CN111490659B - Symmetric permanent magnet type unidirectional proportion electromagnet based on air gap compensation - Google Patents
Symmetric permanent magnet type unidirectional proportion electromagnet based on air gap compensation Download PDFInfo
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- CN111490659B CN111490659B CN201910071547.3A CN201910071547A CN111490659B CN 111490659 B CN111490659 B CN 111490659B CN 201910071547 A CN201910071547 A CN 201910071547A CN 111490659 B CN111490659 B CN 111490659B
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 20
- 239000010959 steel Substances 0.000 claims abstract description 20
- 230000005389 magnetism Effects 0.000 claims abstract description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract 30
- 229910052742 iron Inorganic materials 0.000 claims abstract 13
- 230000005284 excitation Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 239000000696 magnetic material Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 230000001419 dependent effect Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims 2
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- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000010349 pulsation Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 241000345998 Calamus manan Species 0.000 description 1
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 239000004020 conductor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 235000012950 rattan cane Nutrition 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/26—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with rotating armatures and stationary magnets
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/06—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid
- F16K31/0675—Electromagnet aspects, e.g. electric supply therefor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/02—Details
- H02K21/021—Means for mechanical adjustment of the excitation flux
- H02K21/022—Means for mechanical adjustment of the excitation flux by modifying the relative position between field and armature, e.g. between rotor and stator
- H02K21/023—Means for mechanical adjustment of the excitation flux by modifying the relative position between field and armature, e.g. between rotor and stator by varying the amount of superposition, i.e. the overlap, of field and armature
- H02K21/024—Radial air gap machines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/02—Details
- H02K21/021—Means for mechanical adjustment of the excitation flux
- H02K21/022—Means for mechanical adjustment of the excitation flux by modifying the relative position between field and armature, e.g. between rotor and stator
- H02K21/025—Means for mechanical adjustment of the excitation flux by modifying the relative position between field and armature, e.g. between rotor and stator by varying the thickness of the air gap between field and armature
- H02K21/026—Axial air gap machines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/02—Details
- H02K21/04—Windings on magnets for additional excitation ; Windings and magnets for additional excitation
- H02K21/042—Windings on magnets for additional excitation ; Windings and magnets for additional excitation with permanent magnets and field winding both rotating
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/03—Machines characterised by aspects of the air-gap between rotor and stator
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Electromagnets (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
The symmetric permanent magnet unidirectional proportion electromagnet based on air gap compensation is characterized in that a front end cover and a rear end cover are respectively arranged on the front side and the rear side of a stator, N convex teeth are uniformly distributed on the circumference of a yoke ring, yoke magnetic poles are formed by the convex teeth, and the stator magnetic poles on all yokes are identical in shape and axially aligned; a control coil is arranged between the second yoke and the third yoke to form control magnetic flux; a first magnetism isolating block and first magnetic steel are arranged between the first yoke iron and the second yoke iron; a second magnetism isolating block and second magnetic steel are arranged between the third yoke iron and the fourth yoke iron; the first armature and the second armature are uniformly distributed with armature magnetic poles along the circumferential direction, the end faces of the armature magnetic poles comprise circumferential tooth surfaces and side elevation surfaces, and the tooth surfaces and yoke magnetic poles form radial air gaps; the side elevation is positioned at one end of the tooth surface and forms an axial air gap with the side surface of the stator magnetic pole; the positions of the side vertical faces of the armature magnetic poles of the first armature and the second armature on the tooth surfaces are reversed, so that the axial air gaps are symmetrically distributed on two sides of the yoke magnetic poles.
Description
Technical Field
The invention relates to a proportional electromagnet.
