CN201509142U - Large pole square wave three-phase brushless permanent magnet DC motor - Google Patents

Large pole square wave three-phase brushless permanent magnet DC motor Download PDF

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CN201509142U
CN201509142U CN 200920134725 CN200920134725U CN201509142U CN 201509142 U CN201509142 U CN 201509142U CN 200920134725 CN200920134725 CN 200920134725 CN 200920134725 U CN200920134725 U CN 200920134725U CN 201509142 U CN201509142 U CN 201509142U
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tooth
small
teeth
permanent magnet
iron core
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漆亚梅
李铁才
周兆勇
蓝维隆
廖志辉
李诗念
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PEITIAN (ANHUI) M&E TECHNOLOGY Co Ltd
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Shenzhen Academy of Aerospace Technology
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Abstract

本实用新型涉及一种大极型方波三相无刷永磁直流电动机,其中转子铁芯上的磁极数2P=4,定子铁芯的槽数Z=6,定子的6个齿中包括三个大齿、三个小齿;一个大齿与一个小齿的机械角度之和等于120°,电角度为P×120°=240°;三相集中绕组分别绕在三个大齿上,每相仅有一个绕组;其中定子铁芯包括大齿铁芯(9)和三个小齿铁芯(8);在大齿铁芯上设有三个大齿,相邻两个大齿之间的轭部各设有一个锲入槽(11),共有三个锲入槽;每个小齿铁芯通过其尾部锲入在大齿铁芯的其中一个锲入槽。这种电动机具有定位力矩小、结构简单、生产成本很低、绕组的绕制非常方便、铜耗少等优点。

The utility model relates to a large-pole square-wave three-phase brushless permanent magnet DC motor, wherein the number of magnetic poles on the rotor core is 2P=4, the number of slots of the stator core is Z=6, and the six teeth of the stator include three One large tooth and three small teeth; the sum of the mechanical angle of one large tooth and one small tooth is equal to 120°, and the electrical angle is P×120°=240°; the three-phase concentrated windings are respectively wound on the three large teeth, each The phase has only one winding; the stator core includes a large-tooth iron core (9) and three small-tooth iron cores (8); there are three large teeth on the large-tooth iron core, and the Each of the yokes is provided with a wedge-in groove (11), and there are three wedge-in grooves in total; each small-tooth iron core is wedged into one of the wedge-in grooves of the large-tooth iron core through its tail. This motor has the advantages of small positioning torque, simple structure, low production cost, very convenient winding of windings, and less copper consumption.

Description

大极型方波三相无刷永磁直流电动机 Large pole square wave three-phase brushless permanent magnet DC motor

技术领域technical field

本实用新型涉及永磁直流电动机,更具体地说,涉及一种大极型方波三相无刷永磁直流电动机,该电动机适用于直接驱动和位置、速率伺服控制应用。The utility model relates to a permanent magnet DC motor, in particular to a large-pole square wave three-phase brushless permanent magnet DC motor, which is suitable for direct drive and position and speed servo control applications.

背景技术Background technique

永磁电动机根据驱动电流及反电势波形可分为正弦波和方波两大类。一般将正弦波永磁电动机称为永磁同步电动机(PMSM),或称为正弦波交流伺服电动机。另一类方波永磁电动机则称为方波无刷直流电动机(BLDCM)。Permanent magnet motors can be divided into two categories: sine wave and square wave according to the driving current and back EMF waveform. A sine wave permanent magnet motor is generally called a permanent magnet synchronous motor (PMSM), or a sine wave AC servo motor. Another type of square-wave permanent magnet motor is called a square-wave brushless DC motor (BLDCM).

80年代期间,方波永磁电动机获得了普遍应用,方波永磁电动机的外特性和有刷直流电动机基本相同,控制比较简单,但其最大的缺点是存在较大的原理性换向力矩波动,对此,研究人员提出了多种补偿措施,但实际应用效果不理想。During the 1980s, square wave permanent magnet motors were widely used. The external characteristics of square wave permanent magnet motors are basically the same as those of brushed DC motors, and the control is relatively simple, but its biggest disadvantage is that there are large principle commutation torque fluctuations. In this regard, researchers have proposed a variety of compensation measures, but the actual application effect is not ideal.

由于正弦波永磁电动机的力矩波动则远小于方波永磁电动机,90年代期间,在精密伺服驱动应用场合,方波永磁电动机逐渐被正弦波永磁电动机所替代,目前已经成为现今工业应用的主流。然而,正弦波永磁电动机会导致控制系统复杂性大幅增高和成本大幅增加,更重要的是电动机的力能指标大幅下降。Since the torque fluctuation of the sine wave permanent magnet motor is much smaller than that of the square wave permanent magnet motor, during the 1990s, in the application of precision servo drive, the square wave permanent magnet motor was gradually replaced by the sine wave permanent magnet motor, and it has become the current industrial application mainstream. However, the sine wave permanent magnet motor will greatly increase the complexity and cost of the control system, and more importantly, the power index of the motor will drop significantly.

