CN202260955U - Hub motor - Google Patents
Hub motor Download PDFInfo
- Publication number
- CN202260955U CN202260955U CN2011203755255U CN201120375525U CN202260955U CN 202260955 U CN202260955 U CN 202260955U CN 2011203755255 U CN2011203755255 U CN 2011203755255U CN 201120375525 U CN201120375525 U CN 201120375525U CN 202260955 U CN202260955 U CN 202260955U
- Authority
- CN
- China
- Prior art keywords
- motor
- wheel hub
- servo controller
- rotor
- magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Brushless Motors (AREA)
Abstract
The utility model discloses a hub motor, which comprises a motor shaft (1) and a stator (2), wherein a rotor shell (3) is sleeved outside the stator (2); the front and back ends of the stator (2) are rotationally fixed on the motor shaft (1) through a rotor end cover (4) and a bearing (5) respectively; the outer side of the rotor end cover (4) is connected with a hub braking assembly (9); the rotor shell (3) is connected with a hub (6); a position detection device is arranged at a corresponding position on the hub motor, and comprises a retainer (7) fixed on the motor shaft (1) and a magnetic steel ring (11) fixed on the rotor end cover (4); the retainer (7) is provided with a plurality of Hall elements (10); the motor shaft (1) is provided with a servo controller (18); and the rotor end cover (4) rotates relative to the motor shaft (1). The hub motor has the advantages of simple structure, energy saving, good startup characteristic, small size and high efficiency.
Description
Technical field
The utility model relates to a kind of wheel hub motor, especially a kind of wheel hub motor that has position detecting device that is applied on the electric bicycle.
Background technology
Along with the raising of economic development and living standards of the people, motor vehicles such as Moped Scooter, electric bicycle, battery-operated motor cycle, small-sized electric car, electrocar, electronic big bus rise gradually in the urban transportation.As the electric wheel truck of New Generation of Electric Vehicle, need improve the critical component wheel hub motor, so that improve performance and reduce cost.
The operation characteristic of automobile-used drive motor is, motor is by storage battery power supply, makes every effort to make the limited energy the longest mileage that can go, and this is closely related with the drive motors performance.Therefore the detent torque of motor, the overload capacity of motor, the operational efficiency of motor, the weight and volume of motor are the leading indicators to automobile-used motor overall merit, also will have influence on the technical performance and the technical indicator thereof of electric motor car.
Existing wheel hub motor has been generally brush direct current machine and brshless DC motor, and they exist that power is little under equivalent weight, the equal speed conditions, detent torque is little, overload capacity is little, torque ripple is big, electric current is big, characteristic is soft and shortcoming such as energy consumption height.
Permanent magnet motor is though particularly rare-earth permanent magnet motor has simple in structure, reliable; Volume is little, light weight; Loss is little, and efficient is high; The shape and size of motor can versatile and flexiblely wait remarkable advantage, but never are widely used.
Application number is to disclose a kind of permanent-magnet synchronous wheel hub motor in 03103047.5 the document; It adopts integrated design, reduced torque pulsation to a certain extent, yet it adopts position-sensor-free; And just adopted fractional slot winding, and pole embrace has not been made requirement.The signal that a shortcoming of position-sensor-free is exactly a back-emf when low speed is little, is not enough to reach the requirement of control usually.Therefore, the control performance of this scheme when low speed is undesirable, and torque pulsation is bigger, thereby causes that the motor feels hot, degradation harmful effect under noise and the durability.
In order also accurately to control the running of motor when the low speed, need be in wheel hub motor the use location checkout gear.The photoelectric type position checkout gear is because of being main material with glass, and anti-vibration and impact capacity are not strong, so be not suitable for the position detecting device of doing wheel hub motor; The magneto-electric position detecting device can overcome the deficiency of photoelectric type position checkout gear, yet traditional magneto-electric position detecting device certainty of measurement is lower, and can only realize increment output.
Application number is to disclose a kind of magneto-electric position detecting device in 2004100190.7 the document, and it has realized the absolute type position probing.Wherein, the mode that magnetic induction sensor adopts the surface to paste is promptly arranged magnetic induction sensor at annular stator madial wall, is rotated the induction in magnetic field, obtains rotation angle value according to the sensor voltage value then.Yet said magneto-electric position detecting device has following shortcoming on physical structure: the stator inboard generally is circular arc and smooth; Transducer is difficult for installing and fixing; Cause position error easily, and then cause the phase deviation of signal, make that higher harmonic components is big in the signal; Process for machining and manufacturing is complicated, is unfavorable for industrialization; Reliability is low, and transducer is distributed in madial wall, and the support matrices of transducer is necessary for flexible body, as: FPC etc., but its tensile strength is not high, breaks easily, has increased difficulty of processing, influences the life-span of product; Simultaneously, the magnetic field of sensor sensing is revealed big, and magnetic field can not fully be used, and makes that noise is big in the signal, influences certainty of measurement; The overall structure of product requires sensor bulk little, makes product cost than higher.
In addition; At publication number is in the prior art of CN2301810Y; Position transducer in the motor adopts the Hall effect magneto-dependent sensor; This transducer is located at the notch of stator core, and installing space and mode are very limited, and the Hall effect magneto-dependent sensor exactly needs fully to guarantee its stable installation property.Therefore, there is big hidden danger in the position transducer of this motor in motor operation course, and the electrical fault rate that adopts this position transducer in the market is 25%.Simultaneously, in this Electric Machine Control process by three Hall element detection rotor positions and export signal for differing 60 ° square wave mutually, through output six tunnel and six corresponding control signals of power tube of inverter bridge behind the decoding circuit.In this process the position sensor to be not the absolute mechanical location of rotor; And the control signal of output is a square wave, can not realize the simple sinusoidal current control to motor, causes the motor operational efficiency low, and motor output torque is relatively little, thereby influences motor performance greatly.
At publication number is in the prior art of US6201389B1; The principle of utility model also is when between magnet steel and the hall magnetic component relative motion being arranged; The variation of hall magnetic component induced field is converted into aanalogvoltage output, but in this utility model analog voltage signal directly is input to CPU through the AD conversion, a little less than this signal processing mode antijamming capability; When external environment condition and condition change, may produce and disturb the prohibited data detection that causes CPU to receive analog voltage signal.
At publication number is in the prior art of W02008043421A2/WO9506971A1; The structure of this utility model and mounting means relative complex; And the installing space of position detecting device is limited in the wheel hub motor, thus this utility model when being applied on the wheel hub motor its stability and reliability all will be affected.When considering the production in enormous quantities of wheel hub motor in addition, the production technology of this utility model and cost also are big problems.
The utility model content
The utility model technical problem to be solved is, to the deficiency of prior art a kind of wheel hub motor is provided, and it is simple in structure, energy-conservation, starting characteristic is good, volume is little, cost is low and efficient is high.
