CN114710001B - Integrated direct-drive permanent magnet synchronous motor - Google Patents

Integrated direct-drive permanent magnet synchronous motor Download PDF

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Publication number
CN114710001B
CN114710001B CN202210618977.4A CN202210618977A CN114710001B CN 114710001 B CN114710001 B CN 114710001B CN 202210618977 A CN202210618977 A CN 202210618977A CN 114710001 B CN114710001 B CN 114710001B
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current
coil
assembly
gear
motor
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CN114710001A (en
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谌国权
宋金波
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Changsha Yipai Direct Drive Technology Co ltd
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Changsha Yipai Direct Drive Technology Co ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K41/00Propulsion 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
    • H02K41/02Linear motors; Sectional motors
    • H02K41/03Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K11/00Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21Devices for sensing speed or position, or actuated thereby
    • H02K11/215Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K11/00Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21Devices for sensing speed or position, or actuated thereby
    • H02K11/22Optical devices
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06Linear motors
    • H02P25/064Linear motors of the synchronous type
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/64Electric machine technologies in electromobility

Abstract

The invention provides an integrated direct-drive permanent magnet synchronous motor, which comprises a linear motor assembly, a planetary reducer assembly and a control assembly, wherein the linear motor assembly comprises a magnetic track assembly and a coil assembly, the magnetic track assembly comprises magnetic steel and a rotary drum, the magnetic steel is positioned on the outer edge of the rotary drum and is fixedly connected with the rotary drum, the coil assembly comprises a mounting seat, a silicon steel sheet and a coil, the silicon steel sheet is positioned on the inner edge of the mounting seat and is fixedly connected with the mounting seat, the circumference of the coil is inserted and fixed on the inner side of the silicon steel sheet at equal intervals, the planetary reducer assembly comprises an inner meshing gear, a small outer meshing gear and a large outer meshing gear, the inner meshing gear is meshed with the small outer meshing gear, the small outer meshing gear is meshed with the large outer meshing gear, and the control assembly is used for detecting the rotation state of the motor and controlling the current and frequency passing through the coil; the motor achieves the effects of reducing energy consumption and stably operating by controlling the current of the coil.

Description

Integrated direct-drive permanent magnet synchronous motor
Technical Field
The invention relates to the field of motors, in particular to an integrated direct-drive permanent magnet synchronous motor.
Background
The synchronous motor is an alternating current motor which generates torque by the interaction of an excitation magnetic field supplied by direct current and a rotating magnetic field of an armature and rotates at a synchronous rotating speed, and the synchronous motor can operate under a leading power factor by adjusting the excitation current, so that the power factor of a power grid is improved.
The foregoing discussion of the background art is intended only to facilitate an understanding of the present invention. This discussion is not an acknowledgement or admission that any of the material referred to is part of the common general knowledge.
Now, many synchronous motors have been developed, and through a large number of searches and references, it is found that the existing synchronous motors are the motors disclosed in the publication number CN105429410B, and the motors generally include a rotor, a squirrel cage is arranged on the rotor, a squirrel cage groove is formed in the squirrel cage, a magnetic steel groove is formed in the inner side of the squirrel cage, magnetic steel is arranged in the magnetic steel groove, a first end of the magnetic steel groove is provided with an arc-shaped first magnetic isolation air gap, a first magnetic isolation bridge is formed between the first magnetic isolation air gap and the squirrel cage, a circumferential angle occupied by the first magnetic isolation air gap is (0.9-1.2) × 360/n1 degrees, where α is 0.9-1.2 times of a circumferential included angle between two adjacent squirrel cage grooves, and n1 is the number of rotor conducting bars. However, the current of the synchronous motor cannot be changed along with the change of the frequency in the operation process, so that the stability of the motor has a space for improving, and the energy consumption has a space for reducing.
Disclosure of Invention
The invention aims to provide an integrated direct-drive permanent magnet synchronous motor aiming at the defects.
