WO2022199144A1 - Moteurs à cinq phases pour systèmes d'asservissement - Google Patents

Moteurs à cinq phases pour systèmes d'asservissement Download PDF

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Publication number
WO2022199144A1
WO2022199144A1 PCT/CN2021/137910 CN2021137910W WO2022199144A1 WO 2022199144 A1 WO2022199144 A1 WO 2022199144A1 CN 2021137910 W CN2021137910 W CN 2021137910W WO 2022199144 A1 WO2022199144 A1 WO 2022199144A1
Authority
WO
WIPO (PCT)
Prior art keywords
phase winding
stator
rotor
iron core
phase
Prior art date
Application number
PCT/CN2021/137910
Other languages
English (en)
Chinese (zh)
Inventor
孙天夫
龙凌辉
冯伟
梁嘉宁
李慧云
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Publication of WO2022199144A1 publication Critical patent/WO2022199144A1/fr

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Classifications

    • 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]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
    • H02K1/148—Sectional cores
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/52—Fastening salient pole windings or connections thereto
    • H02K3/521—Fastening salient pole windings or connections thereto applicable to stators only
    • H02K3/522—Fastening salient pole windings or connections thereto applicable to stators only for generally annular cores with salient poles

Definitions

  • the invention belongs to the technical field of servo motors, and in particular relates to a five-phase motor used in a servo system.
  • the purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, and to provide a five-phase motor for a servo system, which aims to solve the problem of large torque fluctuation.
  • the present invention is realized in this way:
  • a five-phase motor for a servo system comprising:
  • the rotor structure includes a rotor iron core and twelve permanent magnets, the rotor iron core is cylindrical, is sleeved with the motor shaft, and is fixedly connected with the rotor structure, and the rotor iron core is provided with an edge along the Twelve embedded holes are arranged at equal intervals in the circumferential direction of the rotor core, the opening direction of the embedded holes is parallel to the extension direction of the motor shaft, and each of the embedded holes is respectively embedded with one of the permanent holes.
  • a magnet, the rotor core is also provided with a magnetic isolation hole between any two adjacent embedded holes, and the opening direction of the magnetic isolation hole is parallel to the extension direction of the motor shaft;
  • the stator structure includes a stator iron core and a stator winding
  • the stator iron core is cylindrical, is sleeved with the rotor structure, and is spaced from the rotor structure, and the stator iron core has ten along the stator.
  • the stator teeth are arranged in sequence in the circumferential direction of the iron core, and the stator winding includes a first A-phase winding, a first C-phase winding, a first E-phase winding, and a first B-phase winding arranged in sequence along the circumferential direction of the stator iron core.
  • winding a first D-phase winding, a second A-phase winding, a second C-phase winding, a second E-phase winding, a second B-phase winding and a second D-phase winding, the first A-phase winding, the first C-phase winding, the first E-phase winding, the first B-phase winding, the first D-phase winding, the second A-phase winding, the second C-phase winding, the second E-phase winding
  • the winding, the second B-phase winding and the second D-phase winding are respectively wound on one of the stator teeth.
  • the embedded hole is a bar-shaped hole, and the length direction is the radial direction of the motor shaft;
  • the magnetic isolation hole is a bar-shaped hole, and the length extension path thereof is an arc centered on the axis of the motor rotating shaft.
  • the rotor iron core is formed by stacking a plurality of rotor punching pieces in a length extending direction of the motor shaft.
  • the rotor core is a Spoke rotor structure.
  • the stator core includes ten stator blocks arranged in sequence along the circumferential direction of the stator core. It is formed by superimposing in the length extension direction of the rotating shaft of the motor.
  • the present invention is a five-phase motor. Compared with a three-phase motor, the torque density and power density can be improved, and the torque fluctuation can be reduced.
