WO2001082455A1

WO2001082455A1 - Multipolar brushless motor

Info

Publication number: WO2001082455A1
Application number: PCT/JP2000/002603
Authority: WO
Inventors: Yoshikazu Ogawa
Original assignee: Yoshikazu Ogawa
Priority date: 2000-04-20
Filing date: 2000-04-20
Publication date: 2001-11-01

Abstract

Three salient poles (15) are protruded inside an iron core (13). U, V, and W phases controlled by three-phase vector are respectively applied to the coils (14) wound around the salient poles (15). Many salient teeth (15a) provided on the faces of the salient poles (15) facing to a rotor (11) are excited. The salient teeth (15a) of one phase are arranged at a pitch of an electrical angle of 360 degrees and are shifted from those of another phase by an electrical angle of 120 degrees relatively to magnets (12). Unlike a stepper motor, such a motor produce an almost constant force in any position for certain three-phase currents by applying currents with three-phase AC vectors having a leading phase of an electrical angle of 90 degrees in the advancing direction or in the direction where the force is produced through the U, V, and W three-phase coils.

Description

Description Multi-pole brushless motor Technical field

The present invention relates to a multi-pole brushless motor that performs linear motion and rotation, and is particularly excellent in miniaturization, high torque, high thrust, and low heat generation, as well as the use amount of permanent magnets, the number of components such as coils, and the manufacturing process. The present invention relates to a multi-pole brushless motor that is excellent in manufacturing cost due to reduction, easy to cool, small in size and light in weight, and has excellent operation and maintenance costs. Background art

Conventional brushless motors eliminate brushes and commutators from DC motors and provide long-life motors from low to high speeds, from small to large with large torque, without generating electrical noise. It has the advantages of being able to be used and has good control performance. It is widely used in machine tools and mouthpieces that require speed control and high-precision positioning. The structure has a rotor with a permanent magnet in the center, an iron core and a drive coil around it, and the current is commutated by an electronic rectifier. It is also well known to develop from a rotary motor to a reciprocating linear motor. Figure 14 is a cross-sectional view of the rotary motor cut along a plane perpendicular to the rotation axis.

(A) shows a motor with 2 poles, (b) shows a motor with 4 poles, (c) shows a motor with 12 poles, (b 2) is a cross-sectional view corresponding to line A--A in (b), (C3) is an explanatory diagram of only the rotor of (c). The magnet 12 of the rotor 11 as a mover has a pitch from the N pole to the next N pole of 360 degrees in electrical angle, and the N pole and S pole have an electrical angle of 180 degrees every 180 degrees. Is placed. On the other hand, the coils 14 'concentratedly wound around the salient poles 15 of the iron core 13 are arranged in the order of U, V, and W phases every electrical angle of 120 degrees. As a result, the coil 14 is energized by a three-phase power source with a phase advanced by 90 degrees in electrical angle in the direction of travel or the direction of force generation.

The pitch at 1 HZ AC and 36 ° electrical angle is from the N pole on the magnet side to the next N pole. It is well known that skew is added to the magnet and Z or iron core magnetized in the radial direction to reduce torque fluctuation. In 3), the skew is measured on the magnet.

Fig. 15 is an explanatory diagram of a linear motor.

The front view to the right, (b) shows a bottom view with partial breakage, and (c) shows a side view. 1

Reference numeral 0 denotes a mover, and reference numeral 12 denotes a permanent magnet, which is arranged so that magnetic poles are alternately arranged. A coil 14 is wound around a salient pole 15 of an iron core 13 opposed thereto. '' Problems the invention is trying to solve

For example, in addition to special applications such as a motor that reciprocates a moving table of a material feeder that intermittently feeds a strip of material to a high-speed press, it is also necessary to improve the performance, resources, and space of general machines. There is a need for a brushless motor that is small, has a large output, generates little heat, and is efficient and inexpensive.

