CN208986794U - A combined dual-rotor low-speed high-torque synchronous motor - Google Patents
A combined dual-rotor low-speed high-torque synchronous motor Download PDFInfo
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Abstract
A kind of combined type birotor low speed high torque synchronous motor, the synchronous motor are mainly made of outer rotor (1), internal rotor (2) and stator (3)；Stator (3) is arranged between outer rotor (1) and internal rotor (2)；This method obtains entire rotor-position by estimation reluctance rotor position, and then realizes position Sensorless Control.The non-position sensor vector control method proposed is not necessarily to coordinate transform, and structure is simple, overcomes the complexity and the problem strong to parameter of electric machine dependence of conventional vector control.
Description
Technical field:
The utility model relates to a kind of combined type birotor low speed high torque synchronous motor and its control systems.Belong to motor
Design and its control system field.
Background technique:
There is the equipment for largely needing low speed high torque transmission system in modern industry, such as numerically-controlled machine tool, weight mine are mechanical, stone
Oily boring mechanic, large scale industry conveyer belt and Overloading etc., this kind of system are typical highly energy-consuming electromechanical equipment, power consumption
Account for about the 10% of industrial total power consumption.Currently, China's low speed high torque Drive mostly uses greatly " conventional rotating speed motor+deceleration
The driving method of gear mechanism ", but the deceleration transmission link having more can not only make that drive system is bulky, maintenance cost increases
Add, system reliability and operational efficiency reduction (efficiency of entire transmission chain is generally 75%~85%), and the gear of redundancy
Mechanism also brings along the technical problem of processing and manufacturing, transport assembly etc., can also generate oil seepage, noise pollution etc. and ask
Topic, therefore the direct drive mode for cancelling reduction gear is the high-end mechanized equipment of future development, improves transmission system entirety
The inevitable choice of performance.
Permanent magnet synchronous motor is developed rapidly in recent years, research work both domestic and external also Showed Very Brisk, due to no matter
As electronic or generator operation, permanent magnet synchronous motor is compared with induction machine, electric excitation synchronous motor and switched reluctance machines
All have simple structure, that brushless reliable, efficiency and power factor are high, starting torque is big, economical operation range is wide etc. is outstanding excellent
Benign energy, therefore large-scale popularization and application have been obtained in many fields, especially applied in low-speed high-torque direct driving system
Prospect is very wide.For raising torque density, the biggish intracavity space of low-speed high-torque direct driving permanent magnet synchronous motor is made full use of,
It reduces its cost, researches and develops novel permanent magnetic synchronous motor structure and new type rotor structure is important trend.
Utility model content
Purpose of utility model: the utility model provides a kind of combined type birotor low speed high torque synchronous motor and its control
System, that there are system reliabilities its object is to solving the deceleration transmission link in conventional low big torque transmission equipment is poor, transports
The problems such as line efficiency is low, at high cost.The utility model is designed using dual-rotor structure simultaneously, and torque density can be improved, and reduces electricity
Machine cost.
Technical solution: the utility model uses following technical scheme:
A kind of combined type birotor low speed high torque synchronous motor, it is characterised in that: the synchronous motor is mainly by outer rotor
(1), internal rotor (2) and stator (3) are constituted；Stator (3) is arranged between outer rotor (1) and internal rotor (2)；
Internal rotor (2) includes magnetism-isolating loop (7) and magnetic barrier formula reluctance rotor structure (6), and magnetic barrier formula reluctance rotor structure (6) is
By magnetic layer (6-1) and non-magnetic layer (6-2) alternate structure constituted, each magnetic barrier formula reluctance rotor structure (6) passes through dovetail groove
It is fixed on magnetism-isolating loop (7) lateral wall, magnetic hinders formula reluctance rotor structure (6) and is arranged between magnetism-isolating loop (7) and stator (3)；
Permanent magnet (4) are provided on the inside of outer rotor (1)；
The inner and outer surfaces of stator (3) are uniformly slotted, and it is opposite that a set of three are respectively embedded in the inner and outer surfaces slot of stator (3)
Claiming winding, (this is that winding in all slots is integrally referred to as a set of three-phase symmetric winding, actually inside and outside altogether to add up just
Only double winding.), the winding in inside and outside stator slot is coupled using serial or parallel connection mode, formed the motor it is total calmly
Sub- winding.
