CN200973057Y - 90 deg. section space phase-shift permanent-magnet linear servo dynamo - Google Patents
90 deg. section space phase-shift permanent-magnet linear servo dynamo Download PDFInfo
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- CN200973057Y CN200973057Y CNU2006200944288U CN200620094428U CN200973057Y CN 200973057 Y CN200973057 Y CN 200973057Y CN U2006200944288 U CNU2006200944288 U CN U2006200944288U CN 200620094428 U CN200620094428 U CN 200620094428U CN 200973057 Y CN200973057 Y CN 200973057Y
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Abstract
The utility model relates to a lineal servo for the electric motor 90-degree de-phasing permanent magnetism and pertains to the technical field of the electric motor. The structure comprises two units of electric motors that are connected in parallel or in series; the primary magnetic routes of the two units of the electric motor are independent from each other the interval non-magnetic conductive materials are arranged; the two units of electric motors are corresponding to the winding or corresponding to the secondary axes of the permanent magnet has a de-phasing interval of 2K multiplied with pi and added or reduced with 90 degree, wherein the K is an integral and the two units of the electric motor windings adopt the unsymmetrical six-phasing winding structure; the two units of the electric motor primary are jointly arranged on the moving platform and is positioned above the in secondary permanent magnet so as to form an integrated electric motor. The utility model has the benefiting effect that the influence of the harmonic wave of the synchronous lineal electric motor of the permanent magnetism is inhibited; the fluctuation of the harmonic wave incurred by the terminal effect of the magnetic end of the electric motor can be inhibited; the driving power of each phase in the system power driving unit is reduced and in particular has an active function upon the design of the power servo driving controller and improves the operational stability and reliability of the servo controller.
Description
Technical field
The utility model belongs to technical field of motors, particularly relates to a kind of 90 ° of intersegmental phase shift permanent-magnet linear servo-actuators.
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.
The utility model content
In order to overcome the problem of above-mentioned existence, the utility model provides a kind of 90 ° of intersegmental phase shift permanent-magnet linear servo-actuators.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).
The technical solution of the utility model 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, and k is an integer, two unit motor windings adopt asymmetric six phase winding structures, two unit electric motor primary are installed on the mobile platform jointly, and place the secondary top of permanent magnet, form a whole motor.
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.
Described asymmetric six phase winding structures are meant: 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.
The unit motor comprises elementary iron core, elementary winding, stator yoke, permanent magnet, line slideway, platen in the utility model, 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.
The beneficial effects of the utility model:
(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 utility model 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 utility model 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 utility model 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 in the utility model;
Fig. 3 is that the utility model 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 in the utility model;
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 utility model 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 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 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 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 a last magnetic 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 II 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± 1=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 on the mover platform jointly, and place the secondary top of permanent magnet, form a whole motor.
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, a kind of 90 ° of intersegmental phase shift permanent-magnet linear servo-actuators, 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, 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 motor windings adopt asymmetric six phase winding structures, 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, a kind of 90 ° of intersegmental phase shift permanent-magnet linear servo-actuators 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; Each unit motor parallel connects on time, and each electric motor primary places the secondary top of permanent magnet separately respectively.
3, a kind of 90 ° of intersegmental phase shift permanent-magnet linear servo-actuators according to claim 1, it is characterized in that asymmetric six phase winding structures: 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.
4, a kind of 90 ° of intersegmental phase shift permanent-magnet linear servo-actuators according to claim 1, 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, a kind of 90 ° of intersegmental phase shift permanent-magnet linear servo-actuators 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, a kind of 90 ° of intersegmental phase shift permanent-magnet linear servo-actuators 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006200944288U CN200973057Y (en) | 2006-11-24 | 2006-11-24 | 90 deg. section space phase-shift permanent-magnet linear servo dynamo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006200944288U CN200973057Y (en) | 2006-11-24 | 2006-11-24 | 90 deg. section space phase-shift permanent-magnet linear servo dynamo |
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| Publication Number | Publication Date |
|---|---|
| CN200973057Y true CN200973057Y (en) | 2007-11-07 |
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|---|---|---|---|
| CNU2006200944288U Expired - Fee Related CN200973057Y (en) | 2006-11-24 | 2006-11-24 | 90 deg. section space phase-shift permanent-magnet linear servo dynamo |
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|---|---|
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107070165A (en) * | 2017-02-27 | 2017-08-18 | 华中科技大学 | A kind of flux-reversal type permanent-magnetism linear motor and its application |
| CN108712054A (en) * | 2018-06-01 | 2018-10-26 | 哈尔滨理工大学 | The unit of phase shift displacement combines permanent magnetic linear synchronous motor |
-
2006
- 2006-11-24 CN CNU2006200944288U patent/CN200973057Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107070165A (en) * | 2017-02-27 | 2017-08-18 | 华中科技大学 | A kind of flux-reversal type permanent-magnetism linear motor and its application |
| CN108712054A (en) * | 2018-06-01 | 2018-10-26 | 哈尔滨理工大学 | The unit of phase shift displacement combines permanent magnetic linear synchronous motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071107 Termination date: 20111124 |