CN115833431A - Multi-rotor bilateral permanent magnet linear motor and segmented power supply method thereof - Google Patents
Multi-rotor bilateral permanent magnet linear motor and segmented power supply method thereof Download PDFInfo
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- CN115833431A CN115833431A CN202211319667.9A CN202211319667A CN115833431A CN 115833431 A CN115833431 A CN 115833431A CN 202211319667 A CN202211319667 A CN 202211319667A CN 115833431 A CN115833431 A CN 115833431A
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Abstract
The invention discloses a multi-rotor bilateral permanent magnet linear motor and a segmented power supply method thereof. The stator unit is fixed, and the rotor module can linearly move relative to the stator unit; a plurality of open tooth sockets are formed in two sides of the rotor core and are arranged at intervals, self-powered windings are wound on teeth positioned at the left end part and the right end part of the rotor core, and rotor permanent magnets are arranged in tooth sockets of the rest teeth; one side of the stator core is provided with a plurality of semi-closed tooth grooves which are arranged at intervals, the stator core is provided with a groove every other tooth, and the stator permanent magnet is arranged in the groove; armature windings of the same stator module are connected in series and then are in communication connection with an upper computer. The invention can simultaneously utilize two excitation sources, effectively improve the thrust density of the motor, induce electromotive force, realize cableless power supply of the rotor module under long stroke, greatly weaken unilateral normal force borne by the rotor module by a magnetic pole dislocation type double-sided structure, improve the reliability of the motor, realize modularized segmented power supply and save the energy consumption of the system.
Description
Technical Field
The invention belongs to a motor structure and a control method thereof in the technical field of linear motors, and particularly relates to a multi-rotor bilateral permanent magnet linear motor and a segmented power supply method thereof.
Background
The permanent magnet linear motor has the advantages of both the permanent magnet motor and the linear motor, and can directly convert electric energy into mechanical energy of linear motion without an intermediate mechanical transmission part. Therefore, the permanent magnet linear motor has the remarkable advantages of high thrust density, high speed, high precision, high efficiency and the like, and is widely applied to the fields of high-grade numerical control machine tools, semiconductor processing, vertical lifting conveying systems, high-speed logistics systems and the like.
The working principle of the conventional permanent magnet linear motor is as follows: when alternating current is applied to the armature winding, an armature magnetic field is generated in the air gap. At the same time, the permanent magnet poles generate an excitation magnetic field in the air gap. The armature magnetic field and the permanent magnet excitation magnetic field jointly form an air gap magnetic field. When the motor is started, the magnetic pole or the armature is dragged, the armature traveling wave magnetic field and the permanent magnet excitation magnetic field are relatively static, and therefore current in the armature winding generates electromagnetic thrust under the action of the air gap magnetic field. If the armature is fixed, the magnetic pole is drawn into the synchronous linear motion under the action of thrust; otherwise, the armature is drawn to move linearly synchronously.
In the field of long-stroke flexible conveying systems, because the stroke of motor motion is long (usually several tens of meters to several hundreds of meters), the cost of the permanent magnet is a major constraint for popularization and application of the traditional permanent magnet linear motor, so that a long primary structure and a short secondary structure are usually adopted, namely, the long primary structure containing an armature winding is laid in the whole stroke range as a stator, and the short secondary structure containing the permanent magnet is used as a rotor for linear motion. The method can greatly reduce the using amount of the permanent magnet and further reduce the cost, but the mover only comprises the permanent magnet and cannot supply power, so that the applicable scene of the mover is limited. As the structures proposed by patents CN108631540B, CN109217622B and CN113746298B, neither mover can supply power.
