WO2020133874A1 - Servo motor having interior spoke-type permanent magnet rotor - Google Patents
Servo motor having interior spoke-type permanent magnet rotor Download PDFInfo
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- WO2020133874A1 WO2020133874A1 PCT/CN2019/086695 CN2019086695W WO2020133874A1 WO 2020133874 A1 WO2020133874 A1 WO 2020133874A1 CN 2019086695 W CN2019086695 W CN 2019086695W WO 2020133874 A1 WO2020133874 A1 WO 2020133874A1
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- rotor
- permanent magnet
- motor
- spoke
- servo motor
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- 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
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
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- 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
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
Definitions
- the invention relates to a permanent magnet servo motor, in particular to a servo motor with embedded spoke-type permanent magnet rotor.
- Permanent magnet motors are flexible in structure, have high power density and power factor, and have been widely used in various servo products with different specifications.
- Surface-mounted permanent magnet (SPM) motors are not only simple in structure and easy to mass-produce, but also have small torque fluctuations and are easy to control.
- SPM surface-mounted permanent magnet
- On the surface of the rotor permanent magnets stainless steel sleeves or high-strength fibers are often used, and the air gap between the stator and the rotor is relatively large.
- IPM embedded permanent magnet
- This type of motor not only has a relatively small air gap, but also has a reluctance torque, which has a higher torque density and a constant power speed range.
- the two magnetic pole permanent magnets adjacent to the spoke rotor provide parallel magnetic flux per pole, and the utilization rate of the permanent magnets is high.
- the rotor permanent magnet of the motor has a rectangular structure in two-dimensional space (a rectangular body in three-dimensional space), indicating that the motor of this topology has a pole distance
- the lower magnetic flux is provided by two adjacent magnetic poles in parallel, and a larger magnetic flux per pole can be obtained.
- the spoke-type IPM motor can further improve the air gap magnetic density, thereby providing sufficient magnetic flux per pole.
- the spoke-type IPM motor has a high reluctance torque, and its proportion in the total electromagnetic torque is even as high as 40%, which is conducive to improving the overload capacity and power density of the motor, and can further expand the constant power speed range of the motor .
- this type of topology has a large magnetic leakage ratio, so the necessary magnetic isolation settings are required in the design.
- stator side adopts a 12-slot fractional slot concentrated winding closed slot tooth yoke separation design scheme, and the rotor side uses five pairs of spoke-type permanent magnet rotors.
- a pentagonal magnetic isolation hole is provided on the rotating shaft side, and the permanent magnet is rectangular in the two-dimensional cross section of the rotor.
- the air gap between the stator and the rotor of this product is relatively small, the axial length of the motor is relatively small, and by outputting the reluctance torque of the motor, the overload capacity of the motor is further improved.
- the pole arc coefficient of the motor is relatively reduced, so the rotor of the motor can be further improved, thereby increasing the torque density of the motor.
- the purpose of the present invention is to overcome the shortcomings of the prior art, and propose a servo motor with a spoke-type permanent magnet rotor.
- the existing rotor side section is a rectangular rectangular permanent magnet with a cross-sectional polygonal spoke type Permanent magnets relatively increase the polar arc coefficient of the motor, so that the torque density of the motor is improved.
- the servo motor with a spoke-type permanent magnet rotor embedded in the invention includes a stator, a rotor and a rotating shaft, the rotor is sleeved on the rotating shaft, and the rotor is embedded with a spoke-type permanent magnet on the rotor side.
- the rotor-side permanent magnet is a polyhedron composed of a surface close to the air gap side, a bottom surface opposite to the surface (close to the rotating shaft), a left side surface, a right side surface, and two end surfaces. The surface is parallel to the bottom surface, and the two end surfaces are parallel to each other. . It is characterized in that the left side and the right side are symmetrical to each other, the left side and the right side are both toric surfaces composed of multiple planes, and the broken lines on the toric surfaces are parallel to the rotation axis.
- the left side and the right side of the permanent magnet on the rotor side of the motor are both tortuous surfaces formed by two planes, and the cross section of the permanent magnet on the rotor side of the motor (the plane perpendicular to the rotation axis) is hexagonal .
- the second preferred solution is that: the left side and the right side of the permanent magnet on the rotor side of the motor are both toric surfaces composed of three planes, and the permanent magnet on the rotor side of the motor has an octagonal cross section.
- a third preferred solution is that the left side and the right side of the permanent magnet on the rotor side of the motor are both tortuous surfaces composed of four planes, and the permanent magnet on the rotor side of the motor has a decagonal cross section.
- both the left side and the right side of the permanent magnet on the rotor side of the motor may be tortuous surfaces composed of more planes.
- the side of the permanent magnet on the rotor side is a curved surface.
- the pole arc coefficient of the rotor side of the motor is improved, so that the reluctance torque of the motor can be more Increase, thereby increasing the torque density and overload capacity of the motor.
- the amount of permanent magnets is reduced, which further reduces the manufacturing cost of the motor, maximizes the use of limited rare earth resources, and reduces the cost of environmental pollution and its repair and protection to a certain extent.
- the rotor core side has a larger area of the rotor core, which facilitates the setting of the rotor core near the rotor shaft magnetic isolation hole.
- FIG. 1 is a schematic cross-sectional view of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention.
- FIG. 2 is a schematic structural view of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side.
- the permanent magnet on the rotor side of the motor has a hexagonal cross section.
- a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
- FIG. 3 is a schematic view of the structure of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side.
- the permanent magnet on the rotor side of the motor has a hexagonal cross section.
- a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
- FIG. 4 is a schematic structural view of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side.
- the permanent magnet on the rotor side of the motor has a hexagonal cross section.
- a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
- FIG. 5 is a schematic view of the structure of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side.
- the permanent magnet on the rotor side of the motor has an octagonal cross section.