The utility model technical problem to be solved realizes through following technical scheme:
A kind of wheel hub motor; Comprise motor shaft and stator fixed thereon; Stator is arranged with rotor case outward, and the forward and backward two ends of rotor case are respectively through rotor endcap with bearing is rotatable is fixed on the motor shaft, and the outside of rotor endcap and the hub assembly of stopping links to each other; Rotor case links to each other with wheel hub; The correspondence position of described wheel hub motor is provided with position detecting device, and this position detecting device comprises: be fixed on the retainer on the motor shaft and be fixed on the magnetic steel ring on the rotor endcap, retainer is provided with a plurality of Hall elements; Motor shaft is provided with servo controller; Described rotor case is the center rotation with the axis of motor shaft; Rotor endcap and motor shaft relatively rotate; Hall element is sensed the rotation of magnetic steel ring, and the position signalling that senses is transferred to servo controller, through the processing of servo controller; Obtain the angle or the position of rotor rotation, and then realize accurate control motor.
As required; Described position detecting device and servo controller are separately positioned on the both sides of stator; Described servo controller is fixed on stator the opposite side that hub is stopped assembly is installed, and installing hole on the said servo controller pcb board and the screwed hole on the chassis pass through screw; Described magnetic steel ring through the magnetic steel ring support with the hub inboard step part matched in clearance of the rotor end cap of a side of assembly and fixing of stopping is installed; Hall pcb board encapsulating in the described position detecting device is fixed on the retainer, and retainer and stator are located and fixed with screw lock.
Described position detecting device and servo controller can also be arranged on the same side of stator; Described servo controller is fixed on stator the opposite side that hub is stopped assembly is installed, and installing hole on the said servo controller pcb board and the screwed hole on the chassis pass through screw; Described magnetic steel ring with the hub inboard step part matched in clearance of the rotor end cap of opposition side of assembly and fixing of stopping is installed; The Hall pcb board of said position detecting device and said servo controller one are fixed on the chassis; Through retainer to the Hall element location positioning; Boss on the retainer is aimed in the circular hole of said servo controller base plate annular spread, and aimed at the screwed hole lock screw.
Specifically; Also be provided with magnetic guiding loop in the retainer in the described position detecting device, magnetic guiding loop is fixed on the chassis of motor shaft one side, is made up of the segmental arc of two sections or the same radius of multistage, concentric; Adjacent two segmental arcs leave the slit, and said Hall element places in this slit; When magnetic steel ring and magnetic guiding loop generation relative rotary motion, said Hall element converts the magnetic signal that senses into voltage signal, and this voltage signal is transferred to the corresponding signal process device; The circuit board of the driver in Hall Plate and the servo controller is wholely set.
Described magnetic guiding loop is made up of six sections segmental arcs with radius, is respectively 1/6 segmental arc, and corresponding Hall element is 6.
In addition; Described servo controller can be arranged in the motor cavity; Described servo controller is equipped with the hub screwed hole location on the opposite side of assembly of stopping through installing hole on the servo controller pcb board and stator support; Be locked on the said stator support through screw, outer cover is provided with rotor endcap.
Described servo controller can also be arranged on outside the motor cavity; Said servo controller is equipped with the hub screwed hole location on the opposite side of assembly of stopping through installing hole on the servo controller pcb board and said chassis; And be locked on the chassis with screw, outer cover is provided with the enclosing cover of servo controller.
For easy to connect, described wheel hub outside also is provided with connecting ring, the interior ring of described connecting ring and the outer shroud interference fit of wheel hub, and described wheel hub and connecting ring are wholely set.
In order to guarantee that motor keeps internal and external pressure balance under the different temperature environment; Described wheel hub motor is provided with electric machine casing outward; Said electric machine casing is provided with through hole; Be fixed with the pressure adjusting ring on the electric machine casing inwall, the pressure adjusting ring is convexly equipped with the formation cavity to enclosure interior, cavity be convexly equipped with position and through hole offer the corresponding setting in position.
Described electric machine casing part is provided with boss, offers through hole on the boss, and pressure adjusting ring sealing and fixing is on boss.Described pressure adjusting ring is a hemisphere.
Described wheel hub motor also comprises rotor; The magnetic circuit of this rotor is made up of magnetic shoe and yoke; Evenly offer a plurality of grooves on the circle ring inner surface of yoke, corresponding said a plurality of grooves evenly are provided with the polylith magnetic shoe on the rotor, form the alternately magnetic pole of arrangement of a plurality of N, S.
In sum, the utlity model has following advantage:
The utility model adopts cheap hall element sensor to carry out position probing, installs easy to process, the reliability height.The product shock resistance and the greasy dirt ability of Hall element are strong, are applicable to the High Accuracy Control under the abominable operational environment, and system response time is fast.Adopt built-in angular detection mode, do not have the time-delay and the mistake of communicating by letter and causing of angle information, greatly shortened control cycle, improved the fast-response of system load disturbance.
Wheel hub motor in the utility model adopts permanent magnet to replace electric excitation, eliminates excitation loss, and conserve energy is raised the efficiency.The low speed that the permanent-magnet synchronous wheel hub motor is used in the wheel 0-500 rev/min scope directly drives, and efficient reaches more than 86%; Have characteristics such as volume is little, efficient is high, overload capacity is strong than conventional motors.Controller can change according to the variation of motor load moment of torsion, when load torque is big, and motor output high pulling torque, when load torque hour, motor is exported little moment of torsion, save electricity; Simultaneously, when skidding, close power machine, motor produces electric energy, conserve energy as generator.
The utility model has been practiced thrift the space with the controller and the motor integration setting of motor.Controller adopts DC power supply, can use storage battery power supply or fuel cell-powered.Controller is structurally further simplified, and has practiced thrift cost and installing space.
The motor speed of the utility model can be regulated arbitrarily between the most at a high speed zero, and speed adjustable range is very wide in range.Simultaneously; Can set the acceleration in the start-up course arbitrarily, realize the soft start of wheel hub motor, effectively reduce the current of electric (being torque) in the start-up course; Make that electric and mechanical system do not receive any impact in the start-up course, realized big inertia mechanical load flexibility, the level and smooth startup truly.
Below in conjunction with accompanying drawing and specific embodiment the technical scheme of the utility model is at length explained.
Description of drawings
Fig. 1 is the wheel hub motor overall structure cutaway view of the utility model embodiment one external heteropleural;
Fig. 2 is the wheel hub motor perspective view of the utility model embodiment one external heteropleural;
Fig. 3 is the utility model outer-rotor structure sketch map;
Fig. 4 is the utility model stator structure sketch map;
Fig. 5 is the wheel hub motor overall structure cutaway view of the utility model embodiment two external homonymies;
Fig. 6 is the wheel hub motor perspective view of the utility model embodiment two external homonymies;
Fig. 7 is the rigging position sketch map of the utility model retainer;
Fig. 8 is one of the utility model retainer structural representation;
Fig. 9 is two of the utility model retainer structural representation;
Figure 10 is the utility model position detecting device three-dimensional exploded view;
Figure 11 is equipped with the block diagram of signal processing apparatus of the position detecting device scheme of six Hall elements for the utility model;
Figure 12 is the utility model embodiment three built-in wheel hub motor overall structure sketch mapes;
Figure 13 is the utility model embodiment three built-in wheel hub motor installation diagrams;
Figure 14 is the utility model pressure equaliser embodiment one structural representation;
Figure 15 is the utility model pressure equaliser embodiment two structural representations;
Figure 16 is the flow chart of the control method of the utility model wheel hub motor;
Figure 17 is the block diagram of control method of the wheel hub motor of the utility model;
Figure 18 is the encoder communication sketch map of the utility model integral structure;
Figure 19 is the encoder communication sketch map of the utility model split-type structural;
Figure 20-1 and Figure 20-2 is the structural representation of the utility model connecting ring.