In the field of long-stroke flexible conveying systems, another method for reducing the cost is to concentrate a permanent magnet and an armature on one side of a primary side to serve as a short rotor, and a secondary side is only composed of laminated iron cores and serves as a long stator, namely, a primary excitation type permanent magnet linear motor. The primary excitation type permanent magnet linear motor mainly has the following two types: 1. switching flux permanent magnet linear motor: according to the switched magnetic chain type permanent magnet linear motor provided by patent CN101355289B, CN108155775B, the topological structure clamps the permanent magnet in the middle position of the armature core teeth, the permanent magnet consumption is small, and the armature length is short; 2. magnetic flux reverse type permanent magnet linear motor: the topological structure of the flux reversal type permanent magnet linear motor as proposed in patent CN101552535B places permanent magnets on the surfaces of armature core teeth close to the air gap, and the permanent magnet usage amount is small and the armature length is short. The rotors of the two types of primary excitation type permanent magnet linear motors need to utilize cables to supply power to the armature, the cables are complicated to supply power under long stroke, and the thrust density of the primary excitation type permanent magnet linear motor is not as high as that of the traditional permanent magnet linear motor.
Disclosure of Invention
The invention provides a multi-rotor bilateral permanent magnet linear motor and a sectional power supply method thereof, aiming at the technical problems in the prior art, and the cable-free power supply of a rotor can be realized by constructing the common excitation of a double excitation source of a rotor and a stator and arranging a self-powered winding of the rotor. Meanwhile, through reasonably selecting the pole number of the rotor, the fundamental wave magnetomotive force and the harmonic magnetomotive force under the double excitation sources can be utilized in a balanced manner, and the thrust density of the motor is effectively improved. By using the magnetic pole dislocation type bilateral structure, the unilateral normal force of the rotor can be effectively eliminated, and the reliability of the motor is improved. In addition, the stator unit can realize modularized segmented power supply, and energy consumption of the system is saved while independent movement of each rotor module is ensured.
The technical scheme of the invention is as follows:
1. a multi-rotor bilateral permanent magnet linear motor comprises:
the stator unit comprises two stator modules which are arranged oppositely at intervals, the rotor module is arranged between the two stator modules of the stator unit, an air gap is reserved between the two stator modules, the stator modules are fixed, and the rotor module can move linearly relative to the stator modules along the movement direction;
the rotor module comprises a rotor iron core, a plurality of teeth are arranged on one side of the rotor iron core facing the stator module at intervals along the motion direction, and an open tooth socket is formed between every two adjacent teeth;
the stator module comprises a stator iron core and armature windings, a plurality of teeth are arranged on one side of the stator iron core facing the moving sub-module at intervals along the moving direction, a semi-closed tooth slot is formed between adjacent teeth, and the armature windings are wound on the teeth of the stator permanent magnet;
the stator module at two sides of the plurality of stator units are respectively spliced at one side along the motion direction along the same linear direction;
the rotor module also comprises a rotor permanent magnet and a self-powered winding, wherein the rotor iron core is provided with teeth on two sides facing the stator module, the teeth on the two sides are integrally staggered by half of tooth pitch, the remaining tooth grooves on each side of the rotor iron core except the tooth grooves on the left end part and the right end part are internally provided with the rotor permanent magnet, the inner end surfaces of the rotor permanent magnet and the tooth grooves are arranged in a clinging manner, and the self-powered winding is wound on the teeth on the left end part and the right end part of the rotor iron core;
the stator module also comprises a stator permanent magnet, a groove is formed in the tooth end surface of each stator iron core at intervals of one tooth, and the stator permanent magnet is arranged in the groove;
armature windings on two stator modules in the same stator unit are connected in series and then electrically connected with the digital driving unit, the armature windings of different stator units are respectively and independently connected with the digital driving unit, and the digital driving unit is in communication connection with an upper computer.
The rotor core and the stator core are formed by silicon steel sheets in a laminated mode and are of an integral stamped tooth groove structure, and the silicon steel sheets are formed by laminating and pressing the silicon steel sheets in a direction perpendicular to the motion direction and perpendicular to the tooth direction of the rotor core and the tooth direction of the stator core.
The rotor permanent magnet and the stator permanent magnet are both rectangular structures, the magnetizing directions of the stator permanent magnets are perpendicular to the moving direction, the magnetizing directions of the stator permanent magnets of the two stator modules in the same stator unit are opposite, the magnetizing directions of the rotor permanent magnets on two sides of a rotor iron core are opposite, and the magnetizing directions of the stator permanent magnets and the rotor permanent magnets on the same side of an air gap are the same.
