CN104218770A - Multi-phase winding-nested permanent-magnet synchronous planar motor - Google Patents
Multi-phase winding-nested permanent-magnet synchronous planar motor Download PDFInfo
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Abstract
The invention discloses a multi-phase winding-nested permanent-magnet synchronous planar motor. The planar motor comprises a permanent-magnet excitation part and an armature winding part, there is an air gap after both they are overlapped; the permanent-magnet excitation part comprises a two-dimensional permanent magnet array combined with N-pole and S-pole excitation modules, and a yoke part, the excitation modules have the same size and include a main vertical excitation pole at the center, auxiliary poles on four sides and auxiliary poles on four corners; the armature winding part comprises a winding along the X direction and a winding along the Y direction, each winding is respectively divided into two parts along its center line, windings among four parts are independently arranged, and the winding current in each part is respectively controlled according to the relative position between the armature winding and the two-dimensional permanent-magnet array so as to drive and locate five freedom degrees. The multi-phase winding-nested permanent-magnet synchronous planar motor has the advantages of high winding utilization rate, light weight, quick response speed, and wide movement application, and can be applied to locating occasions driven by multiple degrees of freedom.
Description
Technical field
The present invention relates to motor, especially relate to a kind of heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor.
Background technology
Along with scientific and technological progress, high speed, high accuracy become the important development direction of machining, at package equipment for micro-electron as eutectic die Bonder, full-automatic gold wire bonder and IC chip manufacturing equipment, more and more higher requirement is proposed to driver positioning precision, the speed of service, driving dimension.Due to Electromagnetic Drive method and other driving method as electrostatic drive, Piezoelectric Driving compares with marmem driving method, the multiple requirements such as displacement, speed and actuating force can be taken into account simultaneously, there is the advantages such as opereating specification is wide, the degree of freedom is many, actuating force is large, corresponding speed is fast, therefore become internationally recognized at present and realize multivariant precision actuation method on a large scale.
And the planar motor driving method in Electromagnetic Drive, owing to having abandoned the intermediate conversion device such as leading screw, screw rod again to plane motion from rotary motion to rectilinear motion, eliminate the existence of accumulated error; The magnetic steel array and the armature winding structure that have employed integrated form make system drive scope be more prone to expansion; Magnetic suspension driving method reduces moving surface constraint, eliminates frictional dissipation, further increases driving precision; Simple structure makes it have stronger competitiveness in Precision Machining field compared with other Electromagnetic Drive methods.Permanent-magnet planar motor is compared with reluctance type planar motor with induction type, has that structure is simple, positioning precision is high, system effectiveness advantages of higher especially, shows good application prospect at the modern precision such as mask aligner, super hot investment casting equipment in field.
Existing permanent-magnet planar motor structure is mainly divided into following a few class: 1, composite type: planar motor forms by multiple one dimension linear electric motors are combined; 2, concentratred winding formula: planar motor comprises two-dimentional permanent magnet and concentratred winding coil array two large divisions; 3, stacked winding type: planar motor comprises two-dimentional permanent magnet and stacked winding coil two large divisions.Wherein combine winding type electric machine structure relative complex and be unfavorable for system extension; Although concentratred winding formula makes planar motor structure compacter, winding coefficient is lower, and the electromagnetic force coupling between each degree of freedom and winding switch to control to add difficulty; Stacked winding type armature winding adopts X, Y-direction winding layers stacks the mode of putting, this structure its not only easily realize uneoupled control, and winding coefficient is relatively high, but it is long still to there is winding overhang in existing structure, utilance is on the low side, X, Y-direction winding due to effective air gap height different, the asymmetric shortcoming of electromagnetic property.
Summary of the invention
In order to solve existing planar motor winding coefficient and the low shortcoming of utilance, the object of the present invention is to provide a kind of heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor, realizing removing between each degree of freedom while electromagnetic force coupling as far as possible, raising planar motor pushing force density further.
