CN114123699A - Servo dual-redundancy limited-angle torque motor - Google Patents

Servo dual-redundancy limited-angle torque motor Download PDF

Info

Publication number
CN114123699A
CN114123699A CN202111351863.XA CN202111351863A CN114123699A CN 114123699 A CN114123699 A CN 114123699A CN 202111351863 A CN202111351863 A CN 202111351863A CN 114123699 A CN114123699 A CN 114123699A
Authority
CN
China
Prior art keywords
magnetic
rotor
stator
torque motor
angle torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111351863.XA
Other languages
Chinese (zh)
Other versions
CN114123699B (en
Inventor
李大伟
王铭杰
周游
黄礼浩
曲荣海
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huazhong University of Science and Technology
Original Assignee
Huazhong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huazhong University of Science and Technology filed Critical Huazhong University of Science and Technology
Priority to CN202111351863.XA priority Critical patent/CN114123699B/en
Publication of CN114123699A publication Critical patent/CN114123699A/en
Application granted granted Critical
Publication of CN114123699B publication Critical patent/CN114123699B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H02K16/04—Machines with one rotor and two stators
    • 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
    • H02K1/14—Stator cores with salient poles
    • H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
    • 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
    • H02K1/2793—Rotors axially facing stators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K26/00—Machines adapted to function as torque motors, i.e. to exert a torque when stalled
    • 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
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/52—Fastening salient pole windings or connections thereto
    • H02K3/521—Fastening salient pole windings or connections thereto applicable to stators only
    • H02K3/522—Fastening salient pole windings or connections thereto applicable to stators only for generally annular cores with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/12—Transversal flux machines
    • 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

Abstract

The invention discloses a servo dual-redundancy limited-angle torque motor, which belongs to the field of motors and comprises: the two stators are sequentially arranged along the axial direction, and the rotor is positioned between the two stators; the rotor comprises a rotor magnetic yoke and magnetic steel, and the rotor magnetic yoke and the magnetic steel enable the rotor to generate axial magnetic fields with polarities distributed in a staggered mode along the circumferential direction; the stator comprises a stator magnetic yoke and a plurality of stator teeth which are positioned on one surface of the stator magnetic yoke facing the rotor and are uniformly distributed along the circumferential direction, and each stator tooth is provided with an armature winding; the number of poles of the servo dual-redundancy limited angle torque motor is equal to the number of slots, armature windings on two adjacent stator teeth in the stator are oppositely wound and connected in series, and the stator teeth and the rotor are matched to generate a magnetic line loop with uniformly distributed magnetic resistance. The servo dual-redundancy limited-angle torque motor provided by the invention can realize thermal isolation and magnetic isolation between the working winding and the standby winding while providing good output torque characteristics.