The geometric center line of the rotor permanent magnet is positioned on the geometric center line of the tooth socket of the rotor iron core where the rotor permanent magnet is positioned, and the geometric center line of the stator permanent magnet is positioned on the geometric center line of the tooth of the stator iron core where the stator permanent magnet is positioned.
The number of stator permanent magnets on the stator module is half of the number of stator core slots.
The number of teeth on one side of the rotor core of the rotor module is set to be (kN) ph +2N ph + 3) ± 1, the number of mover permanent magnets on one side of the mover core is set to (kN) ph +2N ph ) +/-1, where kN ph Expressing the number of tooth slots of the stator core, k expressing the coefficient of the number of tooth slots, N ph The number of phases of the permanent magnet linear motor.
The self-powered winding on the rotor module is externally connected with the input end of a single-phase uncontrolled rectifying circuit module on the rotor module, the output end of the self-powered winding is connected with the rotor module, and the single-phase uncontrolled rectifying circuit module rectifies alternating current induced by the self-powered winding into direct current for storage and supplies power for the rotor module.
The motor stator comprises a plurality of stator units, wherein the stator modules on two sides of the plurality of stator units are respectively spliced and arranged on one side of the stator units along the movement direction along the same linear direction.
2. The segmented power supply method of the multi-rotor permanent magnet linear motor comprises the following steps:
step 1: according to the number N of the rotor modules, N three-phase full-bridge power driving modules are arranged in the digital driving unit and are electrically connected to the stator unit in order in a control mode for driving the rotor modules to move;
step 2: calibrating two edge ends of all N mover modules in full motion by using position sensor modulesAbsolute position in space [ P ] within range M 1A，P M 1B，P M 2A，P M 2B，…，P M NA，P M NB]And the spatial absolute position [ P ] of both edge ends of all K stator units S 1α，P S 1β，P S 2α，P S 2β，…，P S Kα，P S Kβ]；
A, B represents two side ends of the mover module in sequence along the moving direction, respectively, that is, the first side end along the moving direction is marked as a, the second side end is marked as B, and P is the number of the first side end and the second side end M 1A denotes a first side end of a first mover module in a moving direction, P M 1B represents a second edge end of the first mover module along the moving direction; in the same way, α and β respectively represent two side ends of the stator unit in sequence along the moving direction, i.e. the first side end is marked α and the second side end is marked β, P along the moving direction S 1 α denotes a first side end of the first stator unit in the direction of movement, P S 1 beta represents the second side end of the first stator unit along the moving direction;
and step 3: and the communication module is used for transmitting the real-time spatial absolute positions of the rotor module and the stator unit to an upper computer, and the upper computer determines the on-off of the stator unit according to the spatial position relation of the ith rotor module and the jth stator unit.
The step 3 specifically comprises the following steps: according to the spatial absolute position [ P ] of the ith mover module M iA，P M iB]When the ith mover module is at the first edge P along the moving direction M iA into the absolute position in space [ P ] of the jth stator module S jα，P S jβ]When the motor is in the on state, the digital driving unit keeps the conducting state of the armature winding of the three-phase winding of the j-1 th stator unit unchanged, the armature winding of the three-phase winding of the j-1 th stator unit is conducted, the armature winding of the three-phase winding of the j-2 th stator unit is turned off, and the rest stator units are kept in the off state.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention adopts the asymmetric excitation structure of the permanent magnet, can generate harmonic magnetomotive force with higher amplitude under the same permanent magnet consumption, can balance and utilize fundamental wave magnetomotive force and harmonic magnetomotive force by reasonably selecting the pole number of the active cell, and effectively improves the thrust density of the motor.
(2) The invention adopts the structure of the dynamic stator double excitation source and the rotor self-powered winding, and the self-powered winding can effectively induce back electromotive force from the stator excitation source, thereby realizing the wireless cable power supply of the rotor and effectively expanding the application scene of the rotor.
(3) The invention adopts a magnetic pole dislocation type bilateral structure, can effectively eliminate unilateral normal force of the rotor and improve the reliability of the motor.
