CN113162348A - Bidirectional magnetic suspension brushless motor and control method - Google Patents

Abstract

The invention discloses a bidirectional magnetic suspension brushless motor and a control method, and particularly relates to the technical field of motors, wherein the bidirectional magnetic suspension brushless motor comprises a machine shell, a shaft branch is arranged inside the machine shell, three rotor cores are arranged at the outer ends of the shaft branch, a plurality of magnetic steels are arranged at the outer end of each rotor core, the number of the magnetic steels at the outer end of one rotor core is eight, 4 pairs of poles are arranged, N/S is respectively 4, the number of the magnetic steels at the outer ends of the other two rotor cores is four, 2 pairs of poles are arranged in each rotor, and N/S is respectively 2. The invention is controlled by a plurality of groups or a single group of H-bridge circuits, the motor can do X-direction telescopic motion in the axial direction and can also do left-right swinging motion in the radial direction, and simultaneously the X-direction and the radial left-right swinging of the motor can be controlled to move simultaneously.

Description

Bidirectional magnetic suspension brushless motor and control method

Technical Field

The invention relates to the technical field of motors, in particular to a bidirectional magnetic suspension brushless motor and a control method.

Background

According to the structure and the working principle of the motor, the motor can be divided into a brush motor, an inner rotor brushless motor and an outer rotor brushless motor. The brushless motor is the most used motor except the brush motor in the mold boundary, the brushless direct current motor does not use a mechanical brush device, a Hall sensor and a counter electromotive force position detection mode or a frequency and duty ratio control mode are adopted to replace a carbon brush commutator, a rare earth material is used as a permanent magnet material of a rotor, and the brushless direct current motor has great advantages in performance compared with a common traditional direct current motor. The device has the advantages of high efficiency, low energy consumption, low noise, super long service life, high reliability, servo control, stepless frequency conversion speed regulation and the like.

The rotor iron core in the brushless motor among the prior art need utilize guide rail slider mechanism to carry on spacingly to rotor iron core's flexible at the in-process that removes, but can have the friction between the in-process guide rail of work and the slider, and this friction can cause the damage and then influence the life of complete machine to guide rail and slider after long-time work, the sound wave motor since the coming out, especially in the application on electric toothbrush, most all are single swing, or realize axial flexible through special and expensive mechanical structure. The motor needs to axially extend and retract, also needs to radially swing or simultaneously operate, and is always difficult in the whole industry to realize magnetic suspension.

Disclosure of Invention

Therefore, the invention provides a bidirectional magnetic suspension brushless motor and a control method, magnetic steel is attracted by stator core teeth in the radial direction and the axial direction, so that a rotor core can be suspended in the axial direction and the radial direction, the motor can be stretched in the axial direction and also can be swung in the radial direction, and the motor can be simultaneously carried out without some complicated mechanisms on machinery, so that the friction is reduced, the efficiency is higher, and the sound is purer and smaller.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions: a bidirectional magnetic suspension brushless motor comprises a housing, wherein a shaft branch is arranged in the housing, one end of the shaft branch penetrates through the housing and extends out of one side of the housing, two or more combined rotor cores are arranged at the outer end of the shaft branch, wherein the X direction can be one or more combined rotor cores, the radial left-right swing can be one or more combined rotor cores, the shaft branch penetrates through the rotor cores, the outer end of each rotor core is provided with a plurality of magnetic steels, the number of the outer end magnetic steels of one rotor core is eight, the number of the outer end magnetic steels is 4, the number of the outer end magnetic steels is four, each rotor is provided with 2 pairs of poles, the number of the N/S is 2, the number of the outer end magnetic steels of the other two rotor cores is four, and the housing is internally provided with two or more stator cores, wherein X can be one and a plurality of stator core combination to, and radial horizontal hunting can be one and a plurality of stator core combination, the magnet steel all is established between stator core and rotor core, the stator core both ends all are equipped with the line frame, two be equipped with stator core between the line frame, four coil winding equipartitions in stator core's tooth portion.