另一方面,传统方波无刷直流电动机及其控制技术被公认已经成熟,由于前述缺陷,导致其被限定在要求不高的场合应用,国内外对其研究已经很少。On the other hand, the traditional square-wave brushless DC motor and its control technology are recognized as mature. Due to the aforementioned defects, it is limited to applications with low requirements, and there are few researches on it at home and abroad.

为解决上述技术问题,本专利的实用新型人此前申请了一项‘方波三相无刷永磁直流电动机’专利,公告号CN101371425A,其中公开了一种极数2P=8的电机,但该电机高速应用时仍有铁损偏大的问题。In order to solve the above-mentioned technical problems, the utility model applicant of this patent has previously applied for a patent of 'square wave three-phase brushless permanent magnet direct current motor', the announcement number is CN101371425A, which discloses a motor with the number of poles 2P=8, but the There is still the problem of large iron loss when the motor is used at high speed.

实用新型内容Utility model content

本实用新型要解决现有方波永磁电动机和正弦波永磁电动机所存在的问题,提出一种新原理、新结构、高性能、低成本的2P=4的大极方波永磁电动机。The utility model aims to solve the existing problems of the existing square wave permanent magnet motor and the sine wave permanent magnet motor, and proposes a large pole square wave permanent magnet motor with a new principle, a new structure, high performance and low cost of 2P=4.

本实用新型的技术方案是,提供一种大极型方波三相无刷永磁直流电动机,所述电动机的转子铁芯上装有多对永磁体,定子槽中装有三相绕组,其特征在于,所述转子铁芯上的磁极数2P=4;所述定子铁芯的槽数Z=6,相应有6个齿,所述6个齿中包括三个大齿、三个小齿;所述三相绕组为集中绕组,分别绕在三个大齿上,每相仅有一个绕组;所述绕组和齿的排列次序是:大齿上A相绕组→小齿→大齿上B相绕组→小齿→大齿上C相绕组→小齿;其A表示A相绕组的一个集中绕组,B表示B相绕组的一个集中绕组,C表示C相绕组的一个集中绕组。The technical scheme of the utility model is to provide a large-pole square wave three-phase brushless permanent magnet DC motor, the rotor iron core of the motor is equipped with multiple pairs of permanent magnets, and the stator slot is equipped with three-phase windings, which is characterized in that , the number of magnetic poles on the rotor core is 2P=4; the number of slots of the stator core is Z=6, correspondingly there are 6 teeth, and the 6 teeth include three large teeth and three small teeth; The above-mentioned three-phase windings are concentrated windings, which are respectively wound on three large teeth, and each phase has only one winding; the arrangement order of the windings and teeth is: A-phase winding on the large tooth → small tooth → B-phase winding on the large tooth →Small teeth→C-phase windings on large teeth→small teeth; A represents a concentrated winding of A-phase winding, B represents a concentrated winding of B-phase winding, and C represents a concentrated winding of C-phase winding.

本实用新型中,所述定子铁芯包括大齿铁芯和三个小齿铁芯;在所述大齿铁芯上设有三个大齿,相邻两个大齿之间的轭部各设有一个锲入槽,共有三个锲入槽;每个所述小齿铁芯通过其尾部锲入在所述大齿铁芯的其中一个锲入槽中。In the utility model, the stator core includes a large-tooth iron core and three small-tooth iron cores; three large teeth are arranged on the large-tooth iron core, and the yokes between two adjacent large teeth are respectively provided with There is one wedging slot, and there are three wedging slots in total; each of the small-toothed iron cores is wedged into one of the wedging-in-slots of the large-toothed iron core through its tail.

本实用新型中,所述大齿铁芯可以是一体式的整体大齿铁芯,或者由三个单体大齿铁芯组成,此时相邻两个单体大齿铁芯之间在该两个大齿的定子槽中心线处相互拼接。In the present utility model, the large-tooth iron core can be an integral large-tooth iron core, or composed of three single large-tooth iron cores. At this time, between two adjacent single large-tooth iron cores The centerlines of the stator slots of the two large teeth are spliced together.