Background
The rotary valve is a reversing valve which changes the relative positions of a valve core and a valve sleeve by utilizing rotary motion to change the flow path in the rotary valve and finally realizes the opening and closing of the flow path or reversing of the flow path. The rotary valve may be driven manually, mechanically, or directly by an electric motor, a motor, and a rotary electromagnet to achieve precise servo/proportional control. Compared with slide valve or cone valve, the rotary valve has the advantages of high reliability, simple structure, high working frequency, strong oil liquid pollution resistance and the like, and can be widely applied to hydraulic systems with high-speed switch, high-speed excitation and high-speed steering, and particularly when the number of throttling grooves of the valve core and the valve sleeve is more, the single-stage rotary valve can obtain rated flow larger than that of the multi-stage slide valve. However, in existing electro-hydraulic servo/proportional control systems, rotary valves are far less widely used than spool valves. The reason is that the processing of the throttling groove/window of the rotary valve is more complex, and the proportion control characteristic of the rotary electromagnet used for driving the rotary valve is more difficult than that of the direct-acting proportion electromagnet, and the magnetic circuit is divided into two paths of axial and radial at the magnetism isolating ring during excitation by adopting a magnetism isolating ring structure, so that the horizontal stroke-thrust characteristic required by proportion control can be obtained after synthesis, although the welding of the magnetic conduction sleeve is more complicated, the problem is not solved for mass automatic production, and the rotary electromagnet can obtain the flatter moment-rotation angle characteristic only by carrying out special optimization design on the shapes of the stator teeth and the armature teeth, so that the practical application is greatly limited.
In order to popularize and apply the rotary valve in the electrohydraulic servo/proportional system, a great deal of research is made on optimization of the magnetic circuit topological structure and the moment angle characteristics of the rotary electromagnet. The moment motor widely applied in the nozzle baffle valve and the jet pipe servo valve can obtain the proportional position control characteristic through reasonable design of the elastic element, but the magnetic circuit is based on the axial air gap, so that a larger working angle is difficult to obtain. The improved torque motor based on the radial working air gap, which is proposed by the universal detection company Montagu in the United states, further expands the working angle range, has positive electromagnetic rigidity, and can obtain the proportional position control characteristic without adding an elastic element. In order to obtain a flat torque angle characteristic curve, the Fumio of Hitachi makes a special design on the magnetic steel shape on the designed moving-magnet torque motor armature, and the pole face of the magnetic steel is radially notched and filled with non-magnetic conductive materials so as to compensate the torque pulsation accompanied by the rotation of the armature. The permanent magnet torque motor of the rattan two man design of the company denso of japan is such that two magnetic poles composed of separate magnetic steels are asymmetrically arranged on the outer side of a rotating shaft in a manner of differing by half a pole angle, thereby compensating torque pulsation caused by the outer circumference of a polygonal magnetic pole, and thus obtaining a stable torque-rotation angle characteristic. The electric excitation torque motor developed by Zhejiang university Zhang Guangqiong and the like is specially designed for the shapes of the stator magnetic pole and the armature pole face, and the torque angle characteristic of the motor is changed by controlling the magnetic flux saturation degree at the tip of the stator magnetic pole shoe. Cui Jian et al propose a moving-magnet rotary proportional electromagnet based on a radial working air gap, which is based on a differential magnetic circuit and has positive magnetic stiffness, but has a relatively complex structure, and is not beneficial to industrial application and mass production.
Disclosure of Invention
In order to overcome the defects that the existing rotary electromagnet is difficult to obtain horizontal moment-rotation angle characteristics, has a complex structure and is not beneficial to industrial application and large-scale mass production, the invention provides the symmetric permanent magnet type unidirectional proportional electromagnet based on air gap compensation, which is based on a hybrid air gap, has the horizontal moment-rotation angle characteristics and has a simple structure.
The basic principle of the invention is as follows: the working air gap commonly used in the electromechanical converter comprises a radial air gap and an axial air gap, wherein the radial air gap can have a larger working angle, but as the misalignment angle increases (the fixed armature is gradually aligned), the output torque can be reduced, namely the slope of a moment angle characteristic curve is negative; the axial air gap working range is narrower, but the output torque increases with the increase of the misalignment angle, namely the slope of the moment angle characteristic curve is positive. Therefore, the working air gap is divided into two parts, wherein the main working air gap is a radial air gap, and an axial air gap is added on the basis of the radial air gap. The moment generated by the radial air gap and the axial air gap are modulated mutually, a moment angle characteristic curve which is approximately horizontal can be obtained through reasonable parameter optimization, and the proportional position control characteristic can be obtained after a spring balance mechanism is additionally arranged.
