by the 6 bias coils are the same.
When a hybrid excitation mode is adopted, the permanent magnets adopt a radial magnetizing mode, and 6 permanent magnets have the same magnetizing direction; when the bias winding applies current, the 6 bias coils generate magnetic flux on the radial force stator teeth with the same polarity as the magnetic flux generated by the 6 permanent magnets.
The A, B, C three-phase torque winding is conducted in turn to generate output torque by adopting a unipolar driving mode of a traditional switched reluctance motor; the bias winding adopts a unipolar driving mode, the horizontal radial suspension winding, the vertical radial suspension winding and the axial suspension winding adopt a bipolar driving mode, and the three suspension windings are constantly conducted and excited to respectively generate horizontal suspension force, vertical suspension force and axial suspension force.
The invention has the beneficial effects that: the invention provides a three-degree-of-freedom magnetic suspension switched reluctance integrated motor with an axial and radial suspension function, and by adopting the technical scheme of the invention, the following technical effects can be achieved:
(1) the device has the capabilities of rotation, axial suspension and two radial suspensions, and is high in integration level, short in axial length, high in critical rotating speed and high in power density;
(2) the torque control magnetic circuit and the suspension control excitation are mutually isolated without coupling, and the torque and the suspension force are structurally and naturally decoupled;
(3) the three-phase torque magnetic circuits are all of short magnetic circuit structures, and are mutually isolated from phases, so that the fault tolerance performance is good, and the iron core loss is small;
(4) the bias magnetic flux excitation method is flexible, can adopt three methods of permanent magnet excitation, electric excitation, mixed excitation and the like to generate bias magnetic flux, and can adapt to various operating conditions; when the permanent magnet generates bias magnetic flux required by suspension force, the volume weight is small, the power density is high, the suspension force/suspension current ratio is large, and the suspension power consumption is favorably reduced; when the bias winding generates bias magnetic flux, the inherent rigidity is high, the critical rotating speed is high, the high temperature resistance is realized, and the environmental suitability is strong; when the bias winding and the permanent magnet jointly generate bias magnetic flux, the advantages of two excitation modes of permanent magnet and electromagnetism are taken into consideration, the suspension bearing capacity is greatly enhanced, and the magnetic suspension device is particularly suitable for the fields of magnetic suspension trains, flywheel energy storage, aerospace and the like.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram according to a first embodiment of the present invention.
Fig. 2 is a schematic diagram of the magnetic flux generated by the phase a winding current when the rotor is in a non-aligned position according to an embodiment of the present invention.
Fig. 3 is a schematic view of the magnetic flux generated by phase a winding current when the rotor is in the aligned position according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of bias magnetic flux and radial levitation control magnetic flux generated by a permanent magnet and two radial levitation winding currents according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of bias flux and axial levitation control flux generated by permanent magnets and axial levitation winding current in accordance with an embodiment of the present invention.
Fig. 6 is a schematic three-dimensional structure diagram of a second embodiment of the present invention.
FIG. 7 is a schematic diagram of the bias flux and the radial levitation control flux generated by the bias winding current and the two radial levitation winding currents according to the embodiment of the invention.
Fig. 8 is a schematic three-dimensional structure diagram of a third embodiment of the present invention.
Fig. 9 is a schematic diagram of the bias flux generated by the three permanent magnets and the bias winding current according to the embodiment of the invention.
Description of reference numerals: in fig. 1 to 9, 1 is a radial force stator, 2 is a torque stator, 3 is a non-magnetic-conductive support frame, 4 is a radial levitation coil, 5 is a torque coil, 6 is a permanent magnet, 7 is a stator annular magnetic yoke, 8 is an axial force stator i, 9 is an axial force stator ii, 10 is an axial levitation coil i, 11 is an axial levitation coil ii, 12 is a rotor, 13 is a rotor annular magnetic yoke, 14 is a rotating shaft, 15 is a magnetic flux generated by an a-phase winding current when the rotor is in an misaligned position, 16 is a magnetic flux generated by an a-phase winding current when the rotor is in an aligned position, 17 is a bias magnetic flux generated by the permanent magnet, 18 is a radial levitation control magnetic flux generated by a horizontal radial levitation winding current, 19 is a radial levitation control magnetic flux generated by a vertical radial levitation winding current, 20 is an axial levitation control magnetic flux generated by an axial levitation winding current, 21 is a bias coil, 22 is the bias flux generated by the bias winding current, ia+ is the current flowing in the A-phase winding, iaIs the outgoing current of the A-phase winding, ibias+ is the current flowing in the bias winding, ibiasThe current flowing out of the bias winding ix+、iy+、iz+ is the inflow current of horizontal radial suspension winding, vertical radial suspension winding, axial suspension winding, ix-、iy-、izThe current flows of the horizontal radial suspension winding, the vertical radial suspension winding and the axial suspension winding respectively, and X, Y, Z are three coordinate axes of a rectangular coordinate system respectively.
Detailed Description
The technical scheme of the three-degree-of-freedom magnetic suspension switch reluctance integrated motor is described in detail below with reference to the attached drawings:
as shown in fig. 1, the three-dimensional structure of the first embodiment of the present invention is schematically illustrated, where 1 is a radial force stator, 2 is a torque stator, 3 is a non-magnetic-conductive support frame, 4 is a radial levitation coil, 5 is a torque coil, 6 is a permanent magnet, 7 is a stator annular magnetic yoke, 8 is an axial force stator i, 9 is an axial force stator ii, 10 is an axial levitation coil i, 11 is an axial levitation coil ii, 12 is a rotor, 13 is a rotor annular magnetic yoke, 14 is a rotation axis, and X, Y, Z are three coordinate axes of a rectangular coordinate system, respectively.