- a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
- FIG. 6 is a schematic structural view of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side.
- the cross section of the permanent magnet on the rotor side of the motor is octagonal.
- a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
- FIG. 7 is a schematic view of the structure of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the invention and a permanent magnet on the rotor side.
- the permanent magnet on the rotor side of the motor has an octagonal cross section.
- a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
- a 1 , a 2 , a 3 , and a 4 are only position indications, not projections representing the width of the plane represented.
- a 1 , a 2 , a 3 , and a 4 are only position indications, not projections representing the width of the plane represented.
- the servo motor with a spoke-type permanent magnet rotor embedded in the present invention includes a stator, a rotor and a rotating shaft, and the rotor is sleeved on the rotating shaft.
- the stator side adopts a 12-slot fractional slot concentrated winding design scheme, and the rotor side uses 5 pairs of spoke-type permanent magnet rotors.
- the rotor-side permanent magnet is a polyhedron composed of a surface, a bottom surface opposite to the surface (close to the rotating shaft), a left side surface, a right side surface, and two end surfaces. The surface is parallel to the bottom surface, and the two end surfaces are parallel to each other.
- 3 is the stator core and 4 is the armature winding.
- the broken line of the curved surface is parallel to the rotating shaft 5, and the cross section of the permanent magnet is hexagonal.
- the surface width of the permanent magnet is b 2
- a rotor core 2 of a spoke-type IPM motor As shown in Fig. 2(b), Fig. 3(b), and Fig. 4(b), it is a rotor core 2 of a spoke-type IPM motor.
- the rotor core 2 is provided with holes, which are evenly distributed along the rotor surface in a radial shape, and the shape is permanent
- the magnet structure is adapted for placing permanent magnets with different magnetization directions.
- the part between the two slots near the rotor surface is the main magnetic flux path of the permanent magnet, and the part between the two slots near the rotating shaft is mainly the non-working magnetic flux path, and its area is further widened. Magnetic setting.
- the surface width of the permanent magnet is b 2
- Fig. 5(b), Fig. 6(b), and Fig. 7(b) it is the rotor core 2 of the spoke-type IPM motor.
- the rotor core is provided with holes and slots, which are evenly distributed along the rotor surface in a radial shape, and the shape and permanent magnet
- the structure is suitable for placing permanent magnets with different magnetization directions.
- the part between the two slots near the rotor surface is the main magnetic flux path of the permanent magnet, and the part between the two slots near the rotating shaft is mainly the non-working magnetic flux path, and its area is further widened. Magnetic setting.
- Fig. 8(a) it is a permanent magnet 1 on the rotor side of a spoke-type IPM motor.
- the permanent magnet has a decagonal cross section.
- the surface width of the permanent magnet is b 2
- FIG. 8(b) it is a rotor core 2 of a spoke-type IPM motor.
- the rotor core is provided with holes and grooves, which are evenly distributed along the surface of the rotor, and the shape is adapted to the structure of the permanent magnet. It is used to place permanent magnets with different magnetization directions. magnet.
- the part between the two slots near the rotor surface is the main magnetic flux path of the permanent magnet, and the part between the two slots near the rotating shaft is mainly the non-working magnetic flux path, and its area is further widened. Magnetic setting.
- FIG. 9(a) it is a permanent magnet 1 on the rotor side of a spoke-type IPM motor.
- the permanent magnet has a dodecagonal cross section.
- the surface width of the permanent magnet is b 2
- FIG. 9(b) it is a rotor core 2 of a spoke-type IPM motor.
- the rotor core is provided with holes and grooves, which are evenly distributed along the surface of the rotor, and the shape is adapted to the structure of the permanent magnet. magnet.
- the part between the two slots near the rotor surface is the main magnetic flux path of the permanent magnet, and the part between the two slots near the rotating shaft is mainly the non-working magnetic flux path, and its area is further widened. Magnetic setting.
- the topological design scheme of the spoke-type permanent magnet structure described in the above embodiments can be applied not only to the rotating inner rotor permanent magnet motor, but also to the outer rotor permanent magnet motor, and also to the linear motor. All belong to the protection scope defined by the present invention.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
Abstract
Disclosed is a servo motor having an interior spoke-type permanent magnet rotor. A rotor side interior spoke-type permanent magnet is a polyhedron consisting of a surface, a bottom surface opposite to the surface, a left side surface, a right side surface, and two end surfaces. The left and right side surfaces are symmetric mutually, and the left and right side surfaces are curved surfaces formed by multiple planes. The broken lines on the curved surfaces are parallel to a rotating shaft. According to the present invention, the side surfaces of the rotor side permanent magnet are the curved surfaces. Compared with the rotor side permanent magnet of a rectangular structure, the pole-arc coefficient of a motor rotor side is increased, so that the reluctance torque of the motor is more greatly improved, thereby improving the torque density and overloading capacity of the motor. In addition, the number of permanent magnets is reduced, and the manufacturing cost of the motor is further reduced. In the field of the small and medium capacity of servo motors, there is a larger rotor core area near the rotating shaft side, so as to facilitate flexible configuration of a magnetic insulation slot of the rotor core near the rotating shaft side.
Description
本发明涉及一种永磁伺服电机，具体说是一种内嵌辐条式永磁转子的伺服电机。The invention relates to a permanent magnet servo motor, in particular to a servo motor with embedded spoke-type permanent magnet rotor.