Magnetic layer (6-1) and non-magnetic layer (6-2) in magnetic barrier formula reluctance rotor structure (6) are all made of U-shaped structure (U-shaped
Structure is that the shape for hindering formula reluctance rotor according to magnetic is named)；Magnetic hinder formula reluctance rotor structure (6) by magnetic layer (6-1) with it is non-
Magnetic layer (6-2) alternates composition, is connected between each magnetic layer (6-1) by dowel (6-3), two layers adjacent of magnetic layer
Non-magnetic layer (6-2) is formed between (6-1).
Dowel (6-3) if width be just met for the condition of mechanical strength.
Magnetic layer (6-1) is the structure gradually increased by centre to two sides width.(that is width is from inside to outside gradually
Increase, as shown in figure 3, the width of innermost layer is narrow, then innermost layer outer layer secondary internal layer width is wider than innermost layer, it is then, secondary interior
The width of internal layer again of layer periphery is wider than secondary internal layer, and successively progressive, the effect of this structure is in specific embodiment combination Fig. 3
Be illustrated, act on it is as follows: magnetic hinder in each magnetic layer (6-1) width differ, according to by two sides to interior thickness successively
Reduced mode combines, so that the magnetic flux that magnetic barrier two sides magnetic layer (6-1) flows through is more and intermediate few, is more reasonably assigned with magnetic flux
Amount, preferably limits magnetic flux path, reduces the harmonic content in air-gap field, improve the sine in motor gas-gap magnetic field
Property, torque pulsation is reduced, the performance of motor is improved.)
Every pole permanent magnet (4) on the inside of outer rotor (1) uses the incorgruous mode that magnetizes of muti-piece piecemeal, i.e., by every pole permanent magnet
It is divided into muti-piece, every piece is a region, can form multiple regions, and the magnetizing direction in each region is from both sides to intermediate and outer rotor
(1) radial direction angle is gradually reduced, and (intermediate vertical arrow direction is the radial direction of outer rotor as shown in Figure 4；Permanent magnet
(4) Surface Mount is on outer rotor (1) inner surface.
To cooperate inner and outer rotors preferably with stator, the outer surface of stator (3) uses score slot structure, stator (3)
Inner surface uses Distributed Winding structure.
Using cup configuration, (the mechanical structure shape of connection outer rotor commonly uses cup configuration life such as cup to outer rotor (1)
Name) it is connected with bearing, inner and outer rotors are coaxially connected.(outer rotor (1) is connect together with internal rotor with the bearing of output)
Applied to the position Sensorless Control strategy of said combination formula birotor low speed high torque synchronous motor, feature
It is:
Hindering formula reluctance rotor structure (6) position by estimation magnetic, (entire rotor here refers to outer to obtain entire rotor
Rotor (1) and internal rotor (2)) position, and then realize position Sensorless Control.First by rotor-position estimating module (15)
(rotor-position estimating module is realized in the controller, not in motor) obtains rotor-position estimated value and revolving speed estimation
Value, rotor-position estimated value and revolving speed estimated value are compared with rotor-position given value and rotary speed setting value respectively, obtained
Rotor position error value and speed error value, rotor position error value and speed error value pass through respectively position control (8) and
Speed regulator (9) obtains rotary speed setting value and torque reference value, at the same by stator current space vector computing module (16) and
Torque calculation module (17) obtains the reality output torque of motor, and the motor reality output torque being calculated is input to torque
Adjuster (10) is believed the output signal of torque controller (10) as the input of three-phase current reference value computing module (11)
Number, to obtain the given value of threephase stator electric current, controlled current flow PWM inverter is obtained finally by current regulator (12)
(13) control signal controls novel synchronous motor of the invention.
