JP2003088083A - Motor drive system having inductor in stator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor drive system which realizes an optimum drive system of a drum or the like for an electric vehicle, a robot conveying vehicle and a copier, and to provide the motor drive system having a function as an optimum actuator for its drive. SOLUTION: A rotary electric machine comprises a stator 62 having main poles A1 to C2 provided radially from an annular magnetic element at the outside and a winding 61 wound on the poles A1 to C2 and having an inductor made of a plurality of magnetic teeth at distal ends of the main poles A1 to C2, and a rotating armature type permanent magnet rotor 52 having N poles and S poles alternatively disposed in an inner circumferentially rotating direction at an air gap and opposed to the stator 62. In this machine, a shell 50 such as a tire, a drum, a table or the like is mounted on an outer periphery or a side face of the rotor 52. In addition, a deformation shown in Fig. is considered.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates generally to an electric motor drive system, and more specifically, to an electric motor drive system used in an electric golf cart, an electric scooter, an electric vehicle, a robot carrier, and The present invention relates to an index table drive, a drum drive of a copying machine or the like, or an electric motor drive system used in a game machine or the like.

[0002]

2. Description of the Related Art Conventionally, an electric motor of an electric vehicle uses a permanent magnet type brushless motor or a reluctance type brushless motor that does not use a permanent magnet. Further, a transfer drum of a copying machine or a drum driving motor of a laser beam printer has been used with an adder type motor provided with a speed reducer.

[0003]

By the way, the conventional electric motor drive system as described above has the following problems. (1) Since there is no inductor formed of magnetic teeth at the tip of each main pole of the stator of the electric motor, the number of rotor poles is small and the torque at low speed is small. (2) In the case of direct drive without using a speed reducer, it is necessary to increase the number of rotor poles. In that case, the number of main stator poles (same as the number of slots) increases and the inner diameter of the stator increases. Larger, larger motor size. (3) Even when the speed reducer is used, the reduction ratio becomes large when the number of rotor poles is small. (4) In the case of the closed loop drive, there is a problem that the inductor is not provided in the stator, the drive is simple, and the torque is not large in the three-phase system.

The present invention solves the above problems (problems),
It is an object of the present invention to provide an electric motor drive system having an inductor composed of magnetic teeth at the tip of each main pole of a stator that realizes an optimum drive system for an electric vehicle, a robot carrier, a drum of a copying machine, or the like.

[0005]

In order to solve the above-mentioned problems, a motor drive system having an inductor in a stator according to the present invention is, according to the first aspect, provided radially outward from an annular magnetic body. A winding is wound around each of the main poles, and a stator having an inductor composed of a plurality of magnetic teeth at the tips of the main poles and an N pole and an S pole are alternately arranged in the inner circumferential rotation direction while maintaining an air gap. In the rotating electric machine facing the abduction type permanent magnet rotor, an abductor such as a tire, a drum or a table is attached to the outer peripheral portion or the side surface portion of the rotor.

According to another aspect of the present invention, there is provided an electric motor drive system having a stator and an inductor, wherein a winding is wound around each main pole radially outward from an annular magnetic body, and a plurality of windings are provided at the tips of each main pole. A rotor having an inductor composed of magnetic teeth and an outer rotation type rotor in which a rotor made of a magnetic material having magnetic teeth on the inner circumference is arranged while maintaining an air gap, are opposed to each other. An outer rotating body such as a tire, a drum, or a table is attached to the outer peripheral portion or the side surface portion of the above.

According to a third aspect of the present invention, there is provided an electric motor drive system including a stator and a stator, wherein in the rotary electric machine according to the first or second aspect, a rotary shaft of the rotary electric machine is provided on an outer peripheral portion or a side surface portion of the rotor. The output is concentric with the output part of the speed reducer, and the abduction body such as tires, drums, and tables is attached.

According to a fourth aspect of the present invention, there is provided an electric motor drive system including a stator and a stator. In the rotary electric machine according to any of the first to third aspects, the stator has a three-phase winding structure. .