永磁电机结构灵活，具有较高的功率密度和功率因数，已广泛应用于各种不同规格的伺服产品。表贴式永磁(Surface-mounted Permanent Magnet，SPM)电机，不仅结构简单，易于批量化生产，而且转矩波动小，易于对其实现控制。在转子永磁体表面，经常要采用不锈钢套管或者高强度纤维，其定转子之间气隙相对较大。为了进一步提高电机的转矩密度和过载能力，国际一些先进的伺服产品开始逐渐采用内嵌式永磁(Interior Permanent Magnet，IPM)电机设计方案。该类电机不仅气隙相对较小，而且具有磁阻转矩，具有更高的转矩密度和恒功率速度范围。作为并联式磁路典型拓扑，辐条式转子相邻的两磁极永磁体并联提供每极磁通，永磁体利用率较高。Permanent magnet motors are flexible in structure, have high power density and power factor, and have been widely used in various servo products with different specifications. Surface-mounted permanent magnet (SPM) motors are not only simple in structure and easy to mass-produce, but also have small torque fluctuations and are easy to control. On the surface of the rotor permanent magnets, stainless steel sleeves or high-strength fibers are often used, and the air gap between the stator and the rotor is relatively large. In order to further improve the torque density and overload capacity of the motor, some international advanced servo products have gradually adopted the embedded permanent magnet (Interior Permanent Magnet, IPM) motor design scheme. This type of motor not only has a relatively small air gap, but also has a reluctance torque, which has a higher torque density and a constant power speed range. As a typical topology of the parallel magnetic circuit, the two magnetic pole permanent magnets adjacent to the spoke rotor provide parallel magnetic flux per pole, and the utilization rate of the permanent magnets is high.
中国永磁电机学者唐任远院士于1997年系统阐述内嵌切向式IPM电机，该电机转子永磁体在二维空间为矩形结构(三维空间为长方体)，指出该种拓扑结构的电机一个极距下的磁通由相邻两个磁极并联提供，可获得较大的每极磁通。当电机极数较多时，由于有两个永磁体截面对气隙提供每极磁通，辐条式IPM电机可进一步提高气隙磁密，从而提供足够的每极磁通。特别是辐条式IPM电机具有较高的磁阻转矩，在总的电磁转矩中的占比甚至高达40％，有利于提高电机过载能力和功率密度，并可进一步扩展电机的恒功率速度范围。然而，该类拓扑具有较大的漏磁比，因此在设计时需要进行必要的隔磁设置。Academician Tang Renyuan, a Chinese permanent magnet motor scholar, systematically described the embedded tangential IPM motor in 1997. The rotor permanent magnet of the motor has a rectangular structure in two-dimensional space (a rectangular body in three-dimensional space), indicating that the motor of this topology has a pole distance The lower magnetic flux is provided by two adjacent magnetic poles in parallel, and a larger magnetic flux per pole can be obtained. When the number of motor poles is large, because there are two permanent magnet sections to provide the magnetic flux per pole for the air gap, the spoke-type IPM motor can further improve the air gap magnetic density, thereby providing sufficient magnetic flux per pole. In particular, the spoke-type IPM motor has a high reluctance torque, and its proportion in the total electromagnetic torque is even as high as 40%, which is conducive to improving the overload capacity and power density of the motor, and can further expand the constant power speed range of the motor . However, this type of topology has a large magnetic leakage ratio, so the necessary magnetic isolation settings are required in the design.
在伺服电机领域，目前转子侧主流设计方案依然是SPM方案。但是近年来已有日本伺服电机企业逐渐推出辐条式IPM电机产品，其定子侧采用十二槽分数槽集中绕组闭口槽齿轭分离设计方案，转子侧采用五对辐条式永磁转子，并在靠近转轴侧设置五边形隔磁孔，永磁体在转子的二维截面中为矩形。与同规格产品相比，该种产品定子与转子之间气隙相对较小，电机轴向长度相对较小，并且通过输出电机的磁阻转矩，电机的过载能力进一步提升，在同类产品中具有较高的转矩密度和显著竞争力。然而，由于矩形永磁体的运用，相对减小了电机的极弧系数，因而该电机转子还可以进一步改善，从而提高电机的转矩密度。In the field of servo motors, the current mainstream design scheme on the rotor side is still the SPM scheme. However, in recent years, Japanese servo motor companies have gradually introduced spoke-type IPM motor products. The stator side adopts a 12-slot fractional slot concentrated winding closed slot tooth yoke separation design scheme, and the rotor side uses five pairs of spoke-type permanent magnet rotors. A pentagonal magnetic isolation hole is provided on the rotating shaft side, and the permanent magnet is rectangular in the two-dimensional cross section of the rotor. Compared with products of the same specification, the air gap between the stator and the rotor of this product is relatively small, the axial length of the motor is relatively small, and by outputting the reluctance torque of the motor, the overload capacity of the motor is further improved. Has a higher torque density and significant competitiveness. However, due to the use of rectangular permanent magnets, the pole arc coefficient of the motor is relatively reduced, so the rotor of the motor can be further improved, thereby increasing the torque density of the motor.
发明内容Summary of the invention
本发明的目的在于，克服现有技术存在的缺陷，提出了一种内嵌辐条式永磁转子的伺服电机，将现有转子侧截面为辐条式长方形永磁体改为横截面为多边形的辐条式永磁体，相对增大了电机的极弧系数，使得电机的转矩密度得到提高。The purpose of the present invention is to overcome the shortcomings of the prior art, and propose a servo motor with a spoke-type permanent magnet rotor. The existing rotor side section is a rectangular rectangular permanent magnet with a cross-sectional polygonal spoke type Permanent magnets relatively increase the polar arc coefficient of the motor, so that the torque density of the motor is improved.
