CN114123699B - Servo dual-redundancy limited corner torque motor - Google Patents

Servo dual-redundancy limited corner torque motor Download PDF

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Publication number
CN114123699B
CN114123699B CN202111351863.XA CN202111351863A CN114123699B CN 114123699 B CN114123699 B CN 114123699B CN 202111351863 A CN202111351863 A CN 202111351863A CN 114123699 B CN114123699 B CN 114123699B
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magnetic
rotor
stator
yoke
torque motor
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CN114123699A (en
Inventor
李大伟
王铭杰
周游
黄礼浩
曲荣海
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)

Abstract

The invention discloses a servo dual-redundancy limited corner torque motor, which belongs to the field of motors and comprises: two stators which are sequentially arranged along the axial direction and a rotor which is positioned between the two stators; the rotor comprises a rotor magnet yoke and magnetic steel, and the rotor magnet yoke and the magnetic steel enable the rotor to generate axial magnetic fields which are distributed along the circumferential polarity in a staggered manner; the stator comprises a stator yoke and a plurality of stator teeth which are positioned on one surface of the stator yoke facing the rotor and are uniformly distributed along the circumferential direction, and an armature winding is arranged on each stator tooth; the number of poles of the servo double-redundancy limited-angle torque motor is equal to the number of slots, armature windings on two adjacent stator teeth are wound in opposite directions and connected in series in the stator, and the stator teeth and the rotor are matched to generate magnetic force line loops with uniformly distributed magnetic resistance. The servo dual-redundancy limited corner 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 corner torque motor
Technical Field
The invention belongs to the field of motors, and particularly relates to a servo dual-redundancy limited corner torque motor.
Background
The limited angle moment motor is a special motor which can rotate in a certain angle range and has certain moment 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 angle torque motor has the highest torque output capability in the limited angle torque motor, and the output torque is constant in the limited angle, and the torque output capability is proportional to the current magnitude, so that the isopolar slot type limited angle torque motor is widely used in recent years.
However, in some application occasions, such as driving control of an aerospace fuel valve, two sets of windings with high output torque capability and no interference are expected to be required for pursuing high reliability, so that a set of working and standby dual-redundancy working modes are achieved, and new requirements are put on the structure of the motor. However, the conventional radial motor cannot well meet the requirement due to the structural limitation: if two sets of windings are wound together, namely, all the teeth are wound, the size of the teeth is affected, so that saturation phenomenon occurs when high current works, and torque waveforms of a dome are output; if two sets of windings are respectively wound on half of the teeth, the problem of magnetic coupling is brought firstly, and the control of the two sets of windings when in work is affected in emergency; in addition, if a radial double-stator structure is adopted, the outer stator cannot be effectively utilized to achieve two sets of windings with the same output capacity requirement, and if a coaxial double-stator structure is adopted, the axial length is longer due to the length of the winding end.
In summary, providing a dual-redundancy limited-angle torque motor capable of realizing thermal isolation and magnetic isolation on the basis of ensuring the output torque performance of the original isopolar slot type limited-angle torque motor is a problem to be solved.
Disclosure of Invention
Aiming at the defects and improvement requirements of the prior art, the invention provides a servo dual-redundancy limited corner torque motor, and aims to solve the problem that the existing servo dual-redundancy limited corner torque motor cannot provide good output torque characteristics and simultaneously realize thermal isolation and magnetic isolation between a working winding and a standby winding.
In order to achieve the above object, the present invention provides a servo dual redundancy limited angle torque motor, comprising: two stators which are sequentially arranged along the axial direction and a rotor which is positioned between the two stators;
the rotor comprises a rotor magnet yoke and magnetic steel, and the rotor magnet yoke and the magnetic steel enable the rotor to generate axial magnetic fields which are distributed along the circumferential polarity in a staggered manner;
the stator comprises a stator yoke and a plurality of stator teeth which are positioned on one surface of the stator yoke facing the rotor and are uniformly distributed along the circumferential direction, and an armature winding is arranged on each stator tooth;
the number of poles of the servo double-redundancy limited-angle torque motor is equal to the number of slots, armature windings on two adjacent stator teeth are wound in opposite directions and connected in series in the stator, and the stator teeth and the rotor are matched to generate magnetic force line loops with uniformly distributed magnetic resistance.