(4) The invention adopts stator units to supply power in a modularized and segmented manner, and can save the energy consumption of the system while ensuring the independent motion of each rotor module.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a multi-rotor bilateral permanent magnet linear motor;
FIG. 2 is a schematic structural diagram of a mover module;
FIG. 3 is a schematic view of a stator unit construction;
fig. 4 is a structural view of a stator core;
fig. 5 is a view illustrating a structure of a mover core;
FIG. 6 is a schematic view of the core and permanent magnet installation;
FIG. 7 is a schematic diagram of self-powered winding induced electromotive force;
FIG. 8 is a single phase bridge type uncontrolled rectifier circuit;
FIG. 9 is a wiring diagram of the three-phase winding of the stator unit;
FIG. 10 is a three-phase full bridge power drive module;
FIG. 11 is a stator module segment control schematic;
FIG. 12 is a comparison graph of average motor thrust under a double excitation source and a mover single excitation source;
FIG. 13 is a graph comparing the normal force of the dual-sided structure and the single-sided structure in this embodiment.
Detailed Description
In order to describe the present invention in more detail, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings.
As shown in fig. 1, the embodied motor includes a mover module 1 and a stator unit 2, one stator unit 2 includes two stator modules 21 arranged at intervals, the two stator modules 21 are aligned with each other in a direction perpendicular to a moving direction, the mover module 1 and the stator modules 21 are both strip-shaped and arranged along the moving direction, the mover module 1 is installed between the two stator modules 21 of the stator unit 2 with an air gap left, specifically, the mover module 1 is installed above the stator modules 21 with an air gap left, the stator modules 21 are fixed, and the mover module 1 is linearly movable relative to the stator modules 21 along the moving direction;
as shown in fig. 2, the mover module 1 includes a mover core 11, a mover permanent magnet 12 and a self-powered winding 13, the mover core 11 is provided with a plurality of teeth spaced apart in the moving direction on a side facing the stator module 21, and open slots, i.e., a plurality of open slots, are formed between adjacent teeth and are spaced apart in the moving direction; the rotor iron core 11 is provided with teeth on two side surfaces facing the stator module 21, the tooth distribution and the tooth spacing size on the two sides are the same, the teeth on the two sides are integrally staggered by half a tooth pitch, the rotor permanent magnets 12 are arranged in the remaining tooth grooves on each side of the rotor iron core 11 except the tooth grooves where the left end part and the right end part are located, the inner end surfaces of the rotor permanent magnets 12 and the tooth grooves are arranged in a close fit manner, and the self-powered windings 13 are wound on the teeth only located at the left end part and the right end part of the rotor iron core 11;
as shown in fig. 3, the stator module 21 includes a stator core 211, an armature winding 213, and a stator permanent magnet 212, the stator core 211 has a plurality of teeth spaced apart along a moving direction on a side surface facing the moving sub-module 1, a half-closed slot is formed between adjacent teeth, that is, a plurality of half-closed slots are formed and spaced apart along the moving direction, the armature winding 213 is wound around each tooth of the stator permanent magnet 212, and the winding structure is a single-layer concentrated winding structure; the stator core 211 is provided with a groove on the tooth end surface of each tooth at intervals, a stator permanent magnet 212 is arranged in the groove, and the stator permanent magnet 212 is closely arranged in the groove;
the stator module comprises a plurality of stator units 2 and a plurality of rotor modules 1, wherein the stator modules 21 on two sides of the stator units 2 are respectively spliced and arranged along the same linear direction on one side of the stator modules according to the motion stroke along the motion direction, and the rotor modules 1 move along the same straight line between the two stator modules 21 of the stator units 2 after splicing and arrangement.
The armature windings 213 of two stator modules 21 in the same stator unit 2 are connected in series in the same way and then electrically connected with the digital driving unit, the armature windings 23 of different stator units 2 are independently connected with the digital driving unit, the digital driving unit controls the conduction of the armature winding 23 of each stator unit 2, and then the work is controlled, and the digital driving unit is in communication connection with an upper computer.
The rotor core 11 and the stator core 211 are formed by laminating silicon steel sheets and have an integral stamped tooth space structure, and the silicon steel sheets are formed by laminating and pressing the silicon steel sheets along a direction perpendicular to a motion direction and perpendicular to tooth directions of the rotor core 11 and the stator core 211.