The technical scheme adopted for solving the technical problems is as follows:
As shown in fig. 1 and 2, the front and rear sides of the yoke are respectively provided with a front end cover 2 and a rear end cover 12, a first armature 3 and a second armature 13 are arranged in the stator, and the first armature 3 and the second armature 13 are coaxially arranged on the output shaft 1. The stator is composed of a first yoke 4, a second yoke 7, a third yoke 8 and a fourth yoke 10 which are axially arranged in sequence, N convex teeth are evenly distributed on the circumferences of the first yoke 4, the second yoke 7, the third yoke 8 and the fourth yoke 10, the convex teeth form yoke magnetic poles 15, and the yoke magnetic poles 15 on the first yoke 4, the second yoke 7, the third yoke 8 and the fourth yoke 10 are identical in shape and axially aligned, so that the output torque can be increased. The second yoke 7 and the third yoke 8 are respectively provided with symmetrical grooves along the interfaces, and are spliced to form annular grooves, and the annular grooves are used for placing control coils 14 to form control magnetic fluxes. A first magnetism isolating block 5 is arranged between the first yoke 4 and the second yoke 7; a second magnetism isolating block 9 is arranged between the third yoke 8 and the fourth yoke 10; a first magnetic steel 6 is placed between the first yoke 4 and the second yoke 7, and a second magnetic steel 11 is placed between the third yoke 8 and the fourth yoke 10, for forming a bias magnetic flux.
The first armature 3 and the second armature 13 are coaxially spliced, N armature teeth are uniformly distributed on the first armature 3 and the second armature 13 along the circumferential direction, the armature teeth form armature magnetic poles, the end face of each armature magnetic pole comprises a circumferential arc tooth face 31 and a side elevation 32, and the tooth face 31 and the end part of the yoke magnetic pole 15 form a radial air gap. The side elevation 32 is located at one end of the tooth face 31, and the side face 32 forms an axial air gap with the side face of the yoke pole 15. The side elevation 32 of the armature pole of the first armature 3 is located at one end of the tooth surface 31, and the side elevation 32 of the armature pole of the second armature 13 is located at the other end of the tooth surface 31, so that the axial air gaps are symmetrically distributed on both sides of the yoke pole 15. In order to enable the electromagnet to work normally, the mode of the armature axial staggered teeth needs to be changed, namely, the armature teeth of the second armature 13 need to lead the convex teeth of the yoke in the clockwise direction by an angle, and the armature teeth of the first armature 3 lag the convex teeth of the yoke in the clockwise direction by an angle of the same size.
Preferably, the armature adopts a hollow cup structure, so that the moment of inertia is reduced, and the corresponding speed is increased. The front end cover 2 and the rear end cover 12, the output shaft 1, the first magnetism isolating block 5 and the second magnetism isolating block 9 are made of metal materials which are non-magnetic, and the first armature 3, the second rotor 13, the first yoke 4, the second yoke 7, the third yoke 8 and the fourth yoke 10 are made of metal soft magnetic materials with high magnetic permeability.
All armature components and yokes of the invention have the same axial lead and are coaxial with the output shaft 1, and the axial direction refers to the axial lead of the output shaft 1.
Preferably, the first yoke 4, the second yoke 7, the third yoke 8 and the fourth yoke 10 are circumferentially and uniformly distributed with 8 yoke poles 15, each yoke pole 15 being 45 ° apart; the first armature 3 and the second armature 13 are evenly distributed with 8 armature teeth along the circumferential direction.
Preferably, the teeth of the second armature 13 are advanced by 1/4 of the pitch angle of the yoke teeth in the clockwise direction, and the teeth of the first armature 3 are retarded by 1/4 of the pitch angle of the yoke teeth in the clockwise direction.
