WO2025255779A1 - 一种基于镜像对称原理的矩阵电机 - Google Patents

一种基于镜像对称原理的矩阵电机

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Publication number
WO2025255779A1
WO2025255779A1 PCT/CN2024/099016 CN2024099016W WO2025255779A1 WO 2025255779 A1 WO2025255779 A1 WO 2025255779A1 CN 2024099016 W CN2024099016 W CN 2024099016W WO 2025255779 A1 WO2025255779 A1 WO 2025255779A1
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WIPO (PCT)
Prior art keywords
motor
matrix
motor element
stator
elements
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Pending
Application number
PCT/CN2024/099016
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English (en)
French (fr)
Inventor
孙天夫
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Application filed by Shenzhen Institute of Advanced Technology of CAS filed Critical Shenzhen Institute of Advanced Technology of CAS
Priority to PCT/CN2024/099016 priority Critical patent/WO2025255779A1/zh
Publication of WO2025255779A1 publication Critical patent/WO2025255779A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • H02K1/12—Stationary parts of the magnetic circuit
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

Definitions

  • torque density the ratio of torque to volume, or torque to weight
  • permanent magnets are added to the rotor.
  • the magnetic field of these permanent magnets superimposes with the magnetic field generated by the stator windings, further increasing torque.
  • the magnetic field generated by permanent magnets is limited by the properties of the magnet material.
  • the permeability of the stator and rotor cores also has limits; excessive magnetic field density can lead to silicon steel saturation, preventing further increases in magnetic field. Therefore, this method has limited effectiveness in improving torque density.
  • torque density can be increased by increasing the number of rotor poles or by increasing the motor current.
  • the number of poles cannot be too high.
  • excessive current in the windings can cause overheating and stator burnout, thus limiting the current available for the motor. This restricts further increases in torque density.
  • each motor element in the matrix motor is of opposite polarity to its adjacent motor elements, and each motor element in the matrix motor is of the same polarity to its diagonally opposite motor element.
  • the outer contour of the motor element is rectangular; a rectangle formed by splicing and arranging several motor elements together.
  • the outer contour of the array motor is rectangular, or a combination of several rectangles.
  • the wiring method of each phase winding of each motor element is series, parallel, or a combination of series and parallel.
  • each motor element after each motor element is symmetrical about the mirror axis, it can rotate a certain angle around the mirror axis in space to realize a spatial structure; magnetic conductive material is provided between the semi-stator teeth of the two motor elements to realize the coupling of the magnetic fields of the two motor elements.
  • the various motor elements are meshed and synchronized with each other through gears, magnetic gears, magnetic coupling, pulleys, friction, or chains, so that the torques of the various motor elements are gathered together and the various motor elements rotate synchronously.
  • This application provides a matrix motor based on the principle of mirror symmetry, comprising several motor elements, including positive and negative motor elements.
  • a rectangular outline connecting adjacent motor elements is used as the mirror axis, and the positive and negative motor elements are arranged symmetrically around the mirror axis.
  • the motor elements are assembled to form a matrix motor, where two motor elements symmetrical about the mirror axis are of opposite polarity.
  • This application addresses the problems of existing matrix motors, such as weak coupling between motor elements (only magnetic field components are coupled, not fully realizing magnetic field coupling), weak output torque, insufficient compactness, complex transmission structures of individual motor elements, and imperfect electromagnetic schemes between motor elements.
  • Figure 1 is a schematic diagram of a traditional 3-slot 2-pole motor structure
  • Figure 2 is a schematic diagram of the "principle of unidirectional magnetic field components" of matrix motors in related technologies
  • FIG. 4 is a schematic diagram of the 3-phase 2-pole motor components provided in the embodiments of this application.
  • Figure 5A is a schematic diagram of the female motor element provided in an embodiment of this application.
  • Figure 6 is a schematic diagram of the most basic matrix motor provided in the embodiment of this application.
  • Figure 9 is a schematic diagram of the series connection method of each phase of the matrix motor provided in the embodiment of this application.
  • Figure 10 is a schematic diagram of a 4-pole 6-slot positive motor element and a negative motor element provided in an embodiment of this application;
  • Figure 12A is a schematic diagram of a 4-pole, 24-slot positive motor element provided in an embodiment of this application;
  • Figure 18 is a half-sectional view of the matrix motor provided in an embodiment of this application.
  • Figure 22 is an example diagram of the spatial structure formed by rotating the stator assembly of the matrix motor element around the mirror axis by a certain angle according to an embodiment of this application.
  • the coupling of the various motor elements in this matrix motor is primarily based on the "principle of co-directional magnetic field components," meaning that the magnetic field components of each phase winding of the first and second motor elements are in phase with each other in the direction of the other winding, achieving coupling.
  • the "principle of co-directional magnetic field components" of the matrix motor is shown in Figure 2.
  • the magnetic field projection components of the first motor element's C-phase winding and the second motor element's A-phase and B-phase windings are in the same direction as their respective magnetic fields. Therefore, the first motor element can enhance the magnetic field of the second motor element, achieving magnetic circuit coupling.
  • This application proposes a novel matrix motor topology based on the "principle of mirror symmetry,” which boasts advantages such as compact structure, strong coupling, large output torque, and simple transmission. Furthermore, by optimizing the electromagnetic schemes between motor elements, the production and control of the matrix motor are simplified.
