CN113922624A - Stepping motor - Google Patents

Stepping motor Download PDF

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Publication number
CN113922624A
CN113922624A CN202110648287.9A CN202110648287A CN113922624A CN 113922624 A CN113922624 A CN 113922624A CN 202110648287 A CN202110648287 A CN 202110648287A CN 113922624 A CN113922624 A CN 113922624A
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China
Prior art keywords
phase
winding
stator
phase winding
position sensing
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CN202110648287.9A
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Chinese (zh)
Inventor
彭光明
甘建军
孙杰
林聪明
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Shanghai Moons Electric Co Ltd
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Shanghai Moons Electric Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/225—Detecting coils
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Brushless Motors (AREA)

Abstract

The invention relates to a stepping motor which comprises a stator core (1) and a rotor core (4), wherein a plurality of stator main poles (2) are distributed on the stator core (1), a plurality of stator small teeth (3) are arranged on the stator main poles (2), a plurality of rotor small teeth (5) are distributed on the rotor core (4), and the stator main poles (2) comprise power stator main poles used for generating torque by a motor and position sensing stator main poles used for generating position sensing signals by the motor. Compared with the prior art, the invention has the advantages of low realization cost, high reliability, good performance and the like.

Description

Stepping motor
Technical Field
The invention relates to a motor, in particular to a stepping motor.
Background
The stepping motor is an open-loop control motor which converts an electric pulse signal into angular displacement or linear displacement, is a main executive element in a modern digital program control system, and is extremely widely applied.
In the existing stepping motor, all stator main poles in the two-phase stepping motor form two-phase windings, the motor generally runs in an open loop mode, the position of the motor cannot be monitored, and vibration, noise and temperature rise of the motor are caused to be too high.
In order to solve the problems of vibration noise and temperature rise of the stepping motor, a scheme of adding a position sensor to the stepping motor is selected, but the cost of the sensor is high, and the cost of the scheme of the system is increased.
Disclosure of Invention
The present invention is directed to a stepping motor for overcoming the above-mentioned drawbacks of the prior art.
The purpose of the invention can be realized by the following technical scheme:
according to one aspect of the invention, the stepping motor comprises a stator core (1) and a rotor core (4), wherein a plurality of stator main poles (2) are distributed on the stator core (1), a plurality of stator small teeth (3) are arranged on the stator main poles (2), a plurality of rotor small teeth (5) are distributed on the rotor core (4), and the stator main poles (2) comprise a power stator main pole for generating torque by the motor and a position sensing stator main pole for generating position sensing signals by the motor.
As a preferable technical scheme, at least two main poles of the position sensing stator for generating position sensing signals by the motor are arranged; and a winding for acquiring a position signal is wound on the position sensing stator main pole.
Preferably, when the number of the position sensing stator main bodies is four, two position signals are generated, the two position signals are fixed with the phase of the counter electromotive force generated by the two-phase winding, and the two position signals are overlapped with the phase of the counter electromotive force of the two-phase winding.
Preferably, when the number of the position sensing stator main poles is two or more, one position signal is generated, the phase of the one position signal is fixed with the counter electromotive force generated by the two phase windings, and the one position signal coincides with one of the counter electromotive forces of the two phase windings.
Preferably, eight main poles of the power stator are provided, four main poles of the position sensing stator are provided, wherein the main poles of the power stator A1, A2, A3 and A4 form an A-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, and each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with three stator small teeth;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000021
preferably, eight main poles of the power stator are provided, four main poles of the position sensing stator are provided, wherein the main poles of the power stator A1, A2, A3 and A4 form an A-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, and each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with two stator small teeth;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000022
preferably, eight main poles of the power stator are provided, four main poles of the position sensing stator are provided, wherein the main poles of the power stator A1, A2, A3 and A4 form an A-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, and each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with one stator small tooth;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000031
preferably, eight main poles of the power stator are provided, four main poles of the position sensing stator are provided, wherein the main poles of the power stator A1, A2, A3 and A4 form an A-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with three stator small teeth, wherein a position signal winding is wound on the C-phase position sensing stator main pole, and a winding is not wound on the D-phase position sensing stator main pole;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000032
preferably, eight main poles of the power stator are provided, two main poles of the position sensing stator are provided, wherein the main poles of the power stator A1, A2, A3 and A4 form an A-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, and the main poles of the position sensing stator C1 and C2 form a C-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, and each position sensing stator main pole on the C-phase winding is provided with three stator small teeth;
the spacing angles among adjacent main poles of the A-phase winding, the B-phase winding and the C-phase winding are as follows:
Figure BDA0003110748040000033
preferably, eight main poles of the power stator are provided, two main poles of the position sensing stator are provided, wherein the main poles of the power stator A1, A2, A3 and A4 form an A-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with three stator small teeth, wherein a position signal winding is wound on the C-phase position sensing stator main pole, and a winding is not wound on the D-phase position sensing stator main pole;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000041