本实用新型中,所述大齿铁芯和每一个小齿铁芯均可由多层齿硅钢片组成。具体可通过盲孔铆压成整体结构。其中,所述大齿铁芯与各个小齿铁芯最好具有相同的硅钢片层数;所述锲入槽可为燕尾形结构。In the utility model, the large-tooth iron core and each small-tooth iron core can be composed of multi-layer tooth silicon steel sheets. Specifically, it can be riveted into an integral structure through blind holes. Wherein, the large-tooth iron core and each small-tooth iron core preferably have the same number of layers of silicon steel sheets; the wedge-in groove may be a dovetail-shaped structure.

本实用新型中,所述定子铁芯上相邻大齿与小齿之间的槽的槽口(5)宽度最好为0.1~3.0mm;每个大齿占圆周75°~117°机械角度,即150°~234°电角度;每个小齿占圆周45°~3°机械角度,即90°~6°电角度;且一个大齿与一个小齿的机械角度之和等于120°,电角度为P×120°=240°。In the utility model, the width of the notch (5) of the groove between the adjacent large teeth and the small teeth on the stator core is preferably 0.1-3.0mm; each large tooth occupies a mechanical angle of 75°-117° of the circumference , that is, 150°~234° electrical angle; each small tooth occupies a 45°~3° mechanical angle of the circumference, that is, 90°~6° electrical angle; and the sum of the mechanical angles of a large tooth and a small tooth is equal to 120°, The electrical angle is P×120°=240°.

本实用新型中,所述转子铁芯上各个永磁体N、S磁极相间排列,所述永磁体是径向充磁的瓦形磁钢、或者是平行充磁的瓦形磁钢;所述定子与转子之间的物理气隙为0.2~3mm;所述转子铁芯上的永磁体的极距为(1~0.8)×πD/4,其中D是转子外径。永磁体的极距是电机极距πD/4的(1~0.8)倍,随着此倍数的减小电机的气隙磁场将向正弦波变化,当此倍数的减小为(0.8~0.6)倍时,气隙磁场将更近似正弦波。In the utility model, the permanent magnets N and S magnetic poles on the rotor core are arranged alternately, and the permanent magnets are radially magnetized tile-shaped magnets or parallel magnetized tile-shaped magnets; the stator The physical air gap between the rotor and the rotor is 0.2-3mm; the pole pitch of the permanent magnet on the rotor core is (1-0.8)×πD/4, where D is the outer diameter of the rotor. The pole pitch of the permanent magnet is (1~0.8) times of the motor pole pitch πD/4. With the decrease of this multiple, the air gap magnetic field of the motor will change to a sine wave. When this multiple decreases to (0.8~0.6) times, the air-gap magnetic field will be more similar to a sine wave.

本实用新型中采用霍尔位置传感器作为转子位置传感器,所述霍尔位置传感器的磁敏感方向与转子法线方向相一致,安装于定子支架上,并与转子永磁体外圆之间保持1~3mm的气隙。In the utility model, a Hall position sensor is used as the rotor position sensor. The magnetic sensitivity direction of the Hall position sensor is consistent with the normal direction of the rotor, and is installed on the stator bracket, and is kept 1~2 between the outer circle of the rotor permanent magnet. 3mm air gap.

由上述技术方案可知,本实用新型的大极方波三相无刷永磁直流电动机的磁极数为2P=4,其中采用磁极覆盖技术,使其气隙磁场具有120°电角度以上的平顶区;采用非均匀齿槽和磁平衡小齿,使定位力矩减至最小。该电动机每相仅有一个集中绕组,结构简单,生产成本很低。由于小齿是嵌入式的,先不装小齿,留出空间使集中绕组的绕制非常方便,即使机器自动绕线也能保证85%以上的槽满率。该电动机的出力比传统正弦波永磁伺服电机大33%,绕组端部比传统分布式绕组的正弦波永磁伺服电机小3倍以上,所以铜耗大幅度减少。该方波三相无刷永磁直流电动机采用三相方波电流驱动时,能产生平稳的力矩,其力矩波动指标与正弦波永磁伺服电机相当。It can be seen from the above technical scheme that the number of magnetic poles of the large pole square wave three-phase brushless permanent magnet DC motor of the present invention is 2P=4, wherein the magnetic pole covering technology is adopted to make the air gap magnetic field have a flat top with an electrical angle of more than 120° Zone; use non-uniform cogging and magnetic balance small teeth to minimize the positioning moment. The electric motor has only one concentrated winding for each phase, has simple structure and low production cost. Because the small teeth are embedded, the small teeth are not installed first, and the space is left to make the winding of the concentrated winding very convenient. Even if the machine automatically winds, it can guarantee a slot full rate of more than 85%. The output of this motor is 33% larger than that of the traditional sine wave permanent magnet servo motor, and the winding end is more than 3 times smaller than that of the traditional distributed winding sine wave permanent magnet servo motor, so the copper consumption is greatly reduced. When the square wave three-phase brushless permanent magnet DC motor is driven by a three-phase square wave current, it can generate a stable torque, and its torque fluctuation index is equivalent to that of a sine wave permanent magnet servo motor.