Advantageous effect:
It is magnetic layer on the outside of a kind of internal rotor of the novel combined type birotor low speed high torque synchronous motor of the utility model
The U-shaped magnetoresistive structures alternate with non-magnetic layer, the outer rotor inside incorgruous permanent magnet to magnetize of Surface Mount piecemeal.Motor is using single stator
Structure, stator inner and outer surfaces are uniformly slotted, and respectively have a set of three-phase windings in inside and outside stator slot, and double winding using series connection or
Parallel way is coupled, and forms total stator winding of this kind of motor.Stator outer surface uses score slot structure, and stator inner surface uses
Distributed Winding structure.Outer rotor is connected using cup configuration with bearing, and inner and outer rotors are coaxially connected.
A kind of novel combined type birotor low speed high torque synchronous motor of the utility model uses position-sensor-free vector
Control method is obtained entire rotor-position by estimation reluctance rotor position, and then realizes position Sensorless Control.By turning
Sub- position estimation module obtains rotor-position estimated value and revolving speed estimated value, and rotor-position estimated value and revolving speed estimated value are distinguished
It is compared with rotor-position given value and rotary speed setting value, obtains rotor position error value and speed error value, rotor-position
Error amount and speed error value pass through position control respectively and speed regulator obtains rotary speed setting value and torque reference value, together
When the reality output torque of motor obtained by stator current space vector computing module and torque calculation module, by what is be calculated
Motor reality output torque is input to torque controller, calculates the output signal of torque controller as three-phase current reference value
The input signal of module obtains controlled current flow PWM finally by current regulator to obtain the given value of threephase stator electric current
The control signal of inverter controls the novel synchronous motor of the utility model.
This kind of motor uses double rotor single stator structure, makes full use of the biggish inner cavity of low-speed high-torque direct driving synchronous motor
Space, substantially increases the torque density and stock utilization of motor, and can significantly reduce motor under Same Efficieney
Volume and weight.Under the premise of not considering radiating condition variation, the torque density and routine Dan Ding of double rotor single stator motor
Rotor electric machine, which is compared, can be improved 40% or so；In other words under equal-wattage, motor volume can reduce 30% or so.This is practical new
Not only structure is reliable, at low cost, high-efficient for a kind of novel combined type birotor low speed high torque synchronous motor of type, but also has
Outstanding advantages of torque density and mechanical integrity are high, electric machine structure stock utilization is high.
The Novel dual-rotor motor of the utility model while having traditional permanent magnetism auxiliary reluctance type rotor motor advantage,
Make permanent magnetism relatively independent with magnetoresistive structures again, solve permanent magnetism auxiliary reluctance type rotor design of electrical motor parameter it is more, optimize difficulty
Big problem, design method are more flexible；Motor is greatly reduced to permanent magnet demand and magnetic property requirements, and is reduced
Motor cost；Motor can generate electromagnetic torque and reluctance torque simultaneously, improve the torque density of motor, and two kinds of torque phases
It is mutually independent, the flexibility of control mode is greatly strengthened, the torque density of motor, efficiency, weak-magnetic speed-regulating ability and inverse are improved
Become the utilization rate of device.
Magnetic layer and non-magnetic layer on the utility model reluctance rotor use U-shaped structure, hand over equivalent to increase motor
Air gap on axis is conducive to the reluctance torque for improving motor to improve quadrature-axis reluctance；Each magnetic barrier structure uses the thickness of magnetic layer
Degree improves magnetic barrier structure to the modulating action in magnetic field, improves inner stator according to the structure being gradually reduced by centre to two sides
The sine of air-gap field, reduces harmonic content between rotor；Permanent magnet on outer rotor uses the incorgruous side of magnetizing of piecemeal
Formula can not only be such that the permanent magnetic field at the air gap more concentrates, and motor gas-gap magnetic flux distribution more levels off to sine,
Harmonic content is few, and flux density distribution is more uniform, can also further enhance rotor saliency, and then improves output electromagnetism
Torque capacity and permanent magnet utilization rate.Matched on the outside of stator with outer rotor durface mounted permanent magnet body, for solution motor speed it is lower,
Number of pole-pairs is more and the limited contradiction of slot number, stator outside use score slot structure, while utilizing the equivalent of fractional-slot winding
Distribution effect and the weakening effect to slot ripples back-emf, to achieve the effect that improve potential waveform and improve winding utilization.
