WO2011029227A1 - 大直径的方波三相无刷永磁直流电机及其装配方法 - Google Patents

大直径的方波三相无刷永磁直流电机及其装配方法 Download PDF

Info

Publication number
WO2011029227A1
WO2011029227A1 PCT/CN2009/073868 CN2009073868W WO2011029227A1 WO 2011029227 A1 WO2011029227 A1 WO 2011029227A1 CN 2009073868 W CN2009073868 W CN 2009073868W WO 2011029227 A1 WO2011029227 A1 WO 2011029227A1
Authority
WO
WIPO (PCT)
Prior art keywords
teeth
tooth
phase
core
small
Prior art date
Application number
PCT/CN2009/073868
Other languages
English (en)
French (fr)
Inventor
杜坤梅
Original Assignee
Du Kunmei
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Du Kunmei filed Critical Du Kunmei
Priority to PCT/CN2009/073868 priority Critical patent/WO2011029227A1/zh
Priority to CN2009801046264A priority patent/CN102124629B/zh
Publication of WO2011029227A1 publication Critical patent/WO2011029227A1/zh

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
    • H02K1/148—Sectional cores
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present invention relates to a large-diameter permanent magnet motor, and more particularly to a large-diameter square wave three-phase brushless permanent magnet DC motor and an assembly method thereof.
  • This type of motor can be used as a motor for direct drive or position and rate servo control; this motor can also be used as a wind turbine. Background technique
  • the permanent magnet motor can be divided into two major categories: sine wave and square wave according to the driving current and back electromotive waveform.
  • a sine wave permanent magnet motor is called a permanent magnet homogen motor (PMSM), or a sine wave AC servo motor.
  • PMSM permanent magnet homogen motor
  • BLDCM square wave brushless DC motor
  • Permanent magnet motors are reversible and can be used both as electric motors and as generators.
  • the square wave permanent magnet generator has a larger output than the sine wave permanent magnet generator by ⁇ /2 , which is 1.57 times.
  • square wave permanent magnet motors have been widely used.
  • the external characteristics of square wave permanent magnet motors are basically the same as those of brushed DC motors.
  • the control is relatively simple, but its biggest disadvantage is the existence of large principle commutation torque fluctuations.
  • the researchers proposed a variety of compensation measures, but the actual application results are not satisfactory.
  • the ideal motor should have the characteristics of small volume, large torque, small torque fluctuation, high efficiency and low cost. However, in the real world, it is often only possible to balance this concept.
  • the priority is motion control performance, power, size, efficiency, and price.
  • the servo motor must overcome the cogging effect and have small positioning torque, torque fluctuation or speed fluctuation, which can be at low speed. Continuously and smoothly driven under large torque.
  • the torque fluctuations that occur There are many reasons for the torque fluctuations that occur. It is generally believed that the main reasons are: the positioning torque generated by the cogging, the non-sinusoidal distribution of the air gap magnetic field and the non-sinusoidal current of the three-phase current.
  • the cogging effect directly generates the positioning torque fluctuations related to the number of teeth and slots; the non-sinusoidal distribution of the air gap magnetic field generates the harmonic potential of the back EMF (MMF) harmonics and current harmonics; therefore, the torque fluctuation of the servo motor is caused by:
  • MMF back EMF
  • Each positioning torque and harmonic torque are composed.
  • the main harmonic order is related to the number of teeth, the number of slots, the number of poles and their multiplication, the multiplier, and the number of beats.
  • the large pole motor involved in the invention is also called a concentrated winding motor, which has the characteristics of small winding end, small copper consumption, simple structure and low production cost, and has developed rapidly in the past ten years.
  • Figure 1 shows an 8-pole, 9-slot, large-pole, three-phase permanent magnet brushless motor.
  • the uppermost N pole is facing one tooth, the left side is the A+ winding, and the right side is the A-winding.
  • the electrical distance of the slot is:
  • the 3 sin pitch factor is:
  • C is the minimum common divisor of the number of poles and slots.
  • the cogging fit also affects the material utilization of the motor, ie the winding factor, which requires a winding factor close to one.
  • the above methods have their advantages and disadvantages, such as: adding air gap, reducing magnetic load, using ironless permanent magnet motor and non-cogging permanent magnet motor, resulting in a decrease in electromagnetic load and power density of the motor, and causing the air gap magnetic field to be sinusoidal
  • Adopting a stator chute or a permanent magnet rotor or a stator using a fractional tank method per phase per phase which increases the production cost, reduces the material utilization rate, and causes the air gap magnetic field to be sinusoidal.
  • Reduce the stator slot The increase in leakage flux causes the loss to increase.
  • the air gap magnetic field is sinusoidal due to the surface chamfering of the permanent magnet, sinusoidal, uneven air gap, and short distance of the permanent magnet.
  • the purpose of the unequal distribution of the slots of the stator is also to make the air gap magnetic field sinusoidal.
  • the above method is a traditional effective method for sine wave servo motors. However, the traditional methods are not applicable to square wave servo motors.
  • a low-fluctuation permanent magnet brushless motor having an unequal width structure wherein the tooth width of the stator teeth is larger or smaller than the tooth width of the adjacent teeth or the groove width of the stator slot is larger than Or less than the groove width of the adjacent groove; or the magnetic pole width of the rotor core is greater or smaller than the width of the adjacent magnetic pole or the spacing between the magnetic poles of the rotor core is greater or smaller than the spacing between adjacent magnetic poles.
  • the use of different size teeth (unequal width teeth) stator core design may affect the number and magnitude of positioning torque. Improper design will result in greater positioning torque.
  • the utility model patent also adds a rotor core magnetic pole unequal width method at the expense of generating a motor back EMF asymmetry.
  • the utility model patent also adds a method of eccentricity of the inner surface of the stator core, which is also costly to produce a motor back electromotive force.
  • the motor back EMF asymmetry is a fatal flaw for servo motors.
  • the target of this utility model patent is a low-power variable speed drive motor with low performance. Summary of the invention
  • the invention solves the problems existing in the existing square wave permanent magnet motor and the sine wave permanent magnet motor, and proposes a new principle, a new structure, a high performance and a low cost large square wave permanent magnet motor.
  • the order of the concentrated windings and teeth is: Large-toothed A-phase concentrated winding, small teeth, one large tooth, and B-phase concentrated winding. a small tooth and a large tooth on the C phase concentrated winding a small tooth, and so on; wherein the stator core includes a large tooth core and 72 independent small tooth cores, each adjacent two large teeth The yoke portion is provided with a plunging groove, and there are 72 plunging grooves, and each of the small tooth cores is inserted into one of the large tooth cores through the tail portion thereof to form 72 holes. Small teeth.
  • the slot width between the adjacent large and small teeth on the stator core is 0.1 to 3.0 mm; each large tooth occupies a circumferential electrical angle of 150 to 234, each The small teeth plus the slots on both sides occupy a circumferential electrical angle of 90° ⁇ 6°, and the sum of the electrical angles of one large tooth and one small tooth is equal to 240°.
  • a more preferable solution is that each of the large teeth occupies a circumferential electrical angle of 195° to 205°, and each of the small teeth plus the slots on both sides thereof occupy a circumferential electrical angle of 45° to 35°.
  • the slot width between the adjacent large and small teeth on the stator core is 0.1 to 3.0 mm ; among the 72 large teeth, 36 are the circumferential electrical angle 224.
  • the first large tooth of ⁇ 2 °, the other 36 is the second largest tooth with a circumferential electrical angle of 192 ° ⁇ 2 °; each small tooth plus the slot on both sides accounts for 32 ° ⁇ 2 ° of the circumferential electrical angle ;
  • the order of arrangement between the teeth is: a first large tooth, a small tooth, a second large tooth, a small tooth, and the like; and an adjacent group of the first large tooth, small tooth, second large tooth, small tooth
  • the sum of the circumferential electrical angles is 480 °.
  • the large tooth core may be an integral integral large tooth core; or 72 single large tooth cores of the same structure, between the adjacent two single large tooth cores The center lines of the stator slots of the two large teeth are spliced to each other.
  • the permanent magnets N and S of the rotor core are arranged in phase, and the permanent magnet is a radially magnetized tile-shaped magnetic steel or a parallel magnetized tile-shaped magnetic steel.
  • the magnetic steel is an equal-radius-shaped magnetic steel or a chamfer-shaped magnetic steel; the physical air gap between the stator and the rotor is 1 to 4 mm; the pole distance of the permanent magnet on the rotor core is (1 ⁇ ) 0.8) ⁇ ⁇ /4, where D is the outer diameter of the rotor; and further includes a rotor position sensor made of a Hall position sensor, the magnetic sensitive direction of the Hall position sensor is consistent with the normal direction of the rotor, and is mounted on the stator An air gap of 1 to 3 mm is maintained between the bracket and the outer circumference of the permanent magnet of the rotor.
  • 24 concentrated windings belonging to the same phase may be sequentially connected in series in a circumferential order and then led out to form a group of A-A', B-B', C-C' three-phase windings. It is also possible to connect 24 concentrated windings belonging to the same phase into 12 parallel units in series, and then sequentially connect them in series to form a group of A-A', B-B', C-C' three-phase windings. It is also possible to separately draw 24 concentrated windings belonging to the same phase to form 24 sets of A-A', B-B', C-C' three-phase windings.
  • the present invention also provides an assembly method for the foregoing motor, wherein when the large tooth core is an integral integral large tooth core, after the large tooth core is made, the large teeth are insulated first. Processing, reuse The winding machine winds the concentrated winding on 72 large teeth, and then inserts 72 small tooth cores into the 72 intrusion grooves of the large tooth core respectively, that is, each of the phases has 24 concentrated windings. Stator core.
  • the present invention also provides another assembly method for the foregoing motor, wherein when the large tooth core is composed of 72 single large tooth cores, the individual large tooth cores are separately insulated. Then, the winding machine is used to wind the concentrated windings on the individual large tooth cores, and then the 72 single large tooth cores and the three small tooth cores are made of A phase single large tooth cores.
  • the small teeth in the present invention are embedded structures, and the small teeth are not installed first, leaving a space for the winding of the concentrated windings to be very convenient, and the automatic winding of the machine can ensure a tank full rate of more than 85%.
  • a motor its output is 33% larger than that of a conventional sine wave permanent magnet servo motor, and the winding end is more than three times smaller than a conventional sine wave permanent magnet servo motor, so the copper consumption is greatly reduced.
  • the motor is driven by three-phase square wave current, it can produce a stable torque, and its torque fluctuation index is equivalent to that of a sine wave permanent magnet servo motor.
  • the motor of the invention is particularly suitable for large-scale wind turbines, since there are 24 concentrated windings per phase, which is equivalent to 24 three-phase brushless permanent magnet generators with the same phase and amplitude, and the same motor is concentrated.
  • the series and parallel windings can realize different speeds and different power capacities.
  • FIG. 1 is a schematic view showing a structure of a stator and a rotor of an 8-pole 9-slot motor in the prior art
  • FIG. 2A is a schematic view showing a structure of a stator and a rotor of a motor according to a preferred embodiment of the present invention
  • FIG. 2B is a diagram showing another embodiment
  • 1. Schematic diagram of the stator and rotor unfolding structure of the second two types of large teeth motors;
  • FIG. 3 is a schematic view showing the structure of a motor assembly in a preferred embodiment of the present invention.
  • FIG. 4A is a schematic view showing the angular distribution of the stator teeth and the grooves in the embodiment shown in FIG. 2A;
  • 4B is a schematic view showing the angular distribution of the stator teeth and the grooves in the embodiment shown in FIG. 2B;
  • Figure 5A is a schematic view showing the structure of the integrated integral large tooth core
  • FIG. 5B is a schematic structural view of a small tooth core
  • 5C is a schematic view showing a fitting structure of a unitary integral large tooth core and a plurality of small tooth cores
  • FIG. 6 is a schematic structural view of a block type stator core according to another embodiment
  • Fig. 7 is a view showing the arrangement of 24 concentrated windings in parallel in parallel and then in series in one embodiment of the present invention. detailed description
  • the main components of the motor include a rotating shaft 30, a rotor 1, a stator 2, etc., and a physical air gap 5 between the rotor 1 and the stator 2 is 1 to 4 mm.
  • the Hall position sensor is used as the rotor position sensor, and the magnetic sensitive direction of the Hall position sensor is consistent with the normal direction of the rotor, and is mounted on the stator bracket 20 and maintained with the outer circumference of the rotor magnet (ie, the permanent magnet). ⁇ 3mm air gap.
  • the outer diameter of the stator core is 1600 mm
  • the inner diameter is 1400 mm
  • the physical air gap is 3 mm
  • the pole distance of the permanent magnet is 44 mm
  • the rated speed of the motor is 200 rpm
  • the rated power is 500 KW.
  • the rated torque is 23800Nm and the positioning torque is less than 4Nm.
  • the expansion shown in Fig. 2 is drawn here.
  • the structure is equivalent to the inner ring of the stator 2 and the outer ring of the rotor 1 of the ring structure.
  • 48 pairs of 96 permanent magnets that is, 96 magnetic poles, are arranged on the rotor core, and they are arranged in the N and S phases shown in Fig. 2 to generate an air gap magnetic field.
  • the permanent magnet may be a radially magnetized tile-shaped magnetic steel or a parallel magnetized tile-shaped magnetic steel.
  • the pole pitch of the permanent magnet on the rotor core is (1 ⁇ 0.8) ⁇ ⁇ /4, where D is the outer diameter of the rotor.
  • the number of slots of the stator core ⁇ 144, corresponding to 144 slots, 144 teeth; as shown in FIG. 5C, the width of the slot of the stator slot 4 (ie, between the adjacent large teeth and the lower end of the small teeth)
  • the gap is 0. 1 ⁇ 3mm;
  • 144 teeth include 72 large teeth and 72 small teeth, and are arranged in the order of large teeth ⁇ small teeth ⁇ large teeth-small teeth in the circumference.
  • the three-phase windings are concentrated windings, and the winding machines are respectively used (the stator concentrated winding winding machine) Directly wound on the large teeth after the insulation treatment, the order of the concentrated windings and the teeth is: Large-toothed A-phase concentrated winding, small teeth, one large tooth, B-phase concentrated winding, one small tooth, one large tooth, and the C-phase concentrated winding Small teeth, and so on; it can be seen that the motor has 72 concentrated windings, and each of the three phases A, B, and C has 24 concentrated windings.
  • each large tooth occupies a circumferential electrical angle of 150° to 234°
  • each small tooth plus its two sides of the slot occupies a circumferential electrical angle of 90° to 6°
  • one large tooth and one small tooth The sum of the electrical angles is equal to 240°.
  • each large tooth preferably occupies a circumferential electrical angle of 195° to 205°
  • each of the small teeth plus the notches on both sides preferably occupy a circumferential electrical angle of 45° to 35°.
  • 36 are the first large teeth occupying a circumferential electrical angle of 224 ° ⁇ 2 °, and the other 36 are circumferential electrical angles of 192 ° ⁇ 2 °.
  • stator core comprises an integral integral large tooth core 9 and 72 small tooth cores 8; 72 large teeth are arranged on the large tooth core 6.
  • the yoke portion between the adjacent two large teeth is respectively provided with a plunging groove 11 and a total of 72 plunging grooves; each of the small tooth cores 8 is inserted into one of the large tooth cores 9 through its tail portion. Break into slot 1 1.
  • the large tooth core 9 is composed of a plurality of large-tooth silicon steel sheets, and the yoke portion and the tooth portion of each of the large-tooth silicon steel sheets are provided with positioning blind holes 12 through which the multi-layer large-tooth silicon steel sheets are riveted.
  • each of the small tooth cores 8 is composed of a plurality of small-tooth silicon steel sheets; each of the small-tooth silicon steel sheets 10 is also provided with a positioning blind hole 12 through which the multi-layer small-tooth silicon steel sheets are riveted into a unitary structure.
  • the large-toothed iron core 9 and the respective small-toothed iron cores 8 have the same number of layers of silicon steel sheets.
  • the intrusion groove 11 is a dovetail structure having a large inner portion and a small mouth portion; accordingly, the tail portion of each of the small tooth cores 8 in Fig. 5B is also a dovetail structure, which can be exactly the same as Engage in slot 11 to engage.
  • the large teeth are insulated, and then the winding machine is used to wind the concentrated winding on 72 large teeth, and then 72 said
  • the small tooth cores are respectively embedded in the 72 intrusion grooves of the large tooth core, that is, the stator cores having 24 concentrated windings per phase.
  • the integral large tooth core 9 having 72 large teeth is centered on the stator groove between two adjacent large teeth (ie, each intrusion groove) The center line is divided into 72 parts for the reference and becomes 72 single large tooth cores.
  • the 72 individual large tooth cores are insulated, and then the winding machine is used to wind the concentrated windings on 72 single large tooth cores, and then 72 concentrated windings are wound.
  • Large tooth core and 72 small tooth cores according to A phase single large tooth core, small tooth core, B phase, single tooth core, small tooth core, C phase, single tooth core The order of the small tooth cores is assembled in sequence to form a stator core having 72 concentrated windings.
  • the structure of 72 single large tooth cores is identical, which is convenient for processing and production. Then, 72 single large tooth cores can be selected to form a complete large tooth core by setting bosses and recessed holes.
  • 72 single large tooth cores can be selected to form a complete large tooth core by setting bosses and recessed holes.
  • the snap structure shown in FIG. 6 of the patent No. CN101371425A is used.
  • the 24 concentrated windings belonging to the same phase can be sequentially connected in series in the circumferential order and then led out to form a group of A-A', B-B', C-C' three-phase windings.
  • the sum of the electrical angles of a large tooth and a small tooth is equal to 240°, and the magnetic pole covering technique in the range of the electrical angle of 150° to 234° is used to make the air gap magnetic field have a flat top area of 120° or more;
  • the non-uniform cogging and the magnetic balance small teeth are adopted, and the small tooth electric angle of 90° ⁇ 6° minimizes the positioning torque.
  • the magnetic pole covers up to 120.
  • the winding pitch coefficient k pl lo then the winding coefficient k w corp lk X k p ⁇ of the square wave three-phase brushless permanent magnet DC motor. More importantly, after the magnetic pole is covered, the armature reaction of the motor is globally magnetized, thereby greatly optimizing the armature reaction of the motor.
  • the controller can adopt a new concept of square wave brushless motor continuous current sampling and closed loop control, and its comprehensive performance exceeds the sine wave AC servo system.
  • the square wave three-phase brushless permanent magnet DC motor can replace the existing sine wave AC servo motor and its servo unit, and become the main branch of the future servo motor and its servo unit.
  • the motor of the invention can be used as a generator, has the advantages of small internal resistance and high voltage regulation rate.
  • the motor is particularly suitable for large wind turbines, wherein each phase has 24 concentrated windings, which is equivalent to 24 phases and the same amplitude.
  • the invention develops an asymmetric slot large pole motor based on the large pole motor.
  • the asymmetric winding large pole motor has a concentrated winding coefficient of 1, and the pole/slot ratio is 2/3.
  • the number of teeth of the large pole motor is the number of slots, of which 1/2 of the teeth have concentrated windings, and 1/2 of the teeth are none.
  • the asymmetric slot large pole motor has a large winding coefficient, a small number of concentrated windings, a large reduction in copper consumption, a significant improvement in the armature reaction of the motor, and a greatly simplified motor manufacturing process.
  • the large pole motor of the invention can be applied to industrial fields and civil fields, and mainly includes:
  • High-efficiency, high-precision equipment for heavy-duty CNC machine tools such as five-axis linkage super heavy-duty CNC boring and milling machine, five-axis linkage super heavy-duty propeller blade machining machine), wind power, metallurgy, automotive, etc.;
  • Light alloy materials (aluminum, magnesium) Forming and processing equipment, stamping automatic line, precision casting automatic line, robot armored automation equipment, robotic spray equipment, assembly automation equipment;
  • high-precision, high-speed, complete manufacturing equipment required for electronic and communication equipment manufacturing including Special equipment for machine dressing (automatic placement machine, high-precision large-size automatic printing machine, high-speed component insertion equipment, high-speed drilling equipment for circuit boards), special production equipment (lithography machine, metal organic chemical parts extension, lake Product, etching system), and other generalized numerical control machinery, such as textile machinery, printing machinery, packaging machinery, medical equipment;
  • Industrial robots and robots such as splicing robots, dispensing robots, handling robots, packaging robots, large motion simulation platforms, etc.;

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Description

大直径的方波三相无刷永磁直流电机及其装配方法 技术领域
本发明涉及大直径永磁电机，更具体地说，涉及一种大直径的方波三相无 刷永磁直流电机及其装配方法。这种电机可用作电动机， 用于直接驱动， 或者 是位置、 速率伺服控制； 这种电机还可用作风力发电机。 背景技术
永磁电动机根据驱动电流及反电势波形可分为正弦波和方波两大类。一般 将正弦波永磁电动机称为永磁同歩电动机 (PMSM)，或称为正弦波交流伺服电动 机。 另一类方波永磁电动机则称为方波无刷直流电动机（BLDCM)。
永磁电机是可逆的既可用作电动机也可用作发电机。方波永磁发电机的出 力比正弦波永磁发电机大 π /2 , 即 1. 57倍。
80 年代期间， 方波永磁电动机获得了普遍应用， 方波永磁电动机的外特 性和有刷直流电动机基本相同， 控制比较简单，但其最大的缺点是存在较大的 原理性换向力矩波动， 对此， 研究人员提出了多种补偿措施， 但实际应用效果 不理想。
由于正弦波永磁电动机的力矩波动则远小于方波永磁电动机， 90 年代期 间，在精密伺服驱动应用场合， 方波永磁电动机逐渐被正弦波永磁电动机所替 代， 目前已经成为现今工业应用的主流。然而， 正弦波永磁电动机会导致控制 系统复杂性大幅增高和成本大幅增加， 更重要的是电动机的力能指标大幅下 降。
另一方面，传统方波无刷直流电动机及其控制技术被公认已经成熟， 由于 前述缺陷， 导致其被限定在要求不高的场合应用， 国内外对其研究已经很少。
理想电动机应具有体积小、力矩大且力矩波动小、效率高且成本低等特点。 但是现实世界中，往往只能兼顾并不能全面满足这种理念。通常设计高性能伺 服电动机时， 优先顺序为运动控制性能、 功率、 尺寸、 效率和价格。 伺服电动 机必须克服齿槽效应，具有小的定位力矩、力矩波动或者速度波动，能在低速、 大力矩下连续平稳驱动。
产生的力矩波动的原因很多。一般认为， 主要原因是： 齿槽效应产生的定 位力矩， 气隙磁场的非正弦分布和三相电流非正弦。 齿槽效应直接产生与齿、 槽数相关的定位力矩波动； 气隙磁场的非正弦分布产生反电势 (MMF)谐波与电 流谐波产生谐波力矩； 因此， 伺服电动机的力矩波动是由： 各次定位力矩和谐 波力矩构成的。 其主要谐波次数与齿数、 槽数、 极数及其互乘数、 倍乘数、 差 拍数有关。
本发明涉及的大极电机又叫集中绕组电机， 它具有绕组端部小、 铜耗小、 结构简单、 生产成本低等特点， 近十年内发展很快。 通常定义每极每相槽数 q = S/ (2Pm)的值小于或等于 1/2的电机为大极电动机或集中绕组电机， 其中 S 是槽数， m是相数， P是极对数。 如图 1所示是一个 8极 9槽大极三相永磁无 刷电动机。其中有 4个 N极、 4个 S极间隔排列， 共 8个极； 对应设有 9个槽， 每个槽中装有相邻两个绕组的各一半。例如最上部的 N极正对一个齿， 其左侧 是 A+绕组、 右侧是 A-绕组。 其中， 槽距电角度为：
4 x 360
a - - = 160
9
Figure imgf000004_0001
S1n (丁)
Kdl = · = 0.960
20
3 sin 节距系数为：
= sin(—x 90) = 0.985
9
Figure imgf000004_0002
K KdlKpl = 0.946 主要定位力矩次数:
=极 槽 =8 9/1=72 上述公式中， C 是极、 槽数的最小公约数。 该次数 Kc 与极数的比是 8/72=1/9， 即定位力矩的次数为基波的 9倍。一般认为各次定位力矩的幅值与 次数的数值成反比， 或认为各次定位力矩的幅值不大于每相基波力矩的 1/9。 因此齿槽配合的设计原则是：要求最低次定位力矩的次数相对于基波力矩的次 数尽可能大。齿槽配合还会影响电机的材料利用率， 即绕组系数， 要求绕组系 数接近 1。
几种 "大极电机" 的绕组系数和定位力矩次数
Figure imgf000005_0001
公开号 CN101030721A的发明专利申请中， 公开了极、 槽数值没有公约数 的齿槽配合方案 (例如： 21槽 26极， 33槽 38极或 40极）。另外申请人科勒摩 根公司的公开号 CN1856921A发明专利申请公开了槽与磁极的比值大于 0. 75 且小于 1. 0的永磁电动机（例如： 36槽 46极， 30槽 38极）。 这类永磁电动机 以获得正弦型气隙磁场和较小的定位力矩为目标，可惜这类仅仅利用齿槽配合 的方法效果很有限， 其齿槽效应产生的定位力矩仍比较大， 一般只能达到额定 力矩的（5〜1) %水平。
上述 "大极电机" 已经在不同场合获得应用。 然而单纯通过齿槽配合来 减小定位力矩的作用仍不能满足伺服电机的要求。于是又产生了大量通过均匀 化气隙磁阻来进一歩减小定位力矩的方法， 包括： 1)无铁芯永磁电机； 2)无齿 槽永磁电机； 3)定子斜槽或永磁转子斜极； 4)减小定子槽口； 5)永磁体表面削 角、 正弦化、 不均匀气隙、 永磁体短距等导致气隙磁场正弦化； 6)定子的齿槽 不等距分布； 7)定子采用每极每相分数槽； 8)增加每极槽数； 9)加大气隙； 10) 降低磁负荷。
上述方法都有其利弊， 例如： 加大气隙、 降低磁负荷、 采用无铁芯永磁电 机和无齿槽永磁电机的方法， 导致电机电磁负荷和功率密度下降， 并导致气隙 磁场正弦化； 采用定子斜槽或永磁转子斜极或定子采用每极每相分数槽方法， 使生产成本提高， 材料利用率下降， 并导致气隙磁场正弦化。减小定子槽口使 漏磁增加导致损耗变大。 采用永磁体表面削角、 正弦化、 不均匀气隙、 永磁体 短距等导致气隙磁场正弦化。通常采用定子的齿槽不等距分布的目的也是使得 气隙磁场正弦化， 上述方法对正弦波伺服电机是传统的有效方法。 但传统的 方法均不适用于方波伺服电机。
实用新型专利 ZL 200720070700. 3中， 公开一种不等宽结构的低波动永磁 无刷电机， 其中， 定子齿的齿宽大于或小于相邻齿的齿宽或者所述定子槽的槽 宽大于或小于相邻槽的槽宽；或者所述转子铁芯的磁极宽度大于或小于相邻磁 极的宽度或者所述转子铁芯磁极间的间距大于或小于相邻磁极间的间距。一般 来讲采用不同的大小齿 (不等宽齿)定子铁芯设计，可能对定位力矩的次数和幅 值产生影响， 设计不当， 将反而导致更大的定位力矩。 该实用新型专利还附加 转子铁芯磁极不等宽方法， 其代价是产生了电机反电势不对称。该实用新型专 利还附加定子铁芯的齿内表面为偏心的方法，其代价也是产生了电机反电势不 对称。 电机反电势不对称对于伺服电机是致命缺陷， 该实用新型专利的目标是 性能较低的小功率调速驱动电机。 发明内容
本发明要解决现有方波永磁电动机和正弦波永磁电动机所存在的问题，提 出一种新原理、 新结构、 高性能、 低成本的大极方波永磁电机。
本发明的技术方案是，提供一种大直径的方波三相无刷永磁直流电机，所 述电动机的转子铁芯上装有多对永磁体， 定子的槽中装有三相绕组， 其特征在 于， 所述转子铁芯上的磁极数 2P=96; 所述定子铁芯上的槽数 Z=144， 相应有 144个齿， 其中包括 72个大齿、 72个小齿； 所述三相绕组为集中绕组， 分别 绕在 72个大齿上， 每相有 24个集中绕组， 所述集中绕组和齿的排列次序是： 大齿上 A相集中绕组一小齿一大齿上 B相集中绕组一小齿一大齿上 C相集中绕 组一小齿， 依此类推； 其中， 所述定子铁芯中包括大齿铁芯和 72个独立的小 齿铁芯， 每相邻两个大齿之间的轭部设有一个锲入槽， 共有 72个锲入槽， 每 个所述小齿铁芯通过其尾部锲入在所述大齿铁芯的其中一个锲入槽中，进而形 成 72个小齿。 本发明的优选方案中，所述定子铁芯上相邻大齿与小齿之间的槽的槽口宽 度为 0.1〜3.0mm; 每个大齿占圆周电角度 150°〜234°， 每个小齿加上其两侧 槽口占圆周电角度 90°〜6°， 且一个大齿与一个小齿的电角度之和等于 240°。 为进一歩减小定位力矩，更优选的方案是，每个大齿占圆周电角度 195°〜205°， 每个小齿加上其两侧槽口占圆周电角度 45°〜35°。
本发明的另一优选方案中，所述定子铁芯上相邻大齿与小齿之间的槽的槽 口宽度为 0.1〜3.0mm; 72个大齿中， 36个为占圆周电角度 224° ± 2 ° 的第一 大齿， 另 36个为占圆周电角度 192° ± 2 ° 的第二大齿； 每个小齿加上其两侧 槽口占圆周电角度 32° ± 2° ; 所述各齿之间的排列次序是： 第一大齿一小齿一 第二大齿一小齿， 依此类推； 且相邻一组第一大齿、 小齿、 第二大齿、 小齿占 圆周电角度之和为 480 ° 。
本发明中， 所述大齿铁芯可以是一体式的整体大齿铁芯； 或者由 72个相 同结构的单体大齿铁芯组成，相邻两个单体大齿铁芯之间在该两个大齿的定子 槽中心线处相互拼接。
本发明中， 所述转子铁芯上各个永磁体 N、 S磁极相间排列， 所述永磁体 是径向充磁的瓦形磁钢、或者是平行充磁的瓦形磁钢，所述瓦形磁钢为等半径 瓦形磁钢或削角瓦形磁钢； 所述定子与转子之间的物理气隙为为 l〜4mm; 所 述转子铁芯上的永磁体的极距为 (1〜0.8) Χ πΟ/4， 其中 D是转子外径； 其中还 包括由霍尔位置传感器制成的转子位置传感器，所述霍尔位置传感器的磁敏感 方向与转子法线方向相一致， 安装于定子支架上， 并与转子永磁体外圆之间保 持 l〜3mm的气隙。
本发明中， 可将属于同一相的 24个集中绕组按圆周顺序依次串联后再引 出， 形成一组 A-A'、 B-B'、 C-C'三相绕组。 还可将属于同一相的 24个集中绕 组先两两并联成 12个并联单元， 再依次串联后引出， 形成一组 A-A'、 B-B'、 C-C'三相绕组。也可将属于同一相的 24个集中绕组分别单独引出， 形成 24组 A-A'、 B-B'、 C-C'三相绕组。
本发明还提供一种针对前述电机的装配方法，其中， 当所述大齿铁芯为一 体式的整体大齿铁芯时， 在制成所述大齿铁芯后， 先对大齿做绝缘处理， 再用 绕线机在 72个大齿上绕制集中绕组，然后将 72个所述小齿铁芯分别嵌入所述 大齿铁芯的 72个锲入槽中， 即构成每相具有 24个集中绕组的定子铁芯。
本发明还提供一种针对前述电机的另一装配方法，其中， 当所述大齿铁芯 由 72个单体大齿铁芯组成时， 先分别对各个单体大齿铁芯做绝缘处理， 再用 绕线机分别在各个单体大齿铁芯上绕制集中绕组， 然后再将 72个单体大齿铁 芯与三个小齿铁芯按 A相单体大齿铁芯一小齿铁芯一B相单体大齿铁芯一小齿 铁芯→C相单体大齿铁芯一小齿铁芯的顺序， 依次装配， 构成具有 72个集中 绕组的定子铁芯。
由上述方案可知， 本发明中的小齿是嵌入式结构， 先不装小齿， 留出空间 使集中绕组的绕制非常方便， 即使机器自动绕线也能保证 85%以上的槽满率。 作为电动机时， 其出力比传统正弦波永磁伺服电机大 33%, 绕组端部比传统正 弦波永磁伺服电机小 3倍以上，所以铜耗大幅度减少。该电机采用三相方波电 流驱动时， 能产生平稳的力矩， 其力矩波动指标与正弦波永磁伺服电机相当。 本发明的电机特别适用于大型风力发电机， 由于每相有 24个集中绕组， 相当 于有 24个相位和幅值相同、 各自独立的三相无刷永磁发电机， 于是同一台电 机通过集中绕组的串并联， 可以实现不同转速、 不同功率容量。 附图说明
下面将结合附图及实施例对本发明作进一歩说明， 附图中：
图 1是现有技术中的 8极 9槽电机的定、 转子剖面结构示意图； 图 2A是本发明一个优选实施例中电机的定、 转子展开结构示意图； 图 2B是另一实施例中有第一、 第二两种大齿时电机的定、 转子展开结构 示意图；
图 3是本发明一个优选实施例中电机总装结构示意图；
图 4A是图 2A所示实施例中的定子齿、 槽角度分布示意图；
图 4B是图 2B所示实施例中的定子齿、 槽角度分布示意图；
图 5A是一体式的整体大齿铁芯的展示结构示意图；
图 5B是小齿铁芯的结构示意图； 图 5C是一体式的整体大齿铁芯与多个小齿铁芯的配合结构示意图； 图 6是由另一实施例分块式定子铁芯的结构示意图；
图 7是本发明一个实施例中将 24个集中绕组先两两并联再依次串联的示 意图。 具体实施方式
图 3示出了本发明一个优选实施例中电动机的总装结构，这种电机的主要 部件包括转轴 30、转子 1、定子 2等，转子 1与定子 2之间的物理气隙 5为 1〜 4mm。其中采用霍尔位置传感器作为转子位置传感器，霍尔位置传感器的磁敏 感方向与转子法线方向相一致， 安装在定子支架 20上， 并与转子磁钢（即永磁 体)外圆之间保持 l〜3mm的气隙。 本实施例中， 磁极数为 2P=96， 槽数 Z=144， 定子铁芯外径 1600mm， 内 径 1400mm，物理气隙 3mm，永磁体的极距 44mm，该电动机额定转速 200rpm， 额定功率 500KW, 额定力矩为 23800Nm定位力矩小于 4Nm。
由于该电机齿槽数较多， 对于齿、 槽、 磁极等部件之间的配合结构， 如果 画成与实物对应的圆环结构将无法清楚显示，所以这里画成了图 2所示的展开 式结构， 即相当于把圆环结构的定子 2内圈、 转子 1外圈分别展开了。 其中， 在转子铁芯上装有 48对 96个永磁体， 即 96个磁极， 它们按图 2所示的 N、 S 相间排列， 以产生气隙磁场。具体实施时，永磁体可以是径向充磁的瓦形磁钢、 或者是平行充磁的瓦形磁钢。 转子铁芯上的永磁体的极距为 (1〜0.8) Χ πΟ/4， 其中 D是转子外径。
同时， 定子铁芯的槽数 Ζ=144， 对应有 144个槽、 144个齿； 如图 5C所 示， 定子槽 4 的槽口的宽度（即相邻大齿与小齿下端部之间的间隙)为 0. 1〜 3mm; 144个齿中包括 72个大齿、 72个小齿， 并在圆周内按大齿→小齿→大齿 —小齿的次序循环排布。 本实施例中，三相绕组为集中绕组，分别用绕线机 (定子集中绕组绕线机) 直接绕在绝缘处理后的大齿上，集中绕组和齿的排列次序是： 大齿上 A相集中 绕组一小齿一大齿上 B相集中绕组一小齿一大齿上 C相集中绕组一小齿，依此 类推； 可见， 该电动机有 72个集中绕组， A、 B、 C三相中每相各有 24个集中 绕组。
从图 4A可以看出， 每个大齿占圆周电角度 150°〜234°， 每个小齿加上其 两侧槽口占圆周电角度 90°〜6°， 且一个大齿与一个小齿的电角度之和等于 240°。 为进一歩减小定位力矩， 每个大齿最好占圆周电角度 195°〜205°， 每个 小齿加上其两侧槽口最好占圆周电角度 45°〜35°。
从图 4B可以看出， 另一实施例中， 72个大齿中， 36个为占圆周电角度 224° ± 2 ° 的第一大齿， 另 36个为占圆周电角度 192° ± 2 ° 的第二大齿； 每 个小齿加上其两侧槽口占圆周电角度 32° ± 2°；所述各个齿之间的排列次序是: 第一大齿一小齿一第二大齿一小齿一第一大齿一小齿一第二大齿一小齿，依此 类推； 且相邻一组第一大齿、 小齿、 第二大齿、 小齿占圆周电角度之和为 480 如图 5A、 图 5B、 图 5C所示， 其中的定子铁芯包括一个一体式的整体大齿 铁芯 9和 72个小齿铁芯 8 ; 在大齿铁芯上设有 72个大齿 6， 相邻两个大齿之 间的轭部各设有一个锲入槽 11， 共有 72个锲入槽； 每个小齿铁芯 8通过其尾 部锲入在大齿铁芯 9的其中一个锲入槽 1 1中。
具体实施时，大齿铁芯 9由多层大齿硅钢片组成，每一层大齿硅钢片的轭 部和齿部设有定位盲孔 12， 多层大齿硅钢片通过这些盲孔铆压成整体结构。 同样， 每一个小齿铁芯 8由多层小齿硅钢片组成； 每一层小齿硅钢片 10上也 设有定位盲孔 12， 多层小齿硅钢片通过这些盲孔铆压成整体结构。 本实施例 中， 大齿铁芯 9与各个小齿铁芯 8具有相同的硅钢片层数。
从图 5A可以看出， 其中的锲入槽 11为内部大、 口部小的燕尾形结构； 相 应地， 图 5B 中每个小齿铁芯 8 的尾部也为燕尾形结构， 可正好与锲入槽 11 咬合。
具体装配时， 针对这种一体式的整体大齿铁芯， 在制成大齿铁芯后， 先对 大齿做绝缘处理， 再用绕线机在 72个大齿上绕制集中绕组， 然后将 72个所述 小齿铁芯分别嵌入所述大齿铁芯的 72个锲入槽中，即构成每相具有 24个集中 绕组的定子铁芯。 为了使绕线更加方便， 在图 6所示的实施例中， 将具有 72个大齿的整体 大齿铁芯 9 以相邻两个大齿之间的定子槽中心线（即各个锲入槽的中心线）为 基准切分成 72个部分， 成为 72个单体大齿铁芯。 装配时， 分别对这 72个单 体大齿铁芯做绝缘处理， 再用绕线机分别在 72个单体大齿铁芯上绕制集中绕 组， 然后将 72个已绕制了集中绕组的大齿铁芯与 72个小齿铁芯， 按 A相单体 大齿铁芯一小齿铁芯一 B相单体大齿铁芯一小齿铁芯一C相单体大齿铁芯一小 齿铁芯的顺序， 依次装配， 构成具有 72个集中绕组的定子铁芯。
其中， 72 个单体大齿铁芯的结构完全相同， 便于加工生产， 然后可任选 72 个单体大齿铁芯通过设置凸台、 凹孔的方式扣合成一个完整的大齿铁芯， 例如采用公告号为 CN101371425A的专利中图 6所示的卡扣结构。 完成了前述绕制、 装配之后， 可将属于同一相的 24个集中绕组按圆周顺 序依次串联后再引出， 形成一组 A-A'、 B-B'、 C-C'三相绕组。
如图 7所示，还可将属于同一相的 24个集中绕组先两两并联成 12个并联 单元， 再依次串联后引出， 形成一组 A-A'、 B-B'、 C-C'三相绕组。 需要注意的 是， 当包括第一、 第二两种大齿时， 应取两个第一大齿集中绕组并联、 或两个 第二大齿集中绕组并联的方式，从而保证两两并联的两个集中绕组的反电势相 同。
另外，也可将属于同一相的 24个集中绕组分别单独引出，形成 24组 A-A'、 B-B'、 C-C'三相绕组。 此时特别适于用作大型风力发电机。 本发明的这种极数和槽数的配合，按传统集中绕组电机理论是完全不可取 的， 因为按传统理论无法计算其绕组系数^ ^ = pl， 主要定位力矩次数为 96x 144/48=288 , 该次数与极数的比是 96/288=1/3， 即定位力矩的次数仅为基 波力矩的 3倍。 由上述技术方案可知，本发明的大极方波三相无刷永磁直流电机的磁极数 为 2P=96， 槽数 Z=144， 槽距电角度 (Px360/Z):
48 x 360° Λ。
a 120
144 由于同一相的绕组间隔 6个槽距， 其电角度为 120° X 6=720° , 所以绕组分布 系数为 kdl=i。 本发明中， 一个大齿与一个小齿的电角度之和等于 240°， 并采用电角度 150°〜234°范围的磁极覆盖技术， 使气隙磁场具有 120°电角度以上的平顶区； 采用非均匀齿槽和磁平衡小齿， 小齿电角度 90°〜6°使定位力矩减至最小。 对 于本方波三相无刷永磁直流电机， 磁极覆盖达 120。以上时， 绕组节距系数 kpl=l o 于是本方波三相无刷永磁直流电机的绕组系数 kw尸 kdl X kp \。 更重要 的是，磁极覆盖后导致电机的电枢反应呈全局增磁状态， 从而大幅优化了电机 的电枢反应。
本发明的电机用作电动机时，其控制器可采用全新概念的方波无刷电动机 连续电流采样和闭环控制， 其综合性能超越正弦波交流伺服系统。本方波三相 无刷永磁直流电机， 可以替代现有的正弦波交流伺服电动机及其伺服单元， 成 为未来伺服电动机及其伺服单元的主要分支。 本发明的电机可用作发电机， 具有内阻小， 电压调整率高等优点， 这种电 机特别适用于大型风力发电机， 其中每相有 24个集中绕组，相当于 24个相位 和幅值相同的、独立的三相无刷永磁发电机， 于是同一台电机通过绕组的串并 联， 可以实现不同转速、 不同功率容量的兼容。 本实施例， 定子铁芯外径 1600mm, 内径 1400mm， 铁芯长度 460mm, 极数 2P=96， 槽数 Z=144的大极 方波永磁发电机， 额定转速 20rpm， 功率 50KW, 每相 24个集中绕组串联后， 相电压 400V。 若额定转速改为 200rpm， 功率 500KW, 将所述每相 24个集中 绕组先两两并联成 12个并联单元， 然后再将 12个并联单元顺序串联后引出， 形成图 7所示的 A-A'、B-B'、C-C'三相绕组，则相电压保持为 400 X 10/12=333V。 本发明在大极电机的基础上，发展了非对称槽大极电机。非对称槽大极电 机的集中绕组系数为 1， 极 /槽比为 2/3， 大极电机的齿数即为槽数， 其中 1/2 的齿上有集中绕组， 1/2 的齿为无集中绕组的小齿， 因此每极每相槽数 q=Z/ ( 2P X M ) =1/9。 非对称槽大极电机的绕组系数大， 集中绕组数量很少， 铜耗 大幅减少， 电机的电枢反应得到大幅改善， 电机制造工艺大幅简化，
本发明大极电机的铁芯磁密比传统电机低， 铁芯最高频率应不高于 400Hz , 因此， 电机的最高转速 nmax =60f/P=24000/p。
本发明的大极电机可应用于工业领域和民用领域， 主要包括：
高精度数控机床、 机器人、 高精度测量设备；
大型难变形金属挤压机、 立式旋压机、 大型精密模锻设备；
重型数控机床 (如五轴联动超重型数控锉铣床、 五轴联动超重型螺旋桨叶 片加工机床）、 风电、 冶金、 汽车等制造业需要的高效、 高精度成套装备； 轻合金材料 (铝、镁)成形与加工成套设备、冲压自动线，精密铸件自动线， 机器人悍装自动化成套装备， 机器人喷装成套装备， 总装自动化成套设备； 电子及通信设备制造业需要的高精、 高速、成套制造设备， 包括整机着装 专用装备 (全自动贴片机、高精度大尺寸全自动印刷机、元器件高速插装设备、 线路板高速钻孔设备）， 专用生产设备 (光刻机、 金属有机化学件外延、 淀积、 刻蚀系统）， 以及其他广义的数控机械， 比如纺织机械、 印刷机械、 包装机械、 医疗设备；
半导体设备、 塑料、 橡胶机械、 邮政机械、 自动化生产线、 各种专用设备 等等领域。
工业机械手和机器人， 例如悍接机器人、 点胶机器人、 搬运机器人、 包装 机器人、 大型运动仿真平台等；
航空航天和军事领域的各类控制系统和装备。

Claims

权 利 要 求
1、 一种大直径的方波三相无刷永磁直流电机， 所述电动机的转子铁芯上 装有多对永磁体， 定子的槽中装有三相绕组， 其特征在于，
所述转子铁芯上的磁极数 2P=96; 所述定子铁芯上的槽数 Z=144， 相应有 144个齿， 其中包括 72个大齿、 72个小齿， 且所述大齿、 小齿之间间隔排列； 所述三相绕组为集中绕组，分别绕在 72个大齿上，每相有 24个集中绕组， 所述集中绕组和齿的排列次序是：大齿上 A相集中绕组一小齿一大齿上 B相集 中绕组一小齿一大齿上 C相集中绕组一小齿， 依此类推；
其中， 所述定子铁芯中包括大齿铁芯和 72个独立的小齿铁芯， 每相邻两 个大齿之间的轭部设有一个锲入槽， 共有 72个锲入槽， 每个所述小齿铁芯通 过其尾部锲入在所述大齿铁芯的其中一个锲入槽中， 进而形成 72个小齿。
2、 根据权利要求 1所述的大极型方波三相无刷永磁直流电机， 其特征在 于， 所述大齿铁芯是一体式的整体大齿铁芯； 或者， 所述大齿铁芯由 72个相 同结构的单体大齿铁芯组成，相邻两个单体大齿铁芯之间在该两个大齿的定子 槽中心线处相互拼接。
3、 根据权利要求 2所述的大直径的方波三相无刷永磁直流电机， 其特征 在于， 所述定子铁芯上相邻大齿与小齿之间的槽的槽口宽度为 0.1〜3.0mm; 每个大齿占圆周电角度 150°〜234°， 每个小齿加上其两侧槽口占圆周电角度 90°〜6°， 且一个大齿与一个小齿的电角度之和等于 240°。
4、 根据权利要求 2所述的大直径的方波三相无刷永磁直流电机， 其特征 在于， 所述定子铁芯上相邻大齿与小齿之间的槽的槽口宽度为 0.1〜3.0mm; 所述 72个大齿中， 36个为占圆周电角度 224° ± 2 ° 的第一大齿， 另 36个为 占圆周电角度 192° ± 2 ° 的第二大齿； 每个小齿加上其两侧槽口占圆周电角 度 32° ± 2°；所述各齿之间的排列次序是：第一大齿一小齿一第二大齿一小齿， 依此类推； 且相邻一组第一大齿、 小齿、 第二大齿、 小齿占圆周电角度之和为 480。 。
5、 根据权利要求 2所述大直径的方波三相无刷永磁直流电机， 其特征在 于， 所述转子铁芯上各个永磁体 N、 S磁极相间排列， 所述永磁体是径向充磁 的瓦形磁钢、或者是平行充磁的瓦形磁钢，所述瓦形磁钢为等半径瓦形磁钢或 削角瓦形磁钢；
所述定子与转子之间的物理气隙为 l〜4mm;
所述转子铁芯上的永磁体的极距为 (1〜0.8) Χ πΟ/4， 其中 D是转子外径； 其中还包括由霍尔位置传感器制成的转子位置传感器，所述霍尔位置传感 器的磁敏感方向与转子法线方向相一致， 安装于定子支架上， 并与转子永磁体 外圆之间保持 l〜3mm的气隙。
6、 根据权利要求 2所述大直径的方波三相无刷永磁直流电机， 其特征在 于， 属于同一相的 24 个集中绕组按圆周顺序依次串联后再引出， 形成一组 A-A'、 B-B'、 C-C'三相绕组。
7、 根据权利要求 2所述大直径的方波三相无刷永磁直流电机， 其特征在 于， 属于同一相的 24个集中绕组先两两并联成 12个并联单元， 再依次串联后 引出， 形成一组 A-A'、 B-B'、 C-C'三相绕组。
8、 根据权利要求 2所述大直径的方波三相无刷永磁直流电机， 其特征在 于， 属于同一相的 24个集中绕组分别单独引出， 形成 24组 A-A'、 B-B'、 C-C 三相绕组。
9、 一种针对权利要求 2-8中任一项所述的大直径的方波三相无刷永磁直 流电机的装配方法，其特征在于，当所述大齿铁芯为一体式的整体大齿铁芯时， 在制成所述大齿铁芯后， 先对大齿做绝缘处理， 再用绕线机在 72个大齿上绕 制集中绕组，然后将 72个所述小齿铁芯分别嵌入所述大齿铁芯的 72个锲入槽 中， 即构成每相具有 24个集中绕组的定子铁芯。
10、一种针对权利要求 2-8中任一项所述的大直径的方波三相无刷永磁直 流电机的装配方法， 其特征在于， 当所述大齿铁芯由 72个单体大齿铁芯组成 时， 先分别对各个单体大齿铁芯做绝缘处理， 再用绕线机分别在各个单体大齿 铁芯上绕制集中绕组， 然后再将 72个单体大齿铁芯与三个小齿铁芯按 A相单 体大齿铁芯一小齿铁芯一 B相单体大齿铁芯一小齿铁芯一C相单体大齿铁芯一 小齿铁芯的顺序， 依次装配， 构成具有 72个集中绕组的定子铁芯。
PCT/CN2009/073868 2009-09-11 2009-09-11 大直径的方波三相无刷永磁直流电机及其装配方法 WO2011029227A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2009/073868 WO2011029227A1 (zh) 2009-09-11 2009-09-11 大直径的方波三相无刷永磁直流电机及其装配方法
CN2009801046264A CN102124629B (zh) 2009-09-11 2009-09-11 大直径的方波三相无刷永磁直流电机及其装配方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2009/073868 WO2011029227A1 (zh) 2009-09-11 2009-09-11 大直径的方波三相无刷永磁直流电机及其装配方法

Publications (1)

Publication Number Publication Date
WO2011029227A1 true WO2011029227A1 (zh) 2011-03-17

Family

ID=43731916

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2009/073868 WO2011029227A1 (zh) 2009-09-11 2009-09-11 大直径的方波三相无刷永磁直流电机及其装配方法

Country Status (2)

Country Link
CN (1) CN102124629B (zh)
WO (1) WO2011029227A1 (zh)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62138051A (ja) * 1985-12-11 1987-06-20 Hitachi Ltd 永久磁石回転電機
JPH0378458A (ja) * 1989-08-18 1991-04-03 Ricoh Co Ltd 電動機
JPH11234990A (ja) * 1998-02-12 1999-08-27 Okuma Corp 永久磁石モータ
US20040155537A1 (en) * 2001-12-20 2004-08-12 Masatsugu Nakano Permanent magnet type dynamo-electric machine and permanent magnet synchronous generator for wind power generation
CN101030721A (zh) * 2006-03-03 2007-09-05 苏州扬名机电有限公司 无刷直流电机槽数与磁钢数的组合方案
CN201118414Y (zh) * 2007-10-29 2008-09-17 深圳航天科技创新研究院 方波三相无刷永磁直流电动机

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201584825U (zh) * 2009-09-11 2010-09-15 杜坤梅 大直径的方波三相无刷永磁直流电机

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62138051A (ja) * 1985-12-11 1987-06-20 Hitachi Ltd 永久磁石回転電機
JPH0378458A (ja) * 1989-08-18 1991-04-03 Ricoh Co Ltd 電動機
JPH11234990A (ja) * 1998-02-12 1999-08-27 Okuma Corp 永久磁石モータ
US20040155537A1 (en) * 2001-12-20 2004-08-12 Masatsugu Nakano Permanent magnet type dynamo-electric machine and permanent magnet synchronous generator for wind power generation
CN101030721A (zh) * 2006-03-03 2007-09-05 苏州扬名机电有限公司 无刷直流电机槽数与磁钢数的组合方案
CN201118414Y (zh) * 2007-10-29 2008-09-17 深圳航天科技创新研究院 方波三相无刷永磁直流电动机

Also Published As

Publication number Publication date
CN102124629B (zh) 2013-02-13
CN102124629A (zh) 2011-07-13

Similar Documents

Publication Publication Date Title
WO2009055956A1 (fr) Moteur à courant continu à aimant permanent sans balai triphasé à onde carrée
US8975799B2 (en) Broad-pole type square-wave three-phase brushless permanent magnet direct current motor and assembling method thereof
CN104113154A (zh) 一种用于车削类电主轴的内嵌式永磁同步电机
CN104079085A (zh) 一种电机及正弦定子
CN203942352U (zh) 一种用于车削类电主轴的内嵌式永磁同步电机
CN201515263U (zh) 大小齿结构的方波三相永磁直流电机
CN1933286A (zh) 一种新型永磁无刷直流四象限电机
CN104079136A (zh) 一种三相开关磁阻电机及正弦定子
CN201541153U (zh) 大直径型方波三相无刷直流电机
WO2011029230A1 (zh) 大小齿结构的方波无刷永磁直流电机及其装配方法
WO2011029235A1 (zh) 大直径型方波三相无刷直流电机及其装配方法
CN101056024A (zh) 基于移相技术的双转子永磁环形力矩电机
CN201570918U (zh) 大小齿结构的方波三相无刷永磁直流电机
CN201584825U (zh) 大直径的方波三相无刷永磁直流电机
WO2011029228A1 (zh) 大小齿结构的方波三相无刷永磁直流电机及其装配方法
WO2011029231A1 (zh) 大小齿结构的方波三相永磁直流电机及其装配方法
WO2011029232A1 (zh) 大直径型三相无刷永磁直流电机及其装配方法
CN201504128U (zh) 大直径型三相无刷永磁直流电机
WO2011029229A1 (zh) 大小齿结构的三相无刷永磁直流电机及其装配方法
CN201656583U (zh) 大小齿结构的方波无刷永磁直流电机
CN201656584U (zh) 大小齿结构的三相无刷永磁直流电机
WO2011029227A1 (zh) 大直径的方波三相无刷永磁直流电机及其装配方法
CN201584826U (zh) 大直径型方波三相永磁直流电机
WO2011029233A1 (zh) 大直径型方波无刷永磁直流电机及其装配方法
WO2011029234A1 (zh) 大直径型方波三相永磁直流电机及其装配方法

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200980104626.4

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09849103

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09849103

Country of ref document: EP

Kind code of ref document: A1