CN211151779U - Stator permanent magnet type winding mixed excitation two-degree-of-freedom motor - Google Patents

Stator permanent magnet type winding mixed excitation two-degree-of-freedom motor Download PDF

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Publication number
CN211151779U
CN211151779U CN201922297145.3U CN201922297145U CN211151779U CN 211151779 U CN211151779 U CN 211151779U CN 201922297145 U CN201922297145 U CN 201922297145U CN 211151779 U CN211151779 U CN 211151779U
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CN
China
Prior art keywords
stator
rotary motion
linear motion
permanent magnet
winding
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Expired - Fee Related
Application number
CN201922297145.3U
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Chinese (zh)
Inventor
柴小宝
苏鹏
司纪凯
梁静
程志平
李应生
李忠文
王要强
于坤杰
封海潮
高彩霞
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Zhengzhou Runhua Intelligent Equipment Co ltd
Zhengzhou University
Henan University of Technology
Original Assignee
Zhengzhou Runhua Intelligent Equipment Co ltd
Zhengzhou University
Henan University of Technology
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Priority to CN201922297145.3U priority Critical patent/CN211151779U/en
Application granted granted Critical
Publication of CN211151779U publication Critical patent/CN211151779U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a stator permanent magnet type winding hybrid excitation two-degree-of-freedom motor, which belongs to the technical field of motors and comprises a rotary motion stator, a rotor and a linear motion stator; the rotary motion stator is sleeved outside the linear motion stator, a rotor is nested between the rotary motion stator and the linear motion stator, and the rotary motion stator, the linear motion stator and the rotor are nested to form a double-layer air gap; the rotary motion stator, the rotor and the linear motion stator are all of salient pole structures. The coupling effect between the linear traveling wave magnetic field and the rotating magnetic field is effectively weakened, the air gap magnetic field is adjustable, and the linear traveling wave magnetic field adjustable speed regulation motor has the advantages of high torque density, wide speed regulation operation range and the like, so that the performance problem of the conventional motor is solved.

Description

Stator permanent magnet type winding mixed excitation two-degree-of-freedom motor
Technical Field
The utility model relates to the technical field of electric machines, concretely relates to stator permanent magnetism type winding hybrid excitation two degree of freedom motors.
Background
In real life, two-degree-of-freedom motion devices are widely seen, for example, devices such as a screw drilling machine and a screw compressor need a driving shaft to move in two degrees of freedom. The existing two-degree-of-freedom motion device mainly adopts a mode of matching a plurality of motors, and the mode has the defects of complex control method, high price of a mechanical transmission device, serious mechanical abrasion and the like. However, the drawbacks of the above-described method can be solved by a two-degree-of-freedom motor. At present, two-degree-of-freedom motors are mainly classified into an induction type, a switched reluctance type and a permanent magnet type, and compared with the induction type and the switched reluctance type, the permanent magnet type two-degree-of-freedom motor has the advantage of high power density, and the research of numerous scholars is initiated.
However, the permanent magnet motor has only permanent magnet excitation, and due to the uncontrollable nature of the permanent magnet flux linkage, the motor cannot maintain high efficiency and constant output voltage under the condition of a wide speed regulation range; in addition, because the air gap field of the permanent magnet motor can not be adjusted, the requirements of variable motor operating environment and reliable motor system can not be well met, and the application range of the permanent magnet motor is reduced. However, the defects can be well solved by a hybrid excitation method, the direct-current excitation coil replaces a permanent magnet, flux linkage is convenient to control, the air gap field is adjusted to meet the requirements of variable running environment and reliable system of the motor, and the application field of the motor is expanded.
The utility model patent of utility model publication No. CN109742874A, a linear rotation two-degree-of-freedom flux switching motor, discloses a linear rotation two-degree-of-freedom flux switching motor, which can directly realize rotation, linear or spiral motion. However, considering that the linear motion permanent magnet 12 and the rotary motion permanent magnet 7 are both positioned on the stator, the magnetic field coupling of the permanent magnets is serious, and the output characteristics of the motor are influenced; in addition, the motor is only excited by the permanent magnet, so that the risk of high-temperature irreversible demagnetization exists, and the air gap magnetic field can not be adjusted, so that the requirement of variable running environment of the motor can not be well met.
