CN114531003A - Asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor - Google Patents
Asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor Download PDFInfo
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- CN114531003A CN114531003A CN202210156103.1A CN202210156103A CN114531003A CN 114531003 A CN114531003 A CN 114531003A CN 202210156103 A CN202210156103 A CN 202210156103A CN 114531003 A CN114531003 A CN 114531003A
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- primary
- suspension
- iron core
- permanent magnet
- propulsion
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
Abstract
The invention discloses an asymmetric double-side length primary magnetic suspension permanent magnet linear synchronous motor, which relates to the field of linear motors and comprises a primary structure formed into a motor stator and a secondary structure formed into a motor rotor, wherein the primary structure comprises an upper propulsion primary and a lower suspension primary, and the thickness of an upper iron core along the normal direction is greater than that of a lower iron core; the secondary structure is arranged between the upper propelling primary and the lower suspending primary, and the thickness of the upper permanent magnet of the secondary structure along the normal direction is larger than that of the lower permanent magnet. The primary structure of the motor adopts a bilateral structure, realizes the double decoupling of the suspension force control and the propulsion force control, reduces the system control difficulty, has the advantages of being beneficial to improving the motor force density, realizing the operation with extremely low power consumption and enhancing the adaptability between the suspension force, the thrust and the load gravity, is used as a rotor at the secondary side, has no need of feeding at the motion side, and can realize the movement of a wireless cable, thereby being beneficial to further simplifying the structure of the device.
Description
Technical Field
The invention relates to the field of linear motors, in particular to an asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor.
Background
Compared with air suspension, magnetic suspension has the advantages of high rigidity and high bearing capacity, can adapt to ultra-clean and vacuum manufacturing environments, does not need to precisely process an air-floating supporting surface so as to reduce the manufacturing cost, and is widely used.
In magnetic levitation applications, magnetic levitation linear positioning platforms can be divided into two categories according to whether levitation force and driving force are provided by the same component: one type is to adopt two parts to respectively realize suspension and driving, namely, a magnetic suspension linear guide rail is adopted to realize suspension, and a linear motor is adopted to realize driving, so that the magnetic suspension linear guide rail is similar to a magnetic suspension bearing motor in a rotating motor. Aiming at the field of precise motion control, the direct-drive mode of combining a magnetic suspension guide rail and a linear motor cannot thoroughly solve the problems of system multipoint support, model nonlinearity and system strong coupling, and the precise control of electromagnetic force cannot be realized. In addition, the system feeds power at the moving side, so that the design difficulty of the cooling system is increased while the cable-free movement cannot be realized.
It is therefore more common today to use the same component for both suspension and drive, similar to the bearingless motor in a rotating machine. Compared with a combined scheme of a magnetic suspension guide rail and a linear motor, the linear positioning platform structure can be simplified by directly using the magnetic suspension permanent magnet linear synchronous motor, the complexity of the device is reduced, and the system control is simpler.
However, currently, there is a coupling between the suspension force control and the thrust force control of a commonly used magnetic suspension permanent magnet linear synchronous motor which simultaneously realizes the suspension and propulsion functions by a set of windings, which increases the difficulty of system control.