本发明内嵌辐条式永磁转子的伺服电机，包括定子、转子和转轴，所述转子套装在转轴上，所述转子内嵌辐条式转子侧永磁体。所述转子侧永磁体是由靠近气隙侧的表面、与表面相对的底面(靠近转轴)、左侧面、右侧面和两个端面构成的多面体，表面与底面平行，两个端面相互平行。其特征是：所述左侧面和右侧面相互对称，左侧面和右侧面均为多个平面构成的折曲面，折曲面上的折线与转轴平行。The servo motor with a spoke-type permanent magnet rotor embedded in the invention includes a stator, a rotor and a rotating shaft, the rotor is sleeved on the rotating shaft, and the rotor is embedded with a spoke-type permanent magnet on the rotor side. The rotor-side permanent magnet is a polyhedron composed of a surface close to the air gap side, a bottom surface opposite to the surface (close to the rotating shaft), a left side surface, a right side surface, and two end surfaces. The surface is parallel to the bottom surface, and the two end surfaces are parallel to each other. . It is characterized in that the left side and the right side are symmetrical to each other, the left side and the right side are both toric surfaces composed of multiple planes, and the broken lines on the toric surfaces are parallel to the rotation axis.
优选方案之一是：所述电机转子侧永磁体的左侧面和右侧面均为两个平面构成的折曲面，电机转子侧永磁体的横断面(与转轴垂直的面)呈六边形。One of the preferred solutions is that: the left side and the right side of the permanent magnet on the rotor side of the motor are both tortuous surfaces formed by two planes, and the cross section of the permanent magnet on the rotor side of the motor (the plane perpendicular to the rotation axis) is hexagonal .
优选方案之二是：所述电机转子侧永磁体的左侧面和右侧面均为三个平面构成的折曲面，电机转子侧永磁体的横断面呈八边形。The second preferred solution is that: the left side and the right side of the permanent magnet on the rotor side of the motor are both toric surfaces composed of three planes, and the permanent magnet on the rotor side of the motor has an octagonal cross section.
优选方案之三是：所述电机转子侧永磁体的左侧面和右侧面均为四个平面构成的折曲面，电机转子侧永磁体的横断面呈十边形。A third preferred solution is that the left side and the right side of the permanent magnet on the rotor side of the motor are both tortuous surfaces composed of four planes, and the permanent magnet on the rotor side of the motor has a decagonal cross section.
本发明技术方案，所述电机转子侧永磁体的左侧面和右侧面均可以是更多的平面构成的折曲面。According to the technical solution of the present invention, both the left side and the right side of the permanent magnet on the rotor side of the motor may be tortuous surfaces composed of more planes.
本发明内嵌辐条式永磁转子的伺服电机，转子侧永磁体侧面为折曲面，与矩形结构转子侧永磁体相比，提高了电机转子侧极弧系数，使得电机的磁阻转矩得以更加提高，从而提高电机的转矩密度和过载能力。另外减小了永磁体用量，从而进一步降低电机制造成本，并最大限度利用有限稀土资源，并在一定程度上减小环境污染及其修复保护成本。在中小容量伺服电机领域，靠近转轴侧具有更大转子铁心面积，便于转子铁心靠近转轴侧隔磁孔的设置。In the servo motor with a spoke-type permanent magnet rotor embedded in the invention, the side of the permanent magnet on the rotor side is a curved surface. Compared with the permanent magnet on the rotor side of the rectangular structure, the pole arc coefficient of the rotor side of the motor is improved, so that the reluctance torque of the motor can be more Increase, thereby increasing the torque density and overload capacity of the motor. In addition, the amount of permanent magnets is reduced, which further reduces the manufacturing cost of the motor, maximizes the use of limited rare earth resources, and reduces the cost of environmental pollution and its repair and protection to a certain extent. In the field of small and medium-capacity servo motors, the rotor core side has a larger area of the rotor core, which facilitates the setting of the rotor core near the rotor shaft magnetic isolation hole.
图1是本发明内嵌辐条式永磁转子的伺服电机断面示意图。1 is a schematic cross-sectional view of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention.
图2是本发明内嵌辐条式永磁转子的伺服电机转子以及转子侧永磁体结构示意图，电机转子侧永磁体的横断面呈现为六边形。其中，a图是转子侧永磁体断面图(a
1＜a
2，b
1＝b
2)，b图是转子断面图。图中的a
1和a
2只是位置指示，不是表示所代表的平面宽度的投影。
2 is a schematic structural view of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side. The permanent magnet on the rotor side of the motor has a hexagonal cross section. Among them, a is a cross-sectional view of the rotor-side permanent magnet (a 1 <a 2 , b 1 = b 2 ), and b is a cross-sectional view of the rotor. In the figure, a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
图3是本发明内嵌辐条式永磁转子的伺服电机转子以及转子侧永磁体结构示意图，电机转子侧永磁体的横断面呈现为六边形。其中，a图是转子侧永磁体断面图(a
1＞a
2，b
1＝b
2)，b图是转子断面图。图中的a
1和a
2只是位置指示，不是表示所代表的平面宽度的投影。
3 is a schematic view of the structure of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side. The permanent magnet on the rotor side of the motor has a hexagonal cross section. Among them, a is a cross-sectional view of the rotor-side permanent magnet (a 1 > a 2 , b 1 = b 2 ), and b is a cross-sectional view of the rotor. In the figure, a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
