CN113937918B - Vernier permanent magnet motor with transversely-staggered stator modulation teeth - Google Patents

Vernier permanent magnet motor with transversely-staggered stator modulation teeth Download PDF

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CN113937918B
CN113937918B CN202111284073.4A CN202111284073A CN113937918B CN 113937918 B CN113937918 B CN 113937918B CN 202111284073 A CN202111284073 A CN 202111284073A CN 113937918 B CN113937918 B CN 113937918B
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permanent magnet
stator
modulation
magnet rotor
motor
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CN113937918A (en
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郑萍
王于涛
白金刚
刘国鹏
梁晓宇
高家林
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/16—Stator cores with slots for windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2706—Inner rotors
    • H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
    • H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
    • H02K1/278—Surface mounted magnets; Inset magnets
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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  • Power Engineering (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)
  • Permanent Field Magnets Of Synchronous Machinery (AREA)

Abstract

Stator modulation toothThe invention discloses a vernier permanent magnet motor with transverse dislocation, belongs to the field of motors, and aims to solve the problem of low space utilization rate of the existing transverse flux motor. The invention comprises a stator and a permanent magnet rotor; the stator comprises a ring winding, a stator core and stator modulation teeth, wherein the ring winding is an m-phase stator winding, and when m alternating current flows through the ring winding, p is generated s A pole pair number of axial armature magnetic fields; the stator modulation teeth and the permanent magnet rotor adopt a unit motor rotor form along the circumferential direction of the motor, the number of unit motors is n, and the stator modulation teeth comprise n x (p) m +1)×p PM A magnetic conductive block, p m N (p) on the modulation teeth of the stator for the number of stator slots m +1)×p PM The magnetic conduction blocks are arranged at equal intervals along the axial direction (p) m + 1) turns, n × p per turn PM A magnetic conduction block (p) m + 1) the circles of magnetic conduction blocks are circumferentially staggered by 2 pi/np m When the two outermost circles are axially aligned; while satisfying the condition p s ＝|ip PM ±kp m |。

Description

Vernier permanent magnet motor with transversely-staggered stator modulation teeth
Technical Field
The invention relates to a permanent magnet motor body structure, in particular to a magnetic field modulation type vernier permanent magnet motor.
Background
With the increasing severity of global energy crisis and environmental deterioration, the fields of wind power generation, electric vehicles, ship driving and the like are widely concerned by scholars at home and abroad, and low-speed high-torque direct-drive motors applied to the fields become the current research hotspots.
The common low-speed and high-torque implementation modes at present comprise: 1) The high speed is converted into the low speed through the traditional mechanical gear, so that the torque of the device can be correspondingly improved, but the mechanical gear system has the problems of large volume, large noise, mechanical abrasion, low reliability and the like; 2) The magnetic gear is utilized to increase the torque performance of the device, the principle of the device is the same as that of a mechanical gear, only the transmission noise is smaller, the mechanical abrasion problem is avoided, but the device also occupies larger space and has lower torque density than the mechanical gear; 3) The permanent magnet motor with high pole pair number is adopted to meet the direct drive requirement, but the mode has low torque density and high requirement on the motor volume; 4) The permanent magnet motor and the magnetic gear are combined to form the magnetic gear motor, and the structure has high torque density but is relatively complex; 5) The magnetic field modulation type vernier permanent magnet motor utilizes the transmission effect of the magnetic gear, has the advantages of high torque density, simple structure and the like, and is an important direction for the development of the field of low-speed and high-torque direct drive motors in future.
The vernier permanent magnet motor works based on a magnetic field modulation principle, the structure of the vernier permanent magnet motor is similar to that of a traditional permanent magnet motor, but the number of pole pairs of a stator and a rotor of the vernier permanent magnet motor is different, and the number of pole pairs of the rotor is generally multiple of the number of pole pairs of the stator, so that the problem that the stator flux linkage is reduced in the same proportion due to the fact that the number of pole pairs of the traditional permanent magnet motor is increased is solved, and the no-load counter electromotive force and the torque density of the motor are increased. The transverse flux motor has the advantages of low speed, large torque, high power density and the like because the electric load and the magnetic load of the transverse flux motor are mutually decoupled in space, so that the transverse flux motor is suitable for a direct-drive system, but the existing transverse flux motor has the problem of low space utilization rate. The invention develops a novel direct-drive motor structure with higher torque density by combining the working principle of a vernier permanent magnet motor and the structural characteristics of a transverse flux motor.
