CN114123563B - Limited corner torque motor with low torque fluctuation - Google Patents
Limited corner torque motor with low torque fluctuation Download PDFInfo
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- CN114123563B CN114123563B CN202111209148.2A CN202111209148A CN114123563B CN 114123563 B CN114123563 B CN 114123563B CN 202111209148 A CN202111209148 A CN 202111209148A CN 114123563 B CN114123563 B CN 114123563B
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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
- H02K1/165—Shape, form or location of the slots
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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
- H02K1/18—Means for mounting or fastening magnetic stationary parts on to, or to, the stator structures
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- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Windings For Motors And Generators (AREA)
Abstract
The invention provides a limited-angle torque motor with low torque fluctuation, which mainly solves the problem that the existing limited-angle torque motor cannot meet the requirement of low torque fluctuation. The limited corner torque motor with low torque fluctuation comprises a shell, a stator and a rotor, wherein the stator and the rotor are both arranged in the shell; the stator comprises a stator core and a plurality of stator windings arranged on the stator core in an annular close winding manner, each stator winding comprises a first winding, a second winding and a third winding which are wound in sequence, and the first winding, the second winding and the third winding are connected end to end; the wire diameters of the first winding and the third winding are the same, the winding layers are the same, the wire diameter of the second winding is larger than the wire diameters of the first winding and the third winding, and the winding layers of the second winding are smaller than the winding layers of the first winding and the third winding. The invention provides a winding method of different layers of arc-divided sections and multi-wire diameters of a winding area, and torque fluctuation of a torque motor with a limited corner is effectively reduced.
Description
Technical Field
The invention belongs to the field of limited-angle torque motors, and particularly relates to a limited-angle torque motor with low torque fluctuation.
Background
The limited angle motor is a servo motor which can directly drive a load to carry out rapid movement and accurate positioning in a certain angle range. The motor has the characteristics of simple structure, small rotational inertia and the like, and meanwhile, a position servo system formed by the motor has the characteristics of large output force, wide frequency band, high positioning accuracy, small size, light weight and the like, so that the motor can be applied to high-accuracy electric servo systems such as aviation servo valves, steering engine actuation, robot joints, radar antennas and the like.
As shown in fig. 1, the conventional limited-angle torque motor mostly adopts a single-wire-diameter multi-layer winding annular close winding technology to perform winding uniformly in different regions. Each area adopts a single wire diameter, and the enameled wires are wound on the stator core according to a certain number of layers in the winding direction. Because the wire diameter and the turns in each area of the stator winding are balanced, when the stator rotates to a larger rotation angle range, the effective turns of the stator are reduced, and the electromagnetic torque is obviously reduced; therefore, as the rotor rotational angle position increases, the electromagnetic torque of the limited rotational angle torque motor decreases, and the requirement of low torque ripple by the electric servo system cannot be satisfied.
In summary, in practical applications, the electromagnetic torque value of the limited-rotation-angle torque motor decreases with the increase of the rotation angle position of the rotor, so that the expected force effect cannot be achieved in a large rotation angle range, and the performance index of the electric servo system is affected.
Disclosure of Invention
The invention provides a limited corner torque motor with low torque fluctuation, aiming at the problem that the existing limited corner torque motor cannot meet the requirement of low torque fluctuation.
In order to solve the problems, the technical scheme provided by the invention is as follows:
a limited-angle torque motor with low torque fluctuation comprises a machine shell, a stator and a rotor, wherein the stator and the rotor are both arranged in the machine shell; the stator comprises a stator core and a plurality of stator windings arranged on the stator core in an annular close winding manner, each stator winding comprises a first winding, a second winding and a third winding which are wound in sequence, and the first winding, the second winding and the third winding are connected end to end; the wire diameter of the first winding is the same as that of the third winding, the winding layer number of the first winding is the same as that of the third winding, the wire diameter of the second winding is larger than that of the first winding and that of the third winding, and the winding layer number of the second winding is smaller than that of the first winding and that of the third winding.