  • this application provides a matrix motor based on the principle of mirror symmetry, comprising: a plurality of motor elements; the motor elements include positive motor elements and negative motor elements; the rectangular outline edges connecting adjacent motor elements are used as mirror axes, and the positive and negative motor elements are arranged symmetrically with respect to the mirror axes; the motor elements are spliced together to form a matrix motor, and the two motor elements in the matrix motor that are symmetrical about the mirror axes are opposite in polarity.
  • a traditional 3-phase 2-pole motor as shown in Figure 3, consists of a rotor shaft 103, three-phase windings 2 (A-phase winding, B-phase winding, and C-phase winding), rotor permanent magnets 16, stator teeth 10, stator yoke 12, and rotor core 17.
  • three-phase alternating currents of different phases are passed through the A, B, and C phases of the motor, a rotating magnetic field is generated in the stator, driving the rotor to rotate.
  • the stator yoke 12 is usually made of silicon steel with good magnetic permeability and serves to provide a loop for the magnetic field generated by the phase windings in the motor teeth.
  • stator yoke 12 accounts for a large portion of the motor's weight and volume, it only provides a magnetic field loop and does not participate in the conversion of magnetic energy into electrical energy. Therefore, the stator yoke 12 is essentially not directly related to the generation of torque in the motor.
  • the motor element proposed in this embodiment is obtained, as shown in Figure 4.
  • 101 is the semi-stator tooth of the motor element
  • 102 is the semi-stator slot of the motor element.
  • This application obtains the semi-stator tooth 101 of the motor element by removing the stator yoke and shaping the outer contour of the stator into a rectangle.
  • the gap between the two semi-stator teeth 101 of the motor element is the semi-stator slot 102 of the motor element.
  • the motor element shown in Figure 4 is further divided into two types: “negative” and “positive,” that is, negative motor element and positive motor element are obtained, as shown in Figures 5A and 5B, respectively.
  • each motor element in a matrix motor is of opposite polarity to its adjacent motor elements, and each motor element in a matrix motor is of the same polarity to its diagonally opposite motor element.
  • 101 is the semi-stator tooth of the motor element
  • 2 is the winding
  • 16 is the rotor permanent magnet
  • 17 is the motor rotor core.
  • each motor element in the matrix motor composed of the motor elements of this application is opposite in polarity to its adjacent motor elements. That is, each "female” motor element is adjacent to a “male” motor element, and each "male” motor element is also adjacent to a “female” motor element.
  • Two motor elements of the same polarity are located diagonally opposite each other. Any motor element mirror-symmetric about the X or Y axis is related to the motor element that is mirror-symmetric to it.
  • the motor components are of different types; for example, motor component number 1 is "yin,” while its mirror-symmetric components about the X or Y axis are all “yang.”
  • the mirror axis acts like a mirror, reflecting the stator portion of the "yin” motor element into the stator portion of the “yang” motor element, and vice versa. Therefore, this principle is called the “mirror symmetry” principle.
  • the way the A, B, and C phase windings of motor element 1 enter or exit the paper, the direction of rotation of the stator magnetic field, and the direction of rotation of the motor rotor are all mirror images of motor elements 2 and 4 about the Y or X mirror axis.
  • the rotor magnetic poles are reversed after the mirror image. For example, after the rotor magnetic poles of motor 1 are mirrored about the X mirror axis, the magnetic poles need to be reversed to obtain the rotor magnetic pole arrangement of motor 4.
  • the magnetic fields generated by the windings of each motor element can be completely coupled at any given time.
  • the A-phase winding of motor element 4 is coupled to the A-phase winding of motor element 1, with the forward magnetic field flow direction of the windings being the same.
  • the C-phase winding of motor element 1 is completely coupled to the C-phase winding of motor element 2, with the forward magnetic field flow direction of the windings being the same. Therefore, the magnetic fields of each motor element in the matrix motor generated by mirror symmetry can be completely superimposed and coupled, not only achieving the removal of the stator yoke but also further increasing the rotor's output torque.
  • the motor element coupling method based on the "principle of mirror symmetry" provided in this application is a complete coupling, which is different from the component coupling of motor element magnetic fields based on the "principle of unidirectional magnetic field components" in related technologies.
  • a 4-pole, 6-slot motor element is shown in Figure 10.
  • a matrix motor composed of the 4-pole, 6-slot motor elements shown in Figure 10 is shown in Figure 11.
  • a 4-pole, 24-slot motor element is shown in Figures 12A and 12B.
  • a matrix motor composed of the 4-pole, 24-slot motor elements shown in Figures 12A and 12B is shown in Figure 13.
  • 120 is a dedicated stator yoke
  • 1201 is a shared stator yoke.
  • the motor element and matrix motor structure proposed in this application are applicable to all types of internal rotor motors and are not affected by the motor pole slot matching and motor topology.
  • the motor element also includes components such as a front cover 110, a rear cover 113, a front bearing 114, a rear bearing 115, and winding 2.
  • the winding 2 (motor element winding) is divided into several phases and wound onto the semi-stator teeth 101 of each motor element according to the conventional motor winding method. Similar to a conventional motor, when alternating current flows through the motor element winding, the winding generates a rotating magnetic field on the stator assembly.
