CN1967980A - Intersegmental dephasing asymmetric six-phase permanent-magnet linear servo-actuator - Google Patents
Intersegmental dephasing asymmetric six-phase permanent-magnet linear servo-actuator Download PDFInfo
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- CN1967980A CN1967980A CN 200610134364 CN200610134364A CN1967980A CN 1967980 A CN1967980 A CN 1967980A CN 200610134364 CN200610134364 CN 200610134364 CN 200610134364 A CN200610134364 A CN 200610134364A CN 1967980 A CN1967980 A CN 1967980A
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Abstract
The invention relates to an inter-section phase-shift asymmetry six-phase permanent-magnetic straight servo motor, wherein it comprises two unit motors serially or parallel connected; the initial magnetic circuits of said two motors are independent; the section are distanced via non-conductive material; the relative windings or relative second axles of two unit motors are distanced via 2k pi+-90degree, while k is integer; the windings are asymmetry six-phase structure; their initial stages are mounted on movable platform and above the second stage of permanent magnet. The invention can restrain winding harmonic wave of synchronous straight motor, reduce driving power of each phase, and improve the stability of servo controller.
Description
Technical field
The invention belongs to technical field of motors, particularly relate to the asymmetric six-phase permanent-magnet linear servo-actuator of a kind of intersegmental phase shift.
Background technology
Existing machine tool adopts measures such as fractional-slot modulation with permanent magnetic linear synchronous motor, though end effect and the slot effect force oscillation that weakens linear electric motors had remarkable result, can't eliminate the influence of the force oscillation that end effect produced of motor fully.Especially for high thrust Digit Control Machine Tool linear feeding system, motor volume is bigger, longitudinal length is longer, and many workbench adopt many motors parallel drive, as shown in Figure 1, the prior motor technical measures can't be eliminated the influence of its end effect to force oscillation better, can not satisfy the high-precision requirement of high-grade, digitally controlled machine tools, make work weak effect, product precision low.
Summary of the invention
In order to overcome the problem of above-mentioned existence, the invention provides the asymmetric six-phase permanent-magnet linear servo-actuator of a kind of intersegmental phase shift.It is in high accuracy high thrust permanent-magnetism linear motor design, by intersegmental phase shift, makes the anti-phase counteracting of magnetic resistance force oscillation of two unit motors, the force oscillation that causes with the end effect that further reduces permanent magnetic linear synchronous motor (PMLSM).
Technical scheme of the present invention is: comprise two unit motors, connection each other in series or parallel, two unit electric motor primary magnetic circuits are independent mutually, intersegmental is separated with non-magnet material, phase shift 2k π ± 90 ° at interval between two corresponding windings of unit motor or the secondary axis of corresponding permanent magnet, k is an integer, two unit electric motor primary are installed on the mobile platform jointly, and place the secondary top of permanent magnet, form a whole motor.
Described two unit motor windings adopt asymmetric six phase winding structures, and promptly two unit motor three phase windings adopt double star (two Y) structure, and each differs from 30 ° of electrical degrees the phase difference between corresponding each phase winding axis.
When each unit motor was connected in series, each electric motor primary placed a secondary top of permanent magnet jointly; When each unit motor parallel connected, each electric motor primary placed the secondary top of permanent magnet separately respectively.
The unit motor comprises elementary iron core, elementary winding, stator yoke, permanent magnet, line slideway, platen among the present invention, some permanent magnets are placed in parallel on stator yoke, corresponding permanent magnet top is equipped with electric motor primary, elementary winding is embedded in the groove of elementary iron core, elementary iron core be fixed on platen below, platen is fixedlyed connected with stator yoke by line slideway; Elementary iron core is the parallel teeth structure, and elementary winding is that monodentate is concentrated formed coil, promptly single groove span, single-phase concentrated phase band forms.