The beneficial effects of the invention are mainly shown in the following steps:
1. A hybrid working air gap is used to obtain a horizontal moment-angle characteristic. The working air gap is divided into two parts, wherein the main working air gap is a radial air gap, and an axial air gap is added on the basis of the radial air gap. The moment generated by the radial air gap and the axial air gap are modulated mutually, a moment angle characteristic curve which is approximately horizontal can be obtained through reasonable parameter optimization, and the proportional position control characteristic can be obtained after a spring balance mechanism is additionally arranged.
2. The response speed is high, and the output torque is large. Compared with other cylindrical structures of rotary proportional electromagnet armatures, the scheme provided by the invention has the advantages that the armatures are of hollow cup structures, the moment of inertia is small, and higher dynamic response speed is facilitated to be obtained. The design of the multi-magnetic pole structure is adopted, so that the output torque can be improved.
3. Adopts an axial magnetic circuit symmetrical structure. Compared with an asymmetric axial magnetic circuit structure, the moment angle characteristics of the electromagnetic valve are kept symmetrical no matter clockwise or anticlockwise, and the working accuracy of the proportional electromagnet is guaranteed.
4. The single coil excitation is adopted, and the control is simple. Compared with a double-phase excitation structure, the single-coil excitation can effectively reduce the complexity of a driving circuit, and the control is simpler.
5. Simple structure and low cost. Compared with other rotary proportion electromagnets, the rotary proportion electromagnet provided by the invention has the advantages of less number of parts, easier processing and assembly, low manufacturing cost, and contribution to industrial practical application and large-scale batch production.
Drawings
FIG. 1 is a schematic illustration of the present invention;
FIG. 2 is a schematic view of the assembly of the present invention;
FIG. 3 is a schematic illustration of the output shaft of the present invention;
FIG. 4 is a schematic view of the front end cover structure of the present invention;
fig. 5 is a schematic structural view of a first armature of the present invention;
fig. 6 is a schematic structural view of the first yoke of the present invention;
FIG. 7 is a schematic diagram of a magnetism isolating block according to the present invention;
FIG. 8 is a schematic diagram of the magnetic steel structure of the present invention;
FIG. 9 is a schematic structural view of a second yoke according to the present invention
FIG. 10 is a schematic view of the rear end cap structure of the present invention;
Fig. 11 is a schematic structural view of a second armature of the present invention;
FIG. 12 is a schematic diagram of moment angle characteristics of radial air gap, axial air gap, and hybrid air gap;
FIG. 13 is a schematic diagram of the principles of operation of the present invention;
fig. 14 is a schematic diagram of the working principle of the present invention, wherein the control coil 14 is supplied with current in one direction;
fig. 15 is a schematic diagram of the working principle of the present invention, wherein the control coil 14 is supplied with current in the other direction.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 11, a symmetrical permanent magnet unidirectional proportion electromagnet based on air gap compensation is provided with a front end cover 2 and a rear end cover 12 at the front and rear sides of a yoke respectively, a first armature 3 and a second armature 13 are arranged in the yoke, and the first armature 3 and the second armature 13 are coaxially arranged on an output shaft 1.
The yoke consists of a first yoke 4, a second yoke 7, a third yoke 8 and a fourth yoke 10 which are axially arranged in sequence, 8 convex teeth are uniformly distributed on the circumference of each yoke ring, the convex teeth form yoke magnetic poles 15, each yoke magnetic pole 15 is 45 degrees apart, and the yoke magnetic poles 15 on the first yoke 4, the second yoke 7, the third yoke 8 and the fourth yoke 10 are identical in shape and axially aligned, so that the output torque can be increased. The yoke 7 and the yoke 8 are respectively provided with symmetrical grooves along the interfaces, the grooves are spliced to form annular grooves, and the annular grooves are used for placing the control coils 14 to form control magnetic fluxes. A first magnetism isolating block 5 is arranged between the first yoke 4 and the second yoke 7, and a first magnetic steel 6 is arranged on the inner ring of the first magnetism isolating block 5; a second magnetism isolating block 9 is arranged between the third yoke 8 and the fourth yoke 10, and a second magnetic steel 11 is arranged on the inner ring of the second magnetism isolating block 9 and used for forming bias magnetic flux.