Match on the inside of stator with internal rotor magnetoresistive structures, in order to reduce motor harmonic content, improve reluctance torque, is improving back-emf just
String, stator inside use Distributed Winding structure.
Control mode responds strong robust vector control without position sensor side using the height based on stator current space vector
Method, this method obtains entire rotor-position by estimation reluctance rotor position, and then realizes position Sensorless Control.It is mentioned
Non-position sensor vector control method out is not necessarily to coordinate transform, and structure is simple, overcomes the complexity of conventional vector control
With the problem strong to parameter of electric machine dependence.
Detailed description of the invention
Fig. 1 is a kind of combined type birotor low speed high torque synchronous motor structure schematic diagram of the utility model；
Fig. 2 is a kind of inner rotor core schematic diagram of combined type birotor low speed high torque synchronous motor of the utility model；
Fig. 3 is that single magnetic hinders schematic diagram；Fig. 2 Fig. 3 has modification！(figure and label are modified again, 6. magnetic hinder formula magnetic
Hinder rotor structure；6-1. magnetic layer；The non-magnetic layer of 6-2.；6-3. dowel)
Fig. 4 is the incorgruous permanent magnet schematic diagram of arranging that magnetizes of piecemeal；
Fig. 5 is a kind of position-sensor-free vector control of combined type birotor low speed high torque synchronous motor of the utility model
Functional block diagram processed.
Description of symbols:
1. outer rotor；2. internal rotor；3. stator；4. permanent magnet；5. stator slot；6. magnetic hinders formula reluctance rotor structure；6-1.
Magnetic layer；The non-magnetic layer of 6-2.；6-3. dowel；7. magnetism-isolating loop；8. position control；9. speed regulator；10. torque is adjusted
Device；11. three-phase current reference value computing module；12. current regulator；13. controlled current flow PWM inverter；14. three phase rectifier
Device；15. rotor-position estimating module；16. stator current space vector computing module；17. torque calculation module.
Specific embodiment
A kind of combined type birotor low speed high torque synchronous motor, it is characterised in that: the synchronous motor is mainly by outer rotor
(1), internal rotor (2) and stator (3) are constituted；Stator (3) is arranged between outer rotor (1) and internal rotor (2)；
Internal rotor (2) includes magnetism-isolating loop (7) and magnetic barrier formula reluctance rotor structure (6), and magnetic barrier formula reluctance rotor structure (6) is
By magnetic layer (6-1) and non-magnetic layer (6-2) alternate structure constituted, each magnetic barrier formula reluctance rotor structure (6) passes through dovetail groove
It is fixed on magnetism-isolating loop (7) lateral wall, magnetic hinders formula reluctance rotor structure (6) and is arranged between magnetism-isolating loop (7) and stator (3)；
Permanent magnet (4) are provided on the inside of outer rotor (1)；
The inner and outer surfaces of stator (3) are uniformly slotted, and it is opposite that a set of three are respectively embedded in the inner and outer surfaces slot of stator (3)
Claim winding, the winding in inside and outside stator slot is coupled using serial or parallel connection mode, forms total stator winding of the motor.
Magnetic layer (6-1) and non-magnetic layer (6-2) in magnetic barrier formula reluctance rotor structure (6) are all made of U-shaped structure；Magnetic barrier
Formula reluctance rotor structure (6) is alternateed with non-magnetic layer (6-2) by magnetic layer (6-1) and is formed, and is led between each magnetic layer (6-1)
It crosses dowel (6-3) to be connected, forms non-magnetic layer (6-2) between adjacent two layers of magnetic layer (6-1).
Dowel (6-3) if width be just met for the condition of mechanical strength.
Magnetic layer (6-1) is the structure gradually increased by centre to two sides width.
Permanent magnet (4) on the inside of outer rotor (1) is the incorgruous permanent magnet to magnetize of piecemeal, i.e., is divided into every piece of permanent magnet multiple
Region, and the magnetizing direction in each region is gradually reduced from both sides to centre and vertical direction angle, it is (perpendicular among as shown in Figure 4
It is the radial direction of outer rotor to arrow direction；Permanent magnet (4) Surface Mount is on outer rotor (1) inner surface.