Description

Servo dual-redundancy limited-angle torque motor
Technical Field
The invention belongs to the field of motors, and particularly relates to a servo dual-redundancy limited-angle torque motor.
Background
The limited corner torque motor can rotate in a certain corner range and has certain torque output, and the motor can be directly used as a driving element of a servo control system and has the advantages of simple and reliable structure, easy control, good dynamic response and the like. The isopolar slot type limited-rotation-angle torque motor has the highest torque output capacity in the limited-rotation-angle torque motor, the output torque is constant in a limited rotation angle, and the torque output capacity is in direct proportion to the current, so the isopolar slot type limited-rotation-angle torque motor is generally used in recent years.
However, in some application occasions, such as the driving control of an aerospace fuel valve, two sets of windings which have high output torque capacity and do not interfere with each other are expected to be provided for pursuing high reliability, so that a set of standby dual-redundancy working mode for working is achieved, and therefore new requirements are provided for the structure of the motor. The traditional radial motor cannot meet the requirement due to structural limitation: if two sets of windings are wound together, namely all the windings are wound on all the teeth, the size of the tooth part is influenced, the saturation phenomenon is caused during the high-current work, so that the moment waveform of a dome is output, more seriously, the two sets of windings have complete thermal coupling, when one set of windings are burnt out due to short-circuit fault, the safety of the other set cannot be ensured, and the standby significance is lost; if two sets of windings are respectively wound on half of the teeth, the problem of magnetic coupling is caused firstly, and the control of putting the two sets of windings into operation in emergency is influenced; in addition, if the radial double-stator structure is adopted, the outer stator cannot be effectively utilized in order to achieve two sets of windings with the same output capacity requirement, the radial outer rotor structure is difficult to apply in some occasions, and if the coaxial double-stator structure is adopted, the axial length is long due to the length of the end part of the winding.
In summary, it is an urgent need to solve the problem of providing a dual-redundancy limited-angle torque motor capable of achieving thermal isolation and magnetic isolation on the basis of ensuring the output torque performance of the original equivalent-pole slot type limited-angle torque motor.
Disclosure of Invention
Aiming at the defects and improvement requirements of the prior art, the invention provides a servo dual-redundancy limited-angle torque motor, aiming at solving the problem that the existing servo dual-redundancy limited-angle torque motor can not realize thermal isolation and magnetic isolation between a working winding and a standby winding while providing good output torque characteristics.
In order to achieve the above object, the present invention provides a servo dual-redundancy limited-angle torque motor, comprising: the two stators are sequentially arranged along the axial direction, and the rotor is positioned between the two stators;
the rotor comprises a rotor magnetic yoke and magnetic steel, and the rotor magnetic yoke and the magnetic steel enable the rotor to generate axial magnetic fields with polarities distributed in a staggered mode along the circumferential direction;
the stator comprises a stator magnetic yoke and a plurality of stator teeth which are positioned on one surface of the stator magnetic yoke facing the rotor and are uniformly distributed along the circumferential direction, and each stator tooth is provided with an armature winding;
the number of poles of the servo dual-redundancy limited angle torque motor is equal to the number of slots, armature windings on two adjacent stator teeth in the stator are oppositely wound and connected in series, and the stator teeth and the rotor are matched to generate a magnetic line loop with uniformly distributed magnetic resistance.
The invention provides a servo dual-redundancy limited-angle torque motor which is an axial magnetic-flux dual-stator structure and comprises two identical stators, wherein each tooth of each stator is respectively wound with one identical winding, and the two identical windings can be matched with a rotor to obtain two sets of windings which have the same output performance and meet the requirements of thermal isolation and magnetic isolation. Therefore, the servo dual-redundancy limited-angle torque motor provided by the invention realizes thermal isolation and magnetic isolation between the working winding and the standby winding while providing good output torque characteristics.
Further, the shape of the stator teeth is sector column along the axial direction.
Further, the magnetic steel is provided with a plurality of magnets, and the magnets are uniformly distributed on two axial end faces of the rotor yoke along the circumferential direction, so that the magnetic density can be increased.
Further, the number of magnetic steels provided on each axial end face of the rotor yoke is even, whereby the magnetic density can be further increased.
Further, the arc length of the inner arc of the stator teeth is recorded as a first arc length L1The arc length of the inner arc of the magnetic steel is recorded as a second arc length L2And then:
L1＞L2×(R/(360°/n))
wherein, R is the working range of the servo dual-redundancy limited angle torque motor, and n is the number of the magnetic steels arranged on each axial end face of the rotor magnetic yoke.
In the invention, the arc length of the inner arc of the stator tooth is a first arc length L1And the arc length of the inner arc of the magnetic steel is a second arc length L2The motor can work in a tooth-groove-free torque interval, so that the working winding outputs constant electromagnetic torque in a working range, and the performance of the motor is improved.