  • An end cover protrusion 111 is provided, which can be inserted into the stator tooth groove 102 of the motor component to achieve mutual fixation between the front cover 110, the rear cover 113, and the stator assembly.
  • a front bearing 114 and a rear bearing 115 are provided in the cavity on the front cover 110 and the rear cover 113 to limit the rotor and realize the free rotation of the rotor around the central axis of the stator.
  • multiple motor components can be spliced together, and two motor component half-stator teeth can be spliced together to form a common stator tooth.
  • the two spliced motor components are heterogeneous motor components, and the splicing method is similar to that described in Figures 11 and 13.
  • the motor components can be meshed synchronously using methods such as gears, magnetic gears, magnetic coupling, pulleys, friction, and chains.
  • This application uses gear meshing as an example, and the proposed gear meshing scheme is shown in Figures 19 and 20.
  • 134 is a dedicated stator yoke rear end cover. Any two adjacent motor components mesh through motor component gears 135, and the rotors of the two meshed, dissimilar motor components rotate in opposite directions.
  • the specific rotation directions of each motor component gear 135 are shown in Figure 21.
  • the motor torque can be output from the rotor shaft of any one motor component or from multiple motor component shafts.
  • the shaft used to output the matrix motor torque is called the output shaft. Since the torque is transmitted from the surrounding motor components to the output shaft, to ensure transmission strength, the gear thickness can be increased to enhance gear strength; that is, the gear angle is thinner further away from the output shaft and thicker closer to the output shaft. Other transmission methods based on pulleys, friction, and chains can also increase transmission strength using similar methods.
  • the motor stator assembly can rotate around a mirror axis by a certain angle ⁇ to form a spatial structure.
  • the left image in Figure 22 shows a schematic diagram of the motor stator assembly rotating around the mirror axis, while the right image shows the filling position of the magnetic material 20. This is achieved by filling the space between the two half-stator teeth with the magnetic material. 20, to enable the flow of magnetic field between the two motor elements.