Embodiment
Following with reference to accompanying drawing, in conjunction with concrete preferred embodiment the utility model is described.Yet one skilled in the art will understand that the utility model is not limited to said embodiment, but can change accordingly according to concrete application requirements.
Embodiment one
Fig. 1 is the wheel hub motor overall structure sketch map of the utility model embodiment one external heteropleural, and Fig. 2 is the wheel hub motor perspective view of the utility model embodiment one external heteropleural.Like Fig. 1 and combine shown in Figure 2; The utility model provides a kind of wheel hub motor; Comprise motor shaft 1 and stator 2 fixed thereon, the stator 2 outer rotor cases 3 that are arranged with, the forward and backward two ends of rotor case 3 are respectively through rotor endcap 4 and bearing 5 rotatable being fixed on the motor shaft 1; The outside of the rotor endcap 4 of rear end and the hub assembly 9 of stopping links to each other, and rotor case 3 links to each other with wheel hub 6.The correspondence position of described wheel hub motor is provided with position detecting device; This position detecting device comprises: be fixed on the retainer 7 on the motor shaft 1 and be fixed on the magnetic steel ring support 8 on the rotor endcap 4; Retainer 7 is provided with a plurality of Hall elements 10, is fixed with magnetic steel ring 11 on the magnetic steel ring support 8; The chassis 20 of motor shaft 1 one sides is provided with servo controller 18.Described rotor case 3 is the center rotation with the axis of motor shaft 1; Rotor endcap 4 relatively rotates with motor shaft 1; Hall element 10 is sensed the rotation of magnetic steel ring 11, and the position signalling that senses is transferred to servo controller 18, through the processing of servo controller 18; Obtain the angle or the position of rotor rotation, and then realize accurate control motor.
In addition, like Fig. 1 and combine shown in Figure 2ly, in the present embodiment, described servo controller 18 is arranged on outside the motor cavity.Said servo controller 18 is equipped with the hub screwed hole location on the opposite side of assembly 9 of stopping through installing hole on the servo controller pcb board and said chassis 20, and is locked on the chassis 20 with screw, and outer cover is provided with the enclosing cover 19 of servo controller 18.
Fig. 3 is the utility model outer-rotor structure sketch map; Fig. 4 is the utility model stator structure sketch map.Like Fig. 3, Fig. 4 and combine Fig. 1, shown in Figure 2; In the present embodiment; External rotor permanent magnet synchronous machine is 32 utmost points, 36 groove structures; Wherein 32 utmost points are meant that sticking on the yoke 14 inboard magnetic shoes that constitute that evenly distribute by 32 magnetic shoes 13 arranges, and the number of comparing used magnetic shoe with brshless DC motor significantly reduces; 36 grooves are meant groove 17 numbers on the stator 2, compare the stator slot number with brshless DC motor and reduce, on 36 grooves 17 around coil, under the certain condition of stator 2 diameters, groove 17 decreased number, the width of groove 17 broadens, for the machine automatic winding provides the foundation.Magnetic steel ring 11 is single to the utmost point, radial magnetizing, and concrete size is confirmed according to mounting structure.Winding in the present embodiment adopts concentrates winding, is 36 grooves, 17, three phase windings altogether, and each is around 12 line bags, and wherein 3 line bags are one group and come together, and each group differs 90 ° of arrangements respectively; Three grooves 17 are one group, are divided into 12 groups, and the voltage of input is 3 phases, are respectively A phase, B phase, C phase, and 12 groups put in order is A phase, B phase, C phase, A phase, B phase, C phase, A phase, B phase, C phase, A phase, B phase, C phase.Adopt and concentrate winding to utilize the space better, and improved radiating condition.
In addition, the utility model adopts 32/36 to cooperate in the cooperation of utmost point groove, and the torque of having avoided permagnetic synchronous motor inside to produce is steady and produce very big harmonic wave, and then has avoided the loss of electric machine and noise.Evenly arrange 32 blocks of magnetic shoes on the external rotor 14, form the alternately magnetic pole of arrangement of 32 N, S, it is arranged as the structure towards air gap.Permanent magnet is a surface-type, rather than built-in, and this sampling technology is simple, can make full use of the magnetic energy of permanent magnet.
Like Fig. 3, shown in Figure 4; The rotor magnetic circuit of described permanent-magnet synchronous wheel hub motor is made up of magnetic shoe 13 and yoke 14; Evenly offer a plurality of grooves 15 on the circle ring inner surface of yoke 14; This groove forms through the broaching tool processes, and corresponding said a plurality of grooves 15 evenly are provided with polylith magnetic shoe 13 on the rotor, and magnetic shoe 13 is to be embedded in the groove 15 of yoke 14.Therefore, the piece number of magnetic shoe 13 and the number of groove 15 are corresponding to be provided with, as required; Can how much select the quantity of magnetic shoe 13 and groove 15; In Fig. 3, embodiment shown in Figure 4, evenly offer 32 grooves 15 on the circle ring inner surface of yoke 14, corresponding 32 grooves 15 evenly are provided with 32 blocks of magnetic shoes 13 on the rotor; Form the alternately magnetic pole of arrangement of 32 N, S, it is arranged as the structure towards air gap.
Permanent magnet is a surface-type, rather than built-in, and this sampling technology is simple, can make full use of the magnetic energy of permanent magnet.This slot number cooperates different with common permagnetic synchronous motor.Common permagnetic synchronous motor all is that 8/9 slot number cooperates; Adopt the permagnetic synchronous motor inside of this cooperation that very big magnetic pull is arranged; Make the torque of generation not steady; Produce very big harmonic wave simultaneously, cause the loss of electric machine and noise, and the permagnetic synchronous motor that adopts 32/36 slot number to cooperate can be avoided these problems.Magnetic shoe 13 materials are ndfeb magnetic pole, and it sticks on the cylinder inner surface groove 15 of rotor yoke 14 through glue equably.Pole embrace is a parallel magnetization less than the mode of magnetizing of 1 magnetic shoe 13.Adopt this magnetic shoe 13 pole embraces, can promote the sine property of air gap flux density, so that the fluctuation of control and minimizing moment.In order to improve the sine property of air gap flux density, the magnetic shoe 13 that can adopt sine to magnetize, also available Helbach arranges magnetic shoe 13, perhaps uses the not magnetic shoe 13 of uniform thickness, can also use pole embrace less than 1 magnetic shoe 13; Other improves the method for air gap sine property than permagnetic synchronous motor, and the employing pole embrace is simple less than 1 magnetic shoe 13 method technologies, realizes easily.
