CN114172342B - Modular primary permanent magnet linear motor - Google Patents
Modular primary permanent magnet linear motor Download PDFInfo
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- CN114172342B CN114172342B CN202111505716.3A CN202111505716A CN114172342B CN 114172342 B CN114172342 B CN 114172342B CN 202111505716 A CN202111505716 A CN 202111505716A CN 114172342 B CN114172342 B CN 114172342B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
- H02K41/033—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type with armature and magnets on one member, the other member being a flux distributor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
-
- 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
Abstract
The invention discloses a modular primary permanent magnet linear motor, which comprises a motor, a motor secondary and an air gap, wherein the air gap is formed by a gap between the motor primary and the motor secondary, the motor primary is formed by a plurality of primary modules, and the motor secondary comprises: a secondary tooth and a secondary slot; the secondary teeth and the secondary grooves are of an integrated structure made of the same material; the invention adopts primary modular design, and realizes the primary integrated structure of the motor.
Description
Technical Field
The invention relates to the field of primary permanent magnet linear motors, in particular to a modular primary permanent magnet linear motor.
Background
The armature winding and the permanent magnet of the traditional permanent magnet synchronous linear motor are respectively arranged on the primary side and the secondary side of the motor, and along with the increase of the formation of the motor, the processing and manufacturing cost of the motor can be sharply increased no matter a long secondary structure or a long primary structure is adopted, so that the cost of the motor is limited, and the application of the traditional permanent magnet synchronous linear motor is only limited in the field of short stroke. The permanent magnet and the armature winding of the primary permanent magnet type linear motor are both arranged on the primary side, and the secondary side is only composed of an iron core.
According to the latest summarized literature (shenyimin, luqifen, current research status and prospects of primary field type permanent magnet linear motors [ J ], electro-technical bulletin, 2021, 36 (11): 2325-2343.), the primary field type linear motors are classified, and fig. 1 is a schematic diagram of a prior art primary field type PMLM classification, as shown in fig. 1 (in the figure, a permanent magnet linear motor is denoted by PMLM). From the perspective of spatial structure, the structure can be divided into a single-side structure, a double-side structure and a cylindrical structure; from the excitation mode, two modes of permanent magnet excitation and mixed excitation are mainly available; from the view point of magnetic field distribution, the magnetic field distribution can be divided into longitudinal magnetic flux and transverse magnetic flux.
The permanent magnets can be further classified into the following types according to their relative positions in the primary core: (1) a primary split PMLM with permanent magnets separated from the armature on both sides of the primary; (2) the permanent magnet is embedded in the magnetic flux switching PMLM in the armature teeth; (3) the permanent magnet is pasted on the magnetic flux reverse type and vernier type PMLM of the armature tooth surface, if the permanent magnet only has unipolar, then can form the PMLM of alternate pole type; (4) the permanent magnet is embedded in the magnetic flux bias PMLM of the primary iron core yoke part; (5) the permanent magnet is embedded in the notch permanent magnet PMLM of the primary iron core notch, but the method is not easy to assemble.
Disclosure of Invention
The invention aims to provide a modular primary permanent magnet linear motor, which aims to solve the problem that the existing primary permanent magnet linear motor cannot give consideration to primary integrity and symmetry of induced electromotive force of a multi-phase armature winding, and further enhance the magnetism gathering effect of a permanent magnet field.
The invention provides a modular primary permanent magnet linear motor, comprising:
the motor comprises motor primary, motor secondary and air gap, the air gap comprises the space between motor primary and the motor secondary, motor primary comprises a plurality of primary modules, and motor secondary includes: a secondary tooth and a secondary slot; the secondary teeth and the secondary grooves are of an integrated structure made of the same materials.