The all coils of described electric motor primary winding has been divided into three intervals of symmetry, and each interval belongs to a phase winding, and motor pairing main pole number in promptly every unit with every pass that has coil number mutually is: main pole is counted N
p=2mN
i± 1, wherein m is the motor windings number of phases, N
iBe the every phase winding coil number of motor; Phase shift is spaced apart 2 π ± α electrical degree between the adjacent winding axis of the corresponding coil of electric motor primary, and wherein α is equivalent slot-pitch angle.
The facewidth of unit electric motor primary iron core and the ratio of tooth pitch
Scope be
The ratio of high h of groove and groove width b
Scope is 2.5～3.8; Bus number of turns N
c=mN
iElementary core slots is counted Q=2N
c=2mN
i, the slot pitch increment
Electrical degree, equivalent slot-pitch angle
Electrical degree, slot pitch τ
y=180 ° ± Δ τ
yElectrical degree; Wherein m is the motor windings number of phases, N
iBe the every phase winding coil number of motor.
Beneficial effect of the present invention:
(1) from suppressing the magnetomotive angle of permanent magnetic linear synchronous motor winding harmonic wave: according to the motor windings basic theories, of the present invention six two mutually 30 ° of windings of Y phase shift feed above-mentioned six phase currents, only there are subharmonic such as 11,13,23,25,35,37 in the synthetic magnetomotive force that its fundamental current produces, compare with 60 ° of facies tract windings of unit motor three-phase, eliminated 5,7,17,19,29,31 subharmonic such as grade.Common 5 times and 7 subharmonic are two stronger in three phase winding harmonic waves components, and are bigger to the influence of motor force oscillation.Therefore, six two mutually Y move 30 ° of windings and eliminated this two components, and are significant.
(2) from suppressing the angle of permanent magnetic linear synchronous motor end effect harmonic wave force oscillation: the invention of the 90 ° of asymmetric high accuracy six-phase permanent-magnet of intersegmental phase shift linear servo-actuators can suppress the caused harmonic wave force oscillation of motor magnetic resistance end effect significantly.
(3) from improving the angle of feed servo systematic function: the present invention has adopted the six-phase motor structure, for servo-driver, reduced the driving power of the every phase of system power driver element, particularly high-power servo-drive design of Controller there is positive effect, helps improving the operation stability and the reliability of servo controller.
Description of drawings
Fig. 1 is existing many motors parallel drive structural representation;
Fig. 2 is that motor end effect force oscillation compensates for schematic diagram among the present invention;
Fig. 3 is that the present invention's two unit motor series electrical magnetic structures are analyzed schematic diagram; Wherein a is two unit motor partial structurtes schematic diagrames, and b is an I unit motor windings magnetomotive force vectogram, and c is an II unit winding magnetomotive force vectogram, and d is two unit motor windings resultant vector figure;
Fig. 4 is an electric machine structure schematic diagram in unit among the present invention;
Fig. 5 is that 2 liang of unit of embodiment motor parallel is installed electromagnetic structure analysis schematic diagram;
Fig. 6 is embodiment 3 structural representations;
1. mover I among the figure, 2. mobile platform, 3. stator I, 4. mover II, 5. stator II, 6. second harmonic end effect force oscillation waveform, 7. electric motor primary, 8. motor secondary, 9. non-magnet material, 10. motor windings, 11. main pole axis, A
I, B
I, C
IBe the three-phase phase winding magnetomotive force vector of electric motor units I, A
II, B
II, C
IIBe the three phase winding magnetomotive force vectors of electric motor units II, 1
#～9
#Be coil.
Embodiment
Below in conjunction with accompanying drawing the present invention is described further:
Embodiment 1: shown in Fig. 3 (a), two unit motors adopt 12 grooves, 13 utmost point linear electric motors, be installed in series, two unit electric motor primary, 7 magnetic circuits are independent mutually, and intersegmental is separated with between the corresponding winding axis of 9, two unit of non-magnet material motor phase shift π-90 ° of 2k at interval, this moment k=7, two unit motor windings 10 adopt asymmetric six phase winding structures, that is: two unit motor three phase windings adopt the double star structure, and each differs from 30 ° of electrical degrees the phase difference between corresponding each phase winding axis; Two unit electric motor primary 7 are installed on the mobile platform 2 jointly, and place the secondary top of permanent magnet, form a whole motor.