According to a fifth aspect of the present invention, there is provided an electric motor drive system having a stator and an inductor, the rotating electric machine according to any one of the first to third aspects, or the rotating electric machine according to any of the first and second aspects. In a rotating electric machine in which the rotating electric machine is an inversion type, or in a three-phase HB type rotating electric machine in which the number of rotor teeth is P in this inversion type, the voltage applied to the rotating electric machine is used by stepping up and down the voltage of the battery. It was configured. However, P = m
(3n ± 1), m is the number of main stator poles per phase, an integer of 1 or more, or P = k (6n ± 1), 2k is the number of main stator poles per phase, and k and n Is an integer of 1 or more.

According to a sixth aspect of the present invention, there is provided an electric motor drive system having an inductor on a stator, the rotary electric machine according to any one of the first to third aspects, or the one of the first and second aspects. A rotating electric machine that is an inversion type rotating electric machine, or
In this adder-type, three-phase HB type rotating electric machine having the number of rotor teeth of P, the phase of the current with respect to the speed electromotive force of the rotating electric machine is configured to be controlled. However, P = m (3n ± 1)
Where m is the number of main stator poles per phase and is an integer of 1 or more, or P = k (6n ± 1), 2k is the number of main stator poles per phase, and k and n are integers of 1 or more. Is.

According to a seventh aspect of the present invention, there is provided an electric motor drive system including a stator and an inductor, the rotating electric machine according to any one of the first to third aspects, or any one of the first and second aspects. Of the rotating electric machine of which the rotating electric machine is an inversion type, or of the HB type having the number of rotor teeth of P or the cylindrical type of N- and S-alternately magnetized rotor having the number of rotor poles of 2P is 3m or 6k. In a three-phase rotating electric machine, which is an outer rotation or inner rotation type of the three-phase winding, the position information of the rotor is obtained and the excitation timing of the winding is obtained. However, P = m (3n ± 1)
m is the number of main stator poles per phase, an integer of 1 or more, or P
= K (6n ± 1), 2k is the number of main stator poles per phase,
Further, k and n are integers of 1 or more.

According to an eighth aspect of the present invention, there is provided an electric motor drive system including a stator and a stator. The rotating electric machine according to any one of the first to third aspects, or the rotating electric machine according to the first or second aspect. Rotating electric machine with an adder type of electric machine, or HB type with P number of rotor teeth or N, S alternating magnetized cylindrical type with 2P rotor poles, 3 phase with 3m or 6k main poles In a three-phase rotating electric machine, which is an outer-rotating or inner-rotating type of winding, to excite the rotating magnetic field axis by γ-degree advanced three-phase AC or micro step or full step excitation with respect to the axis of the current position of the rotor. Configured. However, P = m (3n ± 1)
However, m is the number of main stator poles per phase, an integer of 1 or more,
Alternatively, P = k (6n ± 1), 2k is the number of main stator poles per phase, and k and n are integers of 1 or more.

According to a ninth aspect of the present invention, there is provided an electric motor drive system having a stator and an inductor, wherein γ = 90 ° (electrical angle).

Further, in the electric motor drive system having the inductor according to the tenth aspect of the present invention, when 0 <γ ≦ 90 ° in the eighth aspect, as an open loop stepping motor, γ is 90 °. It was configured to drive as a closed-loop brushless motor when it exceeded.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION With reference to FIGS. 1 to 8, an electric motor drive system having an inductor in a stator of the present invention (hereinafter, referred to as
It may be called "motor drive system". ) First to seventh embodiments will be described.

First Embodiment: First, a first embodiment of the electric motor drive system of the present invention will be described with reference to FIGS. 1 to 3. The one according to the present embodiment corresponds to claim 1. FIG. 1 is a front view showing a first embodiment of an electric motor drive system of the present invention. 2 is a vertical side view of FIG. Further, FIG. 3 is a perspective view showing another rotor shape applicable in the first embodiment.

As shown in FIG. 1, the main components of the motor drive system 10 of the present embodiment are an outer rotor type rotor 52 made of a permanent magnet and a magnet having N poles and S poles alternately on the inner circumference. A stator 62 made of a body and an abduction body 50 such as a tire or a drum. The stator 62 includes windings 61 on a plurality of radially arranged main poles (12 in FIG. 1) A1 to C2.
Is wound and faces the magnetic pole portion of the rotor 52 via the air gap. In addition, 64 is a hollow fixed shaft. In this case, generally, the larger the number of pole pairs of the rotor 52 (the number of pairs of N and S), the larger the torque becomes, and the rotor 52 rotates smoothly at low speed. However, even if the number of pole pairs of the rotor 52 is increased, increasing the number of main poles of the stator 62 correspondingly has a limit because the number of coils increases and the cost becomes complicated.