The magnetic circuit of the wheel hub motor stator in the utility model is overrided to form by the punching of shape shown in Figure 5, and the centre compresses with screw rod, and two ends, stack back are fixed on the motor shaft 1 with stator baffle plate, key bolt and nut.Winding adopts centralized winding, has reduced the coiling of end, shortens with regard to the tip lengths that makes motor windings like this.The tip lengths of motor windings shortens, and has reduced copper loss, and electric efficiency improves.The motor side minister is short simultaneously shortens, and the axial arrangement size of motor reduces, and motor length shortens, and the corresponding motor volume also reduces, and has improved the power density of motor.
The magnetic shoe pole embrace of the motor of the utility model can promote the sine property of air gap flux density less than 1, so that the fluctuation of control and minimizing moment.This method technology is simple, realizes easily.
The electric motor starting torque of the utility model is big, toggle speed is fast, power output is big, characteristic is hard, and particularly energy consumption is low, and efficient is up to 90%.Overload capacity is strong, and in general, the short time can reach six times of overloads, when vehicle launch, big torque can be provided.
Like Fig. 1 and combine shown in Figure 2; Described position detecting device and servo controller 18 are separately positioned on the both sides of stator 2; Described servo controller 18 is fixed on the opposite side that hub is stopped assembly 9 is installed, and the screwed hole on installing hole on the pcb board of said servo controller 18 and the chassis 20 passes through screw; Magnetic steel ring 11 in the said position detecting device with the hub inboard step part matched in clearance of the rotor end cap 4 of a side of assembly 9 and fixing of stopping are installed.Specifically, on rotor endcap 4, be fixed with magnetic steel ring support 8, be fixed with magnetic steel ring 11 on the magnetic steel ring support 8.The Hall pcb board 102 that has Hall element 10 (referring to shown in Figure 10) encapsulating in the described position detecting device is fixed on the retainer 7, and retainer 7 is fixed with stator 2 location and with screw lock.Need to prove that Hall Plate and Hall element plate all are meant the pcb board that has Hall, retainer is specific bit and the support that supports Hall Plate; Belong to a kind of in the Hall Plate support, compare retainer with general Hall Plate support and have ferrite, the Hall Plate support that refers to does not here have ferrite; Only play Hall Plate location and supporting role; This Hall Plate support is fixed on the motor shaft 1, and cling with special glue a motor shaft 1 location of topping bar.
Embodiment two
Fig. 5 is the wheel hub motor overall structure cutaway view of the utility model embodiment two external homonymies; Fig. 6 is the wheel hub motor perspective view of the utility model embodiment two external homonymies.Like Fig. 5 and combine shown in Figure 6; In the present embodiment; Described position detecting device and servo controller 18 are arranged on the same side of stator 2; Described servo controller 18 is fixed on stator 2 the opposite side that hub is stopped assembly 9 is installed, and the screwed hole on installing hole on the pcb board of said servo controller 18 and the chassis 20 passes through screw; Magnetic steel ring 11 in the said position detecting device with the hub inboard step part matched in clearance of the rotor end cap 4 of assembly 9 opposition sides and fixing of stopping are installed; The Hall pcb board 102 that has Hall element 10 (referring to shown in Figure 10) of said position detecting device is fixed on the chassis 20 through retainer 7 and said servo controller 18 one; 7 pairs of Hall pcb board 102 location positioning of retainer; Boss on the retainer 7 is aimed in the circular hole of said servo controller base plate 20 annular spread, and aimed at the screwed hole lock screw.
Fig. 7 is the rigging position sketch map of the utility model retainer; Fig. 8 is one of the utility model retainer structural representation; Fig. 9 is two of the utility model retainer structural representation.Extremely shown in Figure 9 in conjunction with Fig. 7; Because the position detecting device of present embodiment and the same side that servo controller 18 is arranged on stator 2; Hall element 10 is fixing for ease; With Hall element 10 opposite positions 6 cylindrical bosses 71 are arranged on one side of retainer 7, on each boss 71, have square aperture 711.As shown in Figure 8, per two cylindrical bosses 71 differ 60 ° of evenly distributions on same circumference, and square aperture 711 degree of depth are confirmed according to the Hall element height, guarantee that its degree of depth is greater than the Hall element height.Three lug bosses 72 are arranged, shown in Fig. 8 and Fig. 9 on retainer 7 outer toroid.Every two adjacent lug bosses 72 differ 120 ° and evenly distribute.The another side that cylindrical boss 71 is arranged on retainer 7, the centre bit of each lug boss 72 is equipped with countersunk head small sircle hole 721, and is as shown in Figure 9, is used for installing and fixed retainer.The thickness of whole retainer confirms that according to the actual installation structure diameter is confirmed by the Hall element position.
Figure 10 is the utility model position detecting device three-dimensional exploded view.Shown in figure 10, the position detecting device in the present embodiment is the one pole position detecting device, and specifically, position detecting device is made up of Hall pcb board 102, magnetic steel ring 11, magnetic guiding loop 21, retainer 7; Hall pcb board 102 is made up of pcb board and Hall element 10, and retainer 7 is fixed on the chassis 20 of motor shaft 1 one sides, is used for fixing magnetic guiding loop 21 and is connected to whole position detecting device on the motor.Magnetic steel ring 11 mainly is to produce sinusoidal magnetic field; Magnetic guiding loop 21 is arranged on retainer 7 moulds, when retainer 7 is one-body molded and retainer 7 be fixed together.The circuit board of the driver in Hall pcb board 102 and the servo controller is wholely set.21 magnet accumulating caps of magnetic guiding loop are made up of the segmental arc of two sections or the same radius of multistage, concentric, and adjacent two segmental arcs leave the slit, and said Hall element 10 places in this slit, and the magnetic flux that magnetic steel ring 11 is produced is through magnetic guiding loop 21.Hall pcb board 102 is fixing Hall elements 10 and export six road holding wires.When relative rotary motion takes place with magnetic guiding loop 21 in magnetic steel ring 11; Hall element 10 converts the magnetic field through magnetic guiding loop 21 to voltage signal; Voltage signal directly gets into the master control borad chip, by the master control chip on board voltage signal is handled, and obtains angular displacement at last.Shown in figure 10; Magnetic guiding loop 21 in the present embodiment is made up of the segmental arc of six sections same radiuses, concentric; Be respectively 1/6 segmental arc, corresponding Hall element 10 is 6, also be provided with vertically on the magnetic guiding loop 21 or radially or vertically simultaneously, radial cutting and the chamfering that forms.
Certainly, quantity is set can adjusts of magnetic guiding loop 21 according to the needs of reality, for example: can also be two sections, three sections or four sections.6 Hall elements 10 in the present embodiment are evenly distributed on adjacent two Halls of Hall Plate circumference and differ 60 °, and Hall element 10 needs apolegamy with magnetic steel ring 11, guarantees magnetic field intensity and stability.Hall element 10 is wanted strict guarantee with magnetic steel ring 11 relative positions; The circumference and magnetic steel ring 11 annulus of 6 Hall element 10 formations will guarantee axiality; Axially also to make and adopt retainer 7 in the fully magnetic field of induced magnetism steel loop 11 generations of Hall for this reason in certain limit.The too weak analog voltage signal accuracy of detection that influences on the weak side that can cause Hall to produce in magnetic field, the aanalogvoltage that magnetic field can cause Hall element to produce too by force overflows scope too greatly.