Disclosure of Invention
The invention aims to provide a vernier permanent magnet motor with transversely staggered stator modulation teeth, compared with the traditional vernier permanent magnet motor, the vernier permanent magnet motor has no end part of a stator winding, can save a large amount of axial space, reduces the copper consumption of the motor winding, realizes the spatial decoupling of an electric load and a magnetic load by utilizing the structural characteristics of a transverse flux motor, and further improves the torque density and the power density of the motor.
The invention relates to a vernier permanent magnet motor with transversely staggered stator modulation teeth, which comprises a stator 5 and a permanent magnet rotor 6; the stator 5 comprises a ring-shaped winding 5-1, a stator iron core 5-2 and stator modulation teeth 5-3, the ring-shaped winding 5-1 is an m-phase stator winding, and when m alternating current is conducted to the ring-shaped winding 5-1, p is generated s Pole pair number of axial armature magnetic field, m, p s Is a positive integer;
the stator modulation teeth 5-3 and the permanent magnet rotor 6 adopt a unit motor rotor form along the circumferential direction of the motor, the number of unit motors is n, and n is a positive integer;
the number of pole pairs of the permanent magnet rotor 6 is n × p PM ，p PM Is a positive integer;
stator modulation teeth 5-3 comprise n × (p) m +1)×p PM 5-3-1,p of each magnetic conduction block m Is the number of stator slots, p m Is a positive integer; n (p) on stator modulation teeth 5-3 m +1)×p PM The magnetic blocks 5-3-1 are arranged at equal intervals along the axial direction (p) m + 1) turns, n × p per turn PM 5-3-1 of magnetic conduction block (p) m + 1) the magnetic conduction blocks of the circle are staggered by 2 pi/np in turn in the circumferential direction m The two outermost rings are axially aligned;
while satisfying the condition p s ＝|ip PM ±kp m And l, wherein i and k are positive integers.
Preferably, the stator modulation teeth 5-3 are n × (p) m +1)×p PM Each magnetic conductive block 5-3-1 is divided into p PM The circumferential distance between two adjacent modulation groups 5-3-3 is 2 pi/np PM (ii) a Each modulation group 5-3-3 comprises n modulation units, and the circumferential distance between two adjacent modulation units in one modulation group is 2 pi/n; an a-c rectangular coordinate system is established along two axially aligned magnetic conduction blocks on the outermost layer of any one modulation unit, wherein c and a respectively represent the circumferential direction and the axial direction; of the modulation unit m + 1) the central positions of the magnetic conduction blocks 5-3-1 meet the following conditions:
Figure BDA0003332178850000021
in the formula
u-the u-th magnetic conduction block in the modulation unit, wherein u is an integer;
l-effective axial length of the motor;
α 1 、α 2 -the magnetic conduction block has a size coefficient along the circumferential direction and the axial direction;
of the modulation unit m + 1) the size of the magnetic conduction blocks 5-3-1 is:
Figure BDA0003332178850000031
preferably, the slots of the stator 5 of the toroidal winding are arranged with equal tooth width in the axial direction in the form of half-closed slots, wherein the tooth width of the two end portions is 1/2 of the tooth width of the middle, the modulation tooth width of the two sides is 1/2 of the tooth width of the middle, the slots of the half-closed slots of the stator core 5-2 face the permanent magnet rotor 6, and the toroidal winding 5-1 is embedded in said half-closed slots.
Preferably, the permanent magnet rotor 6 includes a permanent magnet rotor core 6-2 and permanent magnets 6-1, in which the number of pole pairs of the permanent magnets is n × p PM ；n×2p PM The permanent magnets 6-1 are uniformly distributed and arranged along the circumferential direction, and the magnetizing directions of the two adjacent permanent magnets 6-1 are opposite.
Preferably, n × 2p PM The permanent magnet 6-1 is fixed on the outer circle surface of the permanent magnet rotor core 6-2, and the magnetizing direction of the permanent magnet 6-1 is radial magnetizing.
Preferably, n × 2p PM The permanent magnet 6-1 is embedded into the permanent magnet rotor core 6-2, the cross section of the permanent magnet 6-1 is rectangular, and n is multiplied by 2p PM The permanent magnets 6-1 are radially distributed in the permanent magnet rotor iron core 6-2 by taking the permanent magnet rotor output shaft 1 as the center, and the magnetizing direction of the permanent magnets 6-1 is tangential and parallel.