Therefore, in the electric motor drive system 10 of the present embodiment, as shown in FIG. 1, a plurality of inductor teeth are provided at the tips of the main poles A1 to C2 so as to face the magnetic poles of the rotor 52. In FIG. 1, reference numeral 51 denotes a magnetic body back yoke of the outer rotor type rotor 52, and it is preferable that the magnetic body back yoke 51 is provided.

In FIG. 2, 64 is a fixed shaft, 65 is a bearing, and 66 and 67 are brackets on both sides, respectively. Further, as shown in FIG. 1, the rotor 52 is not limited to the configuration of a permanent magnet rotor configured only by a ring-shaped integral magnet. For example, as shown in FIG. 3, a special hybrid rotor constructed by using two rotor magnetic poles 54 made of a claw pole-shaped magnetic material and sandwiching permanent magnets 53 magnetized in the axial direction with two poles in a sandwich shape. The hybrid rotor may be referred to as an HB rotor hereinafter.

Second Embodiment: A second embodiment of the electric motor drive system of the present invention will be described with reference to FIGS. 4 and 5. The present embodiment corresponds to claim 2. FIG. 4 is a front view showing a second embodiment of the electric motor drive system of the present invention. FIG. 5 is a vertical side view of FIG. In FIGS. 4 and 5, the same components as those of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 4, the electric motor drive system 12 according to the present embodiment has a rotor 60 having teeth made of a magnetic material, and the rotor 60 has the same stator 62 as that shown in FIG. Facing each other. In this case, since the rotor 60 is not multipolarly magnetized, the resolution can be increased as compared with the case of FIG. 1, but since it is not a permanent magnet field, the generated torque is likely to be nonlinear with respect to the exciting current, and controllability is difficult. is there. However, on the other hand, there are advantages such as low cost.

The rotary electric machine used in the electric motor drive systems 10 and 12 shown in FIGS. 1 to 5 is of a three-phase type.
The three-phase type can be star-connected or delta-connected and has three-terminal drive, which makes driving easier than other phases. Further, it is a rotating electric machine in which smooth rotation is easily obtained without being affected by the third harmonic contained in the field or current. Therefore, it can be said that the three-phase machine is a suitable actuator for electric vehicles and the like. This corresponds to claim 4.

Third Embodiment: A third embodiment of the electric motor drive system of the present invention will be described with reference to FIGS. 6 (A) and 6 (B). FIGS. 6A and 6B are diagrams showing the configuration of the electric motor drive system 14 of the present embodiment, and FIG.
Is a vertical side view, and FIG. 6B is VIB-VI in FIG.
It is a radial direction sectional view which follows the B line. Note that FIG.
In (B), the same components as those of the first and second embodiments are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIGS. 6 (A) and 6 (B), the electric motor drive system 14 of the present embodiment corresponds to the third aspect of the invention, and is decelerated concentrically with the input side rotary shaft 22 to output. The planetary gear speed reducer or the harmonic speed reducer 20 is attached to the outer circumference or the side surface of the rotor of the rotating electric machine 21 as an outer rotation type electric motor whose internal configuration used in the electric motor drive system 14 of the present embodiment is omitted. is there. Here, in the one shown in FIG. 6 (A), the speed reducer 20 is attached to the side surface, and the abduction body 50 is attached to the output outer periphery of the speed reducer 20. In this case, the structure is more complicated than that of the motor alone, but a large torque can be obtained. Note that FIG.
In (B), the structure of the planetary gear speed reducer 20 is shown as the speed reducer 20, and in this case, the planetary gear speed reducer 20 is connected to the internal gear 23, the planetary gear 24, and the rotary shaft 22 and the sun gear 25. It consists of and. As described above, by mounting the planetary gear speed reducer or the harmonic speed reducer 20 that is a speed reducer coaxial with the rotary electric machine 21, a compact and large torque drive system is provided. In this case, the load shaft converted value of the motor can be reduced.

In this case, the reduction ratio may be about (1/25) as compared with the case of the conventional motor. Because the number of poles of the motor used in these conventional applications is 4 on average.
This is because 100 poles are the average value in the motor used in the electric motor drive system of the present invention. Further, since it is a concentric type speed reducer, it can be made compact as compared with a general eccentric type.