The invention adopts the following technical scheme:
an integrated direct-drive permanent magnet synchronous motor comprises a linear motor assembly, a planetary reducer assembly and a control assembly, the linear motor component comprises a magnetic track component and a coil component, the magnetic track component comprises magnetic steel and a rotary drum, the magnetic steel is positioned at the outer edge of the rotary drum and is fixedly connected with the rotary drum, the coil component comprises a mounting seat, a silicon steel sheet and a coil, the silicon steel sheet is positioned at the inner edge of the mounting seat and is fixedly connected with the mounting seat, the circumference of the coil is inserted and fixed at the inner side of the silicon steel sheet at equal intervals, the planetary reducer component comprises an inner meshing gear, a small external meshing gear and a large external meshing gear, the inner gear is meshed with a small outer gear, the small outer gear is meshed with the large outer gear, the control assembly is used for detecting the rotation state of the motor and controlling the current and the frequency passing through the coil;
the control assembly controls the frequency of the current through the coil
Figure 823608DEST_PATH_IMAGE001
Comprises the following steps:
Figure 337766DEST_PATH_IMAGE002
wherein the content of the first and second substances,
Figure 201817DEST_PATH_IMAGE003
in order to output the rotational speed,
Figure 219451DEST_PATH_IMAGE004
is the transmission ratio of the planetary reducer assembly,
Figure 38984DEST_PATH_IMAGE005
the number of teeth of the large external gear is the same;
the control assembly controls the current passing through the coil to be:
Figure 774859DEST_PATH_IMAGE006
wherein the content of the first and second substances,is the optimum current of the electric current,is an offset current;
further, the control assembly comprises a monitoring unit, a control unit and an input unit, the input unit is used for setting the output rotating speed of the motor, the monitoring unit is used for detecting the rotating state of the motor, the control unit controls the frequency of the current according to the output rotating speed, and the control unit adjusts the magnitude of the current according to the rotating state of the motor;
furthermore, the monitoring unit is internally provided with a contact in a tooth position in the internal gear, when the small external gear is contacted with the contact, the contact is triggered, and the monitoring unit triggers the contactThe time points of the points are recorded as
Figure 42526DEST_PATH_IMAGE009
The monitoring unit records the duration of each contact activation and records the durationWherein j corresponds to the serial number of the trigger contact, and the monitoring unit calculates the stability St under one current according to the duration:
Figure 471551DEST_PATH_IMAGE011
wherein the content of the first and second substances,
Figure 463777DEST_PATH_IMAGE012
the number of teeth of the internal gear;
the control component records the corresponding current with the minimum stability as
Figure 96884DEST_PATH_IMAGE013
Referred to as the optimum current.
Further, the calculation formula of the offset current is as follows:
wherein, the first and the second end of the pipe are connected with each other,in order to be the lower limit of the current,
Figure 866891DEST_PATH_IMAGE016
is the upper current limit;
further, the method for changing the current when the control unit obtains the optimum current includes the steps of:
s1, mixing
Figure 936478DEST_PATH_IMAGE015
As sample point current
Figure 868662DEST_PATH_IMAGE017
S2, calculating the stability St of the current of the sampling point;
s3, adjusting the current of the sampling point by the following formula:
Figure 681897DEST_PATH_IMAGE018
wherein m is estimated times, St1 is sampling point current valueStability in time;
will be provided with
Figure 886275DEST_PATH_IMAGE020
As new sampling point current
Figure 774597DEST_PATH_IMAGE021
S4, repeating the steps S2 to S3 until the current of the sampling point exceeds the current of the sampling point
Further, the linear motor assembly is positioned at the outer edge, the middle or the inner edge of the planetary reducer assembly;
further, the planetary reducer assembly is a 1-stage speed reduction, a 2-stage speed reduction or a 3-stage speed reduction;
further, the synchronous motor feeds back the rotation position through a Hall position sensor, a magnetic grid system or a grating system.
The beneficial effects obtained by the invention are as follows:
the planetary reducer and the synchronous motor are integrated, the output rotating speed can be controlled more efficiently, when the planetary reducer and the synchronous motor work at different rotating speeds, the optimal current is obtained by monitoring, different periodic currents are formulated based on the optimal current, the rotating distance of the motor is reduced when the motor moves forward one step each time, the rotation is more stable, and meanwhile, the loss caused by rotation is reduced.
For a better understanding of the features and technical content of the present invention, reference should be made to the following detailed description of the invention and accompanying drawings, which are provided for purposes of illustration and description only and are not intended to limit the invention.
Drawings
FIG. 1 is a schematic cross-sectional view of the present invention;
FIG. 2 is a schematic longitudinal section of the present invention;
FIG. 3 is a schematic view of the overall structural framework of the present invention;
FIG. 4 is a schematic diagram of the monitoring circuit of the present invention;
FIG. 5 is a schematic diagram of the driving current of the present invention.
In the figure: the linear motor assembly 1, the planetary reducer assembly 2, the magnetic track assembly 11, the coil assembly 12, the magnetic steel 111, the rotary drum 112, the mounting seat 121, the silicon steel sheet 122, the coil 123, the internal gear 21, the small external gear 22 and the large external gear 23.