Preferably, n × 2p PM The permanent magnet 6-1 is embedded in the permanent magnet rotor core 6-2, the cross section of the permanent magnet 6-1 is rectangular, the magnetizing direction of the permanent magnet 6-1 is parallel magnetizing, and the magnetic line of force passing through the midpoint is radial.
Preferably, n × 2p PM The permanent magnets 6-1 are embedded in the permanent magnet rotor iron core 6-2, each permanent magnet 6-1 is of a V-shaped structure formed by two permanent magnets with rectangular cross sections, the parallel magnetizing directions of the two permanent magnets are respectively perpendicular to two sides of the V shape and point to the opening direction of the V shape or deviate from the opening direction of the V shape, and the opening of the V shape is opened outwards along the radial direction.
Preferably, the permanent magnet rotor 6 comprises n×p PM Permanent magnet 6-1, n × p PM Each iron core protrusion unit 6-3 and each permanent magnet rotor iron core 6-2; n x p PM A permanent magnet 6-1 and n × p PM The iron core protrusion units 6-3 are uniformly distributed on the permanent magnet rotor iron core 6-2 in a staggered manner along the circumferential direction; n x p PM The magnetizing directions of the permanent magnets 6-1 are the same; the magnetizing direction of the permanent magnet 6-1 is radial magnetizing; the iron core protrusion units 6-3 and the permanent magnet rotor iron core 6-2 are silicon steel sheets or solid iron.
Preferably, the permanent magnet motor further comprises a machine shell 4 and a permanent magnet rotor output shaft 1; the stator 5 is fixed on the inner circle surface of the casing 4, the permanent magnet rotor 6 is fixed on the permanent magnet rotor output shaft 1, and the permanent magnet rotor output shaft 1 is rotatably connected with the casing 4.
The invention has the beneficial effects that: the vernier permanent magnet motor with the transversely staggered stator modulation teeth is based on the magnetic field modulation principle of a high-torque-density vernier permanent magnet motor, combines the structural characteristics of a transverse flux motor, and further improves the torque density and the power density of the motor, so that the vernier permanent magnet motor is very suitable for the fields of low-speed and high-torque direct drive such as wind power generation, electric automobile and ship drive.
The motor works on the basis of a three-dimensional magnetic field modulation principle, and compared with the traditional vernier permanent magnet motor, the motor has no end part of a winding structure, can save a large amount of axial space, reduces the copper consumption of the motor winding, is more suitable for adopting a winding arrangement scheme with fewer pole pairs or even 1, increases the torque density of a magnetic field modulation motor, and realizes the spatial decoupling of the electric load and the magnetic load by utilizing the structural characteristics of a transverse magnetic flux motor; compared with a transverse magnetic flux motor, the motor does not need a partition plate between m-phase windings on the stator side, and can save the space of m-1 partition plates so as to obtain higher torque density.
Drawings
Fig. 1 is a schematic structural diagram of a vernier permanent magnet motor with laterally displaced stator modulation teeth according to an embodiment;
FIG. 2 isbase:Sub>A cross-sectional view A-A of FIG. 1;
fig. 3 is a schematic structural diagram of a vernier permanent magnet motor with laterally displaced stator modulation teeth according to a second embodiment;
FIG. 4 is a cross-sectional view B-B of FIG. 3;
FIG. 5 is a schematic structural diagram of a vernier permanent magnet motor with laterally displaced stator modulation teeth according to a third embodiment;
FIG. 6 is a cross-sectional view C-C of FIG. 5;
FIG. 7 is a schematic structural diagram of a vernier permanent magnet motor with laterally displaced stator modulation teeth according to a fourth embodiment;
FIG. 8 is a cross-sectional view D-D of FIG. 7;
fig. 9 is a schematic structural diagram of a vernier permanent magnet motor with laterally displaced stator modulation teeth according to the fifth embodiment;
FIG. 10 is a cross-sectional view E-E of FIG. 9;
fig. 11 is a schematic structural diagram of a vernier permanent magnet motor with laterally displaced stator modulation teeth according to a sixth embodiment;
FIG. 12 is a cross-sectional view F-F of FIG. 11;
fig. 13 is a schematic structural view of a stator when the number of unit motors n =1, in which fig. 13 (a) is a schematic three-dimensional structural view of the stator, fig. 13 (b) is a sectional view of the three-dimensional structural view of the stator, and fig. 13 (c) is an expanded view of the three-dimensional structural view of the stator;
fig. 14 is a schematic structural view of a stator when the number of unit motors n =2, where fig. 14 (a) is a schematic three-dimensional structural view of the stator, fig. 14 (b) is a sectional view of the three-dimensional structural view of the stator, and fig. 14 (c) is an expanded view of the three-dimensional structural view of the stator.