Furthermore, a front cover is arranged at one end of the machine shell, and one end of the shaft branch penetrates through the front cover and extends out of one side of the front cover.

Furthermore, a rear cover is arranged at one end, far away from the front cover, of the machine shell, and one end of the shaft branch penetrates through the rear cover and extends out of one side of the rear cover.

Furthermore, an oil-retaining bearing is arranged inside the front cover, and the shaft branch penetrates through the oil-retaining bearing.

Furthermore, a rear cover wire outlet hole is formed in the rear cover.

Furthermore, a plurality of the magnetic steels can be uniformly distributed at the outer end of the rotor core in an annular array or in asymmetric pole-pair symmetry according to a certain angle by taking the radial circle center of the rotor core as the center.

Furthermore, the coil windings are uniformly distributed or non-uniformly distributed in an annular array by taking the radial circle center of the stator core as the center, and the number of the tooth grooves is symmetrical and can be arranged at the outer end of the stator core.

The invention also comprises a control method of the bidirectional magnetic suspension brushless motor, which comprises the following specific steps:

step one, wiring: connecting the motor with a PCB (printed circuit board) according to a wiring diagram, if a coil winding is wound on a first stator iron core tooth clockwise, the coil winding is wound on a second adjacent stator iron core tooth anticlockwise, the coil winding is wound on a third stator iron core tooth clockwise, the coil winding is wound on a fourth stator iron core tooth anticlockwise, head and tail outgoing lines of an upper stator iron core tooth and a lower stator iron core tooth are respectively connected with one or more H bridge drives on the PCB, if the stator iron core teeth are multi-path, for example, the two H bridge drives in the step are independent, can independently operate and can simultaneously work, when the stator iron core teeth are independently controlled, the motor can do telescopic motion up and down and can also do swing left and right, when the stator iron core teeth simultaneously operate, the motor can do telescopic motion and do left and right swing, and the motion for controlling the left and right swing and the motion for controlling the up and down telescopic motion are independent and do not interfere with each other;

step two, operation adjustment: when Q1 and Q4 are switched on and Q2 and Q3 are switched off, current flows in from the end I1 of the motor and flows out from the end I2, and the motor rotates forwards; when Q2 and Q3 are switched on and Q1 and Q4 are switched off, current flows in from the end I2 of the motor and flows out from the end I1, and the motor rotates reversely; the front stages of the four mos tubes are connected with a gate drive, the single chip microcomputer outputs square wave signals with adjustable frequency and adjustable duty ratio to control the gate drive, and then the four mos tubes in each path are controlled to be switched on and switched off to realize the operation of the motor; the H-bridge circuit is stable and reliable, and the red leaping can be prevented by setting a proper dead time; the two paths are independently controlled, the C group of stator coils control the left-right swing, the D group of stator coils control the up-down movement and can also simultaneously operate, and the two groups of stator coils can independently operate and can also synchronously operate without mutual influence;

step three, setting preset values: in the axial direction, the height A1 of the stator core and the height B1 of the rotor core are both preset values, and the preset values can be adjusted according to the requirements of different users on the stretching force; the height D2 of the magnetic steel exceeding the rotor core and the height D1 of the magnetic steel coinciding with the stator core are preset values, and the preset values can be adjusted according to the requirements of different users on the telescopic distance and the force; in the radial direction, the rotor core spacing angles C1 and C3 and the magnetic steel = angle C2 matched with the rotor core spacing angles are preset values, and the preset values can be adjusted according to the requirements of different users on the swing amplitude and the moment; the radial swing is controlled to be one unit, the axial expansion is controlled to be one unit, all the units are independent, one or more units are used, and one or more units are used; if a motor system is composed of more than one unit, the preset values mentioned above of the units can be the same or different.