The rotor permanent magnets 12 and the stator permanent magnets 212 are both rectangular structures, the magnetizing directions of the stator permanent magnets 212 are perpendicular to the moving direction, the magnetizing directions of the stator permanent magnets 212 of the two stator modules 21 in the same stator unit 2 are opposite, the magnetizing directions of the rotor permanent magnets 12 on two sides of the rotor iron core 11 are opposite, and the magnetizing directions of the stator permanent magnets 212 and the rotor permanent magnets 12 on the same side of the air gap are the same.
The geometric center line of the rotor permanent magnet 12 is located at the geometric center line of the tooth slot of the rotor core 11 where the rotor permanent magnet is located, and the geometric center line of the stator permanent magnet 212 is located at the geometric center line of the tooth of the stator core 211 where the stator permanent magnet is located.
The number of stator permanent magnets 212 positioned on the stator module 21 is half of the number of slots of the stator core 211.
The number of teeth on one side of the mover core 11 of the mover module 1 is set to (kN) ph +2N ph + 3) ± 1, the number of mover permanent magnets 12 on one side of the mover core 11 is set to (kN) ph +2N ph ) +/-1, where kN ph Denotes the number of slots of the stator core 211, k denotes a slot number coefficient, N ph The number of phases of the permanent magnet linear motor.
The self-powered winding 13 on the rotor module 1 is externally connected with the input end of a single-phase uncontrolled rectifier circuit module on the rotor module 1, the output end of the self-powered winding 13 is connected with the electric equipment of the rotor module 1, and the single-phase uncontrolled rectifier circuit module rectifies alternating current induced by the self-powered winding 13 into direct current for storage and supplies power to the electric equipment on the rotor module 1.
The stator module comprises a plurality of stator units 2, only one stator module 1 is arranged, and the stator modules 21 on two sides of the plurality of stator units 2 are respectively spliced and arranged on one side of the stator units along the same linear direction along the motion direction according to the motion stroke.
According to the invention, the double-side moving stator matching structure is arranged under the permanent magnet linear motor, the stator permanent magnets are arranged on the tooth end surface of each interval tooth of the stator to form a double-permanent magnet structure, and the winding structure capable of self-supplying power is additionally arranged at the two ends of the rotor, so that the unilateral normal force borne by the rotor module can be greatly weakened, the wireless cable power supply of the rotor is skillfully realized, the thrust density of the motor is effectively improved, and the reliability of the motor is improved.
The specific implementation is that the number of slots of a three-phase stator core is N p For example, fig. 1 is a schematic diagram of an overall structure of the multi-mover bilateral permanent magnet linear motor according to this embodiment. The motor comprises a plurality of rotor modules 1 and a plurality of stator units 2, wherein the rotor modules 1 are arranged between two stator modules 21 by utilizing a linear guide rail, a certain air gap is reserved between the two stator modules, and the size of the air gap on one side is usually 0.8-1.5 mm. The mover module 1 moves along the linear guide rail, completes electromechanical energy conversion in the air gap, and converts electromagnetic energy into mechanical energy of linear motion. The number of the stator units 2 can be increased or decreased according to the requirement of the movement stroke.
The rotor core 11 has open slots on both sides of the air gap, and the number of slots N of the rotor core p And when =12, the number of teeth on one side of the mover iron core 11 is set to (kNph +2nph + 3) ± 1, and the number on one side of the mover permanent magnet 12 is set to (kNph +2 Nph) ± 1, where kNph denotes the number of slots of the stator iron core 21, k denotes a slot number coefficient, and Nph denotes the number of phases of the permanent magnet linear motor. In this embodiment, the number of teeth on one side of the mover core is 20, the number of teeth on both sides is 40, the number of teeth on one side of the mover permanent magnet is 17, and the number of teeth on both sides is 34, so the number of mover poles N is s And (h) =17. The number of the self-powered windings is four, and the four self-powered windings are respectively wound on four iron core teeth of the rotor iron core close to the left side end and the right side end. Fig. 5 is a structural diagram of the rotor core according to the embodiment, in which the rotor core is formed by silicon steel sheets and has an integral stamped tooth space structure, and is formed by laminating along a direction perpendicular to a movement direction and a tooth direction of the rotor core, and a small amount of welding reinforcement can be performed in the laminating direction by laser welding or the like, so as to ensure the reliability of the core structure.