The technical solution used in the present invention is:
The present invention includes the armature winding part of permanent magnet excitation part and orthogonal nested type, both are plate armature, leave air gap after permanent magnet excitation part and armature winding part superposition; It is characterized in that: permanent magnet excitation part comprises the two-dimentional permanent magnet array and yoke portion that N pole excitation module and S pole excitation module combine, described excitation module is measure-alike, and all includes one and be in the vertical excitation main pole of center, the auxiliary magnetic pole of four edge and the auxiliary magnetic pole in four bights; Armature winding comprises the winding placed in X direction and the winding placed along Y-direction, totally two cover double-layer hollow windings, wherein a set of winding is orthogonal is nested among another set of winding, the winding placed in X direction and the winding placed along Y-direction separately with planar motor rotor part Y-direction and X to center line for cut-point is divided into two parts, between four parts, winding is separate, and the winding current of four parts can control respectively.
Described two-dimentional permanent magnet array is pasted onto the one side of yoke portion near air gap, and excitation module cross section is the length of side is τ
psquare, the vertical excitation main pole cross section being in center is length of side τ
pcsquare, four edge auxiliary magnetic pole cross sections are the length of side is τ respectively
pc(τ
p-τ
pc) rectangle, four bight auxiliary magnetic pole cross sections are the length of side is (τ
p-τ
pc) square.
In the excitation module of described N pole, observe from winding side, main pole magnetizing direction be vertical yoke facial planes outwards or in the excitation module of S pole, observe from winding side, main pole magnetizing direction is that vertical yoke facial planes is inside; Edge auxiliary magnetic pole magnetizing direction parallels with surface, yoke portion, points to N extreme direction by S pole; Bight auxiliary magnetic pole magnetizing direction parallels with surface, yoke portion, and be limit diagonal, magnetic vector is parallel with X-axis or Y-axis respectively, and containing being pointed to the magnetic-field component of N pole by S pole.
In the excitation module of described N pole, observe from winding side, edge auxiliary magnetic pole magnetizing direction adopts limit diagonal, points to the N pole magnetic-field component outside with vertical yoke facial planes in magnetic vector containing by S pole simultaneously; Or in the excitation module of S pole, observe from winding side, edge auxiliary magnetic pole magnetizing direction adopts limit diagonal, in magnetic vector, point to the N pole magnetic-field component inside with vertical yoke facial planes containing by S pole simultaneously.
In the excitation module of described N pole, observe from winding side, bight auxiliary magnetic pole magnetizing direction adopts some diagonal, simultaneously containing the component parallel with X-axis or Y-axis in magnetic vector, the magnetic-field component of N pole is pointed to by S pole, and the magnetic-field component that vertical yoke facial planes is outside; Or in the excitation module of S pole, observe from winding side, bight auxiliary magnetic pole magnetizing direction adopts some diagonal, simultaneously containing the component parallel with X-axis or Y-axis in magnetic vector, the magnetic-field component of N pole is pointed to by S pole, and the magnetic-field component that vertical yoke facial planes is inside.
Described armature winding is the mutually orthogonal nesting type structure of multi-layer hollow winding, the total number of plies of winding is the integral multiple of four, basic four-layer structure is formed by the double-layer hollow winding placed in X direction with along the two layer winding that Y-direction is placed, wherein a set of winding is orthogonal is placed between another set of two layer winding, the X in two layer winding between limit, winding upper strata and lower floor limit or Y-direction winding span be a pole span τ (τ=
), when the winding number of phases is m, the width of each winding is τ/m.
Described permanent magnet excitation part is the stationary part of planar motor, and armature winding part is the subpart of planar motor; Or described permanent magnet excitation part is the subpart of planar motor, armature winding part is the stationary part of planar motor.
The beneficial effect that the present invention has is:
1) the present invention can using armature winding as stationary part, using permanent magnet excitation part as subpart; Also can using permanent magnet excitation part as stationary part, using armature winding as subpart; The Lorentz force of repelling each other is utilized to realize suspending and driving to each other.
2) the present invention exempts the constraint of friction and contact-making surface
3) winding method of nested type effectively reduces winding overhang length, and distributed frame increases winding coefficient, and winding utilization is improved further; Eliminate core portion, eliminate electromagnetic attraction, reduce the inertia of moving component, reduce mover quality and force oscillation, improve the response speed of system; X, Y-direction electromagnetic force, by regulating respectively along Y-direction and the control of winding current of placing in X direction, achieve the decoupling zero between the degree of freedom, reduce Systematical control difficulty; Even number laminar winding construction reduces X, Y-direction winding due to effective air gap height difference, the asymmetric situation of electromagnetic property of generation; The range of movement of motor is easily expanded, and is more suitable for high response, high thrust, on a large scale precision actuation occasion.