It is well known that the output will increase if more poles are used, but the coil space between salient poles is also narrow, and thin wires are used, the electrical resistance increases, the amount of heat generated per single coil increases, and many coils are provided. The heat generated by the motor itself also increases, and the drive power quantified by the continuous rated torque cannot be increased. Means for solving the problem

Therefore, the present invention solves the above-mentioned problems, and the invention according to claim 1 of the present invention is directed to a mover or a rotor in which a large number of N poles and S poles of permanent magnets are alternately arranged, and an iron is provided in a stator. A multi-pole brushless motor having a core and a coil, in which a mover or a rotor moves back and forth or rotates in the arrangement direction of the permanent magnets with respect to the stator. A large number of teeth are provided, and the teeth are shifted by an electrical angle of 12 ° each in the U-, V-, and W-phases in the direction of travel relative to the permanent magnets. A multi-pole brushless motor characterized by having at least one set of poles in each of the U phase, the 'V phase, and the W phase.

As a result, even if the number of poles is increased to increase the output of the motor,

Since the number of salient poles and coils is not large, the coil winding space is large, and the use of thick wires has reduced the heat generation of the coil and increased the continuous rated output. In addition, the responsiveness of the motor improved because the ratio of the inertia weight of the torque Z rotor could be increased. Furthermore, the same degree Compared with conventional motors that output less torque, the equipment is more compact and lighter, the amount of expensive magnets and wires used and the number of manufacturing steps are reduced, and a multi-pole brushless motor can be provided at low cost. became.

The shape, size, and length of the stator, mover, or rotor of a multi-pole brushless servomotor are not particularly limited.One stator may be provided for one mover, or two This includes the case where the stator is provided on both sides of the mover or the end in the horizontal direction perpendicular to the moving direction is connected to form a cylindrical shape, and the mover reciprocates on the center axis. In addition to the movable magnet type in which a permanent magnet is provided in the mover, a movable coil type in which a magnet is provided in the stator and a coil is provided in one of the movers is included. Furthermore, in addition to the inner rotor type centering on the rotor, an outer rotor type centering on the stator, or a second stator provided inside the cylindrical inner rotor or outside the outer rotor, Also includes the type in which the stator is positioned on both sides or on the inside and outside. Further, the present invention can be applied to a disk-type motor in which a magnet is mounted on a circular side surface of a disk-shaped rotor as well as a cylindrical outer periphery. In the invention according to claim 1, the U-phase, V-phase, and W-phase of the salient poles of the iron core provided with the coil and the protruding teeth are arranged in the moving direction or the rotating direction of the mover or the rotor. Even if the U-phase, V-phase, and W-phase of the salient poles provided with the protruding teeth as in the invention according to claim 2 are arranged in three rows in the transverse direction or the axial direction orthogonal to the moving direction of the mover. Good. As a result, in the linear servomotor, the end effect that causes thrust fluctuation is small and the controllability is excellent.In addition, to increase the moving distance, one set of each of the core and coil is added for each of the VWW phase as before. There is no need to increase the length of the iron core and coil by the increase in the moving distance, and the required minimum size is required. Therefore, the size can be reduced and the motor can be easily manufactured. Further, like the U-phase, V-phase, and W-phase salient poles provided with iron core teeth, the multiple salient poles provided with multiple teeth are formed in respective U-phases as in the present invention according to claim 3. , V-phase and W-phase salient poles, and a pair of salient poles and one set of salient poles. Position the teeth and align the teeth with the compound teeth JP00 / 02603

4 A multi-pole brushless motor is provided by alternately arranging a coil that reverses the direction of current conduction or reverses the winding direction so that the polarity of the tooth teeth and the compound tooth teeth are oppositely excited when energized. Therefore, the output of the motor is large, which can greatly contribute to miniaturization and improvement of mobility. In the invention according to claim 4, the skew is given to the permanent magnet of the motor, or to the protruding teeth provided at the salient poles of the iron core facing the magnet, or both are reduced to reduce the reciprocating motion or the fluctuation of the output of rotation. Because it is a multi-pole brushless motor, vibration and operating noise during operation are reduced, machine durability is improved, motor positioning accuracy is improved, and overall machine operation accuracy is improved. . According to a fifth aspect of the present invention, the coil controlled by the three-phase power supply according to the first aspect is vector-controlled by a three-phase sine wave to reduce reciprocating or rotational output fluctuations and enable efficient operation. Because it is a multi-pole brushless motor, it generates less heat and has less torque fluctuation. Further, in the invention according to claim 6, the coil which is controlled by the 3-phase power supply, by performing the lead angle control for compensating for the lag caused by the excitation of an iron _t mind to energization, the core with respect to the current to be supplied Multi-pole brushless motor characterized in that the actual vector control is delayed due to the delay in the excitation of the motor, and the delay caused by is compensated for, enabling efficient reciprocating or rotating operation. Therefore, the efficiency is good and the heat generation is small. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is an explanatory diagram of a rotary multi-pole brushless motor according to the present invention.