By adopting the embodiment of the invention, the induced electromotive force of the multiphase armature winding is symmetrical, the primary module is of an integrated structure, the mechanical strength is high, and the magnetic concentration effect of the permanent magnet magnetic field is good.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a prior art primary excitation PMLM class;
fig. 2 is a schematic diagram of a single primary module and motor secondary of a modular primary permanent magnet linear motor of an embodiment of the present invention;
fig. 3 is a schematic view of a modular primary permanent magnet linear motor according to an embodiment of the present invention with mover module displacement distance s = w;
fig. 4 is a schematic diagram of a modular primary permanent magnet linear motor of an embodiment of the present invention with mover module displacement distance s = 2w;
fig. 5 is a schematic diagram of a modular primary permanent magnet linear motor according to an embodiment of the present invention with mover module displacement distance s =3 w;
fig. 6 is a schematic diagram of a three-phase structure design of a modular primary permanent magnet linear motor according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
According to an embodiment of the present invention, a modular primary permanent magnet linear motor is provided, and fig. 2 is a schematic diagram of a primary module and a motor secondary of the modular primary permanent magnet linear motor according to the embodiment of the present invention, as shown in fig. 2, specifically including:
the motor comprises motor primary, motor secondary and air gap, the air gap comprises the space between motor primary and the motor secondary, motor primary comprises a plurality of primary modules, and motor secondary includes: a secondary tooth and a secondary slot; the secondary teeth and the secondary grooves are of an integrated structure made of the same material; .
The primary module includes: an iron core, a permanent magnet and a concentrated armature winding; the primary module iron core is symmetrical along the central axis; be equipped with tooth and groove in the iron core, the groove includes: the permanent magnet slot and the air slot, inside square hole that is equipped with of iron core, inside square hole level is placed. The ratio of the number of teeth of the primary module along the air gap direction to the two groove numbers is 7n (7 n-1), the teeth of the primary module are 3n rectangular teeth with the same tooth width and 4n boot-shaped teeth with the same tooth width, wherein n is a positive integer.
Permanent magnets are arranged in the inner square hole and the permanent magnet groove, and a centralized armature winding is arranged in the air groove. The permanent magnets are placed vertically and horizontally, the vertically placed permanent magnets are magnetized in the horizontal direction, and the horizontally placed permanent magnets are magnetized in the vertical direction. The magnetizing directions of all the permanent magnets point to or are far from the air slot nearest to the permanent magnets. The plurality of primary modules are connected through the yoke part which is made of the same material as the iron core and has the magnetic conductivity, so that the iron core comprising the plurality of primary modules is of an integral structure made of the same material. The distance between adjacent primary modules is D =16w-4w/m so as to ensure the symmetry of the induced electromotive force of the multi-phase centralized armature winding, wherein 4w is the secondary pitch of the motor, and m is the number of phases of the motor. The pitch of the secondary teeth of the secondary motor is 2 times of the distance between two adjacent air slots of one primary module.
The specific implementation is as follows:
the invention comprises a motor primary and a motor secondary which are composed of a plurality of primary modules, wherein the primary modules comprise iron cores, permanent magnets and centralized armature windings. The primary module has the following design points:
(1) The primary module iron core is of an integral structure, and the permanent magnet and the centralized armature winding are placed in corresponding holes or grooves through holes and grooves in the primary module iron core; as shown in fig. 2, the primary module iron core is symmetrical left and right along the central axis; the motor secondary contains only a core, the secondary core containing secondary teeth and secondary slots.
(2) In the air gap direction, i.e. in the horizontal direction, the primary module contains 7 teeth, of which 3 rectangular teeth of the same tooth width, 4 shoe-shaped teeth of the same tooth width; 6 grooves, wherein 4 permanent magnet grooves with the same groove width and 2 air grooves with the same groove width are formed in the groove; as can be seen, the universal cogging ratio of the primary modules can be designed to be 7n (7 n-1), wherein n is an integer.
(3) The permanent magnet which is vertically placed and magnetized in the horizontal direction is placed in the permanent magnet groove, and the permanent magnet which is horizontally placed is magnetized in the vertical direction; the magnetizing directions of all the permanent magnets are as shown in fig. 2, that is, the magnetizing directions all point to the direction of the air slot where the armature coil is located (or the magnetizing directions of all the permanent magnets can all point to the direction away from the air slot where the armature coil is located);
(4) If the pitch of the secondary teeth of the motor is 4w, the distance between two adjacent grooves of the primary module is required to be 2w; the only constraint conditions of parameters such as the tooth width and the groove width of the secondary, the tooth width of the rectangular teeth and the boot-shaped teeth of the primary module, the groove width of the permanent magnet grooves and the air grooves are not equal to zero.