Accompanying drawing explanation
Fig. 1 is embodiment 1 electric machine structure vertical view.
Fig. 2 is embodiment 1 electric machine structure end view.
Fig. 3 is very routine with five, embodiment 1 permanent magnet array arrangement schematic diagram.
Fig. 4 is N pole excitation module in embodiment 1 ~ 2.
Fig. 5 is S pole excitation module in embodiment 1 ~ 2.
Fig. 6 is embodiment 3 edge auxiliary magnetic pole magnetizing direction schematic diagram.
Fig. 7 is embodiment 4 bight auxiliary magnetic pole magnetizing direction schematic diagram.
In figure:
1: permanent magnet excitation part; 2: armature winding part;
1-1: two-dimentional permanent magnet array, 1-2: yoke portion;
2-1: the winding placed in X direction; 2-2: the winding placed along Y-direction;
1-1-1:N pole excitation module; 1-1-2:S pole excitation module;
The vertical excitation main pole of center is in the excitation module of 1-1-1-1:N pole; The auxiliary magnetic pole of edge is in the excitation module of 1-1-1-2:N pole; The auxiliary magnetic pole in bight is in the excitation module of 1-1-1-3:N pole.
The vertical excitation main pole of center is in the excitation module of 1-1-2-1:S pole; The auxiliary magnetic pole of edge is in the excitation module of 1-1-2-2:S pole; The auxiliary magnetic pole in bight is in the excitation module of 1-1-2-3:S pole.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
embodiment 1:
As depicted in figs. 1 and 2, the heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor described in the present embodiment comprises permanent magnet excitation part 1 and orthogonal nested type armature winding part 2, and both are plate armature, and centre exists air gap; In planar motor, permanent magnet excitation part 1 is mover, and armature winding part 2 is stator, and the length of side and the number of poles of stator are all greater than mover, and both length of sides and number of poles difference determine the driving scope of planar motor.Described permanent magnet excitation part 1 comprises two-dimentional permanent magnet array 1-1 and yoke portion 1-2 two parts, and two-dimentional permanent magnet array 1-1 is pasted on the yoke portion 1-2 surface near winding side; Described armature winding 2 comprises double winding, a set of winding 2-1 for placing in X direction, and another set of is the winding 2-2 placed along Y-direction; Double winding is double-layer hollow structure, and a set of winding is orthogonal to be nested among another set of winding;
As shown in Figure 3, described two-dimentional permanent magnet array 1-1 is combined by N pole excitation module 1-1-1 and S pole excitation module 1-1-2, and both are measure-alike cuboid structure, and it is τ that cross section is the length of side
psquare, both sides, to coincidence, are alternately placed along edge, and the adjacent module in N pole excitation module 1-1-1 tetra-sides is S pole excitation module 1-1-2, and vice versa.Adjacent N pole excitation module 1-1-1 and the center distance of S pole excitation module 1-1-2 are τ
p, equal
pole span τ doubly.When planar motor does not rotate, the identical polar excitation module line of centres is parallel with armature winding 2 or orthogonal.When the side of planar motor yoke portion 1-2 parallels with the side of armature winding 2, and when in permanent magnet array, the identical polar excitation module line of centres and yoke portion side also exist parallel relation, N pole excitation module 1-1-1 and S pole excitation module 1-1-2 side and yoke portion side are miter angle.Otherwise when N pole excitation module 1-1-1 in described two-dimentional permanent magnet array 1-1 is parallel with yoke portion 1-2 side with S pole excitation module 1-1-2 side, N pole excitation module 1-1-1 and S pole excitation module 1-1-2 alternately places along yoke portion side directions.When planar motor runs, 1-2 side in yoke portion becomes 45 degree with armature winding placement direction.