The three-degree-of-freedom magnetic suspension switched reluctance integrated motor comprises a radial force stator, a torque stator, a non-magnetic-conduction support frame, a torque coil, a radial suspension coil, a permanent magnet, a stator annular magnetic guide yoke, an axial force stator I, an axial force stator II, an axial suspension coil I, an axial suspension coil II, a rotor annular magnetic guide yoke and a rotating shaft;
the radial force stator is of a salient pole structure, the number of teeth is 6, 6 teeth of the radial force stator are uniformly distributed in space, and the teeth are separated by 60 degrees;
the torque stator consists of 6C-shaped stators, the C-shaped stators are in salient pole structures, and the number of teeth is 2; the tooth-to-tooth difference of each C-shaped stator is 22.5 degrees;
the non-magnetic-conductive support frame consists of 6C-shaped non-magnetic-conductive structures;
the permanent magnets are of rectangular structures, and the number of the permanent magnets is 6;
the annular magnetic guide yoke of the stator is of an annular structure, and the annular magnetic guide yoke of the rotor is of an annular structure;
the rotor is of a salient pole structure, the number of teeth is 16, 16 rotor teeth are uniformly distributed, and the teeth are separated by 22.5 degrees;
the axial force stator I and the axial force stator II are both
Figure BDA0003007295780000061
A mold structure of
Figure BDA0003007295780000062
The salient pole of the structure forms a ring-shaped tooth in the direction of the salient pole, the
Figure BDA0003007295780000063
1 through hole is arranged in the profile structure, and the center line of the through hole is superposed with the center line of the annular tooth;
the inner diameter of the through hole is larger than the outer diameter of the rotating shaft; the rotating shaft penetrates through the axial stator I and the axial stator II and is arranged in the through hole;
the torque stator, the non-magnetic-conduction support frame and the radial force stator are closely arranged, and the non-magnetic-conduction support frame is closely arranged between the torque stator and the radial force stator; 1C-shaped stator and 1C-shaped non-magnetic structure are uniformly arranged between teeth and teeth of the radial force stator, and 6C-shaped stators and 6C-shaped non-magnetic structures are arranged in total; the center line of the C-shaped stator and the center line of the C-shaped non-magnetic structure are superposed with the center lines of two adjacent teeth of the radial force stator;
6 permanent magnets are tightly arranged between the radial force stator and the stator annular magnetic guide yoke, the central lines of the 6 permanent magnets are respectively superposed with the central lines of 6 teeth of the radial force stator, and the central lines of 2 teeth of the radial force stator are superposed with the horizontal direction;
the axial force stator I, the radial force stator and the axial force stator II are all arranged in a stator annular magnetic yoke, the radial force stator is arranged between the axial force stator I and the axial force stator II, and the axial force stator I and the axial force stator II are tightly arranged at two ends of the stator annular magnetic yoke; the distance between the axial force stator I and the radial force stator is equal to the distance between the axial force stator II and the radial force stator; the salient pole annular teeth of the axial force stator I and the salient pole annular teeth of the axial force stator II point to the radial force stator;
the rotor is arranged in the radial force stator and the torque stator, the rotor is sleeved on the rotor annular magnetic conduction ring, and the rotor annular magnetic conduction yoke is sleeved on the rotating shaft;
each tooth of the C-shaped stator is wound with 1 torque coil, and the torque coils on two teeth of each C-shaped stator are connected in series to form 1 torque coil string, wherein 6 torque coils are formed; 2 torque coil strings with 180-degree spatial difference are connected in series to form 1 torque winding, and the number of the torque windings is 3, and A, B torque windings and C-phase torque windings are sequentially arranged;
2 radial suspension coils on the stator teeth of the horizontal radial force are connected in series to form 1 horizontal radial suspension winding; the rest 4 radial suspension coils are connected in series to form 1 vertical radial suspension winding;
1 axial suspension coil I is wound on an annular tooth in the axial force stator I, 1 axial suspension coil II is wound on an annular tooth in the axial force stator II, and the axial suspension coil I and the axial suspension coil II are connected in series to form 1 axial suspension winding;
the permanent magnets adopt a radial magnetizing mode, and 6 permanent magnets have the same magnetizing direction; the pole arc angle of each tooth of the radial force stator is a rotor period angle, namely 22.5 degrees; when the torque coils on the two teeth of each C-shaped stator apply current, the polarities of magnetic fluxes generated on the two teeth of each C-shaped stator are opposite, and a series magnetic circuit is formed on the two teeth; when the horizontal radial suspension winding applies current, a two-pole magnetic flux is generated, and the polarities of the magnetic fluxes generated on two horizontal direction teeth in the radial force stator are opposite; defining a horizontal positive direction as a zero-degree space angle position, wherein a space angle is positive when the anticlockwise direction changes, when the vertical radial suspension winding applies current, two-pole magnetic flux is generated, the magnetic flux polarities generated on two teeth of the radial force stator at the positions with the space angles of 60 degrees and 120 degrees are the same, the magnetic flux polarities generated on two teeth of the radial force stator at the positions with the space angles of 240 degrees and 300 degrees are the same, and the magnetic flux polarities on two teeth of the radial force stator at the positions with the space angles of 60 degrees and 120 degrees are opposite to the magnetic flux polarities on two teeth of the radial force stator at the positions with the space angles of 240 degrees and 300 degrees; when current is applied to the axial suspension winding, a two-pole magnetic flux is generated, and the polarity of the magnetic flux generated on the annular teeth in the axial force stator I is opposite to that of the magnetic flux generated on the annular teeth in the axial force stator II;
the A, B, C three-phase torque winding is conducted in turn to generate output torque by adopting a unipolar driving mode of a traditional switched reluctance motor; the permanent magnet generates bias magnetic flux with constant direction and magnitude; the horizontal radial suspension winding, the vertical radial suspension winding and the axial suspension winding adopt a bipolar driving mode, and the three suspension windings are constantly conducted and excited to respectively generate horizontal suspension force, vertical suspension force and axial suspension force.
Fig. 2 and fig. 3 are schematic diagrams of magnetic fluxes generated by a phase a winding current when the rotor is in the non-aligned position and the aligned position, respectively, according to an embodiment of the present invention. Reference numeral 15 denotes a magnetic flux generated when the rotor is in the non-aligned position by the a-phase winding current, and reference numeral 16 denotes a magnetic flux generated when the rotor is in the aligned position by the a-phase winding current. The X axis is defined to be in the horizontal direction, the Y axis is defined to be in the vertical direction, and the Z axis is defined to be in the axial direction.
Defining the center line of the rotor teeth and the center line of the torque teeth as an aligned position when coinciding, wherein the magnetic resistance of the magnetic circuit is minimum; when the central lines of two adjacent rotor teeth of the stator coincide with the centers of the torque teeth, the positions are not aligned, and the magnetic resistance of the magnetic circuit is maximum at the moment. Each tooth of the C-shaped stator is wound with 1 torque coil, and the torque coils on two teeth of each C-shaped stator are connected in series to form 1 torque coil string, wherein 6 torque coils are formed; 2 torque coil strings with 180-degree spatial difference are connected in series to form 1 torque winding, and the number of the torque windings is 3, and A, B torque windings and C-phase torque windings are sequentially arranged;
when the current applied to the A-phase winding is iaWhen the magnetic flux generating device is used, two-pole symmetrical magnetic fluxes are generated, and each magnetic flux is distributed in an NS mode on two teeth of each C-shaped stator; each flux circuit is: one tooth of the C-shaped stator, a radial air gap, a rotor tooth and a rotor yoke (or a rotor tooth), the radial air gap, the other tooth of the C-shaped stator, the C-shaped stator yoke and the C-shaped stator tooth are closed, and the magnetic flux is distributed by a short magnetic circuit. Similarly, when the windings of the B phase and the C phase are applied with current, short magnetic path magnetic flux with two symmetrically distributed poles is generated. The motor is rotated and operated by adopting a unipolar driving mode of a traditional switched reluctance motor and generating output torque by alternately conducting A, B, C three-phase torque windings.