Detailed Description
The following is a description of embodiments of the present invention with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present invention from the disclosure of the present specification. The invention is capable of other and different embodiments and its several details are capable of modifications and various changes in detail without departing from the spirit and scope of the present invention. The drawings of the present invention are for illustrative purposes only and are not drawn to scale. The following embodiments will further explain the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
The first embodiment.
The embodiment provides an integrated direct-drive permanent magnet synchronous motor, which is combined with a figure 1, a figure 2 and a figure 3 and comprises a linear motor assembly, a planetary reducer assembly and a control assembly, the linear motor component comprises a magnetic track component and a coil component, the magnetic track component comprises magnetic steel and a rotary drum, the magnetic steel is positioned at the outer edge of the rotary drum and is fixedly connected with the rotary drum, the coil component comprises a mounting seat, a silicon steel sheet and a coil, the silicon steel sheet is positioned at the inner edge of the mounting seat and is fixedly connected with the mounting seat, the circumference of the coil is inserted and fixed at the inner side of the silicon steel sheet at equal intervals, the planetary reducer component comprises an inner meshing gear, a small external meshing gear and a large external meshing gear, the internal gear is meshed with a small external gear, the small external gear is meshed with the large external gear, the control assembly is used for detecting the rotation state of the motor and controlling the current and the frequency passing through the coil;
the control assembly controls the frequency of the current through the coil
Figure 212848DEST_PATH_IMAGE023
Comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,in order to output the rotational speed,
Figure 623735DEST_PATH_IMAGE026
is the transmission ratio of the planetary reducer assembly,
Figure 768409DEST_PATH_IMAGE027
the number of teeth of the large external gear is the same;
the control assembly controls the current passing through the coil to be:
wherein, the first and the second end of the pipe are connected with each other,
Figure 10351DEST_PATH_IMAGE028
is the optimum current of the electric current,
Figure 703501DEST_PATH_IMAGE029
in order to offset the current flow, the current,is a current function, t is time, and k is an auxiliary parameter for distinguishing an interval where the time t is located;
the control assembly comprises a monitoring unit, a control unit and an input unit, wherein the input unit is used for setting the output rotating speed of the motor, the monitoring unit is used for detecting the rotating state of the motor, the control unit controls the frequency of the current according to the output rotating speed, and the control unit adjusts the current according to the rotating state of the motor;
the monitoring unit is provided with a contact in a tooth position in the internal gear, when the small external gear is contacted with the contact, the contact is triggered, and the monitoring unit records the time point of triggering the contact and records the time point as
Figure 249681DEST_PATH_IMAGE031
The monitoring unit records the duration of each contact activation and records the duration
Figure 865470DEST_PATH_IMAGE032
Wherein j corresponds to the serial number of the trigger contact, and the monitoring unit continuously calculates the stability St under one current according to the time:
Figure 362311DEST_PATH_IMAGE033
wherein the content of the first and second substances,the number of teeth of the internal gear;
the control component records the corresponding current with the minimum stability asReferred to as the optimum current.
The calculation formula of the offset current is as follows:
Figure 508755DEST_PATH_IMAGE036
wherein the content of the first and second substances,
Figure 543707DEST_PATH_IMAGE037
in order to be the lower limit of the current,
Figure 48638DEST_PATH_IMAGE038
is the upper current limit;
the method for changing the current when the control unit obtains the optimal current comprises the following steps:
s1, mixing
Figure 143633DEST_PATH_IMAGE037
As sample point current
Figure 734014DEST_PATH_IMAGE039
S2, calculating the current of the sampling point
Figure 572657DEST_PATH_IMAGE039
The stability St of (1);
s3, adjusting the current of the sampling point by the following formula:
wherein m is the estimated number of times, and St1 is the current value at the sampling pointStability in time;
will be provided with
Figure 541247DEST_PATH_IMAGE042
As new sampling point current
Figure 918002DEST_PATH_IMAGE043
S4, repeating the steps S2 to S3 until the current of the sampling point exceeds the current of the sampling point
The linear motor assembly is positioned at the outer edge, the middle or the inner edge of the planetary reducer assembly;
the planetary reducer component is used for 1-stage speed reduction, 2-stage speed reduction or 3-stage speed reduction;
the synchronous motor feeds back the rotation position through a Hall position sensor, a magnetic grid system or a grating system.
Example two.