The servo double-redundancy limited-angle torque motor provided by the invention is of an axial magnetic flux double-stator structure, wherein the structure comprises two identical stators, each tooth of each stator is respectively wound with one set of identical windings, two sets of windings which have identical output performance and meet thermal isolation and magnetic isolation can be obtained by matching with a rotor, and in practical application, one set of windings can be used as a working winding, and the other set of windings can be used as a standby winding. 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 stator teeth are axially sector-shaped columnar.
Further, the magnetic steel is provided in plurality and uniformly distributed in the circumferential direction on both axial end faces of the rotor yoke, whereby the magnetic density can be increased.
Further, the number of the 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 tooth is recorded as a first arc length L 1 The arc length of the inner arc of the magnetic steel is recorded as a second arc length L 2 Then:
L 1 ＞L 2 ×(R/(360°/n))
wherein R is the working range of the servo dual-redundancy limited-angle torque motor, and n is the number of 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 the first arc length L 1 The arc length of the inner arc of the magnetic steel is the second arc length L 2 The relation is satisfied, so that the motor can be ensured to work in a section without cogging torque, the working winding can output constant electromagnetic torque in a working range, and the motor performance is improved.
Further, magnetic steel on each axial end face of the rotor magnetic yoke is axially magnetized, and the polarities of the magnetic steel are distributed in an axial staggered manner; according to the magnetizing mode, the magnetic steel generates exciting magnetomotive force with equal amplitude and alternating polarity period in the circumferential direction of the axial air gap, so that no-load counter potential in a working range is constant when the magnetic steel rotates at a constant speed, and constant moment (irrelevant to rotating speed) can be output in the working range when current is unchanged.
Further, the magnetic steel is fan-shaped, and the thicknesses in the axial direction are equal everywhere, so that the excitation magnetomotive force amplitudes can be equal.
Further, the pole arc coefficients of the magnetic steels are equal; thereby making the torque generated by each stator tooth and the magnetic steel the same.
Further, the stator teeth are of straight slot structure, which is beneficial to reducing magnetic field saturation, reducing cogging torque and widening angles of the non-cogging area.
In general, through the above technical solutions conceived by the present invention, the following beneficial effects can be obtained:
(1) According to the servo double-redundancy limited-angle torque motor, the axial magnetic flux double-stator structure is adopted, and the same windings are respectively wound on the teeth of the two same stators, so that the two windings which have the same output performance and meet the requirements of thermal isolation and magnetic isolation can be obtained through matching with the rotor, and the problem that the existing structure cannot provide a set of working mode for working and a set of standby working mode well is solved.
(2) The stator teeth of the stator core of the servo double-redundancy limited-angle torque motor provided by the invention are in a sector column shape along the axial direction, two sides of a stator slot are parallel, the stator core is in a straight slot structure, the arc length of an inner arc of the stator teeth is larger than the arc length x of an inner arc of magnetic steel in the rotor ((working range)/(360 DEG)/circumferential distribution number of the magnetic steel), no cogging torque in a working interval is ensured, the teeth are 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) The servo double-redundancy limited-angle torque motor provided by the invention has the advantages that the yoke part of the rotor is made of magnetic conductive materials, even number of magnetic steels are uniformly distributed on the circumference of the magnetic yoke, the magnetic steels are pasted on the two axial sides, the magnetic steels are axially magnetized, the excitation directions of the axial magnetic steels are identical and completely coincide, the excitation magnetomotive force is improved, and when each set of windings work, the magnetic flux of the rotor magnetic steels is not closed through the magnetic yoke, 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 double-redundancy limited corner moment motor provided by the invention adopts an axial magnetic flux structure, has larger torque density compared with the traditional radial magnetic flux motor, and adopts a double-stator structure to fully exert the advantages of the axial magnetic flux structure, so that the limited corner moment motor with the structure can output larger moment under the same condition under the condition of the same effective part volume.