Detailed Description
The first embodiment is as follows: the following describes the present embodiment with reference to fig. 1, fig. 2, fig. 13 and fig. 14, and the vernier permanent magnet motor with laterally displaced stator modulation teeth in the present embodiment includes a casing 4, a stator 5, a permanent magnet rotor 6, and a permanent magnet rotor output shaft 1; the stator 5 is fixed on the inner circle surface of the casing 4, and the permanent magnet rotor 6 is fixed on the permanent magnet rotor output shaft 1 and is rotationally connected with the side end cover of the casing 4 through the bearing 2 and the bearing 3.
The slots of the stator 5 are arranged with equal tooth width along the axial direction in a way of semi-closed slots, wherein the tooth width of two end parts is 1/2 of the tooth width of the middle part, the notch of the semi-closed slot of the stator core 5-2 faces the permanent magnet rotor 6, and the annular winding 5-1 is embedded in the notchIn the semi-closed groove; the ring winding 5-1 is an m-phase stator winding, and p is generated when m alternating current flows through the ring winding 5-1 s Pole pair number of axial armature magnetic field, m, p s Is a positive integer; an air gap L1 between the stator 5 and the permanent magnet rotor 6;
the stator modulation teeth 5-3 and the permanent magnet rotor 6 adopt a unit motor rotor form along the circumferential direction of the motor, the number of unit motors is n, and n is a positive integer;
the permanent magnet rotor 6 comprises a permanent magnet rotor iron core 6-2 and permanent magnets 6-1, wherein the number of pole pairs of the permanent magnets is nxp PM ，p PM Is a positive integer; n x 2p PM The permanent magnets 6-1 are uniformly distributed and arranged along the circumferential direction, n is multiplied by 2p PM The permanent magnets 6-1 are fixed on the outer circle surface of the permanent magnet rotor core 6-2, the magnetizing directions of the permanent magnets 6-1 are radial magnetizing, and the magnetizing directions of two adjacent permanent magnets 6-1 are opposite;
the stator modulation teeth 5-3 are formed by n (p) m +1)×p PM 5-3-1 of magnetic conduction blocks; n × (p) m +1)×p PM Each magnetic conductive block 5-3-1 can be divided into p PM Modulation groups 5-3-3, each modulation group 5-3-3 comprising n modulation elements (n =1 in fig. 13, when one modulation group 5-3-3 comprises only 1 modulation element 5-3-2; n =2 in fig. 14, when one modulation group 5-3-3 comprises 2 modulation elements 5-3-2-1 and 5-3-2-2), the spacing between two adjacent modulation elements in one modulation group being 2 pi/n, p m Is a positive integer; an a-c rectangular coordinate system is established along two axially aligned magnetic conduction blocks on the outermost layer of any one modulation unit, wherein c and a respectively represent the circumferential direction and the axial direction; of the modulation unit m + 1) the central positions of the magnetic conduction blocks 5-3-1 meet the following conditions:
Figure BDA0003332178850000051
in the formula
u is the u-th magnetic conduction block in the modulation unit, and u is an integer;
l-effective axial length of the motor;
α 1 、α 2 -the magnetic conduction block is along the circumferenceThe axial and radial dimensional coefficients;
of the modulation unit m + 1) the size of the magnetic conduction blocks 5-3-1 is:
Figure BDA0003332178850000061
one modulation group nx (p) m + 1) magnetic conduction blocks 5-3-1 are respectively arrayed along the circumferential direction to obtain p PM Modulation groups 5-3-3, p in FIG. 13 PM Each modulation group 5-3-3, each modulation group 5-3-3 including one modulation unit 5-3-2, one modulation unit 5-3-2 including (p) m + 1) magnetic conduction blocks 5-3-1, and the circumferential distance between two adjacent modulation groups is 2 pi/np PM (ii) a P in FIG. 14 PM Each modulation group 5-3-3, each modulation group 5-3-3 including 2 modulation units 5-3-2-1 and 5-3-2-2, modulation unit 5-3-2-1 including (p) m + 1) magnetic conductive blocks 5-3-1, and another modulation unit 5-3-2-2 also comprises (p) m + 1) magnetic conduction blocks 5-3-1, and the circumferential distance between two modulation units is 2 pi/n =180 degrees.