More than be the mount scheme that example has been described the position detecting device of the utility model with the scheme that adopts magnetic guiding loop, and the utility model can also adopt the mode of Surface Mount that Hall element is installed.Because similar in the mounting means of remainder except the mounting means of Hall element and the foregoing description is so repeat no more at this.
Among each embodiment of above position detecting device, Hall element 10 is preferably the hall sensing element.Adopt the product shock resistance and the oil rub resistance ability of hall sensing element very strong, be applicable to high-precision control under the abominable operational environment.System response time is fast.Adopt built-in angular detection mode, do not have the time-delay and the mistake of communicating by letter and causing of angle information, greatly shortened control cycle, improved the fast-response of system load disturbance.Than position-sensor-free, the detection performance of this sensor plan when low speed has clear superiority.
Because electric machine structure is an external rotor, position detecting device is installed and can not be installed on the end cap as internal rotor; The utility model is fixed on position detecting device on the motor shaft 1, and magnetic steel ring 11 is installed on the rotor inboard.Position detecting device is only gathered motor speed signal with Hall element 10, and does not handle, and position detecting device transfers signals to controller, utilizes the chip in the controller that signal is handled, and calculates rotating speed of motor.
Figure 11 is equipped with the block diagram of signal processing apparatus of the position detecting device scheme of six Hall elements for the utility model.Shown in figure 11; When six Hall elements are installed in the position detecting device of the utility model; Signal processing is such: the voltage signal that the A/D modular converter sends Hall element in the position detecting device carries out the A/D conversion, is digital signal with analog signal conversion, corresponding to the number of Hall element; Have a plurality of A/D converters in this module, be respectively applied for the voltage signal that each Hall element is sent and carry out the A/D conversion; Said synthesis module obtains reference signal D to handling through a plurality of voltage signals of A/D conversion; Said angle acquisition module according to this reference signal D, selects the angle relative with it as deviation angle θ in the angle storage list; Said memory module is used to store data.
Shown in figure 11; More particularly; The output signal of Hall element H1, H2, H3, H4, H5, H6 connects the built-in A/D converter analog input mouth of MCU; After analog-to-digital conversion, obtain exporting signal, the output signal that wherein H1 and H4 are corresponding is done through subtracter a and is obtained signal C1 after the difference processing and meet multiplier d; The corresponding output signal of H2 and H5 is done through subtracter b and is obtained signal C2 after the difference processing and meet multiplier e; The corresponding output signal of H3 and H6 is done through subtracter c and is obtained signal C3 after the difference processing and meet multiplier f.The output signal A of multiplier d, e, f, B, C engage the input of the g that grows up to be a useful person; Synthesizer g output signal D and R, the signal that produces behind the signal R of coefficient rectifier j reception synthesizer g output and the output signal D process memory i of synthesizer g obtains signal K through computing; Signal K is connected respectively to the input of multiplier d, e, f; Through signal K is multiplied each other with signal C1, C2, C3 respectively, carry out temperature-compensating with this, eliminate the influence of temperature to signal.Store an angle storage list among the memory h, MCU selects the angle relative with it as deviation angle θ in the angle storage list according to signal D.
In the present embodiment, to Signal Processing, promptly synthesizer g to the Signal Processing principle is: the position that meets of judging three signals earlier; And relatively meet the size of the numerical value of the identical signal in position; The signal D that is used to export that numerical value is little, the structure of signal D for first signal meet the position, second signal meet the position; The 3rd signal meet the position, than the value bit of the signal of fractional value }.With the present embodiment is example:
Agreement:
When data X was signed number, the 0th of data X (a binary system left side is played the 1st) be sign bit, and X_0=1 representes data X for bearing, and X_0=0 representes that data X is for just.
X_D representes the value bit (absolute values of data) of data X, promptly removes sign bit data left position.
If { A_0; B_0; C_0}=010 and A_D＞=C_D
D＝{A_0；B_0；C_0；C_D}
If { A_0; B_0; C_0}=010 and A_D＜C_D
D＝{A_0；B_0；C_0；A_D}
If { A_0; B_0; C_0}=101 and A_D＞=C_D
D＝{A_0；B_0；C_0；C_D}
If { A_0; B_0; C_0}=101 and A_D＜C_D
D＝{A_0；B_0；C_0；A_D}
If { A_0; B_0; C_0}=011 and B_D＞=C_D
D＝{A_0；B_0；C_0；C_D}
If { A_0; B_0; C_0}=011 and B_D＜C_D
D＝{A_0；B_0；C_0；B_D}
If { A_0; B_0; C_0}=100 and B_D＞=C_D
D＝{A_0；B_0；C_0；C_D}
If { A_0; B_0; C_0}=100 and B_D＜C_D
D＝{A_0；B_0；C_0；B_D}
If { A_0; B_0; C_0}=001 and B_D＞=A_D
D＝{A_0；B_0；C_0；A_D}
If { A_0; B_0; C_0}=001 and B_D＜A_D
D＝{A_0；B_0；C_0；B_D}
If { A_0; B_0; C_0}=110 and B_D＞=A_D
D＝{A_0；B_0；C_0；A_D}
If { A_0; B_0; C_0}=110 and B_D＜A_D
D＝{A_0；B_0；C_0；B_D}
In memory module, store a standard angle kilsyth basalt, wherein stored corresponding to a series of sign indicating number, each sign indicating number is corresponding to an angle.This table obtains through demarcation; Scaling method is; Utilize a checkout gear and a high precision position transducer of originally executing example; Originally the signal of executing Hall element 10 outputs in the example and the angle of this high precision position transducer output are carried out correspondence one by one, set up out the signal of a Hall element 10 outputs and the relation table between the angle with this.
In addition, in memory module, also store some data corrections, comprised the signal R under a signal R and its standard state in these tables
0Correspondence table, through synthesis module, promptly the signal R that obtains of synthesizer g can obtain a signal R through tabling look-up
0, through with signal R
0R compares with signal, like division arithmetic, obtains signal K.
Embodiment three
Figure 12 is the utility model embodiment three built-in wheel hub motor overall structure sketch mapes; Figure 13 is the utility model embodiment three built-in wheel hub motor installation diagrams.Like Figure 12 and combine shown in Figure 13; Wheel hub motor in the present embodiment; Described servo controller 18 is arranged in the motor cavity; Described servo controller 18 is equipped with the hub screwed hole location on the assembly 9 opposite sides of stopping through installing hole on the servo controller pcb board and stator support 22, is locked on the said stator support 22 through screw, and outer cover is provided with rotor endcap 4.
Like Figure 12 and combine Fig. 1, shown in Figure 5; The built-in structure of controller in the present embodiment is compared with the outlet structure among the embodiment two with embodiment one, and servo controller 18 is arranged in the motor cavity, and advantage is to save more cost; Be convenient to dismounting and wiring, outward appearance is easy.