The structure based on a primary module has the following working principle:
as shown in fig. 2, the secondary of the motor is a fixed part called a stator, and the primary module is a moving part called a rotor; the initial zero position of the rotor is s 0 (ii) a Defining the current inflow end as the head end of the armature winding
Indication), the armature current outflow end is the tail end of the armature winding (indicated by [); when the magnetizing directions of all the permanent magnets are the directions of pointing to the near air slot, according to the right-hand spiral rule, the following judgment can be carried out:
as shown in fig. 2:
(1) when the mover is in the starting position, i.e. the mover displacement distance s =0, the flux linkage of the armature coil in the primary module, i.e. the mutual flux linkage, reaches a minimum value- ψ m ；
Fig. 3 is a schematic diagram of mover displacement distance s = w according to an embodiment of the present invention;
(2) when the mover moves to s 1 When the rotor is in the positive position, namely the rotor displacement distance s = w, the flux linkage of the armature coil in the primary module, namely the mutual inductance flux linkage, is zero;
fig. 4 is a schematic view of a mover displacement distance s =2w according to an embodiment of the present invention;
(3) when the mover moves to s 2 When the armature is in the neutral position, that is, when the mover displacement distance s =2w, the flux linkage of the armature coil in the primary module, that is, the mutual inductance flux linkage reaches the maximum value ψ m ；
Fig. 5 is a schematic diagram of mover displacement distance s =3w according to an embodiment of the present invention;
(4) when the mover moves to s 3 When the armature coil is in the zero position, namely when the mover displacement distance s =3w, the flux linkage of the armature coil, namely the mutual inductance flux linkage, is zero;
(5) it can be seen that when the mover moves to s 4 When the armature coil is in the middle, namely when the mover displacement distance s =4w, the flux linkage of the armature coil, namely the mutual inductance flux linkage reaches a minimum value of-psi m At this time, the relative positional relationship between the primary and secondary electrodesThe mover is at s 0 The same applies.
It can be seen that the period of the induced electromotive force of the armature winding is 4w, where in the interval s 0 ,s 2 ]The internal induced electromotive force is positive in the interval s 2 ,s 4 ]The internal induced electromotive force is negative as long as in the interval [ s ] 0 ,s 2 ]The current of the inner armature is positive and in the interval s 2 ,s 4 ]The current of the inner armature is negative, and the rotor of the primary module can generate positive electromagnetic thrust. Therefore, the primary module has the independent capability of generating electromagnetic thrust.
Fig. 6 is a schematic diagram of a three-phase structural design of a modular primary permanent magnet linear motor according to an embodiment of the present invention, as shown in fig. 6, specifically including:
the motor is elementary by a plurality of elementary modules, connects through yoke portion between the adjacent elementary module, and the material of yoke is the same with elementary module iron core for the elementary iron core of motor is the wholeness mechanism that link up everywhere.
Based on the same motor secondary and a motor primary adopting a plurality of primary modules, a multi-phase structure can be formed, for example, fig. 6 shows a three-phase structure, each phase comprises one primary module, because the electrical cycle of the armature winding of the module is 4w, the distance between two adjacent primary modules can be designed to be D =16w +/-4 w/3, and based on the goal of compact structure, D =16w-4w/3 can be made, and the induced electromotive force of the three-phase armature winding is symmetrical.
In the same way, a multi-phase structure design can be realized, if the motor primary is composed of m primary modules through a connecting yoke, and the distance between two adjacent primary modules can be designed to be D =16w-4w/m, the structure design with m phases can be realized, and the induced electromotive force of the m-phase armature windings is symmetrical.
Each phase module has the capability of independently generating electromagnetic thrust, and after a connecting yoke is additionally arranged between adjacent primary modules, the air gap structure between the primary module and the secondary module is not changed, so that the connecting yoke does not influence the magnetic circuit structure of the motor, and only plays a role in connecting the primary modules to form a whole and enhancing the mechanical strength of the primary. No matter a three-phase or m-phase structural form is adopted, each phase module always keeps the capability of independently operating and generating electromagnetic thrust.
The induced electromotive force of each phase of armature winding is symmetrical, and the motor can generate electromagnetic thrust with constant direction as long as the control is proper.
The key innovation points of the invention are as follows:
1. the arrangement mode of the permanent magnets in the primary module is that the permanent magnets are embedded in the primary iron core, the placement direction and the magnetizing direction of the permanent magnets both comprise two dimensions, and the magnetism gathering effect is better.