The utility model patent "integrated position detection device and method of double-stator linear rotating permanent magnet motor" with publication number CN105762991A discloses a linear rotating two-degree-of-freedom motor capable of realizing rotation, linear or spiral motion. However, considering that the outer permanent magnet and the inner permanent magnet are both fixed on the rotor, the permanent magnet field coupling of the outer permanent magnet and the inner permanent magnet is serious, and the output characteristic of the motor is influenced; in addition, the motor is only excited by the permanent magnet, so that the risk of high-temperature irreversible demagnetization exists, the magnetic field is not adjustable, and the requirement of variable running environment of the motor cannot be well met.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art's defect and not enough, provide a reasonable in design's stator permanent magnetism type winding hybrid excitation two degree of freedom motor, effectively weaken the coupling effect between sharp travelling wave magnetic field and rotating magnetic field, and air gap magnetic field is adjustable, has advantages such as high torque (power) density, wide speed governing operating range to the performance problem of current motor has been solved.
In order to achieve the above purpose, the utility model adopts the following technical proposal: the linear motion stator comprises a rotary motion stator, a rotor and a linear motion stator; the rotary motion stator is sleeved outside the linear motion stator, a rotor is nested between the rotary motion stator and the linear motion stator, and the rotary motion stator, the linear motion stator and the rotor are nested to form a double-layer air gap; the rotary motion stator, the rotor and the linear motion stator are all of salient pole structures;
the rotary motion stator consists of a rotary motion stator U-shaped iron core, a rotary motion armature winding, a rotary motion excitation winding and a rotary motion permanent magnet; the U-shaped iron cores of the plurality of rotary motion stators are distributed along the circumferential direction, a rotary motion permanent magnet is clamped between every two adjacent U-shaped iron cores of the rotary motion stators, the radial length of the rotary motion permanent magnet is smaller than that of the U-shaped iron core of the rotary motion stator, and the U-shaped iron core of the rotary motion stator and the rotary motion permanent magnet form rotary motion armature teeth; the rotating motion permanent magnets are tangential magnetizing permanent magnets, and the magnetizing directions of two adjacent rotating motion permanent magnets are opposite; the rotary motion armature winding is wound on the rotary motion armature teeth; the rotary motion excitation winding is arranged on a yoke of the rotary motion stator U-shaped iron core;
the linear motion stator consists of a linear motion stator U-shaped iron core, a linear motion armature winding, a linear motion excitation winding and a linear motion permanent magnet; the linear motion stator U-shaped iron cores are axially distributed, a linear motion permanent magnet is clamped between every two adjacent linear motion stator U-shaped iron cores, and the radial length of the linear motion permanent magnet is smaller than that of the linear motion stator U-shaped iron cores; the linear motion permanent magnets are axially magnetized, and the magnetizing directions of two adjacent linear motion permanent magnets are opposite; the linear motion armature winding is arranged in a slot of the linear motion stator U-shaped iron core; the linear motion excitation winding is wound on the linear motion permanent magnet.
Furthermore, the rotary motion armature winding and the rotary motion excitation winding are both in a concentrated winding type structure.
Further, the linear motion armature winding and the linear motion excitation winding are both in a ring winding type structure.
Furthermore, salient pole teeth are arranged on the inner side and the outer side of the rotor, the salient pole teeth positioned on the outer side are distributed along the circumference, the salient pole teeth positioned on the inner side are distributed along the axial direction, and the salient pole teeth are of a non-oblique pole structure.