Furthermore, the number of winding layers of the second winding is N, N is an odd number, and the number of winding layers of the first winding and the third winding is N + 2.
Furthermore, the number of winding layers of the second winding is 3, and the number of winding layers of the first winding and the third winding is 5.
Furthermore, the winding angles of the first winding, the second winding and the third winding are respectively 15% -20%, 60% -70% and 15% -20% of the total angle of the winding area, and the winding angles of the first winding and the third winding are equal.
Furthermore, the wire diameter of the second winding is 1.2-1.8 times of the wire diameter of the first winding and the third winding.
Furthermore, the stator windings are arranged on the stator core through winding frameworks, the number of the winding frameworks is the same as that of the stator windings, two partition plates are arranged on each winding framework, and a winding area is divided into three arc sections corresponding to winding angles of the first winding, the second winding and the third winding.
Furthermore, the winding framework is of a butt-buckling structure and comprises two arc-shaped plates which are buckled with each other and of which the cross sections are U-shaped.
Furthermore, the stator core is provided with marking lines, and the marking lines divide a winding area of the stator winding into three arc sections corresponding to winding angles of the first winding, the second winding and the third winding.
Furthermore, a plurality of positioning blocks are arranged on the stator core and used for dividing winding areas of the plurality of stator windings.
Furthermore, the winding framework is made of insulating materials through an injection molding process.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a winding method of multiple wire diameters with different layer numbers in arc sections of a winding area, namely, enameled wires in a central winding area adopt a thick wire diameter and fewer layer numbers, enameled wires in winding areas on two sides adopt measures of a thin wire diameter and more layer numbers, and the method effectively reduces torque fluctuation of a limited angle torque motor.
2. The stator winding of the limited angle torque motor is arranged on the stator core through the butt-buckling type winding framework, the butt-buckling type winding framework accurately realizes the arc division of a winding area, and the winding angles of different arc sections are ensured.
Drawings
FIG. 1 is a schematic diagram of a single-wire-diameter multi-layer winding ring-shaped close winding of a conventional limited-angle torque motor;
FIG. 2 is a schematic structure of multi-segment multi-wire diameter multi-winding ring-shaped close winding of the limited angle torque motor of the present invention;
FIG. 3 is a schematic diagram of the winding form of the present invention cooperating with a stator core;
FIG. 4 is a schematic structural diagram of a winding bobbin of the present invention;
fig. 5 is a schematic diagram of the torque ripple of the present invention.
Reference numerals: 1-stator core, 2-stator winding, 3-winding framework, 31-splitter plate, 11-positioning block, 21-first winding, 22-second winding and 23-third winding.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention and are not intended to limit the scope of the present invention.
The torque fluctuation of the limited angle torque motor directly determines the performance of the motor. In order to reduce the torque fluctuation of the motor, the invention analyzes the torque fluctuation generation, determines the position of an inflection point of the torque fluctuation reduction through finite element simulation, further pertinently divides a stator winding area into 3 unequal arc sections, the middle area adopts an enameled wire with thicker wire diameter, the two side areas adopt enameled wires with thinner wire diameter, and reduces the torque fluctuation of the torque motor with the limited corner by a method of multiple wire diameters and different layers of the arc sections of the winding area.
The invention relates to a limited corner torque motor with low torque fluctuation, which can adopt a split charging type structure and comprises a machine shell, a stator and a rotor, wherein the machine shell is mainly used for supporting the stator, the rotor is mainly composed of an inner magnetic conduction ring and magnetic steel, and the magnetic steel is bonded on the inner magnetic conduction ring. The stator includes stator core 1 and through the annular close a plurality of stator winding 2 that set up on stator core 1 that wind, stator core 1 and interior magnetic conduction ring adopt soft magnetic alloy, and the magnet steel adopts hard magnetic material, excites through stator winding 2, and under exciting current's effect, the rotor begins to rotate, through switching stator winding 2's input voltage's positive and negative, can change the rotation direction of rotor.