In order to prevent wheel hub motor under different working conditions and ambient temperature, the stability of the inner pressure differential that produces of electric machine casing during to machine operation impacts, and the application is provided with pressure equaliser in electric machine casing.Figure 14, Figure 15 are respectively the structural representation of the utility model pressure equaliser embodiment one and embodiment two.At first, shown in figure 14, described electric machine casing mainly is meant rotor shell 3, is enclosed by the rotor endcap that is positioned at forward and backward two ends 4 to form.Electric machine casing is provided with through hole 25, is fixed with pressure adjusting ring 26 on the electric machine casing inwall, and pressure adjusting ring 26 is convexly equipped with to electric machine casing inside and forms cavity 27, cavity 27 be convexly equipped with position and through hole 25 offer the corresponding setting in position.
Shown in figure 15, can also be provided with boss 28 in described electric machine casing part, offer through hole 25 on the boss 28, pressure adjusting ring 26 sealing and fixing are on boss 28, and described pressure adjusting ring 26 is a hemisphere.
In above-mentioned two kinds of embodiment, pressure adjusting ring 26 is the rubber material, and elastic performance is good, is prone to take place deformation.That is to say; No matter adopt the wheel hub motor pressure equaliser of any structure among above-mentioned two kinds of embodiment; Its principle all is on the housing of motor, to offer through hole; Utilize caoutchouc elasticity character to make the electric machine casing inner and outer air pressure keep balance, the shape of through hole, number and position can be adjusted according to the needs that use and process.The pressure adjusting ring expands outwardly when causing internal pressure to increase when the motor internal temperature raises, and when the motor internal temperature was lower than ambient temperature and causes internal pressure to reduce, the pressure adjusting ring inwardly shrank, thereby keeps motor internal and external pressure balance.
Figure 16 is the flow chart of the control method of the utility model wheel hub motor, and Figure 17 is the block diagram of control method of the wheel hub motor of the utility model.Like Figure 16 and with reference to shown in Figure 17, the utility model also provides a kind of control method of above-mentioned wheel hub motor, and this method comprises the steps: step 1: in the hub motor control system, position detecting device detects the rotor mechanical location and obtains feeding back angle
Current sensor senses motor three-phase current obtains feedback current i
U_fb, i
V_fb, i
W_fbStep 2: 3 changes 2 in data processing unit MCU obtain d axle and q axle feedback current i to the feedback current in the step 1 according to the feedback angle in the step 1
D_fb, i
Q_fbStep 3: the feedback current and instruction current ratio in the step 2 after, current controller is regulated and is obtained d axle and q axle control voltage u
d, u
qStep 4: d axle in the step 3 and q axle control voltage become 3 according to the feedback angle in the step 12 and obtain u, v, w three tunnel control voltage u
u, u
v, u
wStep 5: three road voltage signals in the step 4 by the running of power driver module drive motors, reach the control corresponding effect through the pulsewidth modulation.
Described electric machine control system comprises position detecting device, current sensor, data processing unit MCU, power driver module; Said data processing unit receives the command signal of input, the motor input current signal of current sensor collection and the voltage signal of position detecting device output; Through data processing; The output control signal is given described power driver module; Said power driver module is given motor according to the suitable voltage of described control signal output, thereby realizes the accurate control to motor.
Preferably, described data processing unit MCU comprises: current loop control subelement, pwm control signal produce subelement and sensor signal is handled subelement; Sensor signal is handled the voltage signal that subelement receives said position detecting device, finds the solution through A/D sampling, angle, obtains the rotational angle of motor shaft, and this angle is transferred to described current loop control subelement; Said sensor signal is handled the detected current signal that subelement also receives said current sensor, through exporting to described current loop control subelement after the A/D sampling; The current loop control subelement obtains the duty cycle control signal of three-phase voltage according to the current signal of current-order that receives and current sensor output through computing, and exports to described pwm control signal generation subelement; Pwm control signal produces the duty cycle control signal of subelement according to the three-phase voltage that receives, and generates six road pwm signals with a definite sequence, acts on power driver module respectively.
As required; Described power driver module comprises six power switch pipes; Per two of said switching tube is connected into one group; Three groups are connected in parallel between the direct current supply line, the control that each control end of switching tube receives pwm control signal to produce the pwm signal of subelement output, two switching tube timesharing conductings in each group.
Motor speed can be regulated arbitrarily between the most at a high speed in zero-speed, and speed adjustable range is very wide in range.Also can set the acceleration in the start-up course arbitrarily; Realize the soft start of wheel hub motor; Can effectively reduce the current of electric in the start-up course; Corresponding to torque, make that electric and mechanical system do not receive any impact in the start-up course, realized big inertia mechanical load flexibility, the level and smooth startup truly.
Current signal that is obtained by current sensor and Hall element induction module and voltage signal are as the feedback signal of electric current loop, and electric current loop converts setting command into voltage duty cycle, finally is input in the pwm signal generation module.Owing to adopted AC servo, so can realize stepless speed regulation and soft start.This AC servo is the resistance distance under the different road conditions in the time of can also be according to wheel, and motor produces different moments of torsion, saves energy.This AC servo also has the ability of short time six times of overloads, and controller provides six times of overload currents, under the unsaturated situation of current of electric, can allow six times of overload torques at short notice.
Because the utility model adopts the permanent-magnet synchronous wheel hub motor of electromagnet structure, when being used for low speed in the wheel 0-500 rev/min scope and directly driving, efficient reaches more than 86%; Have characteristics such as volume is little, efficient is high, overload capacity is strong than conventional motors.
Figure 18 is the control system sketch map of the utility model integral structure.Mechanical angle data shown in figure 18, as will to use when demarcate generating position probing after motor and encoder match one to one, this storage is on driver when motor encoder and controller are integral structure.Prestore the needed data of Electric Machine Control on the data processing unit MCU, position detecting device is transferred to data processing unit with analog voltage signal during the motor operational mode.
Figure 19 is the control system sketch map of the utility model split-type structural.Shown in figure 19, when motor encoder and controller are split-type structural, after matching one to one, motor and encoder then be stored on the encoder through demarcating the mechanical angle data that will use when generating position probing.Prestore needed data of Electric Machine Control and agreement on the position detecting device; Through serial synchronously mouthful with protocol transmission to data processing unit MCU, data processing unit compares protocol number that transmits and the agreement that self has, if difference then advanced line of numbers signal transmit; Require position detecting device that motor data is transmitted; This agreement storage, close digital data transmission after the end of transmission, get into the motor operational mode; If identical then digital data transmission is closed, directly get into the motor operational mode, the shielding serial is mouthful signal transmission synchronously, and position detecting device is only passed to data processing unit with analog voltage signal.
With reference to Figure 18 and combine shown in Figure 19ly, the split type advantage of comparing with integral type is that controller and motor encoder are independent fully, and its core is a communication mode between encoder and the controller.Principle: needed data of this Electric Machine Control and protocol number are arranged on the encoder; When new controller when powering on after motor is connected; Through serial synchronously a mouthful encoder protocol number is sent to controller, controller compares encoder protocol number that sends over and the protocol number that self has, if difference then require encoder that transfer of data is arrived controller; This protocol number storage, get into normal operation mode if comparative result is identical after the end of transmission.Serial this moment is mouthful signal conductively-closed synchronously, and encoder only can be passed to controller to analog voltage signal.