After the structure is adopted, the beneficial effects of the utility model are that:
1. the motor has the advantages of capability of driving a load to do rotary, linear or spiral motion, high torque (power) density, wide speed regulation operation range, reliable motor system, convenience in processing and assembling and the like;
2. the rotor is only silicon steel sheets, and has no winding or permanent magnet, so that magnetic field isolation is easy to realize;
3. the rotary motion permanent magnet and the linear motion permanent magnet are respectively positioned on the outer stator and the inner stator, the rotor is only a silicon steel sheet, and a rotary magnetic field generated by the rotary motion permanent magnet penetrates through an outer air gap and is closed through outer salient pole teeth of the rotor; the traveling wave magnetic field generated by the linear motion permanent magnet penetrates through the inner-layer air gap and forms a closed loop through the salient pole teeth of the inner layer of the rotor, so that the coupling of the traveling wave magnetic field and the rotating magnetic field is effectively weakened, decoupling control is easy to realize, and the output characteristic of the motor is further improved;
4. under the working condition that the air-gap magnetic field needs to be adjusted, the exciting coil can be connected in series in the forward direction to form an exciting winding and the permanent magnet to jointly provide the air-gap magnetic field, so that the adjustability of the air-gap magnetic field of the motor is realized, the output torque density of the motor can be improved by increasing the magnetism, the constant-power speed adjusting range of the motor can be expanded by weakening the magnetism, and the running of the motor has better controllability;
5. because the rotary motion armature winding, the rotary motion excitation winding, the linear motion armature winding and the linear motion excitation winding respectively adopt the concentrated winding and the annular winding, the length of the end winding is effectively reduced; the end resistance is reduced, and the motor efficiency is improved.
6. The magnetic flux-concentrating magnetic motor has the characteristics of strong magnetic-concentrating effect, large no-load air gap magnetic density, strong torque output capacity, high power density and high efficiency;
7. the rotary motion armature winding is matched with the rotary motion permanent magnet to form a rotary motion magnetic field; the linear motion armature winding is matched with the linear motion permanent magnet to form a linear motion magnetic field; the rotary motion magnetic field and the linear motion magnetic field act independently or jointly and can directly drive the rotor to do rotary, linear or spiral motion.
Description of the drawings:
fig. 1 is a sectional structure view of the present invention.
Fig. 2 is a sectional structure view of the stator for rotating movement in the present invention.
Fig. 3 is a sectional structure view of the stator for linear motion according to the present invention.
Fig. 4 is a distribution diagram of the armature winding and the field winding for rotary motion in the present invention.
Fig. 5 is a distribution diagram of the linear motion armature winding and the linear motion field winding according to the present invention.
Description of reference numerals:
the device comprises a rotary motion stator 1, a rotor 2, a linear motion stator 3, a rotary motion stator U-shaped iron core 4, a rotary motion armature winding 5, a rotary motion excitation winding 6, a rotary motion permanent magnet 7, a linear motion armature winding 8, a linear motion excitation winding 9, a linear motion stator U-shaped iron core 10, a rotary motion armature tooth 11 and a linear motion permanent magnet 12.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 to 5, the following technical solutions are adopted in the present embodiment: the linear motion stator comprises a rotary motion stator 1, a rotor 2 and a linear motion stator 3; the rotary motion stator 1 is sleeved outside the linear motion stator 3, the mover 2 is nested between the rotary motion stator 1 and the linear motion stator 3, and the rotary motion stator, the mover and the linear motion stator are nested to form a double-layer air gap; the rotary motion stator 1, the rotor 2 and the linear motion stator 3 are all salient pole structures; salient pole teeth are arranged on the inner side and the outer side of the rotor 2, the salient pole teeth positioned on the outer side are distributed along the circumference, the salient pole teeth positioned on the inner side are distributed along the axial direction, and the salient pole teeth are of a non-oblique pole structure; the rotor 2 has neither permanent magnet nor armature winding;