  • the matrix motor provided in this application is essentially a type of electrical and mechanical energy conversion mechanism, similar to a motor, and can be widely used in various fields such as robotics, servo systems, industrial automation, and aerospace. Furthermore, the matrix motor provided in this application has been verified through simulation and experiments, and the results are consistent with expectations.
  • the matrix motor based on the principle of mirror symmetry has the following advantages: Firstly, the matrix motor of this application is based on the "principle of mirror symmetry," with motor elements divided into “yin” and “yang” types, arranged symmetrically around a mirror axis. Therefore, the motor elements of the matrix motor system proposed in this application are arranged in a rectangular manner, with each motor element located at one of the four corners of the rectangle. Secondly, this application proposes yin and yang motor elements and, based on the principle of mirror symmetry, proposes a novel matrix motor structure with superior performance.
  • this application provides a matrix motor based on the principle of mirror symmetry, comprising several motor elements; each motor element includes a positive motor element and a negative motor element; the rectangular outline edges connecting adjacent motor elements are used as mirror axes, and the positive and negative motor elements are arranged symmetrically around the mirror axes; the motor elements are spliced together to form a matrix motor, and the two motor elements symmetrical about the mirror axes in the matrix motor are opposite in polarity.
  • This application addresses the problems of existing matrix motors, such as weak coupling between motor elements (only magnetic field components are coupled, not fully realizing magnetic field coupling), weak output torque, insufficiently dense arrangement, complex transmission structures of each motor element, and imperfect electromagnetic schemes between motor elements.

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

Abstract

本申请涉及电机技术领域，特别涉及一种基于镜像对称原理的矩阵电机，包括若干个电机元；电机元包括阳性电机元和阴性电机元；采用相邻的电机元彼此相连接的矩形轮廓边作为镜像轴，阳性电机元和阴性电机元以镜像轴为中心对称排布；各电机元拼接排列形成矩阵电机，矩阵电机中关于镜像轴对称的两个电机元互为异性。本申请提供的基于镜像对称原理的矩阵电机，解决了现有的矩阵电机存在的各矩阵电机相互耦合性弱、输出转矩弱、排列不够紧密、各电机元传动结构复杂、各个电机元间电磁方案不完善的问题。

Description

一种基于镜像对称原理的矩阵电机 技术领域
本申请涉及电机技术领域，特别涉及一种基于镜像对称原理的矩阵电机。
背景技术
电机性能最重要的指标之一是电机的转矩密度(即电机的转矩与电机的体积之比，或电机的转矩与电机的重量之比)。为了增加电机转矩密度，转子上会加装永磁体，永磁体的磁场与定子电机绕组产生的磁场相互叠加，可进一步增加电机转矩。但是由于永磁体的产生的磁场取决于永磁体材料的性能，存在极限。而且定子和转子铁芯(硅钢)的磁导率也存在极限，过大的磁场密度会导致硅钢饱和，无法进一步增加磁场。因此这种方法对提升电机转矩密度的效果有限。此外还可以通过增加电机转子的磁极数，或增加电机的电流的方法提升电机的转矩密度。但是由于转子空间有限，磁极数不能太多。又由于电机绕组中电流过大会导致电机过热，烧毁定子，因此电机的电流也存在极限。这就限制的电机转矩密度的提升。