If the number of pole pairs of the motor rotor is P, the gap magnetic flux density is B, the number of coil turns of the winding is n, the current is I, the generated torque is T, the rotor electrical angular velocity is ω, and its mechanical angular velocity is ω _m , The following two equations are established. T = P ・ B ・ n ・ I (1) ω _m = ω / P (2)

From this, it can be seen that the torque T increases in proportion to the number P of pole pairs, and that the mechanical angular velocity ω _{m of the} rotor decreases as P increases. That is, the motor used in this embodiment is a low-speed large-torque motor. This is a characteristic suitable for electric vehicles and the like. This is because the electric vehicle needs a large torque at the time of starting, and the higher the speed, the smaller the torque may be.

However, there are cases where a large torque is required even at a high speed, and in this case, two driving techniques suitable for the electric motor drive system of the present invention will be described. The motor described in claim 1 and claim 2 is an outer rotor type motor (outer rotor) suitable for an outer wheel wheel-in motor.
The two drive technologies are naturally applicable to motors with multiple poles and an inversion type structure for motors with an inductor.

Above all, a three-phase HB type rotating electric machine using an HB type rotor in which two gear-like bodies made of a magnetic material and having a number of teeth P are offset from each other by 1/2 pitch and a permanent magnet magnetized in the axial direction is sandwiched therebetween is used. With the configuration, you can drive star and delta,
It is possible to perform the function of the actuator with excellent cost performance that can also obtain high resolution. in this case,
If the number of teeth of the rotor is P, then P = m (3n ± 1) or P
= K (6n ± 1), the three-phase HB type rotary electric machine is established.
In this case, the latter equation corresponds to m = 2k in the former equation, and is derived from the equation of P = 2k (6n ± 1) / 2. However, in the case of the former formula, m is the number of main stator poles per phase and is an integer of 1 or more, and in the case of the latter formula 2k is the number of main stator poles per phase, and k and n.
Is an integer of 1 or more. For example, with a 12-slot stator with m = 4 and a stepping motor with n = 8 and P = 100, the step angle is 0.6 °. When m = 2, 6 slots, when n = 8, P = 50, and step angle is 1.2 °.

In this case, the current I in the equation (1) is given by the following equation. I = V / (P · ω _m · L) (3) When ω _m is large, it is necessary to increase the applied V to increase I. Here, L is the inductance. To do this, change the battery voltage to
Apply a high-frequency current with a WM chopper to boost the voltage with a transformer. At low speed, the PWM chopper creates a low-frequency current, and on the contrary, driving is performed at a step-down voltage lower than the battery voltage, which is close to optimal driving. The torque T can be expressed as T = (EI) / ω _m (4). Here, E is the speed electromotive force. At this time, especially when driven by an open loop, the phases of E and I become important. Generally, at low speeds and medium speeds, the phases of both are different and the efficiency is poor, but at high speeds they match and the efficiency is good. Therefore,
This problem can be solved, for example, by performing phase-locked loop control (PLL control) that keeps the rotor phase and the current phase constant. Each of these drive controls corresponds to claims 5 and 6. In addition,
Assuming that the phase of E and I is δ, EIcos δ becomes the effective power, and therefore equation (4) is rewritten as equation (5) below,
The torque T becomes maximum when δ = 0. T = EIcos δ / ω _m (5) Further, since E is proportional to ω _m , if E / ω _m is kept constant, if δ is controlled to be constant, the torque T has a constant value for each ω _m. Can be taken.