the rotary motion stator 1 consists of a rotary motion stator U-shaped iron core 4, a rotary motion armature winding 5, a rotary motion excitation winding 6 and a rotary motion permanent magnet 7; each U-shaped iron core 4 of the rotary motion stator is formed by axially laminating a plurality of U-shaped silicon steel sheets, the U-shaped iron cores 4 of the rotary motion stator are distributed along the circumferential direction, a rotary motion permanent magnet 7 is clamped between every two adjacent U-shaped iron cores 4 of the rotary motion stator, the radial length of the rotary motion permanent magnet 7 is smaller than that of the U-shaped iron core 4 of the rotary motion stator, and the U-shaped iron core 4 of the rotary motion stator and the rotary motion permanent magnet 7 form a rotary motion armature tooth 11; the rotary motion permanent magnets 7 are tangential magnetizing permanent magnets, and the magnetizing directions of two adjacent rotary motion permanent magnets 7 are opposite; the rotary armature winding 5 is wound on the rotary armature teeth 11; the above-mentioned rotary motion field winding 6 is set up on the yoke of the above-mentioned rotary motion stator U-shaped iron core 4; the rotary motion armature winding 5 and the rotary motion excitation winding 6 are both in a concentrated winding type structure;
the linear motion stator 3 consists of a linear motion stator U-shaped iron core 10, a linear motion armature winding 8, a linear motion excitation winding 9 and a linear motion permanent magnet 12; each linear motion stator U-shaped iron core 10 is formed by laminating a plurality of U-shaped silicon steel sheets in the circumferential direction, the plurality of linear motion stator U-shaped iron cores 10 are axially distributed, a linear motion permanent magnet 12 is clamped between every two adjacent linear motion stator U-shaped iron cores 10, and the radial length of each linear motion permanent magnet 12 is smaller than that of each linear motion stator U-shaped iron core 10; the linear motion permanent magnets 12 are axially magnetized permanent magnets, and the magnetizing directions of two adjacent linear motion permanent magnets 12 are opposite; the linear motion armature winding 8 is arranged in a groove of a U-shaped iron core 10 of the linear motion stator; the linear motion excitation winding 9 is wound on the linear motion permanent magnet 12; the linear motion armature winding 8 and the linear motion excitation winding 9 are both in a ring winding type structure;
the rotary motion stator core 4, the linear motion stator core 10 and the rotor are made of magnetic conductive materials such as silicon steel sheets; the rotary motion permanent magnet 7 and the linear motion permanent magnet 12 are made of permanent magnet materials such as neodymium iron boron, samarium cobalt and ferrite.
No. 511 coil and No. 513 coil in the rotary motion armature winding 5 are opposite in radial direction, No. 512 coil and No. 514 coil are opposite in radial direction, the difference between the spatial position of No. 511 coil and No. 512 coil is 90 degrees, No. 511 coil and No. 512 coil are connected in series in the forward direction to form a coil group, similarly, No. 513 coil and No. 514 coil are connected in series in the forward direction to form another coil group, and the two coil groups are connected in series in the forward direction to form an A-phase armature winding in the rotary motion armature winding 5; the 521-numbered coil and the 523-numbered coil in the rotary motion armature winding 5 are opposite in the radial direction, the 522-numbered coil and the 524-numbered coil are opposite in the radial direction, the phase difference between the 521-numbered coil and the 522-numbered coil is 90 degrees, the 521-numbered coil and the 522-numbered coil are connected in series in the forward direction to form a coil group, similarly, the 523-numbered coil and the 524-numbered coil are connected in series in the forward direction to form another coil group, and the two coil groups are connected in series in the forward direction to form a B-phase armature winding in the rotary motion armature winding 5; no. 531 coils and No. 533 coils in the rotary motion armature windings 5 are opposite in radial direction, No. 532 coils and No. 534 coils are opposite in radial direction, the difference between the spatial positions of the No. 531 coils and the No. 532 coils is 90 degrees, the No. 531 coils and the No. 532 coils are connected in series in the forward direction to form a coil group, similarly, the No. 533 coils and the No. 534 coils are connected in series in the forward direction to form another coil group, the two coil groups are connected in series in the forward direction to form C-phase armature windings in the rotary motion armature windings 5, the spatial positions of the three-phase armature windings are different by 60 degrees, and the phase difference of three-phase magnetic chains is;