The first armature 3 and the second armature 13 are coaxially spliced, 8 armature teeth are uniformly distributed on the first armature 3 and the second armature 13 along the radial direction, the armature teeth form armature magnetic poles, the end face of each armature magnetic pole comprises a tooth face 31 and a side elevation 32 which are arc-shaped, and the tooth face 31 and the end face of the yoke magnetic pole 15 form a radial air gap; the side elevation 32 is located at one end of the tooth face 31, and the side elevation 32 and the side face of the yoke pole 15 constitute an axial air gap. The side elevation 32 of the armature pole of the first armature 3 is located at one end of the tooth surface 31, and the side elevation 32 of the armature pole of the second armature 13 is located at the other end of the tooth surface 31, so that the axial air gaps are symmetrically distributed on both sides of the yoke pole. In order for the electromagnet to work properly, the armature axial staggered teeth mode needs to be changed, namely the armature teeth of the second armature 13 need to lead the yoke teeth by 1/4 of the tooth angle in the clockwise direction, and the armature teeth of the first armature 3 lag the yoke teeth by 1/4 of the tooth angle in the clockwise direction. The armature adopts the hollow cup structure, reduces moment of inertia, is favorable to increasing corresponding speed. The front end cover 2 and the rear end cover 12, the output shaft 1, the magnetism isolating blocks 5 and 9 are made of metal materials which are non-magnetic conduction, and the first armature 3, the second armature 13, the first yoke 4, the second yoke 7, the third yoke 8 and the fourth yoke 10 are made of metal soft magnetic materials with high magnetic conduction.
As shown in fig. 13, when the control coil 14 is not energized, the air gap flux is only dependent on the bias flux of the magnetic steel, and at this time, the positions of the fixed armatures under the respective magnetic poles of the electromagnet are the same, that is, the yoke magnetic poles and the respective armature teeth are staggered by the same arc surfaces, the radial air gap and the axial air gap in the four magnetic poles are the same in size, and the first armature 3 and the second armature 13 are in the neutral initial position.
When the control coil 14 is simultaneously energized with a forward current as shown in fig. 14, the first pole g1 and the fourth pole g4 are not affected by the control coil excitation field, and the air gap flux remains unchanged. The excitation magnetic field of the control coil under the working air gap of the second magnetic pole g2 and the bias magnetic field of the magnetic steel are in the same direction and are mutually overlapped, and the air gap magnetic flux is increased; the direction of the exciting magnetic field of the control coil under the working air gap of the third magnetic pole g3 is opposite to the direction of the bias magnetic field of the magnetic steel so as to offset each other, the air gap magnetic flux is reduced, the third armature g3 is subjected to the action of electromagnetic moment to rotate anticlockwise, at the moment generated by the radial air gap and the axial air gap are modulated with each other, so that the electromagnet obtains almost horizontal moment angle characteristics, the output moment can be adjusted by controlling the current, and the position control effect proportional to the current can be obtained when the electromagnetic coil is matched with the linear spring.
When the control coil 14 is supplied with a reverse current as shown in fig. 15, the first magnetic pole g1 and the fourth magnetic pole g4 are not affected by the control coil excitation magnetic field, and the air gap magnetic flux remains unchanged. The excitation magnetic field of the control coil under the working air gap of the third magnetic pole g3 and the bias magnetic field of the magnetic steel are in the same direction and are mutually overlapped, and the air gap magnetic flux is increased; the exciting magnetic field of the control coil and the bias magnetic field of the magnetic steel are opposite in direction and offset each other under the working air gap of the second magnetic pole g2, the air gap magnetic flux is reduced, the second armature 13 rotates clockwise under the action of electromagnetic moment, at the moment generated by the radial air gap and the axial air gap are modulated with each other, so that the electromagnet obtains nearly horizontal moment angle characteristics, the output moment can be adjusted by controlling the current, and the position control effect proportional to the current can be obtained when the electromagnetic coil is matched with the linear spring.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, and the scope of protection of the present invention and equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.