As shown in fig. 4 and 5, schematic diagrams of bias magnetic flux and radial levitation control magnetic flux generated by a permanent magnet and two radial levitation winding currents according to an embodiment of the present invention, and schematic diagrams of bias magnetic flux and axial levitation control magnetic flux generated by a permanent magnet and an axial levitation winding current according to an embodiment of the present invention are shown, respectively. Reference numeral 17 denotes a bias magnetic flux generated by a permanent magnet, 18 denotes a radial levitation control magnetic flux generated by a horizontal radial levitation winding current, 19 denotes a radial levitation control magnetic flux generated by a vertical radial levitation winding current, and 20 denotes an axial levitation control magnetic flux generated by an axial levitation winding current.
6 the permanent magnets adopt a radial magnetizing mode, and all the permanent magnets have the same magnetizing direction. Bias magnetism generated by the permanent magnet passes through a radial force stator yoke, a radial force stator tooth, a radial air gap, a rotor tooth, a rotor yoke and a rotor annular magnetic yoke, and then is divided into two parts, wherein one part passes through the axial air gap, the axial stator I annular tooth, the axial stator I yoke, the stator annular magnetic yoke and then reaches a permanent magnet radial closed loop; the other path of the magnetic field passes through the axial air gap, the annular teeth of the axial stator II, the yoke part of the axial stator II and the annular magnetic guide yoke of the stator, and then radially forms another closed loop from the permanent magnet;
the horizontal radial suspension winding applies current ixA radially dipolar symmetric flux will be generated. Each magnetic flux passes through the horizontal positive direction teeth of the radial force stator, the radial air gap, the horizontal positive direction teeth of the rotor, the rotor yoke, the horizontal negative direction teeth of the rotor, the radial air gap, the horizontal negative direction teeth of the radial force stator, the yoke of the radial force stator and finally reaches the horizontal positive direction teeth of the radial force stator to form a closed loop. The horizontal radial suspension winding applies a current i as shown in FIG. 4xWhen the suspension force is generated, the air gap magnetic flux in the positive horizontal direction is enhanced, the air gap magnetic flux in the negative horizontal direction is weakened, and a horizontal (X-axis) positive suspension force is generated; when current ixWhen the direction is changed, a horizontal (X-axis) negative direction suspension force is generated.
The vertical radial suspension winding applies current iyA radially dipolar flux will also be generated. One of the magnetic fluxes passes through the 60-degree position tooth of the radial force stator, the radial air gap, the rotor tooth, the rotor yoke, the rotor tooth, the radial air gap, the 300-degree position tooth of the radial force stator, the yoke part of the radial force stator and finally reaches the 60-degree position tooth of the radial force stator to form a closed loop. The vertical radial suspension winding applies a current i as shown in FIG. 4yIn the process, the air gap flux under the 60-degree position tooth and the 120-degree position tooth of the radial force stator is enhanced, and the air under the 240-degree position tooth and the 300-degree position tooth of the radial force stator is enhancedThe gap magnetic flux is weakened, and a vertical (Y-axis) positive direction suspension force is generated; when current iyWhen the direction is changed, a vertical (Y-axis) negative direction suspension force is generated.
Axial suspension winding applying current of izA radially dipolar flux will also be generated. Each magnetic meridian passage axial force stator I annular tooth, axial force stator I yoke, stator annular magnetic yoke, axial force stator II annular tooth, axial negative direction air gap, rotor annular magnetic yoke, axial positive direction air gap, and finally to axial force stator I annular tooth, forming a closed loop. Applying a current i as shown in FIG. 5 to the axial levitation windingzWhen the magnetic suspension is used, the magnetic flux in the air gap in the axial negative direction is enhanced, the magnetic flux in the air gap in the axial positive direction is weakened, and an axial (Z-axis) negative direction suspension force is generated; when current izWhen the direction is changed, an axial (Z-axis) negative direction suspension force is generated.
Therefore, a bipolar driving mode is adopted, the magnitude and the direction of three suspension forces can be controlled by reasonably controlling the magnitude and the direction of currents of three suspension windings, so that three suspension forces in any directions and in any magnitudes are generated, and further the axial and two radial stable suspension operations of the rotor are realized.
Fig. 6 is a schematic three-dimensional structure diagram of a second embodiment of the present invention, where 1 is a radial force stator, 2 is a torque stator, 3 is a non-magnetic-conductive support frame, 4 is a radial levitation coil, 5 is a torque coil, 7 is a stator annular magnetic conductive yoke, 8 is an axial force stator i, 9 is an axial force stator ii, 10 is an axial levitation coil i, 11 is an axial levitation coil ii, 12 is a rotor, 13 is a rotor annular magnetic conductive yoke, 14 is a rotating shaft, and 21 is a bias coil.