As shown in Figure 4, described N pole excitation module 1-1-1 comprises in 1 N pole excitation module the auxiliary magnetic pole 1-1-1-3 being in bight in auxiliary magnetic pole 1-1-1-2 and 4 the N pole excitation module being in edge in vertical excitation main pole 1-1-1-1 and 4 the N pole excitation module being in center, and 9 building blocks are cuboid structure.Observe from winding side, the vertical excitation main pole 1-1-1-1 cross section length of side being in center in the excitation module of N pole is τ
pcsquare, magnetizing direction is that vertical yoke facial planes is outside; The auxiliary magnetic pole 1-1-1-2 being in edge in the excitation module of N pole is that the cross section length of side is respectively τ
pc(τ
p-τ
pc) rectangle, magnetizing direction parallels with surface, yoke portion, points to N extreme direction by S pole; The auxiliary magnetic pole 1-1-1-3 being in bight in the excitation module of N pole is the cross section length of side is (τ
p-τ
pc) square, magnetizing direction parallels with surface, yoke portion, and be limit diagonal, magnetic vector is parallel with the square diagonal of excitation module cross section, and direction vector is outside, containing the magnetic-field component being pointed to N pole by S pole.
As shown in Figure 5, described S pole excitation module 1-1-2 and N pole excitation module 1-1-1 structural similarity, comprise in 1 S pole excitation module the auxiliary magnetic pole 1-1-2-3 being in bight in auxiliary magnetic pole 1-1-2-2 and 4 the S pole excitation module being in edge in vertical excitation main pole 1-1-2-1 and 4 the S pole excitation module being in center.Observe from winding side, the vertical excitation main pole 1-1-2-1 magnetizing direction being in center in the excitation module of S pole is measure-alike with the vertical excitation main pole 1-1-1-1 being in center in the excitation module of N pole, magnetizing direction is contrary, for vertical yoke facial planes is inside; Be in the auxiliary magnetic pole 1-1-1-2 being in edge in the auxiliary magnetic pole 1-1-2-2 of edge and N pole excitation module in the excitation module of S pole measure-alike, belong to similar permanent magnet, magnetizing direction is identical; Be in the auxiliary magnetic pole 1-1-1-3 being in bight in the auxiliary magnetic pole 1-1-2-3 in bight and N pole excitation module in the excitation module of S pole measure-alike, belong to similar permanent magnet, magnetizing direction is contrary, be all limit diagonal, but direction vector is inside.
The auxiliary magnetic pole 1-1-1-2 being in edge in described two-dimentional permanent magnet array 1-1 in the excitation module of N pole is identical with the auxiliary magnetic pole 1-1-2-2 direction being in edge in the S pole excitation module that side is close to it, also can combine in using, use one piece of permanent magnet.Be in the auxiliary magnetic pole 1-1-2-3 being in bight in the auxiliary magnetic pole 1-1-1-3 in bight and adjacent S pole excitation module in the excitation module of N pole and form the magnetic field path being pointed to N pole by S pole, overall magnetic pole combines and can have part magnetic circuit of one's own, to strengthen air gap side magnetic flux density.Permanent magnet material can select neodymium iron boron to improve motor pushing force density.
Described yoke portion 1-2 can be made up of permeability magnetic material iron block, and also can be made up of non-magnet_conductible material aluminium or piece of stainless steel, surface area is more than or equal to permanent magnet array total body surface area, and manufacturing process is identical with common electric machine.Because permanent magnet array has magnetic circuit of one's own, when yoke portion material is aluminium, little on the close impact of magnetic, and mover weight can be alleviated.
Described armature winding 2 adopts multilayer nest structure, and the number of plies is the integer multiple of 4, Figure 1 shows that 4 basic layered structures, and motor adds and can be placed between double-deck Y-direction winding to winding by X man-hour, also Y-direction winding can be placed on double-deck X between winding.The described winding 2-1 that places in X direction and be the heterogeneous distributed winding structure of double-layer hollow formula along the winding 2-2 that Y-direction is placed, is not electrically connected each other; When the winding number of phases is m, the width of each winding is τ/m, the X(Y between limit, winding upper strata and lower floor limit) to span be a pole span τ (τ=
).Due in the present embodiment, permanent magnet excitation part 1 is mover, armature winding 2 remains unchanged for position of stator, now along with permanent magnet change in location, mover Y-direction and X change to position of center line, therefore each coil is independent of one another in armature winding 2, all be connected with controlled thyristor, according to the rotor position of sensor feedback during motor movement, control thyristor method of attachment with the winding 2-1 placed in X direction described in ensureing and the winding 2-2 that places along Y-direction respectively with the Y-direction of two-dimentional permanent magnet array 1-1 and X to center line for line of demarcation, be divided into independent of one another and electromagnetic property keeps symmetrical two parts.In 4 parts independent of one another, various piece inside is connected with each other by thyristor with phase winding.