Disclosure of Invention
The invention provides an asymmetric double-side length primary magnetic suspension permanent magnet linear synchronous motor aiming at the problems and the technical requirements, and the technical scheme of the invention is as follows:
an asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor comprises a primary structure formed as a motor stator and a secondary structure formed as a motor rotor;
the primary structure comprises an upper propulsion primary and a lower suspension primary which are oppositely arranged along the normal direction vertical to the horizontal plane, the upper propulsion primary comprises an upper iron core and a propulsion winding, the lower suspension primary comprises a lower iron core and a suspension winding, the teeth of the upper iron core are arranged opposite to the teeth of the lower iron core, and the thickness of the upper iron core along the normal direction is larger than that of the lower iron core;
the secondary structure is arranged between the upper propulsion primary and the lower suspension primary and comprises a back yoke iron core, a plurality of upper permanent magnets arranged on the upper surface of the back yoke iron core and a plurality of lower permanent magnets arranged on the lower surface of the back yoke iron core, wherein the upper permanent magnets and the lower permanent magnets are magnetized along the normal direction, each upper permanent magnet and the corresponding lower permanent magnet thereof are opposite to the surfaces of two sides of the back yoke iron core and the magnetizing directions are opposite, the magnetizing directions of the adjacent upper permanent magnets are opposite, the magnetizing directions of the adjacent lower permanent magnets are opposite, and the thickness of the upper permanent magnet along the normal direction is larger than that of the lower permanent magnet;
the difference of the no-load normal force of the upper-layer propelling primary and the lower-layer suspending primary and the secondary structure in the normal direction is used as the suspending force, the suspending winding is used for adjusting the suspending force, and the propelling winding is used for adjusting the propelling force.
The technical scheme is that the width of the air gap between the suspension air gap and the propulsion air gap is unequal, the design of unequal width of bilateral air gaps is realized, the suspension air gap is an air gap between the lower suspension primary structure and the lower suspension secondary structure, and the propulsion air gap is an air gap between the upper propulsion primary structure and the upper propulsion secondary structure.
The further technical scheme is that when the asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor is started, the width of an air gap of a suspension air gap is smaller than that of a propulsion air gap; when the asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor stably suspends, the width of the air gap of the suspension air gap is larger than that of the propulsion air gap.
The further technical scheme is that a protection pad is arranged on the upper surface of the lower suspension primary, and when the asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor does not work, the secondary structure falls on the protection pad, so that a gap is ensured to exist between the lower permanent magnet and the lower iron core.
The further technical scheme is that the upper iron core and the lower iron core are longitudinally toothed along the horizontal plane, the tooth width, the groove width, the horizontal width and the longitudinal length of the horizontal plane of the upper iron core are the same as those of the lower iron core, and the horizontal plane is vertical to the longitudinal direction on the horizontal plane.
The further technical scheme is that the longitudinal length of the horizontal plane of the back yoke iron core is smaller than that of the upper layer iron core and the lower layer iron core.
The further technical scheme is that the suspension drive controller controls the suspension winding to adjust the suspension force, and the propulsion drive controller controls the propulsion winding to adjust the propulsion force.
The further technical proposal is that the suspension drive controller adopts iqThe control strategy of 0 controls the suspension winding to adjust the suspension force, and the propulsion drive controller adopts idControl strategy 0 controls the propulsion winding to adjust the propulsion force, iqIs a q-axis current, idIs the d-axis current.
The beneficial technical effects of the invention are as follows:
the application discloses asymmetric two length of side primary magnetic suspension permanent magnetism linear synchronous motor, the primary structure of this motor adopts bilateral structure, has realized suspension system and propulsion system "circuit", "magnetic circuit" double decoupling, has simplified the system mathematical model, has reduced the system control degree of difficulty. Meanwhile, the working characteristics of 'overload during starting' and 'light load during suspension' of the suspension system are combined, the bilateral primary permanent magnet and the bilateral permanent magnet are designed to be of asymmetric structures, the overall size of the motor is reduced, and the improvement of the power density of the motor is facilitated. The difference of the no-load normal force between the primary side and the secondary side of the two sides is used as the suspension force, and the extremely low power consumption operation of the suspension subsystem during the suspension work is realized. The design of unequal widths of the two side air gaps is adopted, the air gap on the side of the suspension winding is narrow during starting, the air gap on the side of the propulsion winding is narrow during stable suspension, the adaptability between the suspension force and the thrust force and the load gravity is enhanced, and the problem that the normal force is far larger than the gravity and the thrust force in the traditional single-side structure is solved. Meanwhile, the secondary motor is used as a rotor, feeding is not needed on the moving side, cable-free movement can be achieved, cable force disturbance is eliminated, and the structure of the device is further simplified.