The embodiment includes the whole content in the first embodiment, and provides an integrated direct-drive permanent magnet synchronous motor, which comprises a linear motor assembly, a planetary reducer assembly and a control assembly, the linear motor component comprises a magnetic track component and a coil component, the magnetic track component comprises magnetic steel and a rotary drum, the magnetic steel is positioned at the outer edge of the rotary drum and is fixedly connected with the rotary drum, the coil component comprises a mounting seat, a silicon steel sheet and a coil, the silicon steel sheet is positioned at the inner edge of the mounting seat and is fixedly connected with the mounting seat, the circumference of the coil is inserted and fixed at the inner side of the silicon steel sheet at equal intervals, the planetary reducer component comprises an inner meshing gear, a small external meshing gear and a large external meshing gear, the inner gear is meshed with a small outer gear, the small outer gear is meshed with the large outer gear, the control assembly is used for detecting the rotation state of the motor and controlling the current and the frequency passing through the coil;
when current passes through the coils, a magnetic field is generated, the generated magnetic field acts on the magnetic steel and drives the rotary drum to rotate, the rotary drum rotates by one step when the current changes the direction, the rotary drum rotates by one step, the magnetic steel rotates from a position aligned with one coil to a position aligned with the next coil, the large external gear serves as a driving wheel and rotates synchronously with the rotary drum, the small external gear serves as a driven wheel and is connected with an output shaft, and when the large external gear rotates, the small external gear rotates around the large external gear;
the control assembly comprises a monitoring unit, a control unit and an input unit, wherein the input unit is used for setting the output rotating speed of the motor, the monitoring unit is used for detecting the rotating state of the motor, the control unit controls the frequency of the current according to the output rotating speed, and the control unit adjusts the current according to the rotating state of the motor;
frequency of current through the coilThe calculation formula of (c) is:
wherein, the first and the second end of the pipe are connected with each other,in order to output the rotational speed,
Figure 277937DEST_PATH_IMAGE048
is the transmission ratio of the planetary reducer component,
Figure 885636DEST_PATH_IMAGE049
the number of teeth of the large external gear is the number of teeth of the large external gear;
the monitoring unit is characterized in that a contact is arranged in a tooth position in the internal gear, and the monitoring unit is combined with a graph 4 and comprises a monitoring circuit, a voltmeter is arranged in the monitoring circuit and used for measuring the voltage between the triggered contact and a fixed point, the triggered contact changes along with the rotation of the small external gear, the measured voltage changes along with the change of the triggered contact, the position of the triggered contact can be judged through the measured voltage, and the judgment formula is as follows:
wherein, the first and the second end of the pipe are connected with each other,the number of teeth of the ring gear,in order to detect the value of the voltage,is the value of the voltage of the power supply,in order to test the resistance value of the resistor,is a safe resistance value;
calculated to obtain
Figure 994035DEST_PATH_IMAGE056
The number of the trigger contact is in the value range
Figure 943536DEST_PATH_IMAGE057
When the current in the coil is too large, the rotary drum rotates to the next step in a short time, then the magnetic steel drives the rotary drum to rotate under the action of magnetic force, so that contacts with the same serial number are triggered twice or many times, although the output rotating speed is unchanged in the overall effect, the rotation causes the waste of partial energy, and the control unit needs to adjust the current downwards;
when the current in the coil is too small, the drum is at
Figure 970398DEST_PATH_IMAGE058
The magnetic steel can not rotate to the next step within time, when the current direction is changed, the magnetic steel returns under the action of magnetic force, so that the serial number of the contact can not be triggered or the magnetic steel is always triggered between two adjacent contacts,in the overall effect, when the rotating drum does not rotate, the output rotating speed is 0, and the control unit needs to adjust the current upwards;
when neither of the above conditions occurs, the current in the coil ranges from
Figure 30758DEST_PATH_IMAGE059
The control unit adjusts the current in the range according to the triggering condition of the contact, wherein,referred to as the lower current limit,referred to as the upper current limit;
the monitoring unit records the time point of triggering the contact and records the time point
Figure 825517DEST_PATH_IMAGE062
The monitoring unit records the duration of each contact activation and records the durationJ corresponds to the serial number of the trigger contact, the control unit keeps the current unchanged in one period of the trigger contact, calculates the stability of contact triggering in the period, then changes the current to enter the next contact triggering period, and selects the optimal current according to the stability corresponding to a plurality of currents;
the calculation formula of the contact triggering stability St is as follows:
the smaller the stability St is, the more stable the motor rotation is;
the control unit records the optimum current with the minimum stability as the optimum current
Figure 467348DEST_PATH_IMAGE065
The control unit formulates a periodic drive current according to the optimal currentWith reference to fig. 5, each period of the periodic driving current includes two parts, and the specific expression is as follows:
wherein, the first and the second end of the pipe are connected with each other,
Figure 8685DEST_PATH_IMAGE067
is an offset current;
the calculation formula of the offset current is as follows:
Figure 470890DEST_PATH_IMAGE068
the method for changing the current when the control unit obtains the optimal current comprises the following steps:
s1, mixing
Figure 694061DEST_PATH_IMAGE069
As sample point current
Figure 165494DEST_PATH_IMAGE070
S2, calculating the current of the sampling pointThe stability St of (1);
s3, adjusting the current of the sampling point by the following formula:
wherein m is the estimated number of times, and St1 is the current value at the sampling point
Figure 501294DEST_PATH_IMAGE069
Stability in time;
will be provided withAs new sampling point current
S4, repeating the steps S2 to S3 until the current of the sampling point exceeds the current of the sampling point
The disclosure is only a preferred embodiment of the invention, and is not intended to limit the scope of the invention, so that all equivalent technical changes made by using the contents of the specification and the drawings are included in the scope of the invention, and further, the elements thereof can be updated as the technology develops.