图4是本发明内嵌辐条式永磁转子的伺服电机转子以及转子侧永磁体结构示意图，电机转子侧永磁体的横断面呈现为六边形。其中，a图是转子侧永磁体断面图(a
1＝a
2，b
1＝b
2)，b图是转子断面图。图中的a
1和a
2只是位置指示，不是表示所代表的平面宽度的投影。
4 is a schematic structural view of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side. The permanent magnet on the rotor side of the motor has a hexagonal cross section. Among them, a is a cross-sectional view of the rotor-side permanent magnet (a 1 = a 2 , b 1 = b 2 ), and b is a cross-sectional view of the rotor. In the figure, a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
图5是本发明内嵌辐条式永磁转子的伺服电机转子以及转子侧永磁体结构示意图，电机转子侧永磁体的横断面呈现为八边形。其中，a图是转子侧永磁体断面图(a
1＜a
2，a
3＝(a
1+a
2)，b
1＝b
2)，b图是转子断面图。图中的a
1和a
2只是位置指示，不是表示所代表的平面宽度的投影。
5 is a schematic view of the structure of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side. The permanent magnet on the rotor side of the motor has an octagonal cross section. Among them, a is a cross-sectional view of the rotor-side permanent magnet (a 1 <a 2 , a 3 = (a 1 + a 2 ), b 1 = b 2 ), and b is a cross-sectional view of the rotor. In the figure, a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
图6是本发明内嵌辐条式永磁转子的伺服电机转子以及转子侧永磁体结构示意图，电机转子侧永磁体的横断面呈现为八边形。其中，a图是转子侧永磁体断面图(a
1＞a
2，a
3＝(a
1+a
2)，b
1＝b
2)，b图是转子断面图。图中的a
1和a
2只是位置指示，不是表示所代表的平面宽度的投影。
6 is a schematic structural view of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side. The cross section of the permanent magnet on the rotor side of the motor is octagonal. Among them, a is a cross-sectional view of the rotor-side permanent magnet (a 1 > a 2 , a 3 = (a 1 + a 2 ), b 1 = b 2 ), and b is a cross-sectional view of the rotor. In the figure, a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
图7是本发明内嵌辐条式永磁转子的伺服电机转子以及转子侧永磁体结构示意图，电机转子侧永磁体的横断面呈现为八边形。其中，a图是转子侧永磁体断面图(a
1＝a
2， a
3＝(a
1+a
2)，b
1＝b
2)，b图是转子断面图。图中的a
1和a
2只是位置指示，不是表示所代表的平面宽度的投影。
7 is a schematic view of the structure of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the invention and a permanent magnet on the rotor side. The permanent magnet on the rotor side of the motor has an octagonal cross section. Among them, a is a cross-sectional view of the rotor-side permanent magnet (a 1 = a 2 , a 3 = (a 1 + a 2 ), b 1 = b 2 ), and b is a cross-sectional view of the rotor. In the figure, a 1 and a 2 are only position indications, not projections representing the width of the plane represented.
图8是本发明内嵌辐条式永磁转子的伺服电机转子以及转子侧永磁体结构示意图，电机转子侧永磁体的横断面呈现为十边形。其中，a图是转子侧永磁体断面图(a
1＝a
2＝a
3＝a
4，b
1＝b
a)，b图是转子断面图。图中的a
1、a
2、a
3、a
4只是位置指示，不是表示所代表的平面宽度的投影。
8 is a schematic view of the structure of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side. The permanent magnet on the rotor side of the motor has a decagonal cross section. Among them, a is a cross-sectional view of the rotor-side permanent magnet (a 1 = a 2 = a 3 = a 4 , b 1 = b a ), and b is a cross-sectional view of the rotor. In the figure, a 1 , a 2 , a 3 , and a 4 are only position indications, not projections representing the width of the plane represented.
图9是本发明内嵌辐条式永磁转子的伺服电机转子以及转子侧永磁体结构示意图，电机转子侧永磁体的横断面呈现为十二边形。其中，a图是转子侧永磁体断面图(a
1＝a
2＝a
3＝a
4，a
5＝a
1+a
2+a
3+a
4)，b图是转子断面图。图中的a
1、a
2、a
3、a
4只是位置指示，不是表示所代表的平面宽度的投影。
9 is a schematic view of the structure of a rotor of a servo motor with a spoke-type permanent magnet rotor embedded in the present invention and a permanent magnet on the rotor side. Among them, a is a cross-sectional view of the rotor-side permanent magnet (a 1 = a 2 = a 3 = a 4 , a 5 = a 1 + a 2 + a 3 + a 4 ), and b is a cross-sectional view of the rotor. In the figure, a 1 , a 2 , a 3 , and a 4 are only position indications, not projections representing the width of the plane represented.
下面结合实施例和附图，对本发明作进一步详细说明。The present invention will be further described in detail below in conjunction with embodiments and drawings.
如图1所示，本发明内嵌辐条式永磁转子的伺服电机，包括定子、转子和转轴，所述转子套装在转轴上。定子侧采用12槽分数槽集中绕组设计方案，转子侧采用5对辐条式永磁转子。所述转子侧永磁体是由表面、与表面相对的底面(靠近转轴)、左侧面、右侧面和两个端面构成的多面体，表面与底面平行，两个端面相互平行。图中，3为定子铁心，4为电枢绕组。As shown in FIG. 1, the servo motor with a spoke-type permanent magnet rotor embedded in the present invention includes a stator, a rotor and a rotating shaft, and the rotor is sleeved on the rotating shaft. The stator side adopts a 12-slot fractional slot concentrated winding design scheme, and the rotor side uses 5 pairs of spoke-type permanent magnet rotors. The rotor-side permanent magnet is a polyhedron composed of a surface, a bottom surface opposite to the surface (close to the rotating shaft), a left side surface, a right side surface, and two end surfaces. The surface is parallel to the bottom surface, and the two end surfaces are parallel to each other. In the figure, 3 is the stator core and 4 is the armature winding.