no. 61 coil, No. 62 coil, No. 63 coil, No. 64 coil, No. 65 coil and No. 66 coil in the rotary motion excitation winding 6 are connected in series in the forward direction;
the coil 811, the coil 812, the coil 813 and the coil 814 in the linear motion armature winding 8 respectively have two slot distances in space positions, the coil 811 and the coil 812 are connected in series in the forward direction to form a coil group, the coil 813 and the coil 814 are connected in series in the forward direction to form another coil group, and the two coil groups are connected in series in the forward direction to form an A-phase armature winding in the linear motion armature winding 8; no. 821 coil, No. 822 coil, No. 823 coil and No. 824 coil in the linear motion armature winding 8 respectively have two slot distances in space positions, the No. 821 coil and the No. 822 coil are connected in series in the forward direction to form one coil group, the No. 823 coil and the No. 824 coil are connected in series in the forward direction to form the other coil group, and the two coil groups are connected in series in the forward direction to form a B-phase armature winding in the linear motion armature winding 8; 831 coils, 832 coils, 833 coils and 834 coils in the linear motion armature winding 8 respectively have two slot distances in spatial positions, the 831 coils and the 832 coils are connected in series in a forward direction to form a coil group, the 833 coils and the 834 coils are connected in series in a forward direction to form another coil group, the two coil groups are connected in series in the forward direction to form a C-phase armature winding in the linear motion armature winding 8, the spatial positions of three phases respectively have 1 slot distance, and the phases of three-phase magnetic chains have 120 degrees difference;
no. 91 coil, No. 92 coil, No. 93 coil, No. 94 coil, No. 95 coil, No. 96 coil, No. 97 coil, No. 98 coil, No. 99 coil, No. 910 coil and No. 911 coil in the linear motion excitation winding 9 are connected in series in the forward direction.
The working principle of the specific embodiment is as follows: a rotating magnetic field generated by the rotating motion permanent magnet 7 penetrates through an outer layer air gap and is closed through salient pole teeth on the outer layer of the rotor 2; the traveling wave magnetic field generated by the linear motion permanent magnet 12 penetrates through the air gap of the inner layer and forms a closed loop through the salient pole teeth of the inner layer of the rotor 2, so that the coupling of the traveling wave magnetic field and the rotating magnetic field is weakened, decoupling control is easy to realize, and the output characteristic of the motor is improved; when only the rotating motion excitation winding 6 is electrified, the rotating motion excitation winding and the rotating motion permanent magnet 7 jointly provide a rotating air gap magnetic field, so that the adjustability of the rotating air gap magnetic field of the motor is realized; when only the linear motion excitation winding 9 is electrified, the linear motion excitation winding and the linear motion permanent magnet 12 jointly provide a linear motion air gap magnetic field, so that the adjustability of the linear air gap magnetic field of the motor is realized; when the motor and the motor are electrified simultaneously, the adjustability of a rotating air gap magnetic field and a linear air gap magnetic field of the motor can be realized simultaneously; under the working condition that the air-gap magnetic field needs to be adjusted, the excitation windings (namely the rotating excitation winding 6 and the linear excitation winding 9) and the permanent magnets (namely the rotating permanent magnet 7 and the linear permanent magnet 12) can be formed by connecting the excitation windings in series in the forward direction to jointly provide the air-gap magnetic field, so that the adjustability of the air-gap magnetic field of the motor is realized, the output torque density of the motor can be improved by increasing the magnetism, and the constant-power speed adjusting range of the motor can be expanded by weakening the magnetism, so that the operation of the motor has better controllability; and the online efficiency optimization of the motor system in the whole operation range is realized through the coordination control of the exciting current and the armature current.