Furthermore, magnetic steel on each axial end face of the rotor magnetic yoke is axially magnetized, and the polarity of each magnetic steel is distributed in a staggered mode along the axial direction; according to the magnetizing mode, the magnetic steel generates excitation magnetomotive force with equal amplitude and alternating polarity period at all positions in the circumferential direction of the axial air gap, so that no-load counter electromotive force in a working range is constant when the magnetic steel rotates at a constant speed, and constant torque (irrelevant to rotating speed) can be output in the working range when current is constant.
Further, the magnetic steel is fan-shaped, and the thickness along the axial direction is equal everywhere, so that the excitation magnetomotive force amplitude can be equal.
Further, the polar arc coefficients of the magnetic steel are all equal; therefore, the torque generated by each stator tooth and the magnetic steel is the same.
Furthermore, the stator teeth are of a straight groove structure, so that magnetic field saturation is reduced, cogging torque is reduced, and the angle of a non-cogging area is widened.
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained:
(1) according to the servo dual-redundancy limited-angle torque motor, the structure of the axial magnetic flux dual stator is adopted, the same set of windings are respectively wound on the teeth of the two same stators, the two sets of windings with the same output performance and meeting the requirements of thermal isolation and magnetic isolation can be obtained by matching with a rotor, and the problem that the existing structure cannot well provide a set of working and standby working modes is solved.
(2) According to the servo dual-redundancy limited-angle torque motor provided by the invention, the stator teeth of the stator core are in a fan-shaped column shape along the axial direction, two sides of a stator slot are parallel, the stator slot is in a straight slot structure, the arc length of the inner arc of the stator teeth is greater than the arc length x of the inner arc of the magnetic steel in the rotor (working range)/(360 DEG/the number of the circumferential distribution of the magnetic steel)), the torque without the tooth slot in a working interval is ensured, the tooth part is not easy to saturate, and a more stable torque characteristic curve can be output under the working condition of maximum torque output of limiting current.
(3) According to the servo dual-redundancy limited-rotation-angle torque motor provided by the invention, the yoke part of the rotor is made of magnetic conductive materials, an even number of magnetic steels are uniformly distributed in the circumferential direction of the magnetic yoke, the magnetic steels are adhered to two axial surfaces of the magnetic yoke, the magnetic steels are axially magnetized, the excitation directions of the axial magnetic steels are the same and completely coincide, the excitation magnetomotive force is improved, and when each set of windings work, the magnetic flux of the rotor magnetic steels does not pass through the magnetic yoke for closing, so that the thickness of the magnetic yoke only needs to ensure the mechanical strength, the rotational inertia of the rotor is reduced, and the dynamic performance of the motor is improved.
(4) The servo dual-redundancy limited-rotation-angle torque motor provided by the invention adopts an axial magnetic flux structure, has higher torque density compared with a traditional radial magnetic flux motor, gives full play to the advantages of the axial magnetic flux structure by adopting a dual-stator structure, and can output larger torque under the same condition under the condition of the same effective part volume.
(5) The servo dual-redundancy limited angle torque motor provided by the invention adopts an axial magnetic flux dual-stator structure, the radial space occupied by the winding end part of the servo dual-redundancy limited angle torque motor is far smaller than the axial space occupied by the winding end part of the radial motor, and the angle detection device and the centering device can be placed in the radial inner space of the stator together, so that the space utilization rate is high.
Drawings
Fig. 1 is an isometric view of a servo dual-redundancy limited-rotation-angle torque motor according to an embodiment of the present invention;
FIG. 2 is a schematic view of a single stator provided by an embodiment of the present invention;
FIG. 3 is a no-load cogging torque curve of a servo dual-redundancy limited-rotation-angle torque motor according to an embodiment of the present invention;
fig. 4 is a graph of an output torque of a servo dual-redundancy limited-rotation-angle torque motor according to an embodiment of the present invention, which includes an output torque curve when a single set of power supply (dc) and a single set of standby power supply are provided, and an output torque curve when two sets of windings are simultaneously supplied with power;
fig. 5 is a graph of the average output torque of the servo dual-redundancy limited-rotation-angle torque motor according to the embodiment of the present invention, which includes a curve of the average output torque along with the current when a single set of power (dc) supply is used for a single set of equipment and a curve of the average output torque along with the current when two sets of windings supply power simultaneously;
fig. 6 is a flux linkage graph of respective turns of a working winding and a standby winding of a motor provided by an embodiment of the invention when no magnetic steel is provided and only a single set of windings are energized;
the same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-rotor, 11-rotor magnetic yoke, 12-magnetic steel;
2-stator, 21-stator yoke, 22-stator teeth;