附图说明Description of drawings

下面将结合附图及实施例对本实用新型作进一步说明,附图中:The utility model will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

图1是本实用新型一个优选实施例中电动机的定、转子剖面结构示意图;Fig. 1 is a schematic view of the stator and rotor sectional structure of an electric motor in a preferred embodiment of the utility model;

图2是本实用新型一个优选实施例中电动机总装结构示意图;Fig. 2 is a schematic diagram of the motor assembly structure in a preferred embodiment of the present invention;

图3是图1所示实施例中的定子齿槽角度分布示意图;Fig. 3 is a schematic diagram of stator cogging angle distribution in the embodiment shown in Fig. 1;

图4是图1中的单个大齿硅钢片的结构示意图;Fig. 4 is a schematic structural view of a single large tooth silicon steel sheet in Fig. 1;

图5是图1中的单个小齿硅钢片的结构示意图;Fig. 5 is a schematic structural view of a single small tooth silicon steel sheet in Fig. 1;

图6是由图5所示多个小齿硅钢片组成一个小齿铁芯的立体结构示意图;Fig. 6 is a three-dimensional structural schematic diagram of a small-tooth iron core composed of a plurality of small-tooth silicon steel sheets shown in Fig. 5;

图7是一个大齿铁芯与三个小齿铁芯组成定子铁芯的示意图;Fig. 7 is a schematic diagram of a stator core composed of a large-toothed iron core and three small-toothed iron cores;

图8是由三个大齿铁芯与三个小齿铁芯组成定子铁芯的示意图。Fig. 8 is a schematic diagram of a stator core composed of three large-tooth iron cores and three small-tooth iron cores.

图中,1是转子铁芯,2是永磁体,3是轭部,4是定子槽,5是槽口,6是大齿,7是单体大齿铁芯,8是小齿,9是整体大齿铁芯,10是小齿硅钢片,11是锲入槽,12是定位盲孔,13是小齿硅钢片的尾部,201是转轴,202是转子,203是定子,204是物理气隙,205是定子支架。In the figure, 1 is the rotor core, 2 is the permanent magnet, 3 is the yoke, 4 is the stator slot, 5 is the notch, 6 is the large tooth, 7 is the single large tooth core, 8 is the small tooth, and 9 is the The overall large-tooth iron core, 10 is the small-tooth silicon steel sheet, 11 is the wedge groove, 12 is the positioning blind hole, 13 is the tail of the small-tooth silicon steel sheet, 201 is the rotating shaft, 202 is the rotor, 203 is the stator, 204 is the physical gas Gap, 205 is the stator support.

具体实施方式Detailed ways

本实用新型的一个优选实施例如图1至图7所示。从图2中可以看出这种三相无刷永磁直流电动机的大致结构,其主要部件包括转轴201、转子202、定子203等,转子202与定子203之间的物理气隙204为0.2~3mm。其中采用霍尔位置传感器作为转子位置传感器,霍尔位置传感器的磁敏感方向与转子法线方向相一致,安装在定子支架205上,并与转子磁钢(即永磁体)外圆之间保持1~3mm的气隙。A preferred embodiment of the utility model is shown in Fig. 1 to Fig. 7 . As can be seen from Fig. 2, the general structure of this three-phase brushless permanent magnet DC motor, its main components include a rotating shaft 201, a rotor 202, a stator 203, etc., and the physical air gap 204 between the rotor 202 and the stator 203 is 0.2- 3mm. Wherein, the Hall position sensor is used as the rotor position sensor. The magnetic sensitive direction of the Hall position sensor is consistent with the normal direction of the rotor. ~3mm air gap.

从图1中可以看出,在转子铁芯1上装有2对4个永磁体,4个磁极N、S相间排列,也就是说,转子的磁极数2P=4,这些永磁体产生气隙磁场。具体实施时,永磁体2可以是径向充磁的瓦形磁钢、或者是平行充磁的瓦形磁钢。转子铁芯上的永磁体的极距为(1~0.8)×πD/4,其中D是转子外径。It can be seen from Figure 1 that 2 pairs of 4 permanent magnets are installed on the rotor core 1, and the 4 magnetic poles N and S are arranged alternately, that is to say, the number of magnetic poles of the rotor is 2P=4, and these permanent magnets generate an air gap magnetic field . During specific implementation, the permanent magnet 2 may be a radially magnetized tile-shaped magnet, or a parallel magnetized tile-shaped magnet. The pole pitch of the permanent magnet on the rotor core is (1-0.8)×πD/4, where D is the outer diameter of the rotor.