实施例1：Example 1:
如图2(a)、图3(a)、图4(a)所示，为辐条式IPM电机转子侧永磁体1，该永磁体左、右侧面由两个平面构成折曲面(m＝2)，折曲面的折线与转轴5平行，该永磁体横断面呈六边形。两个平面的宽度尺寸分别为a
1和a
2，满足a
1＜a
2或a
1＞a
2或a
1＝a
2。该永磁体表面宽度为b
2，底面宽度为b
1，满足b
1＜b
2或b
1＞b
2或b
1＝b
2。因此，拓扑选择方案n满足关系n＝3
m，式中m＝2(构成折曲面的平面的数量)，因此共有9种拓扑选择方案。
As shown in Fig. 2(a), Fig. 3(a), and Fig. 4(a), it is a permanent magnet 1 on the rotor side of a spoke-type IPM motor. 2) The broken line of the curved surface is parallel to the rotating shaft 5, and the cross section of the permanent magnet is hexagonal. The width dimension of the two planes respectively a 1 and a 2, a 1 <a 2或a satisfies 1> a 2 or a 1 = a 2. The surface width of the permanent magnet is b 2 , and the width of the bottom surface is b 1 , satisfying b 1 <b 2 or b 1 >b 2 or b 1 =b 2 . Therefore, the topology selection scheme n satisfies the relationship n=3 m , where m=2 (the number of planes that constitute the curved surface), so there are 9 topology selection schemes in total.
如图2(b)、图3(b)、图4(b)所示，为辐条式IPM电机转子铁心2，转子铁心2设置孔槽，其沿转子表面呈放射状均匀分布，并且形状与永磁体结构适配，用于放置不同磁化方向的永磁体。两个孔槽之间靠近转子表面的部分为永磁体主要磁通路径，而两个孔槽之间靠近转轴的部分主要为非工作磁通路径，其面积进一步拓宽，根据需要可添加必要的隔磁设置。As shown in Fig. 2(b), Fig. 3(b), and Fig. 4(b), it is a rotor core 2 of a spoke-type IPM motor. The rotor core 2 is provided with holes, which are evenly distributed along the rotor surface in a radial shape, and the shape is permanent The magnet structure is adapted for placing permanent magnets with different magnetization directions. The part between the two slots near the rotor surface is the main magnetic flux path of the permanent magnet, and the part between the two slots near the rotating shaft is mainly the non-working magnetic flux path, and its area is further widened. Magnetic setting.
实施例2：Example 2:
如图5(a)、图6(a)、图7(a)所示，为辐条式IPM电机转子侧永磁体1，该永磁体左、右侧面由三个平面构成折曲面(m＝3)，折曲面的折线与转轴5平行，该永磁体横断面呈八边形。折曲面靠转轴侧的平面宽度为a
1，靠近气隙侧的平面宽度为a
2，满足a
1＜a
2或a
1＞a
2或a
1＝a
2，还需满足a
3＜(a
1+a
2)或a
3＝(a
1+a
2)或a
3＞(a
1+a
2)。该永磁体表面宽度为b
2，底面宽度为b
1，满足b
1＜b
2或b
1＞b
2或b
1＝b
2。因此，拓扑选择方案n满足关系n＝3
m，式中m＝3，因此共有27种拓扑选择方案。
As shown in Fig. 5(a), Fig. 6(a), and Fig. 7(a), it is a permanent magnet 1 on the rotor side of a spoke-type IPM motor. 3) The broken line of the curved surface is parallel to the rotating shaft 5, and the cross section of the permanent magnet is octagonal. Bending surface plane by the width of the shaft side is a 1, the width of the plane near the air gap side is a 2, a 1 <a 2或a satisfies 1> a 2 or a 1 = a 2, need to meet a 3 <(a 1 +a 2 ) or a 3 =(a 1 +a 2 ) or a 3 >(a 1 +a 2 ). The surface width of the permanent magnet is b 2 , and the width of the bottom surface is b 1 , satisfying b 1 <b 2 or b 1 >b 2 or b 1 =b 2 . Therefore, the topology selection scheme n satisfies the relationship n=3 m , where m=3, so there are 27 topology selection schemes in total.
如图5(b)、图6(b)、图7(b)所示，为辐条式IPM电机转子铁心2，转子铁心设置孔槽，其沿转子表面呈放射状均匀分布，并且形状与永磁体结构适配，用于放置不同磁化方向的永磁体。两个孔槽之间靠近转子表面的部分为永磁体主要磁通路径，而两个孔槽之间靠近 转轴的部分主要为非工作磁通路径，其面积进一步拓宽，根据需要可添加必要的隔磁设置。As shown in Fig. 5(b), Fig. 6(b), and Fig. 7(b), it is the rotor core 2 of the spoke-type IPM motor. The rotor core is provided with holes and slots, which are evenly distributed along the rotor surface in a radial shape, and the shape and permanent magnet The structure is suitable for placing permanent magnets with different magnetization directions. The part between the two slots near the rotor surface is the main magnetic flux path of the permanent magnet, and the part between the two slots near the rotating shaft is mainly the non-working magnetic flux path, and its area is further widened. Magnetic setting.
实施例3：Example 3:
如图8(a)所示，为辐条式IPM电机转子侧永磁体1，该永磁体左、右侧面由四个平面构成折曲面(
m＝4)，折曲面的折线与转轴5平行，该永磁体横断面呈十边形。折曲面靠转轴侧的平面宽度为a
1，与之相邻的平面的宽度为a
3，满足a
1＜a
3或a
1＝a
3或a
1＞a
3，折曲面靠近气隙侧的平面宽度为a
2，与之相邻的平面的宽度为a
4，满足a
2＜a
4或a
2＝a
4或a
2＞a
4，还需满足(a
1+a
3)＜(a
2+a
4)或(a
1+a
3)＝(a
2+a
4)或(a
1+a
3)＞(a
2+a
4)。该永磁体表面宽度为b
2，底面宽度为b
1，满足b
1＜b
2或b
1＝b
2或b
1＞b
2。因此，拓扑选择方案n满足关系n＝3
m，式中m＝4，因此共有81种拓扑选择方案。
As shown in Fig. 8(a), it is a permanent magnet 1 on the rotor side of a spoke-type IPM motor. The left and right sides of the permanent magnet are composed of four planes that form a curved surface ( m = 4). The permanent magnet has a decagonal cross section. Bending surface plane by the width of the shaft side is a 1, the adjacent plane width of a 3, a 1 <a 3或a satisfies 1 =a 3或a 1> a 3, close off the air gap side surface flat width is a 2, the width of the adjacent plane is a 4, satisfies a 2 <a 4或a 2 =a 4或a 2> a 4, should be satisfied (a 1 + a 3) < (a 2 +a 4 ) or (a 1 +a 3 )=(a 2 +a 4 ) or (a 1 +a 3 )>(a 2 +a 4 ). The surface width of the permanent magnet is b 2 , and the width of the bottom surface is b 1 , satisfying b 1 <b 2 or b 1 =b 2 or b 1 >b 2 . Therefore, the topology selection scheme n satisfies the relationship n=3 m , where m=4, so there are 81 topology selection schemes in total.