The three-degree-of-freedom magnetic suspension switched reluctance integrated motor comprises a radial force stator, a torque stator, a non-magnetic-conduction support frame, a torque coil, a radial suspension coil, a bias coil, a stator annular magnetic guide yoke, an axial force stator I, an axial force stator II, an axial suspension coil I, an axial suspension coil II, a rotor annular magnetic guide yoke and a rotating shaft;
the radial force stator is of a salient pole structure, the number of teeth is 6, 6 teeth of the radial force stator are uniformly distributed in space, and the teeth are separated by 60 degrees;
the torque stator consists of 6C-shaped stators, the C-shaped stators are in salient pole structures, and the number of teeth is 2; the tooth-to-tooth difference of each C-shaped stator is 22.5 degrees;
the non-magnetic-conductive support frame consists of 6C-shaped non-magnetic-conductive structures;
the permanent magnets are of rectangular structures, and the number of the permanent magnets is 6;
the annular magnetic guide yoke of the stator is of an annular structure, and the annular magnetic guide yoke of the rotor is of an annular structure;
the rotor is of a salient pole structure, the number of teeth is 16, 16 rotor teeth are uniformly distributed, and the teeth are separated by 22.5 degrees;
the axial force stator I and the axial force stator II are both
Figure BDA0003007295780000091
A mold structure of
Figure BDA0003007295780000092
The salient pole of the structure forms a ring-shaped tooth in the direction of the salient pole, the
Figure BDA0003007295780000093
1 through hole is arranged in the profile structure, and the center line of the through hole is superposed with the center line of the annular tooth;
the inner diameter of the through hole is larger than the outer diameter of the rotating shaft; the rotating shaft penetrates through the axial stator I and the axial stator II and is arranged in the through hole;
the torque stator, the non-magnetic-conduction support frame and the radial force stator are closely arranged, and the non-magnetic-conduction support frame is closely arranged between the torque stator and the radial force stator; 1C-shaped stator and 1C-shaped non-magnetic structure are uniformly arranged between teeth and teeth of the radial force stator, and 6C-shaped stators and 6C-shaped non-magnetic structures are arranged in total; the center line of the C-shaped stator and the center line of the C-shaped non-magnetic structure are superposed with the center lines of two adjacent teeth of the radial force stator;
the axial force stator I, the radial force stator and the axial force stator II are all tightly arranged in a stator annular magnetic yoke, the radial force stator is arranged between the axial force stator I and the axial force stator II, and the axial force stator I and the axial force stator II are tightly arranged at two ends of the stator annular magnetic yoke; the distance between the axial force stator I and the radial force stator is equal to the distance between the axial force stator II and the radial force stator; the salient pole annular teeth of the axial force stator I and the salient pole annular teeth of the axial force stator II point to the radial force stator;
the rotor is arranged in the radial force stator and the torque stator, the rotor is sleeved on the rotor annular magnetic conduction ring, and the rotor annular magnetic conduction yoke is sleeved on the rotating shaft;
each tooth of the C-shaped stator is wound with 1 torque coil, and the torque coils on two teeth of each C-shaped stator are connected in series to form 1 torque coil string, wherein 6 torque coils are formed; 2 torque coil strings with 180-degree spatial difference are connected in series to form 1 torque winding, and the number of the torque windings is 3, and A, B torque windings and C-phase torque windings are sequentially arranged;
each tooth of the radial force stator is wound with 1 radial suspension coil and 1 bias coil, and 6 radial suspension coils and 6 bias coils are formed in total; 2 radial suspension coils on the stator teeth of the horizontal radial force are connected in series to form 1 horizontal radial suspension winding; the rest 4 radial suspension coils are connected in series to form 1 vertical radial suspension winding; 6 bias coils are connected in series to form 1 bias winding;
1 axial suspension coil I is wound on an annular tooth in the axial force stator I, 1 axial suspension coil II is wound on an annular tooth in the axial force stator II, and the axial suspension coil I and the axial suspension coil II are connected in series to form 1 axial suspension winding;
the pole arc angle of each tooth of the radial force stator is a rotor period angle, namely 22.5 degrees; when the torque coils on the two teeth of each C-shaped stator apply current, the polarities of magnetic fluxes generated on the two teeth of each C-shaped stator are opposite, and a series magnetic circuit is formed on the two teeth; when the horizontal radial suspension winding applies current, a two-pole magnetic flux is generated, and the polarities of the magnetic fluxes generated on two horizontal direction teeth in the radial force stator are opposite; defining a horizontal positive direction as a zero-degree space angle position, wherein a space angle is positive when the anticlockwise direction changes, when the vertical radial suspension winding applies current, two-pole magnetic flux is generated, the magnetic flux polarities generated on two teeth of the radial force stator at the positions with the space angles of 60 degrees and 120 degrees are the same, the magnetic flux polarities generated on two teeth of the radial force stator at the positions with the space angles of 240 degrees and 300 degrees are the same, and the magnetic flux polarities on two teeth of the radial force stator at the positions with the space angles of 60 degrees and 120 degrees are opposite to the magnetic flux polarities on two teeth of the radial force stator at the positions with the space angles of 240 degrees and 300 degrees; when current is applied to the axial suspension winding, a two-pole magnetic flux is generated, and the polarity of the magnetic flux generated on the annular teeth in the axial force stator I is opposite to that of the magnetic flux generated on the annular teeth in the axial force stator II;
the A, B, C three-phase torque winding is conducted in turn to generate output torque by adopting a unipolar driving mode of a traditional switched reluctance motor; the bias winding adopts a unipolar driving mode to generate bias magnetic flux with invariable direction; the horizontal radial suspension winding, the vertical radial suspension winding and the axial suspension winding adopt a bipolar driving mode, and the three suspension windings are constantly conducted and excited to respectively generate horizontal suspension force, vertical suspension force and axial suspension force.
Fig. 7 is a schematic diagram of the bias magnetic flux and the radial levitation control magnetic flux generated by the bias winding current and the two radial levitation winding currents according to the embodiment of the present invention. 18 is the radial levitation control flux generated by the horizontal radial levitation winding current, 19 is the radial levitation control flux generated by the vertical radial levitation winding current, and 22 is the bias flux generated by the bias winding current.
When the bias winding applies current ibiasWhen the stator is in use, the polarities of magnetic fluxes generated on the radial force stator teeth by the 6 bias coil currents are the same; the bias magnetic flux path generated by each bias coil current is similar to the bias magnetic flux path generated by the permanent magnet in fig. 4, namely the bias magnetic flux passes through the radial force stator teeth, the radial air gap, the rotor teeth, the rotor yoke and the rotor annular magnetic guide yoke and then is divided into two parts, and one part passes through the axial air gap, the axial stator I annular teeth, the axial stator I yoke part, the fixing partA sub-annular magnetic yoke, a radial force stator yoke and a radial force stator tooth radial closed loop; the other path of the magnetic field passes through an axial air gap, an axial stator II annular tooth, a yoke part of the axial stator II, a stator annular magnetic yoke and a radial force stator yoke and then reaches the radial force stator tooth to form another closed loop in the radial direction;
when current is applied to the horizontal radial suspension winding and the vertical radial winding, two-pole control magnetic flux is generated respectively, and the paths of the two-pole control magnetic flux are the same as those of the radial control magnetic flux in the figure 4; when current is applied to the axial levitation winding, a two-pole control magnetic flux is also generated, which is the same as the axial control magnetic flux path in fig. 5;
therefore, the principle of generating the levitation force is also exactly the same as that of the first embodiment. When the bias winding adopts a unipolar driving mode and is constantly conducted, a constant bias magnetic flux is generated; when the three suspension windings adopt a bipolar driving mode, the magnitude and the direction of three suspension forces can be controlled by reasonably controlling the magnitude and the direction of the current of the three suspension windings, so that three suspension forces in any directions and in any sizes are generated, and further the axial and two radial stable suspension operations of the rotor are realized. Compared with the first embodiment in which the permanent magnet bias magnetic flux is not adjustable, the second embodiment in which the magnitude of the bias winding current can be conveniently adjusted to dynamically control the magnitude of the bias magnetic flux, thereby meeting the requirements of different suspension working conditions.