Fig. 6 is a schematic diagram illustrating the installation of the core and the permanent magnets of this embodiment, in which the mover permanent magnet 12 and the stator permanent magnet 212 both have rectangular structures, and the magnetizing directions are both perpendicular to the moving direction, wherein the geometric center line of the mover permanent magnet 12 aligns with the geometric center line of the slot of the mover core 11, and the geometric center line of the stator permanent magnet 212 aligns with the geometric center line of the tooth of the stator core 211. The magnetizing directions of the stator permanent magnets 212 on the two stator modules 21 are opposite, the magnetizing directions of the mover permanent magnets 12 on the two sides of the mover core 11 are opposite, and the magnetizing directions of the stator permanent magnets 212 and the mover permanent magnets 12 on the same side of the air gap are the same. It can be seen that the permanent magnet magnetizing directions are symmetrically distributed on the whole by the geometric center line of the rotor iron core along the motion direction.
Fig. 7 is a schematic diagram of induced electromotive force from the self-powered winding according to the embodiment, in which an excitation magnetic field generated by the stator permanent magnet 212 alternates at the rotor core 11 with the movement of the rotor module 1, so that a back electromotive force can be induced on the self-powered winding. As can be seen from fig. 5, the electrical period of the induced electromotive force on the self-power supply winding is about 2.5 times that of the armature winding, and the amplitude of the induced electromotive force is related to the moving speed of the active value mover module 1, and the higher the speed is, the larger the amplitude and the active value of the induced electromotive force are. Fig. 8 shows a single-phase bridge type uncontrolled rectifying circuit of this embodiment, the self-powered winding is connected to the uncontrolled rectifying circuit module, and the self-powered winding can convert the induced ac power into dc power, so as to utilize energy storage modules such as lithium batteries to store energy, and supply power to the position sensor, the communication module and the like on the mover module, thereby implementing cable-less power supply of the mover module.
Fig. 9 is a wiring diagram of a three-phase winding of the stator module according to the present embodiment, where Pa = | N is the number of pole pairs of the winding according to the magnetic field modulation principle s -N p I =5, so when a single-layer concentrated winding is employed, there are 6 coils in total, with the electrical angles of adjacent coils differing by 60 degrees. Because the rotor modules are staggered by 180 electrical degrees at two sides of the air gap, the winding structures and the wiring of the two stator modules of the same stator unit are the same, and reverse processing is not needed.
The specific implementation process of the modularized segmented power supply method comprises the following steps:
step 1: according to the number N of the rotor modules, N three-phase full-bridge power driving modules are arranged in the digital driving unit, the three-phase full-bridge power driving modules are shown in figure 10, wherein power devices adopt IGBTs, and windings of two stator modules in the same stator unit are connected in series.
And 2, step: calibrating the spatial absolute position [ P ] of the edge ends of the N mover modules in the full-stroke range by using the position sensor module M 1A，P M 1B，P M 2A，P M 2B，…，P M NA，P M NB]Wherein along the direction of movement the first edge is marked A, the second edge is marked B, and the absolute position in space of the edges of the K stator modules [ P ] S 1α，P S 1β，P S 2α，P S 2β，…，P S Kα，P S Kβ]；
And step 3: real-time rotor module position using communication moduleThe position signal is transmitted to an upper computer, and the upper computer determines the on-off of the stator module according to the spatial position relation between the ith rotor and the jth stator, and the method specifically comprises the following steps: ith mover spatial absolute position [ P ] M iA，P M iB]When P is M iA enters the spatial position of the jth stator module [ P ] S jα，P S jβ]Meanwhile, the digitalized driving unit keeps the conduction state of the three-phase winding of the j-1 th stator module unchanged, immediately conducts the three-phase winding of the j-1 th stator module, and simultaneously turns off the three-phase winding of the j-2 th stator module, as shown in fig. 11
Fig. 12 is a graph comparing the average thrust of the motor under the double excitation source and the mover single excitation source of the present embodiment, and it can be seen from the graph that the thrust can be improved by about 50% under the same volume by adding a certain number of stator permanent magnets to the stator core. Therefore, the double excitation source provided by the invention can effectively improve the thrust density of the motor.