Drawings
Fig. 1 is a schematic structural diagram of the asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor during starting.
Fig. 2 is a schematic structural diagram of the asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor during stable suspension.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The application discloses asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor, which comprises a primary structure formed into a motor stator and a secondary structure formed into a motor rotor.
Referring to fig. 1, the primary structure includes an upper propulsion primary 1 and a lower levitation primary 2 oppositely disposed along a normal direction (z direction in fig. 1) perpendicular to a horizontal plane, the upper propulsion primary 1 includes an upper iron core 11 and a propulsion winding 12, and the lower levitation primary 2 includes a lower iron core 21 and a levitation winding 22.
The upper iron core 11 and the lower iron core 21 are arranged in parallel, and the teeth of the upper iron core 11 and the teeth of the lower iron core 21 are arranged just opposite to each other, so that dislocation cannot exist. The thickness of the upper layer iron core 11 along the normal direction is larger than that of the lower layer iron core 21, and an asymmetric structure is formed.
The upper core 11 and the lower core 21 generally have the same other specifications, except for the thickness in the z-direction, which is the normal direction, and include: the upper iron core 11 and the lower iron core 21 are both toothed along the longitudinal direction of the horizontal plane (y direction in fig. 1), the tooth width, the groove width, the transverse width of the horizontal plane and the longitudinal length of the horizontal plane of the upper iron core 11 are all the same as those of the lower iron core, the transverse direction of the horizontal plane is perpendicular to the longitudinal direction on the horizontal plane, and the transverse direction of the horizontal plane is perpendicular to the yz plane in fig. 1 inwards.
The secondary structure 3 is arranged between the upper propelling primary 1 and the lower suspending primary 2, and the secondary structure 3 comprises a back yoke iron core 31, a plurality of upper permanent magnets 32 arranged on the upper surface of the back yoke iron core 31 and a plurality of lower permanent magnets 33 arranged on the lower surface of the back yoke iron core 31. Wherein the upper surface of the back yoke core 31 is the surface of the back yoke core 31 facing the upper stage pusher primary 1, and the lower surface of the back yoke core 31 is the surface of the back yoke core 31 facing the lower stage levitating primary 2.
The upper permanent magnets 32 and the lower permanent magnets 33 are magnetized in the normal direction, and each upper permanent magnet 32 and the corresponding lower permanent magnet 33 are arranged on the surfaces of the two sides of the back yoke iron core 31 in a right-to-right mode and opposite in magnetizing direction. The magnetizing directions of two adjacent upper layer permanent magnets 32 are opposite, and the magnetizing directions of two adjacent lower layer permanent magnets 33 are opposite, and fig. 1 shows the magnetizing directions of each permanent magnet. The upper permanent magnet 32 is thicker than the lower permanent magnet 33 in the normal direction.
In one embodiment the upper surface of the lower suspended primary 2 at the side close to the secondary structure 3 is also provided with a protective pad, not shown in fig. 1. When the asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor does not work, the secondary structure 3 falls on the protective pad, so that a gap is formed between the lower permanent magnet 33 and the lower iron core 21. The longitudinal length of the horizontal plane of the back yoke iron core 31 is smaller than that of the upper layer iron core 11 and the lower layer iron core 21, and optionally, the horizontal end of the horizontal plane of the back yoke iron core 31 is provided with a mounting hole for connecting with a load table through a connecting piece.
No-load normal force F of the lower layer suspension primary 2 and secondary structure 3 in the normal directionz1And the no-load normal force F of the upper propulsion primary 1 and the secondary structure 3 in the normal directionz2Difference Fz1-Fz2As a suspending force. The levitation winding 22 is used to adjust the levitation force and the propulsion winding 12 is used to adjust the propulsion force. In the present application, the levitation winding 22 and the propulsion winding 12 are controlled by two different drivers, respectively, the levitation drive controller controlling the levitation winding 22 to adjust the levitation force, and the propulsion drive controller controlling the propulsion winding 12 to adjust the propulsion force. Specifically, the suspension drive controller takes the deviation of the air gap width between the primary structure and the secondary structure as an input quantity, and adopts iqThe control strategy of 0 controls the suspension winding to adjust the suspension force and compensate and control in real time. Propulsion drive controller using idControl strategy 0 controls the propulsion winding to adjust the propulsion force, iqIs a q-axis current, idIs the d-axis current.