While satisfying the condition p s ＝|ip PM ±kp m And l, wherein i and k are positive integers.
In order to explain the working principle of the invention, the magnetic conduction blocks of n modulation units in a modulation group and the permanent magnetic fields participating in the modulation of the group are projected to the circumferential direction and the axial direction at the same time, at this time, the circumferential direction and the axial direction can be respectively regarded as 1 magnetic field modulation type rotating motor and n magnetic field modulation type linear motors, wherein the magnetic field modulation type rotating motor is composed of n unit motors, the number of pole pairs of permanent magnets in the circumferential direction is n times of the number of pole pairs of permanent magnets in the axial direction, and the magnetic field modulation effects in the two directions are analyzed and calculated below.
Let the pole pair number of the permanent magnet rotor of the motor be nxp PM The permanent magnet pole pair number in the circumferential direction is n × p PM The permanent magnet pole pair number in the axial direction is p PM . When the permanent magnet rotor and the stator modulation teeth rotate relatively, the permanent magnet magnetic field participating in the modulation of the group rotates along the circumferential direction and moves along the axial direction. Setting the initial phase angle of the permanent magnet rotor in the circumferential direction as theta PM The initial position in the axial direction is x PM The permanent magnet magnetomotive force F formed by the permanent magnet rotor in the circumferential direction and the axial direction cPM (theta, t) and F aPM (x, t) can be expressed as:
Figure BDA0003332178850000062
wherein subscripts c, a denote a circumferential direction and an axial direction, respectively;
F ci 、F ai -the sub-harmonic magnetomotive force amplitudes in the circumferential direction and the axial direction;
Ω PM 、v PM -the permanent magnet rotor circumferential rotation angular velocity and the axial equivalent movement velocity;
i-the number of permanent magnet magnetomotive force harmonics;
θ -circumferential mechanical angle;
x-displacement in the axial direction;
t is time.
The number of the magnetic conduction blocks of one modulation group of the stator modulation teeth is set to be n (p) m + 1), initial phase angle in circumferential direction of θ m The initial position in the axial direction is x m Under the action of one modulation group of the stator modulation teeth, the space ratio magnetic conductance lambda of the circumferential direction and the axial direction c (theta) and lambda a (x) Can be expressed as
Figure BDA0003332178850000071
In the formula of c0 、λ a0 -zero harmonic flux guide amplitude;
λ ck 、λ ak -the specific magnetic conductance amplitude of each harmonic;
k-the permeance number of harmonic ratio, k =1,2,3 \8230.
The permanent magnetic field generated by the magnetomotive force of the permanent magnet under the action of the magnetic conduction block of one modulation group of the stator modulation teeth can be respectively projected to the circumferential direction and the axial direction, and the permanent magnetic field B in the circumferential direction cPM (theta, t) and axial permanent magnetic field B aPM (x, t) may be represented as:
Figure BDA0003332178850000072
in the formula B ci 、B ai Magnitude of natural harmonic magnetic field, and B ci ＝F ci λ c0 、B ai ＝F ai λ a0 ；
B c(i,k) 、B a(i,k) -modulating the harmonic magnetic field amplitude, and
Figure BDA0003332178850000073
as can be seen from the formula (7), two types of magnetic fields are generated under the combined action of one modulation group of the modulation teeth of the permanent magnet rotor and the stator. The first kind is natural harmonic magnetic field, and the magnetic field features that its magnetic field has the same pole pair number as that of the permanent magnet rotor magnetomotive force, and has the same rotating speed in the circumferential direction and the same rotating speed in the axial direction as that of the permanent magnet rotor magnetomotive force, and the magnetic field has amplitude B ci 、B ai . The second type is a modulated harmonic magnetic field which is characterized in that the number of pole pairs of the magnetic field is related to the number of pole pairs of a permanent magnet rotor and the number of magnetic conductive blocks in a modulation group of stator modulation teeth, the rotating speed of the magnetic field in the circumferential direction is related to the rotating speed of the permanent magnet rotor in the circumferential direction, the speed of the magnetic field in the axial direction is related to the moving speed of magnetomotive force of the permanent magnet rotor in the axial direction, and the amplitudes of the magnetic field are B respectively c(i,k) 、B a(i,k) The specific relationship is as follows:
p i,k ＝|ip PM +jp m | (8)
Figure BDA0003332178850000081
Figure BDA0003332178850000082
j＝0,±1,±2,... (11)
in the formula p i,k 、Ω i,k 、v i,k Modulating the pole pair number, the rotation angular velocity in the circumferential direction and the movement velocity in the axial direction of the harmonic magnetic field.