现有的矩阵电机的各个电机元的耦合主要基于“磁场分量同向原理”，即第一电机元与第二电机元各相绕组磁场在对方绕组方向分量与该绕组分量同相实现耦合，以实现第一电机元对第二电机元磁场的增强，实现磁路耦合。然而，此矩阵电机存在着各电机元相互耦合性弱(只是磁场分量耦合，不能完全实现磁场耦合)、输出转矩弱、排列不够紧密、各电机元传动结构复杂、各个电机元间电磁方案不完善等问题。
发明内容
本申请实施例提供一种基于镜像对称原理的矩阵电机，解决现有的矩阵电机存在的各电机元相互耦合性弱、输出转矩弱、排列不够紧密、各电机元传动结构复杂、各个电机元间电磁方案不完善的问题。
为了解决上述技术问题，本申请实施例提供一种基于镜像对称原理的矩阵电机，包括若干个电机元；电机元包括阳性电机元和阴性电机元；采用相邻的电机元彼此相连接的矩形轮廓边作为镜像轴，阳性电机元和阴性电机元以镜像轴为中心对称排布；各电机元拼接排列形成矩阵电机，矩阵电机中关于镜像轴对称的两个电机元互为异性。
在一些示例性实施例中，矩阵电机中每个电机元与其相邻的电机元互为异性，且矩阵电机中每个电机元与其斜对角的电机元互为同性。
在一些示例性实施例中，电机元的外轮廓为矩形；若干个电机元相互拼接排列形成的矩 阵电机的外轮廓为矩形，或为若干个矩形的组合。
在一些示例性实施例中，镜像轴将阴性电机元定子部分反射成阳性电机元定子部分，或将阳性电机元定子部分反射成为阴性电机元定子部分；通过镜像对称产生的矩阵电机中各个电机元磁场完全叠加和耦合，能够同时实现去除定子轭和增加转子的输出转矩。
在一些示例性实施例中，电机元的定子部分由多个电机元半定子齿合围组成；两个电机元半定子齿之间设有电机元半定子齿槽；多个电机元半定子齿合围成内部为圆形孔、外部轮廓为矩形的定子组件，并将电机转子合围至其中心；多个电机元半定子齿合围成的定子组件与转子同轴。
在一些示例性实施例中，电机元还包括前端盖、后端盖、前轴承、后轴承和电机元绕组；其中，电机元绕组分为若干相，并绕设于电机元半定子齿上；在前端盖和后端盖上还设有端盖凸出部，端盖凸出部能够插入电机元半定子齿槽中，实现前端盖、后端盖、定子组件间的相互固定；在前端盖和后端盖上的腔体内设有前后轴承，用于给转子限位，并实现转子围绕定子中心轴的自由转动。
在一些示例性实施例中，阴性电机元和阳性电机元各对应相绕组正向磁场方向相对转子相反，阴性电机元和阳性电机元转子转动方向相反，且阴性电机元和阳性电机元初始状态转子磁极与A相对齐时，转子磁极极性相反。
在一些示例性实施例中，各个电机元每相绕组的接线方式为串联、并联或串并联混合。
在一些示例性实施例中，各个电机元关于镜像轴对称后，在空间上能够绕镜像轴旋转一定角度，以实现空间结构；两个电机元半定子齿间设置有导磁材料，以实现两个电机元磁场的耦合。
在一些示例性实施例中，将各个电机元通过齿轮、磁齿轮、磁耦合、带轮、摩擦或链条的方式互相啮合同步，使各个电机元的转矩汇聚到一起，实现各个电机元同步旋转。
本申请实施例提供的技术方案至少具有以下优点：
本申请实施例提供一种基于镜像对称原理的矩阵电机，包括若干个电机元；电机元包括阳性电机元和阴性电机元；采用相邻的电机元彼此相连接的矩形轮廓边作为镜像轴，阳性电机元和阴性电机元以镜像轴为中心对称排布；各电机元拼接排列形成矩阵电机，矩阵电机中关于镜像轴对称的两个电机元互为异性。本申请针对现有的矩阵电机存在的各矩阵电机相互耦合性弱(只是磁场分量耦合，不能完全实现磁场耦合)、输出转矩弱、排列不够紧密、各电机元传动结构复杂、各个电机元间电磁方案不完善的问题，提出一种基于“镜像对称原理”的新型矩阵电机拓扑结构，该矩阵电机拓扑结构具有结构紧凑、耦合性强、输出转矩大、传动简单的优点，并且通过优化了电机元之间的电磁方案，使得矩阵电机生产和控制更 加简便。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，除非有特别申明，附图中的图不构成比例限制。
图1为传统3槽2极电机结构示意图；
图2为相关技术中矩阵电机的“磁场分量同向原理”示意图；
图3为传统3相2极电机的示意图；
图4为本申请实施例提供的3相2极电机元组件的示意图；
图5A为本申请实施例提供的阴性电机元的示意图；
图5B为本申请实施例提供的阳性电机元的示意图；
图6为本申请实施例提供的最基本矩阵电机示意图；
图7为本申请实施例提供的由8个电机单元组成的矩阵电机的示意图；
图8为本申请实施例提供的矩阵电机各相并联接线法示意图；
图9为本申请实施例提供的矩阵电机各相串联接线法示意图；
图10为本申请实施例提供的4极6槽的阳性电机元和阴性电机元的示意图；
图11为本申请实施例提供的4极6槽电机元组成的矩阵电机的示意图；
图12A为本申请实施例提供的4极24槽的阳性电机元的示意图；
图12B为本申请实施例提供的4极24槽的阴性电机元的示意图；
图13为本申请实施例提供的4极24槽电机元组成的矩阵电机的示意图；
图14为本申请实施例提供的电机元的结构示意图；
图15A为本申请实施例提供的电机元结构爆炸视图；
图15B为本申请实施例提供的电机元结构剖视图；
图16为本申请实施例提供的矩阵电机组件的示意图；
图17为本申请实施例提供的10极12槽阴、阳电机元拼接方案及部分绕组示意图；
图18为本申请实施例提供的矩阵电机半剖视图；
图19为本申请实施例提供的正方形矩阵电机齿轮传动方案的示意图；
图20为本申请实施例提供的长方形矩阵电机齿轮传动方案的示意图；
图21为本申请实施例提供的矩阵电机各电机元旋转方向示例图；
图22为本申请实施例提供的矩阵电机的电机元定子组件围绕镜像轴旋转一定角度，组成空间结构示例图。
