WO2015149684A1 - 电磁直线驱动器 - Google Patents

电磁直线驱动器 Download PDF

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Publication number
WO2015149684A1
WO2015149684A1 PCT/CN2015/075507 CN2015075507W WO2015149684A1 WO 2015149684 A1 WO2015149684 A1 WO 2015149684A1 CN 2015075507 W CN2015075507 W CN 2015075507W WO 2015149684 A1 WO2015149684 A1 WO 2015149684A1
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WIPO (PCT)
Prior art keywords
winding
stator
mover
diode
core
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PCT/CN2015/075507
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English (en)
French (fr)
Inventor
郑家伟
薛向党
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Hong Kong Polytechnic University HKPU
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Hong Kong Polytechnic University HKPU
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Publication of WO2015149684A1 publication Critical patent/WO2015149684A1/zh
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H02K33/12—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moving in alternate directions by alternate energisation of two coil systems

Definitions

  • the present invention relates to an electromagnetic linear actuator, and more particularly to a sensorless electromagnetic linear actuator for reciprocating motion.
  • linear permanent magnet excitation coils have been used to drive compressors.
  • these linear permanent magnet excited excitation coils frequently collide with the mover/commutator structure using permanent magnets, resulting in a complicated and costly permanent magnet structure and potential unreliability, and shortening the service life.
  • some electromagnetic linear actuators use a position sensor inside the motor to detect the position of the mover.
  • the operating state of the entire motor is greatly dependent on the position of the mover.
  • These position sensors have linear displacement sensors and the like.
  • the position sensor detects a lot of defects in the position of the mover. For example, if the sensor is faulty, the entire system will not operate. This electromagnetic linear actuator is undoubtedly unstable and increases the cost and complexity of the entire drive system.
  • the technical problem to be solved by the present invention is to provide a high stability, long life, linear reciprocating frequency and stroke adjustable and low cost for the above-mentioned defects of the electromagnetic linear actuator in the prior art.
  • Electromagnetic linear actuator Problem solution
  • an electromagnetic linear drive comprising: a cylindrical outer casing and two end covers, the two end covers are fixedly connected with the outer casing, and the end caps respectively Fixedly provided with a seat; two stator cores fixed in the outer casing, the stator cores respectively comprise an annular stator yoke and formed by the stator yoke extending inwardly and uniformly distributed along the circumferential direction of the stator core An even number of stator poles, each of which is wound with an exciting coil, and the magnetic poles of the exciting coils on any adjacent two stator poles in the circumferential direction of the same stator core are opposite in direction; the moving stator and the two moving iron cores
  • the two ends of the mover shaft respectively form a connection with one of the supports for sliding along the axial direction of the mover shaft, and the two mover cores are fixedly disposed outside the mover shaft, a mover core extending inwardly to form an even number of stator
  • the exciting coils on the same stator core are connected in series.
  • the exciting coils on the same stator core are connected in parallel.
  • both ends of the mover shaft respectively form a connection rotatable in the circumferential direction of the mover shaft with a support.
  • the electric controller includes a rectifying and filtering circuit, a load circuit, a driving module, a control module, and a sampling module, wherein: the two ends of the load circuit and the rectifying and filtering circuit respectively The two output terminals are electrically connected; the load circuit is electrically connected to the first winding and the second winding respectively to supply power to the first winding and the second winding; The currents of the first winding and the second winding are sampled, and the obtained sampling signal is output to the control module; the control module calculates the pulse width modulation control signal according to the external command and the sampling signal And outputting the pulse width modulation control signal to the driving module; and the driving module respectively controlling on and off of the first winding and the second winding according to the pulse width modulation control signal.
  • the load circuit includes a first winding circuit and a second winding circuit;
  • the first winding circuit includes a first bypass transistor, a second bypass transistor, and a diode, a second diode, and the first winding; one end of the first winding is connected to a first end of the first bypass tube and a negative end of the first diode, The other end of the first winding is connected to the second end of the second bypass tube and the anode of the second diode; the positive output end of the rectifying and filtering circuit and the second end of the first bypass tube The end is connected to the cathode of the second diode, and the anode output end of the rectifier filter circuit is connected to the first end of the second bypass tube and the anode of the first diode;
  • the winding circuit includes a third bypass transistor, a fourth bypass transistor, a third diode, a fourth diode, and the second winding; one end of the second winding and the third bypass
  • the electromagnetic linear driver of the invention can conveniently control the movement frequency and the stroke size of the driver by adjusting the driving frequency of the electric controller, and does not need a sensor, thereby saving the cost; replacing the mechanical control with the electric control commutation
  • the permanent magnet is not used, so that no permanent magnet frequently reciprocates the damage caused by the mover/commutator structure, so the stability is high, the service life is long, and the energy conversion efficiency is high.
  • FIG. 1 is a perspective structural view of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • FIG. 2 is a schematic longitudinal structural view of an electromagnetic linear actuator according to a preferred embodiment of the present invention
  • 3 is a schematic view showing a lateral structure of a stator core and a mover core of an electromagnetic linear actuator according to a preferred embodiment of the present invention
  • FIG. 4 is a schematic view showing the transverse structure of another stator core and another mover core of the electromagnetic linear actuator according to a preferred embodiment of the present invention
  • FIG. 5 is a schematic diagram of current and magnetic paths in a transverse section of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • FIG. 6 is a schematic circuit diagram of an electric controller of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • FIG. 7 is a schematic view showing typical magnetic characteristics of a first winding under current excitation according to a preferred embodiment of the present invention.
  • FIG. 8 is a schematic view showing typical magnetic characteristics of a second winding under current excitation according to a preferred embodiment of the present invention.
  • FIG. 9 is a schematic diagram showing typical waveforms of an electromagnetic linear actuator and an electric controller according to a preferred embodiment of the present invention.
  • the electromagnetic linear actuator of the embodiment includes a casing 1, a stator core 2, a stator core 3, a mover core 4, a mover core 5, an exciting coil 6-13, a mover pole, a mover shaft 14, an end cover 15, and an end cover. 16, support 17, support 18.
  • FIG. 1 and FIG. 2 are a schematic view showing the longitudinal structure of an electromagnetic linear actuator in accordance with a preferred embodiment of the present invention.
  • the outer casing 1 has a cylindrical shape, and the end covers 15, 16 are fixedly coupled to both ends of the outer casing 1.
  • the outer casing 1 and the end cover 15 and the end cover 16 form a cylindrical accommodation space.
  • the center of the end cap 15 is respectively provided with a seat 17, and a center 18 of the end cap 16 is provided with a seat 18.