FIG. 2 is an explanatory diagram showing a modification in which the number of salient poles is increased from the rotary motor of FIG. FIG. 3 is an explanatory view showing a modified example in which double salient poles and double salient teeth are added to FIG. FIG. 4 is an explanatory view showing a structure in which the iron core of the rotary motor in FIG. 3 is cut open. FIG. 5 is an explanatory diagram of the rotor. '

FIG. 6 is an explanatory view of a state where the rotor of FIG. 5 is disassembled. FIG. 7 is an explanatory diagram of a linear multi-pole brushless motor according to the present invention.

FIG. 8 is an explanatory view showing a modification in which the skew of FIG. 7B is attached to the magnet side. FIG. 9 is an explanatory diagram showing a modified example in which double salient poles and double salient teeth are added to FIG.

FIG. 10 is an explanatory diagram showing an example in which the coil winding position in FIG. 9 is changed.

FIG. 1] shows a modification example in which the mover of FIG. 7 is arranged on both sides.

FIG. 12 is an explanatory diagram showing an example in which the coil winding position in FIG. 11 is changed.

FIG. 13 is an explanatory diagram showing a development view and an exploded view of the rotary motor.

FIG. 14 is an explanatory diagram showing a conventional rotary motor.

FIG. 15 is an explanatory diagram showing a conventional linear motor.

FIG. 16 is an explanatory diagram showing a method of energizing the motor. Explanation of reference numerals

1-Rotor, 1 2-Magnet, 1 3 '' Core, 14 · 'Coil, 15,' Salient pole, 1 5 3 '-Tooth, 1 5 b' 'Double-tooth, 1 5 c' 'Double salient pole, 1 6' · Rotary axis. Embodiment of the Invention

A preferred example of the multi-pole brushless motor according to the present invention will be schematically described except for a cover, a bearing, wiring, and the like.

FIG. 1 is an explanatory view of the rotary motor having stator teeth provided with protruding teeth. The rotor 11 has permanent magnets 12 of, for example, N poles and S poles each having 9 sets, 58 poles, and iron cores 13. Figure 2 shows the basic form of a multipolar brushless motor in which coils 14 are wound and energized in the three phases U, V, and W. Similarly, Fig. 2 shows a rotor with 58 poles and two sets of three coil phases. I have.

The iron core 13 in Fig. 1 is formed by laminating iron plates, and three salient poles 15 protrude inside. The U, V, and W phases controlled by a three-phase alternating current vector are supplied to the coil 14 wound around the salient poles 15 respectively. Then, a large number of teeth 15 a provided on the surface of the salient pole 15 facing the rotor 11 are excited.

On the other hand, a permanent magnet 12 is attached to the rotor 11, and the magnet 12 is arranged in a radial direction with multipole magnetization with a gap for eliminating torque fluctuation. Further, the protruding teeth 15a are arranged at a pitch of 360 degrees in electrical angle in one phase, and U, V, W in one phase and the other phase in relative positions to the magnet 12. The phase is shifted 120 degrees in electrical angle for each phase.

The operation of such a motor differs from that of a steering motor in that a 3-phase alternating current vector with a phase lead of 9.0 degrees in electrical angle in the traveling direction or the direction of force generation in the U VW 3-phase coil, Generates almost constant force at any position for a constant three-phase current. AC 1 HZ, that is, moving at an electrical angle of 360 degrees Pitch moves from N pole to the next N pole with magnet 12 .