compared with the prior art, the invention has the following advantages:
1) the invention utilizes the main pole of the motor to generate the position sensing signal, thereby reducing the cost of installing the position sensor on the motor
2) The position sensing signal of the motor is formed by the winding of the motor, and the reliability of the position sensing mode is the same as that of the motor
3) The motor has good performance, and can utilize the position sensing signal to control when the motor runs at high speed, thereby reducing the vibration and noise of the motor and improving the power density of the motor.
Drawings
FIG. 1 is a schematic structural view of example 1 of the present invention;
FIG. 2 is a schematic diagram showing the positional relationship between a sensing signal and a counter potential in embodiment 1 of the present invention;
FIG. 3 is a schematic structural view of example 2 of the present invention;
FIG. 4 is a schematic structural diagram of embodiment 3 of the present invention;
FIG. 5 is a schematic structural view of example 4 of the present invention;
FIG. 6 is a schematic diagram showing the positional relationship between the sensor signal and the counter potential in embodiment 4 of the present invention;
FIG. 7 is a schematic structural view of example 5 of the present invention;
FIG. 8 is a schematic structural view of example 6 of the present invention;
wherein 1 is stator iron core, 2 is stator main pole, 3 is stator small tooth, 4 is rotor iron core, 5 is rotor small tooth
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, a stepping motor comprises a stator core 1 and a rotor core 4, wherein the stator core 1 is provided with a plurality of stator main poles 2, the stator main poles 2 are provided with a plurality of stator small teeth 3, the rotor core 4 is provided with a plurality of rotor small teeth 5, and the stator main poles 2 comprise a power stator main pole for generating torque by the motor and a position sensing stator main pole for generating position sensing signals by the motor. In the stepping motor according to the present invention, the main pole for position signal sensing is provided in addition to the main pole for generating power.
At least two main poles of the position sensing stator are used for generating position sensing signals by the motor; and a winding for acquiring a position signal is wound on the position sensing stator main pole.
When the number of the position sensing stator main bodies is four, two position signals are generated, the two position signals and counter electromotive force phases generated by the two-phase windings are fixed, and the phase coincidence of the two position signals and the counter electromotive force phases of the two-phase windings is optimal.
When the number of the position sensing stator main poles is two or more, a position signal is generated, the phase of the position signal is fixed with the counter electromotive force generated by the two-phase winding, and the coincidence of the position signal and one of the counter electromotive force of the two-phase winding is optimal.
Example 1
As shown in fig. 1, eight main poles of the power stator are provided, four main poles of the position sensing stator are provided, wherein the main poles of the power stator a1, a2, A3 and a4 form an a-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding; the phase A winding and the phase B winding are used for generating torque by the motor, and the phase C winding and the phase D winding are used for generating position sensing signals by the motor;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with three stator small teeth, and position signal windings are wound on the C-phase main pole and the D-phase main pole to generate two position signals;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000061
as shown in fig. 2, which is a schematic diagram of the position relationship between the C, D two-phase sensing signal and the A, B two-phase counter potential, it can be seen that the C, D two-phase sensing signal and the A, B two-phase counter potential completely coincide in phase.
Example 2
As shown in fig. 3, eight main poles of the power stator are provided, four main poles of the position sensing stator are provided, wherein the main poles of the power stator a1, a2, A3 and a4 form an a-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with two stator small teeth, and position signal windings are wound on the C-phase main pole and the D-phase main pole to generate two position signals;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000062
example 3
As shown in fig. 4, eight main poles of the power stator are provided, four main poles of the position sensing stator are provided, wherein the main poles of the power stator a1, a2, A3 and a4 form an a-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with one stator small tooth, and position signal windings are wound on the C-phase main pole and the D-phase main pole to generate two position signals;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000071
example 4
As shown in fig. 5, eight main poles of the power stator are provided, four main poles of the position sensing stator are provided, wherein the main poles of the power stator a1, a2, A3 and a4 form an a-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with three stator small teeth, a position signal winding is wound on the C-phase position sensing stator main pole, and a winding is not wound on the D-phase position sensing stator main pole to generate a position signal;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000072
as shown in fig. 6, the position relationship between the phase C sensing signal and the two phase counter potentials A, B is shown, and it can be seen from the figure that the phase C sensing signal is in the same phase as the phase a counter potential and is 90 ° out of phase with the phase B counter potential.
Example 5
As shown in fig. 7, eight main poles of the power stator are provided, two main poles of the position sensing stator are provided, wherein the main poles of the power stator a1, a2, A3 and a4 form an a-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, and the main poles of the position sensing stator C1 and C2 form a C-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, and each position sensing stator main pole of the C-phase winding is provided with three stator small teeth to generate a position signal; (ii) a
The spacing angles among adjacent main poles of the A-phase winding, the B-phase winding and the C-phase winding are as follows:
Figure BDA0003110748040000081
example 6
As shown in fig. 8, eight main poles of the power stator are provided, two main poles of the position sensing stator are provided, wherein the main poles of the power stator a1, a2, A3 and a4 form an a-phase winding, the main poles of the power stator B1, B2, B3 and B4 form a B-phase winding, the main poles of the position sensing stator C1 and C2 form a C-phase winding, and the main poles of the position sensing stator D1 and D2 form a D-phase winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with three stator small teeth, a position signal winding is wound on the C-phase position sensing stator main pole, and a winding is not wound on the D-phase position sensing stator main pole to generate a position signal;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure BDA0003110748040000082