The invention has the following advantages:

1. in the radial direction, the magnetic steel is magnetically attracted by the stator core, and the area of the self-suction surface is larger than that of the non-self-suction surface, so that the magnetic steel can be suspended in the radial direction; in the axial direction, the stator core magnetically attracts the magnetic steel, and the upper magnetic steel and the lower magnetic steel interact with each other, so that the stator core can be axially suspended; in the radial direction, even if the rotor iron core deflects to the maximum position angle, the area of the self-suction surface is still larger than that of the non-self-suction surface, in the axial direction, even if the rotor iron core moves to the maximum position, the area of the self-suction surface is still larger than that of the non-self-suction surface, compared with the prior art, the rotor iron core can be suspended in the radial direction and the axial direction, and the expansion and contraction of the rotor iron core are limited;

2. the invention enables a customer to freely adjust the invention as required by setting a preset value, the invention can be adjusted according to the requirements of different users on the stretching distance and force in the axial direction, and can be adjusted according to the requirements of different users on the swing amplitude and the moment in the radial direction, the first unit for controlling radial swing is one unit, the second unit for controlling axial stretching is one unit, all the units are mutually independent, the first unit can be one or more, and the second unit can be one or more; if a motor system is composed of more than one unit, the preset values mentioned above of the units can be the same or different, compared with the prior art, the motor system has higher flexibility, can meet the requirements of different customers, and can expand the application range of the motor system.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

FIG. 1 is an exploded view of the present invention;

FIG. 2 is a schematic view of the overall structure provided by the present invention;

FIG. 3 is a cross-sectional view provided by the present invention;

FIG. 4 is a schematic structural diagram of magnetic steel provided by the present invention;

FIG. 5 is a schematic view of the axial distribution of magnetic steel provided by the present invention;

FIG. 6 is a schematic view of the radial distribution of magnetic steel provided by the present invention;

FIG. 7 is a schematic view of a radial self-suction surface structure for controlling up and down expansion according to the present invention;

FIG. 8 is a schematic structural view of a radial self-priming surface and a non-self-priming surface for controlling side-to-side oscillation according to the present invention;

FIG. 9 is a schematic axial distribution diagram of magnetic steel and rotor core provided by the present invention;

FIG. 10 is a schematic structural view of the moving direction of the rotor core with the coil energized in the forward direction according to the present invention;

FIG. 11 is a schematic structural view of the moving direction of the rotor core with coils energized in opposite directions according to the present invention;

fig. 12 is a schematic structural view of the rotor core provided by the present invention, illustrating the rotation direction of the rotor core with a coil energized in the forward direction;

fig. 13 is a schematic structural view of the rotor core provided by the present invention with coils energized in opposite directions of rotation;

fig. 14 is a schematic structural diagram of a group C stator coil provided in the present invention;

fig. 15 is a schematic structural view of a group D of stator coils provided in the present invention;

FIG. 16 is an expanded view of a CD coil winding provided by the present invention;

FIG. 17 is a schematic diagram of a PCB provided by the present invention;

fig. 18 is a schematic structural diagram of a height a1 of the stator core, a height B1 of the rotor core, a height D2 of the magnetic steel exceeding the stator core, and a height D1 of the magnetic steel coinciding with the stator core according to the present invention;

fig. 19 is a schematic structural diagram of rotor core pitch angles C1 and C3 and a magnetic steel angle C2 matched with the rotor core pitch angles C1 and C3.