As shown in fig. 2, the present invention sets a single stator winding 2 as a first winding 21, a second winding 22 and a third winding 23 wound in sequence, and the first winding 21, the second winding 22 and the third winding 23 are connected end to end; the wire diameters of the first winding 21 and the third winding 23 are the same, and the number of winding layers is the same, the wire diameter of the second winding 22 is larger than the wire diameters of the first winding 21 and the third winding 23, and the number of winding layers of the second winding 22 is smaller than the number of winding layers of the first winding 21 and the third winding 23. Namely, the first winding 21, the second winding 22 and the third winding 23 are wound in the winding area of the stator core 1 in sequence, the second winding 22 in the middle area adopts the enameled wire with a thicker wire diameter, the first winding 21 and the third winding 23 in the areas at two sides adopt the enameled wires with the same thinner wire diameter, and the winding layer number of the windings in the areas at two sides is larger than that of the windings in the middle area.
In order to make the output of the limited-angle torque motor more stable, the number of winding layers of the second winding 22 may be N, where N is an odd number, and at this time, the number of winding layers of the corresponding first winding 21 and the third winding 23 is N + 2. According to the invention, the winding layer number of the second winding 22 is set to be an odd number, and the winding layer numbers of the first winding 21 and the third winding 23 are set to be N +2 layers, so that the winding manufacturability is better, under the condition of the odd number, the head of the outgoing line of the second winding 22 can be directly connected with the tail of the outgoing line of the first winding 21, and the tail of the outgoing line of the second winding 22 can be directly connected with the head of the outgoing line of the third winding 23, so that the cross-line condition can not occur, the winding of the stator winding 2 is simpler, the connection of each winding is more reliable, and the performance of the motor is more stable. In the embodiment of the present invention, the winding number of the second winding 22 is 3, and the winding number of the first winding 21 and the third winding 23 is 5.
In addition, the wire diameter of the second winding 22 can be set to be 1.2-1.8 times of the wire diameter of the first winding 21 and the third winding 23, and the setting of the multiple can effectively adjust the wire diameter of the windings according to the peak locked rotor torque, thereby further effectively reducing the torque fluctuation.
As shown in fig. 3 and 4, in order to achieve accurate and stable installation of the stator winding 2, a plurality of winding bobbins 3 may be provided on the stator core 1. The winding framework 3 accurately realizes the segmentation of the winding area and ensures the winding angles of different arc sections. The stator winding 2 is arranged on the stator core 1 through the winding frame 3, at the moment, the number of the winding frames 3 is the same as that of the stator winding 2, two partition plates 31 are arranged on each winding frame 3, and a winding area of the motor stator core 1 is divided into three arc sections corresponding to winding angles of the first winding 21, the second winding 22 and the third winding 23. In the embodiment of the invention, the winding framework 3 is of a butt-buckling type structure and comprises two buckled arc-shaped plates with U-shaped sections, and the two buckled arc-shaped plates are made of insulating materials through an injection molding process. Meanwhile, a plurality of positioning blocks 11 may be provided on the stator core 1 to distinguish winding regions of the plurality of stator windings 2.
In other embodiments, if the winding frame 3 cannot be adopted due to space limitation, the winding angles of the first winding 21, the second winding 22 and the third winding 23 may be calibrated by directly marking lines on the stator core 1, where the marking lines are used to divide the winding area of the stator core 2 into three arc segments corresponding to the winding angles of the first winding 21, the second winding 22 and the third winding 23.