The act unit motor that is adopted comprises elementary iron core, elementary winding, stator yoke, permanent magnet, line slideway, platen, some permanent magnets are placed in parallel on the stator yoke, corresponding permanent magnet top is equipped with electric motor primary 7, elementary winding 10 is embedded in the groove of elementary iron core, elementary iron core be fixed on platen below, platen by line slideway with decided yoke and fixedlyed connected; Elementary iron core is the parallel teeth structure, and elementary winding is that monodentate is concentrated formed coil, promptly single groove span, single-phase concentrated phase band forms.
The unit parameter of electric machine that this is routine: the facewidth a=7mm of elementary iron core, groove width b=8mm, the high h=25mm of groove, the every phase winding coil number of motor N
i=2, motor windings number of phases m=3, unit motor bus number of turns N
c=mN
i=3 * 2=6; Elementary core slots is counted Q=2N
c=2mN
i=12, the slot pitch increment
Electrical degree, equivalent slot-pitch angle
Electrical degree, slot pitch τ
y=180 ° ± Δ τ
y=180 °+15 ° electrical degrees; The all coils of electric motor primary winding has been divided into three intervals of symmetry, and each interval belongs to a phase winding, and promptly every mutually pairing number of pole-pairs and every relation that has coil number mutually: main pole is counted N
p=2mN
i± 1=12 ± 1 gets 13 in this example; Phase shift is spaced apart 2 π ± α=360 °+30 ° of electrical degrees between the adjacent winding axis of the corresponding coil of electric motor primary.
Referring to Fig. 3 a, definition I unit motor 1# coil corresponding N pole axis line down is the main field axis, then 1# coil axis and main pole dead in line.According to diagram winding construction form and label mode, can obtain I unit motor windings magnetomotive force vectogram as shown in Figure 3, shown in Fig. 3 b.With the I unit is benchmark, and phase shift 90 ° of electrical degrees in II unit can get II unit winding magnetomotive force vectogram, shown in Fig. 3 c.From unit motor polar plot as can be seen, I unit motor has identical direction of rotation, A with lI unit motor windings three phase rotating field
IWith A
IIWinding axis differs 90 ° of electrical degrees, two unit motor windings resultant vector figure is integrated among the same figure, shown in Fig. 3 d.As can be seen from the figure B
IIWith A
I, C
IIAnd B
I, A
IIAnd C
IEach differs from 30 ° phase difference.
Directly six phase windings in two unit motors are carried out the operation of six phase supply power modes.When adopting corresponding six phase servo drivers to power, be typical six two mutually 30 ° of (asymmetric) windings of Y phase shift.Adopt current closed-loop Sine Wave Pulse Width Modulation control mode, guarantee
With
Between differ 30 ° of electrical degrees respectively.Relation between each electric current is as follows:
Because two unit motor windings are respectively by two three-phase symmetrical current power supplies that differ 30 °, so the first-harmonic winding factor of motor is identical with unit motor first-harmonic winding factor.
Embodiment 2: the unit electric machine structure that this example adopted is identical with embodiment 1 unit electric machine structure, and the unit motor bus number of turns still is 6, is the electrical installation difference, and as shown in Figure 5, two unit motor parallels are installed.Two unit motor secondary permanent magnetic circuits are independent mutually, and 90 ° of electrical degrees of corresponding phase shift are parallel installs.Two unit electric motor primary are installed on the mover platform jointly, and two corresponding winding axis coincidences of unit motor, place each secondary top of self-corresponding permanent magnet respectively.
After above-mentioned design, installing, two unit motor windings still can form and example 1 identical asymmetric six phase winding structures, that is: two unit motor three phase windings adopt the double star structure, and each differs from 30 ° of electrical degrees the phase difference between corresponding each phase winding axis.