In the figure: the motor comprises a shaft branch 1, a front cover 2, an oil-retaining bearing 3, a machine shell 4, magnetic steel 5, a rotor core 6, a coil holder 7, a stator core 8, a coil winding 9, a rear cover 10 and a rear cover wire outlet 11.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to the attached drawings 1-19 of the specification, the bidirectional magnetic suspension brushless motor of the embodiment comprises a housing 4, a shaft branch 1 is arranged inside the housing 4, one end of the shaft branch 1 penetrates through the housing 4 and extends out of one side of the housing 4, two or more combined rotor cores 6 are arranged at the outer end of the shaft branch 1, one or more rotor cores 6 can be combined in the X direction, one or more rotor cores 6 can be combined in the radial left-right swinging mode, the shaft branch 1 penetrates through the rotor cores 6, a plurality of magnetic steels 5 are arranged at the outer end of each rotor core 6, the number of the outer end magnetic steels 5 of one rotor core 6 is eight, 4 pairs of poles are total, 4 pairs of N/S are total, the number of the outer end magnetic steels of the other two rotor cores 6 is four, 2 pairs of poles are total for each rotor, and 2 pairs of N/S are total for each rotor, two in addition the quantity of the outer end magnet steel 5 of rotor core 6 sets up to four, 4 inside stator core 8 that are equipped with two and more than two of casing, wherein X can be one and a plurality of stator core 8 combination, and radial horizontal hunting can be one and a plurality of stator core 8 combination, magnet steel 5 all establishes between stator core 8 and rotor core 6, stator core 8 both ends all are equipped with line frame 7, two be equipped with stator core 8 between the line frame 7, the tooth portion of four coil winding 9 equipartitions in stator core 8.

Furthermore, a plurality of the magnetic steels 5 can be uniformly distributed at the outer end of the rotor core 6 in an annular array or in asymmetric pole-pair symmetry at a certain angle by taking the radial circle center of the rotor core 6 as the center.

Further, the coil windings 9 are uniformly distributed or non-uniformly distributed in an annular array with the radial center of the stator core 8 as the center, but the number of the tooth slots is symmetrical and can be located at the outer end of the stator core 8.

Referring to the attached drawings 1-3 in the specification, one end of the casing 4 is provided with a front cover 2, one end of the shaft branch 1 penetrates through the front cover 2 and extends out of one side of the front cover 2 so as to encapsulate the shaft branch 1 inside the casing 4, an oil-containing bearing 3 is arranged inside the front cover 2, and the shaft branch 1 penetrates through the oil-containing bearing 3, so that the position of the shaft branch 1 can be fixed, and the shaft branch 1 can conveniently rotate inside the casing 4.

Furthermore, a rear cover 10 is arranged at one end of the machine shell 4, which is far away from the front cover 2, one end of the shaft branch 1 penetrates through the rear cover 10 and extends out of one side of the rear cover 10, and the position of the shaft branch 1 can be fixed, so that the shaft branch 1 is packaged inside the machine shell 4.

Furthermore, a rear cover wire outlet hole 11 is formed in the rear cover 10, and the stator wire outlet facilitates connection of the invention and a PCB, so that the invention can be connected in a circuit.

The invention also comprises a control method of the bidirectional magnetic suspension brushless motor, which comprises the following specific steps:

step one, wiring: the motor is connected to the PCB board according to the wiring diagram, if the coil winding 9 is wound on the first stator core 8 tooth clockwise, the anticlockwise winding is formed on the adjacent 8 teeth of the second stator core, the clockwise winding is formed on the 8 teeth of the third stator core, the anticlockwise winding is formed on the 8 teeth of the fourth stator core, and the head and tail outgoing lines of the 8 teeth of the upper stator core and the lower stator core are respectively connected with one or more H-bridge drives on the PCB, if the two or more H-bridge drives are multiple, such as two in the step, the two H-bridge drives are independent of each other, can independently run and can simultaneously work, when independently controlled, the motor can do up-and-down telescopic motion and can also do left-and-right swinging, when in simultaneous operation, the motor can do left-and-right swinging while doing telescopic motion, the motion of controlling the left-right swing and the motion of controlling the up-down expansion are mutually independent and do not interfere with each other;