According to the principle of electromechanical energy conversion, only when the number of pole pairs, the rotating speed or the speed of the two magnetic fields are the same, constant torque can be generated, and therefore electromechanical energy conversion is achieved. Therefore, the stator annular winding is designed to generate an armature magnetic field with the same pole pair number and the same axial direction speed as the modulated harmonic magnetic field through the winding arrangement. The comprehensive analysis shows that the motor modulates the permanent magnet magnetic field distributed along the circumference into the stator winding magnetic field distributed along the axial direction under the action of the stator modulation teeth. The stator armature field frequency can therefore be derived from equations (9) and (10)
Figure BDA0003332178850000083
The expression of (a) is as follows:
Figure BDA0003332178850000084
the speed of the armature magnetic field generated by the stator ring winding is equal to the axial direction speed of the modulated harmonic magnetic field, so that the speed can be regulated by referring to the formula (12). In order to increase the utilization rate of the permanent magnet and improve the power density of the motor, the number of pole pairs n multiplied by p of the permanent magnet is designed PM The magnetic conduction blocks of one modulation group are arrayed as p along the circumferential direction PM A modulation group.
In fig. 1,2 and 13, the number n =1 of unit motors, and the number n × p of pole pairs of the permanent magnet rotor PM Is 7, the number of the stator modulation tooth magnetic conduction blocks is n (p) m +1)×p PM Is 49, and 1 modulation group comprises 1 modulation unit, and the number p of the magnetic conduction blocks of 1 modulation unit m Is 6. As can be seen from equation (7), a series of modulated harmonic magnetic fields are generated in the air gap, wherein the harmonic magnetic fields are modulated in the axial directionHas the main function. Of these axially modulated harmonic magnetic fields, the amplitude of the corresponding modulated harmonic magnetic field is typically the largest when i =1,j = -1, that is, the amplitude of the 1 pair of pole magnetic fields in the axially modulated harmonic magnetic field is the largest. Therefore, the stator annular winding generates 1 pair of pole axial armature magnetic fields through the winding arrangement design, and the movement speed of the armature magnetic field is the same as that of the 1 pair of pole axial modulation harmonic magnetic field by controlling the electrifying frequency of the stator annular winding, so that the motor realizes electromechanical energy conversion.
In fig. 12, the number of unit motors n =2, and the number of pole pairs n × p of the permanent magnet rotor PM Is 14, the number of the magnetic conductive blocks in the modulation ring rotor is n × (p) m +1)×p PM Is 98, and 1 modulation group comprises 2 modulation units, and the number p of the magnetic conduction blocks of each modulation unit m Is 6. It can also be seen from equation (7) that a series of modulated harmonic magnetic fields are generated in the air gap, wherein the axially modulated harmonic magnetic fields play a major role. Of these axial modulated harmonic magnetic fields, the amplitude of the corresponding modulated harmonic magnetic field is typically the largest when i =1,j = -1, that is, the amplitude of the 1 pair of pole magnetic fields in the axial modulated harmonic magnetic field is the largest. Therefore, the stator annular winding generates 1 pair of pole axial armature magnetic fields through the winding arrangement design, and the movement speed of the armature magnetic field is the same as the movement speed of the 1 pair of pole axial modulation harmonic magnetic field by controlling the electrifying frequency of the stator annular winding, so that the motor realizes electromechanical energy conversion.
The second embodiment is as follows: the present embodiment will be described below with reference to fig. 3 and 4, and the difference between the present embodiment and the first embodiment is that n × 2p PM The permanent magnet 6-1 is embedded into the permanent magnet rotor core 6-2, the cross section of the permanent magnet 6-1 is rectangular, and n is multiplied by 2p PM The permanent magnets 6-1 are radially distributed in the permanent magnet rotor iron core 6-2 by taking the permanent magnet rotor output shaft 1 as the center, and the magnetizing direction of the permanent magnets 6-1 is tangential and parallel magnetizing.
In the embodiment, the permanent magnet rotor belongs to a magnetism gathering structure, and has a prominent effect of improving air gap flux density under the parallel connection effect of adjacent permanent magnets of the permanent magnet rotor, so that the no-load back electromotive force and the electromagnetic torque of the motor are improved.