  • the structure between the magnetic isolation hole and the embedded hole is In order to isolate the magnetic bridge, the magnetic leakage of the permanent magnet can be effectively reduced, the magnetic field strength of the main pole can be increased, and the torque of the motor can be increased. It is suitable for low-speed and high-torque conditions, and is convenient for automated production and sinusoidal air-gap flux linkage.
  • the present invention also provides a five-phase motor for a servo system, comprising:
  • the rotor structure includes a rotor iron core and eight permanent magnets, the rotor iron core is cylindrical, is sleeved with the motor shaft, and is fixedly connected with the rotor structure, the rotor iron core Eight inlaid holes are arranged at equal intervals in the circumferential direction of the rotor core, the opening direction of the inlaid holes is parallel to the extension direction of the motor shaft, and each of the inlaid holes is respectively embedded with one of the permanent magnets,
  • the rotor core is also provided with a magnetic isolation hole between any two adjacent embedded holes, and the opening direction of the magnetic isolation hole is parallel to the extending direction of the motor shaft;
  • the stator structure includes a stator iron core and a stator winding
  • the stator iron core is cylindrical, is sleeved with the rotor structure, and is spaced from the rotor structure, and the stator iron core has ten along the stator.
  • the stator teeth are arranged in sequence in the circumferential direction of the iron core, and the stator winding includes a first A-phase winding, a first C-phase winding, a first E-phase winding, and a first B-phase winding arranged in sequence along the circumferential direction of the stator iron core.
  • winding a first D-phase winding, a second A-phase winding, a second C-phase winding, a second E-phase winding, a second B-phase winding and a second D-phase winding, the first A-phase winding, the first C-phase winding, the first E-phase winding, the first B-phase winding, the first D-phase winding, the second A-phase winding, the second C-phase winding, the second E-phase winding
  • the winding, the second B-phase winding and the second D-phase winding are respectively wound on one of the stator teeth.
  • the embedded hole is a bar-shaped hole, and the length direction is the radial direction of the motor shaft;
  • the magnetic isolation hole is a bar-shaped hole, and the length extension path thereof is an arc centered on the axis of the motor rotating shaft.
  • the rotor iron core is formed by stacking a plurality of rotor punching pieces in a length extending direction of the motor shaft.
  • the rotor core is a Spoke rotor structure.
  • the stator core includes ten stator blocks arranged in sequence along the circumferential direction of the stator core. It is formed by superimposing in the length extension direction of the rotating shaft of the motor.
  • the present invention is a five-phase motor. Compared with a three-phase motor, the torque density and power density can be improved, and the torque fluctuation can be reduced.
  • the structure between the magnetic isolation hole and the embedded hole is In order to isolate the magnetic bridge, the magnetic leakage of the permanent magnet can be effectively reduced, the magnetic field strength of the main pole can be increased, and the torque of the motor can be increased. It is suitable for low-speed and high-torque conditions, and is convenient for automated production and sinusoidal air-gap flux linkage.
  • Embodiment 1 is a structural diagram of a five-phase motor for a servo system provided by Embodiment 1 of the present invention
  • FIG. 2 is a structural diagram of a rotor structure provided by Embodiment 1 of the present invention.
  • FIG. 3 is a structural diagram of a stator structure provided in Embodiment 1 of the present invention.
  • FIG. 4 is a structural diagram of a five-phase motor for a servo system provided by Embodiment 2 of the present invention.
  • FIG. 5 is a structural diagram of a rotor structure provided by Embodiment 2 of the present invention.
  • Embodiments of the present invention provide a five-phase motor for a servo system.
  • the five-phase motor for a servo system includes a motor shaft 100 , a rotor structure 200 and a stator structure 300 .
  • the motor shaft 100 is used to connect external mechanical loads.
  • the rotor structure 200 includes a rotor iron core 210 and twelve permanent magnets 220.