step two, operation adjustment: when Q1 and Q4 are switched on and Q2 and Q3 are switched off, current flows in from the end I1 of the motor and flows out from the end I2, and the motor rotates forwards; when Q2 and Q3 are switched on and Q1 and Q4 are switched off, current flows in from the end I2 of the motor and flows out from the end I1, and the motor rotates reversely; the front stages of the four mos tubes are connected with a gate drive, the single chip microcomputer outputs square wave signals with adjustable frequency and adjustable duty ratio to control the gate drive, and then the four mos tubes in each path are controlled to be switched on and switched off to realize the operation of the motor; the H-bridge circuit is stable and reliable, and the red leaping can be prevented by setting a proper dead time; the two paths are independently controlled, the C group of stator coils control the left-right swing, the D group of stator coils control the up-down movement and can also simultaneously operate, and the two groups of stator coils can independently operate and can also synchronously operate without mutual influence;

step three, setting preset values: in the axial direction, the height a1 of the stator core 8 and the height B1 of the rotor core 6 are both preset values, and the preset values can be adjusted according to the requirements of different users on the stretching force; the height D2 of the magnetic steel 5 exceeding the rotor core 6 and the height D1 of the magnetic steel 5 coinciding with the stator core 8 are preset values, and the preset values can be adjusted according to the requirements of different users on the telescopic distance and the force; in the radial direction, the distance angles C1 and C3 of the rotor core 6 and the angle C2 of the magnetic steel 5 matched with the distance angles C1 and C3 are preset values, and the preset values can be adjusted according to the requirements of different users on the swing amplitude and the moment; the radial swing is controlled to be one unit, the axial expansion is controlled to be one unit, all the units are independent, one or more units are used, and one or more units are used; if a motor system is composed of more than one unit, the preset values mentioned above of the units can be the same or different.

Referring to fig. 12 and 13 of the specification, the circles plus dots indicate the current direction is outward, and the circles plus x indicate the current direction is inward; the figure only lists a case of arranging magnetic steel NS poles on the rotor core 6 and a case of energizing coil windings on the stator core 8, and other similar cases such as mentioned above should be protected as long as the above-mentioned structure is not violated, regardless of the arrangement of magnetic steel NS poles on the rotor core 6 and how the energizing sequence of the coil windings on the stator core 8 is changed.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (8)

1. A two-way magnetic suspension brushless motor, includes casing (4), its characterized in that: the motor comprises a shell (4), a shaft branch (1) is arranged in the shell (4), one end of the shaft branch (1) penetrates through the shell (4) and extends out of one side of the shell (4), two or more combined rotor cores (6) are arranged at the outer end of the shaft branch (1), X can be combined by one or more rotor cores (6), radial left-right swinging can be combined by one or more rotor cores (6), the shaft branch (1) penetrates through the rotor cores (6), each outer end of each rotor core (6) is provided with a plurality of magnetic steels (5), the number of the outer end magnetic steels (5) of one rotor core (6) is eight, 4 pairs of poles are arranged, 4 pairs of N/S are arranged, the number of the outer end magnetic steels of the other two rotor cores (6) is four, 2 pairs of poles are arranged on each rotor, 2 pairs of N/S are arranged on each rotor, and the number of the outer end magnetic steels (5) of the other two rotor cores (6) is four, casing (4) inside is equipped with two and more than two stator core (8), wherein X to can be one and a plurality of stator core (8) combination, and radial horizontal hunting can be one and a plurality of stator core (8) combination, magnet steel (5) are all established between stator core (8) and rotor core (6), stator core (8) both ends all are equipped with line frame (7), two be equipped with stator core (8) between line frame (7), four coil winding (9) equipartitions in the tooth portion of stator core (8).

2. A bidirectional magnetic suspension brushless motor according to claim 1, characterized in that: one end of the shell (4) is provided with a front cover (2), and one end of the shaft branch (1) penetrates through the front cover (2) and extends out of one side of the front cover (2).

3. A bidirectional magnetic suspension brushless motor according to claim 2, characterized in that: the motor shell (4) is provided with a rear cover (10) at one end far away from the front cover (2), and one end of the shaft branch (1) penetrates through the rear cover (10) and extends out of one side of the rear cover (10).