Fig. 13 is a graph comparing normal forces of the double-sided structure and the single-sided structure in this embodiment, and it can be seen that the single-sided normal force applied to the mover module under the single-sided structure is about 3100N, while the normal forces at both sides of the air gap of the mover module under the double-sided structure cancel each other out, and the peak value of the normal force is only 50N. Therefore, the magnetic pole dislocation type double-side structure provided by the invention can greatly reduce the normal force applied to the rotor module, the rotor module is more convenient to mount, and the mechanical reliability of the motor can be effectively improved.
Therefore, the invention can simultaneously utilize two excitation sources, can effectively improve the thrust density of the motor, can induce electromotive force by the self-powered winding of the rotor module, realizes the cable-free power supply of the rotor module under long stroke, can greatly weaken the unilateral normal force borne by the rotor module by the magnetic pole dislocation type double-sided structure, and improves the reliability of the motor. The stator unit can realize modularized segmented power supply, and the energy consumption of the system is saved.
The embodiments described above are presented to facilitate one of ordinary skill in the art to understand and practice the present invention. It will be readily apparent to those skilled in the art that various modifications to the above-described embodiments may be made, and the generic principles defined herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.
Claims (10)
1. A multi-rotor bilateral permanent magnet linear motor,
the stator unit (2) comprises two stator modules (21) which are arranged oppositely at intervals, the rotor module (1) is arranged between the two stator modules (21) of the stator unit (2) and an air gap is reserved between the two stator modules (21), the stator modules (21) are kept fixed, and the rotor module (1) can linearly move relative to the stator modules (21) along the movement direction;
the rotor module (1) comprises a rotor core (11), a plurality of teeth are arranged on one side of the rotor core (11) facing the stator module (21) at intervals along the motion direction, and an opening tooth socket is formed between every two adjacent teeth;
the stator module (21) comprises a stator core (211) and armature windings (213), a plurality of teeth are arranged on one side of the stator core (211) facing the rotor module (1) at intervals along the motion direction, a half-closed tooth slot is formed between adjacent teeth, and the armature windings (213) are wound on the teeth of the stator permanent magnet (212);
the method is characterized in that:
the stator module comprises a plurality of stator units (2) and a plurality of mover modules (1), wherein the stator modules (21) on two sides of the plurality of stator units (2) are respectively spliced and arranged on one side along the motion direction along the same straight line direction;
the rotor module (1) further comprises a rotor permanent magnet (12) and a self-powered winding (13), wherein the rotor iron core (11) is provided with teeth on two sides facing the stator module (21), the teeth on the two sides are integrally staggered by half of tooth pitch, the rotor permanent magnet (12) is arranged in the residual tooth spaces of each side of the rotor iron core (11) except the tooth spaces where the left end part and the right end part are located, the rotor permanent magnet (12) and the inner end surface of the tooth spaces are arranged in a clinging manner, and the self-powered winding (13) is wound on the teeth located at the left end part and the right end part of the rotor iron core (11);
the stator module (21) further comprises a stator permanent magnet (212), a groove is formed in the tooth end face of each tooth of the stator iron core (211) at intervals, and the stator permanent magnet (212) is arranged in each groove;
armature windings (213) on two stator modules (21) in the same stator unit (2) are mutually connected in series and then electrically connected with the digital driving unit, the armature windings (23) of different stator units (2) are respectively and independently connected with the digital driving unit, and the digital driving unit is in communication connection with an upper computer.
2. The multi-mover bilateral permanent magnet linear motor of claim 1, wherein: the rotor iron core (11) and the stator iron core (211) are formed by silicon steel sheets in a laminated mode and are of an integral stamped tooth groove structure, and the silicon steel sheets are formed by laminating and pressing the silicon steel sheets in the tooth direction perpendicular to the motion direction and perpendicular to the rotor iron core (11) and the stator iron core (211).