Fourth Embodiment: The present embodiment corresponds to claim 7 and has a structure in which an inductor is provided at the tip of a three-phase permanent magnet type rotary electric machine, and particularly 1 equivalent. It is useful that the number of main poles of the stator is 3 (when m = 1) or 6 (when m = 2), and in this case as well, P = m (3n ± 1) or P
= K (6n ± 1), the structure of the three-phase rotating electric machine can be configured, and the output torque thereof can be made larger than that of the two-phase machine or the five-phase machine. However, in the case of the former formula, m is the number of main stator poles per phase and is an integer of 1 or more, and in the case of the latter formula 2k is the number of main stator poles per phase, and k and n.
Is an integer of 1 or more. That is, in this sense, in the fourth embodiment, the rotary electric machine according to any one of claims 1 to 3 or the rotary electric machine according to any one of claims 1 and 2 is an inversion type. The rotating electric machine, or the number of rotor teeth is P
HB type or N- or S-cylindrical type with 2P rotor poles, which can be applied to a three-phase rotating electric machine having an outer rotation or inner rotation type of three-phase windings with 3m or 6k main poles in a cylindrical shape. It can be called technology. From this point of view, the closed-loop control of this motor provides an electric motor drive system that can further increase the output and has a function as an actuator that is most suitable for starting a load and preventing out-of-step. Thus, claim 7
In the fourth embodiment of the present invention described in (4), specific means necessary for realizing the above-mentioned (6) is shown, and by knowing the current position of the rotor, A current is applied to the coil so that a certain angle is constant from the rotor. That is, since the velocity starting force E becomes E = dφ / dt with respect to the rotor magnetic flux φ, the phase is delayed by 90 °. Therefore, if the position information of the rotor is known, E
Therefore, the timing of flowing I, that is, the phase of the current can be controlled so that EI becomes maximum.

Fifth Embodiment, Sixth Embodiment: Next, a fifth embodiment of the present invention described in claim 8 and a sixth embodiment of the present invention described in claim 9. Regarding the form, FIG. 7 (A), FIG. 7 (B), FIG. 8 (A), and FIG. 8 (B), respectively.
Will be explained. A three-phase machine stepping motor that is highly efficient and has a torque larger than that of a two-phase machine or a five-phase machine is used to control the lead angle to provide an electric motor drive system that has a torque characteristic superior to that of a two-phase machine and has a function as an actuator with less vibration and noise. be able to. FIG. 7A shows each phase current ia, i of two-phase excitation by 120 ° conduction of the three-phase machine.
It is a current sequence diagram of b and ic. These currents 3
Fig. 7 shows a vector diagram of the rotating magnetic field F when it is passed through the phase machine.
In each case of time points t ₁ , t ₂ and t ₃ of (A),
It becomes like FIG.7 (B). That is, the rotating magnetic field F moves 60 ° from t ₁ to t ₂ and further jumps 60 ° and 60 ° from t ₂ to t ₃ . R indicates the magnetic pole position of the rotor, but torque T
= KFRsinγ. Here, k is a constant and γ is a phase angle between the rotating magnetic field F and the magnetic pole position R of the rotor. Therefore, the torque T can be maximized when γ = 90 °. However, with a rectangular wave current of 120 ° conduction as shown in FIG. 7 (A), as described above, F cannot take an arbitrary position and jumps by 60 °, so γ depends on the position of the rotor. Since the angle cannot be 90 °, torque may be reduced, or vibration may be large.

On the other hand, if the current is a high-division microstep, γ can be brought close to 90 °. The ultimate of high division microstepping is a three-phase balanced sinusoidal alternating current as shown in FIG. In this case, t ₁ , t ₂ , ...
The rotating magnetic field at the time of t ₇ is shown in FIG. 8B. In this case, the rotating magnetic field vector F is jumped by 60 ° as in the case of FIG. 7, but the time is, for example, between t ₁ and t ₂ . 60 if you take
° Any position can be taken continuously without jumping. That is, in FIG. 8A, F can continuously assume the position corresponding to the change of the current even at arbitrary times of t ₁ and t ₂ . Therefore, γ can always be maintained at 90 °. On the contrary, this γ
It suffices to pass a current that creates F so that the angle is always 90 °. Therefore, it suffices to know the current position of the rotor R with an appropriate sensor or the like and to apply a current to obtain F of the γ degree advance angle. For this reason, it is desirable to have the current be a three-phase sinusoid or microstep. In addition,
Regarding the number of main poles of the fifth embodiment corresponding to claim 8, this is also the rotating electric machine according to any one of claims 1 to 3, as in the case of the fourth embodiment, or Item 1
And a rotating electric machine in which the rotating electric machine according to any one of 2 and 2 is an inversion type, or an HB type having a number of rotor teeth of P or a cylindrical main pole number of N and S having 2P of rotor poles alternately magnetized. Can be said to be a technology applicable to a three-phase rotating electric machine having an outer rotation or inner rotation type of 3 m or 6 k three-phase windings.