(5) The servo double-redundancy limited corner torque motor provided by the invention adopts an axial magnetic flux double-stator structure, the radial space occupied by the winding end part of the servo double-redundancy limited corner torque motor is far smaller than the axial space occupied by the winding end part of the radial motor, and the corner detection device and the centering device can be placed in the radial inner space of the stator at the same time, so that the space utilization rate is high.
Drawings
FIG. 1 is an isometric view of a servo dual redundancy limited angle torque motor according to an embodiment of the present invention;
FIG. 2 is a schematic view of a single stator provided in an embodiment of the present invention;
FIG. 3 is a graph of an empty cogging torque for a servo dual-redundancy limited angle torque motor provided by an embodiment of the present invention;
FIG. 4 is a graph of output torque of a servo dual-redundancy limited angle torque motor according to an embodiment of the present invention, including a graph of output torque when a single set of power (DC) is used and a graph of output torque when a dual set of windings is simultaneously powered;
FIG. 5 is a graph showing the average output torque of a servo dual-redundancy limited angle torque motor according to the current variation, including the average output torque curve of a single set of power supply (DC) single set of equipment and the average output torque curve of a dual-set winding power supply simultaneously;
FIG. 6 is a graph of flux linkage of a work winding and a standby winding of a motor according to an embodiment of the present invention, wherein the work winding and the standby winding are respectively connected in turn when no magnetic steel is provided and only a single winding is energized;
the same reference numbers are used throughout the drawings to reference like elements or structures, wherein:
1-rotor, 11-rotor yoke and 12-magnetic steel;
2-stator, 21-stator yoke, 22-stator teeth;
3-armature winding.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In the present invention, the terms "first," "second," and the like in the description and in the drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In order to enable the servo dual-redundancy limited corner torque motor to realize thermal isolation and magnetic isolation between the working winding and the standby winding while providing good output torque characteristics, the servo dual-redundancy limited corner torque motor provided by the invention is shown in fig. 1, and comprises the following components: two stators 2 disposed in order in the axial direction, and a rotor 1 disposed between the two stators 2.
In this embodiment, the rotor 1 includes a rotor yoke 11 and a magnetic steel 12, and the rotor yoke 11 and the magnetic steel 12 enable the rotor 1 to generate axial magnetic fields with staggered polarities along the circumferential direction;
in the embodiment, the magnetic yoke 11 is processed by adopting soft magnetic materials (such as silicon steel sheets, electrical steel and the like) with good magnetic conductivity and low coercivity, and is used for connecting a rotating shaft with magnetic steel to provide a passage for a magnetic line loop of a motor; the magnetic steel 12 is made of high-performance permanent magnetic materials (such as samarium cobalt, neodymium iron boron and the like) and is used for generating a continuous and stable magnetic field, and the magnetic field interacts with the magnetic field generated by the electrified winding 3 to generate torque;
in order to increase the magnetic density, in the present embodiment, a plurality of magnetic steels 12 are provided and are uniformly distributed in the circumferential direction on both axial end faces of the rotor yoke 11, and the number of the provided magnetic steels 12 is an even number on each axial end face of the rotor yoke 11, which is 4 in the present embodiment; it should be noted that, the arrangement mode of the magnetic steel is only a preferred embodiment, and besides the surface-mounted mode, in other embodiments of the present invention, the magnetic steel may be arranged in an embedded mode, a magnetic focusing mode, or the like, so long as the rotor is ensured to generate an axial magnetic field with staggered polarity along the circumferential direction;
in this embodiment, the magnetic steel 12 on each axial end face of the rotor yoke 11 is magnetized axially, and the polarities of the magnetic steels are distributed in a staggered manner along the axial direction; according to the magnetizing mode, the magnetic steel generates exciting magnetomotive force with equal amplitude and alternating polarity period in the circumferential direction of the axial air gap, so that no-load counter potential in a working range is constant when the magnetic steel rotates at a constant speed, and constant moment can be output in the working range without dependence on the rotating speed when the current is unchanged;
in this embodiment, the magnetic steel 12 is in a sector shape, and the thicknesses in the axial direction are equal everywhere, so that the exciting magnetomotive force amplitudes can be equal; the pole arc coefficients of the magnetic steels 12 are all equal, thereby making the torque generated by each stator tooth and the magnetic steel 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 face of the stator yoke 21 facing the rotor 1 and uniformly distributed in the circumferential direction, and an armature winding 3 is provided on each stator tooth 22; in this embodiment, the number of teeth of the stator included in each stator 2 is the same as the number of magnetic steels 12 on each axial end face of the rotor yoke 21, and is also 4, so that a cogging torque-free interval is obtained and is matched with the rotor magnetic steels 12 with alternating polarities, so that the concentrated winding 3 outputs constant electromagnetic torque in a working range;