embodiment 2:
The present embodiment is only with the difference of embodiment 1: in described heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor, permanent magnet excitation part 1 is stator, and armature winding part 2 is mover.Armature winding 2 structure is relatively simple, eliminates thyristor structure.The winding 2-1 that described X-direction is placed and the winding 2-2 that places along Y-direction directly with Y-direction and X to center line for line of demarcation is divided into 4 parts; Each part number of poles is 2n, and wherein n is integer, and the total number of poles of all windings is 8n; Be connected with each other with phase winding in each part.
embodiment 3:
Difference in the present embodiment and embodiment 1 ~ 2 is: as shown in Figure 6, is in the magnetizing direction being in the auxiliary magnetic pole 1-1-2-2 of edge in the auxiliary magnetic pole 1-1-1-2 of edge and S pole excitation module and becomes limit diagonal from parallel magnetization and magnetize in the excitation module of described N pole.The auxiliary magnetic pole 1-1-1-2 magnetizing direction being in edge in the excitation module of described N pole points to side, yoke portion near outside limit by winding side near the limit of core, points to the N pole magnetic-field component outside with vertical yoke facial planes containing by S pole simultaneously; The auxiliary magnetic pole 1-1-2-2 magnetizing direction being in edge in the excitation module of described S pole is contrary with the auxiliary magnetic pole 1-1-1-2 being in edge in the excitation module of N pole, point to winding side near the limit of core by side, yoke portion near outside limit, point to the N pole magnetic-field component inside with vertical yoke facial planes containing S pole simultaneously.
embodiment 4:
Difference in the present embodiment and embodiment 1 ~ 3 is: as shown in Figure 7, is in the magnetizing direction being in the auxiliary magnetic pole 1-1-2-3 in bight in the auxiliary magnetic pole 1-1-1-3 in bight and S pole excitation module and is magnetized from limit diagonal and become a diagonal in the excitation module of described N pole.The auxiliary magnetic pole 1-1-1-3 magnetizing direction being in bight in the excitation module of described N pole points to side, yoke portion near outside to angle point by winding side near the point of core, magnetic vector is simultaneously containing the component parallel with X-axis or Y-axis, the magnetic-field component of N pole is pointed to by S pole, and the magnetic-field component that vertical yoke facial planes is outside; The auxiliary magnetic pole 1-1-1-3 magnetizing direction being in bight in the excitation module of described N pole is contrary with the auxiliary magnetic pole 1-1-2-3 being in angle in the excitation module of S pole, by side, yoke portion near outer part point point to winding side near core to angle point, simultaneously containing the component parallel with X-axis or Y-axis, the magnetic-field component of N pole is pointed to by S pole, and the magnetic-field component that vertical yoke facial planes is inside.
The present invention can adopt Brushless DC drive mode, also interchange type of drive can be adopted, by controlling the electromagnetic force size of Current adjustment planar motor rotor up and down suffered by four parts in armature winding 4 parts respectively during operation, while the decoupling zero realizing horizontal direction thrust, complete the change of hoverheight and suspension angle, final to realize on a large scale, the magnetic suspension precision of five degrees of freedom drives and location.
Claims (7)
1. a heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor, comprise the armature winding part of permanent magnet excitation part and orthogonal nested type, both are plate armature, leave air gap after permanent magnet excitation part and armature winding part superposition; It is characterized in that: permanent magnet excitation part comprises the two-dimentional permanent magnet array and yoke portion that N pole excitation module and S pole excitation module combine, described excitation module is measure-alike, and all includes one and be in the vertical excitation main pole of center, the auxiliary magnetic pole of four edge and the auxiliary magnetic pole in four bights; Armature winding comprises the winding placed in X direction and the winding placed along Y-direction, totally two cover double-layer hollow windings, wherein a set of winding is orthogonal is nested among another set of winding, the winding placed in X direction and the winding placed along Y-direction separately with planar motor rotor part Y-direction and X to center line for cut-point is divided into two parts, between four parts, winding is separate, and the winding current of four parts can control respectively.