Seventh Embodiment: Next, a seventh embodiment of the present invention according to claim 10 will be described. In the three-phase permanent magnet type stepping motor, as described with reference to FIG. 7B, the electrical angle of 60 ° becomes the step angle. Also, the load angle γ
If the angle is 90 ° or less, a torque that is always attracted to the rotating magnetic field axis works, so it is cheaper to use an open loop type stepping motor, and it becomes a stable actuator that does not vibrate when stationary. However, when the load increases and γ exceeds 90 °, it becomes easy to lose synchronization. In this case, if the current is controlled so that γ is 90 ° as a closed-loop brushless motor, the electric motor drive system functions as a stable multi-pole brushless motor and an actuator that does not lose step. This is described as claim 10.

The present invention is not limited to the above-mentioned embodiments, and various modifications can be made within the technical idea of the present invention described above. As the rotor position information sensor of the three-phase motor with an inductor of the present invention, an optical encoder or a resolver system that converts a change in inductance into a voltage change may be used. In addition, in the three-phase motor with an inductor of the present invention, the torque is proportional to the reciprocal of the total number of main poles when the same HB type rotor (for example, Nr = 50) is compared with the two-phase motor with an inductor. So, for example, 6 with a total number of main poles of 3 m and m = 2
8 compared to the main pole and the general two-phase HB pole, which has 8 main poles
A high torque of /6=1.33 times is obtained. Therefore, even if this motor is closed-loop driven, it becomes an actuator superior to the two-phase type that can achieve high torque at the same ratio. Further, the vibration torque of the two-phase type is composed of four times higher harmonics than the fundamental method torque, while the three-phase type like the motor of the present invention has a vibration torque of six times higher harmonics. Therefore, the amplitude thereof is smaller than that of the two-phase type and the vibration of the three-phase type is smaller than that of the two-phase type. Therefore, the closed loop drive is an actuator superior to that of the two-phase type. When the resolver type rotor position information sensor for knowing the position of the rotor from the change of the above-mentioned inductance is used in the technique of the present invention according to claims 6 to 10, it is not limited to the two-phase type but rather the three-phase type. This is convenient because it is not necessary to perform 2-phase to 3-phase conversion. That is, P = m (3n ± 1) or P = k described in the above paragraph number 0031 and the like.
A magnetic rotor (having no permanent magnets) having a rotor tooth number of (6n ± 1) and a rotor having a main stator pole number of 3m or 6k are used as a resolver type rotor position information sensor. Good. For example, m = 1 or 2 and 3
Alternatively, the six main poles can sufficiently fulfill the role.

[0036]

Since the electric motor drive system having the stator in the stator of the present invention is configured as described above, it has the following excellent effects. (1) The configuration as described in claim 1 has the following effects. If each main pole of the stator is configured to have a plurality of inductors, the number of rotor poles can be increased, so that a large torque can be driven at a low speed. Due to the outer rotation type (outer rotor type) configuration, the rotor or the like can be fitted inside or on the side surface of the wheel or drum, and the system becomes compact. Since the magnetic poles of the outer rotor permanent magnet rotor can be formed by magnetizing, the field magnetic flux can be distributed in a sine wave, and low vibration can be achieved. (2) According to the second aspect of the present invention, the above (1)
In addition to the above effects, the rotor has magnetic teeth formed on the inner circumference, so that the structure can be simple and inexpensive.

(3) When the speed reducer is provided as described in claim 3, the speed reduction ratio is small and a compact speed reducer is possible. (4) When the stator has a three-phase winding structure as described in claim 4, a three-phase machine enables star-connected or delta-connected three-terminal drive, which simplifies the driver. Also, 3
In the case of a phase machine, the rotation is smooth because it is not affected by the field and the third harmonic of the current.

(5) According to the fifth aspect of the present invention, since the applied voltage is stepped up and down by the chopper, the constant voltage drive starts at high speed and large torque drive, and the applied voltage is applied to the motor according to the speed. Since it can be changed, it is possible to drive with high output and high efficiency. (6) When the phase of the current with respect to the speed electromotive force of the rotating electric machine is controlled as described in claim 6, optimum torque driving corresponding to the speed becomes possible.