如图8(b)所示，为辐条式IPM电机转子铁心2，转子铁心设置孔槽，其沿转子表面呈放射状均匀分布，并且形状与永磁体结构适配，用于放置不同磁化方向的永磁体。两个孔槽之间靠近转子表面的部分为永磁体主要磁通路径，而两个孔槽之间靠近转轴的部分主要为非工作磁通路径，其面积进一步拓宽，根据需要可添加必要的隔磁设置。As shown in Figure 8(b), it is a rotor core 2 of a spoke-type IPM motor. The rotor core is provided with holes and grooves, which are evenly distributed along the surface of the rotor, and the shape is adapted to the structure of the permanent magnet. It is used to place permanent magnets with different magnetization directions. magnet. The part between the two slots near the rotor surface is the main magnetic flux path of the permanent magnet, and the part between the two slots near the rotating shaft is mainly the non-working magnetic flux path, and its area is further widened. Magnetic setting.
实施例4：Example 4:
如图9(a)所示，为辐条式IPM电机转子侧永磁体1，该永磁体左、右侧面由五个平面构成折曲面(m＝5)，折曲面的折线与转轴5平行，该永磁体横断面呈十二边形。折曲面靠转轴侧的平面宽度为a
1，与之相邻的平面宽度为a
3，满足a
1＜a
3或a
1＝a
3或a
1＞a
3，折曲面靠近气隙侧的平面宽度为a
2，与之相邻的平面宽度为a
4，满足a
2＜a
4或a
2＝a
4或a
2＞a
4，还需满足(a
1+a
3)＜(a
2+a
4)或(a
1+a
3)＝(a
2+a
4)或(a
1+a
3)＞(a
2+a
4)，折曲面中间的平面宽度为a
5，满足a
5＜(a
1+a
2+a
3+a
4)或a
5＝(a
1+a
2+a
3+a
4)或a
5＞(a
1+a
2+a
3+a
4)。该永磁体表面宽度为b
2，底面宽度为b
1，满足b
1＜b
2或b
1＝b
2或b
1＞b
2。因此，拓扑选择方案n满足关系n＝3
m，式中m＝5，因此共有243种拓扑选择方案。
As shown in FIG. 9(a), it is a permanent magnet 1 on the rotor side of a spoke-type IPM motor. The left and right sides of the permanent magnet are composed of five flat surfaces (m=5). The permanent magnet has a dodecagonal cross section. Bending surface plane by the width of the shaft side is a 1, the adjacent plane width a 3, satisfying a <a 3或a 1 =a 3或a 1> a 3, close to the air gap plane bending surface side 1 a width of a 2, adjacent to the flat width of a 4, satisfies a 2 <a 4或a 2 =a 4或a 2> a 4, should be satisfied (a 1 + a 3) < (a 2 + a 4 ) or (a 1 +a 3 )=(a 2 +a 4 ) or (a 1 +a 3 )>(a 2 +a 4 ), the width of the plane in the middle of the curved surface is a 5 , satisfying a 5 ＜ (a 1 +a 2 +a 3 +a 4 ) or a 5 =(a 1 +a 2 +a 3 +a 4 ) or a 5 >(a 1 +a 2 +a 3 +a 4 ). The surface width of the permanent magnet is b 2 , and the width of the bottom surface is b 1 , satisfying b 1 <b 2 or b 1 =b 2 or b 1 >b 2 . Therefore, the topology selection scheme n satisfies the relationship n=3 m , where m=5, so there are 243 topology selection schemes in total.
如图9(b)所示，为辐条式IPM电机转子铁心2，转子铁心设置孔槽，其沿转子表面呈放射状均匀分布，并且形状与永磁体结构适配，用于放置不同磁化方向的永磁体。两个孔槽之间靠近转子表面的部分为永磁体主要磁通路径，而两个孔槽之间靠近转轴的部分主要为非工作磁通路径，其面积进一步拓宽，根据需要可添加必要的隔磁设置。As shown in Figure 9(b), it is a rotor core 2 of a spoke-type IPM motor. The rotor core is provided with holes and grooves, which are evenly distributed along the surface of the rotor, and the shape is adapted to the structure of the permanent magnet. magnet. The part between the two slots near the rotor surface is the main magnetic flux path of the permanent magnet, and the part between the two slots near the rotating shaft is mainly the non-working magnetic flux path, and its area is further widened. Magnetic setting.
上述实施例所述的辐条式永磁结构拓扑设计方案，不仅可应用于旋转内转子永磁电机中，也可应用于外转子永磁电机中，还可应用于直线电机中。均属于本发明限定的保护范围。The topological design scheme of the spoke-type permanent magnet structure described in the above embodiments can be applied not only to the rotating inner rotor permanent magnet motor, but also to the outer rotor permanent magnet motor, and also to the linear motor. All belong to the protection scope defined by the present invention.