In order to further optimize the arc-dividing section angle of the winding framework 3, the position of a turning point with reduced torque fluctuation can be determined by adopting a finite element simulation method, and the arc-dividing section angle of the butt-joint winding framework 3 is designed according to the position. In the embodiment of the invention, the winding angles of the first winding 21, the second winding 22 and the third winding 23 are respectively 15% -20%, 60% -70% and 15% -20% of the winding available area. The sum of the winding angles of the first winding 21, the second winding 22 and the third winding 23 is 100% of the winding-able area, and the winding angles of the first winding 21 and the third winding 23 account for equal proportion of the winding-able area. After the arc-dividing segment angle of the second winding 22 is determined, the winding angles of the first winding 21 and the third winding 23 can be calculated. The arc-dividing section angle α 1 of the second winding 22 is related to the magnetic pole angle of the magnetic steel, the rotation angle of the rotor, and the inflection point of the torque ripple reduction. The inflection point of the torque fluctuation reduction is related to the magnetic circuit structure, the exciting current, the magnetic material characteristics and the like, and the torque fluctuation is small when the winding angle of the second winding 22 is in the range of (60% -70%) of the winding possible area through multiple times of simulation analysis.
According to the limited corner torque motor, the enameled wires in the central winding area have a thicker wire diameter and fewer layers, and the enameled wires in the winding areas at two sides have a thinner wire diameter and more layers, so that the torque fluctuation of the limited corner torque motor is effectively reduced. Under the condition of limited structure, the torque M of the limited rotation angle torque motor is in direct proportion to the magnetic field intensity B of an air gap and the effective number of turns N of a winding under each pole. M. Varies.. BN. Taking the clockwise rotation as an example, when the rotor rotates out of the range of the arc segment of the second winding 22, the air gap field density B of the motor decreases due to the demagnetization of the winding, and the motor torque M starts to decrease. The start portion now turns into the range of the arc segment of the first winding 21. In the case of a reduction in the air-gap field density B of the machine, the reduction in the torque of the machine caused by the reduction in the air-gap field density B can only be counteracted by increasing the number N of effective turns of the winding. Therefore, the torque fluctuation of the torque motor with the limited corner is effectively reduced by the winding method of different layers of the arc-divided sections of the winding area.
The limited corner torque motor with low torque fluctuation is subjected to finite element simulation and is combined with a scientific test method, so that the torque fluctuation performance of the limited corner torque motor is obviously improved, and the torque fluctuation is within 5%. Meanwhile, the low torque fluctuation principle provided by the invention is simple, and the measures for reducing the torque fluctuation can cover the limited-angle torque motor to be developed at present.
Fig. 5 is a schematic diagram of the torque ripple of the present invention, in which the abscissa represents the angle of rotation of the rotor in mNm and the ordinate represents the torque that the motor can output at that angle in mNm. The original state corresponds to the curve with larger torque fluctuation, and the new state is the curve with improved torque fluctuation obtained by adopting the winding method, so that the winding method obviously reduces the torque fluctuation of the torque motor with the limited corner.
Claims (9)
1. A limited corner torque motor with low torque fluctuation comprises a machine shell, a stator and a rotor, wherein the stator and the rotor are both arranged in the machine shell;
the method is characterized in that: the stator comprises a stator core (1) and a plurality of stator windings (2) which are annularly and densely wound in a plurality of winding areas respectively arranged on the stator core (1), each stator winding (2) comprises a first winding (21), a second winding (22) and a third winding (23) which are wound in sequence, the second winding (22) is wound in the middle area of the winding area, the first winding (21) and the third winding (23) are respectively wound in the two side areas of the winding area, and the first winding (21), the second winding (22) and the third winding (23) are connected end to end;
the wire diameters of the first winding (21) and the third winding (23) are the same, the number of winding layers is the same, the wire diameter of the second winding (22) is larger than the wire diameters of the first winding (21) and the third winding (23), and the number of winding layers of the second winding (22) is smaller than the number of winding layers of the first winding (21) and the third winding (23);
the winding angles of the first winding (21), the second winding (22) and the third winding (23) are respectively 15% -20%, 60% -70% and 15% -20% of the total angle of the winding area, and the winding angles of the first winding (21) and the third winding (23) are equal.
2. The limited rotation angle torque motor with low torque ripple according to claim 1, characterized in that: the winding layer number of the second winding (22) is N layers, N is an odd number, and the winding layer number of the first winding (21) and the third winding (23) is N +2 layers.
3. The limited rotation angle torque motor with low torque ripple according to claim 2, characterized in that: the number of winding layers of the second winding (22) is 3, and the number of winding layers of the first winding (21) and the third winding (23) is 5.
4. The limited rotation angle torque motor with low torque ripple according to claim 1, characterized in that: the wire diameter of the second winding (22) is 1.2-1.8 times of the wire diameter of the first winding (21) and the third winding (23).
5. The limited rotation angle torque motor with low torque ripple according to claim 1, characterized in that: the stator winding (2) is arranged on the stator core (1) through the winding frameworks (3), the number of the winding frameworks (3) is the same as that of the stator winding (2), two partition plates (31) are arranged on each winding framework (3), and a winding area is divided into three arc sections corresponding to winding angles of the first winding (21), the second winding (22) and the third winding (23).
6. The limited rotation angle torque motor with low torque ripple according to claim 5, wherein: the winding framework (3) is of a butt-buckling structure and comprises two arc-shaped plates which are buckled with each other and of which the cross sections are U-shaped.
7. The limited rotation angle torque motor with low torque ripple according to claim 1, characterized in that: the stator core (1) is provided with marking lines, and the marking lines divide a winding area of the stator winding (2) into three arc sections corresponding to winding angles of the first winding (21), the second winding (22) and the third winding (23).
8. The limited angle torque motor with low torque ripple of claim 1, wherein: the stator core (1) is provided with a plurality of positioning blocks (11) for dividing winding areas of the stator windings (2).
9. The limited rotation angle torque motor with low torque ripple according to claim 5, wherein: the winding framework (3) is made of an insulating material through an injection molding process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111209148.2A CN114123563B (en) | 2021-10-18 | 2021-10-18 | Limited corner torque motor with low torque fluctuation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111209148.2A CN114123563B (en) | 2021-10-18 | 2021-10-18 | Limited corner torque motor with low torque fluctuation |
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| Publication Number | Publication Date |
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| CN114123563A CN114123563A (en) | 2022-03-01 |
| CN114123563B true CN114123563B (en) | 2023-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111209148.2A Active CN114123563B (en) | 2021-10-18 | 2021-10-18 | Limited corner torque motor with low torque fluctuation |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4642539A (en) * | 1985-06-10 | 1987-02-10 | Northern Magnetics, Inc. | Torque motor with unlimited angular excursion |
| CN2208755Y (en) * | 1994-08-15 | 1995-09-27 | 浙江嵊县奥力电机有限公司 | Single-phase force moment paying off motor |
| CN106342386B (en) * | 2007-07-13 | 2011-12-21 | 中国江南航天工业集团林泉电机厂 | Finite angle motor |
| CN110581614A (en) * | 2019-08-19 | 2019-12-17 | 华中科技大学 | Servo limited angle torque motor |
| CN113472113A (en) * | 2020-03-31 | 2021-10-01 | 日本电产株式会社 | Motor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10734857B2 (en) * | 2011-09-26 | 2020-08-04 | Pangolin Laser Systems, Inc. | Electromechanical limited rotation rotary actuator and method employing segmented coils |
-
2021
- 2021-10-18 CN CN202111209148.2A patent/CN114123563B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4642539A (en) * | 1985-06-10 | 1987-02-10 | Northern Magnetics, Inc. | Torque motor with unlimited angular excursion |
| CN2208755Y (en) * | 1994-08-15 | 1995-09-27 | 浙江嵊县奥力电机有限公司 | Single-phase force moment paying off motor |
| CN106342386B (en) * | 2007-07-13 | 2011-12-21 | 中国江南航天工业集团林泉电机厂 | Finite angle motor |
| CN110581614A (en) * | 2019-08-19 | 2019-12-17 | 华中科技大学 | Servo limited angle torque motor |
| CN113472113A (en) * | 2020-03-31 | 2021-10-01 | 日本电产株式会社 | Motor |
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| CN114123563A (en) | 2022-03-01 |
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