alternatively, as shown in fig. 2, in this embodiment, the stator teeth 22 are in a shape of a sector column along the axial direction, and may be made by adopting a manner of winding a silicon steel sheet, processing an SMC material, and the like; in order to facilitate reducing magnetic field saturation, reducing cogging torque and widening angles of the non-cogging area, in this embodiment, the stator teeth 22 have a straight slot structure, i.e. two sides of the stator slot are parallel;
the number of poles of the servo dual-redundancy limited corner torque motor is equal to the number of slots; in order to ensure that the number of poles of the stator is equal to the number of poles 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 cooperate with the rotor 1 to generate magnetic line loops with uniformly distributed magnetic resistance; when any one or two sets of windings are supplied with current, an armature magnetic field is generated to interact with a magnetic field generated by the magnetic steel 12 so as to generate electromagnetic torque, the direction and the magnitude of output torque can be changed by changing the polarity and the amplitude of the current, and the direction of the armature magnetic field generated by the two sets of windings when the two sets of windings work simultaneously is 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, and the soft magnetic material is unsaturated in the operating range of the motor, so that the stator teeth 22 cooperate with the rotor 1 to generate a low reluctance evenly distributed magnetic line loop.
In order to further improve the torque output performance of the servo dual-redundancy limited-angle torque motor, in this embodiment, the arc length of the inner arc of the stator teeth is recorded as a first arc length L 1 The arc length of the inner arc of the magnetic steel is recorded as a second arc length L 2 Then:
L 1 ＞L 2 ×(R/(360°/n))
wherein R is the working range of the servo dual-redundancy limited-angle torque motor, and n is the number of magnetic steels arranged on each axial end face of the rotor yoke 11; optionally, in this embodiment, the working range is r=40°, the number of circumferentially distributed magnetic steels is n=4, and the pole arc coefficient of the magnetic steel is 1, so 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 opposite to the rotation positive direction, and the same direction is positive; as can be seen from fig. 3, the motor of the 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 relation, so that the motor can be ensured to work in a section without cogging torque, the working winding can output constant electromagnetic torque in the working range, and the motor performance is improved.
The output torque curve of the servo dual-redundancy limited-angle torque motor provided by the embodiment is shown in fig. 4, and the servo dual-redundancy limited-angle torque motor comprises output torque curves when a single winding is electrified and two windings are electrified with the same current, wherein the abscissa is a rotation angle, the ordinate is the output torque, the positive and negative of the torque are compared with the direction of the rotation forward direction, and the same direction is positive; as shown in fig. 4, when the motor is supplied with direct currents of different magnitudes (corresponding to the label of fig. 4), the motor output torque curve is close to horizontal within the working range of 40 degrees, and excellent control characteristics are provided; the stator teeth forming the straight slot structure maximize the area of the teeth, reduce the influence of armature reaction on the saturation of the teeth, and enable the output torque curve to be nearly horizontal within the working interval of 40 degrees when the large current and even two sets of windings work.
The average output torque variation curve of the servo dual-redundancy limited corner torque motor provided by the embodiment is shown in fig. 5, and the servo dual-redundancy limited corner torque motor comprises a motor average output torque variation curve when a single winding is electrified and two windings are electrified with the same current, wherein the abscissa is the amplitude of the electrified current in the windings, 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 more linear, the control complexity is reduced, and the system reliability is improved, thereby increasing the available occasions of the embodiment.
The flux linkage graph of the turn chains of the working winding and the standby winding is shown in fig. 6 when no magnetic steel exists and only a single winding is electrified, and as can be seen from fig. 6, in the example, when the motor is in a working mode of working and standby, the working winding has almost no electromagnetic influence on the standby winding, so that the fault of the standby winding caused by the electromagnetic effect of the fault of the working winding is not worried, the two windings are separated in space, and the thermal influence is within an acceptable range, namely, a working mode of working and standby is 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 moment of inertia.