This routine supply power mode is identical with embodiment 1 with current control mode, directly six phase windings in two unit motors is carried out the operation of six phase supply power modes; Adopt corresponding six phase servo drivers power supply, promptly typical six two mutually 30 ° of (asymmetric) windings of Y phase shift.Adopt current closed-loop Sine Wave Pulse Width Modulation control mode, two unit motor windings are respectively by two three-phase symmetrical current power supplies that differ 30 °.Promptly guarantee
With
Between differ 30 ° of electrical degrees respectively.Relation between each electric current is as follows:
Because two unit motor windings are respectively by two three-phase symmetrical current power supplies that differ 30 °, so the first-harmonic winding factor of motor is identical with unit motor first-harmonic winding factor.
Embodiment 3: unit electric machine structure that this example adopted and embodiment 1 electric machine structure pattern are basic identical, are motor winding wire number of turns difference, and that this example adopts is every phase winding coil number N
i=3 unit linear electric motors, its structural representation as shown in Figure 6.This routine unit concrete parameter of motor is as follows: the facewidth a=7mm of elementary iron core, groove width b=8mm, the high h=25mm of groove, the every phase winding coil number of motor N
i=3, motor windings number of phases m=3, unit motor bus number of turns N
c=mN
i=3 * 3=9; Elementary core slots is counted Q=2N
c=2mN
i=18,
Electrical degree, equivalent slot-pitch angle
Electrical degree, slot pitch τ
y=180 ° ± Δ τ
y=180 ° ± 10 °; The all coils of electric motor primary winding has been divided into three intervals of symmetry, and each interval belongs to a phase winding, and the pairing main pole number in promptly every unit and every relation that has coil number mutually: main pole is counted N
p=2mN
i± 2=18 ± 1 gets 19 in this example.
Shown in Fig. 6 (a), two unit motors are installed in series, two unit electric motor primary magnetic circuits are independent mutually, intersegmental is separated with non-magnet material, phase shift 2k π+90 ° at interval between two secondary axis of the corresponding permanent magnet of unit motor, this moment k=10, two unit motor windings adopt asymmetric six phase winding structures, that is: two unit motor three phase windings adopt the double star structure, and each differs from 30 ° of electrical degrees the phase difference between corresponding each phase winding axis; Two unit electric motor primary are installed in the mover platform jointly to be foretold, and stomach forms a whole motor in the secondary top of permanent magnet.
Fig. 6 (b) is this routine unit motor windings magnetomotive force vectogram, as seen, after design shown in Fig. 6 (a), installing, two unit motor windings still can form and example 1 identical asymmetric six phase winding structures, that is: two unit motor three phase windings adopt the double star structure, and each differs from 30 ° of electrical degrees the phase difference between corresponding each phase winding axis.
This routine supply power mode is still identical with embodiment 1 with current control mode, directly six phase windings in two unit motors is carried out the operation of six phase supply power modes; Adopt corresponding six phase servo drivers power supply, promptly typical six two mutually 30 ° of (asymmetric) windings of Y phase shift.
Claims (6)
1, the asymmetric six-phase permanent-magnet linear servo-actuator of a kind of intersegmental phase shift, it is characterized in that comprising two unit motors, connection each other in series or parallel, two unit electric motor primary magnetic circuits are independent mutually, and intersegmental is separated with non-magnet material, phase shift 2k π ± 90 ° at interval between two corresponding windings of unit motor or the secondary axis of corresponding permanent magnet, k is an integer, two unit electric motor primary are installed on the mobile platform jointly, and place the secondary top of permanent magnet, form a whole motor.
2, the asymmetric six-phase permanent-magnet linear servo-actuator of intersegmental phase shift according to claim 1, it is characterized in that described two unit motor windings adopt asymmetric six phase winding structures, promptly two unit motor three phase windings adopt the double star structure, and each differs from 30 ° of electrical degrees the phase difference between corresponding each phase winding axis.