Claims (4)
1. The utility model provides a one-way proportion electro-magnet of symmetry permanent magnetism based on air gap compensation which characterized in that: the front and rear sides of the stator are respectively provided with a front end cover (2) and a rear end cover (12), a first armature (3) and a second armature (13) are arranged in the stator, and the first armature (3) and the second armature (13) are coaxially arranged on the output shaft (1); the stator consists of a first yoke (4), a second yoke (7), a third yoke (8) and a fourth yoke (10) which are axially arranged in sequence, N convex teeth are uniformly distributed on the circumferences of the first yoke (4), the second yoke (7), the third yoke (8) and the fourth yoke (10), and the convex teeth form yoke magnetic poles (15), and the yoke magnetic poles (15) on the first yoke (4), the second yoke (7), the third yoke (8) and the fourth yoke (10) are identical in shape and axially aligned; the second yoke (7) and the third yoke (8) are respectively provided with symmetrical grooves along the interfaces, the grooves are spliced to form annular grooves, and the annular grooves are used for placing control coils (14) to form control magnetic fluxes; a first magnetism isolating block (5) is arranged between the first yoke (4) and the second yoke (7); a second magnetism isolating block (9) is arranged between the third yoke (8) and the fourth yoke (10); a first permanent magnet (6) is arranged between the first yoke (4) and the second yoke (7), and a second permanent magnet (11) is arranged between the third yoke (8) and the fourth yoke (10) and used for forming bias magnetic flux;
The first armature iron (3) and the second armature iron (13) are coaxially spliced, N teeth are uniformly distributed on the first armature iron (3) and the second armature iron (13) along the circumferential direction, tooth-shaped armature iron magnetic poles are formed, the end face of each armature iron magnetic pole comprises a circular arc-shaped circumferential tooth face (31) and a side elevation (32), and the tooth face (31) and the end part of each yoke iron magnetic pole (15) form a radial air gap; the side elevation (32) is positioned at one end of the tooth surface (31) and forms an axial air gap with the side surface of the yoke magnetic pole (15); the side elevation (32) of the armature magnetic pole of the first armature (3) is positioned at one end of the tooth surface (31), and the side elevation (32) of the armature magnetic pole of the second armature (13) is positioned at the other end of the tooth surface (31), so that the axial air gaps are symmetrically distributed at two sides of the yoke magnetic pole (15); the armature teeth of the second armature (13) lead the convex teeth of the yoke by an angle in the clockwise direction, and the armature teeth of the first armature (3) lag the convex teeth of the yoke by the same angle in the clockwise direction;
When the control coil (14) is not electrified, the air gap magnetic flux of the control coil is only dependent on the bias magnetic flux of the magnetic steel, and the position relationship of the fixed armatures under each magnetic pole of the electromagnet is the same, namely, the yoke magnetic poles and the respective armature teeth are staggered to form arc surfaces with the same angle, the radial air gap and the axial air gap in the four magnetic poles are the same in size, and the first armature (3) and the second armature (13) are positioned at the initial position of the middle position;
When the control coil (14) is electrified with forward current, the first magnetic pole (g 1) and the fourth magnetic pole (g 4) are not influenced by the excitation magnetic field of the control coil, and the air gap magnetic flux is kept unchanged; the direction of the exciting magnetic field of the control coil under the working air gap of the second magnetic pole (g 2) is the same as the direction of the bias magnetic field of the magnetic steel, so that the exciting magnetic field and the bias magnetic field are mutually overlapped, and the air gap magnetic flux is increased; the direction of the exciting magnetic field of the control coil is opposite to the direction of the bias magnetic field of the magnetic steel under the working air gap of the third armature iron (g 3) to cancel each other, the air gap magnetic flux is reduced, the third armature iron (g 3) rotates anticlockwise under the action of electromagnetic torque, at the moment, the torque generated by the radial air gap and the axial air gap are modulated with each other, so that the electromagnet obtains almost horizontal torque angle characteristic, the output torque is regulated by controlling the current, and a position control effect proportional to the current is obtained when the linear spring is matched for use;
