CN113162314B - Three-degree-of-freedom magnetic suspension switch reluctance integrated motor - Google Patents
Three-degree-of-freedom magnetic suspension switch reluctance integrated motor Download PDFInfo
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- CN113162314B CN113162314B CN202110366564.7A CN202110366564A CN113162314B CN 113162314 B CN113162314 B CN 113162314B CN 202110366564 A CN202110366564 A CN 202110366564A CN 113162314 B CN113162314 B CN 113162314B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- Y02T10/64—Electric machine technologies in electromobility
Abstract
The invention discloses a three-degree-of-freedom magnetic suspension switch reluctance integrated motor. The torque stator of the motor is mutually isolated from the radial force stator and the axial force stator, so that a torque magnetic circuit generating torque is also mutually isolated from a bias magnetic circuit generating suspension force and a suspension magnetic circuit; because the polar arc angle of the suspended stator teeth is equal to a rotor period angle, the radial suspended magnetic circuit does not generate torque, and the axial suspended magnetic circuit and the torque magnetic circuit are not overlapped and do not generate torque; in addition, the three-phase torque magnetic circuits are all of short magnetic circuit structures, are mutually isolated from phases, and are high in fault tolerance and reliability. The three-freedom-degree suspension motor integrates rotation and three-freedom-degree suspension functions, the torque and three suspension forces are naturally decoupled in structure, the axial length is short, the size and the weight of the motor are reduced, the iron core loss is small, and the critical torque and the power density are high; the bias magnetic flux can be generated by three methods of permanent magnet excitation, electric excitation, mixed excitation and the like, can be selected according to requirements, and has strong adaptability to application occasions and working conditions.
Description
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 bearing-free 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 switch 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 a rectangular structure, 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
A mold structure of
The salient pole of the structure forms a ring-shaped tooth in the direction of the salient pole, the
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;
the axial force stator I is characterized in that 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 yoke, the center lines of the 6 permanent magnets are respectively superposed with the center lines of 6 teeth of the radial force stator, and the center 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, a two-pole magnetic flux is generated, the polarities of the magnetic fluxes 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 polarities of the magnetic fluxes 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 polarities of the magnetic fluxes 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 polarities of the magnetic fluxes 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 has the advantages of high integration level, short axial length, high critical rotation speed and high 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 the permanent magnet and the 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 bias flux generated by three permanent magnets and 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 winding current generated by a vertical radial levitation winding current20 is an axial levitation control flux generated by an axial levitation winding current, 21 is a bias coil, 22 is a bias flux generated by a bias winding current, i a + is the current flowing in the A-phase winding, i a Is the outgoing current of the A-phase winding, i bias + is the current flowing in the bias winding, i bias The current flowing out for the bias winding, i x +、i y +、i z + is the inflow current of horizontal radial suspension winding, vertical radial suspension winding, axial suspension winding, i x -、i y -、i z The current flows of the horizontal radial suspension winding, the vertical radial suspension winding and the axial suspension winding are respectively, and X, Y, Z are respectively three coordinate axes of a rectangular coordinate system.
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, a three-dimensional structure diagram of a first embodiment of the present invention is shown, 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 rotating shaft, 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
A mold structure of
The salient pole of the structure forms a ring-shaped tooth in the direction of the salient pole, the
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 the axial suspension winding applies current, 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 a rotor is in an misaligned position and an 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 phase A isThe winding applies a current of i a When the C-shaped stator is used, a dipolar symmetric magnetic flux is generated, and each magnetic flux is distributed in an NS manner at 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 i x A radially dipolar symmetric flux will be generated. Each magnetic flux passes through the positive horizontal teeth, radial air gaps, positive horizontal teeth, yoke, negative horizontal teeth, radial air gaps and waterThe teeth in the horizontal and negative directions, the yoke part of the radial force stator and finally the teeth in the horizontal and positive directions of the radial force stator form a closed loop. The horizontal radial suspension winding applies a current i as shown in FIG. 4 x When 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 i x When the direction is changed, a horizontal (X-axis) negative direction suspension force is generated.
The vertical radial suspension winding applies current i y A 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. 4 y When the magnetic levitation force is generated, the air gap magnetic flux under the 60-degree position tooth and the 120-degree position tooth of the radial force stator is enhanced, the air gap magnetic flux under the 240-degree position tooth and the 300-degree position tooth of the radial force stator is weakened, and a vertical (Y-axis) positive direction levitation force is generated; when current i y When the direction is changed, a vertical (Y-axis) negative direction suspension force is generated.
Axial suspension winding applying current of i z A 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 winding z When 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 i z When 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 switch 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
A mold structure of
The salient pole direction of the type structure forms a ring-shaped tooth, the
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;
the axial force stator I is characterized in that 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. The reference numeral 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 22 denotes a bias magnetic flux generated by a bias winding current.
When the bias winding applies current i bias When 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 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, and one part of the bias magnetic flux passes through an axial air gap, an axial stator I annular tooth, an axial stator I yoke, a stator annular magnetic yoke, a radial force stator yoke and then reaches 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 rotation 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, the 6 teeth of the radial force stator are uniformly distributed in space, and the teeth are separated from the teeth 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
A mold structure of
The salient pole direction of the type structure forms a ring-shaped tooth, the
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 the axial suspension winding applies current, 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 the torque and the levitation force.
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. 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 in a salient pole structure, the number of teeth is 6, the 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 stator annular magnetic guide yoke is of an annular structure, and the rotor annular magnetic guide yoke 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 from each other by 22.5 degrees;
the axial force stator I and the axial force stator II are both
A mold structure of
The salient pole of the structure forms a ring-shaped tooth in the direction of the salient pole, the
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 force stator I and the axial force 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;
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;
in the 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 provided; 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;
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.
2. The three-degree-of-freedom magnetic suspension 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, 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.
3. The three-degree-of-freedom magnetic suspension switched reluctance integrated motor according to claim 1 or 2, when adopting a permanent magnet excitation mode, is characterized in that: the permanent magnets adopt a radial magnetizing mode, and 6 permanent magnets have the same magnetizing direction.
4. The three-degree-of-freedom magnetic suspension switched reluctance integrated motor according to claim 1 or 2, when adopting an electric excitation mode, is characterized in that: 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.
5. The three-degree-of-freedom magnetic suspension switched reluctance integrated motor according to claim 1 or 2, when adopting a hybrid excitation mode, is characterized in that: 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.
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