具体实施方式
由背景技术可知，现有的基于“磁场分量同向原理”的矩阵电机存在着各电机元相互耦合性弱、输出转矩弱、排列不够紧密、各电机元传动结构复杂、各个电机元间电磁方案不完善等问题。
现有电机的基本结构的横截面如图1所示，以3槽2极的三线电机为例，电机由定子和转子构成，定子上设有定子齿10，定子齿10之间设有定子槽11，定子齿10通过定子轭12连接；定子槽11中设有绕组2，转子上有转子磁极14和转子铁芯15。通过在定子各项绕组中通入交流电流，使得定子产生旋转的磁场矢量，旋转磁场吸引电机转子旋转，产生电机转矩。
为了提升电机转矩密度，相关技术提出了一种矩阵电机，该矩阵电机由多个电机元组成，电机元主要以三角形排列；矩阵电机主体结构包括独用定子轭、设于所述独用定子轭上的独用定子齿、绕于所述独用定子齿上的独用绕组、公用定子轭、设于所述公用定子轭上的公用定子齿、绕于所述公用定子齿上的公用绕组以及用于与所述独用定子齿和/或所述公用定子齿相对应的若干转子。该矩阵机各个电机元的耦合主要基于“磁场分量同向原理”，即第一电机元与第二电机元各相绕组磁场在对方绕组方向分量与该绕组分量同相实现耦合。其矩阵电机的“磁场分量同向原理”如图2所示，第一电机元C相绕组在第二电机元A相绕组和第二电机元B相绕组的磁场投影分量均与它们的磁场方向相同，因此可以实现第一电机元对第二电机元磁场的增强，实现磁路耦合。
然而，上述基于“磁场分量同向原理”的矩阵电机，存在各电机元相互耦合性弱、输出转矩弱、排列不够紧密、各电机元传动结构复杂、各个电机元间电磁方案不完善等问题。为了解决上述技术问题，本申请实施例提供一种基于镜像对称原理的矩阵电机，包括若干个电机元；电机元包括阳性电机元和阴性电机元；采用相邻的电机元彼此相连接的矩形轮廓边作为镜像轴，阳性电机元和阴性电机元以镜像轴为中心对称排布；各电机元拼接排列形成矩阵电机，矩阵电机中关于镜像轴对称的两个电机元互为异性。本申请基于“镜像对称原理”提出了一种新型矩阵电机拓扑结构，所提出结构具有结构紧凑、耦合性强、输出转矩大、传动简单的优点，并且通过优化了电机元之间的电磁方案，使得矩阵电机生产和控制更加简便。
下面将结合附图对本申请的各实施例进行详细的阐述。然而，本领域的普通技术人员可 以理解，在本申请各实施例中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于以下各实施例的种种变化和修改，也可以实现本申请所要求保护的技术方案。
参看图4至图21所示，本申请实施例提供一种基于镜像对称原理的矩阵电机，包括：若干个电机元；电机元包括阳性电机元和阴性电机元；采用相邻的电机元彼此相连接的矩形轮廓边作为镜像轴，阳性电机元和阴性电机元以镜像轴为中心对称排布；各电机元拼接排列形成矩阵电机，矩阵电机中关于镜像轴对称的两个电机元互为异性。
传统的3相2极电机如图3所示，传统的3相2极电机由转子轴103、三相绕组2(A相绕组、B相绕组、C相绕组)、转子永磁体16、定子齿10、定子轭12、电机转子铁芯17等组成。在电机A、B、C相中通入不同相位的三相交流电流，电机定子中就会产生旋转的磁场驱动电机转子旋转。需要说明的是，定子轭12通常由导磁性良好的硅钢制成，用于为电机相绕组在电机齿中产生的磁场通过回路。虽然定子轭12占据电机的很大一部分重量和体积，但是定子轭12只是提供磁场回路，并不参与磁场能与电能的转化，因此定子轭12本质上与电机的转矩产生没有直接关系。
若将定子轭12去除，并将电机的外轮廓制成矩形，则得到了本申请实施例所提出的电机元，如图4所示，101为电机元半定子齿，102为电机元半定子齿槽。本申请通过去除定子轭并将定子外轮廓整形为矩形后得到电机元半定子齿101，两个电机元半定子齿101之间的空隙为电机元半定子齿槽102。进一步地，根据各项绕组通入正向电流后产生的磁场相对转子方向的不同，将图4所示的电机元进一步划分为“阴”、“阳”两种类型，即得到阴性电机元和阳性电机元，阴性电机元和阳性电机元分别如图5A和图5B所示。
如图5A和图5B所示，阴性电机元和阳性电机元各对应相绕组通入正向电流后产生的磁场(简称“正向磁场”)方向相对转子相反(例如“阴”电机元各相正向磁场流入转子，“阳”电机各相正向磁场流出转子)、电机转子转动方向相反，且初始状态转子磁极与A相对齐时，转子磁极极性相反。
在一些实施例中，矩阵电机中每个电机元与其相邻的电机元互为异性，且矩阵电机中每个电机元与其斜对角的电机元互为同性。
若将编号为1～4的两个“阴”电机元和两个“阳”电机元交替排布(奇数编号为“阴”，偶数编号为“阳”)，则可得到图6所示的最基本矩阵电机。
图6中，101为电机元半定子齿，2为绕组，16为转子永磁体，17为电机转子铁芯。如图6所示，由本申请的电机元组成的矩阵电机的每个电机元与其相邻的电机元互为异性。即每个“阴”电机元均与“阳”电机元相邻，每个“阳”电机元也均与“阴”电机元相邻。两个同性的电机元则位于相互的斜对角。任何一个电机元关于X或Y镜像轴对称的电机元与 该电机元异性，例如1号电机元为“阴”，其关于X或Y镜像轴对称的电机元均为“阳”。
在一些实施例中，镜像轴将阴性电机元定子部分反射成阳性电机元定子部分，或将阳性电机元定子部分反射成为阴性电机元定子部分；通过镜像对称产生的矩阵电机中各个电机元磁场完全叠加和耦合，能够同时实现去除定子轭和增加转子的输出转矩。
通过观察图6可以发现，镜像轴如同一个镜面，将“阴”电机元定子部分反射成为“阳”电机元定子部分，反之亦然，因此称该原理为“镜像对称”原理。例如1号电机元的A、B、C相绕组线穿入或穿出纸面方式、定子磁场旋转方向、电机转子转动方向，均与2号电机元、4号电机元关于对Y或X镜像轴互为镜像。但转子磁极却在镜像后反向磁极，例如1号电机转子磁极关于X镜像轴镜像后，需要将磁极反向才会得到4号电机的转子磁极排布。