  • the rotor iron core 210 is cylindrical, and is sleeved with the motor shaft 100, and is fixedly connected with the rotor structure 200.
  • the rotor iron core 210 is provided with along the rotor iron core.
  • Twelve embedded holes 2101 are arranged at equal intervals in the circumferential direction of the 210.
  • the opening direction of the embedded holes 2101 is parallel to the extending direction of the motor shaft 100.
  • a magnetic isolation hole 2102 is also opened between any two adjacent embedded holes 2101, and the opening direction of the magnetic isolation hole 2102 is parallel to the extending direction of the motor shaft 100.
  • the structure is a magnetic isolation bridge, which can effectively reduce the magnetic leakage of the permanent magnet 220 and increase the magnetic field strength of the main pole, thereby increasing the motor torque.
  • the stator structure 300 includes a stator iron core 310 and stator windings.
  • the stator iron core 310 is cylindrical, and is sleeved with the rotor structure 200 and is spaced from the rotor structure 200 .
  • the stator iron core 310 has ten circumferences along the circumference of the stator iron core 310 .
  • the stator teeth 311 are arranged in sequence, and the stator winding includes a first A-phase winding 32001, a first C-phase winding 32005, a first E-phase winding 32009, a first B-phase winding 32003, a first B-phase winding 32003, The first D-phase winding 32007, the second A-phase winding 32002, the second C-phase winding 32006, the second E-phase winding 32010, the second B-phase winding 32004 and the second D-phase winding 32008, the first A-phase winding 32001, the second A C-phase winding 32005, a first E-phase winding 32009, a first B-phase winding 32003, a first D-phase winding 32007, a second A-phase winding 32002, a second C-phase winding 32006, a second E-phase winding 32010, a second The B-phase winding 32004 and the second D-phase winding 32008 are respectively wound on one stator tooth 311 .
  • the dots and X on the wire represent the direction of the current at a time (the dot is the direction of the current flowing out of the paper, and X is the direction of the current flowing into the paper), which are used to indicate the motor stator winding method and each The relationship of the winding direction.
  • the present invention is a five-phase motor. Compared with a three-phase motor, the torque density and power density can be improved, and the torque fluctuation can be reduced.
  • the structure is a magnetic isolation bridge, which can effectively reduce the magnetic leakage of the permanent magnet 220 and increase the magnetic field strength of the main pole, thereby increasing the motor torque.
  • the topology of the present invention is a fractional slot concentrated winding structure with 10 slots and 12 poles. , can be suitable for low-speed and high-torque conditions, and is convenient for automated production and sinusoidal air gap flux linkage.
  • the embedded hole 2101 is a bar-shaped hole, and the length direction is the radial direction of the motor shaft 100 .
  • the magnetic isolation hole 2102 is a bar-shaped hole, and its length extending path is an arc centered on the axis of the motor rotating shaft 100 .
  • the rotor iron core 210 is formed by stacking a plurality of rotor punching pieces in the longitudinal extension direction of the motor shaft 100 , the rotor iron core 210 is divided into a plurality of rotor punching pieces, and then formed by stacking a plurality of rotor punching pieces , which is beneficial to reduce the manufacturing difficulty of the rotor core 210 and reduce the manufacturing cost.
  • the rotor core 210 is a Spoke rotor structure 200 .
  • the stator core 310 includes ten stator blocks arranged in sequence along the circumferential direction of the stator core 310 .
  • the stator core 310 is formed by superimposing in the longitudinal extension direction of the motor shaft 100 , and the stator core 310 is divided into a plurality of stator punches, which are then formed by stacking a plurality of stator punches, which is beneficial to reduce the manufacturing difficulty of the stator core 310 and reduce the production cost.
  • Embodiments of the present invention provide a five-phase motor for a servo system.
  • the five-phase motor for a servo system includes a motor shaft 100 , a rotor structure 200 and a stator structure 300 .
  • the motor shaft 100 is used to connect external mechanical loads.