  • Both ends of the mover shaft 14 are respectively pierced with a support 17 and a support 18, and the mover shaft 14 is movable left and right along the axial direction of the mover shaft 14.
  • the mover shaft 14 is also rotatable in the circumferential direction of the mover shaft 14 to facilitate positioning of the mover shaft 14.
  • the mover shaft 14 is further fixedly provided with a mover core 4 and a mover core 5, and the mover core 4 and the mover core 5 can drive the axis of the mover shaft 14 along the mover shaft 14. Move to the left or right in the direction.
  • An air gap 19 is formed between the stator pole 21, the mover core 4, and the mover core 5, respectively.
  • the distance between the two moving poles is smaller than the stator iron The distance between the core 2 and the stator core 3.
  • FIG. 3 is a schematic diagram showing the lateral structure of a stator core and a mover core of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • the stator core 2 includes an annular stator yoke 22 and four stator poles 21 extending inwardly from the stator yoke 22, and the four stator poles 21 are evenly distributed along the circumferential direction of the stator yoke 22.
  • the exciting coil 6, the exciting coil 7, the exciting coil 8, and the exciting coil 9 are wound around the four stator poles 21 extending inward from the inner circumference of the stator yoke.
  • FIG. 4 is a schematic diagram showing the lateral structure of another stator core and another mover core of the electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • the stator core 3 includes an annular stator yoke 26 and four stator poles 25 extending inwardly from the stator yoke 26, and the four stator poles 25 are evenly distributed along the circumferential direction of the stator core 3.
  • the exciting coil 10, the exciting coil 11, the exciting coil 12, and the exciting coil 13 are wound around the four stator poles 25 extending downward from the inner circumference of the stator yoke, respectively.
  • the movable sub-shaft 14 is slidably disposed through the inner rings of the stator yoke 22 and the stator yoke 26.
  • the annular faces of the stator yoke 22 and the stator yoke 26 are perpendicular to the mover shaft 14.
  • the exciting coils 6-13 are respectively wound from copper wires.
  • stator core 2 and the stator core 3 are respectively laminated by a plurality of magnetic conductive sheets in a longitudinal direction, such as a silicon steel sheet or the like.
  • the mover core 4 and the mover core 5 are respectively formed by laminating a plurality of magnetic conductive sheets in a longitudinal direction, such as a silicon steel sheet or the like.
  • the exciting coil 6, the exciting coil 7, the exciting coil 8, and the exciting coil 9 on the stator core 2 constitute a first winding 39
  • the exciting coil 10 on the stator core 3 constitutes a second winding 40
  • the exciting coil 6, the exciting coil 7, the exciting coil 8 and the exciting coil 9 may be connected in series with each other, or in parallel with each other, or partially connected in parallel.
  • the excitation coil 10, the excitation coil 11, the excitation coil 12 and the excitation coil 13 may be connected in series with each other, or in parallel with each other, or partially connected in parallel.
  • the circuit connection manner of the exciting coil corresponds, that is, when the exciting coil 6, the exciting coil 7, the exciting coil 8 and the exciting coil 9 are connected in series with each other, The exciting coil 10, the exciting coil 11, the exciting coil 12, and the exciting coil 13 are also connected in series with each other; when the exciting coil 6, the exciting coil 7, the exciting coil 8, and the exciting coil 9 are connected in parallel with each other, the exciting coil 10 and the exciting coil 11.
  • the exciting coil 12 and the exciting coil 13 are also connected in parallel with each other; when the exciting coil 6, the exciting coil 7, and the exciting line
  • the coil 8 and the exciting coil 9 are partially connected in parallel, and the corresponding partial series of the exciting coil 10, the exciting coil 11, the exciting coil 12 and the exciting coil 13 are connected in parallel, the purpose of which is to make the first winding 39 and the second winding 40
  • the magnetic properties are balanced to make the system of the electromagnetic linear drive more stable.
  • FIG. 5 is a schematic diagram of current and magnetic paths in a transverse section of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • the magnetic flux line excited by the windings is formed in the magnetic path 29 of the stator pole as shown by the dashed path in Fig. 5.
  • the four stator poles 25 are divided into a left stator pole, a right stator pole, an upper stator pole and a lower stator pole according to their azimuth zones in Fig. 5.
  • the magnetic path 29 of the first quadrant is circulated around the counter-needle direction, and the magnetic induction line passes through the mover core 5, the air gap 19, the right stator pole, and the stator yoke 26
  • the upper right portion, the upper stator pole then returns to the mover core 5 via the air gap 19.
  • the current in the transverse section of the stator core 2 and the stator core 3 is the same as the magnetic path, or the opposite: that is, the corresponding current is opposite, and the direction of the generated magnetic field is also opposite.
  • the exciting coil winding directions on any adjacent two stator poles in the circumferential direction of the stator core 2 and the stator core 3 are opposite; specifically, in the present embodiment, the exciting coil 10 and the exciting coil 11
  • the exciting coils 12 are adjacent to each other, and the exciting coils 10 are opposite to the magnetic poles of the exciting coils 11 and the exciting coils 12, and one end of the exciting coil 10 close to the mover core 5 is an N pole, and the exciting coil 11 and the exciting coil 12 are close to the mover core 5 One end is the S pole.
  • the magnetic path 29 shown by the dotted arrow in Fig. 5 is formed in the mover core 5, the air gap 19, and the stator core 3.
  • the mover core 5 extends to form a left mover pole, a right mover pole, an upper mover pole, and a lower move corresponding to the left stator pole, the right stator pole, the upper stator pole, and the lower stator pole, respectively.
  • Sub-pole In the same magnetic permeability effect, the volume and mass of the mover core 5 can be correspondingly reduced to help reduce energy loss and save cost.
  • the current and magnetic path of the electromagnetic linear actuator at the cross section of the mover core 4 and the stator core 2 are similar to those at the mover core 5 and the stator core 3. It is mainly used to attract the mover core 4 when the first winding 39 is energized, and the second winding 40 is energized to attract the mover core 5 to drive the mover shaft 14 to move back and forth.
  • the magnetic induction lines of the stator core and the mover core are mainly located in the transverse magnetic circuit structure, and the magnetic induction line distribution in the air gap 19 between the stator core and the mover core is mainly located in the longitudinal magnetic field.
  • the road structure In the road structure.
  • FIG. 6 is a schematic diagram showing the circuit principle of an electric controller of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • the electric controller 102 includes a rectifying and filtering circuit, a load circuit, a driving module, a control module, and Sample module.