The bilateral structure realizes the double decoupling of the suspension system and the propulsion system, namely 'circuit' and 'magnetic circuit', simplifies the mathematical model of the system and reduces the control difficulty of the system. The suspension system is designed to be of an asymmetric structure by combining the working characteristics of 'overload during starting' and 'light load during suspension', the overall volume of the motor is reduced, the improvement of the power density of the motor is facilitated, and the extremely low-power-consumption operation of the suspension subsystem during suspension work is realized by using the difference between the no-load normal force between the primary side and the secondary side as the suspension force.
Based on the structure of the application, the widths of the suspension air gap and the propulsion air gap of the asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor are unequal, and the design of unequal widths of the double-side air gaps is realized, wherein the suspension air gap is an air gap between the lower suspension primary structure 2 and the secondary structure 3, and the propulsion air gap is an air gap between the upper propulsion primary structure 1 and the secondary structure 3. When the asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor is started, the width of the air gap of the suspension air gap is smaller than that of the propulsion air gap, as shown in fig. 1. When the asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor stably suspends, the width of the air gap of the suspension air gap is larger than that of the propulsion air gap, as shown in fig. 2. The design of unequal widths of the two side air gaps is adopted, the suspension air gap on the side of the suspension winding is narrow during starting, the propulsion air gap on the side of the propulsion winding is narrow during stable suspension, the adaptability between the suspension force and the thrust force and the load gravity is enhanced, and the problem that the normal force is far larger than the gravity and the thrust force in the traditional unilateral structure is solved.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.
Claims (8)
1. An asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor is characterized by comprising a primary structure formed as a motor stator and a secondary structure formed as a motor rotor;
the primary structure comprises an upper propulsion primary and a lower suspension primary which are oppositely arranged along the normal direction vertical to the horizontal plane, the upper propulsion primary comprises an upper iron core and a propulsion winding, the lower suspension primary comprises a lower iron core and a suspension winding, the teeth of the upper iron core are arranged opposite to the teeth of the lower iron core, and the thickness of the upper iron core along the normal direction is larger than that of the lower iron core;
the secondary structure is arranged between the upper propulsion primary and the lower suspension primary and comprises a back yoke iron core, a plurality of upper permanent magnets arranged on the upper surface of the back yoke iron core and a plurality of lower permanent magnets arranged on the lower surface of the back yoke iron core, wherein the upper permanent magnets and the lower permanent magnets are magnetized along the normal direction, each upper permanent magnet and the corresponding lower permanent magnet thereof are arranged on the surfaces of the two sides of the back yoke iron core in a right-facing manner and have opposite magnetizing directions, the magnetizing directions of the adjacent upper permanent magnets are opposite, the magnetizing directions of the adjacent lower permanent magnets are opposite, and the thickness of the upper permanent magnets along the normal direction is larger than that of the lower permanent magnets;
the difference between the no-load normal force of the upper-layer propelling primary and the lower-layer suspending primary and the no-load normal force of the secondary structure in the normal direction is used as the suspending force, the suspending winding is used for adjusting the suspending force, and the propelling winding is used for adjusting the propelling force.
2. The asymmetric double-side length primary magnetic suspension permanent magnet linear synchronous motor as claimed in claim 1, wherein the air gap width of the suspension air gap and the propulsion air gap are not equal, and the design of double-side air gap unequal width is realized, the suspension air gap is the air gap between the lower layer suspension primary and the secondary structure, and the propulsion air gap is the air gap between the upper layer propulsion primary and the secondary structure.