After adopting above-mentioned structure, this embodiment's beneficial effect is: the specific embodiment provides a stator permanent magnet type winding hybrid excitation two-degree-of-freedom motor, which effectively weakens the coupling effect between a linear traveling wave magnetic field and a rotating magnetic field, has the advantages of adjustable air gap magnetic field, high torque (power) density, wide speed regulation operation range and the like, and thus solves the performance problem of the existing motor.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (4)

1. Stator permanent-magnet type winding hybrid excitation two-degree-of-freedom motor is characterized in that: the device comprises a rotary motion stator (1), a rotor (2) and a linear motion stator (3); the rotary motion stator (1) is sleeved outside the linear motion stator (3), a rotor (2) is nested between the rotary motion stator and the linear motion stator, and the rotary motion stator, the linear motion stator and the linear motion stator form a double-layer air gap by nesting; the rotary motion stator (1), the rotor (2) and the linear motion stator (3) are all of salient pole structures;
the rotary motion stator (1) is composed of a rotary motion stator U-shaped iron core (4), a rotary motion armature winding (5), a rotary motion excitation winding (6) and a rotary motion permanent magnet (7); the rotary motion stator U-shaped iron cores (4) are distributed along the circumferential direction, a rotary motion permanent magnet (7) is clamped between every two adjacent rotary motion stator U-shaped iron cores (4), the radial length of the rotary motion permanent magnet (7) is smaller than that of the rotary motion stator U-shaped iron cores (4), and the rotary motion stator U-shaped iron cores (4) and the rotary motion permanent magnets (7) form rotary motion armature teeth (11); the rotary motion permanent magnets (7) are tangentially magnetized permanent magnets, and the magnetizing directions of two adjacent rotary motion permanent magnets (7) are opposite; the rotary motion armature winding (5) is wound on the rotary motion armature teeth (11); the rotary motion excitation winding (6) is arranged on a yoke of the rotary motion stator U-shaped iron core (4);
the linear motion stator (3) is composed of a linear motion stator U-shaped iron core (10), a linear motion armature winding (8), a linear motion excitation winding (9) and a linear motion permanent magnet (12); the linear motion stator U-shaped iron cores (10) are axially distributed, a linear motion permanent magnet (12) is clamped between every two adjacent linear motion stator U-shaped iron cores (10), and the radial length of each linear motion permanent magnet (12) is smaller than that of each linear motion stator U-shaped iron core (10); the linear motion permanent magnets (12) are axially magnetized permanent magnets, and the magnetizing directions of two adjacent linear motion permanent magnets (12) are opposite; the linear motion armature winding (8) is arranged in a groove of a U-shaped iron core (10) of the linear motion stator; the linear motion excitation winding (9) is wound on the linear motion permanent magnet (12).
2. The stator permanent magnet type winding hybrid excitation two-degree-of-freedom motor according to claim 1, characterized in that: the rotary motion armature winding (5) and the rotary motion excitation winding (6) are both in a concentrated winding type structure.
3. The stator permanent magnet type winding hybrid excitation two-degree-of-freedom motor according to claim 1, characterized in that: the linear motion armature winding (8) and the linear motion excitation winding (9) are both in a ring winding type structure.
4. The stator permanent magnet type winding hybrid excitation two-degree-of-freedom motor according to claim 1, characterized in that: the inner side and the outer side of the rotor (2) are both provided with salient pole teeth, the salient pole teeth positioned on the outer side are distributed along the circumference, the salient pole teeth positioned on the inner side are distributed along the axial direction, and the salient pole teeth are of a non-oblique pole structure.
CN201922297145.3U 2019-12-19 2019-12-19 Stator permanent magnet type winding mixed excitation two-degree-of-freedom motor Expired - Fee Related CN211151779U (en)

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CN201922297145.3U CN211151779U (en) 2019-12-19 2019-12-19 Stator permanent magnet type winding mixed excitation two-degree-of-freedom motor

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CN201922297145.3U CN211151779U (en) 2019-12-19 2019-12-19 Stator permanent magnet type winding mixed excitation two-degree-of-freedom motor

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113131702A (en) * 2021-04-21 2021-07-16 郑州大学 Double-salient-pole hybrid excitation motor for industrial robot and control system thereof
CN113489282A (en) * 2021-06-17 2021-10-08 江苏大学 Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113131702A (en) * 2021-04-21 2021-07-16 郑州大学 Double-salient-pole hybrid excitation motor for industrial robot and control system thereof
CN113131702B (en) * 2021-04-21 2022-04-26 郑州大学 Double-salient-pole hybrid excitation motor for industrial robot and control system thereof
CN113489282A (en) * 2021-06-17 2021-10-08 江苏大学 Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof
CN113489282B (en) * 2021-06-17 2022-09-16 江苏大学 Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof

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