  • the alternating current is supplied to the first winding 39 and the second winding 40 by a simple rectifying and filtering circuit.
  • the load circuit includes two parallel winding circuits: a first winding circuit and a second winding circuit.
  • the first winding circuit controls the on and off of the current of the first winding 39; the second winding circuit controls the on and off of the current of the second winding 40.
  • the electrical controller 102 can receive external commands from the external 30 input control module, and the information carried by the external commands 30 is the required magnetic force or current.
  • the sampling module is configured to filter the current signal 31 obtained by the current sensor in the first winding 39 and the current signal 32 obtained by the current sensor in the second winding 40 to obtain a control signal 33 and control the signal 3 3 Output to the control module.
  • the control module generates a pulse width modulation control signal 34 based on the control signal 33 and the external command 30 and outputs it to the drive module.
  • the driving module of the electric controller 102 generates amplified and independent signals 35, 36, 37, 38 to drive the load circuit to control the first winding 39 and the second
  • the windings 40 are alternately turned on and off.
  • the first winding 39 and the second winding 40 are alternately switchable between power-off and energization: when the first winding 39 is energized, the second winding 40 is de-energized; when the first winding 39 is de-energized, second Winding 40 is energized.
  • the two ends of the first winding 39 are electrically connected to the first output end and the second output end of the load circuit, respectively, and the two ends of the second winding 40 are electrically connected to the third output end and the fourth output end of the load circuit, respectively.
  • the load circuit is supplied with power to the first winding 39 and the second winding 40.
  • the first winding circuit includes a first bypass transistor, a second bypass transistor, a first diode, a second diode, and a first winding;
  • the first end of the bypass tube is connected to the anode of the first diode, and the other end of the first winding is connected to the second end of the second bypass tube and the anode of the second diode;
  • the positive output terminal of the rectifier filter circuit Connected to the second end of the first shunt tube and the cathode of the second diode, the negative output end of the rectifying and filtering circuit is connected to the first end of the second shunt tube and the anode of the first diode
  • the second winding circuit includes a third bypass transistor, a fourth bypass transistor, a third diode, a fourth diode, and a second winding; one end of the second winding and the first of the third bypass transistor The anode and the third diode are connected to each other, and the other end of the second winding is connected to the second end of the fourth bypass tube and the anode of the fourth diode; the positive output terminal of the rectifier filter circuit and the third bypass transistor The second end is connected to the negative pole of the fourth diode, and the rectifying and filtering circuit The negative output terminal is connected to the first end of the fourth shutoff tube and the anode of the third diode.
  • the third end of the first shutoff tube, the third end of the second shutoff tube, the third end of the third shutoff tube, and the third end of the fourth shutoff tube are connected to the output end of the drive module.
  • Signals 35, 36, 37, 38 generated by the drive modules of electrical controller 102 control the first, second, third, and fourth ports, respectively.
  • the thyristor can employ a metal oxide semiconductor field effect transistor (MOSFET).
  • MOSFET metal oxide semiconductor field effect transistor
  • the bypass transistor is a MOSFET.
  • the first end of the bypass tube is the source, the second end is the drain, and the third end is the gate.
  • the bypass tube can also be another type of manifold such as an electronic triode.
  • the mover core 4 moves toward the magnetic path having the smallest reluctance, that is, the mover core 4 is close to the first winding 39.
  • the mover core 5 moves toward the magnetic path having the smallest reluctance, and the mover core 5 approaches the second winding 40.
  • the first winding 39 is in an energized state ⁇ , and the magnetic circuit has the smallest magnetic resistance at a position where the mover core 4 and the stator core 2 are completely engaged (the mover pole of the mover core 4 is opposite to the mover pole of the stator core 2).
  • the second winding 40 is in an energized state ⁇ similar to the case.
  • the first winding 39 is in the energized state
  • the second winding 40 is in the non-energized state
  • the leftward electromagnetic force is generated, and the stator pole 14 is moved to the left
  • the first winding 39 is in the non-energized state
  • the first winding 39 is in the energized state
  • the electromagnetic force to the right is generated, and the mover pole 14 is moved to the right.
  • the stator core is a magnetically permeable material rather than a permanent magnet, the direction of the electromagnetic force generated is independent of the current direction of the winding.
  • the magnetic characteristics of the sensorless linear electromagnetic actuator of the present invention are shown in FIGS. 7 and 8.
  • the magnetic characteristic curve 41 46 shown in FIG. 7 has a magnetic force value of negative, indicating that the electromagnetic force direction is to the left; the magnitude of the displacement is relative to the stator core 2 in the axial direction of the mover shaft 4;
  • the moving iron core 4 has a positive displacement on the right side of the stator core 2.
  • Each of the magnetic characteristic curves 41 46 is obtained with a constant current to the first winding 39.
  • the magnetic force value of the magnetic characteristic curve 41 46 increases as the current of the first winding 39 increases.
  • the magnetic characteristic curves 47-52 shown in FIG. 8 have positive magnetic force values indicating that the electromagnetic force direction is to the right; the magnitude of the displacement is relative to the moving core 5 in the axial direction of the mover axis.
  • the mover core 5 has a positive displacement on the left side of the stator core 3.
  • Each of the magnetic characteristic curves 47-52 is obtained with a constant current to the second winding 40.
  • the magnetic force value of the magnetic characteristic curves 47-52 increases as the current of the second winding 40 increases.
  • the distance between the mover core 4 and the mover core 5 is smaller than the distance between the stator core 2 and the stator core 3. Therefore, the first winding 39 is in the excited state and the second winding 40 is in the non-excited state ⁇ , and the electromagnetic force applied to the mover core 4 causes the mover shaft 14 to move to the left; when the mover core 4 and the stator core 2 are completely engaged That is, since the distance between the mover core 4 and the mover core 5 is smaller than the distance between the stator core 2 and the stator core 3, the mover core 5 is located to the left of the stator core 3.
  • the excitation state of the first winding 39 and the second winding 40 is reversed even if the first winding 39 is in the non-excited state and the second winding 40 is in the excited state; thus the electromagnetic force applied to the mover core 5 drives the mover shaft 14 moves to the right; when the mover core 5 and the stator core 3 are completely engaged, the mover core 4 has moved to the right of the stator core 2. Then, the excitation state of the first winding 39 and the second winding 40 is reversed, and the electromagnetic force applied to the mover core 4 again drives the mover shaft 14 to move to the left; thus, the mover shaft 14 can be reciprocated linearly. .
  • stator core is not a permanent magnet, the direction of the electromagnetic force generated by it is independent of the current direction of the winding.