Because the wheel hub motor volume that the utility model provided is little, cost is low, is adapted to especially be installed on the electric bicycle.Figure 20-1 and Figure 20-2 is the structural representation of the utility model connecting ring.Shown in Figure 20-1 and Figure 20-2; The assembling of wheel hub motor and electric bicycle wheel for ease; Described wheel hub 6 outsides also are provided with connecting ring 30; The interior ring of connecting ring 30 and the outer shroud of wheel hub 6 adopt interference fit, and through welding manner wheel hub 6 and connecting ring 30 are become one, and the structure of connecting ring 30 and size can have nothing in common with each other according to tire and vehicle.
In sum, the utlity model has following advantage:
The utility model adopts cheap hall element sensor to carry out position probing, installs easy to process, the reliability height.The product shock resistance and the greasy dirt ability of Hall element are strong, are applicable to the High Accuracy Control under the abominable operational environment, and system response time is fast.Adopt built-in angular detection mode, do not have the time-delay and the mistake of communicating by letter and causing of angle information, greatly shortened control cycle, improved the fast-response of system load disturbance.
Wheel hub motor in the utility model adopts permanent magnet to replace electric excitation, eliminates excitation loss, and conserve energy is raised the efficiency.The low speed that the permanent-magnet synchronous wheel hub motor is used in the wheel 0-500 rev/min scope directly drives, and efficient reaches more than 86%; Have characteristics such as volume is little, efficient is high, overload capacity is strong than conventional motors.Controller can change according to the variation of motor load moment of torsion, when load torque is big, and motor output high pulling torque, when load torque hour, motor is exported little moment of torsion, save electricity; Simultaneously, when skidding, close power machine, motor produces electric energy, conserve energy as generator.
The utility model has been practiced thrift the space with the controller and the motor integration setting of motor.Controller adopts DC power supply, can use storage battery power supply or fuel cell-powered.Controller is structurally further simplified, and has practiced thrift cost and installing space.
The motor speed of the utility model can be regulated arbitrarily between the most at a high speed zero, and speed adjustable range is very wide in range.Simultaneously; Can set the acceleration in the start-up course arbitrarily, realize the soft start of wheel hub motor, effectively reduce the current of electric (being torque) in the start-up course; Make that electric and mechanical system do not receive any impact in the start-up course, realized big inertia mechanical load flexibility, the level and smooth startup truly.
Claims (12)
1. wheel hub motor; Comprise motor shaft (1) and stator (2) fixed thereon, the outer rotor case (3) that is arranged with of stator (2), the forward and backward two ends of rotor case (3) are respectively through rotor endcap (4) with bearing (5) is rotatable is fixed on the motor shaft (1); The outside of rotor endcap (4) and the hub assembly (9) of stopping links to each other; Rotor case (3) links to each other with wheel hub (6), it is characterized in that the correspondence position of described wheel hub motor is provided with position detecting device; Described position detecting device comprises: be fixed on the retainer (7) on the motor shaft (1) and be fixed on the magnetic steel ring (11) on the rotor endcap (4), retainer (7) is provided with a plurality of Hall elements (10); Motor shaft (1) is provided with servo controller (18); Described rotor case (3) is the center rotation with the axis of motor shaft (1); Rotor endcap (4) relatively rotates with motor shaft (1); Hall element (10) is sensed the rotation of magnetic steel ring (11), and the position signalling that senses is transferred to servo controller (18), through the processing of servo controller (18); Obtain the angle or the position of rotor rotation, and then realize accurate control motor.
2. wheel hub motor as claimed in claim 1; It is characterized in that; Described position detecting device and servo controller (18) are separately positioned on the both sides of stator (2); Described servo controller (18) is fixed on stator (2) the opposite side that hub is stopped assembly (9) is installed, and the screwed hole on the installing hole on the said servo controller pcb board and chassis (20) passes through screw; Described magnetic steel ring (11) through magnetic steel ring support (8) with the hub inboard step part matched in clearance of the rotor end cap (4) of a side of assembly (9) and fixing of stopping is installed; Hall pcb board (102) encapsulating in the described position detecting device is fixed on the retainer (7), and retainer (7) is fixed with stator (2) location and with screw lock.
3. wheel hub motor as claimed in claim 1; It is characterized in that; Described position detecting device and servo controller (18) are arranged on the same side of stator (2); Described servo controller (18) is fixed on stator (2) the opposite side that hub is stopped assembly (9) is installed, and the screwed hole on the installing hole on the said servo controller pcb board and chassis (20) passes through screw; Described magnetic steel ring (11) with the hub inboard step part matched in clearance of the rotor end cap (4) of opposition side of assembly (9) and fixing of stopping is installed; The Hall pcb board (102) of said position detecting device is fixed on the chassis (20) with said servo controller (18) one; Through retainer (7) to Hall element (10) location positioning; Boss on the retainer (7) is aimed in the circular hole of said servo controller (18) base plate annular spread, and aimed at the screwed hole lock screw.
4. wheel hub motor as claimed in claim 3; It is characterized in that; Also be provided with magnetic guiding loop (21) in the retainer in the described position detecting device (7), magnetic guiding loop (21) is fixed on the chassis (20) of motor shaft (1) one side, is made up of the segmental arc of two sections or the same radius of multistage, concentric; Adjacent two segmental arcs leave the slit, and said Hall element (10) places in this slit; When magnetic steel ring (11) with magnetic guiding loop (21) relative rotary motion took place, said Hall element (10) converted the magnetic signal that senses into voltage signal, and this voltage signal is transferred to the corresponding signal process device; The circuit board of the driver in Hall Plate and the servo controller (18) is wholely set.
5. wheel hub motor as claimed in claim 4 is characterized in that, described magnetic guiding loop (21) is made up of six sections segmental arcs with radius, is respectively 1/6 segmental arc, and corresponding Hall element (10) is 6.
6. wheel hub motor as claimed in claim 2; It is characterized in that; Described servo controller (18) is arranged in the motor cavity; Described servo controller (18) is equipped with the hub screwed hole location on the opposite side of assembly (9) of stopping through installing hole on the servo controller pcb board and stator support (22), is locked on the said stator support (22) through screw, and outer cover is provided with rotor endcap (4).
7. wheel hub motor as claimed in claim 2; It is characterized in that; Described servo controller (18) is arranged on outside the motor cavity; Said servo controller (18) is equipped with the hub screwed hole location on the opposite side of assembly (9) of stopping through the installing hole on the servo controller pcb board and said chassis (20), and is locked on the chassis (20) with screw, and outer cover is provided with the enclosing cover (19) of servo controller (18).
8. wheel hub motor as claimed in claim 1 is characterized in that, described wheel hub (6) outside also is provided with connecting ring (30), the outer shroud interference fit of the interior ring of said connecting ring (30) and wheel hub (6), and described wheel hub (6) is wholely set with connecting ring (30).
9. wheel hub motor as claimed in claim 1; It is characterized in that; Described wheel hub motor is provided with electric machine casing outward, and said electric machine casing is provided with through hole (25), is fixed with pressure adjusting ring (26) on the electric machine casing inwall; Pressure adjusting ring (26) is convexly equipped with to electric machine casing inside and forms cavity (27), cavity (27) be convexly equipped with position and through hole (25) offer the corresponding setting in position.