2. The primary module design mode that the tooth space ratio is 7n (7 n-1) and the arrangement mode of the teeth and the grooves in the primary module.
3. The definite proportional relation of 2.
4. Each elementary module is connected through utilizing the yoke with the same material of iron core and is formed the motor elementary for the elementary whole that is high structural strength of motor.
5. When the multiphase structure is designed, the primary level of the motor always keeps integrity, and simultaneously, the induced electromotive force of each phase is always symmetrical and is not coupled. The mechanical strength is high, the magnetic concentration effect is good, and the independence of magnetic circuits of all phases and the symmetry and decoupling of induced electromotive force of armature windings of all phases are ensured.
The invention has the advantages that:
1. the primary module is of an integrated structure and has high primary mechanical strength; the permanent magnet is internally arranged, the magnetic gathering effect is good, and a ferrite permanent magnet with low magnetic energy product can be adopted.
2. The ratio (tooth space ratio) of the number of teeth of the primary module to the number of grooves is 7n (7 n-1), the existing ratio is generally 4n (4 n-1), the structure is more compact, and the design method is simpler.
3. The connecting yoke between the primary module enables the primary of the motor to form an integral mechanism, but can still keep the magnetic circuits of all phases independent, and the induced electromotive force of all phases is symmetrical all the time.
The permanent magnet is arranged in the primary iron core, so that the magnetic gathering effect is better, and a ferrite permanent magnet with low magnetic energy product can be adopted to establish an excitation magnetic field;
the tooth space ratio of a primary module of the conventional primary permanent magnet linear motor is generally 4n (4 n-1), wherein n is an integer, the tooth space ratio of the primary module of the linear motor provided by the invention is 7n (7 n-1), the tooth space ratio is smaller, the structure is more compact, and the integral thrust density is higher;
the design method of the primary module of the motor is simple, the core size design requirement of the primary module is only that the ratio of the secondary tooth pitch to the primary module slot pitch is 2.
The modules are connected by the connecting yoke among the primary modules to form an integral primary iron core with high structural strength, the magnetic circuits of all phases are still ensured to be symmetrical, no magnetic circuit coupling exists among the modules of all phases, the induced electromotive force of the windings of all phases is symmetrical, and the motor has good fault-tolerant performance.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; however, these modifications or alternative embodiments of the invention do not depart from the scope of the invention.
Claims (2)
1. A modular primary permanent magnet linear motor, said motor comprising a motor primary, a motor secondary and an air gap, said air gap comprising a gap between the motor primary and the motor secondary, said motor primary comprising a plurality of primary modules, the motor secondary comprising: a secondary tooth and a secondary slot; the secondary teeth and the secondary grooves are of an integrated structure made of the same material,
the primary module includes: the permanent magnet is arranged on the iron core; the iron cores are symmetrical along a central axis; be equipped with tooth and groove in the iron core, the groove includes: the iron core is internally provided with an internal square hole;
the inner square hole is horizontally arranged;
the ratio of the number of the teeth of the primary module in the air gap direction to the sum of the number of the permanent magnet grooves and the number of the air grooves is 7n (7 n-1), the teeth are 3n rectangular teeth with the same tooth width and 4n boot-shaped teeth with the same tooth width, wherein n is a positive integer;
the permanent magnets are arranged in the inner square hole and the permanent magnet groove, and the centralized armature winding is arranged in the air groove;
the permanent magnets are placed vertically and horizontally, the vertically placed permanent magnets are magnetized in the horizontal direction, and the horizontally placed permanent magnets are magnetized in the vertical direction;
the magnetizing directions of all the permanent magnets point to or are away from the air slot closest to the permanent magnets;
the plurality of primary modules are connected through yoke parts which are made of the same material as the iron cores and have magnetic conductivity, so that the iron cores comprising the plurality of primary modules are of an integral structure made of the same material;
and the distance between the adjacent primary modules is D =16w-4w/m so as to ensure the symmetry of the induced electromotive force of the multi-phase centralized armature winding, wherein 4w is the secondary pitch of the motor, and m is the number of phases of the motor.
2. The modular primary permanent magnet linear motor of claim 1 wherein the pitch of the secondary teeth is 2 times the distance between two adjacent air slots of a primary module.
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