while the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides a stepping motor, includes stator core (1) and rotor core (4), stator core (1) on distribute a plurality of stator main poles (2), stator main pole (2) on exist a plurality of stator toothlets (3), rotor core (4) on distribute a plurality of rotor toothlets (5), its characterized in that, stator main pole (2) including the power stator main pole that is used for the motor to produce torque and the position sensing stator main pole that is used for the motor to produce position sensing signal.
2. The stepping motor of claim 1, wherein said position sensing stator for generating position sensing signals by said motor has at least two main poles; and a winding for acquiring a position signal is wound on the position sensing stator main pole.
3. A stepping motor as claimed in claim 1 or 2 wherein said position sensing stator, when having four main poles, generates two position signals which are phase-locked to the back emf generated by the two phase windings, said two position signals being phase-locked to the back emf of the two phase windings.
4. A stepping motor as claimed in claim 1 or 2 wherein when two or more of said position sensing stator main poles produce a position signal which is phase fixed with the back emf produced by the two phase windings, said position signal coinciding with one of the back emf of the two phase windings.
5. The stepping motor of claim 1, wherein eight of said power stator main poles and four of said position sensing stator main poles are provided, wherein said power stator main poles a1, a2, A3 and a4 constitute a phase a winding, said power stator main poles B1, B2, B3 and B4 constitute a phase B winding, said position sensing stator main poles C1 and C2 constitute a phase C winding, and said position sensing stator main poles D1 and D2 constitute a phase D winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, and each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with three stator small teeth;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure FDA0003110748030000011
6. the stepping motor of claim 1, wherein eight of said power stator main poles and four of said position sensing stator main poles are provided, wherein said power stator main poles a1, a2, A3 and a4 constitute a phase a winding, said power stator main poles B1, B2, B3 and B4 constitute a phase B winding, said position sensing stator main poles C1 and C2 constitute a phase C winding, and said position sensing stator main poles D1 and D2 constitute a phase D winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, and each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with two stator small teeth;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure FDA0003110748030000021
7. the stepping motor of claim 1, wherein eight of said power stator main poles and four of said position sensing stator main poles are provided, wherein said power stator main poles a1, a2, A3 and a4 constitute a phase a winding, said power stator main poles B1, B2, B3 and B4 constitute a phase B winding, said position sensing stator main poles C1 and C2 constitute a phase C winding, and said position sensing stator main poles D1 and D2 constitute a phase D winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, and each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with one stator small tooth;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure FDA0003110748030000022
8. the stepping motor of claim 1, wherein eight of said power stator main poles and four of said position sensing stator main poles are provided, wherein said power stator main poles a1, a2, A3 and a4 constitute a phase a winding, said power stator main poles B1, B2, B3 and B4 constitute a phase B winding, said position sensing stator main poles C1 and C2 constitute a phase C winding, and said position sensing stator main poles D1 and D2 constitute a phase D winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with three stator small teeth, wherein a position signal winding is wound on the C-phase position sensing stator main pole, and a winding is not wound on the D-phase position sensing stator main pole;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure FDA0003110748030000031
9. the stepping motor of claim 1, wherein eight of said power stator main poles are provided, and two of said position sensing stator main poles are provided, wherein said power stator main poles a1, a2, A3 and a4 constitute a phase a winding, said power stator main poles B1, B2, B3 and B4 constitute a phase B winding, and said position sensing stator main poles C1 and C2 constitute a phase C winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, and each position sensing stator main pole on the C-phase winding is provided with three stator small teeth;
the spacing angles among adjacent main poles of the A-phase winding, the B-phase winding and the C-phase winding are as follows:
Figure FDA0003110748030000032
10. the stepping motor of claim 1, wherein eight of said power stator main poles are provided, and two of said position sensing stator main poles are provided, wherein said power stator main poles a1, a2, A3 and a4 constitute a phase a winding, said power stator main poles B1, B2, B3 and B4 constitute a phase B winding, said position sensing stator main poles C1 and C2 constitute a phase C winding, and said position sensing stator main poles D1 and D2 constitute a phase D winding;
each power stator main pole on the A-phase winding and the B-phase winding is provided with four stator small teeth, each position sensing stator main pole on the C-phase winding and the D-phase winding is provided with three stator small teeth, wherein a position signal winding is wound on the C-phase position sensing stator main pole, and a winding is not wound on the D-phase position sensing stator main pole;
the spacing angles between adjacent main poles of the A-phase winding, the B-phase winding, the C-phase winding and the D-phase winding are as follows:
Figure FDA0003110748030000033
CN202110648287.9A 2021-06-10 2021-06-10 Stepping motor Pending CN113922624A (en)

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Application Number Priority Date Filing Date Title
CN202110648287.9A CN113922624A (en) 2021-06-10 2021-06-10 Stepping motor

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Application Number Priority Date Filing Date Title
CN202110648287.9A CN113922624A (en) 2021-06-10 2021-06-10 Stepping motor

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Publication Number Publication Date
CN113922624A true CN113922624A (en) 2022-01-11

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