(7) According to the seventh aspect of the invention, by carrying out this with a three-phase machine, an actuator with a higher efficiency and a lower vibration than the conventional one (two-phase machine) can be obtained. (8) According to the eighth or ninth aspect of the present invention, the exciting current waveform of the three-phase machine is not limited to the 120 ° energizing rectangular wave, but is also a microstep staircase waveform or a sine wave. The degree of freedom of the value of the lead angle γ can be increased and γ = 90 ° can be achieved, and the efficiency can be further improved.

(9) According to the tenth aspect of the invention, depending on the value of γ, it can be operated as a three-phase stepping motor or a three-phase brushless motor. A motor can be used, convenience in use, and overall characteristics and economy can be improved with a motor suitable for the load.

[Brief description of drawings]

FIG. 1 is a front view showing a first embodiment of an electric motor drive system of the present invention.

2 is a vertical side view of FIG.

FIG. 3 is a perspective view showing the shape of another rotor that can be applied in the first embodiment.

FIG. 4 is a front view showing a second embodiment of the electric motor drive system of the present invention.

5 is a vertical side view of FIG.

6A and 6B are views showing a third embodiment of the electric motor drive system of the present invention, wherein FIG. 6A is a longitudinal side view, and FIG. 6B is along the line VIB-VIB in FIG. 6A. It is a radial cross section.

FIG. 7 is a diagram showing a fifth embodiment of an electric motor drive system of the present invention, in which FIG. 7A is a waveform diagram of each phase current, and FIG. 7B is each waveform shown in FIG. It is a vector diagram which shows the state of the rotating magnetic field by a phase current.

FIG. 8 is a diagram showing a sixth embodiment of an electric motor drive system of the present invention, where FIG. 8A is a waveform diagram of each phase current, and FIG. 8B is shown in FIG. It is a vector diagram which shows the state of the rotating magnetic field by each phase current.

[Explanation of symbols]

10, 12, 14: Electric motor drive system 20: Reducer 50: Abductor 52, 60: rotor 61: Winding 62: Stator A1 to C2: Main pole

[Procedure amendment]

[Submission date] November 28, 2001 (2001.11.
28)

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0029

[Correction method] Change

[Correction content]

Above all, a three-phase HB type rotating electric machine using an HB type rotor in which two gear-like bodies made of a magnetic material and having a number of teeth P are offset from each other by 1/2 pitch and a permanent magnet magnetized in the axial direction is sandwiched therebetween is used. With the configuration, you can drive star and delta,
It is possible to perform the function of the actuator with excellent cost performance that can also obtain high resolution. in this case,
If the number of teeth of the rotor is P, then P = m (3n ± 1) or P
= K (6n ± 1), the three-phase HB type rotary electric machine is established.
In this case, the latter equation corresponds to m = 2k in the former equation, and is derived from the equation of P = 2k (6n ± 1) / 2. However, in the case of the former formula, m is the number of main stator poles per phase and is an integer of 1 or more, and in the case of the latter formula 2k is the number of main stator poles per phase, and k and n.
Is an integer of 1 or more. For example, with a 12-slot type stator with m = 4, n = 8 and a stepping motor with P = 100, the step angle is 0.6 °. When m = 2, 6 slots, when n = 8, P = 50, and step angle is 1.2 °.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be corrected] 0030

[Correction method] Change

[Correction content]

In this case, the current I in the equation (1) is given by the following equation. I = V / (P · ω _m · L) (3) When ω _m is large, it is necessary to increase the applied V to increase I. Here, L is the inductance. To do this, change the battery voltage to
Apply a high-frequency current with a WM chopper to boost the voltage with a transformer. At low speed, the PWM chopper creates a low-frequency current, and on the contrary, driving is performed at a step-down voltage lower than the battery voltage, which is close to optimal driving. The torque T can be expressed as T = (EI) / ω _m (4). Here, E is the speed electromotive force. At this time, especially when driven by an open loop, the phases of E and I become important. Generally, at low speeds and medium speeds, the phases of both are different and the efficiency is poor, but at high speeds they match and the efficiency is good. Therefore,
This problem can be solved, for example, by performing phase-locked loop control (PLL control) that keeps the rotor phase and the current phase constant. Each of these drive controls corresponds to claims 5 and 6. When the phase of E and I is δ, EIcos δ becomes active power, and therefore equation (4) is rewritten as equation (5) below, and the torque T becomes maximum when δ = 0. T = EIcos δ / ω _m (5) Further, since E is proportional to ω _m , if E / ω _m is kept constant, if δ is controlled to be constant, the torque T has a constant value for each ω _m. Can be taken.