In general, the embodiment provides a servo dual-redundancy limited-angle torque motor, by adopting an axial magnetic flux dual-stator structure, two sets of identical windings are respectively wound on teeth of two identical stators, and two sets of windings which have identical output performance and meet 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 mode for working and a set of standby working mode 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 moment characteristic curve can be output under the working condition of maximum moment output of limiting current; the rotor yoke part of the motor is made of magnetic conductive materials, the excitation directions of the axial magnetic steels are identical and completely coincide, 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 larger torque density compared with the motor of the traditional radial magnetic flux, and adopts a double-stator structure to fully exert the advantages of the axial magnetic flux structure, and under the condition of the same effective partial volume, the limited corner moment motor of the structure can output larger moment under the same condition; further, in the structure of the axial magnetic flux double stator, the radial space occupied by the winding end is far smaller than the axial space occupied by the winding end 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, so that the space utilization rate is high.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (5)

1. A servo dual redundancy limited angle torque motor, comprising: two stators (2) which are sequentially arranged along the axial direction and a rotor (1) which is positioned between the two stators (2);
the rotor (1) comprises a rotor magnet yoke (11) and magnetic steels (12), and the rotor magnet yoke (11) and the magnetic steels (12) enable the rotor (1) to generate axial magnetic fields distributed in a staggered mode along the circumferential polarity; the magnetic steels (12) are arranged in a plurality, and are uniformly distributed on the two axial end surfaces of the rotor magnetic yoke (11) along the circumferential direction; the rotor magnetic yoke (11) is processed by adopting a magnetic conduction material; the magnetic steel (12) is fan-shaped;
the stator (2) comprises a stator yoke (21) and a plurality of stator teeth (22) which are positioned on one surface of the stator yoke (21) facing the rotor (1) and are uniformly distributed along the circumferential direction, and an armature winding (3) is arranged on each stator tooth (22); the shape of the stator teeth (22) is in a sector column shape along the axial direction, and the stator teeth (22) are in a straight groove structure so as to place the corner detection device and the centering device in the radial inner space of the stator;
the number of poles and the number of slots of the servo double-redundancy limited-angle torque motor are equal, armature windings on two adjacent stator teeth (22) in the stator (2) are wound oppositely and are connected in series, and the stator teeth (22) and the rotor (1) are matched to generate magnetic force line loops with magnetic resistance evenly distributed; when each set of windings works, the magnetic flux of the rotor magnetic steel is not closed through a rotor magnetic yoke;
the arc length of the inner arc of the stator tooth is recorded as a first arc length L 1 The arc length of the inner arc of the magnetic steel is recorded as a second arc length L 2 L is then 1 And L 2 The following relation is satisfied, so that the working winding outputs constant electromagnetic torque in a working range, and the torque output performance of the motor is improved:
L 1 ＞L 2 ×(R/(360°/n))
wherein R is the working range of the servo dual-redundancy limited-angle torque motor, and n is the number of magnetic steels arranged on each axial end face of the rotor magnetic yoke (11).
2. A servo dual redundancy limited angle torque motor according to claim 1, characterized in that the number of magnets (12) provided on each axial end face of the rotor yoke (11) is an even number.
3. The servo dual-redundancy limited corner torque motor as claimed in claim 1, wherein the magnetic steel (12) on each axial end face of the rotor yoke (11) is axially magnetized, and polarities of the magnetic steels are alternately distributed in the axial direction.
4. A servo dual-redundancy limited corner torque motor according to any one of claims 1 to 3, characterized in that the thickness of the magnet steel (12) in the axial direction is equal everywhere.
5. A servo dual-redundancy limited angle torque motor as claimed in any one of claims 1 to 3, wherein the pole arc coefficients of the respective magnetic steels are equal.
CN202111351863.XA 2021-11-16 2021-11-16 Servo dual-redundancy limited corner torque motor Active CN114123699B (en)

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CN114123699B true CN114123699B (en) 2023-07-25

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