The third concrete implementation mode: the present embodiment will be described below with reference to fig. 5 and 6, and the difference between the present embodiment and the first embodiment is that n × 2p PM The permanent magnet 6-1 is embedded in the permanent magnet rotor core 6-2, the cross section of the permanent magnet 6-1 is rectangular, the magnetizing directions of the permanent magnets 6-1 are parallel magnetizing, and the magnetic force line passing through the middle point is radial.
The fourth concrete implementation mode: the present embodiment will be described below with reference to fig. 7 and 8, and the difference between the present embodiment and the first embodiment is that n × 2p PM The permanent magnets 6-1 are embedded in the permanent magnet rotor iron core 6-2, each permanent magnet 6-1 is of a V-shaped structure formed by two permanent magnets with rectangular cross sections, the parallel magnetizing directions of the two permanent magnets are respectively perpendicular to two sides of the V shape and point to the opening direction of the V shape or deviate from the opening direction of the V shape, and the opening of the V shape is opened outwards along the radial direction.
In the embodiment, the permanent magnet rotor belongs to a magnetism gathering structure, and has a prominent effect of improving air gap flux density under the parallel connection effect of the adjacent V-shaped permanent magnets, so that the no-load back electromotive force and the electromagnetic torque of the motor are improved.
The fifth concrete implementation mode: the present embodiment will be described below with reference to fig. 9 and 10, and the difference between the first embodiment and the present embodiment is that the permanent magnet rotor 7 includes n × p PM Each permanent magnet 6-1, n × p PM Each iron core protrusion unit 6-3 and each permanent magnet rotor iron core 6-2; n x p PM Permanent magnets 6-1 and n × p PM The iron core convex units 6-3 are uniformly distributed on the permanent magnet rotor iron core 6-2 in a staggered manner along the circumferential direction; n x p PM The magnetizing directions of the permanent magnets 6-1 are the same;
the magnetizing direction of the permanent magnet 6-1 is radial magnetizing; the iron core protrusion units 6-3 and the permanent magnet rotor iron core 6-2 are silicon steel sheets or solid iron.
The embodiment has the advantage that half of the permanent magnet consumption is saved under the permanent magnetic field with the same pole pair number.
The sixth specific implementation mode is as follows: the first embodiment is described below with reference to fig. 11 and 12, and the difference between the first embodiment and the second embodiment is that the vernier permanent magnet motor with laterally displaced stator modulation teeth adopts an outer rotor structure, and the other components and connection modes are the same as those of the first, second, third, fourth or fifth embodiments.

Claims (9)

1. A vernier permanent magnet motor with modulation teeth of a stator transversely staggered is characterized by comprising a stator (5) and a permanent magnet rotor (6); the stator (5) comprises a ring winding (5-1), a stator core (5-2) and stator modulation teeth (5-3), the ring winding (5-1) is an m-phase stator winding, and when m alternating currents are conducted to the ring winding (5-1), p is generated s Pole pair number of axial armature magnetic field, m, p s Is a positive integer;
the stator modulation teeth (5-3) and the permanent magnet rotor (6) adopt a unit motor rotor form along the circumferential direction of the motor, the number of unit motors is n, and n is a positive integer;
the pole pair number of the permanent magnet rotor (6) is n multiplied by p PM ，p PM Is a positive integer;
the stator modulation teeth (5-3) comprise n (p) m +1)×p PM A magnetic conduction block (5-3-1), p m Number of stator slots, p m Is a positive integer; n x (p) on stator modulation teeth (5-3) m +1)×p PM The magnetic conduction blocks (5-3-1) are arranged at equal intervals along the axial direction (p) m + 1) turns, n × p per turn PM A magnetic conduction block (5-3-1), (p) m + 1) the circles of magnetic conduction blocks are circumferentially staggered by 2 pi/np m When the two outermost circles are axially aligned;
while satisfying the condition p s ＝|ip PM ±kp m L, wherein i and k are positive integers;
n x (p) of stator modulation teeth (5-3) m +1)×p PM Each magnetic conductive block (5-3-1) is divided into p PM The circumferential distance between two adjacent modulation groups (5-3-3) is 2 pi/np PM (ii) a Each modulation group (5-3-3) comprises n modulation units, and the circumferential distance between two adjacent modulation units in one modulation group is 2 pi/n; establishing an a-c rectangular coordinate system along two axially aligned magnetic conduction blocks at the outermost layer of any modulation unit, wherein c and a respectively represent the circumferential direction and the axial direction; of the modulation unit m + 1) the central position of the magnetic conduction blocks (5-3-1) meets the following conditions:
Figure FDA0003878042560000011
in the formula
u-the u-th magnetic conduction block in the modulation unit, wherein u is an integer;
l-effective axial length of the motor;
α 1 、α 2 -the magnetic conducting blocks have a size coefficient along the circumferential direction and the axial direction;
of the modulation unit m + 1) the size of the magnetic conduction blocks (5-3-1) is:
Figure FDA0003878042560000021
2. a vernier permanent magnet motor with laterally displaced stator modulation teeth according to claim 1, characterized in that the slots of the stator (5) are arranged with equal tooth width in the axial direction in the form of half closed slots, wherein the tooth width of the two end portions is 1/2 of the middle tooth width, the modulation tooth width of the two side portions is 1/2 of the middle tooth width, the slot opening of the half closed slot of the stator core (5-2) faces the permanent magnet rotor (6), and the ring winding (5-1) is embedded in the half closed slots.