Claims (5)
- 一种内嵌辐条式永磁转子的伺服电机，包括定子、转子和转轴，所述转子套装在转轴上，所述转子内嵌辐条式永磁体；所述转子侧永磁体是由靠近气隙侧表面、与表面相对的底面、左侧面、右侧面和两个端面构成的多面体棱柱，表面与底面平行，两个端面相互平行；其特征是：所述左侧面和右侧面相互对称，左侧面和右侧面均为多个平面构成的折曲面，折曲面上的折线与转轴平行。A servo motor with a spoke-type permanent magnet rotor includes a stator, a rotor and a rotating shaft, the rotor is sleeved on the rotating shaft, the rotor is embedded with a spoke-type permanent magnet; the rotor-side permanent magnet is formed by a side close to the air gap A polyhedral prism composed of a surface, a bottom surface opposite to the surface, a left side, a right side, and two end surfaces, the surface is parallel to the bottom surface, and the two end surfaces are parallel to each other; its characteristics are: the left side and the right side are symmetrical to each other The left side and the right side are both torus surfaces composed of multiple planes, and the fold lines on the torus surfaces are parallel to the rotation axis.
- 根据权利要求1所述的一种内嵌辐条式永磁转子的伺服电机，其特征是：所述电机转子侧永磁体的左侧面和右侧面均为两个平面构成的折曲面，电机转子侧永磁体的横断面呈六边形。The servo motor with embedded permanent magnet rotor according to claim 1, characterized in that the left side and the right side of the permanent magnet on the rotor side of the motor are both toric surfaces composed of two planes, the motor The permanent magnet on the rotor side has a hexagonal cross section.
- 根据权利要求1所述的一种内嵌辐条式永磁转子的伺服电机，其特征是：所述电机转子侧永磁体的左侧面和右侧面均为三个平面构成的折曲面，电机转子侧永磁体的横断面呈八边形。The servo motor with embedded permanent magnet rotor according to claim 1, characterized in that: the left side and the right side of the permanent magnet on the rotor side of the motor are toric surfaces composed of three planes, the motor The permanent magnet on the rotor side has an octagonal cross section.
- 根据权利要求1所述的一种内嵌辐条式永磁转子的伺服电机，其特征是：所述电机转子侧永磁体的左侧面和右侧面均为四个平面构成的折曲面，电机转子侧永磁体的横断面呈十边形。The servo motor with embedded permanent magnet rotor according to claim 1, characterized in that the left side and the right side of the permanent magnet on the rotor side of the motor are toric surfaces composed of four planes, and the motor The permanent magnet on the rotor side has a decagonal cross section.
- 根据权利要求1所述的一种内嵌辐条式永磁转子的伺服电机，其特征是：所述转子为内转子或外转子。The servo motor with embedded spoke-type permanent magnet rotor according to claim 1, wherein the rotor is an inner rotor or an outer rotor.
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| CN201811594807.7A CN109474096A (en) | 2018-12-25 | 2018-12-25 | A kind of servo motor of embedded spoke type p-m rotor |
| CN201811594807.7 | 2018-12-25 |
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| CN114039435B (en) * | 2021-11-04 | 2023-10-03 | 广东美芝精密制造有限公司 | Rotor structure, motor structure, compressor structure and refrigeration equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201194346Y (en) * | 2008-04-09 | 2009-02-11 | 上海电机学院 | Tangential magnetic steel permanent magnet motor |
| CN104393730A (en) * | 2013-08-05 | 2015-03-04 | 通用电气公司 | Spoke permanent magnet machine with reduced torque ripple and method of manufacturing thereof |
| CN106787323A (en) * | 2017-02-14 | 2017-05-31 | 佛山智能装备技术研究院 | A kind of rotor of alternating-current permanent-magnet servo motor |
| CN209170079U (en) * | 2018-12-25 | 2019-07-26 | 南京埃斯顿自动化股份有限公司 | A kind of servo motor of embedded spoke type p-m rotor |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5347588B2 (en) * | 2009-03-10 | 2013-11-20 | 株式会社デンソー | Embedded magnet motor |
| FR2982093B1 (en) * | 2011-10-27 | 2017-11-03 | Valeo Equip Electr Moteur | ROTOR OF ROTATING ELECTRIC MACHINE AND ROTATING ELECTRIC MACHINE COMPRISING A ROTOR |
| FR3006821B1 (en) * | 2013-06-05 | 2017-02-24 | Valeo Equip Electr Moteur | SYNCHRONOUS ELECTRIC MOTOR WITH PERMANENT MAGNETS |
| KR20150066768A (en) * | 2013-12-09 | 2015-06-17 | 엘지이노텍 주식회사 | Rotor and motor including the same |
| FR3022088B1 (en) * | 2014-06-05 | 2016-06-03 | Valeo Equip Electr Moteur | PERMANENT MAGNET ROTOR WITH FLOW CONCENTRATION FOR A ROTATING ELECTRICAL MACHINE |
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2018
- 2018-12-25 CN CN201811594807.7A patent/CN109474096A/en active Pending
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2019
- 2019-05-13 WO PCT/CN2019/086695 patent/WO2020133874A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201194346Y (en) * | 2008-04-09 | 2009-02-11 | 上海电机学院 | Tangential magnetic steel permanent magnet motor |
| CN104393730A (en) * | 2013-08-05 | 2015-03-04 | 通用电气公司 | Spoke permanent magnet machine with reduced torque ripple and method of manufacturing thereof |
| CN106787323A (en) * | 2017-02-14 | 2017-05-31 | 佛山智能装备技术研究院 | A kind of rotor of alternating-current permanent-magnet servo motor |
| CN209170079U (en) * | 2018-12-25 | 2019-07-26 | 南京埃斯顿自动化股份有限公司 | A kind of servo motor of embedded spoke type p-m rotor |
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| Publication number | Publication date |
|---|---|
| CN109474096A (en) | 2019-03-15 |
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