This eliminates the need to arrange a large number of U, V, and W phase salient poles and coils on the iron core in the rotating direction of the rotor. This solves the problem that the continuous rated output cannot be increased because the space is small, the wire diameter is small, the electrical resistance is large, and the heat generation is large. In particular, the salient poles of the iron core and the coils wound around them. By reducing the number of salient poles to three for each of the U, V, and W phases, the space efficiency of coil winding is reduced. Was the largest, the wire diameter of the coil was large, the electric resistance was small, and the heat generation was small, so the continuous rated output could be increased. In addition, such a multi-pole brushless motor needs to detect and specify the position or phase of the magnet 12 of the mover or rotor, and to energize the motor.Therefore, it is necessary to attach a sensor for detecting the position of the magnetic pole, In addition, when controlling with an efficient vector, etc., using a high-precision, high-resolution encoder or the like as the sensor obtains accurate position information of the magnets 12 and obtains the position information. By using it for machine positioning, the control performance of the multi-pole brushless motor is high, the output is large, and the moving parts are small and lightweight. In other words, it is not only optimal for a material feeder of a high-speed press, but also widely applicable to various general machines or devices that require high performance. 3 and 4 are explanatory views of the rotary motor of FIG. 1 provided with double salient poles and multiple salient teeth. FIG. 3 (a) shows a view from the direction of the rotating shaft, and FIG. Fig. 4 (c) shows the central longitudinal section, and Fig. 4 (c) is a schematic diagram developed on a plane to explain the structure of the stator. Is shown. Rotor 1 1 Permanent magnet 1 2 has N pole S pole each 16 * & 32 poles, on the stator side, iron core laminated with iron plate 13 on U, V, W phase Three salient poles 15 are formed.

For one salient pole 15, one double salient pole 15 c is provided in parallel in the axial direction. Coils 14 and 14 are wound around the salient pole 15 and the double salient pole 15c, respectively.

Then, in the rotation direction of the rotor, the teeth 15a provided on the salient poles 15 and the compound teeth 15b provided on the compound salient poles 15c are alternately arranged every 180 degrees in electrical angle, The wound coils 14 and 14a are energized so as to be excited so that the one-phase tooth 15a and the compound tooth 15b have opposite polarities.

In addition, the protruding teeth 15a are arranged at a pitch of 360 degrees in electrical angle in one phase, but in each phase, U, V, and W phases relative to the magnet 12 in the other phases. In electrical angle].

As a result, the working force with the magnet was increased by adding the working force of the compound tooth 15b to the working force of the tooth 15a. 5 and 6 show modified examples of the rotor 11. FIG. 5A is a perspective view of the rotor 11, FIG. 5B is a longitudinal sectional view of the rotating shaft 16, and FIG. 6 is an exploded perspective view. As a result, it is possible to use a magnet material having a large coercive force, which is difficult to perform multipolar magnetization.

In the rotor 11, the protruding yokes 12 a and 12 b are fixed to the rotating shaft 16 via a permanent magnet 12 whose outer periphery is magnetized to the N-pole or the S-pole, and the protrusion 12 a and the protrusion] ... 2 b are alternately combined to form a multipole rotor. Although ^two sets are shown in the figure, one to many sets can be changed according to the length of the rotor and the like.闼 7 (α) indicates the front face with the left and right direction of the reed punch 1 Γ) as the end face, (b) indicates the bottom face with a partial cross section of (a), c) shows the left side of (a).

A permanent magnet 12 is arranged on the mover 10, and N poles and S poles are alternately arranged in the moving direction of the mover 10, and the magnets 12 of the mover 10 are separated by an air gap. An iron core 13 is provided as an opposed stator. And projecting below the iron core 13 The salient poles 15 provided on the many teeth 15 a are arranged in three rows corresponding to the U, V, and W phases in the transverse direction orthogonal to the moving direction of the mover 10. Each coil is wound with a coil 14 and energized by a three-phase alternating current vector, and a number of salient poles 15 a provided on the surface of the iron core 13 facing the mover 10 of the iron core 13 Excited. Thus, the mover 10 can reciprocate in the left-right direction in FIG. 7A, which is the direction in which the permanent magnets 12 are arranged.