10. wheel hub motor as claimed in claim 9 is characterized in that, described electric machine casing part is provided with boss (28), offers through hole (25) on the boss (28), and pressure adjusting ring (26) sealing and fixing is on boss (28).
11. wheel hub motor as claimed in claim 10 is characterized in that, described pressure adjusting ring (26) is a hemisphere.
12. wheel hub motor as claimed in claim 1; It is characterized in that; Described wheel hub motor also comprises rotor, and the magnetic circuit of this rotor is made up of magnetic shoe (13) and yoke (14), evenly offers a plurality of grooves (15) on the circle ring inner surface of yoke (14); Corresponding said a plurality of grooves (15) evenly are provided with polylith magnetic shoe (13) on the rotor, form the alternately magnetic pole of arrangement of a plurality of N, S.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203755255U CN202260955U (en) | 2011-09-28 | 2011-09-28 | Hub motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203755255U CN202260955U (en) | 2011-09-28 | 2011-09-28 | Hub motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202260955U true CN202260955U (en) | 2012-05-30 |
Family
ID=46122138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203755255U Expired - Fee Related CN202260955U (en) | 2011-09-28 | 2011-09-28 | Hub motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202260955U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103023259A (en) * | 2011-09-28 | 2013-04-03 | 浙江中科德润科技有限公司 | Wheel hub motor and control method thereof |
| CN103825376A (en) * | 2014-03-06 | 2014-05-28 | 无锡赛盈电机科技有限公司 | Iron plate wheel motor |
| WO2015074426A1 (en) * | 2013-11-19 | 2015-05-28 | 宁波市鄞州恒泰机电有限公司 | Wheel hub motor and method for using same |
| CN105978237A (en) * | 2016-06-17 | 2016-09-28 | 浙江绿源电动车有限公司 | External rotor motor and electric vehicle |
| CN106357074A (en) * | 2016-09-28 | 2017-01-25 | 深圳市雅腾电机有限公司 | Hub motor for robot walking system |
| CN107294337A (en) * | 2017-05-22 | 2017-10-24 | 江苏雅迪科技发展有限公司宁波分公司 | A kind of wheel hub motor and its position signalling processing method |
| CN108199538A (en) * | 2018-01-31 | 2018-06-22 | 东昌电机(深圳)有限公司 | A kind of servo wheel hub motor |
| CN111969778A (en) * | 2020-09-18 | 2020-11-20 | 上海德驱驰电气有限公司 | Large-inertia grinding head motor |
| WO2023093160A1 (en) * | 2021-11-24 | 2023-06-01 | 广东邦普循环科技有限公司 | Battery conveying belt |
-
2011
- 2011-09-28 CN CN2011203755255U patent/CN202260955U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103023259A (en) * | 2011-09-28 | 2013-04-03 | 浙江中科德润科技有限公司 | Wheel hub motor and control method thereof |
| WO2015074426A1 (en) * | 2013-11-19 | 2015-05-28 | 宁波市鄞州恒泰机电有限公司 | Wheel hub motor and method for using same |
| CN103825376A (en) * | 2014-03-06 | 2014-05-28 | 无锡赛盈电机科技有限公司 | Iron plate wheel motor |
| CN105978237A (en) * | 2016-06-17 | 2016-09-28 | 浙江绿源电动车有限公司 | External rotor motor and electric vehicle |
| CN105978237B (en) * | 2016-06-17 | 2019-04-05 | 浙江绿源电动车有限公司 | External rotor electric machine and electric vehicle |
| CN106357074A (en) * | 2016-09-28 | 2017-01-25 | 深圳市雅腾电机有限公司 | Hub motor for robot walking system |
| CN107294337A (en) * | 2017-05-22 | 2017-10-24 | 江苏雅迪科技发展有限公司宁波分公司 | A kind of wheel hub motor and its position signalling processing method |
| CN107294337B (en) * | 2017-05-22 | 2019-12-27 | 江苏雅迪科技发展有限公司宁波分公司 | Hub motor and position signal processing method thereof |
| CN108199538A (en) * | 2018-01-31 | 2018-06-22 | 东昌电机(深圳)有限公司 | A kind of servo wheel hub motor |
| CN111969778A (en) * | 2020-09-18 | 2020-11-20 | 上海德驱驰电气有限公司 | Large-inertia grinding head motor |
| WO2023093160A1 (en) * | 2021-11-24 | 2023-06-01 | 广东邦普循环科技有限公司 | Battery conveying belt |
| GB2621781A (en) * | 2021-11-24 | 2024-02-21 | Guangdong Brunp Recycling Technology Co Ltd | Battery conveying belt |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202260955U (en) | Hub motor | |
| CN101877524B (en) | Integrated hub motor | |
| CN103023259A (en) | Wheel hub motor and control method thereof | |
| US6664692B1 (en) | Electrical machine | |
| CN201478969U (en) | Integrated hub motor | |
| CN106385135A (en) | Energy-saving type electric bicycle hub motor | |
| US20130119809A1 (en) | Brushless dc motorization apparatus | |
| CN101951103A (en) | Great-torque miniature DC permanent-magnet synchronous servo motor | |
| CN103580410A (en) | Wide-range speed control permanent magnet synchronous motor used for electric vehicle | |
| EP1413046A1 (en) | Adaptive control architecture for electric machines | |
| CN103222167B (en) | A kind of three-phase polymorphic servo motor | |
| CN206164284U (en) | Energy -saving electric bicycle in -wheel motor | |
| CN207595181U (en) | Hall type torque sensor and motor | |
| CN104506005B (en) | Wheel hub type permanent magnet motor of electric car | |
| CN202009316U (en) | Permanent magnetic direct-current driving motor with annular rotor for electric vehicles | |
| CN201478959U (en) | Multisection servo submersible motor | |
| CN203714124U (en) | Self-balancing electric bicycle hub motor | |
| CN206727862U (en) | Energy conversion device and Intelligent worn device | |
| CN201805337U (en) | Large-torque miniature direct-current permanent-magnetic synchronous servo motor | |
| CN201466947U (en) | Permanent magnet large-torque hub motor of motorcycle | |
| CN2640115Y (en) | Direct drive mixed reluctance electric machine | |
| CN202550953U (en) | Automotive PMSM (Permanent Magnet Synchronous Motor) control system based on GMR (Giant Magneto Resistive) sensor | |
| CN202679193U (en) | Electric automobile permanent magnet synchronous motor with wide speed regulation range | |
| Yan et al. | Design and analysis of new asynchronous motor type for electric vehicle | |
| CN202068295U (en) | Single-stator planar motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: An electromotive wheel hub electromotor Effective date of registration: 20121130 Granted publication date: 20120530 Pledgee: Zhejiang Xinli Guarantee Service Co. Ltd. Pledgor: Zhejiang Zhongke Derun Technology Co.,Ltd. Registration number: 2012990000744 |
|
| PLDC | Enforcement, change and cancellation of contracts on pledge of patent right or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120530 Termination date: 20170928 |