CN85104531B - Globular rotor moment electric motor - Google Patents

Abstract

The present invention belongs to a torque motor, which relates to a torque motor with a spherical spinner, which is composed of an air bearing, the spherical spinner and an arc-shaped stator, wherein the arc-shaped stator is in a non-integral structure, and is composed of arc-shaped stators along three axial directions of an X axis, a Y axis and a Z axis. A torque is respectively generated after a stator winding of each axis is energized. The torque of the torque motor with a spherical spinner is determined by the vector sum of the torque of each axis. The size of the torque of the torque motor with a spherical spinner can be regulated by separately regulating the electric current of a winding of each axis, directions of the torques are arbitrarily changed in space, and thus, the space motion of the spherical spinner is realized.

Description

Globular rotor moment electric motor

The invention belongs to torque motor.

Cylindrical or the disc of the rotor of general torque motor.Stator is made of a whole iron core that is embedded with winding.The winding energising produces moment, and the size of moment can be regulated, and its direction is along the tangential direction of circumference.Rotor is around its fixed axis rotation, and epitrochanterian each point is made circular motion.French Patent (FRP) FR2452193 adopts two stator field parts, arranges for XOX ' axle and YOY ' axial symmetry each other, is being embedded with on the same magnetic field components at the two group coils of sphere in wire casing and parallel groove, thereby is making spherical spinner produce the moment of spatial rotational.Because it has taked common magnetic structure, therefore be difficult to be implemented in the size of controlling rotating torque on each axis direction accurately.

The globular rotor moment electric motor that the purpose of this invention is to provide a kind of new construction, this motor can be controlled the size of each rotating torque accurately, its moment direction can change arbitrarily in the space, can realize rotor and load thereof the platform of control device and instrument (as the be equipped with) motion in the space.For example, it can be used as the disturbance torque source of flyer attitude control analogue test, can be used for simulated flight object (as satellite) disturbance torque such as suffered gravitation, air force when space flight, help the experimental study object under the disturbance torque effect flight attitude and control device to the influence of flight attitude.

Globular rotor moment electric motor of the present invention is that the input electric energy with stator is transformed into the mechanical force moment output of rotor on any direction of space.It is made up of the spherical spinner of an air bearings support and the stator of a non-monolithic structure.This stator is different with the stator of existing torque motor, it is made of with the pallet of fixing these three stator components three stator components in the finite bandwidth around spherical spinner, this band-limited central axis is called the Z axle, and this also is the Z direction central axis of spherical spinner.The installation principle of stator component is that each stator forms independent magnetic structure, after three stators pass to alternating current respectively, spherical spinner is produced around the rotating torque of Z axle, X-axis and Y-axis respectively.X-axis is orthogonal with Y-axis and vertical with the Z axle.Motor of the present invention can be controlled the size and Orientation of rotor in the output torque of certain space cone angle accurately, and can drive with the spherical spinner Z-direction on be connected load on spatial rotational.Each stator component is made of one or a few blocks arc stator (comprising stator core and winding).The piece of its arc stator is several to be decided according to the maximum output torque of instructions for use, and under the identical condition of the electromagnetic parameter of arc stator, moment requires big more, and the piece number that needs is many more.

For content of the present invention clearly is described, give three stator components: after the winding energising of a stator component, produce the moment that makes spherical spinner center on the X-axis motion and be called X-axis moment T to name _X, this stator component is called the A stator; In like manner, after the energising of the winding of another stator component, produce the moment that makes spherical spinner center on the Y-axis motion and be called Y-axis moment T _y, this stator component is called the B stator; After the winding energising of the 3rd stator component, produce the moment that makes spherical spinner center on the motion of Z axle and be called Z axle moment Tz, this stator component is called the following narration of C stator and has adopted these names.

After the winding energising of A, B, C stator, the moment vector T of globular rotor moment electric motor is;

T＝T _x+T _y+T _z①

The moment values of motor is

T＝ $\sqrt{{\mathrm{<figure-callout\; id="2"\; label="Tx"\; filenames="85104531\_DRIMG2.png"\; state="\{\{state\}\}">Tx</figure-callout>}}^2{\mathrm{+<figure-callout\; id="2"\; label="Ty"\; filenames="85104531\_DRIMG2.png"\; state="\{\{state\}\}">Ty</figure-callout>}}^2{\mathrm{+<figure-callout\; id="2"\; label="Tz"\; filenames="85104531\_DRIMG2.png"\; state="\{\{state\}\}">Tz</figure-callout>}}^2}$ ②

The angle of motor moment and Z axle is

θz＝tg ^-1T _z/T ③

Formula 1.-3. show: motor moment size and direction thereof are decided with each moment.When regulating the electric current of each stator component winding, just can correspondingly change each moment, thereby change the size and Orientation of motor moment, rotor can be moved in the limited angle space by the direction of moment.Because adopt single magnetic structure, the rotating torque of each can be controlled by A, B, three stators of C respectively, thereby can control the size of disturbance torque accurately, its precision can reach a milligram cms magnitude.

Describe content of the present invention in detail below in conjunction with accompanying drawing, design feature and specific embodiment.

Fig. 1 globular rotor moment electric motor general assembly drawing.

Fig. 2 globular rotor moment electric motor AA shown in Figure 1 section.

Fig. 3 globular rotor moment electric motor DOD shown in Figure 2 section.

Fig. 4 globular rotor moment electric motor stator core figure.

Fig. 5 globular rotor moment electric motor stator winding expanded view.

Fig. 6 globular rotor moment electric motor sleeve rotor structure chart.