Here, a large number of protruding teeth 15a provided on one salient pole 15 are arranged in the same direction as the permanent magnet 12, and the pitch from the N pole of the magnet 12 to the next N pole is 36.0 degrees in electrical angle. The teeth 15a are also arranged at a pitch of 360 electrical degrees.

The protruding teeth 15a. Provided on each of the salient poles 15 'of the U, V, and W phases are the U phase and the V phase, the V phase and the W phase, relative to the position of the permanent magnet 12. The W-phase and U-phase are provided at each electrical angle of 120 degrees. Also, in order to eliminate thrust fluctuation, magnet 1 2 ■ ■ or tooth 15a-skewed on one or both of '1' and '8' in Fig. 7 (b) In the figure, magnets 1 and 2 have skew.

The operation of such a motor is almost the same, except that the rotating motion of the rotary multi-pole brushless motor shown in Fig. 1 is changed to a linear reciprocating motion.

This eliminates the need to dispose a large number of U, V, and W phase salient poles and coils on the iron core in the moving direction of the mover. This solves the problem that the continuous rated output cannot be increased because the space is small, the wire diameter is small, the electrical resistance is large, and the heat generation is large. In other words, the salient poles of the iron core and the coils wound around the salient poles may be one each for the U, V, and W phases, and the number of salient poles is as small as three. Because the wire diameter was large, the electrical resistance was small, and the heat generation was small, the continuous rated output could be increased. FIG. 9 shows a modification of the embodiment shown in FIG. 7 in the same manner. The salient pole 15 in FIG. 7 has a τ-shaped cross section orthogonal to the reciprocating direction of the mover 10, whereas the salient pole in FIG. 9 has an L-shape. Then, multiple salient poles 15c with the L-shaped short sides reversed are added side by side next to the multiple salient poles 15c. Then, in the moving direction of the mover, the protruding teeth 15a provided on the salient poles 15 and the compound teeth 15b provided on the compound salient poles 15c are alternately arranged at an electrical angle of 180 ° 5 every 5 degrees. The wound coils 14 and 14a have one phase tooth 15a and Energize so that the teeth 15b are excited so that they have the opposite polarity.

As a result, the acting force with the magnet is increased by adding the acting force of the double teeth 15b to the acting force of the teeth 15a, and the output is increased. Optimization to a grip-type material feeder for a vehicle. The area of the teeth facing the magnet is the same by making the shape of the salient poles L-shaped, and the suction area of the multiple salient poles is increased to use the magnet's NS poles at the same time. Optimization of the grip type material feeder can be achieved. Fig. 10 shows a modification of the configuration shown in Fig. 9 in order to make the space for coil winding large, to wind a thick electric wire, and to reduce heat generation. ing. The pit poles 15 and 15b are connected to form a gate shape, and one coil 14 is wound around the connection to generate a magnetic flux in the horizontal direction. One coil was energized to further reduce heat. Here, 13a is formed of a non-magnetic material. Fig. 11 shows an example of a modification in which the single-sided linear motor in Fig. 7 (a) is replaced with a double-sided linear motor.Permanent magnets 12 and 12 are arranged on both sides of the mover 10, and the air gear By arranging the stator on both sides of the stator, the output is doubled, and the attraction force between the iron core 13 and the magnet 12, which is a single-sided type and has a large load on the linear guide, is canceled on both sides. The linear guide part is less durable and can maintain mechanical accuracy for a long time. Further, FIG. 12 is a modified example in which the single-sided linear motor of FIG. 11 is changed to a double-sided type, in which coils 14 are shared and wound around iron cores 13 and 13. As a result, the wire used for the coil 14 is shortened, and heat generation is reduced. FIG. 13 is an explanatory view including a partial cross section of a modification in which the linear motor shown in FIG. 9 is applied as a rotary type. Salient pole 1 5 is L-shaped, by adding an L-shaped double salient pole 1 5 c of the short sides was-out GyakuMuko, axially salient pole 1 ⁵ and a double salient pole 1 ⁵ a one The three phases U, V, and W are arranged as phases. The compound teeth 15b provided on the salient poles 15c are alternately arranged in the rotation direction every 180 electrical degrees. The invention's effect

As described above, the invention according to claim 1 provides a large number of teeth on the salient pole surface of the iron core facing the magnet of the multi-pole brushless motor, and the teeth have a U-phase, V-phase electrical angle in the traveling direction relative to the permanent magnet. Phase and W "phase are shifted by 120 degrees each, and the multi-pole brushless motor also uses three-phase AC-controlled coils and salient poles of the iron core as at least one set of U, V, and W phases. As compared with conventional multi-pole brushless motors, the number of salient poles is reduced and the space for coil winding is increased, the wire diameter of the coil can be increased, the electrical resistance value can be reduced, and the heat generation can be reduced. The continuous rated torque can be increased, and compared to conventional motors that output the same level of torque, it is more compact and lightweight, and can be provided at a low cost. Can be significantly lighter In addition, since the attractive force of the magnet and the iron core has been reduced, it can be operated at high acceleration and high frequency, and the wear of the linear guide is small and the accuracy of positioning etc. can be maintained for a long time. it can.

In particular, the invention according to claim 4 provides, in addition to the above-described effects, a skew on the permanent magnets of the motor, or on the protruding teeth provided on the salient poles of the iron core facing the magnets, or on both of the motors so as to perform forward and backward movements. Since it is a multi-pole brushless motor characterized by reduced output fluctuations in rotation, vibration and operating noise during operation are reduced, the durability of the machine is improved, and the positioning accuracy of the motor is improved. The operation accuracy of the entire machine can also be improved. '' In addition, in addition to the above effects, the invention according to claim 5 performs a vector control of a coil controlled by a three-phase power supply using a three-phase sine wave to reduce reciprocating or rotational output fluctuations and to operate efficiently. Because it is a multi-pole brushless motor characterized by the following features, heat generation is reduced and torque fluctuation is reduced.

Claims

The scope of the claims

1. A permanent magnet and a coil are provided on the stator by arranging a large number of N and S poles of permanent magnets alternately on the mover or rotor, and the mover or rotor moves in the direction of arrangement of the permanent magnets with respect to the stator. A multi-pole brushless motor that rotates or rotates,

A large number of teeth are provided on the salient pole face of the iron core facing the magnet, and the teeth are shifted relative to the permanent magnet by an electrical angle of 120 degrees in the U, V, and W phases in the direction of travel. A multi-pole brushless motor having at least one set of U-phase, V-phase and W-phase coils and salient poles of an iron core controlled by a three-phase power supply.

2. The U-phase, V-phase and W-phase of the salient poles according to claim 1 are arranged in three rows in a lateral direction orthogonal to the moving direction of the mover or in an axial direction orthogonal to the rotating direction of the rotor. A multi-pole brushless motor characterized by being installed.

3. The salient poles provided with the toothed teeth according to claim 2 are provided with a plurality of salient poles provided with a plurality of salient teeth in parallel with each of the U phase, V phase, and W phase of the salient poles of the iron core having the salient poles. In addition, the double teeth provided on the other double salient pole are alternately arranged in the middle of the jagged teeth, and a coil is provided so that the polarity of the teeth and the double teeth becomes opposite excitation when power is supplied. Multi-pole brushless motor.

4. A multi-pole brushless motor, wherein skew is applied to the permanent magnet according to claim 3 and / or a protruding tooth provided on a salient pole of an iron core to reduce reciprocating or rotational output fluctuation.

5. The coil controlled by the three-phase power supply according to claim 1 is controlled by a vector using a three-phase sine wave to reduce reciprocating or rotational output fluctuations, thereby enabling efficient operation. Characteristic multi-pole brushless motor. '

6. Advancing control is performed on the coil controlled by the three-phase power supply described in claim 1 to compensate for the delay caused by the excitation of the iron core with respect to energization, thereby enabling efficient reciprocating or rotating operation. Multi-pole brushless motor characterized by the following.