3. The asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor as claimed in claim 2, wherein when the asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor is started, the air gap width of the suspension air gap is smaller than the propulsion air gap; when the asymmetric double-side primary magnetic suspension permanent magnet linear synchronous motor stably suspends, the air gap width of the suspension air gap is larger than the propulsion air gap.
4. The asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor as claimed in claim 1, wherein a protection pad is arranged on the upper surface of the lower suspension primary, and when the asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor does not work, the secondary structure falls on the protection pad to ensure that a gap exists between the lower permanent magnet and the lower iron core.
5. The asymmetric double-side length primary magnetic suspension permanent magnet linear synchronous motor as claimed in claim 1, wherein the upper layer iron core and the lower layer iron core are both provided with teeth along the longitudinal direction of the horizontal plane, the tooth width, the groove width, the horizontal width and the longitudinal length of the horizontal plane of the upper layer iron core are all the same as those of the lower layer iron core, and the horizontal direction of the horizontal plane is perpendicular to the longitudinal direction on the horizontal plane.
6. The asymmetric double-side length primary magnetic suspension permanent magnet linear synchronous motor as in claim 5, wherein the horizontal plane of the back yoke iron core has a longitudinal length smaller than that of the upper layer iron core and the lower layer iron core.
7. The asymmetric double-side length primary magnetic suspension permanent magnet linear synchronous motor as claimed in claim 1, wherein the suspension drive controller controls the suspension winding to adjust the suspension force, and the propulsion drive controller controls the propulsion winding to adjust the propulsion force.
8. The asymmetric double-side length primary magnetic suspension permanent magnet linear synchronous motor as claimed in claim 7, wherein the suspension drive controller adoptsiqA control strategy of 0 controls the levitation winding to adjust levitation force, and a propulsion drive controller employs idControl strategy of 0 controls the propulsion winding to regulate the propulsion force, iqIs a q-axis current, idIs the d-axis current.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210156103.1A CN114531003B (en) | 2022-02-21 | 2022-02-21 | Asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor |
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| CN202210156103.1A CN114531003B (en) | 2022-02-21 | 2022-02-21 | Asymmetric double-side-length primary magnetic suspension permanent magnet linear synchronous motor |
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| CN114531003B CN114531003B (en) | 2022-12-02 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1037523A (en) * | 1996-07-19 | 1998-02-10 | Tatsuji Ishimaru | Movable part support unit, horizontal two-way movable device using it, and method for controlling its drive |
| US20070089636A1 (en) * | 2003-05-20 | 2007-04-26 | Guardo Jose L Jr | Magnetic levitation transport system |
| CN112671204A (en) * | 2021-01-18 | 2021-04-16 | 哈尔滨工业大学 | Multilayer winding magnetic suspension linear permanent magnet synchronous motor |
| CN113708594A (en) * | 2020-05-20 | 2021-11-26 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | System and method for high-speed linear propulsion and wireless power transmission |
| WO2022025355A1 (en) * | 2020-07-29 | 2022-02-03 | 강도현 | Wirelessly powered linear conveyor system |
-
2022
- 2022-02-21 CN CN202210156103.1A patent/CN114531003B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1037523A (en) * | 1996-07-19 | 1998-02-10 | Tatsuji Ishimaru | Movable part support unit, horizontal two-way movable device using it, and method for controlling its drive |
| US20070089636A1 (en) * | 2003-05-20 | 2007-04-26 | Guardo Jose L Jr | Magnetic levitation transport system |
| CN113708594A (en) * | 2020-05-20 | 2021-11-26 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | System and method for high-speed linear propulsion and wireless power transmission |
| WO2022025355A1 (en) * | 2020-07-29 | 2022-02-03 | 강도현 | Wirelessly powered linear conveyor system |
| CN112671204A (en) * | 2021-01-18 | 2021-04-16 | 哈尔滨工业大学 | Multilayer winding magnetic suspension linear permanent magnet synchronous motor |
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| CN114531003B (en) | 2022-12-02 |
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