由于本申请基于镜像对称原理对电机元进行排布，使得各个电机元绕组所产生的磁场在任一时刻可以相互完全耦合，例如4号电机元与1号电机元的A相绕组相互耦合，绕组正向磁场流动方向相同。1号电机元C相绕组与2号电机元C相绕组相互完全耦合，绕组正向磁场流动方向相同。因此，通过镜像对称产生的矩阵电机各个电机元磁场可以相互完全叠加和耦合，不仅实现了对定子轭的去除，还进一步增加了转子的输出转矩。需要说明的是，本申请提供的基于“镜像对称原理”的电机元耦合方式是完全耦合，这与相关技术中基于“磁场分量同向原理”的电机元磁场分量耦合是不同的。
在一些实施例中，电机元的外轮廓为矩形；若干个电机元相互拼接排列形成的矩阵电机的外轮廓为矩形。进一步地，通过多个电机元的组合，可以得到任意形状的矩阵电机。如图7所示，由8个电机单元按照上述镜像对称原则排列组合，可以得到一个长方形的矩阵电机。
根据上述“镜像对称原理”，各个电机元每相绕组的接线方式可以为串联、并联或串并联混合。如图8所示，若将图7中各电机元对应相绕组的同名端并连，则实现了对矩阵电机的并联。如图8所示，并联接法的各个电机元绕着仍然关于多各镜像轴镜面对称。如图9所示，若将图7中各电机元对应相绕组的异名端串连，则实现了对矩阵电机的串联。
此外，还可以将按照上述方法串联或并联的电机元作为一组，与其他电机元组再并联或串联在一起，从而实现了串并联混合。
基于镜像对称原理，本申请所提出的矩阵电机设计原则可概括如下：
1)电机元外轮廓为矩形，且分成“阴”、“阳”两种电机元。所述“阴”、“阳”两种电机元各对应相绕组正向磁场方向相对转子相反、两种电机元转子转动方向相反，且两种 电机元初始状态转子磁极与A相对齐时，转子磁极极性相反。
2)若干个所述“阴”、“阳”电机元可相互拼接，排列成矩阵电机。由所述电机元组成的矩阵电机的每个电机元与其相邻的电机元互为异性。每个电机元与其斜对角的电机元互为同性。
3)两个电机元相接的矩形轮廓边缘为矩阵电机的镜像轴，关于镜像轴对称的两个电机元互为异性。镜像轴如同一个镜面，将“阴”电机元定子部分反射成为“阳”电机元定子部分，反之亦然。但转子磁极却在镜像后反向磁极。
在一些实施例中，电机元为2极3槽电机元、4极6槽电机元、4极24槽电机元、10极12槽电机元中的一种。
基于上述原则，其他电机极槽配合的电机元，以及由这些电机元组成的矩阵电机部分示例如下：
例如，4极6槽电机元如图10所示。由图10所示的4极6槽电机元组成的矩阵电机如图11所示。类似地，4极24槽电机元如图12A和图12B所示。由图12A和图12B所示的4极24槽电机元组成的矩阵电机如图13所示。其中，120为独用定子轭，1201为共用定子轭。
由以上分析可知，本申请所提出的电机元、矩阵电机结构适用于所有内转子电机类型，不受电机极槽配合和电机拓扑结构的影响。
进一步地，为了具体实现所提出电机元和矩阵电机，本申请还以10极12槽电机为例，提出了一种矩阵电机的具体实现方案：
所提出的电机元的具体实现结构如图14所示。
如图14所示，本申请所提出的电机元的定子部分由多个电机元半定子齿101合围组，两个电机元半定子齿101之间设有电机元半定子齿槽102。多个电机元半定子齿101合围成内部为圆形孔，外部轮廓为矩形的定子组件，并将电机转子合围至其中心。多个半定子齿合围成的定子组件与转子磁极104、转子轴103同轴。
基于图14所示电机元结构定子部，本申请所提出的电机元结构爆炸视图、剖视图分别如图15A和图15B所示。
如图15A和图15B所示，所述电机元还包含前端盖110、后端盖113、前轴承114、后轴承115、绕组2等组件。其中，绕组2(电机元绕组)分为若干相，并按照传统电机绕组的绕制方法绕设于各电机元半定子齿101上。与传统电机一样，当电机相交变电流通过电机元绕组时，电机元绕组会在定子组件上产生旋转的磁场。在前端盖110、后端盖113上，还 设有端盖凸出部111，端盖凸出部111可插入电机元半定子齿槽102中，实现前端盖110、后端盖113、定子组件间的相互固定；前端盖110、后端盖113上的腔体内，设有前轴承114和后轴承115，用于给转子限位，并实现转子围绕定子中心轴的自由转动。
由于本申请所提电机元的定子组件外部轮廓为正方形或长方形，因此若干个定子组件可拼接成正方形、长方形或正方形与长方形的组合等规整形状(图16)，或其他异形形状。图16中，121为独用定子齿，122为独用半定子齿，1211为第一独用定子轭，1212为第二独用定子轭。
为了实现矩阵电机边缘的磁路闭环，在矩阵电机的边缘，设有独用定子轭，其中，第一独用定子轭1211包含转角，可安装于矩阵电机角处；第二独用定子轭1212不设有转角，可安装于矩阵电机边处。独用定子轭上也可设有独用半定子齿122，独用半定子齿122与电机元半定子齿101可拼接成为独用定子齿121。
如图17所示，多个电机元可以相互拼接，两个电机元半定子齿可以拼接成为公用定子齿。两个相互拼接的电机元为异性电机元，拼接方法与图11、图13所述方法类似。
本申请所提出的矩阵电机实施方案的半剖视图如图18所示。通过电机元固定件130、螺栓131、电机元前端盖110、电机元后端盖(图18中未示出)、独用定子轭前端盖132以及独用定子轭后端盖134，将多个电机元固定成为一个整体，即矩阵电机。每个电机元按照图15A所示设有电机元绕组，每个第一独用定子轭1211、第二独用定子轭1212上可根据需要设有独用定子轭绕组133，或不设置独用定子轭绕组133。多个电机元前端盖110、独用定子轭前端盖132等也可做成一体，以增加矩阵电机的强度。多个电机元后端盖、独用定子轭后端盖等也可做成一体。