  • the rotor structure 200 includes a rotor iron core 210 and eight permanent magnets 220.
  • the rotor iron core 210 is cylindrical, and is sleeved with the motor shaft 100, and is fixedly connected with the rotor structure 200.
  • the rotor iron core 210 is provided with along the rotor iron core 210.
  • Eight inlaid holes 2101 are arranged at equal intervals in the circumferential direction, the opening direction of the inlaid holes 2101 is parallel to the extension direction of the motor shaft 100, each inlaid hole 2101 is embedded with a permanent magnet 220, and the rotor core 210 is also in A magnetic isolation hole 2102 is opened between any two adjacent embedded holes 2101, and the opening direction of the magnetic isolation hole 2102 is parallel to the extending direction of the motor shaft 100, wherein the structure between the magnetic isolation hole 2102 and the embedded hole 2101 is In order to isolate the magnetic bridge, the magnetic leakage of the permanent magnet 220 can be effectively reduced, and the magnetic field strength of the main pole can be increased, thereby increasing the motor torque.
  • the stator structure 300 includes a stator iron core 310 and stator windings.
  • the stator iron core 310 is cylindrical, and is sleeved with the rotor structure 200 and is spaced from the rotor structure 200 .
  • the stator iron core 310 has ten circumferences along the circumference of the stator iron core 310 .
  • the stator teeth 311 are arranged in sequence, and the stator winding includes a first A-phase winding 32001, a first C-phase winding 32005, a first E-phase winding 32009, a first B-phase winding 32003, a first B-phase winding 32003, The first D-phase winding 32007, the second A-phase winding 32002, the second C-phase winding 32006, the second E-phase winding 32010, the second B-phase winding 32004 and the second D-phase winding 32008, the first A-phase winding 32001, the second A C-phase winding 32005, a first E-phase winding 32009, a first B-phase winding 32003, a first D-phase winding 32007, a second A-phase winding 32002, a second C-phase winding 32006, a second E-phase winding 32010, a second The B-phase winding 32004 and the second D-phase winding 32008 are respectively wound on one stator tooth 311 .
  • the dots and X on the wire represent the direction of the current at a time (the dot is the direction of the current flowing out of the paper, and X is the direction of the current flowing into the paper), which are used to indicate the motor stator winding method and each The relationship of the winding direction.
  • the present invention is a five-phase motor. Compared with a three-phase motor, the torque density and power density can be improved, and the torque fluctuation can be reduced.
  • the structure is a magnetic isolation bridge, which can effectively reduce the magnetic leakage of the permanent magnet 220 and increase the magnetic field strength of the main pole, thereby increasing the motor torque.
  • the topology of the present invention is a fractional-slot concentrated winding structure with 10 slots and 8 poles , which can be better applied to low-speed and high-torque conditions, and facilitates automated production and the sine nature of the air-gap flux linkage.
  • the embedded hole 2101 is a bar-shaped hole, and the length direction is the radial direction of the motor shaft 100 .
  • the magnetic isolation hole 2102 is a bar-shaped hole, and its length extending path is an arc centered on the axis of the motor rotating shaft 100 .
  • the rotor iron core 210 is formed by stacking a plurality of rotor punching pieces in the longitudinal extension direction of the motor shaft 100 , the rotor iron core 210 is divided into a plurality of rotor punching pieces, and then formed by stacking a plurality of rotor punching pieces , which is beneficial to reduce the manufacturing difficulty of the rotor core 210 and reduce the manufacturing cost.
  • the stator core 310 includes ten stator blocks arranged in sequence along the circumferential direction of the stator core 310 .
  • the stator core 310 is formed by superimposing in the longitudinal extension direction of the motor shaft 100 , and the stator core 310 is divided into a plurality of stator punches, which are then formed by stacking a plurality of stator punches, which is beneficial to reduce the manufacturing difficulty of the stator core 310 and reduce the production cost.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)