To cooperate inner and outer rotors preferably with stator, the outer surface of stator (3) uses score slot structure, stator (3)
Inner surface uses Distributed Winding structure.
Outer rotor (1) is connected using cup configuration with bearing, and inner and outer rotors are coaxially connected.
The utility model proposes a kind of combined type birotor low speed high torque synchronous motors, as shown in Figure 1, its feature exists
In: the motor is made of outer rotor 1, internal rotor 2, stator 3.3 inner and outer surfaces of stator are uniformly slotted, 3 inner and outer surfaces slot of stator
On respectively embed a set of three-phase windings, and double winding is coupled using serial or parallel connection mode, forms total stator winding of the motor.
Outer rotor 1 matches with durface mounted permanent magnet body 4 on the outside of stator.To solve, motor speed is lower, number of pole-pairs is more and slot number has
The contradiction of limit, stator outer surface use score slot structure, while using the effect of the Equivalent Distributed of fractional-slot winding and to slot ripples
The weakening effect of back-emf, to achieve the effect that improve potential waveform and improve winding utilization.Magnetic on the inside of internal rotor 2 and stator
Resistance structure matches, and in order to reduce motor harmonic content, improve reluctance torque, improves back-emf sine, stator inner surface is adopted
With Distributed Winding structure.
Fig. 2 is a kind of inner rotor core schematic diagram of combined type birotor low speed high torque synchronous motor of the utility model,
Internal rotor is that the magnetic layer 6-1 U-shaped magnetic alternate with non-magnetic layer 6-2 hinders structure, and each independent magnetic barrier is fixed by dovetail groove.It is double
Rotor electric machine outer rotor uses permanent-magnet structure, and internal rotor uses magnetoresistive structures, so that motor is having permanent magnetism auxiliary reluctance type turn
While sub-motor advantage, and make permanent magnetism relatively independent with magnetoresistive structures, solves permanent magnetism auxiliary reluctance type rotor motor and set
The problem that parameter is more, optimization difficulty is big is counted, design method is more flexible；Motor is greatly reduced to permanent magnet demand and magnetism
It can require, and reduce motor cost；Motor can generate electromagnetic torque and reluctance torque simultaneously, and the torque for improving motor is close
Degree, and two kinds of torques are mutually indepedent, greatly strengthen the flexibility of control mode, improve the torque density of motor, efficiency,
The utilization rate of weak-magnetic speed-regulating ability and inverter.
Fig. 3 is that single magnetic hinders structural schematic diagram.Magnetic, which hinders structure, mutually to be handed over by the magnetic layer 6-1 and non-magnetic layer 6-2 of U-shaped
For composition, it is connected between each magnetic layer 6-1 by dowel, forms unified entirety.Under conditions of meeting mechanical strength, even
It is more narrower better to meet muscle 6-3, this will preferably limit magnetic flux and circulate along defined path, to improve the energy conversion effect of motor
Rate.In addition to this, each magnetic layer 6-1 width in magnetic barrier differs, the group in the way of being sequentially reduced by two sides to interior thickness
It closes, so that the magnetic flux that magnetic barrier two sides magnetic layer flows through is more and intermediate few, is more reasonably assigned with magnetic flux, preferably limits magnetic
Path reduces the harmonic content in air-gap field, improves the sine in motor gas-gap magnetic field, reduces torque pulsation,
Improve the performance of motor.
Fig. 4 is the incorgruous permanent magnet schematic diagram of arranging that magnetizes of piecemeal.Same permanent magnet is divided into different regions, and each region is filled
Magnetic mode is different, i.e., the magnetizing direction in each region from both sides to centre and vertical direction angle by the way of being gradually reduced.This
Sample can not only be such that the permanent magnetic field at the air gap more concentrates, and motor gas-gap magnetic flux distribution more levels off to sine,
Harmonic content is few, and flux density distribution is more uniform, can also further enhance rotor saliency, and then improves output electromagnetism
Torque capacity and permanent magnet utilization rate.In addition to this it is possible to cogging torque is efficiently reduced, it is torque pulsation inhibited.