同时,定子铁芯的槽数Z=6,对应有6个槽、6个齿;定子槽4的槽口5的宽度为0.1~3mm;6个齿中包括三个大齿、三个小齿,并在圆周内按大齿→小齿→大齿→小齿的次序循环排布。At the same time, the number of slots of the stator core Z=6, corresponding to 6 slots and 6 teeth; the width of the notch 5 of the stator slot 4 is 0.1-3mm; the 6 teeth include three large teeth and three small teeth , and are arranged cyclically in the order of large teeth → small teeth → large teeth → small teeth within the circumference.

本实施例中,三相绕组为集中绕组,分别用绕线机(定子绕组内绕机)直接绕在绝缘处理后的大齿上,绕组和齿的排列次序是:大齿上A相绕组→小齿→大齿上B相绕组→小齿→大齿上C相绕组→小齿;其A表示A相绕组的一个集中绕组,B表示B相绕组的一个集中绕组,C表示C相绕组的一个集中绕组。可见,该电动机仅有三个集中绕组,电动机的绕组总数非常少,大大简化了电动机结构,降低了成本,同时绕组端部减少到传统电动机小3倍以上,达到了最小化,于是铜耗大幅下降。In this embodiment, the three-phase windings are concentrated windings, which are directly wound on the large teeth after insulation treatment with a winding machine (stator winding inner winding machine), and the order of arrangement of the windings and teeth is: A phase winding on the large teeth Small tooth → B-phase winding on the large tooth → small tooth → C-phase winding on the large tooth → small tooth; where A represents a concentrated winding of the A-phase winding, B represents a concentrated winding of the B-phase winding, and C represents the C-phase winding A concentrated winding. It can be seen that the motor has only three concentrated windings, and the total number of windings of the motor is very small, which greatly simplifies the structure of the motor and reduces the cost. At the same time, the end of the winding is reduced to more than three times smaller than that of the traditional motor, which is minimized, so the copper consumption is greatly reduced. .

从图3可以看出,每个大齿占圆周75°~117°机械角度,即150°~234°电角度;每个小齿占圆周45°~3°机械角度,即90°~6°电角度;且一个大齿与一个小齿的机械角度之和等于120°,电角度为P×120°=240°。其中每个齿所占圆周机械角度包含槽口宽度。It can be seen from Figure 3 that each large tooth occupies a mechanical angle of 75° to 117° on the circumference, that is, an electrical angle of 150° to 234°; each small tooth occupies a mechanical angle of 45° to 3° on the circumference, that is, 90° to 6° Electrical angle; and the sum of the mechanical angles of a large tooth and a small tooth is equal to 120°, and the electrical angle is P×120°=240°. The circular mechanical angle occupied by each tooth includes the slot width.

如图4至图7所示,其中的定子铁芯包括一个整体结构的大齿铁芯9和三个小齿铁芯8;在大齿铁芯上设有三个大齿6,相邻两个大齿之间的轭部3各设有一个锲入槽11,共有三个锲入槽;每个小齿铁芯8通过其尾部锲入在大齿铁9的其中一个锲入槽11中。As shown in Figures 4 to 7, the stator core includes a large-tooth iron core 9 and three small-tooth iron cores 8 with an integral structure; three large teeth 6 are arranged on the large-tooth iron core, and two adjacent The yoke 3 between the large teeth is respectively provided with a wedging groove 11, and there are three wedging grooves in total; each small-tooth iron core 8 is wedged into one of the wedging grooves 11 of the large-tooth iron 9 through its tail.

具体实施时,大齿铁芯9由多层大齿硅钢片组成,每一层大齿硅钢片的轭部和齿部设有定位盲孔12,多层大齿硅钢片通过这些盲孔铆压成整体结构。同样,每一个小齿铁芯8由多层小齿硅钢片组成;每一层小齿硅钢片10上也设有定位盲孔12,多层小齿硅钢片通过这些盲孔铆压成整体结构。本实施例中,大齿铁芯9与各个小齿铁芯8具有相同的硅钢片层数。During specific implementation, the large-tooth iron core 9 is composed of multiple layers of large-tooth silicon steel sheets. The yoke and teeth of each layer of large-tooth silicon steel sheets are provided with positioning blind holes 12, and the multi-layer large-tooth silicon steel sheets are riveted through these blind holes. into an overall structure. Similarly, each small-tooth iron core 8 is composed of multiple layers of small-tooth silicon steel sheets; each layer of small-tooth silicon steel sheets 10 is also provided with positioning blind holes 12, and the multi-layer small-tooth silicon steel sheets are riveted into an overall structure through these blind holes. . In this embodiment, the large-tooth iron core 9 and each small-tooth iron core 8 have the same number of layers of silicon steel sheets.