3-armature winding.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the present application, the terms "first," "second," and the like (if any) in the description and the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In order to realize thermal isolation and magnetic isolation between a working winding and a standby winding while providing good output torque characteristics for the servo dual-redundancy limited angle torque motor, the servo dual-redundancy limited angle torque motor provided by the invention is shown in fig. 1 and comprises the following components: two stators 2 arranged in the axial direction in sequence, and a rotor 1 located between the two stators 2.
In this embodiment, the rotor 1 includes a rotor yoke 11 and magnetic steel 12, and the rotor yoke 11 and the magnetic steel 12 enable the rotor 1 to generate axial magnetic fields with polarities distributed in a staggered manner along the circumferential direction;
in this embodiment, the magnetic yoke 11 is formed by processing a soft magnetic material (such as a silicon steel sheet, an electrical steel material, and the like) with good magnetic conductivity and low coercive force, and is used for connecting the rotating shaft and the magnetic steel and providing a passage for a magnetic line loop of a magnetic force of the motor; the magnetic steel 12 is made of a high-performance permanent magnet material (such as samarium cobalt, neodymium iron boron and the like) and is used for generating a continuous and stable magnetic field and interacting with the magnetic field generated by the electrified winding 3 to generate torque;
in order to increase the magnetic density, in this embodiment, a plurality of magnetic steels 12 are provided, and are uniformly distributed on two axial end faces of the rotor yoke 11 along the circumferential direction, and the number of the magnetic steels 12 provided on each axial end face of the rotor yoke 11 is an even number, which is 4 in this embodiment; it should be noted that the arrangement manner of the magnetic steel is only a preferred embodiment, and besides the surface-mount manner, in some other embodiments of the present invention, the magnetic steel may be arranged in an embedded manner, a magnetic-concentrating manner, and the like, as long as the rotor is ensured to generate the axial magnetic field with the polarities distributed in the circumferential direction in a staggered manner;
in this embodiment, the magnetic steel 12 on each axial end face of the rotor yoke 11 is axially magnetized, and the polarities of the magnetic steels are distributed in an axially staggered manner; according to the magnetizing mode, the magnetic steel generates excitation magnetomotive force with equal amplitude and alternating polarity period at all positions in the circumferential direction of the axial air gap, so that no-load counter electromotive force in a working range is constant when the magnetic steel rotates at a constant speed, and constant torque can be output in the working range when current is constant, and the constant torque is irrelevant to rotating speed;
in the embodiment, the magnetic steel 12 is fan-shaped, and the thickness along the axial direction is equal at all positions, so that the excitation magnetomotive force amplitude is equal; the pole arc coefficients of the magnetic steel 12 are all equal, so that the torque generated by each stator tooth and the magnetic steel is the same.
As shown in fig. 1 and 2, in the present embodiment, the stator 2 includes a stator yoke 21, and a plurality of stator teeth 22 located on a surface of the stator yoke 21 facing the rotor 1 and uniformly distributed along a circumferential direction, and each stator tooth 22 is provided with an armature winding 3; in this embodiment, the number of stator teeth included in each stator 2 is the same as the number of the magnetic steels 12 on each axial end face of the rotor yoke 21, and is also 4, so that a tooth-slot-free torque interval is obtained and is matched with the rotor magnetic steels 12 with alternating polarities, and the concentrated winding 3 outputs a constant electromagnetic torque in a working range;
alternatively, as shown in fig. 2, in the present embodiment, the stator teeth 22 are in a fan-shaped cylindrical shape along the axial direction, and may be made by winding silicon steel sheets, processing SMC materials, and the like; in order to reduce magnetic field saturation, reduce cogging torque and widen the angle of a non-cogging region, in the embodiment, the stator teeth 22 are in a straight-slot structure, that is, two sides of the stator slot are parallel;
the number of poles of the servo dual-redundancy limited-angle torque motor is equal to the number of slots; in order to ensure that the number of poles of the stator is equal to that of the rotor, in the embodiment, in the stator 2, armature windings on two adjacent stator teeth 22 are wound in opposite directions and are connected in series, four coils on the same stator form a set of windings, and the two sets of windings are separated in space and are mutually independent; the stator teeth 22 are matched with the rotor 1 to generate a magnetic line of force loop with uniformly distributed magnetic resistance; when current is introduced into any one or two sets of windings, the armature magnetic field is generated to interact with the magnetic field generated by the magnetic steel 12 so as to generate electromagnetic torque, the direction and the size of the output torque can be changed by changing the polarity and the amplitude of the current, and the directions of the armature magnetic fields generated when the two sets of windings work simultaneously are in the same direction in the axial direction.
As a preferred embodiment, in this embodiment, the stator teeth 22 are made of soft magnetic material, which is not saturated in the operating range of the motor, so that the stator teeth 22 cooperate with the rotor 1 to generate a magnetic flux circuit with low reluctance and uniform distribution.
In order to further improve the torque output performance of the servo dual-redundancy limited-angle torque motor, in a preferred embodiment, the arc length of the inner arc of the stator teeth is defined as the first arc length L1The arc length of the inner arc of the magnetic steel is recorded as a second arc length L2And then:
L1＞L2×(R/(360°/n))
wherein, R is the working range of the servo dual-redundancy limited-angle torque motor, and n is the number of the magnetic steels arranged on each axial end face of the rotor magnet yoke 11; optionally, in this embodiment, the operating range is R equal to 40 °, the number of circumferentially distributed magnetic steels is n equal to 4, and the pole arc coefficient of the magnetic steel is 1, according to the above arc length constraint relationship, in this embodiment, the arc length of the inner arc of each stator tooth is at least 4/9 times the arc length of the inner arc of each rotor magnetic steel; in this embodiment, the cogging torque curve is shown in fig. 3, where the abscissa is the rotation angle, the ordinate is the cogging torque, the positive and negative of the torque are the directions relative to the positive direction of rotation, and the same direction is positive; as can be seen from fig. 3, the motor of the present embodiment has almost no cogging torque in the working range, that is, the inner arc length of the stator teeth and the inner arc length of the magnetic steel are set according to the above relationship, so that the motor can be ensured to work in the interval of no cogging torque, the working winding outputs constant electromagnetic torque in the working range, and the performance of the motor is improved.
The output torque curve of the servo dual-redundancy limited-rotation-angle torque motor provided by the embodiment is shown in fig. 4 and comprises an output torque curve when a single set of winding is electrified and two sets of windings are electrified with the same current, wherein the abscissa is a rotation angle, the ordinate is output torque, the positive and negative of the torque are compared with the positive direction of rotation, and the same direction is positive; as shown in fig. 4, when the motor is supplied with different magnitudes of direct currents (corresponding to the labels of fig. 4), the output torque curve of the motor is close to horizontal within the working range of 40 °, so that excellent control characteristics are provided; the stator teeth forming the straight slot structure maximize the area of the tooth part, reduce the influence of armature reaction on the saturation of the tooth part, and enable the output torque curve to be close to horizontal within 40 degrees of the working interval when large current even two sets of windings work.
The average output torque variation curve of the servo dual-redundancy limited angle torque motor provided by the embodiment is shown in fig. 5, and comprises a motor average output torque variation curve with current when a single set of winding is electrified and two sets of windings are electrified with the same current, wherein the abscissa is the amplitude of the current electrified in the winding, and the ordinate is the average output torque; it can be seen from fig. 5 that the output torque is proportional to the current, so that the whole control system is closer to linearity, the control complexity is reduced, and the system reliability is improved, thereby increasing the available occasions of the embodiment.
The magnetic linkage curve chart of the respective turn chains of the working winding and the standby winding under the condition that no magnetic steel exists and only a single set of windings are electrified is shown in fig. 6, as can be seen from fig. 6, in the embodiment, when the motor is in a set of working and standby working modes, the working winding has almost no electromagnetic influence on the standby winding, so that the standby winding does not have to worry about the fault caused by the electromagnetic effect of the fault of the working winding, the two sets of windings are separated in space, the heat influence is in an acceptable range, and the set of working and standby working modes are also realized; since there is little magnetic coupling between the two sets of windings, the thickness of the yoke 11 only needs to ensure mechanical strength to reduce the moment of inertia.
In summary, the embodiment provides a servo dual-redundancy limited-angle torque motor, by adopting an axial-flux dual-stator structure, and respectively winding a set of identical windings on teeth of two identical stators, two sets of windings with identical output performance and meeting thermal isolation and magnetic isolation can be obtained by matching with a rotor, so that the problem that the existing structure cannot provide a set of working and a set of standby working modes well is solved; the tooth part of the stator core of the straight slot structure of the motor is not easy to saturate, and a more stable torque characteristic curve can be output under the working condition of maximum torque output of limiting current; the yoke part of the rotor of the motor is made of magnetic conductive materials, the excitation directions of the axial magnetic steels are the same and completely overlapped, the excitation magnetomotive force is improved, the thickness of the magnetic yoke only needs to ensure the mechanical strength, the rotational inertia of the rotor is reduced, and the dynamic performance of the motor is improved; the motor of the embodiment adopts an axial magnetic flux structure, has higher torque density compared with the traditional radial magnetic flux motor, gives full play to the advantages of the axial magnetic flux structure by adopting a double-stator structure, and can output larger torque under the same condition by adopting the limited corner torque motor with the structure under the condition of the same effective part volume; furthermore, in the structure of the axial magnetic flux double stator, the radial space occupied by the winding end part of the axial magnetic flux double stator is far smaller than the axial space occupied by the winding end part of the radial motor, and the rotation angle detection device and the centering device can be placed in the radial inner space of the stator together, so that the space utilization rate is high.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (9)