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Claims (10)

[Claims] 1. A winding is wound around each of the main poles provided radially outward from an annular magnetic body, and a stator having an inductor composed of a plurality of magnetic teeth at the tip of each of the main poles and an air gap are maintained. In a rotating electric machine facing an outer rotation type permanent magnet rotor in which N poles and S poles are alternately arranged in an inner peripheral rotation direction, a rotor, an outer peripheral portion or a side surface portion of the rotor may be a tire, a drum, a table, or the like. An electric motor drive system, which is equipped with an abductor. 2. A winding is wound around each main pole radially outwardly from an annular magnetic body, and a stator having an inductor composed of a plurality of magnetic teeth at the tip of each main pole and an air gap are maintained. In a rotating electric machine facing an outer rotor having a rotor made of a magnetic material having magnetic teeth on the inner circumference, the outer periphery or the side surface of the rotor has an outer surface such as a tire, a drum, or a table. An electric motor drive system, which is equipped with a rolling element. 3. The rotating electric machine according to claim 1, wherein a tire is provided on an outer peripheral portion or a side surface portion of the rotor via an output portion of a speed reducer whose output is concentric with a rotating shaft of the rotating electric machine. An electric motor drive system in which abduction bodies such as a drum, a table, etc. are mounted. 4. The electric motor drive system according to claim 1, wherein the stator has a three-phase winding structure. 5. A rotary electric machine according to any one of claims 1 to 3, or a rotary electric machine in which the rotary electric machine according to any one of claims 1 and 2 is an adder type, or this adder A three-phase HB type rotary electric machine of the type having a number of rotor teeth of P, wherein the voltage applied to the rotary electric machine is used by stepping up and down the voltage of a battery to be used. However, P = m (3n ± 1), m is the number of stator main poles per phase, an integer of 1 or more, or P = k (6n ± 1)
2k is the number of main stator poles per phase, and k and n are integers of 1 or more. 6. A rotary electric machine according to any one of claims 1 to 3, or a rotary electric machine in which the rotary electric machine according to any one of claims 1 and 2 is an inversion type, or this inversion type In a three-phase HB type rotary electric machine having the number of rotor teeth of P, the electric motor drive system is characterized by controlling the phase of current with respect to the speed electromotive force of the rotary electric machine. However, P = m
(3n ± 1), m is the number of stator main poles per phase and is an integer of 1 or more, or P = k (6n ± 1), and 2k is the number of stator main poles per phase, and k and n. Is an integer of 1 or more. 7. A rotary electric machine according to claim 1, or a rotary electric machine in which the rotary electric machine according to any one of claims 1 and 2 is an inner rotor type. HB type of P or the number of rotor poles is 2P
The number of cylindrical main poles of N and S alternately magnetized is 3m or 6k
An electric motor drive system characterized in that, in a three-phase rotating electric machine that is an outer rotation or inner rotation type of three-phase windings, the position information of the rotor is obtained to obtain the excitation timing of the windings. However, P = m (3n ± 1), m is the number of stator main poles per phase, which is an integer of 1 or more, or P = k (6n ± 1), 2k is the number of stator main poles per phase. , And k and n are integers of 1 or more. 8. A rotating electric machine according to any one of claims 1 to 3, or an inner rotating type rotating electric machine according to claim 1 or 2, or a rotor having a number of teeth. HB type of P or the number of rotor poles is 2P
The number of cylindrical main poles of N and S alternately magnetized is 3m or 6k
In a three-phase rotating electric machine that is an outer rotation or inner rotation type of three-phase windings, the rotating magnetic field axis by γ degree advanced three-phase AC or micro step or full step excitation with respect to the axis of the current position of the rotor. An electric motor drive system characterized by being excited. However, P = m (3n ± 1), m is the number of stator main poles per phase, and is an integer of 1 or more, or P = k (6n ± 1).
In 1), 2k is the number of main stator poles per phase, and k and n are integers of 1 or more. 9. The electric motor drive system according to claim 8, wherein γ is γ = 90 ° (electrical angle). 10. When γ is 0 <γ ≦ 90 °, the stepping motor is an open loop, and γ is 9
9. The electric motor drive system according to claim 8, wherein when it exceeds 0 °, it is driven as a closed loop brushless motor.