4. A bidirectional magnetic suspension brushless motor according to claim 2, characterized in that: an oil-containing bearing (3) is arranged inside the front cover (2), and the shaft branch (1) penetrates through the oil-containing bearing (3).

5. A bidirectional magnetic suspension brushless motor according to claim 3, characterized in that: and a rear cover wire outlet hole (11) is formed in the rear cover (10).

6. A bidirectional magnetic suspension brushless motor according to claim 1, characterized in that: and the magnetic steels (5) are uniformly distributed at the outer end of the rotor core (6) in an annular array or in asymmetric pole-pair symmetry at a certain angle by taking the radial circle center of the rotor core (6) as the center.

7. A bidirectional magnetic suspension brushless motor according to claim 1, characterized in that: the coil windings (9) are uniformly distributed or non-uniformly distributed in an annular array by taking the radial circle center of the stator core (8) as the center, but the number of the tooth grooves is symmetrical and can be arranged at the outer end of the stator core (8).

8. A bidirectional magnetic levitation brushless motor according to any one of claims 1-7, wherein: the control method of the bidirectional magnetic suspension brushless motor comprises the following specific steps:

step one, wiring: the motor is connected to the PCB board according to the wiring diagram, if the coil winding 9 is wound on the first stator core 8 tooth clockwise, the anticlockwise winding is formed on the adjacent 8 teeth of the second stator core, the clockwise winding is formed on the 8 teeth of the third stator core, the anticlockwise winding is formed on the 8 teeth of the fourth stator core, and the head and tail outgoing lines of the 8 teeth of the upper stator core and the lower stator core are respectively connected with one or more H-bridge drives on the PCB, if the two or more H-bridge drives are multiple, such as two in the step, the two H-bridge drives are independent of each other, can independently run and can simultaneously work, when independently controlled, the motor can do up-and-down telescopic motion and can also do left-and-right swinging, when in simultaneous operation, the motor can do left-and-right swinging while doing telescopic motion, the motion of controlling the left-right swing and the motion of controlling the up-down expansion are mutually independent and do not interfere with each other;

step two, operation adjustment: when Q1 and Q4 are switched on and Q2 and Q3 are switched off, current flows in from the end I1 of the motor and flows out from the end I2, and the motor rotates forwards; when Q2 and Q3 are switched on and Q1 and Q4 are switched off, current flows in from the end I2 of the motor and flows out from the end I1, and the motor rotates reversely; the front stages of the four mos tubes are connected with a gate drive, the single chip microcomputer outputs square wave signals with adjustable frequency and adjustable duty ratio to control the gate drive, and then the four mos tubes in each path are controlled to be switched on and switched off to realize the operation of the motor; the H-bridge circuit is stable and reliable, and the red leaping can be prevented by setting a proper dead time; the two paths are independently controlled, the C group of stator coils control the left-right swing, the D group of stator coils control the up-down movement and can also simultaneously operate, and the two groups of stator coils can independently operate and can also synchronously operate without mutual influence;

step three, setting preset values: in the axial direction, the height a1 of the stator core 8 and the height B1 of the rotor core 6 are both preset values, and the preset values can be adjusted according to the requirements of different users on the stretching force; the height D2 of the magnetic steel 5 exceeding the rotor core 6 and the height D1 of the magnetic steel 5 coinciding with the stator core 8 are preset values, and the preset values can be adjusted according to the requirements of different users on the telescopic distance and the force; in the radial direction, the distance angles C1 and C3 of the rotor core 6 and the angle C2 of the magnetic steel 5 matched with the distance angles C1 and C3 are preset values, and the preset values can be adjusted according to the requirements of different users on the swing amplitude and the moment; the radial swing is controlled to be one unit, the axial expansion is controlled to be one unit, all the units are independent, one or more units are used, and one or more units are used; if a motor system is composed of more than one unit, the preset values mentioned above of the units can be the same or different.

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