从图4、图7中可以看出,其中的锲入槽11为内部大、口部小的燕尾形结构;相应地,每个小齿硅钢片10的尾部13也为燕尾形结构,最终组成的小齿铁芯的尾部可正好与锲入槽11咬合。It can be seen from Fig. 4 and Fig. 7 that the wedge-in groove 11 is a dovetail-shaped structure with a large inside and a small mouth; correspondingly, the tail 13 of each small tooth silicon steel sheet 10 is also a dovetail-shaped structure, and the final composition The afterbody of the small-toothed iron core can just in time be engaged with wedging into groove 11.

具体装配时,在制成所述大齿铁芯后,先对大齿做绝缘处理,再用绕线机在三个大齿上绕制A、B、C三相绕组,然后将三个小齿铁芯8分别嵌入大齿铁芯9的三个锲入槽11中,即构成具三相绕组的定子铁芯。During specific assembly, after the large-tooth iron core is made, first insulate the large teeth, and then use a winding machine to wind A, B, and C three-phase windings on the three large teeth, and then wind the three small teeth. The tooth cores 8 are respectively inserted into the three wedging slots 11 of the large tooth core 9, namely forming a stator core with a three-phase winding.

为了使三相绕组的绕线更加方便,在图8所示的实施例中,将具有三个大齿的整体大齿铁芯9,以相邻两个大齿之间的定子槽中心线为基准切分成三个部分,成为三个单体大齿铁芯7,分别对这三个单体大齿铁芯做绝缘处理,再用绕线机分别在三个单体大齿铁芯上绕制A、B、C三相绕组,然后将三个大齿铁芯与三个小齿铁芯,按A相单体大齿铁芯→小齿铁芯→B相单体大齿铁芯→小齿铁芯→C相单体大齿铁芯→小齿铁芯,构成具有三相绕组的定子铁芯。In order to make the winding of the three-phase winding more convenient, in the embodiment shown in FIG. The benchmark is divided into three parts to become three single large-tooth iron cores 7, and the three single large-tooth iron cores are respectively insulated, and then wound on the three single large-tooth iron cores with a winding machine. Make A, B, and C three-phase windings, and then connect three large-tooth iron cores and three small-tooth iron cores, according to A-phase single large-tooth iron core → small-tooth iron core → B-phase single large-tooth iron core → Small-tooth iron core→C-phase single large-tooth iron core→small-tooth iron core constitutes a stator core with three-phase winding.

其中,三个单体大齿铁芯的结构完全相同,便于加工生产,然后可任选三个单体大齿铁芯通过设置凸台、凹孔的方式扣合成一个完整的大齿铁芯,例如采用前述公告号为CN101371425A的专利中图6所示的卡扣结构。Among them, the structure of the three single large-tooth iron cores is exactly the same, which is convenient for processing and production, and then the three single large-tooth iron cores can be optionally buckled into a complete large-tooth iron core by setting bosses and concave holes. For example, the buckle structure shown in FIG. 6 in the aforementioned patent publication number CN101371425A is adopted.

由上述实施例可以看出,本实用新型的大极方波三相无刷永磁直流电动机的磁极数为2P=4,其中采用磁极覆盖技术,使其气隙磁场具有120°电角度以上的平顶区;采用非均匀齿槽和磁平衡小齿,使定位力矩减至最小。该电动机每相仅有一个集中绕组,结构简单,生产成本很低。As can be seen from the foregoing embodiments, the number of magnetic poles of the large-pole square-wave three-phase brushless permanent magnet DC motor of the present invention is 2P=4, wherein the magnetic pole covering technology is adopted to make the air-gap magnetic field have an electric angle of more than 120°. Flat top area; using non-uniform cogging and magnetic balance small teeth to minimize the positioning moment. The electric motor has only one concentrated winding for each phase, has simple structure and low production cost.

重要的是,由于其中的小齿铁芯是锲入式的,绕线之前可先不装小齿,留出空间使集中绕组的绕制非常方便,即使机器自动绕线也能保证85%以上的槽满率。The most important thing is that because the small-toothed iron core is wedged in, the small teeth can be removed before winding, leaving a space to make the winding of concentrated winding very convenient, even if the machine automatically winds, it can guarantee more than 85% slot full rate.