Abstract

La présente invention concerne le domaine technique des servomoteurs, et en particulier des moteurs à cinq phases pour des systèmes d'asservissement. Un moteur à cinq phases pour un système d'asservissement comprend : un arbre rotatif de moteur ; une structure de rotor comprenant un noyau de fer de rotor et douze aimants permanents, douze trous intégrés qui sont agencés à des intervalles égaux dans la direction circonférentielle du noyau de fer de rotor étant formés dans le noyau de fer de rotor ; et une structure de stator comprenant un noyau de fer de stator et un enroulement de stator, le noyau de fer de stator étant pourvu de dix dents de stator qui sont agencées de manière séquentielle dans la direction circonférentielle du noyau de fer de stator. L'autre moteur à cinq phases pour un système d'asservissement comprend : un arbre rotatif de moteur ; une structure de rotor comprenant un noyau de rotor et huit aimants permanents ; et une structure de stator comprenant un noyau de fer de stator et un enroulement de stator, le noyau de fer de stator étant pourvu de dix dents de stator qui sont agencées de manière séquentielle dans la direction circonférentielle du noyau de fer de stator. La présente invention peut améliorer la densité de couple et la densité de puissance, et réduire l'ondulation de couple.
PCT/CN2021/137910 2021-03-25 2021-12-14 Moteurs à cinq phases pour systèmes d'asservissement WO2022199144A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110320254.1A CN112953063A (zh) 2021-03-25 2021-03-25 用于伺服系统的五相电机
CN202110320254.1 2021-03-25

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Publication Number Publication Date
WO2022199144A1 true WO2022199144A1 (fr) 2022-09-29

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WO (1) WO2022199144A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112953063A (zh) * 2021-03-25 2021-06-11 中国科学院深圳先进技术研究院 用于伺服系统的五相电机

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WO2013054439A1 (fr) * 2011-10-14 2013-04-18 三菱電機株式会社 Moteur à aimants permanents
CN104883017A (zh) * 2015-06-04 2015-09-02 山东大学 一种高转矩密度的五相永磁同步电机
CN208316427U (zh) * 2018-05-18 2019-01-01 山东科汇电力自动化股份有限公司 一种相间耦合型五相短磁路开关磁阻电机
CN110061580A (zh) * 2019-04-24 2019-07-26 江苏大学 一种虚拟极分数槽集中绕组轮辐式永磁电机及其转矩脉动抑制方法
CN112350477A (zh) * 2020-10-30 2021-02-09 无锡小天鹅电器有限公司 电机及洗衣机
CN112953063A (zh) * 2021-03-25 2021-06-11 中国科学院深圳先进技术研究院 用于伺服系统的五相电机
CN214674595U (zh) * 2021-03-25 2021-11-09 中国科学院深圳先进技术研究院 用于伺服系统的五相电机

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CN102420515B (zh) * 2011-11-30 2013-08-21 哈尔滨工业大学 磁场调制式横向磁通多相永磁电机
CN208849559U (zh) * 2018-07-24 2019-05-10 中国航空工业集团公司西安飞行自动控制研究所 一种离心磁钢式五相电机结构
CN109412300A (zh) * 2018-12-20 2019-03-01 珠海格力节能环保制冷技术研究中心有限公司 切向电机、电机转子及转子铁芯

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013054439A1 (fr) * 2011-10-14 2013-04-18 三菱電機株式会社 Moteur à aimants permanents
CN104883017A (zh) * 2015-06-04 2015-09-02 山东大学 一种高转矩密度的五相永磁同步电机
CN208316427U (zh) * 2018-05-18 2019-01-01 山东科汇电力自动化股份有限公司 一种相间耦合型五相短磁路开关磁阻电机
CN110061580A (zh) * 2019-04-24 2019-07-26 江苏大学 一种虚拟极分数槽集中绕组轮辐式永磁电机及其转矩脉动抑制方法
CN112350477A (zh) * 2020-10-30 2021-02-09 无锡小天鹅电器有限公司 电机及洗衣机
CN112953063A (zh) * 2021-03-25 2021-06-11 中国科学院深圳先进技术研究院 用于伺服系统的五相电机
CN214674595U (zh) * 2021-03-25 2021-11-09 中国科学院深圳先进技术研究院 用于伺服系统的五相电机

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