为确保各个电机元同步旋转，并将各个电机元的转矩汇聚到一起，可将各个电机元通过齿轮、磁齿轮、磁耦合、带轮、摩擦、链条等方式互相啮合同步。本申请以齿轮啮合为例，所提出的齿轮啮合方案如图19、图20所示，其中，图19中134为独用定子轭后端盖；任意两个相邻的电机元通过电机元齿轮135啮合，且所啮合的两个异性电机元转子旋转方向相反。具体各个电机元齿轮135的旋转方向如图21所示。各个电机元齿轮相互啮合，电机的转矩可由任一电机元的转子轴输出，也可由多个电机元轴输出。用于输出矩阵电机转矩的轴称为输出轴。由于转矩会从周边电机元传导至输出轴，因此为保证传动强度，可通过增加齿轮厚度实现对齿轮强度的增强，即远离输出轴的齿轮角薄，越靠近输出轴齿轮越厚。其他基于带轮、摩擦、链条等方式的传动也可通过类似方法增加传动强度。
为了满足特定空间形状需求，如图22所示，电机元定子组件能够围绕镜像轴旋转一定角度θ，组成空间结构；其中，图22中左图示出了电机元定子组件绕镜像轴旋转的示意图，图22中右图示出了导磁材料20的填充位置，通过在两个半定子齿之间填充导磁材料 20，实现两个电机元之间磁场的流通。
本申请提供的矩阵电机，本质是与电机相同的一种电能和机械能转换机构，可广泛应用于机器人、伺服、工业自动化、航空航天等各个领域。而且，本申请提供的矩阵电机已通过仿真和实验验证，结果与预期一致。
与现有技术的矩阵电机相比，本申请提供的基于镜像对称原理的矩阵电机，其优势在于：一方面，本申请的矩阵电机基于“镜像对称原理”，电机元分成“阴”、“阳”两种电机元，彼此以镜像轴为中心对称排布。因此本申请所提矩阵电机系统的各电机元以矩形方式排布，各个电机元位于矩形四角。另一方面，本申请提出了阴性电机元和阳性电机元，并基于镜像对称原理提出了一种全新的且性能更为优良的矩阵电机结构。此外，本申请还提出了图6所示的阴性电机元和阳性电机元组成矩阵电机的排布原则，以及如图8和图9所示的各电机元绕组的串、并联方案、如图14至图16的矩阵电机的具体机械结构实施方案。
由以上技术方案，本申请实施例提供一种基于镜像对称原理的矩阵电机，包括若干个电机元；电机元包括阳性电机元和阴性电机元；采用相邻的电机元彼此相连接的矩形轮廓边作为镜像轴，阳性电机元和阴性电机元以镜像轴为中心对称排布；各电机元拼接排列形成矩阵电机，矩阵电机中关于镜像轴对称的两个电机元互为异性。本申请针对现有的矩阵电机存在着各电机元相互耦合性弱(只是磁场分量耦合，不能完全实现磁场耦合)、输出转矩弱、排列不够紧密、各电机元传动结构复杂、各个电机元间电磁方案不完善的问题，提出一种基于“镜像对称原理”的新型矩阵电机拓扑结构，该矩阵电机拓扑结构具有结构紧凑、耦合性强、输出转矩大、传动简单的优点，并且通过优化了电机元之间的电磁方案，使得矩阵电机生产和控制更加简便。
本领域的普通技术人员可以理解，上述各实施方式是实现本申请的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本申请的精神和范围。任何本领域技术人员，在不脱离本申请的精神和范围内，均可作各自更动与修改，因此本申请的保护范围应当以权利要求限定的范围为准。

Claims (10)

  1. 一种基于镜像对称原理的矩阵电机，其特征在于，包括若干个电机元；
    所述电机元包括阳性电机元和阴性电机元；
    采用相邻的电机元彼此相连接的矩形轮廓边作为镜像轴，所述阳性电机元和所述阴性电机元以所述镜像轴为中心对称排布；
    各所述电机元拼接排列形成矩阵电机，所述矩阵电机中关于镜像轴对称的两个电机元互为异性。
  2. 根据权利要求1所述的基于镜像对称原理的矩阵电机，其特征在于，所述矩阵电机中每个电机元与其相邻的电机元互为异性，且所述矩阵电机中每个电机元与其斜对角的电机元互为同性。
  3. 根据权利要求1所述的基于镜像对称原理的矩阵电机，其特征在于，所述电机元的外轮廓为矩形；
    若干个电机元相互拼接排列形成的矩阵电机的外轮廓为矩形，或为若干个矩形的组合。
  4. 根据权利要求1所述的基于镜像对称原理的矩阵电机，其特征在于，所述镜像轴将阴性电机元定子部分反射成阳性电机元定子部分，或将阳性电机元定子部分反射成为阴性电机元定子部分；通过镜像对称产生的矩阵电机中各个电机元磁场完全叠加和耦合，能够同时实现去除定子轭和增加转子的输出转矩。
  5. 根据权利要求1所述的基于镜像对称原理的矩阵电机，其特征在于，所述电机元的定子部分由多个电机元半定子齿合围组成；两个电机元半定子齿之间设有电机元半定子齿槽；
    所述多个电机元半定子齿合围成内部为圆形孔、外部轮廓为矩形的定子组件，并将电机转子合围至其中心；所述多个电机元半定子齿合围成的定子组件与转子同轴。
  6. 根据权利要求5所述的基于镜像对称原理的矩阵电机，其特征在于，所述电机元还包括前端盖、后端盖、前轴承、后轴承和电机元绕组；其中，所述电机元绕组分为若干相，并绕设于所述电机元半定子齿上；
    在所述前端盖和所述后端盖上还设有端盖凸出部，所述端盖凸出部能够插入电机元半定子齿槽中，实现前端盖、后端盖、定子组件间的相互固定；
    在前端盖和后端盖上的腔体内设有前后轴承，用于给转子限位，并实现转子围绕定子中心轴的自由转动。
  7. 根据权利要求6所述的基于镜像对称原理的矩阵电机，其特征在于，所述阴性电机元和所述阳性电机元各对应相绕组正向磁场方向相对转子相反，所述阴性电机元和所述阳性电机元转子转动方向相反，且所述阴性电机元和所述阳性电机元初始状态转子磁极与A相对齐时，转子磁极极性相反。
  8. 根据权利要求6所述的基于镜像对称原理的矩阵电机，其特征在于，各个电机元每相绕组的接线方式为串联、并联或串并联混合。
  9. 根据权利要求1所述的基于镜像对称原理的矩阵电机，其特种在于，各个电机元关于镜像轴对称后，在空间上能够绕镜像轴旋转一定角度，以实现空间结构；两个电机元半定子齿间设置有导磁材料，以实现两个电机元磁场的耦合。
  10. 根据权利要求1所述的基于镜像对称原理的矩阵电机，其特征在于，将各个电机元通过齿轮、磁齿轮、磁耦合、带轮、摩擦或链条的方式互相啮合同步，使各个电机元的转矩汇聚到一起，实现各个电机元同步旋转。
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