2. the heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor of one according to claim 1, it is characterized in that: described two-dimentional permanent magnet array is pasted onto the one side of yoke portion near air gap, excitation module cross section is the length of side is τ
psquare, the vertical excitation main pole cross section being in center is length of side τ
pcsquare, four edge auxiliary magnetic pole cross sections are the length of side is τ respectively
pc(τ
p-τ
pc) rectangle, four bight auxiliary magnetic pole cross sections are the length of side is (τ
p-τ
pc) square.
3. the heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor of one according to claim 1, it is characterized in that: in the excitation module of described N pole, observe from winding side, main pole magnetizing direction is that vertical yoke facial planes is outwards or in the excitation module of S pole, observe from winding side, main pole magnetizing direction is that vertical yoke facial planes is inside; Edge auxiliary magnetic pole magnetizing direction parallels with surface, yoke portion, points to N extreme direction by S pole; Bight auxiliary magnetic pole magnetizing direction parallels with surface, yoke portion, and be limit diagonal, magnetic vector is parallel with X-axis or Y-axis respectively, and containing being pointed to the magnetic-field component of N pole by S pole.
4. the heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor of one according to claim 1, it is characterized in that: in the excitation module of described N pole, observe from winding side, edge auxiliary magnetic pole magnetizing direction adopts limit diagonal, points to the N pole magnetic-field component outside with vertical yoke facial planes in magnetic vector containing by S pole simultaneously; Or in the excitation module of S pole, observe from winding side, edge auxiliary magnetic pole magnetizing direction adopts limit diagonal, in magnetic vector, point to the N pole magnetic-field component inside with vertical yoke facial planes containing by S pole simultaneously.
5. the heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor of one according to claim 1, it is characterized in that: in the excitation module of described N pole, observe from winding side, bight auxiliary magnetic pole magnetizing direction adopts some diagonal, simultaneously containing the component parallel with X-axis or Y-axis in magnetic vector, the magnetic-field component of N pole is pointed to by S pole, and the magnetic-field component that vertical yoke facial planes is outside; Or in the excitation module of S pole, observe from winding side, bight auxiliary magnetic pole magnetizing direction adopts some diagonal, simultaneously containing the component parallel with X-axis or Y-axis in magnetic vector, the magnetic-field component of N pole is pointed to by S pole, and the magnetic-field component that vertical yoke facial planes is inside.
6. the heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor of one according to claim 1, it is characterized in that: described armature winding is the mutually orthogonal nesting type structure of multi-layer hollow winding, the total number of plies of winding is the integral multiple of four, basic four-layer structure is formed by the double-layer hollow winding placed in X direction with along the two layer winding that Y-direction is placed, wherein a set of winding is orthogonal is placed between another set of two layer winding, the X in two layer winding between limit, winding upper strata and lower floor limit or Y-direction winding span be a pole span τ (τ=
), when the winding number of phases is m, the width of each winding is τ/m.
7. the heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor of one according to claim 1, it is characterized in that: described permanent magnet excitation part is the stationary part of planar motor, armature winding part is the subpart of planar motor; Or described permanent magnet excitation part is the subpart of planar motor, armature winding part is the stationary part of planar motor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112671204A (en) * | 2021-01-18 | 2021-04-16 | 哈尔滨工业大学 | Multilayer winding magnetic suspension linear permanent magnet synchronous motor |
| CN112829772A (en) * | 2019-11-22 | 2021-05-25 | 崔彬 | Electromagnetic power device of fluid film suspension vehicle system |
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| CN101610054B (en) * | 2009-07-21 | 2011-02-16 | 清华大学 | Planar motor adopting three-dimensional permanent magnet array |
| CN102185443B (en) * | 2011-05-16 | 2013-02-13 | 哈尔滨工业大学 | Limited stroke high-dynamic plane motor |
| CN204205908U (en) * | 2014-09-28 | 2015-03-11 | 浙江理工大学 | A kind of heterogeneous nested winding type permanent magnetic synchronous plane electromotor motor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829772A (en) * | 2019-11-22 | 2021-05-25 | 崔彬 | Electromagnetic power device of fluid film suspension vehicle system |
| CN112671204A (en) * | 2021-01-18 | 2021-04-16 | 哈尔滨工业大学 | Multilayer winding magnetic suspension linear permanent magnet synchronous motor |
| CN112671204B (en) * | 2021-01-18 | 2022-07-01 | 哈尔滨工业大学 | Multilayer winding magnetic suspension linear permanent magnet synchronous motor |
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