3, the asymmetric six-phase permanent-magnet linear servo-actuator of intersegmental phase shift according to claim 1, when it is characterized in that described each unit motor is connected in series, each electric motor primary places a secondary top of permanent magnet jointly; When each unit motor parallel connected, each electric motor primary placed the secondary top of permanent magnet separately respectively.
4, according to the asymmetric six-phase permanent-magnet linear servo-actuator of each described intersegmental phase shift of claim 1～3, it is characterized in that described unit motor comprises elementary iron core, elementary winding, stator yoke, permanent magnet, line slideway, platen, some permanent magnets are placed in parallel on stator yoke, corresponding permanent magnet top is equipped with electric motor primary, elementary winding is embedded in the groove of elementary iron core, elementary iron core be fixed on platen below, platen is fixedlyed connected with stator yoke by line slideway; Elementary iron core is the parallel teeth structure, and elementary winding is that monodentate is concentrated formed coil, promptly single groove span, single-phase concentrated phase band forms.
5, the asymmetric six-phase permanent-magnet linear servo-actuator of intersegmental phase shift according to claim 4, it is characterized in that all coils of described electric motor primary winding has been divided into three intervals of symmetry, each interval belongs to a phase winding, and motor pairing main pole number in promptly every unit with every pass that has coil number mutually is: main pole is counted N
p=2mN
i± 1, wherein m is the motor windings number of phases, N
iBe the every phase winding coil number of motor; Phase shift is spaced apart 2 π ± α electrical degree between the adjacent winding axis of the corresponding coil of electric motor primary, and wherein α is equivalent slot-pitch angle.
6, the asymmetric six-phase permanent-magnet linear servo-actuator of intersegmental phase shift according to claim 4 is characterized in that the facewidth of described unit electric motor primary iron core and the ratio of tooth pitch
Scope be
The ratio of high h of groove and groove width b
Scope is 2.5～3.8; Bus number of turns N
c=mN
iElementary core slots is counted Q=2N
c=2mN
i, the slot pitch increment
Electrical degree, equivalent slot-pitch angle
Electrical degree, slot pitch τ
y=180 ° ± Δ τ
yElectrical degree; Wherein m is the motor windings number of phases, N
iBe the every phase winding coil number of motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610134364 CN1967980A (en) | 2006-11-24 | 2006-11-24 | Intersegmental dephasing asymmetric six-phase permanent-magnet linear servo-actuator |
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|---|---|---|---|
| CN 200610134364 CN1967980A (en) | 2006-11-24 | 2006-11-24 | Intersegmental dephasing asymmetric six-phase permanent-magnet linear servo-actuator |
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| CN101958633A (en) * | 2010-09-26 | 2011-01-26 | 华中科技大学 | Composite core-based primary permanent magnet synchronous linear motor |
| CN101964584A (en) * | 2010-10-20 | 2011-02-02 | 赵勇 | Linear motor of communicated magnetic circuit |
| CN101986514A (en) * | 2010-12-09 | 2011-03-16 | 江西泰豪特种电机有限公司 | Six-phase winding of small high-speed permanent magnet motor |
| CN101986515A (en) * | 2010-12-09 | 2011-03-16 | 江西泰豪特种电机有限公司 | Megawatt double-fed wind driven generator rotor concentric type un-equal turn hexaphase alternating current (AC) winding |
| CN102185444A (en) * | 2011-05-18 | 2011-09-14 | 哈尔滨工业大学 | High dynamic linear permanent magnet synchronous motor with double-armature structure |