Claims (4)

1. An integrated direct-drive permanent magnet synchronous motor is characterized by comprising a linear motor assembly, a planetary reducer assembly and a control assembly, the linear motor component comprises a magnetic track component and a coil component, the magnetic track component comprises magnetic steel and a rotary drum, the magnetic steel is positioned at the outer edge of the rotary drum and is fixedly connected with the rotary drum, the coil component comprises a mounting seat, a silicon steel sheet and a coil, the silicon steel sheet is positioned at the inner edge of the mounting seat and is fixedly connected with the mounting seat, the circumference of the coil is inserted and fixed at the inner side of the silicon steel sheet at equal intervals, the planetary reducer component comprises an inner meshing gear, a small external meshing gear and a large external meshing gear, the inner gear is meshed with a small outer gear, the small outer gear is meshed with the large outer gear, the control assembly is used for detecting the rotation state of the motor and controlling the current and the frequency passing through the coil;
the control component controls the current frequency f passing through the coil to be:
Figure DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 162719DEST_PATH_IMAGE002
i is the transmission ratio of the planetary reducer component for outputting the rotating speed,
Figure DEST_PATH_IMAGE003
the number of teeth of the large external gear is the number of teeth of the large external gear;
the control assembly controls the current passing through the coil to be:
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE005
is the optimum current of the electric current,is an offset current;
the control assembly comprises a monitoring unit, a control unit and an input unit, wherein the input unit is used for setting the output rotating speed of the motor, the monitoring unit is used for detecting the rotating state of the motor, the control unit controls the frequency of the current according to the output rotating speed, and the control unit adjusts the current according to the rotating state of the motor;
the monitoring unit is provided with a contact in a tooth position in the internal gear, when the small external gear is contacted with the contact, the contact is triggered, and the monitoring unit records the time point of triggering the contact and records the time point asThe monitoring unit records the duration of each contact activation and records the duration
Figure 47127DEST_PATH_IMAGE008
Wherein j corresponds to the serial number of the trigger contact, and the monitoring unit calculates the stability St under one current according to the duration:
Figure DEST_PATH_IMAGE009
wherein the content of the first and second substances,the number of teeth of the internal gear;
the control component records the corresponding current with the minimum stability asReferred to as the optimum current;
the calculation formula of the offset current is as follows:
wherein the content of the first and second substances,
Figure 110001DEST_PATH_IMAGE012
in order to be the lower limit of the current,
Figure DEST_PATH_IMAGE013
is the upper current limit;
the method for changing the current when the control unit obtains the optimal current comprises the following steps:
s1, mixingAs sample point current
S2, calculating the current of the sampling pointThe stability St of (D);
s3, adjusting the current of the sampling point by the following formula:
wherein m is the estimated number of times, and St1 is the current value at the sampling point
Figure 462299DEST_PATH_IMAGE012
Stability in time;
will be provided with
Figure 665879DEST_PATH_IMAGE016
As new sampling point current
Figure 196086DEST_PATH_IMAGE014
S4, repeating the steps S2 to S3 until the current of the sampling point exceeds the current of the sampling point
Figure 900737DEST_PATH_IMAGE013
2. The integrated direct-drive permanent magnet synchronous motor according to claim 1, wherein the linear motor assembly is located at an outer edge, a middle edge or an inner edge of the planetary reducer assembly.
3. The integrated direct-drive permanent magnet synchronous motor according to claim 2, wherein the planetary reducer assembly is a 1-stage reduction, a 2-stage reduction or a 3-stage reduction.
4. The integrated direct-drive permanent magnet synchronous motor according to claim 3, wherein the synchronous motor feeds back the rotation position through a Hall position sensor, a magnetic grid system or a grating system.
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