3. The multi-mover bilateral permanent magnet linear motor of claim 1, wherein: the rotor permanent magnet (12) and the stator permanent magnet (212) are of rectangular structures, the magnetizing directions of the stator permanent magnets (212) of the two stator modules (21) in the same stator unit (2) are perpendicular to the moving direction, the magnetizing directions of the rotor permanent magnets (12) on two sides of the rotor iron core (11) are opposite, and the magnetizing directions of the stator permanent magnet (212) and the rotor permanent magnet (12) on the same side of an air gap are the same.
4. The multi-mover bilateral permanent magnet linear motor of claim 1, wherein:
the geometric center line of the rotor permanent magnet (12) is positioned on the geometric center line of the tooth slot of the rotor iron core (11), and the geometric center line of the stator permanent magnet (212) is positioned on the geometric center line of the tooth of the stator iron core (211).
5. The multi-mover bilateral permanent magnet linear motor of claim 1, wherein:
the number of the stator permanent magnets (212) on the stator module (21) is half of the number of the slots of the stator core (211).
6. The multi-mover bilateral permanent magnet linear motor according to claim 1, wherein:
the number of teeth on one side of a rotor core (11) of the rotor module (1) is set to be (kN) ph +2N ph +3 +/-1, the number of the rotor permanent magnets (12) on one side of the rotor core (11) is set to be (kN) ph +2N ph ) +/-1, where kN ph Denotes the number of slots of the stator core (211), k denotes the number coefficient of slots, N ph The number of phases of the permanent magnet linear motor.
7. The multi-mover bilateral permanent magnet linear motor according to claim 1, wherein: the self-powered winding (13) positioned on the rotor module (1) is externally connected with the input end of a single-phase uncontrolled rectifying circuit module, the output end of the self-powered winding (13) is connected with the rotor module (1), and the single-phase uncontrolled rectifying circuit module rectifies alternating current induced by the self-powered winding (13) into direct current for storage and supplies power to the rotor module (1).
8. The multi-mover bilateral permanent magnet linear motor of claim 1, wherein:
the motor stator comprises a plurality of stator units (2), and stator modules (21) on two sides of the plurality of stator units (2) are respectively spliced and arranged on one side along the movement direction along the same straight line direction.
9. The segmented power supply method applied to the multi-rotor permanent magnet linear motor of any one of claims 1 to 8 is characterized in that: the method comprises the following steps:
step 1: according to the number N of the rotor modules (1), N three-phase full-bridge power driving modules are arranged in the digital driving unit and are electrically connected to the stator unit (2) in order according to a control mode;
and 2, step: calibrating the spatial absolute position [ P ] of two side ends of all N mover modules (1) in the full motion stroke range by using the position sensor module M 1A，P M 1B，P M 2A，P M 2B，…，P M NA，P M NB]And the spatial absolute position [ P ] of both edge ends of all K stator units (2) S 1α，P S 1β，P S 2α，P S 2β，…，P S Kα，P S Kβ]；
A, B respectively represent two side ends of the mover module (1) in sequence along the movement direction, P M 1A denotes a first side end of a first mover module (1) in the direction of motion, P M 1B represents a second edge end of the first rotor module (1) along the motion direction; alpha, beta respectively represent two side ends of the stator unit (2) in sequence along the movement direction, P S 1 alpha denotes a first side end of the first stator unit (2) in the direction of movement, P S 1 beta represents a second side end of the first stator unit (2) along the moving direction;
and step 3: the real-time absolute spatial positions of the rotor module (1) and the stator unit (2) are transmitted to an upper computer by using a communication module, and the upper computer determines the on-off of the stator unit (2) according to the spatial position relation between the ith rotor module (1) and the jth stator unit (2).
10. The segmented power supply method of the multi-mover permanent magnet linear motor according to claim 9, wherein:
the step 3 specifically comprises the following steps: when the ith rotor module (1) is at the first edge end P along the motion direction M iA into the absolute position in space [ P ] of the jth stator module S jα，P S jβ]When the motor is started, the digitalized driving unit keeps the conduction state of the armature winding (23) of the j-1 th stator unit (2) unchanged, the armature winding (23) of the j-1 th stator unit (2) is conducted at the same time, the armature winding (23) of the j-2 th stator unit (2) is turned off at the same time, and the rest stator units (2) are kept in the turn-off state.
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