1. The utility model provides a servo two redundancy limited angle torque motor which characterized in that includes: the stator structure comprises two stators (2) and a rotor (1) which are sequentially arranged along the axial direction, wherein the rotor (1) is positioned between the two stators (2);
the rotor (1) comprises a rotor magnetic yoke (11) and magnetic steel (12), and the rotor magnetic yoke (11) and the magnetic steel (12) enable the rotor (1) to generate axial magnetic fields with polarities distributed in a staggered mode along the circumferential direction;
the stator (2) comprises a stator magnetic yoke (21) and a plurality of stator teeth (22) which are positioned on one surface of the stator magnetic yoke (21) facing the rotor (1) and are uniformly distributed along the circumferential direction, and armature windings (3) are arranged on each stator tooth (22);
the pole number of the servo dual-redundancy limited angle torque motor is equal to the number of slots, armature windings on two adjacent stator teeth (22) in the stator (2) are oppositely wound and connected in series, and the stator teeth (22) are matched with the rotor (1) to generate a magnetic line of force loop with uniformly distributed magnetic resistance.
2. Servo dual-redundancy limited angle torque motor according to claim 1, characterized in that the stator teeth (22) are shaped as sector cylinders in axial direction.
3. Servo dual-redundancy limited-angle torque motor according to claim 2, characterized in that said magnetic steel (12) is provided in plurality and is uniformly distributed in circumferential direction on both axial end faces of said rotor yoke (11).
4. Servo dual-redundancy limited-angle torque motor according to claim 3, characterized in that the number of magnets (12) provided on each axial end face of the rotor yoke (11) is even.
5. The servo dual-redundancy limited angle torque motor of claim 3, wherein the arc length of the inner arc of the stator teeth is recorded as a first arc length L1The arc length of the inner arc of the magnetic steel is recorded as a second arc length L2And then:
L1＞L2×(R/(360°/n))
r is the working range of the servo dual-redundancy limited-angle torque motor, and n is the number of the magnetic steels arranged on each axial end face of the rotor magnet yoke (11).
6. The servo dual-redundancy limited-angle torque motor according to claim 3, wherein the magnetic steel (12) on each axial end face of the rotor yoke (11) is axially magnetized, and the polarities of the magnetic steels are distributed in an axially staggered manner.
7. Servo dual-redundancy limited-angle torque motor according to any one of claims 1 to 6, characterized in that the magnetic steel (12) is fan-shaped and equal in thickness everywhere along the axial direction.
8. A servo dual-redundancy limited-rotation-angle torque motor according to any one of claims 1 to 6, wherein the pole arc coefficients of the magnetic steels are equal.
9. Servo dual-redundancy limited angle torque motor according to any of claims 1 to 6, characterized in that the stator teeth (22) are of straight slot construction.
CN202111351863.XA 2021-11-16 2021-11-16 Servo dual-redundancy limited corner torque motor Active CN114123699B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111351863.XA CN114123699B (en) 2021-11-16 2021-11-16 Servo dual-redundancy limited corner torque motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111351863.XA CN114123699B (en) 2021-11-16 2021-11-16 Servo dual-redundancy limited corner torque motor