  • the distance between the mover core 4 and the mover core 5 can also be greater than the distance between the stator core 2 and the stator core 3.
  • the mover core 5 is located to the right of the stator core 3, Similarly, after the excitation state of the first winding 39 and the second winding 40 is reversed, an electromagnetic force to the left is generated. I will not repeat them here.
  • a typical waveform of the electromagnetic linear actuator of this embodiment is as shown in FIG. 9.
  • the electromagnetic force reference generated by the control module based on the input command 30 is as shown by curve 53, and the input command 30 can also be used to adjust the magnitude of the electromagnetic force.
  • the control module then calculates a desired current value reference curve 54 based on the magnetic property reference curve 53.
  • the control module then generates a pulse width modulation control signal 34 based on the current value reference curve 54 to control the on-off switching of the first winding 39 and the second winding 40.
  • the control module adjusts the pulse width modulation control signal 34 according to the current of the first winding 39 and the second winding 40 to track the analog current reference curve 54 to obtain the current curve 55 and the second of the first winding 39.
  • the current curve 56 of the winding 40 i.e., the current reference curve 54, is the target curve, while the curve 55 and curve 56 are true curves.
  • the peaks of the curve 55 and the peaks of the curve 56 alternate with each other, that is, the alternating currents of the exciting coils on the first winding 39 and the second winding 40 alternately excite the first winding 39 and the second winding 40 to generate a magnetic field.
  • the sensorless linear electromagnetic actuator produces an electromagnetic force as shown by curve 57, causing the mover shaft 14 to produce a linear reciprocating motion as shown by the displacement graph 58.
  • the electromagnetic linear driver of the invention can conveniently control the movement frequency and the stroke of the driver by adjusting the driving frequency and current of the electric controller, and does not need a sensor, thereby saving the cost; replacing the mechanical control with the electric control commutation Reversing, no permanent magnets, so no permanent magnets frequently reciprocate impact damage caused by the mover / commutator structure, so high stability, long service life, high energy conversion efficiency.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Linear Motors (AREA)

Abstract

一种电磁直线驱动器，包括：筒形外壳（1）及两端盖（15，16），两端盖与外壳固定连接，端盖上分别固定设置有一支座（17，18），固定在外壳中的两个定子铁心（2，3），定子铁心分别包括偶数个定子极（21，25），每个定子极上绕有励磁线圈（6，7，8，9，10，11，12，13）；动子轴（14），两动子铁心（4，5），动子轴的两端分别与一支座形成可沿动子轴的轴向滑动的连接，两动子铁心固定套设在动子轴外；及一电控制器（102），电控制器用于控制由一定子铁心上的所有励磁线圈构成的第一绕组（39）及由另一定子铁心上的所有励磁线圈构成的第二绕组（40）交替通电；定子铁心和动子铁心由导磁材料制成。可以方便地控制电磁直线驱动器的运动频率及行程，且不需要传感器，节省了成本，而且稳定性高，使用寿命长，能量转换效率高。

Description

说明书 发明名称：电磁直线驱动器 技术领域
[0001] 本发明涉及一种电磁直线驱动器， 特别是涉及一种无传感器的用于往复运动的 电磁直线驱动器。
背景技术
[0002] 在一些场合往往需要直线往复运动， 如车辆主动挂载系统、 用于制冷的空气泵 与压缩机等。 以制冷空气泵与压缩机为例， 空气泵与压缩机中的活塞通常由马 达带动曲柄和连杆所驱动， 这种旋转的马达 -曲柄 -连杆直线运动机制会导致 较多的能量损耗及活塞的不间断运动。 其导致的结果是， 系统的效率较低， 而 活塞亦因不间断的运动而容易损坏。
[0003] 还有另一种驱动方式， 即使用直线励磁绕组直接驱动活塞往复运动。 这种直接 驱动的机制可以解决在传统的压缩机中由曲柄端往复运动的侧向力导致的汽缸 壁磨损问题， 进而显著提高整个系统的转换效率。 另外， 由于活塞的运动状态 可以被改变， 因此还可据此调整压缩机的输出功率。
[0004] 虽然目前直线永磁激励励磁线圈已有被用来驱动压缩机。 然而， 这些直线永磁 铁激励励磁线圈由于使用永磁铁频繁往复冲击动子 /换向器结构， 从而导致永磁 铁结构复杂和成本昂贵以及潜在的不可靠性， 并减短了使用寿命。
[0005] 另外， 有些电磁直线驱制器是通过电机内部的位置传感器来检测动子位置的， 整个电机的运行状态极大地依赖于动子位置， 这些位置传感器有直线位移传感 器等。 但是位置传感器检测动子位置有很多缺陷， 比如说传感器故障了， 那么 整个系统都会无法运转， 这种电磁直线驱制器无疑是很不稳定的， 也增加了整 个驱动器系统的成本和复杂性。
技术问题
[0006] 本发明要解决的技术问题在于， 针对现有技术中电磁直线驱制器的上述缺陷， 提供一种稳定度高、 寿命长、 直线往复运动的频率和行程可调且成本较低的电 磁直线驱制器。 问题的解决方案
技术解决方案
[0007] 本发明解决其技术问题所采用的技术方案是， 提供一种电磁直线驱动器包括： 筒形外壳及两端盖， 所述两端盖与所述外壳固定连接， 所述端盖上分别固定设 置有一支座； 固定在所述外壳中的两定子铁心， 所述定子铁心分别包括环形的 定子磁轭及由所述定子磁轭向内延伸形成且沿所述定子铁心的周向均匀分布的 偶数个定子极， 每个所述定子极上绕有励磁线圈， 沿同一所述定子铁心周向的 任意相邻两定子极上的励磁线圈的磁极方向相反； 动子轴、 两动子铁心， 所述 动子轴的两端分别与一所述支座形成可沿所述动子轴的轴向滑动的连接， 所述 两动子铁心固定套设在所述动子轴外， 所述动子铁心向内延伸形成偶数个定子 极； 及一电控制器， 所述电控制器用于控制由一所述定子铁心上的所有所述励 磁线圈构成的第一绕组及由另一所述定子铁心上的所有所述励磁线圈构成的第 二绕组交替通电； 其中， 所述定子铁心延伸出的定子极与相邻的所述动子铁心 延伸出的动子极一一对应， 所述定子铁心和动子铁心由导磁材料制成。
[0008] 在根据本发明所述的电磁直线驱动器中， 同一所述定子铁心上的所述励磁线圈 之间相串联。
[0009] 在根据本发明所述的电磁直线驱动器中， 同一所述定子铁心上的所述励磁线圈 之间相并联。
[0010] 在根据本发明所述的电磁直线驱动器中， 同一所述定子铁心上的所述励磁线圈 之间部分相串联部分相并联。
[0011] 在根据本发明所述的电磁直线驱动器中， 所述动子轴的两端分别与一所述支座 形成可沿所述动子轴的周向转动的连接。
[0012] 在根据本发明所述的电磁直线驱动器中， 所述电控制器包括整流滤波电路、 负 载电路， 驱动模块、 控制模块及采样模块， 其中： 所述负载电路两端分别与整 流滤波电路的两输出端电连接； 所述负载电路与所述第一绕组及所述第二绕组 分别电连接， 以给所述第一绕组及所述第二绕组供电； 所述采样模块对通过所 述第一绕组及所述第二绕组的电流进行采样， 并将获得的采样信号输出至控制 模块； 所述控制模块根据外部指令及所述采样信号计算得到脉宽调制控制信号 ， 并将所述脉宽调制控制信号输出至所述驱动模块； 所述驱动模块根据所述脉 宽调制控制信号， 分别控制所述第一绕组及所述第二绕组的通断。
[0013] 在根据本发明所述的电磁直线驱动器中， 所述负载电路包括第一绕组电路及第 二绕组电路； 所述第一绕组电路包括第一幵关管、 第二幵关管、 第一二极管、 第二二极管及所述第一绕组； 所述第一绕组的一端与所述第一幵关管的第一端 及所述第一二极管的负极相连， 所述第一绕组的另一端与所述第二幵关管的第 二端及所述第二二极管的正极相连； 所述整流滤波电路的正极输出端与所述第 一幵关管的第二端及所述第二二极管的负极相连， 所述整流滤波电路的负极输 出端与所述第二幵关管的第一端及所述第一二极管的正极相连； 所述第二绕组 电路包括第三幵关管、 第四幵关管、 第三二极管、 第四二极管及所述第二绕组 ； 所述第二绕组的一端与所述第三幵关管的第一端及所述第三二极管的负极相 连， 所述第二绕组的另一端与所述第四幵关管的第二端及所述第四二极管的正 极相连； 所述整流滤波电路的正极输出端与所述第三幵关管的第二端及所述第 四二极管的负极相连， 所述整流滤波电路的负极输出端与所述第四幵关管的第 一端及所述第三二极管的正极相连； 所述第一幵关管的第三端、 所述第二幵关 管的第三端、 所述第三幵关管的第三端及所述第四幵关管的第三端与所述驱动 模块的输出端相连。
发明的有益效果
有益效果
[0014] 本发明的电磁直线驱动器， 通过调节电控制器的驱动频率， 可方便地控制驱动 器的运动频率及行程大小， 且不需要传感器， 进而节省了成本； 以电控制换向 取代机械控制换向、 不使用永磁体， 因而无永磁铁频繁往复冲击动子 /换向器结 构所带来的损伤， 因而稳定性高， 使用寿命长、 能量转换效率高。
对附图的简要说明
附图说明
[0015] 下面将结合附图及实施例对本发明作进一步说明， 附图中：
[0016] 图 1为本发明优选实施例的电磁直线驱动器的立体结构示意图；
[0017] 图 2为本发明优选实施例的电磁直线驱动器的纵向结构示意图； [0018] 图 3为本发明优选实施例的电磁直线驱动器的一定子铁心与一动子铁心的横向 结构示意图；
[0019] 图 4为本发明优选实施例的电磁直线驱动器的另一定子铁心与另一动子铁心的 横向结构示意图；
[0020] 图 5为本发明优选实施例的电磁直线驱动器横向截面上的电流与磁通路示意图
[0021] 图 6为本发明优选实施例的电磁直线驱动器的电控制器的电路原理示意图；
[0022] 图 7为本发明优选实施例的第一绕组在电流激励下的典型磁力特性示意图；
[0023] 图 8为本发明优选实施例的第二绕组在电流激励下的典型磁力特性示意图；
[0024] 图 9为本发明优选实施例的电磁直线驱动器和电控制器的典型波形示意图。
实施该发明的最佳实施例
本发明的最佳实施方式
[0025] 为了使本发明的目的、 技术方案及优点更加清楚明白， 以下结合附图及实施例 ， 对本发明进行进一步详细说明。 应当理解， 此处所描述的具体实施例仅仅用 以解释本发明， 并不用于限定本发明。
[0026] 如图 1所示， 为本发明优选实施例的电磁直线驱动器的立体结构示意图。 本实 施例的电磁直线驱动器包括外壳 1、 定子铁心 2、 定子铁心 3， 动子铁心 4、 动子 铁心 5、 励磁线圈 6— 13、 动子极、 动子轴 14、 端盖 15、 端盖 16， 支座 17、 支座 1 8。
[0027] 请结合参阅图 1、 图 2。 图 2为本发明优选实施例的电磁直线驱动器的纵向结构 示意图。 如图 1、 图 2所示， 外壳 1为筒形， 端盖 15、 16固定连接在外壳 1两端。 外壳 1与端盖 15、 端盖 16形成一柱形容纳空间。 端盖 15的中心分别幵设有一支座 17， 端盖 16的中心幵设有一支座 18。 动子轴 14的两端分别穿设支座 17、 支座 18 ， 动子轴 14可沿动子轴 14的轴向左右移动。 在其他的一些实施例中， 动子轴 14 还可沿动子轴 14的周向转动， 以方便动子轴 14的定位。
[0028] 在外壳 1内， 动子轴 14上还固定套设有动子铁心 4和动子铁心 5， 动子铁心 4和动 子铁心 5可带动动子轴 14沿动子轴 14的轴向方向向左或向右移动。 定子极 21与动 子铁心 4、 动子铁心 5之间分别形成有气隙 19。 两动子极之间的距离小于定子铁 心 2与定子铁心 3之间的距离。
[0029] 请参阅图 3， 图 3为本发明优选实施例的电磁直线驱动器的一定子铁心与一动子 铁心的横向结构示意图。 定子铁心 2包括一环形的定子磁轭 22及由定子磁轭 22向 内延伸出的四个定子极 21， 四个定子极 21沿定子磁轭 22的周向均匀分布。 励磁 线圈 6、 励磁线圈 7、 励磁线圈 8、 励磁线圈 9分别缠绕在由定子磁轭的内周向内 延伸出的四个定子极 21上。
[0030] 请参阅图 4， 图 4为本发明优选实施例的电磁直线驱动器的另一定子铁心与另一 动子铁心的横向结构示意图。 定子铁心 3包括一环形的定子磁轭 26及由定子磁轭 26向内延伸出的四个定子极 25， 四个定子极 25沿定子铁心 3的周向均匀分布。 励 磁线圈 10、 励磁线圈 11、 励磁线圈 12、 励磁线圈 13分别缠绕在由定子磁轭的内 周向下延伸出的四个定子极 25上。
[0031] 请结合参阅图 3、 图 4， 动子轴 14可滑动地穿设于定子磁轭 22及定子磁轭 26的内 环。 定子磁轭 22及定子磁轭 26所在的环形面垂直于动子轴 14。
[0032] 较佳地， 励磁线圈 6— 13分别由铜导线绕制而成。
[0033] 较佳地， 定子铁心 2与定子铁心 3分别由多个导磁片在纵向方向上层叠而成， 如 硅钢片等。
[0034] 较佳地， 动子铁心 4与动子铁心 5分别由多个导磁片在纵向方向上层叠而成， 如 硅钢片等。
[0035] 其中， 定子铁心 2上的励磁线圈 6、 励磁线圈 7、 励磁线圈 8及励磁线圈 9组成第 一绕组 39， 定子铁心 3上的励磁线圈 10、 励磁线圈 11、 励磁线圈 12及励磁线圈 13 组成第二绕组 40。 励磁线圈 6、 励磁线圈 7、 励磁线圈 8及励磁线圈 9可相互串联 ， 或相互并联， 或部分并联部分串联。 励磁线圈 10、 励磁线圈 11、 励磁线圈 12 及励磁线圈 13可相互串联， 或相互并联， 或部分并联部分串联.
[0036] 优选地， 在第一绕组 39与第二绕组 40中， 励磁线圈的电路连接方式相对应， 即 当励磁线圈 6、 励磁线圈 7、 励磁线圈 8及励磁线圈 9之间相互串联吋， 励磁线圈 1 0、 励磁线圈 11、 励磁线圈 12及励磁线圈 13之间也相互串联； 当励磁线圈 6、 励 磁线圈 7、 励磁线圈 8及励磁线圈 9之间相互并联吋， 励磁线圈 10、 励磁线圈 11、 励磁线圈 12及励磁线圈 13之间也相互并联； 当励磁线圈 6、 励磁线圈 7、 励磁线 圈 8及励磁线圈 9部分串联部分并联吋， 励磁线圈 10、 励磁线圈 11、 励磁线圈 12 及励磁线圈 13之间对应地部分串联部分并联， 其目的是使第一绕组 39与第二绕 组 40的磁力特性相平衡， 以使电磁直线驱动器的系统更加稳定。
[0037] 请结合参阅图 4、 图 5， 图 5为本发明优选实施例的电磁直线驱动器一横向断面 上的电流与磁通路示意图。 在横向断面上， 由绕组所激发的磁感线在定子极构 成的磁通路 29如图 5中的虚线路径所示。 四个定子极 25按照其在图 5中的方位区 分为左定子极、 右定子极、 上定子极和下定子极。 以第一象限 （右上部分） 的 磁通路为例， 图中第一象限的磁通路 29绕逆吋针方向循环， 磁感应线经动子铁 心 5、 气隙 19、 右定子极、 定子磁轭 26的右上部分、 上定子极后再经气隙 19回到 动子铁心 5。 定子铁心 2与定子铁心 3处的横向断面上的电流与磁通路相同， 或相 反： 即对应的电流相反， 产生的磁场方向也相反。
[0038] 在本发明中， 沿定子铁心 2和定子铁心 3的周向的任意相邻两定子极上的励磁线 圈绕线方向相反； 具体体现在本实施例中， 励磁线圈 10与励磁线圈 11、 励磁线 圈 12相邻， 励磁线圈 10与励磁线圈 11、 励磁线圈 12的磁极方向相反， 励磁线圈 1 0靠近动子铁心 5的一端为 N极， 励磁线圈 11和励磁线圈 12靠近动子铁心 5的一端 为 S极。 由此， 动子铁心 5、 气隙 19及定子铁心 3中形成图 5中虚线箭头所示的磁 通路 29。
[0039] 较佳地， 动子铁心 5延伸形成与左定子极、 右定子极、 上定子极和下定子极分 别相对应的左动子极、 右动子极、 上动子极和下动子极。 在起到同样的导磁效 果吋可相应减小动子铁心 5的体积和质量， 以有利于降低能量损耗并节省成本。
[0040] 电磁直线驱动器在动子铁心 4及定子铁心 2处的横断面上的电流与磁通路与在动 子铁心 5及定子铁心 3处类似。 其主要用于在第一绕组 39通电吋吸引动子铁心 4， 第二绕组 40通电吋吸引动子铁心 5， 以带动动子轴 14来回运动。
[0041] 在本实施例中， 定子铁心与动子铁心的磁感应线主要地都位于横向磁路结构中 ， 定子铁心和动子铁心之间的气隙 19内的磁感应线分布则主要位于纵向磁路结 构中。
[0042] 请参阅图 6， 图 6为本发明优选实施例的电磁直线驱动器的电控制器的电路原理 示意图。 电控制器 102包括整流滤波电路、 负载电路， 驱动模块、 控制模块及采 样模块。 交流电经一简单的整流滤波电路处理后分别为第一绕组 39和第二绕组 4 0供电。 负载电路包括两个并联的绕组电路： 第一绕组电路与第二绕组电路。 第 一绕组电路控制第一绕组 39电流的通断； 第二绕组电路控制第二绕组 40电流的 通断。
[0043] 其中， 第一绕组 39和第二绕组 40分别与电控制器 102所连接。 电控制器 102可从 外部接收外部指令 30输入控制模块， 外部指令 30携带的信息为所需要的磁作用 力或电流。
[0044] 采样模块用于将由第一绕组 39中的电流传感器得到的电流信号 31和由第二绕组 40中的电流传感器得到的电流信号 32， 经滤波后得到控制信号 33并将控制信号 3 3输出到控制模块。 控制模块根据控制信号 33及外部指令 30， 生成脉宽调制控制 信号 34并输出至驱动模块。
[0045] 在本实施例的直线电磁驱动器中， 电控制器 102的驱动模块产生经放大的且各 自独立的信号 35、 36、 37、 38来驱动负载电路， 以控制第一绕组 39与第二绕组 4 0交替通断。 其中第一绕组 39和第二绕组 40能够在断电与通电两者之间交替地切 换： 当第一绕组 39通电吋， 第二绕组 40断电； 当第一绕组 39断电吋， 第二绕组 4 0通电。 其中， 第一绕组 39的两端分别与负载电路的第一输出端与第二输出端电 连接， 第二绕组 40的两端分别与负载电路的第三输出端与第四输出端电连接， 以使得负载电路给第一绕组 39和第二绕组 40供电。
[0046] 在本实施例中， 第一绕组电路包括第一幵关管、 第二幵关管、 第一二极管、 第 二二极管及第一绕组； 第一绕组的一端与第一幵关管的第一端及第一二极管的 负极相连， 第一绕组的另一端与第二幵关管的第二端及第二二极管的正极相连 ； 整流滤波电路的正极输出端与第一幵关管的第二端及第二二极管的负极相连 ， 整流滤波电路的负极输出端与第二幵关管的第一端及第一二极管的正极相连
[0047] 第二绕组电路包括第三幵关管、 第四幵关管、 第三二极管、 第四二极管及第二 绕组； 第二绕组的一端与第三幵关管的第一端及第三二极管的负极相连， 第二 绕组的另一端与第四幵关管的第二端及第四二极管的正极相连； 整流滤波电路 的正极输出端与第三幵关管的第二端及第四二极管的负极相连， 整流滤波电路 的负极输出端与第四幵关管的第一端及第三二极管的正极相连。
[0048] 第一幵关管的第三端、 第二幵关管的第三端、 第三幵关管的第三端及第四幵关 管的第三端与驱动模块的输出端相连。 电控制器 102的驱动模块产生的信号 35、 36、 37、 38分别控制第一幵关管、 第二幵关管、 第三幵关管和第四幵关管。 通 过设置相对整流滤波电路的输出端反向偏置的第一二极管、 第二二极管、 第三 二极管及第四二极管， 可防止在幵关管切换通断状态吋励磁线圈中产生的反向 电压损坏幵关管。
[0049] 优选地， 幵关管可采用金属氧化物半导体场效应晶体管 （MOSFET) 。 在本实 施例中， 幵关管为 MOSFET管。 幵关管的第一端为源极、 第二端为漏极、 第三端 为栅极。 在其他的一些实施例中， 幵关管还可以为电子三极管等其他类型的幵 关管。
[0050] 当第一绕组 39处于激励状态吋， 动子铁心 4朝具有最小磁阻的磁路方向移动， 即动子铁心 4靠近第一绕组 39。 同样地， 当第二绕组 40处于激励状态吋， 动子铁 心 5朝具有最小磁阻的磁路方向移动， 动子铁心 5靠近第二绕组 40。 第一绕组 39 处于激励状态吋， 在动子铁心 4与定子铁心 2完全咬合 （动子铁心 4的动子极与定 子铁心 2的动子极正对） 的位置上， 磁路的磁阻最小。 第二绕组 40处于激励状态 吋的情况与之类似。 由此， 当第一绕组 39处于激励状态， 第二绕组 40处于非激 励状态， 向左的电磁力随之产生， 定子极 14向左移动； 当第一绕组 39处于非激 励状态， 第一绕组 39处于激励状态， 向右的电磁力随之产生， 动子极 14向右移 动。 由于定子铁心是导磁材料而不是永磁体， 其所产生的电磁力的方向与绕组 的电流方向无关。
[0051] 本发明的无传感器直线电磁驱动器的磁力特性如图 7、 图 8所示。 图 7中所示的 磁力特性曲线 41 46， 其磁作用力值为负， 表示电磁力方向向左； 位移大小是 相对动子铁心 4在动子轴轴向上相对定子铁心 2来说的， 动子铁心 4在定子铁心 2 右边吋位移为正。 磁力特性曲线 41 46中的每一条曲线都是在与第一绕组 39的 电流恒定的情况下得到的。 其中， 磁力特性曲线 41 46的磁作用力值随着第一 绕组 39的电流增大而增大。 在第一绕组 39通电、 第二绕组 40电流为零吋， 由定 子铁心 2施加在动子铁心 4上磁作用力值为负， 因此动子铁心 4带动动子轴 14向左 运动。 相反地， 当动子铁心 4在定子铁心 2左边吋， 磁作用力值的方向相反， 动 子铁心 4带动动子轴 14向右运动。
[0052] 类似地， 图 8中所示的磁力特性曲线 47— 52， 其磁作用力值为正， 表示电磁力 方向向右； 位移大小是相对动子铁心 5在动子轴轴向上相对定子铁心 3来说的， 动子铁心 5在定子铁心 3左边吋位移为正。 磁力特性曲线 47— 52中的每一条曲线 都是在与第二绕组 40的电流恒定的情况下得到的。 其中， 磁力特性曲线 47— 52 的磁作用力值随着第二绕组 40的电流增大而增大。 在第一绕组 39电流为零、 第 二绕组 40通电吋， 由定子铁心 3施加在动子铁心 5上磁作用力值为正， 因此动子 铁心 4带动动子轴 14向右运动。 相反地， 当动子铁心 5在定子铁心 3右边吋， 磁作 用力值的方向相反， 动子铁心 5带动动子轴 14向左运动。
[0053] 在本实施例中， 动子铁心 4与动子铁心 5之间的距离小于定子铁心 2与定子铁心 3 之间的距离。 因此， 第一绕组 39处于激发状态、 第二绕组 40处于非激发状态吋 ， 施加在动子铁心 4上的电磁力带动动子轴 14向左运动； 当动子铁心 4与定子铁 心 2完全咬合吋， 由于动子铁心 4与动子铁心 5之间的距离小于定子铁心 2与定子 铁心 3之间的距离， 此吋动子铁心 5位于定子铁心 3左方。 此吋， 逆转第一绕组 39 与第二绕组 40的激发状态， 即使第一绕组 39处于非激发状态、 第二绕组 40处于 激发状态； 从而施加在动子铁心 5上的电磁力带动动子轴 14向右运动； 当动子铁 心 5与定子铁心 3完全咬合吋动子铁心 4已运动至定子铁心 2右方。 再逆转第一绕 组 39与第二绕组 40的激发状态， 施加在动子铁心 4上的电磁力再次带动动子轴 14 向左运动； 如此反复， 则可使得动子轴 14进行来回往复直线运动。
[0054] 由于定子铁心不是永磁体， 其所产生的电磁力的方向与绕组的电流方向无关。
由此则容易理解的是， 动子铁心 4与动子铁心 5之间的距离还可以大于定子铁心 2 与定子铁心 3之间的距离。 在这种情况下， 当施加在动子铁心 4上的电磁力带动 动子轴 14向右运动， 直至动子铁心 4与定子铁心 2完全咬合吋， 动子铁心 5位于定 子铁心 3右方， 同样在逆转第一绕组 39与第二绕组 40的激发状态后会产生向左的 电磁力。 在此不再一一累述。
[0055] 当改变两绕组电流的频率吋， 还可以实现对直线往复运动频率的调整。 通过调 整激励电流的电流大小， 还可以相应控制动子轴 14的行程大小。 [0056] 本实施例的电磁直线驱动器典型波形如图 9所示。 首先， 控制模块基于输入指 令 30所产生的电磁力参考如曲线 53所示， 输入指令 30还可用来调节电磁力的幅 值。 然后， 控制模块基于由磁力特性参考曲线 53， 计算得到所需要的电流值参 考曲线 54。 控制模块再根据电流值参考曲线 54生成脉宽调制控制信号 34， 以控 制第一绕组 39、 第二绕组 40的通断切换。 与此同吋， 控制模块根据第一绕组 39 与第二绕组 40的电流， 实吋调整脉宽调制控制信号 34， 以跟踪模拟电流参考曲 线 54， 得到第一绕组 39的电流曲线 55与第二绕组 40的电流曲线 56， 即电流参考 曲线 54为目标曲线， 而曲线 55与曲线 56为真实曲线。 其中， 曲线 55的波峰与曲 线 56的波峰相互交替， 即第一绕组 39、 第二绕组 40上的励磁线圈电流的交替通 断， 以交替激发第一绕组 39、 第二绕组 40产生磁场。 由此， 无传感器直线电磁 驱动器产生如曲线 57所示的电磁力， 使得动子轴 14产生如位移曲线图 58所示的 直线往复运动。 其中， 曲线 57与曲线 53的吻合度越高则表示系统精度越高。
[0057] 本发明的电磁直线驱动器， 通过调节电控制器的驱动频率和电流， 可方便地控 制驱动器的运动频率及行程， 且不需要传感器， 进而节省了成本； 以电控制换 向取代机械控制换向、 不使用永磁体， 因而无永磁铁频繁往复冲击动子 /换向器 结构所带来的损伤， 因而稳定性高， 使用寿命长、 能量转换效率高。
[0058] 以上仅为本发明的较佳实施例而已， 并不用以限制本发明， 凡在本发明的精神 和原则之内所作的任何修改、 等同替换和改进等， 均应该包含在本发明的保护 范围之内。

Claims

权利要求书
一种电磁直线驱动器， 其特征在于， 包括：
筒形外壳及两端盖， 所述两端盖与所述外壳固定连接， 所述端盖上分 别固定设置有一支座；
固定在所述外壳中的两定子铁心， 所述定子铁心分别包括环形的定子 磁轭及由所述定子磁轭向内延伸形成且沿所述定子铁心的周向均匀分 布的偶数个定子极， 每个所述定子极上绕有励磁线圈， 沿同一所述定 子铁心周向的任意相邻两定子极上的励磁线圈的磁极方向相反； 动子轴、 两动子铁心， 所述动子轴的两端分别与一所述支座形成可沿 所述动子轴的轴向滑动的连接， 所述两动子铁心固定套设在所述动 子轴外， 所述动子铁心向内延伸形成偶数个动子极；
及一电控制器， 所述电控制器用于控制由一所述定子铁心上的所有所 述励磁线圈构成的第一绕组及由另一所述定子铁心上的所有所述励磁 线圈构成的第二绕组交替通电；
其中， 所述定子铁心延伸出的定子极与相邻的所述动子铁心延伸出的 动子极一一对应， 所述定子铁心和动子铁心由导磁材料制成。
如权利要求 1所述的电磁直线驱动器， 其特征在于， 同一所述定子铁 心上的所述励磁线圈之间相串。
如权利要求 1所述的电磁直线驱动器， 其特征在于， 同一所述定子铁 心上的所述励磁线圈之间相并联。
如权利要求 1所述的电磁直线驱动器， 其特征在于， 同一所述定子铁 心上的所述励磁线圈之间部分相串联部分相并联。
如权利要求 2 - 4中任一项所述的电磁直线驱动器， 其特征在于， 所述 动子轴的两端分别与一所述支座形成可沿所述动子轴的周向转动的连
[权利要求 6] 如权利要求 5所述的电磁直线驱动器， 其特征在于，
所述电控制器包括整流滤波电路、 负载电路， 驱动模块、 控制模块及 采样模块， 其中： 所述负载电路两端分别与整流滤波电路的两输出端电连接； 所述负载 电路与所述第一绕组及所述第二绕组分别电连接， 以给所述第一绕组 及所述第二绕组供电；
所述采样模块对通过所述第一绕组及所述第二绕组的电流进行采样， 并将获得的采样信号输出至控制模块；
所述控制模块根据外部指令及所述采样信号计算得到脉宽调制控制信 号， 并将所述脉宽调制控制信号输出至所述驱动模块；
所述驱动模块根据所述脉宽调制控制信号， 分别控制所述第一绕组及 所述第二绕组的通断。
[权利要求 7] 如权利要求 6所述的电磁直线驱动器， 其特征在于， 所述负载电路包 括第一绕组电路及第二绕组电路；
所述第一绕组电路包括第一幵关管、 第二幵关管、 第一二极管、 第二 二极管及所述第一绕组； 所述第一绕组的一端与所述第一幵关管的第 一端及所述第一二极管的负极相连， 所述第一绕组的另一端与所述第 二幵关管的第二端及所述第二二极管的正极相连； 所述整流滤波电路 的正极输出端与所述第一幵关管的第二端及所述第二二极管的负极相 连， 所述整流滤波电路的负极输出端与所述第二幵关管的第一端及所 述第一二极管的正极相连；
所述第二绕组电路包括第三幵关管、 第四幵关管、 第三二极管、 第四 二极管及所述第二绕组； 所述第二绕组的一端与所述第三幵关管的第 一端及所述第三二极管的负极相连， 所述第二绕组的另一端与所述第 四幵关管的第二端及所述第四二极管的正极相连； 所述整流滤波电路 的正极输出端与所述第三幵关管的第二端及所述第四二极管的负极相 连， 所述整流滤波电路的负极输出端与所述第四幵关管的第一端及所 述第三二极管的正极相连；
所述第一幵关管的第三端、 所述第二幵关管的第三端、 所述第三幵关 管的第三端及所述第四幵关管的第三端与所述驱动模块的输出端相连
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