WO2012119307A1 - Servomoteur à aimants permanents triphasé - Google Patents

Servomoteur à aimants permanents triphasé Download PDF

Info

Publication number
WO2012119307A1
WO2012119307A1 PCT/CN2011/071620 CN2011071620W WO2012119307A1 WO 2012119307 A1 WO2012119307 A1 WO 2012119307A1 CN 2011071620 W CN2011071620 W CN 2011071620W WO 2012119307 A1 WO2012119307 A1 WO 2012119307A1
Authority
WO
WIPO (PCT)
Prior art keywords
teeth
tooth
phase
micro
small
Prior art date
Application number
PCT/CN2011/071620
Other languages
English (en)
Chinese (zh)
Inventor
杜坤梅
曹立明
Original Assignee
浙江博望科技发展有限公司
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 浙江博望科技发展有限公司 filed Critical 浙江博望科技发展有限公司
Priority to PCT/CN2011/071620 priority Critical patent/WO2012119307A1/fr
Priority to CN201180053003.6A priority patent/CN103222166B/zh
Publication of WO2012119307A1 publication Critical patent/WO2012119307A1/fr

Links

Images

Classifications

    • 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
    • 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
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems

Definitions

  • This invention relates to permanent magnet motors and, more particularly, to a three-phase permanent magnet servo motor suitable for direct drive and position, rate servo control applications.
  • the permanent magnet DC motor according to the present invention mainly means a servo motor capable of efficiently generating a low torque ripple.
  • the torque fluctuation mainly includes: a lower cogging torque component (positioning torque), a lower current and a potential harmonic torque component.
  • the main objectives of such servo motor design are: small torque fluctuation, large output power (large product of speed and torque), large overload capacity, small size, low price, and the like.
  • the main reasons for the torque fluctuation include: (1) the torque fluctuation caused by the product of the stator current harmonic and the back potential harmonic; (2) the rotor rotation when the stator current is zero, and the positioning torque fluctuation caused by the cogging effect due to the cogging effect .
  • the main methods to suppress torque fluctuation include: (1) traditional fractional-slot winding design; (2) optimized concentrated winding design with cogging and magnetic pole, such as the name "high-efficiency permanent magnet brushless motor", the Chinese invention of the publication number CN185692lA patent application.
  • the traditional fractional-slot winding design of the motor is complicated in manufacturing process and high in production cost.
  • the optimized winding design that optimizes the cogging and the magnetic pole has the characteristics of high cost performance, but it is only suitable for low speed servo motors with a magnetic pole number greater than 20.
  • the motor has excellent performance and high cost performance, but it is still lacking.
  • the size of the two teeth with the windings is different, it brings a lot of inconvenience to the manufacturing.
  • the processing molds, tooling and processes of the teeth are not consistent, and the processing molds, tooling and processes of the windings are not consistent; more serious is Due to the different spatial dimensions of the slots, the number of turns and the diameter of the two windings of each phase cannot be consistent, which adversely affects the performance of the motor.
  • the torque generated by the currents of the two windings is spatially asymmetrical.
  • the large, medium and small tooth structure of the motor is not strong enough to suppress the positioning torque.
  • the electric angle of the two teeth of each phase of the motor is: 200° ⁇ 20° and 160° ⁇ 20°, and the opposite potential waveform has a flat top area of 120° or more, which can realize a square wave permanent magnet servo motor.
  • the invention solves the problems existing in the existing sine wave permanent magnet servo motor and square wave permanent magnet servo motor, and proposes a new principle, new structure, high performance and high cost performance three-phase permanent magnet servo motor.
  • the four teeth include twelve large teeth, six small teeth, and six smaller micro teeth;
  • the three-phase windings are twelve concentrated windings respectively mounted on the twelve large teeth, and the order of the windings and teeth is arranged: small teeth ⁇ large teeth with A-phase windings ⁇ micro-tooth ⁇ C-phase Large teeth of the winding ⁇ small teeth ⁇ large teeth with B-phase winding ⁇ micro-tooth ⁇ large teeth with A-phase winding ⁇ small teeth ⁇ large teeth with C-phase wind
  • the N and S magnetic poles of the respective permanent magnets on the rotor core are arranged in phase, and the permanent magnets may be radially magnetized tile-shaped magnetic steel or parallel magnetized tile-shaped magnetic steel.
  • both sides of the outer circumference of the tile-shaped magnetic steel are provided with a chamfer having an angle of not more than 7.5° and a length not greater than 1/4 of the outer arc of the magnetic steel.
  • the physical air gap between the stator and the rotor may be 0.5 to 4 mm.
  • the stator core is composed of thirteen parts, and comprises an integral annular core formed by laminating a plurality of silicon steel sheets containing six small teeth and six micro teeth. Twelve independent large tooth cores of multi-layer silicon steel sheets which are self-slewing and pressing; the yoke portion and the large tooth iron core of the annular iron core are respectively provided with grooves/protrusions, and are engaged with each other to form a complete Stator core.
  • the stator core is also composed of thirteen parts, and comprises an integral annular core formed by laminating a plurality of layers of silicon steel sheets containing twelve large teeth.
  • Six independent small-toothed iron cores obtained by self-staking and lamination of silicon steel sheets, and six independent micro-tooth cores formed by self-staking and lamination of multi-layer silicon steel sheets; yoke and small of the annular iron core Grooves/protrusions are respectively arranged on the teeth and the micro-tooth cores, and are engaged with each other to form a complete stator core.
  • the stator core is composed of twenty-four parts, that is, twelve independent large teeth, six independent small teeth, and six, which are self-slewing and pressing from a plurality of layers of silicon steel sheets. Independent micro-tooth; each side of the yoke of each tooth is provided with a groove/projection, and the yokes of adjacent teeth mesh with each other to form a complete stator core.
  • the large tooth width is not easily affected by the armature reaction, so that the motor has a stronger overload capability; the two non-uniform small teeth are dedicated to suppress the positioning torque and reduce the positioning torque to one ten thousandth.
  • the motor has only two concentrated windings per phase, and the two concentrated winding structures and the number of turns are identical, the manufacturing is simple, the process is consistent, and the production cost is low.
  • the output of the motor is 30% larger than that of the conventional sine wave permanent magnet servo motor, and the winding end is more than three times smaller than the conventional sine wave permanent magnet servo motor, so the copper consumption is greatly reduced.
  • the three-phase permanent magnet servo motor is driven by a three-phase square wave current, it can generate a stable torque, and its torque fluctuation index is equivalent to that of a sine wave permanent magnet servo motor.
  • the three-phase permanent magnet servo motor has a series of advantages such as small winding end, less copper, low loss, small air gap and small magnetic load, small positioning torque and strong overload capability.
  • FIG. 1 is a schematic view showing the structure of a stator and a rotor of a motor in a preferred embodiment of the present invention
  • Figure 2 is a schematic view showing the assembly structure of a motor in a preferred embodiment of the present invention
  • FIG 3 is a schematic view showing the angular distribution of the stator slots in the embodiment shown in Figure 1;
  • FIG. 4 is a schematic structural view of a stator punch formed by inlaid large teeth
  • Figure 5 is a schematic view showing the structure of the stator punching piece formed by the small teeth and the micro teeth;
  • Figure 6 is a schematic view showing the structure of twenty-four teeth independently and interlocking with each other;
  • Fig. 7 is a schematic view showing the structure of a rotor of a sine wave magnetic field motor.
  • FIG. 1 A preferred embodiment of the invention is illustrated in Figures 1 and 2.
  • the general structure of the three-phase permanent magnet servo motor can be seen from Fig. 2, the main components of which include the rotor 1, the stator 2, the rotating shaft 30, etc., and the physical air gap 5 between the rotor 1 and the stator 2 is 0.5 to 4 mm.
  • the rotor position sensor 6 may be any one of a photoelectric encoder, a resolver, and a magnetic encoder.
  • the permanent magnet 4 may be a radially magnetized tile-shaped magnetic steel or a parallel magnetized tile-shaped magnetic steel.
  • the physical dimension of the pole pitch ⁇ D/8 of the permanent magnet on the rotor core is 50 to 200 mm, where D is the outer diameter of the rotor.
  • the line back EMF waveform of this structure still tends to be a sine wave, and the three-phase sinusoidal stator current is driven by the sine wave current.
  • the product of the 3rd and 6th harmonics in the three-phase opposite potential square wave does not exhibit torque fluctuation, and the output power of the motor is increased by about 30%.
  • the width of the slot 3 of the stator slot is 0.1 to 3 mm; It includes twelve large windings of the windings, six small teeth 9 without windings, and six micro-tooths 10 without windings, and the small teeth ⁇ large teeth ⁇ micro-tooth ⁇ large teeth ⁇ small in the circumference
  • the order of the teeth ⁇ large teeth ⁇ micro teeth ⁇ large teeth ⁇ small teeth ⁇ large teeth ⁇ micro teeth ⁇ large teeth is arranged, that is, twelve grooves are formed. Among them, three-phase windings are installed only on the twelve large teeth 8, and the windings on each large tooth have two winding sides and occupy one groove on both sides thereof.
  • each large tooth on the stator core occupies a mechanical angle of 22.5° on the circumference, that is, an electrical angle of 180°; each small tooth occupies a mechanical angle of 10° on the circumference, that is, an electrical angle of 80°;
  • the circumferential mechanical angle of each tooth includes a width of the notch 3.
  • the small mechanical position of the small tooth shown in FIG. 3 is 10°, which is the width of a small tooth plus the width of each half of the notch.
  • the circumferential mechanical angle of the notch (3) in this embodiment is 1.0 mm.
  • the opposite potential flat top region of this embodiment is correspondingly optimal. This uneven cogging structure ensures both three-phase symmetry and the positioning torque.
  • twelve three-phase windings are concentrated windings, and the stator windings are respectively wound directly on the large teeth subjected to surface insulation by a winding machine, and the order of windings and teeth is: ⁇ small teeth ⁇ loading Large teeth of the A-phase winding ⁇ micro-tooth ⁇ large teeth of the C-phase winding ⁇ small teeth ⁇ large teeth with B-phase windings ⁇ micro-tooth ⁇ large teeth with A-phase windings ⁇ small teeth ⁇ large teeth with C-phase windings ⁇ Micro-tooth ⁇ large teeth of B-phase winding ⁇ small teeth ⁇ large teeth with A-phase winding ⁇ micro-tooth ⁇ large teeth with C-phase winding ⁇ small teeth ⁇ large teeth with B-phase winding ⁇ micro-tooth ⁇ install A Large teeth of the phase winding ⁇ small teeth ⁇ large teeth of the C phase winding ⁇ micro teeth ⁇ large teeth of the B phase winding; as shown in Figure 1.
  • the two concentrated windings in each phase are connected in series, which reduces wiring and simplifies the process. It can be seen that the motor has only two concentrated windings per phase, and the three-phase motor has only twelve concentrated windings. The total number of windings of the motor is very small, which greatly simplifies the motor structure and reduces the cost, and the winding ends are reduced to the conventional motor. 1/3 to 1/6 or more, which has been minimized, so copper consumption has dropped significantly.
  • the stator core is composed of thirteen parts interlocking and splicing, including self-staking pressure of a plurality of silicon steel sheets containing six small teeth 9 and six micro teeth 10.
  • the integrated annular core 11 is composed of twelve independent large tooth cores 8 formed by laminating a plurality of layers of silicon steel sheets; the yoke portion of the annular core 11 and the large tooth core 8 are respectively provided Grooves/studs and snap to each other to form a complete stator core.
  • four series A-phase windings can be wound on the four large-tooth cores of the A-phase, and four series-connected B-phase windings can be wound on the four large-tooth cores of the B-phase.
  • Four large-toothed iron cores of phase C are wound around four series C-phase windings, and then twelve large-tooth iron cores with A, B, and C three-phase windings are embedded in the toroidal core 11 to form Stator core assembly with A, B, C three-phase windings.
  • the independent large-tooth iron core can be easily insulated, and then the large-tooth iron core is wound by an automatic or semi-automatic winding machine. Its winding manufacturing process is very good; at the same time, the overall structure of the toroidal core 11 can fully guarantee the geometric accuracy of the stator core assembly.
  • A, B, C three-phase symmetrical winding, and the positioning torque is very good.
  • the motor can be driven by three-phase square wave current or three-phase sinusoidal current, which can produce a stable torque, and has a small winding end, less copper, less loss, small air gap, small positioning torque and strong overload capability.
  • the integral annular core 12 includes twelve large teeth, and six small teeth 9 and six micro teeth. 10 is independent, but also bite each other to form a complete stator core.
  • the twelve large teeth are first insulated; since the small teeth and micro-tooth are not installed at this time, the opening of the toroidal core 12 is large, and the automatic winding machine can be used to wind the large teeth 8 Phase winding. For example, firstly wrap four series A-phase windings on the four large teeth of the A-phase, and then wrap four series-connected B-phase windings on the four large teeth of the B-phase, and then four in the C-phase.
  • the motor can be driven by three-phase square wave current or three-phase sinusoidal current, which can produce a stable torque, and has a small winding end, less copper, less loss, small air gap, small positioning torque and strong overload capability.
  • each side of the yoke of each tooth is provided with a groove/projection, and the yoke portions of adjacent teeth mesh with each other to form a complete stator core.
  • each large tooth occupies a mechanical angle of 22.5° of the circumference, that is, an electrical angle of 180°; each small tooth occupies a mechanical angle of 10° of the circumference, that is, an electrical angle of 80°; each micro-tooth occupies a mechanical angle of 5° of the circumference, that is, 40° Electrical angle.
  • stator windings can be wound on the independent large teeth subjected to surface insulation treatment by an automatic or semi-automatic winding machine or by manual means, and then six large teeth with windings and three teeth are used by the positioning tool.
  • the small teeth without windings and the three micro-toothed windings are assembled into a stator assembly in sequence. After this winding, the two concentrated windings in each phase are connected in series, which reduces wiring and simplifies the process.
  • the motor can be driven by three-phase square wave current or three-phase sinusoidal current, which can produce a stable torque, and has a small winding end, less copper, less loss, small air gap, small positioning torque and strong overload capability.
  • a tile-shaped magnetic steel is used, and the outer circumference of the magnetic steel is provided with an angle on both sides. Not more than 7.5°, the length is not more than the 1/4 of the outer arc of the magnetic steel.
  • the physical air gap between the stator and the rotor of the three-phase permanent magnet servo motor is 2.0 mm.
  • each large tooth on the stator core can occupy a circumferential mechanical angle of 22.5 ° ⁇ 2.5 °, that is, 180 ° ⁇ 20 ° electrical angle; each small tooth occupies a circular machine
  • the angle can be 10 ° ⁇ 2.5 °, that is, 80 ° ⁇ 20 ° electrical angle; each micro tooth can occupy a circumferential mechanical angle of 5 ° ⁇ 2.5 °, that is, 40 ° ⁇ 20 ° electrical angle; likewise, each of the things mentioned here

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

L'invention concerne un servomoteur à aimants permanents triphasé, dans lequel le nombre 2P de pôles magnétiques du rotor (1) du moteur est 16, et le nombre Z de dents du stator (2) du moteur est 24. Les dents comprennent douze grandes dents (8), six petites dents (9) et six dents minuscules (10). Douze enroulements concentrés sont enroulés autour des douze grandes dents, respectivement et les enroulements sont agencés de manière circulaire selon la séquence suivante : une petite dent—une grande dent avec un enroulement—une dent minuscule－une grande dent avec un enroulement. Les angles mécaniques de la grande dent, de la petite dent et de la dent minuscule sont de 22,5°±2,5°, 10°±2,5° et 5°±2,5°, respectivement. Ce moteur permet de réduire le couple de détente.
PCT/CN2011/071620 2011-03-09 2011-03-09 Servomoteur à aimants permanents triphasé WO2012119307A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2011/071620 WO2012119307A1 (fr) 2011-03-09 2011-03-09 Servomoteur à aimants permanents triphasé
CN201180053003.6A CN103222166B (zh) 2011-03-09 2011-03-09 一种三相永磁伺服电动机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2011/071620 WO2012119307A1 (fr) 2011-03-09 2011-03-09 Servomoteur à aimants permanents triphasé

Publications (1)

Publication Number Publication Date
WO2012119307A1 true WO2012119307A1 (fr) 2012-09-13

Family

ID=46797415

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2011/071620 WO2012119307A1 (fr) 2011-03-09 2011-03-09 Servomoteur à aimants permanents triphasé

Country Status (2)

Country Link
CN (1) CN103222166B (fr)
WO (1) WO2012119307A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI780724B (zh) * 2020-06-18 2022-10-11 日商東芝股份有限公司 旋轉電機

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114050670B (zh) * 2022-01-11 2022-04-08 中国科学院宁波材料技术与工程研究所 一种模块化定子结构、设计方法及同极同槽永磁电机

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11234990A (ja) * 1998-02-12 1999-08-27 Okuma Corp 永久磁石モータ
CN2389440Y (zh) * 1999-09-09 2000-07-26 机械工业部广州电器科学研究所 多极分数槽绕组无刷直流电动机
CN2726200Y (zh) * 2004-08-24 2005-09-14 印辉 环形绕线式塑封电机定子冲片
CN101371425A (zh) * 2007-10-29 2009-02-18 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 (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10124415A1 (de) * 2001-05-18 2002-11-28 Siemens Ag Elektrische Maschine
CN201975969U (zh) * 2011-03-10 2011-09-14 浙江博望科技发展有限公司 一种三相永磁伺服电动机

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11234990A (ja) * 1998-02-12 1999-08-27 Okuma Corp 永久磁石モータ
CN2389440Y (zh) * 1999-09-09 2000-07-26 机械工业部广州电器科学研究所 多极分数槽绕组无刷直流电动机
CN2726200Y (zh) * 2004-08-24 2005-09-14 印辉 环形绕线式塑封电机定子冲片
CN101371425A (zh) * 2007-10-29 2009-02-18 深圳航天科技创新研究院 方波三相无刷永磁直流电动机

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI780724B (zh) * 2020-06-18 2022-10-11 日商東芝股份有限公司 旋轉電機

Also Published As

Publication number Publication date
CN103222166A (zh) 2013-07-24
CN103222166B (zh) 2016-01-20

Similar Documents

Publication Publication Date Title
US7605514B2 (en) Electric machine
US8841813B2 (en) Brushless synchronous motor having a periodically varying air gap
WO2012119303A1 (fr) Servomoteur à aimants permanents triphasé
US10069365B2 (en) Three-phase electromagnetic motor with 8*n permanent magnet rotor and 6*n magnetic pole stator with 3*n windings around every other magnetic pole
US9362786B2 (en) Poly-phase reluctance electric motor with transverse magnetic flux
US8975799B2 (en) Broad-pole type square-wave three-phase brushless permanent magnet direct current motor and assembling method thereof
US20130293037A1 (en) Rotating electric machine
JP2008211918A (ja) 回転電機
CN105656228A (zh) 一种横向磁通永磁电机
CN110838779B (zh) 一种混合励磁绕线转子及混合励磁绕线式同步电机
WO2014148731A1 (fr) Procédé de commande d'un moteur à flux magnétique variable
CN112688523B (zh) 一种轴向磁场定子无轭磁通反向永磁电机
WO2017031178A1 (fr) Moteur synchrone à aimants permanents à flux axial à profil bas
CN113178961A (zh) 一种轴向模块化磁通反向电机
JP4927226B1 (ja) 高効率発電機
WO2012119307A1 (fr) Servomoteur à aimants permanents triphasé
JP2005012986A (ja) 永久磁石モータ
CN112968539A (zh) 一种48槽三相集中绕组式永磁电机
CN201975969U (zh) 一种三相永磁伺服电动机
CN214626540U (zh) 一种48槽三相集中绕组式永磁电机
JP2007306745A (ja) 多相電動機
CN106921273B (zh) 免换向结构的永磁直流电机
CN112039231A (zh) 一种采用复合定子的电励磁双凸极电机
CN115001171A (zh) 一种定子分裂式轴向磁场反向永磁磁通切换电机
CN115333263A (zh) 同向环轭绕组极槽配合的单元电机

Legal Events

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

Ref document number: 11860220

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: 11860220

Country of ref document: EP

Kind code of ref document: A1