Publications (2)

Publication Number Publication Date
CN114123699A true CN114123699A (en) 2022-03-01
CN114123699B CN114123699B (en) 2023-07-25

Family

ID=80396625

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111351863.XA Active CN114123699B (en) 2021-11-16 2021-11-16 Servo dual-redundancy limited corner torque motor

Country Status (1)

Country Link
CN (1) CN114123699B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117220463A (en) * 2023-11-07 2023-12-12 天津九信科技有限公司 Tripod head motor and stability-increasing tripod head

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090072083A1 (en) * 2006-06-02 2009-03-19 Honeywell International, Inc. Actuation system with redundant motor actuators
JP2018078674A (en) * 2016-11-07 2018-05-17 アスモ株式会社 Brushless motor
CN108141122A (en) * 2015-10-12 2018-06-08 万络机电公司 With axial magnetic flux electromagnetic motor and for motor stator parallel redundancy power supply motor vehicles power steering system
CN110581614A (en) * 2019-08-19 2019-12-17 华中科技大学 Servo limited angle torque motor
CN112910207A (en) * 2021-02-25 2021-06-04 西北工业大学 Double-stator single-rotor disc type motor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090072083A1 (en) * 2006-06-02 2009-03-19 Honeywell International, Inc. Actuation system with redundant motor actuators
CN108141122A (en) * 2015-10-12 2018-06-08 万络机电公司 With axial magnetic flux electromagnetic motor and for motor stator parallel redundancy power supply motor vehicles power steering system
JP2018078674A (en) * 2016-11-07 2018-05-17 アスモ株式会社 Brushless motor
CN110581614A (en) * 2019-08-19 2019-12-17 华中科技大学 Servo limited angle torque motor
CN112910207A (en) * 2021-02-25 2021-06-04 西北工业大学 Double-stator single-rotor disc type motor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117220463A (en) * 2023-11-07 2023-12-12 天津九信科技有限公司 Tripod head motor and stability-increasing tripod head
CN117220463B (en) * 2023-11-07 2024-03-01 天津九信科技有限公司 Tripod head motor and stability-increasing tripod head

Also Published As

Publication number Publication date
CN114123699B (en) 2023-07-25

Similar Documents

Publication Publication Date Title
CN104578659B (en) A kind of Magneticflux-switching type hybrid permanent magnet memory electrical machine in parallel
CN109995211B (en) Stator homopolar hybrid permanent magnet memory motor
CN109861413B (en) Magnetic-gathering alternating-pole fault-tolerant permanent magnet vernier motor
CN105656228B (en) A kind of transverse flux permanent magnetic motor
US11482915B2 (en) Radial-axial air gap three-phase disc-type transverse flux permanent magnet motor
CN110086308B (en) Six-phase magnetic-gathering type internal and external passive rotor transverse flux permanent magnet motor
CN104578636A (en) Double-stator axial magnetic field flux-switching type mixing permanent magnetic memory motor
CN113067446B (en) Double-modularization hybrid excitation flux switching motor
CN104617726A (en) Permanent magnet crossed type axial magnetic field magnetic flow switching type memory motor
CN111181341A (en) Double-salient permanent magnet motor with adjustable number of effective permanent magnet poles
CN110752728A (en) L-shaped double-layer Halbach magnetic flux switching permanent magnet motor
CN110649732B (en) Mixed excitation rotor and mixed excitation surface-mounted permanent magnet motor
CN109039002A (en) A kind of built-in vernier permanent-magnetism linear motor of permanent magnet
CN110635641B (en) Axial magnetic field reverse salient pole permanent magnet synchronous motor
CN113178962B (en) Modularized rotor hybrid excitation magnetic flux reverse motor
CN113178961B (en) Axial modularized magnetic flux reversing motor
CN114123699B (en) Servo dual-redundancy limited corner torque motor
CN110138165A (en) A kind of composite magnetic circuit stator partition type axial permanent magnetic motor
CN115224903A (en) Mixed excitation type bearingless switched reluctance motor
CN213547339U (en) Double-stator split-tooth type cylindrical linear motor and driving mechanism
CN112910130B (en) Rotor magnetic pole modulation type variable magnetic flux memory motor
CN114268204A (en) Flux switching motor with double permanent magnets and double armature windings
CN113783390B (en) Permanent magnet reluctance motor with double-stator non-uniform tooth structure
CN113872406B (en) Birotor axial hybrid excitation double salient pole motor
CN113193670B (en) Modularized magnetic flux reversing motor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant