WO2019161625A1 - 一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机 - Google Patents

一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机 Download PDF

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WO2019161625A1
WO2019161625A1 PCT/CN2018/088139 CN2018088139W WO2019161625A1 WO 2019161625 A1 WO2019161625 A1 WO 2019161625A1 CN 2018088139 W CN2018088139 W CN 2018088139W WO 2019161625 A1 WO2019161625 A1 WO 2019161625A1
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permanent magnet
halbach
stator
motor
rotor
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PCT/CN2018/088139
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English (en)
French (fr)
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房淑华
薛松寒
盘真保
阳辉
彭飞
林鹤云
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东南大学
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Publication of WO2019161625A1 publication Critical patent/WO2019161625A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H02K16/02—Machines with one stator and two or more rotors
    • 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
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/12—Machines characterised by the modularity of some components

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  • the invention relates to an electric motor, in particular to a Halbach cylindrical arc permanent magnet motor for a large telescope, belonging to the technical field of electric motors.
  • the large-scale astronomical telescope integrates the latest technologies and achievements of optics, precision machinery and precision control. While developing the optical system, the increase of the telescope diameter and the shaft drive of the azimuth axis and the height axis also bring us new The challenge, a good precision drive platform is a necessary condition to ensure high quality observations.
  • the pitch axes of large telescopes are open-ended (the VLT telescope of the European Southern Observatory, the Subaru telescope of the National Astronomical Observatory, and the planned Chinese giant telescope CFGT). Adopt such a structure).
  • the pitch axis is a technical problem that urgently needs to be solved for the development of large-scale astronomical telescopes.
  • the technical problem to be solved by the present invention is to provide a Halbach cylindrical arc permanent magnet motor for a large-scale astronomical telescope, which solves the problem of large torque ripple which is conventionally applied to a permanent magnet motor of a large telescope.
  • a Halbach cylindrical arc permanent magnet motor for a large-scale astronomical telescope is circular, comprising three rotors (1) and one stator (2), three The rotors (1) are respectively located at the outer circumference of the toroidal stator (2); wherein the rotor (1) is cylindrical, including an armature winding (1.1), an armature core tooth (1.2) and a rotor yoke (1.3).
  • an armature core tooth (1.2) is formed in the inner circle of the rotor yoke (1.3) to form a semi-closed pear-shaped groove (3), and an armature winding (1.1) is placed in the semi-closed pear-shaped groove (3); 2) It consists of a stator core (2.1) and a Halbach permanent magnet ring array (2.2) attached to the stator core.
  • the Halbach permanent magnet ring array (2.2) structure can effectively improve the gas without affecting the electromagnetic performance of the motor.
  • the sinusoidality of the gap flux reduces torque ripple.
  • the armature winding (1.1) adopts a cake structure, and the ends of the windings are eliminated.
  • the Halbach permanent magnet ring array (2.2) is a ring-shaped permanent magnet placed between the stator core (2.1) and the armature core teeth (1.2), and the Halbach permanent magnet ring array (2.2) is closely attached to the stator core (2.1) The outer surface is evenly distributed in the circumferential direction with a gap between the armature core teeth (1.2).
  • the Halbach permanent magnet ring array (2.2) attached to the stator core is composed of segmented magnets, and the magnetization directions of the magnets are sequentially rotated by 90° along the array, and 60 pairs of magnetic poles are formed on the circumference.
  • the Halbach permanent magnet ring array (2.2) is made of neodymium iron boron ring permanent magnets.
  • the armature core teeth (1.2), the rotor back yoke (1.3) and the stator core (2.1) are all made of a highly magnetic material.
  • the armature winding (1.1) the adjacent rotor armature winding adopts a wrong phase connection manner, that is, the windings A1, B2, C3 are connected in series to form a U-phase winding, and B1, C2, A3 are connected in series to form a V-phase winding, which will
  • the C1, A2, and B3 windings are connected in series to form a W-phase winding, and the three-phase winding forms a spatially symmetric structure.
  • the rotor of the motor adopts a cylindrical type, which increases the air gap area and has higher torque density, power density and torque stability;
  • the permanent magnet of the motor adopts the surface-mounting Halbach permanent magnet ring array, which can greatly improve the magnetic field strength of one side, reduce the distortion rate of the radial air gap magnetic density waveform of the cylindrical arc motor, and improve the air gap magnetic density. Sinusoidal, effectively suppressing torque ripple during operation;
  • Fig. 1 is a cross-sectional view showing the entire motor of the present invention.
  • the figure includes: rotor 1, armature winding 1.1, rotor tooth 1.2, rotor yoke 1.3; stator 2, stator core 2.1, surface-mounted Halbach ring permanent magnet 2.2; semi-closed pear-shaped groove 3.
  • FIG. 2 is a schematic view showing partial magnetization of a permanent magnet of a motor according to the present invention.
  • Figure 3 is a partial cross-sectional view showing a single rotor of the motor of the present invention.
  • Figure 4 is a schematic view showing the phase change connection of the motor winding of the present invention.
  • the arc permanent magnet motor differs from the conventional permanent magnet motor in that the rotor adopts a cylindrical structure and the stator adopts a surface-mounted Halbach ring permanent magnet.
  • the rotor adopts a cylindrical structure, which can realize 360° wrapping of the surface-mounted permanent magnet, and has higher torque density, power density and torque stability.
  • the winding of the cylindrical arc motor uses a pie coil, eliminating the end of the armature winding.
  • the stator adopts surface-mounting NdFeB Halbach ring permanent magnet, which can reduce the radial air gap magnetic density waveform distortion rate of the cylindrical arc motor, improve the sinusoidality of the air gap magnetic density, and effectively suppress the torque ripple during operation.
  • the Halbach cylindrical arc permanent magnet motor for a large telescope characterized in that the motor comprises three rotor modules 1 and a stator 2; the rotor 1 is included in an armature winding 1.1, an armature core The tooth 1.2 and the rotor yoke 1.3, the pole groove of the single rotor is matched with 12 slots and 10 poles; the rotor 1 is arranged outside the stator 2, including the armature winding 1.1, the armature core tooth 1.2 and the rotor yoke 1.3, and the armature winding 1.1 Placed in the semi-closed pear-shaped groove 3, the armature winding of the cylindrical arc permanent magnet motor adopts a cake coil, the ends of the winding are eliminated, and the adjacent rotor module windings are connected by a wrong phase.
  • the windings A1, B2, and C3 are connected in series to form a U-phase winding, and B1, C2, and A3 are connected in series to form a V-phase winding, and the C1, A2, and B3 windings are connected in series to form a W-phase winding, and the three-phase winding is formed.
  • the space symmetrical structure; the stator 2 includes a stator core 2.1, a surface-mounted annular Halbach ring permanent magnet 2.2, and the permanent magnet 2.2 is a surface-mounted NdFeB ring permanent magnet placed in the stator core 2.1 and the rotor teeth 1.2.
  • the permanent magnet 2.2 is in close contact with the outer surface of the stator core 2.1 and has a gap with the rotor teeth 1.2.
  • the surface-mounted Halbach permanent magnet ring array is composed of segmented magnets, and the magnetization directions of the magnets are sequentially rotated by 90° along the array. 60 pairs of magnetic poles are formed on the upper side.
  • the permanent magnet flux firstly passes from the N pole of the stator permanent magnet to the rotor armature tooth, and then passes through the rotor back yoke to reach the S pole of the stator permanent magnet to form a closed rotating magnetic field; at the same time, the motor stator
  • the three-phase alternating current with the same rotational speed of the rotor will be introduced into the winding, and the rotating magnetic field formed by the fixed rotor will interact to realize electromechanical energy conversion.
  • the rotor adopts a cylindrical structure, which increases the air gap area and thus has higher torque density, power density and torque stability.
  • the stator adopts a surface-mounting Halbach annular permanent magnet, which can greatly improve the magnetic field strength of one side, reduce the distortion rate of the radial air gap magnetic density waveform of the cylindrical arc motor, and improve the sinusoidality of the air gap magnetic density.
  • the torque ripple during operation is effectively suppressed.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

本发明公开了一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机，该电机为圆环形，包括三个转子(1)和一个定子(2)，三个转子(1)分别位于圆环形定子(2)的外周；其中，所述的转子(1)为圆筒式，包括电枢绕组(1.1)、电枢铁心齿(1.2)和转子轭(1.3)，在转子轭(1.3)的内圆设有电枢铁心齿(1.2)形成半闭口梨形槽(3)，电枢绕组(1.1)放置于半闭口梨形槽(3)中；定子(2)由定子铁心(2.1)和表贴于定子铁心的Halbach永磁环阵列(2.2)构成，采用Halbach永磁环阵列(2.2)结构，能够在不影响电机电磁性能的前提下，有效提高气隙磁通的正弦性，减小转矩脉动。该电机充分利用空间，提高功率密度；可使单侧的磁场强度大幅度提升，提高气隙磁密正弦性，易于电机的高精度伺服控制。

Description

一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机 技术领域
本发明涉及一种电动机，具体涉及一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机，属于电机技术领域。
背景技术
大型天文望远镜集成了光学、精密机械与精密控制的最新技术和成果，在发展光学系统的同时，望远镜口径的增大，在方位轴和高度轴的轴系驱动上也给我们带来了新的挑战，良好的精密驱动平台是保证高质量观测的必要条件。
欧洲南方天文台4台8米口径(等效口径16米)光学望远镜VLT，美、英、加合作的两台8米望远镜GEMINI，日本的8米望远镜SUBARU，美国的10米光学望远镜Keck I、Keck II。国内有南京天文光学技术研究所研制的口径为8米级的反射施密特望远镜LAMOST。正在建造计划中的美国的30米极大望远镜TMT、和欧洲的39米E-ELT望远镜。未来中国也有计划建造12米的光学/红外望远镜。口径越来越大成为望远镜发展的必然趋势。为了简化望远镜结构、降低结构惯性矩的控制系统的影响，大型天文望远镜的俯仰轴都采用开放式结构(欧州南方天文台的VLT望远镜、日本国家天文台的Subaru望远镜和计划中的中国极大望远镜CFGT都采用这样的结构)。但如何实现俯仰轴的精准控制则是研制大型天文望远镜迫切需要解决的技术难题。
实现精准控制需要尽可能地降低转矩脉动。综合现有资料来看，目前大口径天文望远镜用弧线永磁同步电机的研究，更多的是关注了弧线电机中单元电机的设计，齿槽弧度对电机力矩波动的影响，改变单元电机间的位置关系以降低力矩波动，以及增加辅助励磁线圈降低弧线电机定位力矩及转矩脉动等问题。然而，针对大型天文望远镜用弧线电机精准运行的研究还未达到成熟阶段。因此，本发明提出Halbach圆筒式弧线永磁电机，实现低转矩脉动，为大型天文望远镜用弧线电机精准运行控制打下基础。
发明内容
技术问题：本发明所要解决的技术问题是提供一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机，解决传统应用于大型天文望远镜永磁电机的转矩脉动大的问题。
技术方案：为解决上述技术问题，本发明的一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机为圆环形，包括三个转子(1)和一个定子(2)，三个转子(1)分别位于圆环形定子(2)的外周；其中，所述的转子(1)为圆筒式，包括电枢绕组(1.1)、电枢铁心齿(1.2)和转子轭(1.3)，在转子轭(1.3)的内圆设有电枢铁心齿(1.2)形成半闭口梨形槽(3)， 电枢绕组(1.1)放置于半闭口梨形槽(3)中；定子(2)由定子铁心(2.1)和表贴于定子铁心的Halbach永磁环阵列(2.2)构成，采用Halbach永磁环阵列(2.2)结构，能够在不影响电机电磁性能的前提下，有效提高气隙磁通的正弦性，减小转矩脉动。
其中，
所述的电枢绕组(1.1)采用饼式结构，取消了绕组的端部。
所述的Halbach永磁环阵列(2.2)为环形永磁体，置于定子铁心(2.1)与电枢铁心齿(1.2)之间，该Halbach永磁环阵列(2.2)紧贴定子铁心(2.1)外表面，与电枢铁心齿(1.2)有间隙沿圆周方向均匀分布。
所述的表贴于定子铁心的Halbach永磁环阵列(2.2)由分段磁体构成，各磁体的磁化方向沿阵列依次旋转90°，在圆周上均形成60对磁极。
所述的Halbach永磁环阵列(2.2)材质均为钕铁硼环形永磁体。
所述的电枢铁心齿(1.2)、转子背轭(1.3)和定子铁心(2.1)材质均为高导磁材料。
所述的三个转子结构是基于特定的极槽配合，即12槽10极，三个转子模块间沿定子圆周相距θ＝92°分布，采用圆筒式结构。
所述的电枢绕组(1.1)，相邻转子电枢绕组采用错相位连接方式，即将绕组A1，B2，C3串联起来形成U相绕组，将B1，C2，A3串联起来形成V相绕组，将C1，A2，B3绕组串联起来形成W相绕组，三相绕组形成了空间对称结构。
所述的Halbach永磁环阵列(2.2)沿定子圆周相距θ＝3°均匀分布。
有益效果：
1、本电机转子采用圆筒式，增大了气隙面积，具有更高的转矩密度、功率密度和转矩平稳性；
2、本电机永磁体采用表贴式Halbach永磁环阵列，可使单侧的磁场强度大幅度提升，降低圆筒式弧线电机径向气隙磁密波形畸变率，提高气隙磁密的正弦性，有效地抑制运行时的转矩脉动；
3、三个转子模块间夹角θ＝92°，相邻转子模块绕组采用错相位连接方式，相较于传统的绕组连接方式，能够有效抑制电流波形中的高次谐波，降低电机运行时的力矩波动。
附图说明
图1为本发明的电机整体截面图。
图中有：转子1、电枢绕组1.1、转子齿1.2、转子轭1.3；定子2、定子铁心2.1、表贴式Halbach环形永磁体2.2；半闭口梨形槽3。
图2为本发明的电机永磁体局部充磁示意图。
图3为本发明的电机单个转子局部截面图。
图4为本发明的电机绕组换相位连接示意图。
具体实施方式
本实施的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，单个转子模块采用12槽10极的极槽配合，三个转子沿定子周向相距角θ＝92°分布的圆筒式弧线永磁电机，相比于传统的永磁电机不同点在于：转子采用圆筒式结构、定子采用表贴式Halbach环形永磁体。转子采用圆筒式结构，能够实现对表贴式永磁体360°包裹，具有更高的转矩密度、功率密度和转矩平稳性。圆筒式弧线电机的绕组采用饼式线圈，取消了电枢绕组的端部。定子采用表贴式钕铁硼Halbach环形永磁体，可降低圆筒式弧线电机径向气隙磁密波形畸变率，提高气隙磁密的正弦性，有效抑制运行时的转矩脉动。
所述的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，该电机包括三个转子模块1和定子2；所述的转子1包括于电枢绕组1.1、电枢铁心齿1.2和转子轭1.3，单个转子的极槽配合采用12槽10极；所述的转子1设在定子2外部，包括电枢绕组1.1、电枢铁心齿1.2和转子轭1.3，电枢绕组1.1放置于半闭口梨形槽3中，圆筒式弧线永磁电机的电枢绕组采用饼式线圈，取消了绕组的端部，相邻转子模块绕组采用错相位连接方式。具体而言，将绕组A1，B2，C3串联起来形成U相绕组，将B1，C2，A3串联起来形成V相绕组，将C1，A2，B3绕组串联起来形成W相绕组，三相绕组形成了空间对称结构；所述的定子2包括定子铁心2.1、表贴式环形Halbach环形永磁体2.2，所述的永磁体2.2为表贴式钕铁硼环形永磁体，置于定子铁心2.1和转子齿1.2之间，该永磁体2.2紧贴定子铁心2.1外表面、与转子齿1.2有间隙，表贴式Halbach永磁环阵列由分段磁体构成，各磁体的磁化方向沿阵列依次旋转90°，在圆周上均形成60对磁极。
本发明公开的一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机的运行原理如下：
对于永磁部分，永磁磁通首先从定子永磁的N极到转子电枢齿，再穿过转子背轭，到达定子永磁的S极，形成闭合的旋转磁场；与此同时，电机定子绕组里将通入和转子旋转速度相同的三相交流电，定转子形成的旋转磁场相互作用，从而实现机电能量转换。所述转子采用圆筒式结构，增大了气隙面积，因而具有更高的转矩密度、功率密度和转矩平稳性。所述定子采用表贴式Halbach环形永磁体，可使单侧的磁场强度大幅度提升，降低了圆筒式弧线电机径向气隙磁密波形畸变率，提高气隙磁密的正弦性，有效地抑制了运行时的转矩脉动。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (9)

  1. 一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，该电机为圆环形，包括三个转子(1)和一个定子(2)，三个转子(1)分别位于圆环形定子(2)的外周；其中，所述的转子(1)为圆筒式，包括电枢绕组(1.1)、电枢铁心齿(1.2)和转子轭(1.3)，在转子轭(1.3)的内圆设有电枢铁心齿(1.2)形成半闭口梨形槽(3)，电枢绕组(1.1)放置于半闭口梨形槽(3)中；定子(2)由定子铁心(2.1)和表贴于定子铁心的Halbach永磁环阵列(2.2)构成，采用Halbach永磁环阵列(2.2)结构，能够在不影响电机电磁性能的前提下，有效提高气隙磁通的正弦性，减小转矩脉动。
  2. 根据权利1要求所述的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，所述的电枢绕组(1.1)采用饼式结构，取消了绕组的端部。
  3. 根据权利1要求所述的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，所述的Halbach永磁环阵列(2.2)为环形永磁体，置于定子铁心(2.1)与电枢铁心齿(1.2)之间，该Halbach永磁环阵列(2.2)紧贴定子铁心(2.1)外表面，与电枢铁心齿(1.2)有间隙沿圆周方向均匀分布。
  4. 根据权利1要求所述的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，所述的表贴于定子铁心的Halbach永磁环阵列(2.2)由分段磁体构成，各磁体的磁化方向沿阵列依次旋转90°，在圆周上均形成60对磁极。
  5. 根据权利1要求所述的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，所述的Halbach永磁环阵列(2.2)材质均为钕铁硼环形永磁体。
  6. 根据权利1要求所述的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，所述的电枢铁心齿(1.2)、转子背轭(1.3)和定子铁心(2.1)材质均为高导磁材料。
  7. 根据权利1要求所述的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，所述的三个转子结构是基于特定的极槽配合，即12槽10极，三个转子模块间沿定子圆周相距θ＝92°分布，采用圆筒式结构。
  8. 根据权利1要求所述的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，所述的电枢绕组(1.1)，相邻转子电枢绕组采用错相位连接方式，即将绕组A1，B2，C3串联起来形成U相绕组，将B1，C2，A3串联起来形成V相绕组，将C1，A2，B3绕组串联起来形成W相绕组，三相绕组形成了空间对称结构。
  9. 根据权利1要求所述的用于大型天文望远镜的Halbach圆筒式弧线永磁电机，其特征是，所述的Halbach永磁环阵列(2.2)沿定子圆周相距θ＝3°均匀分布。
PCT/CN2018/088139 2018-02-26 2018-05-24 一种用于大型天文望远镜的Halbach圆筒式弧线永磁电机 WO2019161625A1 (zh)

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