The utility model proposes a kind of position-sensor-free vectors of combined type birotor low speed high torque synchronous motor
Control method, as shown in figure 5, hindering formula reluctance rotor structure (6) position by estimation magnetic to obtain entire rotor-position, Jin Ershi
Existing position Sensorless Control.The non-position sensor vector control method of the utility model is not necessarily to coordinate transform, and structure is simple,
Overcome the complexity and the problem strong to parameter of electric machine dependence of conventional vector control.
The output torque of the novel synchronous motor of the utility model is inner and outer rotors and stator field interaction result
Superposition, since the salient pole of reluctance rotor synchronous motor is bigger, is easy to estimate rotor-position, therefore the utility model passes through estimation
Reluctance rotor position obtains entire rotor-position, and then realizes position Sensorless Control.The stator three-phase electricity that will test
Flow valuve is input to rotor-position estimating module 15, obtains rotor-position estimated value and revolving speed estimated value, by rotor-position given value
Rotor-position estimated value is subtracted, rotor position error value is obtained, rotor position error value is input to position control 8, is obtained
Rotary speed setting value, subtracts revolving speed estimated value by rotary speed setting value, obtains speed error value, and speed error value is input to revolving speed tune
Device 9 is saved, the stator three-phase electricity flow valuve that obtains torque reference value, while will test is input to stator current space vector and calculates mould
Block 16 obtains the amplitude and space electrical angle of stator current space vector, and the reality of motor is calculated by torque calculation module 17
Border output torque subtracts reality output torque by torque reference value, obtains motor torque error amount, and motor torque error amount is defeated
Enter to torque controller 10, obtain stator current space vector given value, by stator current space vector given value and three-phase electricity
Stream initial phase is input to three-phase current given value computing module 11, to obtain the given value of threephase stator electric current, finally by
Threephase stator given value of current value subtracts stator three-phase current detection value, obtains threephase stator current error value, by threephase stator electricity
Stream error value is input to current regulator 12 and obtains the control signal of controlled current flow PWM inverter 13 to control the utility model
Novel synchronous motor.The non-position sensor vector control method of the utility model is not necessarily to coordinate transform, and structure is simple, overcomes
The complexity and the problem strong to parameter of electric machine dependence of conventional vector control.
Claims (7)
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109861477A (en) * | 2018-09-21 | 2019-06-07 | 沈阳工业大学 | Permanent magnet/reluctance dual-rotor low-speed high-torque synchronous motor and its control system |
| CN110601481A (en) * | 2019-10-25 | 2019-12-20 | 山东大学 | Birotor permanent magnet synchronous reluctance motor and configuration method |
| CN111082622A (en) * | 2020-01-10 | 2020-04-28 | 南京航空航天大学 | Decoupling type birotor alternating pole permanent magnet motor |
| TWI704749B (en) * | 2019-08-07 | 2020-09-11 | 崑山科技大學 | Double rotor generator |
| CN112821709A (en) * | 2021-01-29 | 2021-05-18 | 同济大学 | Bilateral short primary synchronous reluctance linear motor |
-
2018
- 2018-09-21 CN CN201821549449.3U patent/CN208986794U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109861477A (en) * | 2018-09-21 | 2019-06-07 | 沈阳工业大学 | Permanent magnet/reluctance dual-rotor low-speed high-torque synchronous motor and its control system |
| CN109861477B (en) * | 2018-09-21 | 2023-12-05 | 沈阳工业大学 | Permanent magnet/reluctance double-rotor low-speed high-torque synchronous motor and control system thereof |
| TWI704749B (en) * | 2019-08-07 | 2020-09-11 | 崑山科技大學 | Double rotor generator |
| CN110601481A (en) * | 2019-10-25 | 2019-12-20 | 山东大学 | Birotor permanent magnet synchronous reluctance motor and configuration method |
| CN111082622A (en) * | 2020-01-10 | 2020-04-28 | 南京航空航天大学 | Decoupling type birotor alternating pole permanent magnet motor |
| CN112821709A (en) * | 2021-01-29 | 2021-05-18 | 同济大学 | Bilateral short primary synchronous reluctance linear motor |
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