该电动机的出力比传统正弦波永磁伺服电机大33%,绕组端部比传统正弦波永磁伺服电机小3倍以上,所以铜耗大幅度减少。The output of this motor is 33% larger than that of the traditional sine wave permanent magnet servo motor, and the winding end is more than 3 times smaller than that of the traditional sine wave permanent magnet servo motor, so the copper consumption is greatly reduced.

该方波三相无刷永磁直流电动机采用三相方波电流驱动时,能产生平稳的力矩,其力矩波动指标与正弦波永磁伺服电机相当。具体可采用国际申请号为PCT/CN2007/000178、名称为“无刷直流电动机控制系统及其控制方法”的实用新型专利中所公开的控制系统及方法进行驱动控制。When the square wave three-phase brushless permanent magnet DC motor is driven by a three-phase square wave current, it can generate a stable torque, and its torque fluctuation index is equivalent to that of a sine wave permanent magnet servo motor. Specifically, the control system and method disclosed in the utility model patent with the international application number PCT/CN2007/000178 and the name "Brushless DC motor control system and its control method" can be used for drive control.

Claims (8)

1.一种大极型方波三相无刷永磁直流电动机,所述电动机的转子铁芯(1)上装有多对永磁体(2),定子槽(4)中装有三相绕组,其特征在于,1. a large pole type square wave three-phase brushless permanent magnet DC motor, many pairs of permanent magnets (2) are housed on the rotor iron core (1) of the motor, and three-phase windings are housed in the stator slot (4), which characterized in that, 所述转子铁芯上的磁极数2P=4;The number of magnetic poles on the rotor core 2P=4; 所述定子铁芯的槽数Z=6,相应有6个齿,所述6个齿中包括三个大齿(6)、三个小齿(8);The number of slots of the stator core is Z=6, correspondingly there are 6 teeth, and the 6 teeth include three large teeth (6) and three small teeth (8); 所述三相绕组为集中绕组,分别绕在三个大齿上,每相仅有一个绕组;The three-phase windings are concentrated windings, which are respectively wound on three large teeth, and each phase has only one winding; 所述绕组和齿的排列次序是:大齿上A相绕组→小齿→大齿上B相绕组→小齿→大齿上C相绕组→小齿;其A表示A相绕组的一个集中绕组,B表示B相绕组的一个集中绕组,C表示C相绕组的一个集中绕组。The arrangement order of the windings and teeth is: A-phase winding on the large tooth → small tooth → B-phase winding on the large tooth → small tooth → C-phase winding on the large tooth → small tooth; where A represents a concentrated winding of the A-phase winding , B represents a concentrated winding of the B-phase winding, and C represents a concentrated winding of the C-phase winding. 2.根据权利要求1所述的大极型方波三相无刷永磁直流电动机,其特征在于,2. the large pole type square wave three-phase brushless permanent magnet direct current motor according to claim 1, is characterized in that, 所述定子铁芯包括大齿铁芯(9)和三个小齿铁芯(8);The stator core includes a large tooth core (9) and three small tooth cores (8); 在所述大齿铁芯上设有三个大齿,相邻两个大齿之间的轭部各设有一个锲入槽(11),共有三个锲入槽;Three large teeth are provided on the large-tooth iron core, and a wedging groove (11) is respectively provided on the yoke between two adjacent large teeth, and there are three wedging grooves in total; 每个所述小齿铁芯通过其尾部锲入在所述大齿铁芯的其中一个锲入槽中。Each of the small-tooth iron cores is wedged into one of the wedging grooves of the large-tooth iron core through its tail. 3.根据权利要求2所述的大极型方波三相无刷永磁直流电动机,其特征在于,3. the large pole type square wave three-phase brushless permanent magnet direct current motor according to claim 2, is characterized in that, 所述大齿铁芯是一体式的整体大齿铁芯;The large-tooth iron core is an integrated integral large-tooth iron core; 或者,所述大齿铁芯由三个单体大齿铁芯组成,相邻两个单体大齿铁芯之间在该两个大齿的定子槽中心线处相互拼接。Alternatively, the large-tooth iron core is composed of three single-piece large-tooth iron cores, and two adjacent single-piece large-tooth iron cores are spliced together at the centerline of the stator slots of the two large teeth. 4.根据权利要求3所述的大极型方波三相无刷永磁直流电动机,其特征在于,所述整体大齿铁芯或单体大齿铁芯由多层大齿硅钢片组成,所述多层大齿硅钢片通过设于每一层大齿硅钢片之轭部和齿部的定位盲孔(12)铆压成整体结构;每一个所述小齿铁芯由多层小齿硅钢片组成,所述小齿硅钢片通过设于每一层小齿硅钢片的定位盲孔铆压成整体结构。