Fig. 8 is a schematic three-dimensional structure diagram of a third embodiment of the present invention, where 1 is a radial force stator, 2 is a torque stator, 3 is a non-magnetic-conductive support frame, 4 is a radial levitation coil, 5 is a torque coil, 6 is a permanent magnet, 7 is a stator annular magnetic conductive yoke, 8 is an axial force stator i, 9 is an axial force stator ii, 10 is an axial levitation coil i, 11 is an axial levitation coil ii, 12 is a rotor, 13 is a rotor annular magnetic conductive yoke, 14 is a rotating shaft, and 21 is a bias coil.
The three-degree-of-freedom magnetic suspension switched reluctance integrated motor comprises a radial force stator, a torque stator, a non-magnetic-conduction support frame, a torque coil, a radial suspension coil, a bias coil, a permanent magnet, a stator annular magnetic guide yoke, an axial force stator I, an axial force stator II, an axial suspension coil I, an axial suspension coil II, a rotor annular magnetic guide yoke and a rotating shaft;
the radial force stator is of a salient pole structure, the number of teeth is 6, 6 teeth of the radial force stator are uniformly distributed in space, and the teeth are separated by 60 degrees;
the torque stator consists of 6C-shaped stators, the C-shaped stators are in salient pole structures, and the number of teeth is 2; the tooth-to-tooth difference of each C-shaped stator is 22.5 degrees;
the non-magnetic-conductive support frame consists of 6C-shaped non-magnetic-conductive structures;
the permanent magnets are of rectangular structures, and the number of the permanent magnets is 6;
the annular magnetic guide yoke of the stator is of an annular structure, and the annular magnetic guide yoke of the rotor is of an annular structure;
the rotor is of a salient pole structure, the number of teeth is 16, 16 rotor teeth are uniformly distributed, and the teeth are separated by 22.5 degrees;
the axial force stator I and the axial force stator II are both
Figure BDA0003007295780000121
A mold structure of
Figure BDA0003007295780000122
The salient pole of the structure forms a ring-shaped tooth in the direction of the salient pole, the
Figure BDA0003007295780000123
1 through hole is arranged in the profile structure, and the center line of the through hole is superposed with the center line of the annular tooth;
the inner diameter of the through hole is larger than the outer diameter of the rotating shaft; the rotating shaft penetrates through the axial stator I and the axial stator II and is arranged in the through hole;
the torque stator, the non-magnetic-conduction support frame and the radial force stator are closely arranged, and the non-magnetic-conduction support frame is closely arranged between the torque stator and the radial force stator; 1C-shaped stator and 1C-shaped non-magnetic structure are uniformly arranged between teeth and teeth of the radial force stator, and 6C-shaped stators and 6C-shaped non-magnetic structures are arranged in total; the center line of the C-shaped stator and the center line of the C-shaped non-magnetic structure are superposed with the center lines of two adjacent teeth of the radial force stator;
6 permanent magnets are tightly arranged between the radial force stator and the stator annular magnetic guide yoke, the central lines of the 6 permanent magnets are respectively superposed with the central lines of 6 teeth of the radial force stator, and the central lines of 2 teeth of the radial force stator are superposed with the horizontal direction;
the axial force stator I, the radial force stator and the axial force stator II are all arranged in a stator annular magnetic yoke, the radial force stator is arranged between the axial force stator I and the axial force stator II, and the axial force stator I and the axial force stator II are tightly arranged at two ends of the stator annular magnetic yoke; the distance between the axial force stator I and the radial force stator is equal to the distance between the axial force stator II and the radial force stator; the salient pole annular teeth of the axial force stator I and the salient pole annular teeth of the axial force stator II point to the radial force stator;
the rotor is arranged in the radial force stator and the torque stator, the rotor is sleeved on the rotor annular magnetic conduction ring, and the rotor annular magnetic conduction yoke is sleeved on the rotating shaft;
each tooth of the C-shaped stator is wound with 1 torque coil, and the torque coils on two teeth of each C-shaped stator are connected in series to form 1 torque coil string, wherein 6 torque coils are formed; 2 torque coil strings with 180-degree spatial difference are connected in series to form 1 torque winding, and the number of the torque windings is 3, and A, B torque windings and C-phase torque windings are sequentially arranged;
each tooth of the radial force stator is wound with 1 radial suspension coil and 1 bias coil, and 6 radial suspension coils and 6 bias coils are formed in total; 2 radial suspension coils on the stator teeth of the horizontal radial force are connected in series to form 1 horizontal radial suspension winding; the rest 4 radial suspension coils are connected in series to form 1 vertical radial suspension winding; 6 bias coils are connected in series to form 1 bias winding;
1 axial suspension coil I is wound on an annular tooth in the axial force stator I, 1 axial suspension coil II is wound on an annular tooth in the axial force stator II, and the axial suspension coil I and the axial suspension coil II are connected in series to form 1 axial suspension winding;
the permanent magnets adopt a radial magnetizing mode, and 6 permanent magnets have the same magnetizing direction; the pole arc angle of each tooth of the radial force stator is a rotor period angle, namely 22.5 degrees; when the torque coils on the two teeth of each C-shaped stator apply current, the polarities of magnetic fluxes generated on the two teeth of each C-shaped stator are opposite, and a series magnetic circuit is formed on the two teeth; when the horizontal radial suspension winding applies current, a two-pole magnetic flux is generated, and the polarities of the magnetic fluxes generated on two horizontal direction teeth in the radial force stator are opposite; defining a horizontal positive direction as a zero-degree space angle position, wherein a space angle is positive when the anticlockwise direction changes, when the vertical radial suspension winding applies current, two-pole magnetic flux is generated, the magnetic flux polarities generated on two teeth of the radial force stator at the positions with the space angles of 60 degrees and 120 degrees are the same, the magnetic flux polarities generated on two teeth of the radial force stator at the positions with the space angles of 240 degrees and 300 degrees are the same, and the magnetic flux polarities on two teeth of the radial force stator at the positions with the space angles of 60 degrees and 120 degrees are opposite to the magnetic flux polarities on two teeth of the radial force stator at the positions with the space angles of 240 degrees and 300 degrees; when current is applied to the axial suspension winding, a two-pole magnetic flux is generated, and the polarity of the magnetic flux generated on the annular teeth in the axial force stator I is opposite to that of the magnetic flux generated on the annular teeth in the axial force stator II;
the A, B, C three-phase torque winding is conducted in turn to generate output torque by adopting a unipolar driving mode of a traditional switched reluctance motor; when the bias winding is driven by single polarity, the bias winding and the permanent magnet together generate bias magnetic flux; the horizontal radial suspension winding, the vertical radial suspension winding and the axial suspension winding adopt a bipolar driving mode, and the three suspension windings are constantly conducted and excited to respectively generate horizontal suspension force, vertical suspension force and axial suspension force.