3. Vernier permanent magnet motor with laterally displaced modulation teeth according to claim 2, wherein the permanent magnet rotor (6) comprises a permanent magnet rotor core (6-2) and permanent magnets (6-1), wherein the number of pole pairs of the permanent magnets is nxp PM ；n×2p PM The permanent magnets (6-1) are uniformly distributed and arranged along the circumferential direction, and the magnetizing directions of the two adjacent permanent magnets (6-1) are opposite.
4. The vernier permanent magnet motor with laterally displaced stator modulation teeth of claim 3, wherein n x 2p PM The permanent magnet (6-1) is fixed on the outer circle surface of the permanent magnet rotor iron core (6-2), and the magnetizing direction of the permanent magnet (6-1) is radial magnetizing.
5. The vernier permanent magnet motor with laterally displaced stator modulation teeth of claim 3, wherein n x 2p PM The permanent magnet (6-1) is embedded into the permanent magnet rotor core (6-2), the cross section of the permanent magnet (6-1) is rectangular, and n is multiplied by 2p PM The permanent magnets (6-1) are radially distributed in the permanent magnet rotor iron core (6-2) by taking the permanent magnet rotor output shaft (1) as the center, and the magnetizing direction of the permanent magnets (6-1) is tangential and parallel.
6. The vernier permanent magnet motor with laterally displaced stator modulation teeth of claim 3, wherein n x 2p PM The permanent magnet (6-1) is embedded in the permanent magnet rotor core (6-2), the cross section of the permanent magnet (6-1) is rectangular, the magnetizing direction of the permanent magnet (6-1) is parallel magnetizing, and the magnetic force line passing through the midpoint is radial.
7. The vernier permanent magnet motor with laterally-staggered stator modulation teeth as claimed in claim 3, wherein n x 2p PM The permanent magnets (6-1) are embedded in the permanent magnet rotor iron core (6-2), each permanent magnet (6-1) is of a V-shaped structure formed by two permanent magnets with rectangular cross sections, the parallel magnetizing directions of the two permanent magnets are respectively perpendicular to two sides of the V shape and simultaneously point to the opening direction of the V shape or simultaneously deviate from the opening direction of the V shape, and the opening of the V shape is outwards opened along the radial direction.
8. Vernier permanent magnet machine with laterally offset stator modulation teeth according to claim 2, characterized in that the permanent magnet rotor (6) comprises nxp PM A permanent magnet (6-1) of n × p PM Each iron core protrusion unit (6-3) and each permanent magnet rotor iron core (6-2); n x p PM A permanent magnet (6-1) and n × p PM The iron core protrusion units (6-3) are uniformly distributed on the permanent magnet rotor iron core (6-2) in a staggered manner along the circumferential direction; n x p PM The magnetizing directions of the permanent magnets (6-1) are the same; the magnetizing direction of the permanent magnet (6-1) is radial magnetizing; the iron core protrusion units (6-3) and the permanent magnet rotor iron cores (6-2) are silicon steel sheets or solid iron.
9. The vernier permanent magnet motor with laterally displaced modulation teeth according to any one of claims 1 to 8, further comprising a housing (4) and a permanent magnet rotor output shaft (1); the stator (5) is fixed on the inner circle surface of the casing (4), the permanent magnet rotor (6) is fixed on the permanent magnet rotor output shaft (1), and the permanent magnet rotor output shaft (1) is rotationally connected with the casing (4).
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CN108092480A (en) * 2018-01-11 2018-05-29 南方科技大学 A kind of magneto

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CN112510952B (en) * 2020-11-25 2021-09-28 哈尔滨工业大学 Transverse-dislocation brushless dual-rotor motor based on magnetic field modulation principle
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