4. The large-pole square-wave three-phase brushless permanent magnet DC motor according to claim 3, characterized in that, the integral large-tooth iron core or single large-tooth iron core is composed of multi-layer large-tooth silicon steel sheets, The multi-layer large-tooth silicon steel sheets are riveted into an integral structure through positioning blind holes (12) arranged on the yoke and tooth portions of each layer of large-tooth silicon steel sheets; The small-toothed silicon steel sheet is riveted into an integral structure through positioning blind holes arranged on each layer of the small-toothed silicon steel sheet. 5.根据权利要求4所述的大极型方波三相无刷永磁直流电动机,其特征在于,所述大齿铁芯与各个小齿铁芯具有相同的硅钢片层数;所述锲入槽为燕尾形结构。5. The large-pole square-wave three-phase brushless permanent magnet DC motor according to claim 4, wherein the large-tooth iron core has the same number of layers of silicon steel sheets as each small-tooth iron core; The entry groove is a dovetail structure. 6.根据权利要求2-5中任一项所述的大极型方波三相无刷永磁直流电动机,其特征在于,所述定子铁芯上相邻大齿与小齿之间的槽的槽口(5)宽度为0.1~3.0mm;每个大齿占圆周75°~117°机械角度,即150°~234°电角度;每个小齿占圆周45°~3°机械角度,即90°~6°电角度;且一个大齿与一个小齿的机械角度之和等于120°,电角度为P×120°=240°。6. The large-pole square-wave three-phase brushless permanent magnet DC motor according to any one of claims 2-5, characterized in that the slot between the adjacent large teeth and small teeth on the stator core The width of the notch (5) is 0.1-3.0mm; each large tooth occupies a mechanical angle of 75°-117° of the circumference, that is, an electrical angle of 150°-234°; each small tooth occupies a mechanical angle of 45°-3° of the circumference, That is, the electrical angle is 90° to 6°; and the sum of the mechanical angles of a large tooth and a small tooth is equal to 120°, and the electrical angle is P×120°=240°. 7.根据权利要求6所述大极型方波三相无刷永磁直流电动机,其特征在于,所述转子铁芯上各个永磁体N、S磁极相间排列,所述永磁体是径向充磁的瓦形磁钢、或者是平行充磁的瓦形磁钢;7. According to the described large-pole type square wave three-phase brushless permanent magnet direct current motor of claim 6, it is characterized in that, each permanent magnet N on the described rotor core, S magnetic poles are arranged alternately, and described permanent magnet is radially charged Magnetic tile-shaped magnets, or parallel-magnetized tile-shaped magnets; 所述定子与转子之间的物理气隙为0.2~3mm;The physical air gap between the stator and the rotor is 0.2-3mm; 所述转子铁芯上的永磁体的极距为(1~0.8)×πD/4,其中D是转子外径。The pole pitch of the permanent magnets on the rotor core is (1˜0.8)×πD/4, where D is the outer diameter of the rotor. 8.根据权利要求7所述的大极型方波三相无刷永磁直流电动机,其特征在于,其中采用霍尔位置传感器作为转子位置传感器,所述霍尔位置传感器的磁敏感方向与转子法线方向相一致,安装于定子支架上,并与转子永磁体外圆之间保持1~3mm的气隙。8. The large-pole square-wave three-phase brushless permanent magnet DC motor according to claim 7, wherein a Hall position sensor is used as the rotor position sensor, and the magnetic sensitivity direction of the Hall position sensor is in line with the rotor position. The normal direction is consistent, installed on the stator bracket, and maintains an air gap of 1 to 3 mm between the outer circle of the permanent magnet of the rotor.
CN 200920134725 2009-08-12 2009-08-12 Large pole square wave three-phase brushless permanent magnet DC motor Expired - Lifetime CN201509142U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016004823A1 (en) * 2014-07-08 2016-01-14 顾明 Stator, brushless direct current motor, three-phase switch reluctance motor and shaded pole motor
CN109391077A (en) * 2018-10-30 2019-02-26 贵州航天林泉电机有限公司 A kind of double redundancy limited angle torque motor with locking torque
CN109599958A (en) * 2018-12-20 2019-04-09 江苏大学 A kind of high reliability, high power density novel permanent-magnet motor

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016004823A1 (en) * 2014-07-08 2016-01-14 顾明 Stator, brushless direct current motor, three-phase switch reluctance motor and shaded pole motor
CN109391077A (en) * 2018-10-30 2019-02-26 贵州航天林泉电机有限公司 A kind of double redundancy limited angle torque motor with locking torque
CN109599958A (en) * 2018-12-20 2019-04-09 江苏大学 A kind of high reliability, high power density novel permanent-magnet motor

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