Fig. 9 is a schematic diagram of the bias flux generated by the three permanent magnets and the bias winding current according to the embodiment of the present invention. Reference numeral 17 denotes a bias flux generated by the permanent magnet, and reference numeral 22 denotes a bias flux generated by the bias winding current.
The permanent magnets adopt a radial magnetizing mode, and 6 permanent magnets have the same magnetizing direction, so that the polarities of the generated bias magnetic fluxes are the same; when the bias winding applies current, the polarities of the magnetic fluxes generated by the 6 bias coils on the radial force stator teeth are the same as those of the magnetic fluxes generated by the 6 permanent magnets, and the bias magnetic flux paths generated by the 6 bias coils and the 6 permanent magnets are also completely the same as those of the magnetic fluxes shown in fig. 4 and 5; therefore, the principle of levitation force generation and control is the same as that of the first and second embodiments.
It should be noted that, in the third embodiment, the 6 bias coils can be wound not only on the radial force stator teeth, but also on the permanent magnets, and the bias magnetic flux path generated by the two winding ways has the same effect.
In the three embodiments, because the pole arc angle of each tooth of the radial force stator is a rotor period angle, the two radial suspension windings and the permanent magnet form the magnetic resistance of a magnetic circuit in the radial force stator and do not change along with the change of the position of the rotor, the radial suspension windings and the permanent magnet do not generate moving electromotive force and do not generate torque. Thus, the present invention can structurally achieve a natural decoupling of torque and levitation forces.
In conclusion, the invention comprehensively integrates the structure of the switched reluctance motor and the three-degree-of-freedom magnetic suspension bearing to form the three-degree-of-freedom magnetic suspension switched reluctance integrated motor with axial radial suspension and rotary operation. The stator adopts an isolation structure, a torque magnetic circuit in the stator is isolated from a permanent magnet bias magnetic flux and a suspension magnetic circuit, and in addition, as the pole arc angle of the suspension teeth is equal to a rotor period angle, the radial suspension current and the permanent magnet do not generate torque; the axial suspension control magnetic circuit and the torque magnetic circuit are not overlapped, and torque is not generated, so that the torque and three suspension forces are structurally and naturally decoupled. The three-phase torque magnetic circuits are all of short magnetic circuit structures, and are mutually isolated from phases, so that the fault tolerance performance is good, and the iron core loss is small; the invention has high structure and function integration level, is beneficial to reducing the volume of the motor and improving the critical torque and the power density.
In addition, the bias magnetic flux excitation method is flexible, can adopt three methods of permanent magnet excitation, electric excitation, mixed excitation and the like to generate bias magnetic flux, and can adapt to various operating conditions; when the permanent magnet generates bias magnetic flux required by suspension force, the volume weight is small, the power density is high, the suspension force/suspension current ratio is large, and the suspension power consumption is favorably reduced; when the bias winding generates bias magnetic flux, the inherent rigidity is high, the critical rotating speed is high, the high temperature resistance is realized, and the environmental suitability is strong; when the bias winding and the permanent magnet jointly generate bias magnetic flux, the advantages of two excitation modes of permanent magnet and electromagnetism are taken into consideration, the suspension bearing capacity is greatly enhanced, and the magnetic suspension device is particularly suitable for the fields of magnetic suspension trains, flywheel energy storage, aerospace and the like.
Other advantages and modifications will readily occur to those skilled in the art, based upon the above description. Therefore, the present invention is not limited to the above specific examples, and a detailed and exemplary description of one aspect of the present invention will be given by way of example only. Those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims (5)

1.一种三自由度磁悬浮开关磁阻集成电机，包括径向力定子、转矩定子、非导磁支撑架、转矩线圈、径向悬浮线圈、偏置线圈、永磁体、定子环形导磁轭、轴向力定子Ⅰ、轴向力定子Ⅱ、轴向悬浮线圈Ⅰ、轴向悬浮线圈Ⅱ、转子、转子环形导磁轭和转轴；1. A three-degree-of-freedom magnetic levitation switched reluctance integrated motor, including a radial force stator, a torque stator, a non-magnetically conductive support frame, a torque coil, a radially suspended coil, a bias coil, a permanent magnet, and a stator annular magnetically conductive Yoke, axial force stator I, axial force stator II, axial suspension coil I, axial suspension coil II, rotor, rotor annular magnetic yoke and shaft; 其特征在于，所述径向力定子为凸极结构，齿数为6，所述径向力定子的6个齿空间上均匀分布，齿与齿间相隔60°；It is characterized in that, the radial force stator has a salient pole structure, the number of teeth is 6, the 6 teeth of the radial force stator are evenly distributed in space, and the teeth are spaced 60° from each other; 所述转矩定子由6个C型定子组成，所述C型定子为凸极结构，齿数为2；每个所述C型定子中齿与齿相差22.5°；The torque stator is composed of 6 C-shaped stators, the C-shaped stators are of salient pole structure, and the number of teeth is 2; the teeth in each of the C-shaped stators differ by 22.5° from the teeth; 所述非导磁支撑架由6个C型非导磁结构组成；The non-magnetically conductive support frame is composed of 6 C-shaped non-magnetically conductive structures; 所述永磁体为矩形结构，共6个；The permanent magnets are of rectangular structure, 6 in total; 所述定子环形导磁轭为环形结构，所述转子环形导磁轭为环形结构；The stator annular magnetic conductive yoke is of annular structure, and the rotor annular magnetic conductive yoke is of annular structure; 所述转子为凸极结构，齿数为16，16个转子齿均匀分布，齿与齿间相隔22.5°；The rotor has a salient pole structure, the number of teeth is 16, the 16 rotor teeth are evenly distributed, and the teeth are separated by 22.5°; 所述轴向力定子Ⅰ和轴向力定子Ⅱ均为