Fig. 7 globular rotor moment electric motor solid rotor structure chart.

Fig. 1 shows that globular rotor moment electric motor of the present invention is by air bearing 1, and spherical spinner 2 and stator 3 constitute.Said stator is a non-monolithic structure, and it is to be made of with the pallet 4 of fixing these three stator components three stator components in the finite bandwidth around spherical spinner.As shown in Figure 1, on motor reel 5 (just on the direction of Z axle), the load that links to each other with spherical spinner is installed perpendicular to this finite bandwidth direction.Load comprises platform 6 and is contained in control device and instrument 7 on the platform.Air bearing 1 is the ball arc, and when air bearing had air pressure, rotor just floated, and moves at space free under external force.

(see figure 2) in the present embodiment motor, the C stator is by four arc stators 8 _a, 8 _b8 _c, 8 _dForm; A stator and B stator are respectively by two arc stators 9 _a, 9 _bAnd 10 _a, 10 _bForm; A stator core 9a, 9b pack into support 12a, 12b; B stator core 10a, 10b pack into support 11a, 11b; C stator core 8a, 8b, 8c, 8d pack into support 13a, 13b, 13c, 13d.A, B, C stator are to be positioned in the finite bandwidth around spherical spinner, position relation between them as shown in Figure 2, iron core vertical section perpendicular to Z axle and the C stator by the rotor centre of sphere is parallel with the lamination of this stator core, and vertical with the vertical section parallel with core lamination stack of A, B stator; The vertical section parallel with core lamination stack of A, B stator is orthogonal on above-mentioned plane perpendicular to the Z axle.In example, the piece number of the arc stator of C stator is that two times of arc stator block number of A, B stator are fixed according to the specification requirement of determining (being two times around the rotating torque of X-axis, Y-axis around the rotating torque of Z axle).

In Fig. 3, A, B, C stator all are placed in a ball limited broadband all around.This band-limited width equals the width of arc stator, and the width of arc stator is relevant at the movement angle in space with spherical spinner, if spherical spinner is big in the angle of spatial movement, bigger space output area is arranged in other words, the width of arc stator is just narrow; To prevent load, collide as experiment platform and stator.Like this, can be according to the physical dimension of load and the rotor space movement angle decision stator bandwidth of needs.The motor stator bandwidth of this example accounts for 48 ° at ball center angle, and rotor is 2 * 69 ° at the greatest circle coning angle of spatial movement.In Fig. 3, the support of each stator component is connected with stator pallet 4 with screw 14.When no air pressure, spherical spinner is seated on the nylon ring 15 that the air bearing edge studs with, and can prevent spherical spinner like this when static and the air bearing collision, and has reduced the static friction torque of spherical spinner, has shortened the starting time.

Fig. 4 represents the arc stator core of globular rotor moment electric motor stator component.The slot form of stator core can design differently, but for for the purpose of simplifying technology, each stator component adopts identical shaped stator core in this example, but the thickness of stator core is decided with desired moment.In general, under the identical condition of stator winding circle, moment requires big more stator core thick more.Stator core is made with silicon steel sheet.After eight arc stator core assemblings, their inner surface is all on same ball face.Winding is embedded in the stator core, and the groove number of iron core and the mode of connection of winding decide with the control power supply, if motor employing M phase power supply is controlled the multiple that groove number then should be chosen as 2M.Winding can adopt double-deck lap wound or individual layer coiling.Motor in this example adopts three phase mains control, and the iron core slot number is 6 grooves, and single layer winding is also pressed the star binding, and its mode of connection as shown in Figure 5.

Fig. 6 represents the sleeve rotor structure chart of globular rotor moment electric motor.This hollow ball shape rotor can keep its center of gravity to point to the centre of sphere when arbitrary axis rotates, and adapts to pneumatically supported requirement, thus proof load platform and superincumbent various instrument are installed can topple over because of the motion of spherical spinner.The sleeve rotor of this example is by two hollow semi-round ball be combined intos, and its material is non-magnetic conductive metal material, as 1Cr 18N _i9T _i; Adopt the both realistic physical property that simulated device of this material, can reduce the spuious magnetic line of force that turns back to stator by stator through rotor, platform again, thereby reduced electromagnetic interference to test apparatus on the platform, guaranteed the accuracy of instrument work, when not having above-mentioned specification requirement, also can adopt permeability magnetic material, as electrical pure iron.Fig. 7 represents globular rotor moment electric motor solid rotor structure chart.Solid spherical rotor processing technique is simple, but because it is bigger than the inertia of hollow ball shape rotor, the response frequency of motor will reduce.

Claims (3)

1, a kind of by air bearing 1, spherical spinner 2, non-integral type stator 3 constitutes, along the direction of Z axle the load 6 that links to each other with spherical spinner and 7 torque motor are installed on axle 5, the A that it is characterized in that non-monolithic structure, B, three groups of stators of C are installed in around in a Z axle and the finite bandwidth around spherical spinner 2, the vertical section parallel perpendicular to Z axle and the C stator by spherical spinner 2 centre ofs sphere with core lamination stack, vertical with the vertical section parallel of A stator and B stator with core lamination stack, A stator and B stator are orthogonal on the plane perpendicular to the Z axle, said A stator, B stator and C stator all are fixed on the stator pallet 4, and the stator pallet is installed on air bearing 1 support.

2,, it is characterized in that the non-magnetic conductive metal material of spherical spinner 2 usefulness makes by the described torque motor of claim 1.

3,, it is characterized in that studding with nylon ring 15 on the edge of air bearing 1 of ball arc by the described torque motor of claim 1.

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