When the control coil (14) is electrified with reverse current, the first magnetic pole (g 1) and the fourth magnetic pole (g 4) are not influenced by the excitation magnetic field of the control coil, and the air gap magnetic flux is kept unchanged; the direction of the exciting magnetic field of the control coil under the working air gap of the third armature (g 3) is the same as the direction of the bias magnetic field of the magnetic steel, so that the exciting magnetic field and the bias magnetic field are mutually overlapped, and the air gap magnetic flux is increased; the direction of the exciting magnetic field of the control coil is opposite to the direction of the bias magnetic field of the magnetic steel under the working air gap of the second magnetic pole (g 2) to offset each other, the air gap magnetic flux is reduced, the second armature (13) rotates clockwise under the action of electromagnetic moment, at the moment, the moment generated by the radial air gap and the axial air gap are modulated with each other, so that the electromagnet obtains nearly horizontal moment angle characteristic, the output moment is regulated by controlling the current, and the position control effect proportional to the current is obtained when the linear spring is matched.
2. The air gap compensation-based symmetrical permanent magnet unidirectional proportion electromagnet as claimed in claim 1, wherein: the armature adopts a hollow cup structure; the front end cover (2) and the rear end cover (12), the output shaft (1), the first magnetism isolating block (5) and the second magnetism isolating block (9) are made of non-magnetic metal materials, and the first armature (3), the second armature (13), the first yoke (4), the second yoke (7), the third yoke (8) and the fourth yoke (10) are made of high-magnetic-permeability metal soft magnetic materials.
3. The air gap compensation-based symmetrical permanent magnet unidirectional proportion electromagnet as claimed in claim 1 or 2, wherein: the first yoke (4), the second yoke (7), the third yoke (8) and the fourth yoke (10) are circumferentially and uniformly distributed with 8 yoke magnetic poles (15), and each yoke magnetic pole (15) is 45 degrees apart; the first armature (3) and the second armature (13) are uniformly distributed with 8 armature teeth along the circumferential direction.
4. The air gap compensation-based symmetrical permanent magnet unidirectional scaling electromagnet of claim 3, wherein: the armature teeth of the second armature (13) lead the teeth of the yoke by 1/4 of the tooth angle in the clockwise direction, and the armature teeth of the first armature (3) lag the teeth of the yoke by 1/4 of the tooth angle in the clockwise direction.
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| CN107896045A (en) * | 2017-12-13 | 2018-04-10 | 浙江工业大学 | Magnetic pole tooth punching formula torque-motor |
| CN209709911U (en) * | 2019-01-25 | 2019-11-29 | 浙江工业大学 | The unidirectional proportion electro-magnet of symmetrical magneto based on air-gap compensation |
| CN111490658A (en) * | 2019-01-25 | 2020-08-04 | 浙江工业大学 | Bidirectional rotary torque motor |
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| CN107896045A (en) * | 2017-12-13 | 2018-04-10 | 浙江工业大学 | Magnetic pole tooth punching formula torque-motor |
| CN209709911U (en) * | 2019-01-25 | 2019-11-29 | 浙江工业大学 | The unidirectional proportion electro-magnet of symmetrical magneto based on air-gap compensation |
| CN111490658A (en) * | 2019-01-25 | 2020-08-04 | 浙江工业大学 | Bidirectional rotary torque motor |
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| 线圈外置式二维电-机械转换器的设计及数值模拟;孟彬;申屠胜男;林琼;阮健;;机械设计与研究;20171220(06);全文 * |
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