Figure FDA0003007295770000011
型结构，所述
Figure FDA0003007295770000012
型结构凸极方向形成一个环形齿，所述
Figure FDA0003007295770000013
型结构内布置有1个通孔，所述通孔的中心线与环形齿的中心线重合；The axial force stator I and the axial force stator II are both
Figure FDA0003007295770000011
type structure, the
Figure FDA0003007295770000012
The salient pole direction of the type structure forms an annular tooth, the
Figure FDA0003007295770000013
A through hole is arranged in the type structure, and the center line of the through hole coincides with the center line of the annular tooth; 所述通孔的内径大于转轴的外径；所述转轴贯穿所述轴向定子Ⅰ与轴向定子Ⅱ，且布置在所述通孔内；The inner diameter of the through hole is larger than the outer diameter of the rotating shaft; the rotating shaft penetrates the axial stator I and the axial stator II, and is arranged in the through hole; 所述转矩定子、非导磁支撑架、径向力定子紧密布置，且所述非导磁支撑架紧密布置在转矩定子和径向力定子之间；所述径向力定子的齿与齿间均布置有1个C型定子和1个C型非导磁结构，共6个C型定子和6个C型非导磁结构；所述C型定子的中心线、C型非导磁结构的中心线与所述径向力定子的相邻两齿中心线重合；The torque stator, the non-magnetically conductive support frame, and the radial force stator are closely arranged, and the non-magnetically conductive support frame is closely arranged between the torque stator and the radial force stator; the teeth of the radial force stator are closely connected to the 1 C-type stator and 1 C-type non-magnetically conductive structure are arranged between the teeth, a total of 6 C-type stators and 6 C-type non-magnetically conductive structures; the centerline of the C-type stator, the C-type non-magnetically conductive structure The centerline of the structure coincides with the centerline of two adjacent teeth of the radial force stator; 所述轴向力定子Ⅰ、径向力定子和轴向力定子Ⅱ均布置在定子环形导磁轭内，所述径向力定子布置在所述轴向力定子Ⅰ和轴向力定子Ⅱ中间，所述轴向力定子Ⅰ和轴向力定子Ⅱ紧密布置在定子环形导磁轭两端；所述轴向力定子Ⅰ和径向力定子间的间距与所述轴向力定子Ⅱ和径向力定子间的间距相等；所述轴向力定子Ⅰ和轴向力定子Ⅱ的凸极环形齿均指向径向力定子；The axial force stator I, the radial force stator and the axial force stator II are all arranged in the stator annular magnetic yoke, and the radial force stator is arranged in the middle of the axial force stator I and the axial force stator II , the axial force stator I and the axial force stator II are closely arranged at both ends of the stator annular magnetic conducting yoke; the distance between the axial force stator I and the radial force stator is the same as the axial force stator II and the radial force stator The distances between the axial force stators are equal; the salient pole annular teeth of the axial force stator I and the axial force stator II all point to the radial force stator; 所述转子布置在径向力定子和转矩定子内，所述转子套在转子环形导磁环上，所述转子环形导磁轭套在所述转轴上；The rotor is arranged in the radial force stator and the torque stator, the rotor is sleeved on the rotor annular magnetic conductive ring, and the rotor annular magnetic conductive yoke is sleeved on the rotating shaft; 所述C型定子的每个齿上绕有1个转矩线圈，每个C型定子两个齿上的转矩线圈串联构成1个转矩线圈串，共6个；空间上相差180°的2个转矩线圈串，串联为1个转矩绕组，共3个，依次为A、B和C相转矩绕组；Each tooth of the C-shaped stator is wound with a torque coil, and the torque coils on the two teeth of each C-shaped stator are connected in series to form a torque coil string, a total of 6; 2 torque coil strings, connected in series to form a torque winding, a total of 3, followed by A, B and C phase torque windings; 所述轴向力定子Ⅰ中的环形齿上绕有1个轴向悬浮线圈Ⅰ，轴向力定子Ⅱ中的环形齿上绕有1个轴向悬浮线圈Ⅱ，所述轴向悬浮线圈Ⅰ和轴向悬浮线圈Ⅱ串联构成1个轴向悬浮绕组；An axial suspension coil I is wound around the annular tooth in the axial force stator I, and an axial suspension coil II is wound around the annular tooth in the axial force stator II. The axial suspension coil I and Axial suspension coil II is connected in series to form an axial suspension winding; 所述三自由度磁悬浮开关磁阻集成电机存在三种产生偏置磁通的励磁方式，分别为永磁励磁方式、电励磁方式、混合励磁方式；The three-degree-of-freedom magnetic suspension switched reluctance integrated motor has three excitation modes for generating bias magnetic flux, which are permanent magnet excitation mode, electric excitation mode, and hybrid excitation mode; 所述永磁励磁方式，此时永磁体产生偏置磁通；所述径向力定子与定子环形导磁轭间紧密布置有6个永磁体，6个永磁体的中心线分别与所述径向力定子的6个齿中心线重合，且所述径向力定子中的2个齿中心线与水平方向重合；In the permanent magnet excitation mode, the permanent magnets generate bias magnetic flux; 6 permanent magnets are closely arranged between the radial force stator and the stator annular magnetic conducting yoke, and the center lines of the 6 permanent magnets are The centerlines of the 6 teeth of the radial force stator are coincident, and the centerlines of the 2 teeth of the radial force stator are coincident with the horizontal direction; 所述径向力定子的每个齿上绕有1个径向悬浮线圈，共6个；处于水平方向径向力定子齿上的2个径向悬浮线圈串联为1个水平径向悬浮绕组；剩余4个径向悬浮线圈串联为1个竖直径向悬浮绕组；Each tooth of the radial force stator is wound with a radial suspension coil, a total of 6; the two radial suspension coils on the teeth of the radial force stator in the horizontal direction are connected in series to form a horizontal radial suspension winding; The remaining 4 radial suspension coils are connected in series to form a vertical radial suspension winding; 所述电励磁方式，此时偏置绕组产生偏置磁通；所述径向力定子紧密布置在定子环形导磁轭内；In the electric excitation mode, the bias winding generates bias magnetic flux; the radial force stator is closely arranged in the stator annular magnetic conducting yoke; 所述径向力定子的每个齿上绕有1个径向悬浮线圈和1个偏置线圈，共6个径向悬浮线圈和6个偏置线圈；处于水平方向径向力定子齿上的2个径向悬浮线圈串联为1个水平径向悬浮绕组；剩余4个径向悬浮线圈串联为1个竖直径向悬浮绕组；6个所述偏置线圈串联构成1个偏置绕组；Each tooth of the radial force stator is wound with a radial suspension coil and a bias coil, a total of 6 radial suspension coils and 6 bias coils; 2 radial suspension coils are connected in series to form a horizontal radial suspension winding; the remaining 4 radial suspension coils are connected in series to form a vertical radial suspension winding; 6 of the bias coils are connected in series to form a bias winding; 所述混合励磁方式，此时永磁体和偏置绕组共同产生偏置磁通；所述径向力定子与定子环形导磁轭间紧密布置有6个永磁体，6个永磁体的中心线分别与所述径向力定子的6个齿中心线重合，且所述径向力定子中的2个齿中心线与水平方向重合；In the hybrid excitation mode, at this time, the permanent magnets and the bias windings jointly generate a bias magnetic flux; 6 permanent magnets are closely arranged between the radial force stator and the stator annular magnetic yoke, and the center lines of the 6 permanent magnets are respectively Coinciding with the centerlines of the 6 teeth of the radial force stator, and the centerlines of the 2 teeth in the radial force stator coincide with the horizontal direction; 所述径向力定子的每个齿上绕有1个径向悬浮线圈和1个偏置线圈，共6个径向悬浮线圈和6个偏置线圈；处于水平方向径向力定子齿上的2个径向悬浮线圈串联为1个水平径向悬浮绕组；剩余4个径向悬浮线圈串联为1个竖直径向悬浮绕组；6个所述偏置线圈串联构成1个偏置绕组。