| CN103227552A (en) * | 2013-04-01 | 2013-07-31 | 南京航空航天大学 | Permanent magnet linear synchronous motor system with low thrust fluctuation and parameter design method of system |
| CN103929040A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工业大学 | Poly-phase alternating-current linear motor system for ring windings |
| CN105406682A (en) * | 2015-11-30 | 2016-03-16 | 南京航空航天大学 | Flat plate type linear switch flux linkage motor and staggered tooth displacement selection method thereof |
| CN104242596B (en) * | 2014-09-11 | 2016-08-17 | 浙江大学 | A kind of asymmetric double-flanged end permanent magnet linear synchronous motor |
| CN109167446A (en) * | 2018-09-12 | 2019-01-08 | 苏州直为精驱控制技术有限公司 | High thrust linear motor |
| CN109951045A (en) * | 2017-12-20 | 2019-06-28 | 大银微***股份有限公司 | Linear motor |
| CN112615512A (en) * | 2020-12-18 | 2021-04-06 | 山东科技大学 | Magnetic suspension Z-axis linear motor of chip mounter |
| CN116961356A (en) * | 2023-09-19 | 2023-10-27 | 中国科学院长春光学精密机械与物理研究所 | Long-stroke motion motor capable of providing Z-direction buoyancy for rotor |
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2006
- 2006-11-24 CN CN 200610134364 patent/CN1967980A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101958633A (en) * | 2010-09-26 | 2011-01-26 | 华中科技大学 | Composite core-based primary permanent magnet synchronous linear motor |
| CN101964584A (en) * | 2010-10-20 | 2011-02-02 | 赵勇 | Linear motor of communicated magnetic circuit |
| CN101964584B (en) * | 2010-10-20 | 2013-02-13 | 赵勇 | Linear motor of communicated magnetic circuit |
| CN101986514A (en) * | 2010-12-09 | 2011-03-16 | 江西泰豪特种电机有限公司 | Six-phase winding of small high-speed permanent magnet motor |
| CN101986515A (en) * | 2010-12-09 | 2011-03-16 | 江西泰豪特种电机有限公司 | Megawatt double-fed wind driven generator rotor concentric type un-equal turn hexaphase alternating current (AC) winding |
| CN102185444A (en) * | 2011-05-18 | 2011-09-14 | 哈尔滨工业大学 | High dynamic linear permanent magnet synchronous motor with double-armature structure |
| CN103227552A (en) * | 2013-04-01 | 2013-07-31 | 南京航空航天大学 | Permanent magnet linear synchronous motor system with low thrust fluctuation and parameter design method of system |
| CN103929040A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工业大学 | Poly-phase alternating-current linear motor system for ring windings |
| CN103929040B (en) * | 2014-04-25 | 2016-03-23 | 哈尔滨工业大学 | Circular Winding polyphase ac linear induction motor system |
| CN104242596B (en) * | 2014-09-11 | 2016-08-17 | 浙江大学 | A kind of asymmetric double-flanged end permanent magnet linear synchronous motor |
| CN105406682A (en) * | 2015-11-30 | 2016-03-16 | 南京航空航天大学 | Flat plate type linear switch flux linkage motor and staggered tooth displacement selection method thereof |
| CN105406682B (en) * | 2015-11-30 | 2018-05-08 | 南京航空航天大学 | A kind of plate straight line switch flux linkage motor and its side set displacement system of selection |
| CN109951045A (en) * | 2017-12-20 | 2019-06-28 | 大银微***股份有限公司 | Linear motor |
| CN109167446A (en) * | 2018-09-12 | 2019-01-08 | 苏州直为精驱控制技术有限公司 | High thrust linear motor |
| CN112615512A (en) * | 2020-12-18 | 2021-04-06 | 山东科技大学 | Magnetic suspension Z-axis linear motor of chip mounter |
| CN116961356A (en) * | 2023-09-19 | 2023-10-27 | 中国科学院长春光学精密机械与物理研究所 | Long-stroke motion motor capable of providing Z-direction buoyancy for rotor |
| CN116961356B (en) * | 2023-09-19 | 2023-12-12 | 中国科学院长春光学精密机械与物理研究所 | Long-stroke motion motor capable of providing Z-direction buoyancy for rotor |
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Open date: 20070523 |