Each tooth of the radial force stator is wound with a radial suspension coil and a bias coil, a total of 6 radial suspension coils and 6 bias coils; Two radial suspension coils are connected in series to form a horizontal radial suspension winding; the remaining four radial suspension coils are connected in series to form a vertical radial suspension winding; and six of the bias coils are connected in series to form a bias winding. 2.根据权利要求1所述的一种三自由度磁悬浮开关磁阻集成电机，其特征在于：所述径向力定子每个齿的极弧角为一个转子周期角，即22.5°；每个所述C型定子两个齿上的转矩线圈施加电流时，在其两个齿上产生的磁通极性相反，进而在两个齿形成一个串联磁路；所述水平径向悬浮绕组施加电流时，将产生一个两极磁通，且在径向力定子中的两个水平方向齿上产生的磁通极性相反；定义水平正方向为零度空间角位置，逆时针方向变化时空间角度为正，所述竖直径向悬浮绕组施加电流时，将产生一个两极磁通，在径向力定子位于空间角为60°和120°位置处两个齿上产生的磁通极性相同，在径向力定子位于空间角为240°和300°位置处两个齿上产生的磁通极性相同，且径向力定子位于空间角为60°和120°位置处两个齿上的磁通极性，与径向力定子位于空间角为240°和300°位置处两个齿上的磁通极性相反；所述轴向悬浮绕组施加电流时，将产生一个两极磁通，在所述轴向力定子Ⅰ中环形齿上产生的磁通极性与轴向力定子Ⅱ中环形齿上产生的磁通极性相反。2 . The three-degree-of-freedom magnetic levitation switched reluctance integrated motor according to claim 1 , wherein the pole arc angle of each tooth of the radial force stator is a rotor period angle, that is, 22.5°; each When the torque coils on the two teeth of the C-type stator apply current, the magnetic fluxes generated on the two teeth have opposite polarities, thereby forming a series magnetic circuit on the two teeth; the horizontal radial suspension windings apply When the current is flowing, a two-pole magnetic flux will be generated, and the magnetic fluxes generated on the two horizontal direction teeth in the radial force stator are opposite in polarity; the horizontal positive direction is defined as a zero-degree space angle position, and the space angle when the counterclockwise direction changes is Positive, when a current is applied to the vertical radial suspension winding, a two-pole magnetic flux will be generated, and the magnetic flux generated on the two teeth at the positions of the radial force stator at the space angle of 60° and 120° is the same, and the magnetic flux generated on the two teeth is the same in the radial direction. The magnetic flux poles generated on the two teeth of the radial force stator at the positions of 240° and 300° are the same, and the magnetic flux poles of the radial force stator are located on the two teeth at the positions of 60° and 120°. The polarity is opposite to that of the magnetic flux on the two teeth of the radial force stator at the positions of 240° and 300°. When the current is applied to the axial suspension winding, a bipolar magnetic flux will be generated. The polarity of the magnetic flux generated on the ring teeth in the axial force stator I is opposite to the polarity of the magnetic flux generated on the ring teeth in the axial force stator II. 3.根据权利要求1和2所述的一种三自由度磁悬浮开关磁阻集成电机，采用永磁励磁方式时，其特征在于：所述永磁体采用径向充磁方式，且6个所述永磁体充磁方向相同。3. The three-degree-of-freedom magnetic levitation switched reluctance integrated motor according to claim 1 and 2, when using a permanent magnet excitation mode, is characterized in that: the permanent magnet adopts a radial magnetization mode, and 6 described The magnetizing direction of the permanent magnets is the same. 4.根据权利要求1和2所述的一种三自由度磁悬浮开关磁阻集成电机，采用电励磁方式时，其特征在于：当所述偏置绕组施加电流时，6个偏置线圈在径向力定子齿上产生的磁通极性相同。4. The three-degree-of-freedom magnetic levitation switched reluctance integrated motor according to claim 1 and 2, when using the electric excitation mode, is characterized in that: when the bias winding applies current, 6 bias coils are in the diameter The magnetic fluxes generated on the force stator teeth are of the same polarity. 5.根据权利要求1和2所述的一种三自由度磁悬浮开关磁阻集成电机，采用混合励磁方式时，其特征在于：所述永磁体采用径向充磁方式，且6个所述永磁体充磁方向相同；当所述偏置绕组施加电流时，6个偏置线圈在径向力定子齿上产生的磁通极性与6个永磁体产生的磁通极性相同。5. The three-degree-of-freedom magnetic levitation switched reluctance integrated motor according to claim 1 and 2, when using a hybrid excitation method, is characterized in that: the permanent magnet adopts a radial magnetization method, and 6 permanent magnets are used. The magnets are magnetized in the same direction; when the bias winding applies current, the polarity of the magnetic flux generated by the six bias coils on the radial force stator teeth is the same as the polarity of the magnetic flux generated by the six permanent magnets.
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115001183A (en) * 2022-06-29 2022-09-02 南京邮电大学 Magnetic levitation switched reluctance motor and its levitation force control device, method and system
CN115986990A (en) * 2022-12-30 2023-04-18 南京航空航天大学 A bearingless doubly salient motor with radial and axial suspension functions and a suspension control method
CN116365816A (en) * 2022-11-29 2023-06-30 南京航空航天大学 6/4-pole bearingless doubly salient sheet motor with parallel structure and suspension control method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115001183A (en) * 2022-06-29 2022-09-02 南京邮电大学 Magnetic levitation switched reluctance motor and its levitation force control device, method and system
CN116365816A (en) * 2022-11-29 2023-06-30 南京航空航天大学 6/4-pole bearingless doubly salient sheet motor with parallel structure and suspension control method thereof
CN116365816B (en) * 2022-11-29 2023-12-01 南京航空航天大学 6/4-pole bearingless doubly salient sheet motor with parallel structure and suspension control method thereof
CN115986990A (en) * 2022-12-30 2023-04-18 南京航空航天大学 A bearingless doubly salient motor with radial and axial suspension functions and a suspension control method
CN115986990B (en) * 2022-12-30 2024-01-30 南京航空航天大学 A bearingless double salient pole motor with radial and axial suspension functions and suspension control method

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